CN108627800A - Underground mining area personnel location system and method - Google Patents
Underground mining area personnel location system and method Download PDFInfo
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- CN108627800A CN108627800A CN201710158721.9A CN201710158721A CN108627800A CN 108627800 A CN108627800 A CN 108627800A CN 201710158721 A CN201710158721 A CN 201710158721A CN 108627800 A CN108627800 A CN 108627800A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
- H04B10/114—Indoor or close-range type systems
- H04B10/116—Visible light communication
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
A kind of underground mining area personnel location system, including multiple positioning signal transmitting and receiving modules, each module include：Include the transmitter unit of a mine lamp, for emitting the light wave with modulated signal, modulated signal is different each other for each light wave with modulated signal；One receiving unit, the location information for receiving user terminal, and the information is transmitted to central control module；User terminal, is held or is dressed by several users, each user terminal includes：One movement receiving unit, for receiving the light wave with modulated signal, and analyzes and obtains the location information of the corresponding mine lamp of most strong modulated signal；One micro- inertial navigation unit, the location information for receiving mine lamp, and obtain the location information of user terminal as basic point.The precision of underground mining area proposed by the present invention personnel location system can reach 10cm or so, and have many advantages, such as real-time Communication for Power, maximize non-blind area；It is not only convenient for the rescue of Emergency time, while the urgent danger prevention and safety work of underground population can be made.
Description
Technical field
The invention belongs to technical field of visible light communication, relate more specifically to a kind of underground mining area personnel location system and side
Method.
Background technology
As the attention degree that Safety of Coal Mine Production works increasingly improves in society, coal mine underground personnel positioning management and
Communication system become ensure coal mine working environmental safety key, involved by main aspect be embodied in safety of coal mines life
Production, urgent danger prevention and emergency management and rescue etc..Therefore a kind of energy-saving safe, reliable and stable communication and positioning system is developed very must
It wants, very important effect has gradually been embodied in coal mine safety information quantification construction.
The technology for being now usually used in personnel positioning under Minepit environment mainly includes Radio Frequency Identification Technology (RFID), ultra wide band skill
Art (UWB), wireless local area network technology (WLAN).Wherein RFID and UWB be all by radio-frequency technique realize down-hole personnel tracking or
Positioning, be technology more common under mine.RFID full accuracies can reach 2~3, but its there are stability poor, data transmission
Safety is low, can the short disadvantage of transmission range；The full accuracy of UWB can reach half meter, but its complexity is high, of high cost；
The full accuracy of WLAN can reach 1~2, but its complexity is higher.The disadvantage of three of the above technology is needed in mine
Under be laid out communication line again, overall cost is higher, implements complexity.
Invention content
Based on the above technical problem, it is a primary object of the present invention to propose a kind of underground mining area personnel location system and side
Method, for solving at least one of above technical problem.
To achieve the goals above, as one aspect of the present invention, the present invention proposes a kind of underground mining area personnel positioning
System, including user terminal, central control module and multiple positioning signal transmitting and receiving modules, wherein：
Multiple positioning signal transmitting and receiving modules, the different location in mining area located underground, the transmitting of each positioning signal connect
Receiving module includes：
One transmitter unit, including a mine lamp, for emitting the light wave with modulated signal, each is with modulated signal
The mutual modulated signal of light wave is different；
One receiving unit, the location information for receiving user terminal, and the location information of the user terminal is transmitted to
Central control module；
User terminal, is held or is dressed by several users, each user terminal includes：
One movement receiving unit obtains most strong modulated signal correspondence for receiving the light wave with modulated signal, and analyzing
Mine lamp location information；
One micro- inertial navigation unit, the location information for receiving mine lamp, and used as basic point using the location information of this mine lamp
The location information of family terminal.
Further, above-mentioned receiving unit includes：
First ZigBee receiving units, location information for receiving user terminal are simultaneously transmitted to the second amplifying circuit；
Second amplifying circuit carries out signal amplification for the location information to user terminal, and amplified user is whole
The location information at end is transmitted to second processor；
Second processor carries out denoising for the location information to the amplified user terminal of signal.
Further, above-mentioned mobile receiving unit includes：
First processor is converted into electric signal transmission to for receiving the light wave with modulated signal, and by the light wave
One amplifying circuit is additionally operable to receive and analyze amplified electric signal, obtains the position letter of the corresponding mine lamp of most strong modulated signal
Breath；
First amplifying circuit, the electric signal being converted into for amplifying the light wave with modulated signal, and by amplified electricity
Signal feeds back to first processor.
Further, above-mentioned first processor includes：
The light wave for receiving the light wave with modulated signal, and is converted into electric signal transmission extremely by visible-light detector
First amplifying circuit；
Signal processing unit obtains the corresponding mine lamp of most strong modulated signal for receiving and analyzing amplified electric signal
Location information.
Further, above-mentioned micro- inertial navigation unit includes：
One inertial navigation positioning unit is used for using the location information of mine lamp as basic point, the walking speed of mining area personnel under base area
The location information of user terminal is obtained with acceleration；
One the oneth ZigBee transmitter units, for emitting the location information of user terminal to the first ZigBee receiving units.
To achieve the goals above, as one aspect of the present invention, the present invention also proposes that a kind of underground mining area personnel are fixed
Position system, including above-mentioned positioning system, wherein
Central control module is cached with a map, be additionally operable to by the location information of user terminal include on map, and will
Show that the transmitter unit in the map transmission to positioning signal transmitting and receiving module of position information of user's terminal, transmitting are single to observing
Member；
User terminal further includes an observing unit, is used for position of the real-time display underground mining area personnel in map.
Further, the transmitter unit of above-mentioned positioning signal transmitting and receiving module further includes that one the 2nd ZigBee transmittings are single
Member, for emit the map for showing position information of user's terminal to observing unit.
Further, above-mentioned observing unit includes：
One the 2nd ZigBee receiving units, the map for receiving display position information of user's terminal, and the map is passed
Transport to display screen；
One display screen, for the map for showing position information of user's terminal to be presented in real time, with real-time display underground mining area people
Position of the member in map.
Further, micro- inertial navigation unit of each above-mentioned user terminal has an identification information, different micro- inertial navigation units
Identification information it is different；The receiving unit of positioning signal transmitting and receiving module not only receives the location information of user terminal, also connects
Receive the identification information of micro- inertial navigation unit；Central control module according to the location information and identification information of user terminal obtain with each
The map for the display position information of user's terminal that user terminal matches；The transmitter unit of positioning signal transmitting and receiving module according to
Identification information emits the map of the display position information of user's terminal to match with each user terminal to matched each use
Family terminal.
To achieve the goals above, as another aspect of the present invention, the present invention proposes that a kind of underground mining area personnel are fixed
Position method, includes the following steps：
Mobile receiving unit in step 1, user terminal is received by several mine lamps in positioning signal transmitting and receiving module
The light wave with different modulated signals of transmitting, and analyze and obtain the location information of the corresponding mine lamp of most strong modulated signal；
Micro- inertial navigation unit in step 2, user terminal receives the location information of mine lamp, and is with the location information of this mine lamp
Basic point obtains and emits the location information of user terminal to positioning signal transmitting and receiving module；
Step 3, positioning signal transmitting and receiving module receive the location information of user terminal, and the position of user terminal is believed
Breath is transmitted to central control module；
Step 4, central control module receive the location information of user terminal, complete hand-held or wearing user terminal underground
The positioning of mining area personnel.
To achieve the goals above, as another aspect of the present invention, the present invention also proposes a kind of underground mining area personnel
Localization method, include the following steps：
Mobile receiving unit in step 1, user terminal is received by several mine lamps in positioning signal transmitting and receiving module
The light wave with different modulated signals of transmitting, and analyze and obtain the location information of the corresponding mine lamp of most strong modulated signal；
Micro- inertial navigation unit in step 2, user terminal receives the location information of mine lamp, and is with the location information of this mine lamp
Basic point obtains and emits the location information of user terminal to positioning signal transmitting and receiving module；
Step 3, positioning signal transmitting and receiving module receive the location information of user terminal, and the position of user terminal is believed
Breath is transmitted to central control module；
Step 4, central control module receive the location information of user terminal；
The location information of user terminal is included that and will show user on the map of caching by step 5, central control module
The map transmission of terminal positional information is to positioning signal transmitting and receiving module；
Step 6, the transmitting of positioning signal transmitting and receiving module show the map of position information of user's terminal to user terminal
Observing unit, for the location information in map to be presented to hand-held or wearing user terminal underground mining area personnel in real time.
(3) advantageous effect
Underground mining area proposed by the present invention personnel location system and method, have the advantages that：
1, mine lamp is connected on illuminalive power-supply cable by the present invention, using mine lamp as transmission medium, by being loaded to mine lamp
The mode of different modulated signals extrapolates range information of the underground mining area personnel relative to some mine lamp using micro- inertial navigation unit,
Realize that the position positioning of underground mining area personnel, precision can reach 10cm；
2, the present invention utilizes visible light wireless communication location technology, carries out school to the location information of micro- inertial navigation unit in real time
Just, there is energy conservation and environmental protection, positioning accuracy height, real-time Communication for Power, long lifespan, at low cost, low in energy consumption, penetration power by force and maximize without blind
The advantages of area；
3, the present invention utilizes visible light communication, compared with RFID, UWB and WLAN communication technology, since its transmission speed is fast,
Therefore with wide coverage, the advantage of energy-saving safe；
4, the present invention can carry out map and draw in real time, not only it can be observed how underground mining area personnel's path locus, but also
Underground mining area personnel can equally see the location information of oneself in real time, be not only convenient for so on the ground solve mine safety production with
And the rescue of Emergency time, while being conducive to the urgent danger prevention and safety work of underground mining area personnel.
Description of the drawings
Fig. 1 is the structural schematic diagram for the underground mining area personnel location system that one embodiment of the invention proposes；
Fig. 2 is each modular structure and its connection signal in the underground mining area personnel location system that one embodiment of the invention proposes
Figure；
Fig. 3 is principle of underground population's positioning system to underground mining area personnel's precise positioning of one embodiment of the invention proposition
Schematic diagram；
Fig. 4 is the structural schematic diagram for the underground mining area personnel location system that another embodiment of the present invention proposes；
Fig. 5 is each modular structure and its connection diagram in the personnel location system of underground mining area in Fig. 4.
Specific implementation mode
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference
Attached drawing, the present invention is described in further detail.
The invention discloses a kind of underground mining area personnel location system, including user terminal, central control module and multiple
Positioning signal transmitting and receiving module, wherein：
Multiple positioning signal transmitting and receiving modules, the different location in mining area located underground, the transmitting of each positioning signal connect
Receiving module includes：
One transmitter unit, including a mine lamp, for emitting the light wave with modulated signal, each is with modulated signal
The mutual modulated signal of light wave is different；
One receiving unit, the location information for receiving user terminal, and the location information of the user terminal is transmitted to
Central control module；
User terminal, is held or is dressed by several users, each user terminal includes：
One movement receiving unit obtains most strong modulated signal correspondence for receiving the light wave with modulated signal, and analyzing
Mine lamp location information；
One micro- inertial navigation unit, the location information for receiving mine lamp, and used as basic point using the location information of this mine lamp
The location information of family terminal.
Above-mentioned receiving unit includes second processor, the second driving circuit, the second amplifying circuit, the first ZigBee reception lists
Member, communication interface and second source, wherein：Second source is used to supply to the second driving circuit and the first ZigBee receiving units
Electricity, the second driving power are used to provide required voltage and current to the second amplifying circuit, second processor and transmitter unit, lead to
Letter interface and second source are connected to service cable under mine.
Preferably, above-mentioned second processor is generated different pulse signals by variable frequency, and the different pulse signal is logical
It crosses the second driving circuit and passes to different mine lamps, then each mine lamp sends out the light wave letter for carrying its corresponding pulses signal
Number, which is detected by photodetector.
Above-mentioned mobile receiving unit includes first processor, the first driving circuit, the first amplifying circuit and the first power supply, and
One power supply is used for the first drive circuitry, and the first driving circuit is used to provide institute to the first amplifying circuit and first processor
The voltage and current needed.
Preferably, first processor includes a visible-light detector and a signal processing unit, it is seen that optical detector is by ground
Lower mining area personnel carry, and receive the light wave with modulated signal for detect and the light wave is converted to electric signal, be additionally operable to by
Electric signal transmission is to the first amplifying circuit；Amplified electric signal transmission is to signal processing unit, for measuring telecommunications in real time
Number size is simultaneously stored, the maximizing after sequence；The corresponding light wave letter of received electric signal is demodulated simultaneously
Number modulation intelligence and location information, it is specified that electric signal be maximum value lightwave signal transmitting position be this moment liftoff lower mining area
The nearest mine lamp position of personnel, and as basic point by the position, the basic position information of micro- inertial navigation module is corrected.
Above-mentioned user terminal is carried by every underground mining area personnel, for realizing the real-time positioning of underground mining area personnel.
Preferably, micro- inertial navigation unit is installed within mobile receiving unit, using the measurement of the acceleration of human body walking come
Realize the positioning of user terminal.
Preferably, micro- inertial navigation unit includes an inertial navigation positioning unit and one the oneth ZigBee transmitter units, and inertial navigation positioning is single
Member by basic point of the location information of mine lamp for obtaining the location information of user terminal；First ZigBee transmitter units are for emitting
The location information of user terminal is to the first ZigBee receiving units.
Preferably, used inertial navigation positioning unit be the device based on MEMS, with small, impact resistance is high,
The advantages such as at low cost, long lifespan and reliability height；The position that micro- inertial navigation unit positions personnel is to be based on basic point mine lamp position
The positioning set；For positioning signal transmitting and receiving module linear distribution in mine laneway, underground mining area personnel often go to a basic point
Near mine lamp, mobile receiving unit is analyzed to obtain peak value, demodulates the pulse entrained by the corresponding lightwave signal of peak electrical
This location information and is transferred to micro- inertial navigation unit, it is specified that the mine lamp of peak value is basic point mine lamp by signal message and location information,
Micro- inertial navigation unit all resets former location information, and detects using current location information as basic point to obtain the position of user terminal
Information, until the location information of peak value lightwave signal changes.It is visible light since mine lamp is sent out, it is this
Visible light combines the scheme of micro- inertial navigation positioning to substantially reduce error problem caused by micro- inertial navigation positioning.
In said program, the location information for the user terminal that micro- inertial navigation positioning unit obtains emits list by the first ZigBee
Member and the first ZigBee receiving units are transferred to receiving unit, and the second amplifying circuit of receiving unit believes the position of user terminal
Breath is amplified, and amplified information is transmitted to second processor；Position of the second processor to amplified user terminal
Confidence breath carries out denoising, and the location information of the user terminal after denoising is passed by communication interface and service cable
Central control module is transported to, so that personnel observe in mine.
Based on above-mentioned underground mining area personnel location system, the invention also discloses the positioning of another underground mining area personnel
System, including above-mentioned positioning system, wherein：
Central control module is cached with a map, be additionally operable to by the location information of user terminal include on map, and will
Show that the transmitter unit in the map transmission to positioning signal transmitting and receiving module of position information of user's terminal, transmitting are single to observing
Member；
User terminal further includes an observing unit, is used for position of the real-time display underground mining area personnel in map.
Preferably, the transmitter unit of above-mentioned positioning signal transmitting and receiving module further includes one the 2nd ZigBee transmitter units,
For emitting the map of display position information of user's terminal to observing unit.
Above-mentioned observing unit includes：
One the 2nd ZigBee receiving units, the map for receiving display position information of user's terminal, and the map is passed
Transport to display screen；
One display screen, for the map for showing position information of user's terminal to be presented in real time, with real-time display underground mining area people
Position of the member in map.
Micro- inertial navigation unit of each above-mentioned user terminal has an identification information, the identification information of different micro- inertial navigation units
It is different；The receiving unit of positioning signal transmitting and receiving module not only receives the location information of user terminal, also receives micro- inertial navigation list
The identification information of member；Central control module obtains and each user terminal phase according to the location information and identification information of user terminal
The map of matched display position information of user's terminal；The transmitter unit of positioning signal transmitting and receiving module according to identification information,
The map of the display position information of user's terminal to match with each user terminal is emitted to matched each user terminal.
The invention also discloses a kind of underground mining area personnel positioning methods, include the following steps：
Mobile receiving unit in step 1, user terminal is received by several mine lamps in positioning signal transmitting and receiving module
The light wave with different modulated signals of transmitting, and analyze and obtain the location information of the corresponding mine lamp of most strong modulated signal；
Micro- inertial navigation unit in step 2, user terminal receives the location information of mine lamp, and is with the location information of this mine lamp
Basic point obtains and emits the location information of user terminal to positioning signal transmitting and receiving module；
Step 3, positioning signal transmitting and receiving module receive the location information of user terminal, and the position of user terminal is believed
Breath is transmitted to central control module；
Step 4, central control module receive the location information of user terminal, complete hand-held or wearing user terminal underground
The positioning of mining area personnel.
Based on above-mentioned localization method, the invention also discloses another underground mining area personnel positioning method, including it is following
Step：
Mobile receiving unit in step 1, user terminal is received by several mine lamps in positioning signal transmitting and receiving module
The light wave with different modulated signals of transmitting, and analyze and obtain the location information of the corresponding mine lamp of most strong modulated signal；
Micro- inertial navigation unit in step 2, user terminal receives the location information of mine lamp, and is with the location information of this mine lamp
Basic point obtains and emits the location information of user terminal to positioning signal transmitting and receiving module；
Step 3, positioning signal transmitting and receiving module receive the location information of user terminal, and the position of user terminal is believed
Breath is transmitted to central control module；
Step 4, central control module receive the location information of user terminal；
The location information of user terminal is included that and will show user on the map of caching by step 5, central control module
The map transmission of terminal positional information is to positioning signal transmitting and receiving module；
Step 6, the transmitting of positioning signal transmitting and receiving module show the map of position information of user's terminal to user terminal
Observing unit, for the location information in map to be presented to hand-held or wearing user terminal underground mining area personnel in real time.
This scheme not only allows ground personnel see underground mining area personnel location information, while underground people from mining area in real time
Member can equally understand oneself location information and road conditions in real time, under emergency generation, effectively can promptly be hided
It keeps away.
Underground mining area proposed by the present invention personnel location system and method are retouched in detail below by way of specific embodiment
It states.
Embodiment 1
As shown in Figure 1, the present embodiment proposes a kind of underground mining area personnel location system, including user terminal 1, center control
Module 2 and multiple positioning signal transmitting and receiving modules 3, wherein：
Positioning signal transmitting and receiving module 3, the different location in mining area located underground, the transmitting of each positioning signal receive mould
Block 3 includes：
One transmitter unit 301, including a mine lamp, for emitting the light wave with modulated signal, there is modulation to believe for each
Number light wave modulated signal is different each other；
One receiving unit 302, the location information for receiving user terminal 1, and the information is transmitted by service cable
To central control module 2；
User terminal 1 is held or is dressed by several users, each user terminal 1 includes：
One movement receiving unit 101, for receiving the light wave with modulated signal, and analyzes and obtains most strong modulated signal pair
The location information for the mine lamp answered；
One micro- inertial navigation unit 102, the location information for receiving mine lamp, and obtained as basic point using the location information of this mine lamp
The location information of user terminal；
Central control module 2 receives the location information of user terminal 1, completes the positioning of underground mining area personnel.
Specifically, as shown in Figure 1, multiple 3 linear distributions of positioning signal transmitting and receiving module are in tunnel under mine, such as Fig. 2
Shown, the transmitter unit 301 of each positioning signal transmitting and receiving module 3 includes a LED mine lamp, and receiving unit includes first
ZigBee receiving units, the second amplifying circuit, the second driving circuit, second processor, second source and communication interface.Second electricity
Source is used to power to the second driving circuit and the first ZigBee receiving units, the second driving circuit be used for the second amplifying circuit,
Second processor and mine lamp provide required voltage and current.First ZigBee receiving units are for obtaining the first ZigBee transmittings
The location information of the user terminal of unit transmitting；Second amplifying circuit is used to amplify the location information of received user terminal；
Second processor is generated different pulse signals by variable frequency, which is passed to by the second driving circuit
The mine lamp of different transmitter units, then each mine lamp send out the lightwave signal for carrying its corresponding pulses signal, according to this phase
The pulse signal answered can position each mine lamp；Second processor is additionally operable to receive the amplified user terminal of amplifying circuit
Location information and denoising is carried out to it, by the location information of the user terminal after denoising via communications interface transmission into
Control module 2 is entreated, so that personnel observe in mine.
As shown in Fig. 2, mobile receiving unit 101 includes the first power supply, the first amplifying circuit, the first driving circuit and first
Processor, the first power supply are provided to the first drive circuitry, the first driving circuit to the first amplifying circuit and first processor
Required voltage and current.Wherein first processor includes visible-light detector and signal processing unit, wherein visible optical detection
Device is used to detect the light wave with modulated signal and the light wave is converted to electric signal, by transformed electric signal transmission to first
Amplifying circuit；First amplifying circuit is for amplifying electric signal and by amplified electric signal transmission to signal processing unit, signal
Processing unit extracts and stores peak electrical according to amplified electric signal, and extracts the mine lamp corresponding to peak electrical
The mine lamp location transmission that extraction obtains is adjusted to micro- inertial navigation unit 102 with the basic point to micro- inertial navigation unit 102 by position.
As described in Figure 2, micro- inertial navigation unit 102 includes inertial navigation positioning unit and the first ZigBee transmitter units, inertial navigation positioning
Unit is adjusted base position according to the mine lamp position of reception, and obtains user terminal according to the base position after adjustment
Location information, the first ZigBee transmitter units are used to emit the location information of user terminal to positioning signal transmitting and receiving module 3.
As shown in figure 3, precisely fixed to underground mining area personnel in the underground mining area personnel location system proposed for the present embodiment
The principle schematic of position.When underground mining area personnel's row to the 1st mine lamp, location information is defined as with first mine lamp position
On the basis of obtain, when between the 1st mine lamp and the 2nd mine lamp and close to the 1st mine lamp, use the position of mine lamp 1 to tie
It closes micro- inertial navigation unit and elaborate position positioning is carried out to underground mining area personnel；When row is between the 1st mine lamp and the 2nd mine lamp and leaning on
When nearly 2nd mine lamp, underground mining area personnel positions is calibrated to, micro- inertial navigation unit is combined over the ground with the position of the 2nd mine lamp
Lower mining area personnel carry out elaborate position positioning, and so on；The program is using visible light technology with micro- inertial navigation technique to sub-terrain mines
Area personnel position, and in the case where that need not plan cable and equipment again, not influence illumination, substantially increase positioning
Precision facilitates the safety work of underground mining area personnel.
Embodiment 2
As shown in figure 4, based on the underground mining area personnel location system that embodiment 1 proposes, the present embodiment proposes another ground
Lower mining area personnel location system, including the underground mining area personnel location system in embodiment 1, wherein：
Central control module 2 is cached with a map, be additionally operable to by the location information of user terminal 1 include on map, and
It will show the transmitter unit in the map transmission to positioning signal transmitting and receiving module of position information of user's terminal 301, transmitting is extremely
Observing unit 103；
User terminal 1 further includes an observing unit 103, is used for position of the real-time display underground mining area personnel in map.
As shown in figure 5, observing unit 103 includes a hand-held position detection instrument and one the 2nd ZigBee receiving units, second
ZigBee receiving units are used to receive the map of display position information of user's terminal, and the map transmission to hand position is observed
Instrument；Hand position visualizer, for the map for showing position information of user's terminal to be presented in real time, with real-time display underground mining area people
Position of the member in map.
As shown in figure 5, transmitter unit 301 further includes one the 2nd ZigBee transmitter units, user terminal is shown for emitting
The map of location information is to observing unit 103.
Specifically, the location information of the user terminal 1 of reception is included the map cached in advance one by central control module 2
On, and the map of this display 1 location information of user terminal is fed back to by transmitter unit 301 by service cable and communication interface,
The transmitting of 2nd ZigBee transmitter units receives the map for showing 1 location information of user terminal, and the 2nd ZigBee receiving units receive
This map and by the map transmission to hand-held cartographic information instrument, to complete to present in real time.
Micro- inertial navigation unit of each above-mentioned user terminal has an identification information, the identification information of different micro- inertial navigation units
It is different；The receiving unit of positioning signal transmitting and receiving module not only receives the location information of user terminal, also receives micro- inertial navigation list
The identification information of member；Central control module obtains and each user terminal phase according to the location information and identification information of user terminal
The map of matched display position information of user's terminal；The transmitter unit of positioning signal transmitting and receiving module according to identification information,
The map of the display position information of user's terminal to match with each user terminal is emitted to matched each user terminal.
Particular embodiments described above has carried out further in detail the purpose of the present invention, technical solution and advantageous effect
Describe in detail bright, it should be understood that the above is only a specific embodiment of the present invention, is not intended to restrict the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the protection of the present invention
Within the scope of.
Claims (10)
1. a kind of underground mining area personnel location system, including user terminal, central control module and the transmitting of multiple positioning signals connect
Module is received, wherein：
Multiple positioning signal transmitting and receiving modules are located at the different location in the underground mining area, each described positioning signal hair
Penetrating receiving module includes：
One transmitter unit, including a mine lamp, for emitting the light wave with modulated signal, with modulated signal described in each
The mutual modulated signal of light wave is different；
One receiving unit, the location information for receiving the user terminal, and the location information of the user terminal is transmitted to
The central control module；
User terminal is held or is dressed by several users, each described user terminal includes：
One movement receiving unit obtains most strong modulated signal correspondence for receiving the light wave with modulated signal, and analyzing
Mine lamp location information；
One micro- inertial navigation unit, the location information for receiving the mine lamp, and obtain institute by basic point of the location information of this mine lamp
State the location information of user terminal.
2. underground mining area as described in claim 1 personnel location system, which is characterized in that the receiving unit includes：
First ZigBee receiving units, location information for receiving the user terminal are simultaneously transmitted to the second amplifying circuit；
Second amplifying circuit carries out signal amplification for the location information to the user terminal, and amplified user is whole
The location information at end is transmitted to second processor；
Second processor carries out denoising for the location information to the amplified user terminal of the signal.
3. underground mining area as described in claim 1 personnel location system, which is characterized in that the mobile receiving unit includes：
First processor is converted into electric signal transmission to for receiving the light wave with modulated signal, and by the light wave
One amplifying circuit is additionally operable to receive and analyze amplified electric signal, obtains the position letter of the corresponding mine lamp of most strong modulated signal
Breath；
First amplifying circuit, the electric signal being converted into for amplifying the light wave with modulated signal, and by amplified electricity
Signal feeds back to the first processor.
4. underground mining area as claimed in claim 3 personnel location system, which is characterized in that the first processor includes：
The light wave for receiving the light wave with modulated signal, and is converted into electric signal transmission extremely by visible-light detector
First amplifying circuit；
Signal processing unit obtains the corresponding mine lamp of the most strong modulated signal for receiving and analyzing amplified electric signal
Location information.
5. underground mining area as described in claim 1 personnel location system, which is characterized in that micro- inertial navigation unit includes：
One inertial navigation positioning unit is used for using the location information of the mine lamp as basic point, according to the walking of the underground mining area personnel
Speed and acceleration obtain the location information of the user terminal；
One the oneth ZigBee transmitter units, the location information for emitting the user terminal are single to the first ZigBee receptions
Member.
6. a kind of underground mining area personnel location system, including such as positioning system according to any one of claims 1 to 5, spy
Sign is,
Central control module is cached with a map, is additionally operable to show the location information of the user terminal on the map,
And by it is described display position information of user's terminal map transmission to the positioning signal transmitting and receiving module in transmitter unit,
Emit to observing unit；
User terminal further includes an observing unit, for position of the underground mining area personnel in map described in real-time display.
7. underground mining area as claimed in claim 6 personnel location system, which is characterized in that
The transmitter unit of positioning signal transmitting and receiving module further includes one the 2nd ZigBee transmitter units, described aobvious for emitting
Show the map of position information of user's terminal to the observing unit；
Observing unit, including：
One the 2nd ZigBee receiving units, the map for receiving the display position information of user's terminal, and the map is passed
Transport to display screen；
One display screen, the map for the display position information of user's terminal to be presented in real time, with sub-terrain mines described in real-time display
Position of the area personnel in map.
8. underground mining area as claimed in claim 6 personnel location system, which is characterized in that each user terminal it is micro-
Inertial navigation unit has an identification information, the identification information of different micro- inertial navigation units different；The positioning signal transmitting and receiving module
Receiving unit not only receive the location information of the user terminal, also receive the identification information of micro- inertial navigation unit；It is described
Central control module obtains matching with each user terminal according to the location information and identification information of the user terminal
Display position information of user's terminal map；The transmitter unit of the positioning signal transmitting and receiving module is believed according to the mark
Breath, the map of the display position information of user's terminal to match with each user terminal is emitted to matched each user
Terminal.
9. a kind of underground mining area personnel positioning method, includes the following steps：
Mobile receiving unit in step 1, user terminal is received to be emitted by several mine lamps in positioning signal transmitting and receiving module
The light wave with different modulated signals, and analyze obtain the location information of the corresponding mine lamp of most strong modulated signal；
Micro- inertial navigation unit in step 2, user terminal receives the location information of the mine lamp, and is with the location information of this mine lamp
Basic point obtains and emits the location information of user terminal to positioning signal transmitting and receiving module；
Step 3, positioning signal transmitting and receiving module receive the location information of the user terminal, and by the position of the user terminal
Confidence breath is transmitted to central control module；
Step 4, central control module receive the location information of the user terminal, complete hand-held or dress the user terminal
The positioning of underground mining area personnel.
10. a kind of localization method of underground mining area personnel, using the positioning side of underground mining area personnel as described in claim 9
Method further comprises the steps：
The location information of the user terminal is included on the map of caching, and by the display by step 5, central control module
The map transmission of position information of user's terminal is to the positioning signal transmitting and receiving module；
Step 6, positioning signal transmitting and receiving module emit the map for showing position information of user's terminal to user terminal
Observing unit, for the location information in map to be presented to described hand-held or wearing user terminal underground mining area people in real time
Member.
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| CN201710158721.9A CN108627800A (en) | 2017-03-16 | 2017-03-16 | Underground mining area personnel location system and method |
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Application publication date: 20181009 |