CN102192739A - Navigating instrument and system for mine - Google Patents

Navigating instrument and system for mine Download PDF

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Publication number
CN102192739A
CN102192739A CN 201010121397 CN201010121397A CN102192739A CN 102192739 A CN102192739 A CN 102192739A CN 201010121397 CN201010121397 CN 201010121397 CN 201010121397 A CN201010121397 A CN 201010121397A CN 102192739 A CN102192739 A CN 102192739A
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China
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mine
navigating instrument
information
value
central server
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CN 201010121397
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Chinese (zh)
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CN102192739B (en
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陈新伟
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陈新伟
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Abstract

The invention provides a navigating instrument and a navigating system for mine. The navigating instrument comprises: a motion sensing unit for acquiring motion sensing data of a first object; a data processing unit for computing the motion sensing data to obtain spatial coordinates and directions of the first object; a position information acquisition unit for calculating the position information of the first object oin a mine map according to the spatial coordinates, directions and the mine map got from a central server; a display unit for displaying the position of the first object on the mine map according to the position information; and a transmitting unit of first object information for transmitting the spatial coordinates, directions of the first object to the central server for data processing. By utilizing the invention, the position of the staff in the mine can be displayed in real time, the monitoring of the staff is realized easily and visually, the accidents can be judged intelligently, and alerts and notification in time can be realized.

Description

A kind of mine navigating instrument and navigational system

Technical field

The present invention relates to electronic technology field, relate in particular to a kind of mine navigating instrument and navigational system.

Background technology

The colliery industry is a special industry, because each mine is all in depth following, has various potential safety hazards such as gas, fire, roof pressure, and how the life security that is threatening the mine staff prevents the generation of above-mentioned accident, becomes the emphasis of current research.Simultaneously, when mine generation security incident, and when the mine staff is confined in the mine, how can notify the rescue worker fast timely, and to point out the mine staff to the rescue worker also be the emphasis of current research in the position of mine before accident takes place.

In the prior art, by the audio frequency and video sensor, and the sensor etc. of gathering environment and vital sign obtains personnel's working condition in the mine, gas density, air humidity, staff's pulse, blood pressure, breathing, body temperature etc., and combine the emergency searching and rescuing when realizing with the data transmission network of wireless senser to the security monitoring of whole mine and mine disaster.And above-mentioned wireless sensor network can follow up accordingly along with the expansion of the development end of mine, has realized the monitoring of real-time follow-up mine staff and Minepit environment.

The deficiencies in the prior art are that general pit zone is bigger, if will realize that the monitoring of whole mine then needs a large amount of audio frequency and video sensors, make that investment is bigger.And can not generate movement locus and the present located position of mine staff in mine automatically.And the generation of judgement burst accident that can not be intelligent is to carry out alarm timely.In addition, the mine staff can not understand other people position in mine in real time.

Summary of the invention

In view of this, the invention provides a kind of mine navigating instrument and navigational system, can show the position of mine staff in mine in real time, the mine staff can also mutual communication so that can understand the position of the other side in mine, simple and direct realizes the monitoring to the mine staff, thereby the generation of judgement accident that can also be intelligent is reported to the police timely.

In order to address the above problem, the embodiment of the invention provides a kind of mine navigating instrument, comprising:

The motion sensing unit is used to obtain the motion sensing data of first object, and described motion sensing data comprise acceleration sensing data and/or gyroscope sense data;

Data processing unit is used for described motion sensing data are carried out spatial value and the direction value that computing obtains described first object;

Location information acquiring unit is used for according to described spatial value and direction value, and according to the mine map that obtains from central server, calculates the positional information of described first object in described mine map;

Display unit is used for showing the position of described first object at described mine map according to described positional information;

The first object information transmitting element is used for sending the spatial value of described first object and direction value so that described central server carries out corresponding data processing to central server.

Further, the motion sensing data of described first object also comprise: magnetometer sense data and/or barometer sense data.

Further, also comprise:

The data message receiving element is used for connecting with opposite end mine navigating instrument, to obtain the data message of described opposite end mine navigating instrument;

The data message transmitting element is used for connecting with opposite end mine navigating instrument, to send the data message of local terminal mine navigating instrument to described opposite end mine navigating instrument.

Further, also comprise:

The information indicating unit is used to receive the information that described central server sends, and points out according to described information;

Described display unit also is used to show described information.

Further, also comprise:

The locating information acquiring unit is used for obtaining position correction information or position indicating information from calibration device;

Correcting unit is used for according to described position correction information described first object being proofreaied and correct in the position of described mine map;

The position indicating unit is used for sending prompting according to described position indicating information.

Accordingly, the embodiment of the invention provides a kind of mine navigational system, comprises at least one mine navigating instrument, central server, wherein:

Described mine navigating instrument is used to obtain the motion sensing data of first object, described motion sensing data comprise acceleration sensing data and/or gyroscope sense data, described motion sensing data are carried out spatial value and the direction value that computing obtains described first object, according to described spatial value and direction value and according to the mine map that obtains from central server, calculate the positional information of described first object in described mine map, and show the position of described first object in described mine map according to described positional information, also be used for sending the spatial value and the direction value of described first object to described central server;

Described central server is used for sending the mine map to described mine navigating instrument, also be used for spatial value and direction value according to described first object, and according to the mine map, calculate the positional information of described first object in described mine map, and show the position of described first object in described mine map.

Further, the motion sensing data of described first object also comprise: magnetometer sense data and/or barometer sense data.

Further, described central server also is used for according to the spatial value of described first object and direction value, sets and judge whether to carry out alarm, if then send alarm.

Further, described central server also is used for upgrading described mine map according to the spatial value of described first object and direction value.

Further, described mine navigating instrument also is used for connecting with opposite end mine navigating instrument, to obtain the data message of described opposite end mine navigating instrument, perhaps sends the data message of local terminal mine navigating instrument to described opposite end mine navigating instrument.

Further, described system also comprises at least one calibration device, and described calibration device is used for sending position correction information or position indicating information to described mine navigating instrument;

Described mine navigating instrument also is used for obtaining position correction information or position indicating information from calibration device, and according to described position correction information the positional information of described first object in described mine map proofreaied and correct, perhaps send prompting according to described position indicating information;

Described mine navigating instrument also is used for obtaining information from described central server, and sends prompting according to described information, perhaps shows described information.

In embodiments of the present invention, exercise data by sensor sensing mine staff, described exercise data is handled spatial value and the direction value that obtains the mine staff, and in conjunction with the real-time position of mine staff in mine that show of mine map realization, and realizing the monitoring position of managerial personnel to the mine staff, the mine staff can also communicate mutually.And, can send information by central server to the mine navigating instrument in real time, be convenient to the mine staff and better understand mine situation and time etc.Central server can also be according to described mine staff's spatial value and direction value, intelligence judge whether to occur burst accident so that when burst accident occurring, notify trouble free service personnel and rescue worker timely, for search and rescue gain time.When mine staff power cut-off, can remind the mine staff to give back the mine navigating instrument.

Description of drawings

Fig. 1 is that the structure of embodiment of the invention mine navigational system is formed synoptic diagram;

Fig. 2 is that first example structure of mine navigating instrument of the present invention is formed synoptic diagram;

Fig. 3 is that second example structure of mine navigating instrument of the present invention is formed synoptic diagram.

Embodiment

Below in conjunction with the accompanying drawing in the embodiment of the invention, technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment, those of ordinary skills only are the present invention's part embodiment not making the every other example of executing that is obtained under the creative work prerequisite, rather than whole embodiment.Based on the embodiment among the present invention, all belong to the scope of protection of the invention.

Fig. 1 is that the structure of embodiment of the invention mine navigational system is formed synoptic diagram, and this mine navigational system comprises at least one mine navigating instrument 10 and central server 20 as shown in the figure, wherein:

Described mine navigating instrument 10 is used to obtain the motion sensing data of first object, described motion sensing data comprise acceleration sensing data and/or gyroscope sense data, described motion sensing data are carried out spatial value and the direction value that computing obtains described first object, also calculate the positional information of described first object in described mine map according to described spatial value and direction value in conjunction with the mine map that sets in advance, and show the position of described first object in described mine map according to described positional information, wherein, the motion sensing data of described first object can also comprise magnetometer sense data and/or barometer sense data, and described first object is the mine staff.

Concrete, can comprise in the described mine navigating instrument 10: acceleration transducer and/or gyroscope, in order to make sense data more accurate, can also comprise magnetometer and/or barometer in the described mine navigating instrument 10, wherein, acceleration transducer inside is made up of three single-axis acceleration sensors, but the linear acceleration value on the sensing X-axis, Y-axis, Z-direction, behind twice integration, can calculate straight-line displacement; And gyroscope inside is made up of three gyro sensors, but the angular acceleration values on the sensing X-axis, Y-axis, Z-direction behind twice integration, can obtain angular displacement; Magnetometer inside is made up of three magnetometer sensors, is used for the sensing geomagnetic data, and the absolute direction value can be provided; Barometer is used for sensing atmospheric pressure data, and the absolute altitude value can be provided.When using, described mine navigating instrument 10 can be selected three dimension acceleration sensor and/or three-dimensional gyroscope for use, also can suitably select for use three-dimensional magnetometer and/or barometer to be used as required, to obtain different precision, concrete, include but not limited to following seven kinds of schemes.

Scheme one: described mine navigating instrument 10 adopts acceleration transducer, gyroscope, magnetometer and barometrical combination.The X-axis that described mine navigating instrument 10 senses according to acceleration transducer, Y-axis, linear acceleration value on the Z-direction, behind twice integration, calculate straight-line displacement, the X-axis that senses according to gyroscope, Y-axis, angular acceleration values on the Z-direction, behind twice integration, the angular displacement that obtains, according to straight-line displacement and described angular displacement, can calculate mine staff's three dimensional space coordinate and direction value, simultaneously, the absolute altitude value that absolute direction value that the geomagnetic data that senses by magnetometer obtains and barometer sensing atmospheric pressure data obtain, can carry out drift compensation to acceleration transducer and gyroscope sensed data, improve the precision of the data that calculate.The spatial value that the mode of the combination of 4 kinds of sensors of employing obtains and the precision of direction value are the highest.

Scheme two: described mine navigating instrument 10 adopts the combination of acceleration transducer, gyroscope and three kinds of sensors of magnetometer.The X-axis that described mine navigating instrument 10 senses according to acceleration transducer, Y-axis, linear acceleration value on the Z-direction, behind twice integration, calculate straight-line displacement, the X-axis that senses according to gyroscope, Y-axis, angular acceleration values on the Z-direction, behind twice integration, the angular displacement that obtains, according to straight-line displacement and described angular displacement, can calculate mine staff's three dimensional space coordinate and direction value, and the geomagnetic data that magnetometer senses, the absolute direction value can be provided, can carry out drift compensation, improve the data precision that calculates acceleration transducer and gyroscope sensed data.

Scheme three: described mine navigating instrument 10 adopts the combination of acceleration transducer and two kinds of sensors of gyroscope.As above-mentioned, this kind combination can access mine staff's spatial value and direction value, but has not had the absolute direction value that magnetometer provided, and may produce position excursion, and precision is not as such scheme.

Scheme four: 10 employing acceleration transducers of described mine navigating instrument.Can utilize a plurality of acceleration transducers to simulate gyrostatic characteristic, as, with three acceleration transducers, be placed on respectively on the positive axis of horizontal X axle, Y-axis and Z axle of certain radius, just can simulate gyrostatic characteristic, and then can utilize the data computation that senses to go out the movement locus that the three dimensional space coordinate in three dimensional space coordinate and the certain hour forms, at this moment, be equivalent to scheme three.

Scheme five: 10 employing gyroscopes of described mine navigating instrument, though the rectilinear motion of gyroscope on can not etection theory, but in actual the use, most rectilinear motions are not to be absolute, rectilinear motion can be regarded as the very big curvilinear motion of radius, directly, then speed or displacement and direction can be obtained, three dimensional space coordinate and direction value can be drawn with respect to original coordinates point by computing according to the data of the angular acceleration values of gyroscope output.

Scheme six: described mine navigating instrument 10 adopts the combination of acceleration transducer and magnetometer, and this scheme has increased the absolute direction value that magnetometer provided on the basis of scheme four, identical with scheme four principles, and data are carried out drift compensation, has improved precision.

Scheme seven: described mine navigating instrument 10 adopts the combination of gyroscope and magnetometer, and this scheme has increased the absolute direction value that magnetometer provided on the basis of scheme five, and is identical with scheme Wuyuan reason, and data are carried out drift compensation, improved precision.

After obtaining mine staff's spatial value and direction value, described mine navigating instrument 10 obtain the positional information of mine staff in the mine map mode can for: an initial position point and inceptive direction value are set in the mine map, the described mine navigating instrument of providing at mine inlet 10 for example, soon the initial position point is located at the entry position in the mine map, the mine staff is after main entrance obtains described mine navigating instrument 10 and start, at this moment, true origin when described mine navigating instrument 10 carries out data processing overlaps with the initial position point in the mine map, the inceptive direction value is set simultaneously, each reference coordinate value that described mine navigating instrument 10 carries out data processing just respectively with the mine map in each location point produce mapping relations one to one, next moving or turning to along with the mine staff, described mine navigating instrument 10 gets access to new coordinate figure and/or new direction value, location information acquiring unit 103 is corresponding the making a change in the mine map with described location point and/or direction value just, the position of current mine staff in the mine map and institute have promptly been obtained to the direction information of putting of ascending the throne, record is carried out in variation to location point, has just obtained the motion track information of mine staff in the mine map.Further, no matter where described mine navigating instrument 10 starts in mine, all can be provided with initial position point and inceptive direction.

After obtaining described positional information by such scheme, can be by (Liquid Crystal Display, LCD) liquid crystal display display screen etc. shows the position of mine staff in described mine.

Described mine navigating instrument 10 also is used for sending to described central server 20 spatial value and the direction value of described first object, so that described central server 20 carries out corresponding data processing.Also be used for connecting,, perhaps send the data message of local terminal mine navigating instrument to described opposite end mine navigating instrument to obtain the data message of described opposite end mine navigating instrument with opposite end mine navigating instrument.In addition, described mine navigating instrument 10 also is used to receive for example next prompting message of information message of described central server 20, the prompting message etc. of having a meal, and send prompting according to described information message, perhaps show described information message, as can passing through sounding, luminous or vibration prompt, perhaps display reminding for example shows the message of having had a meal.Concrete, between the described mine navigating instrument 10 and all can directly adopt the mode of radio communication to carry out the reception and the transmission of data message between described mine navigating instrument 10 and the described central server 20, perhaps establish a communications link with reception and the transmission of carrying out data message by signal repeater such as calibration device etc.

In addition, described mine navigating instrument 10 can be realized with independent device; Also can be with mine navigating instrument and portable terminal (mobile phone for example, PDA etc.) link to each other, the mode that the positional information that the mine navigating instrument is used to receive the spatial value and the direction value of first object and calculates first object, portable terminal are then carried out the transmitting-receiving of the demonstration of position or data realizes; Can also be in the portable terminal of built-in sensors in addition the mode of supporting navigation software realize.Described mine navigating instrument 10 can be provided to the mine staff when the mine staff enters mine.

Described central server 20 is used for sending the mine map to described mine navigating instrument 10.Store the mine map in the described central server 20, and the mine staff's that can send according to described mine navigating instrument 10 spatial value and the described mine map of direction value real-time update.Described central server 20 also is used to receive spatial value and the direction value that described mine navigating instrument 10 sends, and according to the mine map of storing, calculate the positional information of mine staff in described mine map, and the position of demonstration mine staff in described mine map, wherein, obtaining of described positional information is identical with obtain manner in described mine navigating instrument 10, does not give unnecessary details at this.Described central server 20 also is used for according to the spatial value of described first object and direction value, judge whether to carry out alarm, if, then send alarm, concrete, for example the variation of spatial value is big if abnormal conditions appear in the spatial value of described first object that obtains of described central server 20 or direction value or direction value confusion etc. relatively, then can send alarm to notify corresponding safety manager or rescue worker.Described central server 20 can also be to informations such as described mine navigating instrument 10 transmission informations with prompting mine staff's commuter time, perhaps mealtime etc., and can send information to specific mine staff as required, wherein said mine navigating instrument 10 carries out the prompting operation of information by in sounding, luminous, vibration, the display reminding any one or more.Concrete, can directly carry out communication between described mine navigating instrument 10 and the described central server 20, perhaps set up the reception and the transmission of being connected of described mine navigating instrument 10 and described central server 20 to carry out corresponding data information by described calibration device 30.

Further, as shown in Figure 1, described mine navigational system can also comprise at least one calibration device 30, is used for sending positioning correction information or positioning indicating information to mine navigating instrument 10.Described mine navigating instrument 10 can be proofreaied and correct the position of mine staff in described mine map according to described positioning correction information, or sends prompting message with prompting mine staff present located position according to described positioning indicating information.Particularly, a plurality of described calibration devices 30 can be located in the mine, be sent positioning correction information to described mine navigating instrument 10 and assist correction with the positional information that mine navigating instrument 10 is calculated.Also can calibration device be set in the mine outlet, be used for sending positioning indicating information to described mine navigating instrument 10, prompting mine staff gives back described mine navigating instrument 10.In addition, described calibration device 30 can be used as signal repeater, be used to set up communicating to connect of described mine navigating instrument 10 and described central server 20, and communicating to connect between the described mine navigating instrument 10.

Fig. 2 is that first example structure of mine navigating instrument of the present invention is formed synoptic diagram, and this mine navigating instrument comprises as shown in Figure 2: motion sensing unit 101, data processing unit 102, location information acquiring unit 103 and display unit 104, wherein:

Described motion sensing unit 101 is used to obtain the motion sensing data of first object, and described motion sensing data comprise acceleration sensing data and/or gyroscope sense data, also can obtain magnetometer sense data and/or barometer sense data as required.

Described data processing unit 102 is used for described motion sensing data are carried out spatial value and the direction value that computing obtains described first object.Concrete, described data processing unit 102 can be a single-chip microcomputer, handles described motion sensing data spatial value and direction value that to obtain described first object be the mine staff by described single-chip microcomputer.

Concrete, described motion sensing data obtain and handle the process that obtains spatial value and direction value, with aforesaid motion sensing data obtain and handle identical, do not give unnecessary details at this.

Described location information acquiring unit 103 is used for according to described spatial value and direction value, and according to default mine map, calculates the positional information of described first object in described mine map.Described positional information comprises the current position, the information of being faced such as direction in the mine map of mine staff.

Concrete, the acquisition process of described positional information, identical with the obtain manner of aforesaid positional information, do not give unnecessary details at this.

Display unit 104 is used to show described positional information.Particularly, can on display screen, show in the mine map, indicate current location point and the direction in the mine map of mine staff in bright spot that has direction arrow of demonstration on the mine map, and represent the movement locus of mine staff in the mine map according to the change in location generation track lines of this bright spot.

The first object information transmitting element 105 is used for sending the spatial value of described first object and direction value so that described central server 20 carries out corresponding data processing to central server 20.During concrete enforcement, can directly send described spatial value and direction value, perhaps send described spatial value and direction value to described central server 20 by described calibration device 30 to described central server 20.Described central control server 20 carries out corresponding data processing and comprises: spatial value and the default mine map of direction value combination according to described mine staff obtain the positional information of mine staff in mine and demonstration; According to described spatial value and direction value, understand the driving progress of mine, thereby upgrade the mine map; Judge whether to occur burst accident according to described spatial value and direction value, and when burst accident occurring, notify corresponding safety manager and rescue worker etc.

Fig. 3 is that second example structure of mine navigating instrument of the present invention is formed synoptic diagram, as shown in Figure 3, described mine navigating instrument 10 comprises described motion sensing unit 101, described data processing unit 102, described location information acquiring unit 103, described display unit 104 and the described first object information transmitting element 105 among Fig. 2.

Further, described mine navigating instrument 10 can also comprise:

Data message receiving element 106 is used for connecting with opposite end mine navigating instrument, to obtain the data message of described opposite end mine navigating instrument.

Data message transmitting element 107 is used for connecting with opposite end mine navigating instrument, to send the data message of local terminal mine navigating instrument to described opposite end mine navigating instrument.

During concrete enforcement, described data message receiving element 106 and described data message transmitting element 107 all can be by setting up by the mode of key control and being connected of opposite end mine navigating instrument, to receive the information that described opposite end mine navigating instrument sends, perhaps send information to described opposite end mine navigating instrument, for example, the mine staff receives positional information that opposite end mine navigating instruments send by described data message receiving element 106 and has been those positions in the mine etc. with the mine staff that recognizes the opposite end position and the mine staff of described opposite end in mine.Concrete, described mine navigating instrument 10 can be directly and opposite end mine navigating instrument carry out communication, perhaps reception and the transmission of being connected by described calibration device 30 foundation and described opposite end mine navigating instrument to carry out corresponding data information.

Further, described mine navigating instrument 10 can also comprise: locating information acquiring unit 108, correcting unit 109 and position indicating unit 110, wherein:

Locating information acquiring unit 108 is used for obtaining position correction information or position indicating information from calibration device.Particularly, described locating information acquiring unit 108 can obtain described positioning correction information from the calibration device of being located in the mine by short-distance wireless communication modes such as bluetooths.

Correcting unit 109 is used for according to described position correction information navigation information being proofreaied and correct.Concrete, when being provided with the band of position of calibration device as arriving as the mine staff, the position correction information that described mine navigating instrument 10 can send according to described calibration device is that position correction is carried out in the position of mine staff in the mine map to described first object, so that the display unit 104 correct positions in mine that show the mine staff.

Position indicating unit 110 is used for sending position indicating according to described position indicating information.Particularly, for example calibration device is set, when described locating information acquiring unit 108 receives the position indicating information of described calibration device transmission in the exit, then notifies the mine staff to give back matters such as described mine navigating instrument 10 accordingly in the mine exit.

Further, described mine navigating instrument 10 can also comprise information indicating unit 111, is used to receive the information that described central server 20 sends, and points out according to described prompting message.Can send information by described central server 20 to described information indicating unit 111 as required, for example: come off duty information, the information etc. of having a meal.Described information indicating unit 111 can carry out any one or more in sounding prompting, luminous prompting and the vibration prompt accordingly.In addition, also can carry out corresponding display reminding, for example show the message come off duty by described display unit 104.Concrete, described mine navigating instrument 10 can directly carry out communication with described central server 20, perhaps reception and the transmission to carry out corresponding data information of being connected by described calibration device 30 foundation and described central server 20.

Description by the foregoing description, the present invention is by sensor sensing mine staff's motion sensing data, its processing is obtained mine staff's spatial value and direction value, and, be convenient to mine staff and managerial personnel and recognize the position of mine staff at mine in conjunction with the real-time position of mine staff in mine that show of mine map realization.And can also communicate between the mine staff to understand the position in mine each other.Central server can also be according to mine staff's coordinate figure and direction value, intelligence judge whether to occur burst accident, and when burst accident appears in judgement, report to the police, in time to notify safety manager and rescue worker, for rescue is raced against time.Also can send information such as for example coming off duty, have a meal by central server, the mine staff needn't be worried over trifles to the mine staff.In addition, when the mine staff comes off duty, can remind the mine staff to give back the mine navigating instrument.

Above disclosed only is preferred embodiment of the present invention, can not limit the present invention's interest field certainly with this, and therefore the equivalent variations of doing according to claim of the present invention still belongs to the scope that invention is contained.

Claims (11)

1. a mine navigating instrument is characterized in that, comprising:
The motion sensing unit is used to obtain the motion sensing data of first object, and described motion sensing data comprise acceleration sensing data and/or gyroscope sense data;
Data processing unit is used for described motion sensing data are carried out spatial value and the direction value that computing obtains described first object;
Location information acquiring unit is used for according to described spatial value and direction value, and according to the mine map that obtains from central server, calculates the positional information of described first object in described mine map;
Display unit is used for showing the position of described first object at described mine map according to described positional information;
The first object information transmitting element is used for sending the spatial value of described first object and direction value so that described central server carries out corresponding data processing to central server.
2. mine navigating instrument as claimed in claim 1 is characterized in that, the motion sensing data of described first object also comprise: magnetometer sense data and/or barometer sense data.
3. mine navigating instrument as claimed in claim 2 is characterized in that, also comprises:
The data message receiving element is used for connecting with opposite end mine navigating instrument, to obtain the data message of described opposite end mine navigating instrument;
The data message transmitting element is used for connecting with opposite end mine navigating instrument, to send the data message of local terminal mine navigating instrument to described opposite end mine navigating instrument.
4. mine navigating instrument as claimed in claim 3 is characterized in that, also comprises:
The information indicating unit is used to receive the information that described central server sends, and points out according to described information;
Described display unit also is used to show described information.
5. as each described mine navigating instrument of claim 1 to 4, it is characterized in that, also comprise:
The locating information acquiring unit is used for obtaining position correction information or position indicating information from calibration device;
Correcting unit is used for according to described position correction information described first object being proofreaied and correct in the position of described mine map;
The position indicating unit is used for sending prompting according to described position indicating information.
6. a mine navigational system is characterized in that, comprises at least one mine navigating instrument, central server, wherein:
Described mine navigating instrument is used to obtain the motion sensing data of first object, described motion sensing data comprise acceleration sensing data and/or gyroscope sense data, described motion sensing data are carried out spatial value and the direction value that computing obtains described first object, according to described spatial value and direction value and according to the mine map that obtains from central server, calculate the positional information of described first object in described mine map, and show the position of described first object in described mine map according to described positional information, also be used for sending the spatial value and the direction value of described first object to described central server;
Described central server is used for sending the mine map to described mine navigating instrument, also be used for spatial value and direction value according to described first object, and according to the mine map in the described central server, calculate the positional information of described first object in described mine map, and show the position of described first object in described mine map.
7. mine navigational system as claimed in claim 6 is characterized in that, the motion sensing data of described first object also comprise: magnetometer sense data and/or barometer sense data.
8. mine navigational system as claimed in claim 7 is characterized in that, described central server also is used for according to the spatial value of described first object and direction value, sets and judge whether to carry out alarm, if then send alarm.
9. mine navigational system as claimed in claim 8 is characterized in that, described central server also is used for upgrading described mine map according to the spatial value of described first object and direction value.
10. mine navigational system as claimed in claim 9 is characterized in that,
Described mine navigating instrument also is used for connecting with opposite end mine navigating instrument, to obtain the data message of described opposite end mine navigating instrument, perhaps sends the data message of local terminal mine navigating instrument to described opposite end mine navigating instrument.
11. as each described mine navigational system of claim 6 to 10, it is characterized in that described system also comprises at least one calibration device, described calibration device is used for sending position correction information or position indicating information to described mine navigating instrument;
Described mine navigating instrument also is used for obtaining position correction information or position indicating information from calibration device, and according to described position correction information the positional information of described first object in described mine map proofreaied and correct, perhaps send prompting according to described position indicating information;
Described mine navigating instrument also is used for obtaining information from described central server, and sends prompting according to described information, perhaps shows described information.
CN 201010121397 2010-03-09 2010-03-09 Navigating instrument and system for mine CN102192739B (en)

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CN103438883A (en) * 2013-07-19 2013-12-11 重庆安标科技有限公司 Positioning, navigating and locus plotting apparatus
CN103714439A (en) * 2014-01-15 2014-04-09 苏州华兴致远电子科技有限公司 Train overhaul process monitoring system and monitoring method
CN109308817A (en) * 2018-09-03 2019-02-05 山东大学 Position is shared in construction tunnel and traffic safety hidden danger early warning system and method

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