CN108731682A - A kind of path planning system and method applied to underground mine rescue - Google Patents
A kind of path planning system and method applied to underground mine rescue Download PDFInfo
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Abstract
The invention discloses a kind of path planning system and method applied to underground mine rescue, system includes visualization watch and path planning software；Visualization watch is worn in mine in the wrist of staff；Path planning software includes display module, communication module, control module and processing module；Display module shows the map in real time monitoring video recording and mine in mine；It communicates and connects between communication module and visualization watch, it is established that the outer supervisor of mine connect with the communication of staff in mine；Supervisor manipulates path planning software software by control module；Processing module has path planning algorithm, completes the calculating of route.Simple structure of the present invention, equipment in kind only include visualization watch, are carried convenient for staff, and staff can be linked up and coordinated with off-site personnel by watch, solve the inconvenience for carrying intercom.
Description
Technical field
The present invention relates to a kind of path planning system and method more particularly to a kind of paths applied to underground mine rescue
Planning system and method.
Background technology
With the quickening of national economic development speed, the convenient demand to the energy of industry increases, and develops the quantity of mine
Increase.It is worked in mine in the presence of much danger, environmental change has many uncertain, the peace of staff in guarantee mine
It is complete particularly important.When emergency situations occur, the complicated geographical environment in the mine, staff by the judgement of oneself and
Existing technology, it is desirable to quickly find that a suitable escape route is not easy, and over-the-counter rescue personnel wished in the most fast time
The personnel of suffering a calamity or disaster inside are found, there is also difficult.Therefore, a kind of system and method that can quickly plan a variety of routes of research have very much
It is necessary.
Existing various paths planning methods such as Artificial Potential Field Method, free-space Method, particle cluster algorithm etc. all exist certain
Defect, the planning path condition of realization is single, may not apply to mine work in practice.So exploitation one kind can incite somebody to action
The system that a variety of path planning algorithms combine, and real-time communication is kept with staff in mine, meet them to route planning
It is different require, basic safety guarantee can be provided for staff in mine.
Invention content
In view of the deficiencies of the prior art, the invention discloses it is a kind of applied to underground mine rescue path planning system and
Method solves the problems, such as the safety guarantee of staff in underground mine, realizes that staff quickly withdraws mine, off-site personnel is fast
Speed implements rescue.
Technical scheme is as follows：
A kind of path planning system applied to underground mine rescue, including visualization watch and path planning software；It can
It is worn in mine in the wrist of staff depending on changing watch；Path planning software includes display module, communication module, control mould
Block and processing module；Display module shows the map in real time monitoring video recording and mine in mine；Communication module and visualization
Connection is communicated between watch, it is established that the outer supervisor of mine connect with the communication of staff in mine；Supervisor passes through
Control module manipulates path planning software software；Processing module has path planning algorithm, completes the calculating of route.
A kind of paths planning method applied to underground mine rescue, including：
Step S1, supervisor start path planning software, import mine map；Introduction method is including manually importing and certainly
It is dynamic to import；If selection manually imports method, supervisor manually imports；If selecting automatically imported method, path rule
Software is drawn according to supervisor present position, is automatically imported apart from nearest mine map；Path planning software is by communicating mould
Block is connected with the communication of multiple visualization watches；
Step S2, if disaster occurs for underground mine, staff is by visualizing watch to path planning in mine
The communication module of software sends out signal；Path planning software is according to whether the signal for receiving staff in mine judges in mine
Whether disaster is occurred；When disaster does not occur in mine, the display module of path planning software shows multiple cameras inside mine
Monitored picture；When disaster occurring in mine, S3 is entered step；
Step S3, when disaster occurring in mine, path planning software sends a warning to other visualization watches, notifies
Staff withdraws in mine；
Step S4, staff selects the evacuation route of oneself on visualization watch in mine, has selected
The selection information of Bi Hou, evacuation route are sent on path planning software, and path planning request is sent out to path planning software；
Step S5, path planning software receive the request of the path planning of staff in mine, and processing module is run,
According to selection of the staff to evacuation route in every mine, their route is started to calculate and be planned；
Step S6, path planning software complete after calculating and planning route, and route information is sent to corresponding mine
On the visualization watch of interior staff, staff checks route map on visualization watch in mine；
Step S7, path planning software carry out error checking to the route planned；Such as without mistake, path planning is soft
Part continues to run with, and mistake such as occurs, and the display module pop-up selection correcting window prompt supervisor of path planning software carries out
Correction；Bearing calibration includes manual correction and automatically corrects；If selecting manual correction, supervisor manually planned by correction
Route map, if selection " automatically correcting ", path planning software systems plan road again according to newer mine map
Line.
Its further technical solution is that supervisor manually selects and imports in mine before path planning running software
The information of staff；Described information includes the number and location information of staff in mine；When in mine staff to
When path planning software sends out path planning request, the information that path planning software receives has staff in mine to compile
Number, it is achieved in communication one-to-many between path planning software and visualization watch.
Its further technical solution is, in the step S7, shown by supervisor's passage path planning software
Real-time pictures in mine artificially judge rational route, voluntarily manual for staff in mine on the map of software
Drawn path, or to having calculated that the unreasonable place of route is modified avoids in mine road caused by environment real-time change
Line gauge draws error.
Its further technical solution is, in the step S4, evacuation route includes distance minimal path, shortest time path
Line, go together most easy route and/or environment optimal route.
Its further technical solution is that in the step S4, the planing method of distance minimal path is：First carry out ant colony
Path planning algorithm scans for summarizing, routing information is iterated update to a plurality of route intermediate node in mine, using used
Property optimization exclude extra node, generate a plurality of initial path；Iteration is continued by artificial bee colony algorithm to initial path again, is obtained
Distance minimal path.
Its further technical solution is that in the step S4, the planing method of shortest time path line is：First carry out ant colony
Path planning algorithm scans for summarizing, routing information is iterated update to a plurality of route intermediate node in mine, using used
Property optimization exclude extra node, generate a plurality of initial path；Using genetic programming algorithm to the barrier side in initial path
Boundary is investigated, and is found there are the minimum route of barrier, is obtained shortest time path line.
Its further technical solution is, in the step S4, the planing method of current most easy route is：It is advised by heredity
Cost-effective method investigates the obstacles borders in path, finds out that there are the minimum route of barrier, i.e., most easy transit routes.
Its further technical solution is that in the step S4, the planing method of environment optimal route is：In mine
Multiple smoke sensor devices and temperature sensor are installed on each road, and sensing data is transmitted to path planning software；Road
Diameter planning software obtains ring according to the smoke data and temperature data in each section inside the collected mine of sensor in mine
Border optimal route.
The method have the benefit that：
1. simple structure of the present invention, equipment in kind only includes visualization watch, is carried convenient for staff, and staff is logical
Crossing watch can link up and coordinate with off-site personnel, solve the inconvenience for carrying intercom.
2. the communication technology that the present invention uses has the advantages that stablize, is rapid, it can realize multiple watches in real time and path
Planning software docks.
3. there are the present invention a variety of paths planning methods, staff can not only select the shortest route of distance, but
It can be selected to be suitble to the route of oneself according to the needs of oneself, moreover it is possible to the route for selecting two kinds of conditions to have concurrently.
4. the path planning software of the present invention can show mine map, personnel's distribution, real-time pictures in mine, complete work
Make the route planning of personnel, and programme path is provided for over-the-counter rescue personnel, is that the rescue work of off-site personnel reduces difficulty.
Description of the drawings
Fig. 1 is the structural schematic diagram of the underground mine rescue path planning system of the present invention.
Fig. 2 is the visualization watch surface chart of the present invention.
Fig. 3 is the principle flow chart of the underground mine rescue path planing method of the present invention.
Fig. 4 is the planning flow chart of distance minimal path.
Fig. 5 is the planning flow chart of shortest time path line.
Fig. 6 is the planning flow chart of current most easy route.
Fig. 7 is the planning flow chart of environment optimal route.
Specific implementation mode
It is clear to make the purpose of the present invention, technical solution and function be more clear, referring to the drawings come to invention do into
The detailed description of one step.The given examples are served only to explain the present invention, is not intended to limit the present invention.
Fig. 1 is the structural schematic diagram of the underground mine rescue path planning system of the present invention.As shown in Figure 1, underground mine
Rescue system includes visualization watch and path planning software.Visualization watch is worn in mine in the wrist of staff,
The function having includes：It can be achieved, with the communication of the outer staff of mine, path planning item to be selected for staff in mine
Part can show the local map that ratio can be adjusted inside mine and programme path etc..Specifically, visualization watch uses 4G
The communication technology is communicated with path planning software, being capable of quick, high quality transmission reception information.For for the people that works in mine
The planning path condition that member provides includes distance shortest path, shortest time path diameter, pass through most easy path, environment optimal path,
Staff can be to a kind of selection of path planning condition progress or multiple choices in mine.
Path planning software includes display module, communication module, control module, processing module.
Display module shows complete in real time monitoring video recording and mine in mine in the software window of path planning software
Local figure.Further, display module can show underground population inside mine on the three dimensional spatial map of window interface
Distribution, needed that monitoring video in mine can also be recalled according to user.
It is connected between communication module and visualization watch, it is established that connect with the communication of staff in mine.Communicate mould
Block can be carried out at the same time processing according to the number of watch to a plurality of information, realize multiple visualization watches and path planning software
Real-time Data Transmission.
Supervisor manipulates path planning software software by control module.Control module can be advised with control path
The visualization watch for drawing staff in software and mine, map, video in importing mine can be carried out to path planning software
And the operation of personal information can carry out visualization watch on directapath planning software when an emergency happens
Operation.
Processing module has path planning algorithm, completes the calculating of route.The algorithm stored within processing module includes
Mix Artificial Ant Colony-ant colony algorithm, hereditary path planning algorithm etc..
Communication module and processing module compiling will not be shown in software in software interface.
Specifically, path planning software completes exploitation under Visual C++ environment, powerful, performance is stablized.
Fig. 2 is the visualization watch surface chart of the present invention.As shown in Fig. 2, the figure shows staff in mine to wear
Visualization watch initial interface, for carrying out path planning condition selection, alternative condition has for middle section：Distance
It is most short, the time is most short, it is current most easily, environment it is optimal, corresponding route can be generated by choosing corresponding option, also can simultaneous selection two
Kind planning condition.First " phone " button below interface is clicked this and is pressed for carrying out voice communication with over-the-counter supervisor
Key can engage in the dialogue with supervisor；Second " alarm bell " button below interface, the alarm for emergency situations to occur, point
It after hitting this button, can send a warning to over-the-counter path planning software, prompt supervisor that dangerous situation needs occur at this and rescue
It helps；The text information that third " information " button below interface is sent out for the outer supervisor of received field.
Fig. 3 is the principle flow chart of the underground mine rescue path planing method of the present invention.As shown in figure 3, the present invention is also
A kind of paths planning method applied to underground mine rescue is disclosed, is included the following steps：
Step S1 starts path planning software, imports mine map；Introduction method includes manually importing and being automatically imported.
System pops up " whether selecting to manually import map " window and is selected for operating personnel, operating personnel oneself hand if clicking "Yes"
Dynamic to import map, clicking "No" system will be automatically imported according to operating personnel present position apart from nearest mine map.
Path planning software can be connected with multiple visualization watches, specifically, path planning software can before operation
To manually select the information for importing staffs working in the mine by supervisor, which includes the number of staff and position in mine
Information, when staff sends out path planning request to software in mine, the information that path planning software receives indicates work
Make person number, is achieved in accurate communication one-to-many between path planning software and watch.
Step S2, if disaster occurs for underground mine, staff clicks " alarm bell " on visualization watch in mine
Button sends out signal to over-the-counter supervisor.Path planning software judges mine according to staff institute feedack in mine
Whether disaster occurs in well.When disaster does not occur in mine, path planning software interface shows multiple cameras inside mine
Monitored picture；Operating personnel can switch the picture for watching different cameras, can also amplify a certain camera shooting of viewing
Picture.When disaster occurring in mine, S3 is entered step.
Step S3, when disaster occurring in mine, path planning software sends a warning to other visualization watches, notifies
Staff withdraws rapidly in mine；
Step S4, when disaster occurring in mine, visualize shown on the interface of watch " distance is most short ", " time is most short ",
" passage most easy ", " environment is optimal " four options, in mine staff on visualization watch to the evacuation route of oneself
It is selected, after selection, the selection information of evacuation route is quickly sent on path planning software, to path planning software
Send out path planning request.
Step S5, path planning software receive the request of the path planning of staff in mine, and processing module is immediately
Operation starts to calculate and plan according to selection of the staff to evacuation route in every mine to their route；
Step S6, path planning software complete after calculating and planning route, and route information is sent to corresponding mine
On the visualization watch of interior staff, staff checks route and the road of oneself selection on visualization watch in mine
Local map in mine where line；
In order to control the real-time condition of each position inside mine, over-the-counter supervisor can click on path planning software
" monitoring real-time pictures ", software will be automatically imported the picture of the camera shooting inside mine, and real-time update is to window circle
On face, supervisor can switch the case where watching each position, and be linked up by intercom and staff in mine,
When convenient for emergency situations occur, personnel are timely allocated.
Step S7, since environment is complicated in mine, map can change at any time, every specific time interval, path
Planning software carries out error checking to the route planned；Such as without mistake, system continues to run with, and mistake, system such as occurs
Pop-up selection correcting window prompt supervisor is corrected；Bearing calibration includes manual correction and automatically corrects；Selection is manual
Correction, the then route map that supervisor oneself correction has been planned, is clicked " automatically correcting "；Selection automatically corrects, and system is according to more
New mine map, again programme path.
Path planning software also supports that artificial drawn path, supervisor can be with the mines shown by passage path planning software
Real-time pictures in well artificially judge rational route, are voluntarily staff's hand drawn path on the map of software,
Or to having calculated that the unreasonable place of route is modified, avoid in mine that route planning misses caused by environment real-time change
Difference.
In step s 4, evacuation route includes distance minimal path, and shortest time path line, the most easy route of colleague and environment are most
Major path.
Fig. 4 is the planning flow chart of distance minimal path.The planing method of distance minimal path is：First carry out ant colony path
Planning algorithm, scans for summarizing to a plurality of route intermediate node in mine, and routing information is iterated update, excellent using inertia
Change and exclude extra node, generates the initial path between a plurality of starting point and the point of arrival by staff in mine；Pass through again
Artificial bee colony algorithm continues iteration to obtained a plurality of initial path, carries out secondary calculating, updates optimal distance most
Short-circuit line.
Fig. 5 is the planning flow chart of shortest time path line.The planing method of shortest time path line is：First carry out ant colony path
Planning algorithm, scans for summarizing to a plurality of route intermediate node in mine, and routing information is iterated update, excellent using inertia
Change and exclude extra node, generates the initial path between a plurality of starting point and the point of arrival by staff in mine；Using
Genetic programming algorithm investigates the obstacles borders that path touches, and finds out the minimum route of barrier, excludes the presence of barrier
Hinder the section of object to get to time minimal path.
Fig. 6 is the planning flow chart of current most easy route.The planing method of current most easy route is：It is calculated by genetic planning
Method investigates the obstacles borders in path, finds out that there are the minimum route of barrier, i.e., most easy transit routes.
Fig. 7 is the planning flow chart of environment optimal route.The planing method of environment optimal route is：It is each in mine
Multiple smoke sensor devices and temperature sensor are installed on road, and sensing data is transmitted to path planning software；It advises in path
Software is drawn according to the smoke data and temperature data in each section inside the collected mine of sensor in mine, finds harmful gas
Body is minimum, temperature pleasant route, obtains environment optimal route.
It such as needs to complete the path planning under the conditions of two kinds, software will merge the computational methods of two kinds of conditions, obtain
Go out the route under corresponding conditions.
Ant colony path planning algorithm referred to herein, artificial bee colony algorithm, genetic programming algorithm etc. are the prior art,
Those skilled in the art can learn according to data such as disclosed documents, so specific computational methods repeat no more.
What has been described above is only a preferred embodiment of the present invention, and present invention is not limited to the above embodiments.It is appreciated that this
The other improvements and change that field technology personnel directly export or associate without departing from the spirit and concept in the present invention
Change, is considered as being included within protection scope of the present invention.
Claims (9)
1. a kind of path planning system applied to underground mine rescue, which is characterized in that including visualization watch and path rule
Draw software；Visualization watch is worn in mine in the wrist of staff；Path planning software includes display module, communication mould
Block, control module and processing module；Display module shows the map in real time monitoring video recording and mine in mine；Communication module
It communicates and connects between visualization watch, it is established that the outer supervisor of mine connect with the communication of staff in mine；Supervision
Personnel manipulate path planning software software by control module；Processing module has path planning algorithm, completes route
Calculating.
2. a kind of paths planning method applied to underground mine rescue, which is characterized in that including：
Step S1, supervisor start path planning software, import mine map；Introduction method includes manually importing and leading automatically
Enter；If selection manually imports method, supervisor manually imports；If selecting automatically imported method, path planning is soft
Part is automatically imported according to supervisor present position apart from nearest mine map；Path planning software by communication module with
Multiple visualization watch communication connections；
Step S2, if disaster occurs for underground mine, staff is by visualizing watch to path planning software in mine
Communication module send out signal；Path planning software according to whether the signal for receiving staff in mine judge in mine whether
Disaster occurs；When disaster does not occur in mine, the display module of path planning software shows the prison of multiple cameras inside mine
Control picture；When disaster occurring in mine, S3 is entered step；
Step S3, when disaster occurring in mine, path planning software sends a warning to other visualization watches, notifies mine
Interior staff withdraws；
Step S4, staff selects the evacuation route of oneself on visualization watch in mine, after selection,
The selection information of evacuation route is sent on path planning software, and path planning request is sent out to path planning software；
Step S5, path planning software receive the request of the path planning of staff in mine, and processing module is run, according to
Selection of the staff to evacuation route in every mine starts to calculate and plan to their route；
Step S6, path planning software complete after calculating and planning route, and route information is sent to work in corresponding mine
Make on the visualization watch of personnel, staff checks route map on visualization watch in mine；
Step S7, path planning software carry out error checking to the route planned；Such as without mistake, path planning software after
, such as there is mistake in reforwarding row, and the display module pop-up selection correcting window prompt supervisor of path planning software is corrected；
Bearing calibration includes manual correction and automatically corrects；If manual correction, supervisor is selected to correct the road planned manually
Line chart, if selection " automatically correcting ", path planning software systems are according to newer mine map, programme path again.
3. the paths planning method for being applied to underground mine rescue described in claim 2, which is characterized in that supervisor is on road
Before the operation of diameter planning software, the information for importing staff in mine is manually selected；Described information includes staff in mine
Number and location information；When staff sends out path planning request to path planning software in mine, path planning is soft
The information that part receives has staff in mine to number, and is achieved in one between path planning software and visualization watch
To more communications.
4. the paths planning method for being applied to underground mine rescue described in claim 2, which is characterized in that in the step S7
In, the real-time pictures in mine shown by supervisor's passage path planning software artificially judge rational route, voluntarily
It is staff's hand drawn path in mine on the map of software, or to having calculated that the unreasonable place of route carries out more
Change, avoids in mine route planning error caused by environment real-time change.
5. the paths planning method for being applied to underground mine rescue described in claim 2, which is characterized in that the step S4
In, evacuation route includes distance minimal path, shortest time path line, go together most easy route and/or environment optimal route.
6. the paths planning method applied to underground mine rescue as claimed in claim 5, which is characterized in that the step S4
In, the planing method of distance minimal path is：Ant colony path planning algorithm is first carried out, a plurality of route intermediate node in mine is carried out
Search summarizes, and routing information is iterated update, excludes extra node using inertia optimization, generates a plurality of initial path；Again
Iteration is continued by artificial bee colony algorithm to initial path, obtains distance minimal path.
7. the paths planning method applied to underground mine rescue as claimed in claim 5, which is characterized in that the step S4
In, the planing method of shortest time path line is：Ant colony path planning algorithm is first carried out, a plurality of route intermediate node in mine is carried out
Search summarizes, and routing information is iterated update, excludes extra node using inertia optimization, generates a plurality of initial path；Again
The obstacles borders in initial path are investigated by genetic programming algorithm, finds there are the minimum route of barrier, obtains
To time minimal path.
8. the paths planning method applied to underground mine rescue as claimed in claim 5, which is characterized in that the step S4
In, the planing method of current most easy route is：The obstacles borders in path are investigated by genetic programming algorithm, are found out
There are the minimum route of barrier, i.e., most easy transit route.
9. the paths planning method applied to underground mine rescue as claimed in claim 5, which is characterized in that the step S4
In, the planing method of environment optimal route is：Multiple smoke sensor devices and temperature sensing are installed on each road in mine
Device, and sensing data is transmitted to path planning software；Path planning software is according to the collected mine of sensor in mine
The smoke data and temperature data in each section, obtain environment optimal route inside well.
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| CN110211329A (en) * | 2019-07-01 | 2019-09-06 | 云南电力技术有限责任公司 | A kind of power distribution network personal security protective device |
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| CN112532727A (en) * | 2020-11-30 | 2021-03-19 | 重庆电子工程职业学院 | Safety protection system for personnel in gas area in workshop |
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