CN102192739B - Navigating instrument and system for mine - Google Patents

Navigating instrument and system for mine Download PDF

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Publication number
CN102192739B
CN102192739B CN 201010121397 CN201010121397A CN102192739B CN 102192739 B CN102192739 B CN 102192739B CN 201010121397 CN201010121397 CN 201010121397 CN 201010121397 A CN201010121397 A CN 201010121397A CN 102192739 B CN102192739 B CN 102192739B
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China
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mine
navigating instrument
information
central server
value
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CN 201010121397
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Chinese (zh)
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CN102192739A (en
Inventor
陈新伟
罗富强
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深圳市宇恒互动科技开发有限公司
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Publication of CN102192739A publication Critical patent/CN102192739A/en
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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, due to each mine all in depth under, have the various potential safety hazards such as gas, fire, top pressure, 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 mine, how can notify timely fast the rescue worker, and to point out the mine staff to the rescue worker be also the emphasis of current research in the position of mine before accident occurs.

In prior art, by the audio frequency and video sensor, and the sensor that gathers environment and vital sign obtains personnel's working condition in mine, gas density, air humidity, staff's pulse, blood pressure, breathing, body temperature etc., and combine with the data transmission network of wireless senser, the emergency searching and rescuing when realizing 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, general pit zone is larger, if will realize that the monitoring of whole mine needs a large amount of audio frequency and video sensors, makes investment larger.And can not automatically generate movement locus and the current residing position of mine staff in mine.And the generation of judgement burst accident that can not be intelligent is to carry out timely alarm.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 in real time the position of mine staff in mine, the mine staff can also communicate by letter mutually in order to can understand the position of the other side in mine, the monitoring of the realization of simple, intuitive to the mine staff, thus 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 present invention provides a kind of mine navigating instrument, comprising:

The motion sensing unit, for the motion sensing data of obtaining the first object, 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 the 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 the first object in described mine map;

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

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

Further, the motion sensing data of described the 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 for receiving the information that described central server sends, and points out according to described information;

Described display unit also is used for showing 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 the first object being proofreaied and correct in the position of described mine map;

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

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

described mine navigating instrument is used for obtaining the motion sensing data of the 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 the 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 the first object in described mine map, and according to the position of described positional information described the first object of demonstration in described mine map, also be used for sending to described central server spatial value and the direction value of described the first object,

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 the first object, and according to the mine map, calculate the positional information of described the first object in described mine map, and show the position of described the first object in described mine map.

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

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

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

Further, described mine navigating instrument also is used for and opposite end mine navigating instrument connects, and 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 the first object in described mine map proofreaied and correct, perhaps according to described position indicating delivering prompting;

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 processed spatial value and the direction value that obtains the mine staff, and realize showing in real time the position of mine staff in mine in conjunction with the mine map, and realizing managerial personnel to mine staff's monitoring position, 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, in order to notify timely trouble free service personnel and rescue worker when burst accident occurring, 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 present invention mine navigational system forms schematic diagram;

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

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

Embodiment

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

Fig. 1 is that the structure of embodiment of the present invention mine navigational system forms schematic 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 for obtaining the motion sensing data of the 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 the first object, also calculate the positional information of described the first object in described mine map in conjunction with the mine map that sets in advance according to described spatial value and direction value, and according to the position of described positional information described the first object of demonstration in described mine map, wherein, the motion sensing data of described the first object can also comprise magnetometer sense data and/or barometer sense data, described the first object is the mine staff.

Concrete, can comprise in 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 described mine navigating instrument 10, wherein, acceleration transducer inside is comprised of three single-axis acceleration sensors, but the linear acceleration value on sensing X-axis, Y-axis, Z-direction, after twice integration, can calculate straight-line displacement; And gyroscope inside is comprised of three gyro sensors, but the angular acceleration values on sensing X-axis, Y-axis, Z-direction after twice integration, can obtain angular displacement; Magnetometer inside is comprised 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, also can suitably select as required three-dimensional magnetometer and/or barometer to be used in conjunction with, 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 Z-direction, after twice integration, calculate straight-line displacement, the X-axis that senses according to gyroscope, Y-axis, angular acceleration values on Z-direction, after 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 the 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 the data of acceleration transducer and gyroscope sensing, 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 Z-direction, after twice integration, calculate straight-line displacement, the X-axis that senses according to gyroscope, Y-axis, angular acceleration values on Z-direction, after 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 to the data of acceleration transducer and gyroscope sensing, improve the data precision that calculates.

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 the absolute direction value that has not had magnetometer to provide 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 axis of certain radius, just can simulate gyrostatic characteristic, and then can utilize the data that sense to calculate the movement locus that the three dimensional space coordinate in three dimensional space coordinate and certain hour forms, at this moment, be equivalent to scheme three.

Scheme five: 10 employing gyroscopes of described mine navigating instrument, although 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 large curvilinear motion of radius, directly according to the data of the angular acceleration values of gyroscope output, speed or displacement and direction can be obtained by computing, three dimensional space coordinate and direction value with respect to original coordinates point can be drawn.

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 provides 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 gyroscopes and magnetometer, and this scheme has increased the absolute direction value that magnetometer provides 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 10 of for example providing at the mine entrance, 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 the data processing overlaps with the initial position point in the mine map, the inceptive direction value is set simultaneously, described mine navigating instrument 10 carry out each reference coordinate value that data process 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 new coordinate figure and/or a 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 namely been obtained to the direction information of putting of ascending the throne, record is carried out in variation to location point, 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 arrange initial position point and inceptive direction.

After obtaining described positional information by such scheme, can be by the position of the demonstration mine staff such as (Liquid Crystal Display, LCD) liquid crystal display display screen 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 the first object, processes so that described central server 20 carries out corresponding data.Also be used for connecting with opposite end mine navigating instrument, to obtain the data message of described opposite end mine navigating instrument, perhaps send the data message of local terminal mine navigating instrument to described opposite end mine navigating instrument.In addition, described mine navigating instrument 10 also is used for receiving the information message of described central server 20 such as next prompting message, the prompting message etc. of having a meal, and send prompting according to described information message, perhaps show described information message, as can pass through sounding, luminous or vibration prompt, perhaps display reminding for example shows the message of having had a meal.Concrete, between described mine navigating instrument 10 and all can directly adopt the mode of radio communication to carry out reception and the transmission of data message between described mine navigating instrument 10 and described central server 20, perhaps establish a communications link to carry out reception and the transmission of data message by signal repeater such as calibration device etc.

In addition, described mine navigating instrument 10 can be with independently device realization; Also can be with mine navigating instrument and mobile terminal (mobile phone for example, PDA etc.) be connected, the mine navigating instrument be used for to receive spatial value and the direction value of the first object and calculates the positional information of the first object, and the mode that mobile terminal carries out the transmitting-receiving of the demonstration of position or data realizes; Can also be in the mobile 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 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 for receiving 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 show the position of mine staff in described mine map, wherein, obtaining of described positional information is identical with obtain manner in described mine navigating instrument 10, is not repeated herein.Described central server 20 also is used for spatial value and the direction value according to described the first object, judge whether to carry out alarm, if, send alarm, concrete, if the variation that abnormal conditions such as spatial value appears in the spatial value of described the first object that described central server 20 obtains or direction value is large or the direction value is more chaotic etc., 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 any one or more in sounding, luminous, vibration, display reminding.Concrete, can directly carry out communication between described mine navigating instrument 10 and described central server 20, perhaps set up the reception and the transmission that are connected to carry out corresponding data information of described mine navigating instrument 10 and described central server 20 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 according to described positioning indicating delivering prompting message with the current residing position of prompting mine staff.Particularly, a plurality of described calibration devices 30 can be located in 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, is used for setting up the communication connection of described mine navigating instrument 10 and described central server 20, and the communication connection between described mine navigating instrument 10.

Fig. 2 is that the first example structure of mine navigating instrument of the present invention forms schematic 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, for the motion sensing data of obtaining the first object, described motion sensing data comprise acceleration sensing data and/or gyroscope sense data, also can obtain as required magnetometer sense data and/or barometer sense data.

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 the first object.Concrete, described data processing unit 102 can be a single-chip microcomputer, processes described motion sensing data spatial value and direction value that to obtain described the first object be the mine staff by described single-chip microcomputer.

Concrete, the obtaining and process the process that obtains spatial value and direction value of described motion sensing data with the obtaining and process identically of aforesaid motion sensing data, is not repeated herein.

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 the first object in described mine map.Described positional information comprises the current position, the information such as direction of facing in the mine map of mine staff.

Concrete, the acquisition process of described positional information, identical with the obtain manner of aforesaid positional information, be not repeated herein.

Display unit 104 is used for showing described positional information.Particularly, when can show the mine map on display screen, indicate current location point and the direction in the mine map of mine staff in bright spot with 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 the first objects and direction value so that described central server 20 carries out corresponding data processes to central server 20.During concrete enforcement, can directly send described spatial value and direction value to described central server 20, perhaps send described spatial value and direction value 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 show; 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 notify corresponding safety manager and rescue worker etc. when burst accident occurring.

Fig. 3 is that the second example structure of mine navigating instrument of the present invention forms schematic 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 described the first object information transmitting element 105 in 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 be connected 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, the information that sends to receive described opposite end mine navigating instrument, perhaps send information to described opposite end mine navigating instrument, for example, the mine staff mine staff that receives positional information that opposite end mine navigating instrument the sends position in mine and described opposite end with the mine staff that recognizes the opposite end by described data message receiving element 106 has been those positions in mine etc.Concrete, described mine navigating instrument 10 can be directly and opposite end mine navigating instrument carry out communication, perhaps by the reception and the transmission that are connected carry out corresponding data information of described calibration device 30 foundation with described opposite end mine navigating instrument.

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 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 the first object, so that the display unit 104 correct position in mine that shows the mine staff.

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

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

Description by above-described embodiment, 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 realize showing in real time the position of mine staff in mine in conjunction with the mine map, be convenient to mine staff and managerial personnel and recognize that the mine staff is in the position of mine.And can also communicate to understand the position in mine each other between the mine staff.Central server can also be according to mine staff's coordinate figure and direction value, intelligence judge whether to occur burst accident, and in judgement, the burst accident alarm appears, in time to notify safety manager and rescue worker, for rescue is raced against time.Also can send such as the information such as coming off duty, have a meal to the mine staff by central server, the mine staff needn't be worried over trifles.In addition, when the mine staff comes off duty, can remind the mine staff to give back the mine navigating instrument.

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

Claims (8)

1. a mine navigating instrument, is characterized in that, comprising:
The motion sensing unit, for the motion sensing data of obtaining the first object, 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 the first object;
Location information acquiring unit, be used for 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 the first object in described mine map, wherein, the mine map in described central server is by spatial value and the direction value real-time update of described central server according to the first object of described mine navigating instrument transmission;
Display unit is used for showing that according to described positional information described the first object is in the position of described mine map;
The first object information transmitting element is used for sending the spatial value of described the first object and direction value so that described central server carries out corresponding data processes to central server;
Wherein, described mine navigating instrument also comprises:
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 the first object being proofreaied and correct in the position of described mine map;
The position indicating unit is used for according to described position indicating delivering prompting;
Wherein, described calibration device also is used for as signal repeater, for the communication connection of setting up described mine navigating instrument and described central server, and the communication connection between described mine navigating instrument.
2. mine navigating instrument as claimed in claim 1, is characterized in that, the motion sensing data of described the 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 for receiving the information that described central server sends, and points out according to described information;
Described display unit also is used for showing described information.
5. a mine navigational system, is characterized in that, comprises at least one mine navigating instrument, central server, wherein:
described mine navigating instrument is used for obtaining the motion sensing data of the 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 the 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 the first object in described mine map, and according to the position of described positional information described the first object of demonstration in described mine map, also be used for sending to described central server spatial value and the direction value of described the first object,
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 the first object, and according to the mine map in described central server, calculate the positional information of described the first object in described mine map, and show the position of described the first object in described mine map;
Wherein, the mine map in described central server is by spatial value and the direction value real-time update of described central server according to the first object of described mine navigating instrument transmission;
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 the first object in described mine map proofreaied and correct, perhaps according to described position indicating delivering prompting;
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;
Wherein, described calibration device also is used for as signal repeater, for the communication connection of setting up described mine navigating instrument and described central server, and the communication connection between described mine navigating instrument.
6. mine navigational system as claimed in claim 5, is characterized in that, the motion sensing data of described the first object also comprise: magnetometer sense data and/or barometer sense data.
7. mine navigational system as claimed in claim 6, is characterized in that, described central server also is used for spatial value and the direction value according to described the first object, sets and judge whether to carry out alarm, if send alarm.
8. mine navigational system as claimed in claim 7, is characterized in that,
Described mine navigating instrument also is used for and opposite end mine navigating instrument connects, and 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.
CN 201010121397 2010-03-09 2010-03-09 Navigating instrument and system for mine CN102192739B (en)

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