CN108769918A - A kind of upper and lower personnel positioning navigation system of the accurate recovery well in deep of combination Internet of Things - Google Patents
A kind of upper and lower personnel positioning navigation system of the accurate recovery well in deep of combination Internet of Things Download PDFInfo
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- CN108769918A CN108769918A CN201810547667.1A CN201810547667A CN108769918A CN 108769918 A CN108769918 A CN 108769918A CN 201810547667 A CN201810547667 A CN 201810547667A CN 108769918 A CN108769918 A CN 108769918A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/024—Guidance services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Health & Medical Sciences (AREA)
- Computing Systems (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
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Abstract
The present invention provides personnel positioning navigation system above and below a kind of accurate recovery well in combination Internet of Things deep, which is made of navigation equipment terminal, location-based service base station, ground monitoring command system, subsurface environment monitoring device.Wherein navigation equipment terminal is equipped with visualization display screen, micro-control unit, micro- inertial navigation module, tag recognition locating module, GPS module, more sensor measuring modules, navigation of electronic map module, warning module, communication module and power supply composition, the present invention realizes the location navigation to personnel's vehicle in the deep underground that GPS signal is difficult to reach, the position distribution of personnel in the pit's vehicle is grasped by ground monitoring system, realize the control and command to personnel's vehicle, subsurface environment is perceived by communication module and multi-sensor environment monitoring module, prevents dangerous generation；When danger occurs, in time by communication and positioning navigation module commanding's escape and rescue, the security of the lives and property of underground and mining area personnel is ensured to the greatest extent.
Description
Technical field
The present invention relates to a kind of personnel positioning navigation system and method, more particularly to a kind of deep of combination Internet of Things is accurate
Personnel positioning navigation system and its method above and below recovery well.
Background technology
With a large amount of exploitations of coal in recent years, shallow-layer coal resources gradually decrease even start it is exhausted, more and more
Mine, which starts to increase, adopts depth, is changed for deep mining by shallow pay producing.Usually, deep generally refers to 700~1000m's
Range.Increase adopts depth and although can guarantee coal production, but also brings along risk for security simultaneously.On the one hand, deep increase is adopted,
Underground pressure becomes larger so that the prediction of various disasters and difficulty of prevention and cure increase, while can also make underworkings gas bearing capacity and
Gas density increases, and brings potential security risk；On the other hand, adopting deep increase can also make ground temperature increase, the work of underground
Industry environmental degradation seriously affects the health of normal production and worker.With this condition, it realizes to personnel in the pit's vehicle position
The monitoring of the monitoring, environmental change set, the early warning of dangerous situation and personnel in the pit location navigation, there is dangerous situation
When rapid evacuation also just become particularly important.
The fast development of satellite positioning navigation technology so that the application of outdoor location service becomes extensive, but in underground
Satellite-signal can not pass through ground, cause the positioning method based on satellite-signal that can not be realized in underground, face with also allowing for
The monitoring of personnel in the pit's vehicle location, personnel in the pit become difficult the location navigation work of itself.Traditional underground location side
Formula is to realize positioning by installing RFID tag, is equivalent to common access control system, but this method positioning accuracy
It is poor, and in the case where personnel are more it is also possible that the phenomenon that skip, system is too simple single, is not suitable for underground
Deep mining environment.
Currently, due to the rapid development of micro-electromechanical technology and technology of Internet of things, various kinds of sensors volume becomes smaller and smaller,
Integrated level also becomes higher and higher so that Multi-sensor Fusion obtains high accuracy positioning and is possibly realized.In general, these technologies use
It is positioned using modes such as WiFi, RFID, bluetooths, but is all directed to the common common environmental such as market, hospital mostly, for
Positioning system in deep underground is less, and does not have navigation feature substantially, can only simply be positioned, not accounted for
To the complexity of subsurface environment, subsurface environment can not be monitored, not have the ability of communication alarming.Currently, there is no in the market
Has the ripe product of the functions such as underground location navigation, positioning, monitoring, early warning, communication.
Invention content
The purpose of the present invention is the particular surroundings for deep underground, a kind of deep of combination Internet of Things is provided and is precisely exploited
Well personnel positioning navigation system and its method up and down, it can realize ground staff to the personnel of deep underground, vehicle it is accurate
Positioning and monitoring, can remotely perceive subsurface environment, and rational command scheduling is provided when occurring dangerous；It can allow simultaneously
Worker realizes positioning and navigation in underground, can be perceived to subsurface environment, timely early warning when occurring dangerous.The present invention provides
Technical solution be：A kind of upper and lower personnel positioning navigation system of the accurate recovery well in deep of combination Internet of Things, deep well are fixed up and down
Position navigation system includes navigation equipment terminal, location-based service base station, ground monitoring command system, subsurface environment monitoring device, institute
It states navigation terminal and is equipped with visualization display screen, micro-control unit, micro- inertial navigation module, tag recognition locating module, GPS module, more
Sensor measuring module, navigation of electronic map module, warning module, communication module and power supply, the visualization display screen, micro- inertial navigation
Module, tag recognition locating module, GPS module, more sensor measuring modules, navigation of electronic map module, warning module, communication mould
Block and power supply are attached with micro-control unit respectively.
Further, the tag recognition locating module of the navigation equipment terminal includes a transmitter and an antenna, is used for
Receive the absolute coordinate information of underground location；The location-based service base station that the wherein described transmitter is set by antenna and underground into
The time that the data received and data reach is sent to ground monitoring command system by row wireless telecommunications, location-based service base station,
It is accurately positioned according to the information received by ground monitoring command system, and accurate coordinates is sent to navigation equipment end
End.
Further, the upper and lower Position Fixing Navigation System of the deep well is with explosion-proof type laptop computer PC or explosion-proof type intelligent movable
Mobile phone carries out communication transfer as navigation equipment terminal, by communication module to location-based service base station, ground monitoring command system
Data.
Further, Position Fixing Navigation System passes through subsurface environment monitoring device and navigation equipment terminal to the deep well up and down
Multi-sensor detection module build Internet of Things；The multisensor of the subsurface environment monitoring device and navigation equipment terminal is visited
It surveys module and is integrated with optical sensor, temperature sensor, pressure sensor, air quality sensor, gas detector, to underground
The environment of bright intensity, temperature, atmospheric pressure value, air quality value, gas concentration around environment monitoring equipment and staff
Index carries out long-range monitoring, and all environmental index are shared by communication module, and ground staff is allowed not have to reach well
Under can grasp underground situation in real time, when the environmental index in region is higher than state supervision value, it is whole on the one hand to pass through navigation equipment
The warning module at end is alarmed to underground work personnel；On the other hand the concrete condition of underground is timely fed back to by communication module
In ground monitoring command system, and warning module is triggered, cook up secure path, notifies personnel in the pit carries out to withdraw or protect standard
It is standby.
Further, air navigation aid includes the following steps：
A, at the beginning of system is established, the key position in underground --- inflection point, topographic(al) point, dangerous easily hair point and underground labour
Installation position serving BS and subsurface environment monitoring device on daily the only way which must be passed, and record corresponding accurate three-dimensional coordinate letter
Breath is used as identifier；
B, after entering mining area, the micro-control unit of the navigation equipment terminal can be by residing for judgement personnel being well
Upper environment or subsurface environment, the required station-keeping mode of autonomous selection；
C, GPS module is activated individually when the GPS module of the navigation equipment terminal is very strong for well upper ground surface satellite-signal
It is positioned；
D, the tag recognition locating module of the navigation equipment terminal includes a transmitter and an antenna, under received well
The absolute coordinate information of positioning；When staff, which carries navigation equipment terminal, enters underground, transmitter just emits high-frequency impulse
Data packet gives location-based service base station, location-based service base station that the time that the data received and data reach is sent to ground monitoring
Command system, by ground monitoring command system according to the time received by TOA methods realize to personnel in the pit, vehicle it is accurate
Positioning, and accurate coordinates are sent to navigation equipment terminal；Antenna then receives information, including absolute coordinate information and ground are to well
The broadcast message that lower personnel broadcast；
E, micro- inertial navigation module of the navigation equipment terminal is used to assist the three dimensional local information of computing staff；Believe in GPS
When number weaker, using the GPS positioning information of previous moment as initial position, it is fixed to be continued by micro- inertial navigation mould inertial navigation system in the block
Position；In subsurface environment, absolute three-dimensional coordinate information is obtained by the tag recognition locating module of navigation equipment terminal, then will
New initial position of the three-dimensional coordinate obtained as inertial navigation system, continues high-precision positioning.
F, at the beginning of system is established, area map, the underworkings environment map above and below the well of mining area are passed through into embedded geography
Development of information system platform is made as electronic map, and is put into system and is configured to navigation of electronic map module, may be implemented pair
The basic amplification of electronic map, diminution, opening, the basic function of closing, rotation, selection, refreshing, roaming；
G, after enabling the tag recognition locating module of navigation equipment terminal, system will exist obtained absolute coordinate information
It marks on electronic map and show by visualizing display screen, the upper and lower personnel of well is allowed to know current position, allow ground staff
The specific distribution of Xie Jing or more personnel；
When h, carrying out navigation operation, corresponding point-of-interest is selected to mark on the electronic map, you can to obtain personnel, vehicle
To the distance of point-of-interest, and the optimal path for reaching point-of-interest is marked on the electronic map；When system discovery personnel's vehicle
Alarm can be sent out when being serially offset optimal path；
I, this system has information searching function, and the inquiry with object properties can be calculated into the amount of row distance.By in electricity
Point-of-interest is selected on sub- map, you can temperature, pressure, air are obtained by the subsurface environment monitoring device near point-of-interest
Quality, gas density, bright situation, obtain personnel, vehicle to point-of-interest distance.
J, the Internet of Things of structure is right according to the multi-sensor detection module of subsurface environment monitoring device and navigation equipment terminal
Bright intensity, temperature, atmospheric pressure value, air quality value, the environmental index of gas concentration around subsurface environment monitoring device into
The long-range monitoring of row, when causing danger by the warning module of navigation equipment terminal in time to personnel in the pit's early warning, and is planned
Go out secure path, allows personnel in the pit to carry out and withdraw or protect preparation.
K, Position Fixing Navigation System encounters under certain danger the deep well in staff's course of work up and down, and work people
Member can press rapidly the warning module in navigation equipment terminal, and accurate coordinates are sent to ground monitoring command system immediately, by
Ground monitoring command system notifies nearest personnel to rescue by communication module.
The beneficial effects of the invention are as follows：Due to being merged using GPS positioning technology, inertial navigation technique and super-broadband tech three,
It realizes the personnel positioning navigation up and down of the accurate recovery well in deep, and combines Internet of Things, realize monitoring of the ground staff to subsurface environment
Perception.
A. the system is the UWB super-broadband tech of non-contact automatic identification, is worn without manual intervention, signal in positioning
Ability is strong, robustness is high, wide coverage, can be used in various adverse circumstances thoroughly, and determining for inertial navigation system is corrected in time in underground
Position is as a result, realize the high accuracy positioning of underground；
B. system globe area GPS positioning technology, inertial navigation technique and super-broadband tech realizes that deep mining well is real-time up and down
Seamless high accuracy positioning navigation；
C. the system by Internet of Things connect multisensor, by optical sensor, temperature sensor, pressure sensor,
Air quality sensor, gas detector real time monitoring underground light intensity, temperature, atmospheric pressure value, air quality value, gas density
The environmental index of value changes, and is shared by communication module, ground staff is allowed to realize long-range monitoring, when danger occurs
It can timely cope with；
D. the position distribution that personnel in the pit's vehicle is grasped by ground monitoring command system, realizes the monitoring to personnel's vehicle
Commander；Subsurface environment is perceived simultaneously also by communication module and multi-sensor environment monitoring module, prevents dangerous hair
It is raw；When danger occurs, in time by communication and positioning navigation module commanding's escape and rescue, underground is ensured to the greatest extent
With the security of the lives and property of mining area personnel.
Description of the drawings
Fig. 1 is that a kind of system of accurate recovery well in deep of combination Internet of Things of the present invention or more personnel positioning navigation system is total
Body structural framing figure.
Fig. 2 is that a kind of positioning of accurate recovery well in deep of combination Internet of Things of the present invention or more personnel positioning navigation system is led
Navigate monitoring method flow chart.
As shown in the figure：1, navigation equipment terminal, 1.1, visualization display screen, 1.2, micro-control unit, 1.3, micro- inertial navigation mould
Block, 1.4, tag recognition locating module, 1.4a, transmitter, 1.4b, antenna, 1.5, GPS module, 1.6, more sensor measuring modules,
1.7, navigation of electronic map module, 1.8, warning module, 1.9, communication module, 1.10, power supply, 1.11, charging socket, 2, position
Serving BS, 3, ground monitoring command system, 4, subsurface environment monitoring device.
Specific implementation mode
Below in conjunction with the accompanying drawings 1~2 and specific implementation mode the present invention is further elaborated.
A kind of upper and lower personnel positioning navigation system of the accurate recovery well in deep of combination Internet of Things, the system is by navigation equipment end
End 1, location-based service base station 2, ground monitoring command system 3, subsurface environment monitoring device 4 are constituted；Wherein navigation equipment terminal 1 is set
Have visualization display screen 1.1, micro-control unit 1.2, micro- inertial navigation module 1.3, tag recognition locating module 1.4, GPS module 1.5,
More sensor measuring modules 1.6, navigation of electronic map module 1.7, warning module 1.8, communication module 1.9 and power supply 1.10；Visually
Change display screen 1.1, micro- inertial navigation module 1.3, tag recognition locating module 1.4, GPS module 1.5, more sensor measuring modules 1.6, electricity
Sub- map navigation module 1.7, warning module 1.8, communication module 1.9 and power supply 1.10 are connected with micro-control unit 1.2 respectively
It connects.
The location-based service base station 2 is the base stations UWB, and the label in the position identify locating module 1.4 is UWB labels.
The tag recognition locating module 1.4 of the navigation equipment terminal 1 includes an a transmitter 1.4a and antenna 1.4b, is used
In the absolute coordinate information for receiving underground location；Wherein transmitter 1.4a emits high-frequency impulse data packet to location-based service base station 2,
Location-based service base station 2 sends data to ground monitoring command system 3, by ground monitoring command system 3 according to receive when
Between personnel in the pit, vehicle are accurately positioned by the realization of TOA methods, and accurate coordinates are sent to location-based service base station 2, by position
It sets serving BS 2 and is then forwarded to navigation equipment terminal 1；Antenna 1.4b then receives the information of the transmission of position serving BS 2, including exhausted
The broadcast message that coordinate information and ground are broadcast to personnel in the pit.
Deep well Position Fixing Navigation System up and down, using explosion-proof type laptop computer PC or explosion-proof type intelligent movable mobile phone as
Navigation equipment terminal.Equipped with deep well Position Fixing Navigation System, including area map, well above and below the well of mining area up and down in the PC terminals
Lower tunnel environment map can check the structure electrical map of well or more by visualizing TFT display screens, may be implemented to electronically
Scheme the basic function of basic amplification, diminution, opening, closing, rotation, selection, refreshing, roaming.
The navigation equipment terminal 1 is equipped with charging socket 1.11, and connecting charging socket 1.11 by flexible circuit conductor can electricity
Source module 1.10 charges.
The communication module 1.9 of the navigation equipment terminal 1 is GSM, GPRS, 3G, 4G, 5G communication module.
GPS module 1.5 in the navigation equipment terminal 1 on well for positioning；Tag recognition locating module 1.4 is used for well
Lower high accuracy positioning identifies underground absolute location information；Micro- inertial navigation module 1.3 is believed for underground without satellite on satellite-signal or well
Auxiliary positioning when number weaker.Usually micro- inertial navigation module 1.3 can cause the decline of positioning accuracy due to the accumulation of error, so
When underground auxiliary positioning is carried out in underground using micro- inertial navigation module 1.3, need ceaselessly to use the high-precision of tag recognition locating module 1.4
Degree location information carrys out initialized location to eliminate the accumulation of error.At the beginning of system is established, the key position in underground --- it turns
Installation position serving BS 2 and subsurface environment monitoring on point, topographic(al) point, dangerous easily hair point and the daily the only way which must be passed of underground labour
Equipment 4, placement scheme are determined according to actual specific requirements, using corresponding accurate three-dimensional coordinate information as identifier.When
After staff's carrying navigation equipment terminal 1 enters mining area, the micro-control unit 1.2 of the navigation equipment terminal 1 can pass through
Residing for judgement personnel is environment or subsurface environment on well, the station-keeping mode needed for autonomous selection；It is led when staff carries
When the device end 1 that navigates enters underground, transmitter 1.4a just emits high-frequency impulse data packet to location-based service base station 2, location-based service
The time that the data received and data reach is sent to ground monitoring command system 3 by base station 2, by ground monitoring command system
3 are accurately positioned personnel in the pit, vehicle by the realization of TOA methods according to the time received, and accurate coordinates are sent to and are led
Navigate device end 1；Simultaneously using accurate coordinate information as the new initial position of inertial navigation system, obtain continuous high-precision fixed
Position.
A kind of upper and lower personnel's air navigation aid of the accurate recovery well in deep, steps are as follows：
A. at the beginning of system is established, area map, the underworkings environment map above and below the well of mining area are passed through into embedded geography
Development of information system platform is made as electronic map, and is put into system and is configured to navigation of electronic map module 1.7, may be implemented
The amplification basic to electronic map, diminution, opening, the basic function of closing, rotation, selection, refreshing, roaming；
B. after enabling the tag recognition locating module 1.4 of navigation equipment terminal 1, system will believe obtained absolute coordinate
Breath is marked and is shown by visualizing display screen 1.1 on the electronic map, and allowing well, personnel know current position up and down, allow ground
Personnel understand the specific distribution of well or more personnel；
When c. carrying out navigation operation, corresponding point-of-interest is selected to mark on the electronic map, you can to obtain personnel, vehicle
To the distance of point-of-interest, and the optimal path for reaching point-of-interest is marked on the electronic map；When system discovery personnel's vehicle
Alarm can be sent out when being serially offset optimal path；
D. this system has information searching function, and the inquiry with object properties can be calculated into the amount of row distance.By in electricity
Point-of-interest is selected on sub- map, you can temperature, pressure, sky are obtained by the subsurface environment monitoring device 4 near point-of-interest
Makings amount, gas density, bright situation, obtain personnel, vehicle to point-of-interest distance.
Position Fixing Navigation System above and below the deep well, passes through more biographies of subsurface environment monitoring device 4 and navigation equipment terminal 1
Sensor detecting module 1.6 builds Internet of Things.The multi-sensor detection mould of subsurface environment monitoring device 4 and navigation equipment terminal 1
Block 1.6 is integrated with optical sensor, temperature sensor, pressure sensor, air quality sensor, gas detector, to underground
Bright intensity, temperature, atmospheric pressure value, air quality value, the environmental index of gas concentration around environment monitoring equipment 4 carry out remote
The monitoring of journey, and all environmental index are shared by communication module 1.9, allowing ground staff not have to arrival underground can be real
When grasp underground situation；When the environmental index in region is higher than state supervision value, by communication module 1.9 by the specific feelings of underground
Condition is timely fed back in ground monitoring command system 3, and triggers warning module 1.8, is cooked up secure path, is notified personnel in the pit
It carries out and withdraws or protect preparation.
The present invention and its embodiments have been described above, this description is no restricted, shown in attached drawing
Only one of embodiments of the present invention, actual structure is not limited to this.All in all if the ordinary skill of this field
Personnel are enlightened by it, without departing from the spirit of the invention, are not inventively designed and the technical solution phase
As frame mode and embodiment, be within the scope of protection of the invention.
Claims (5)
1. personnel positioning navigation system above and below a kind of accurate recovery well in deep of combination Internet of Things, it is characterised in that：On the well of deep
Lower Position Fixing Navigation System include navigation equipment terminal, location-based service base station, ground monitoring command system, subsurface environment monitoring set
Standby, the navigation terminal is equipped with visualization display screen, micro-control unit, micro- inertial navigation module, tag recognition locating module, GPS moulds
Block, more sensor measuring modules, navigation of electronic map module, warning module, communication module and power supply, the visualization display screen,
Micro- inertial navigation module, tag recognition locating module, GPS module, more sensor measuring modules, navigation of electronic map module, warning module,
Communication module and power supply are attached with micro-control unit respectively.
2. personnel positioning navigation system above and below a kind of accurate recovery well in deep of combination Internet of Things according to claim 1,
It is characterized in that：The tag recognition locating module of the navigation equipment terminal includes a transmitter and an antenna, is used for received well
The absolute coordinate information of lower positioning；The wherein described transmitter is carried out wireless by the location-based service base station that antenna and underground are set
Communication, the time that the data received and data reach is sent to ground monitoring command system by location-based service base station, by ground
Monitoring and commanding system is accurately positioned according to the information received, and accurate coordinates are sent to navigation equipment terminal.
3. personnel positioning navigation system above and below a kind of accurate recovery well in deep of combination Internet of Things according to claim 1,
It is characterized in that：The deep well up and down with explosion-proof type laptop computer PC or explosion-proof type intelligent movable mobile phone made by Position Fixing Navigation System
For navigation equipment terminal, communication data transmission is carried out to location-based service base station, ground monitoring command system by communication module.
4. personnel positioning navigation system above and below a kind of accurate recovery well in deep of combination Internet of Things according to claim 1,
It is characterized in that：The deep well more biographies that Position Fixing Navigation System passes through subsurface environment monitoring device and navigation equipment terminal up and down
Sensor detecting module builds Internet of Things；The multi-sensor detection module of the subsurface environment monitoring device and navigation equipment terminal
It is integrated with optical sensor, temperature sensor, pressure sensor, air quality sensor, gas detector, subsurface environment is supervised
Control bright intensity around equipment and staff, temperature, atmospheric pressure value, air quality value, the environmental index of gas concentration into
The long-range monitoring of row, and all environmental index are shared by communication module, allow ground staff not have to reach underground
Underground situation is grasped in real time, when the environmental index in region is higher than state supervision value, on the one hand passes through the pre- of navigation equipment terminal
Alert module is alarmed to underground work personnel；On the other hand the concrete condition of underground is timely fed back to by ground prison by communication module
It controls in command system, and triggers warning module, cook up secure path, notify personnel in the pit carries out to withdraw or protect preparation.
5. personnel positioning navigation system above and below a kind of accurate recovery well in deep of combination Internet of Things according to claim 1
Air navigation aid, which is characterized in that include the following steps：
A, at the beginning of system is established, the key position in underground --- inflection point, topographic(al) point, dangerous easily hair point and underground labour are daily
Installation position serving BS and subsurface environment monitoring device on the only way which must be passed, and record corresponding accurate three-dimensional coordinate information and make
For identifier；
B, after entering mining area, the micro-control unit of the navigation equipment terminal can be by residing for judgement personnel being ring on well
Border or subsurface environment, the required station-keeping mode of autonomous selection；
C, GPS module progress is activated individually when the GPS module of the navigation equipment terminal is very strong for well upper ground surface satellite-signal
Positioning；
D, the tag recognition locating module of the navigation equipment terminal includes a transmitter and an antenna, for receiving underground location
Absolute coordinate information；When staff, which carries navigation equipment terminal, enters underground, transmitter just emits high-frequency impulse data
It wraps and gives location-based service base station, the time that the data received and data reach is sent to ground monitoring and commanded by location-based service base station
System is realized by TOA methods according to the time received by ground monitoring command system and is determined personnel in the pit, the accurate of vehicle
Position, and accurate coordinates are sent to navigation equipment terminal；Antenna then receives information, including absolute coordinate information and ground are to underground
The broadcast message that personnel broadcast；
E, micro- inertial navigation module of the navigation equipment terminal is used to assist the three dimensional local information of computing staff；GPS signal compared with
When weak, using the GPS positioning information of previous moment as initial position, continue to position by micro- inertial navigation mould inertial navigation system in the block；
In subsurface environment, absolute three-dimensional coordinate information is obtained by the tag recognition locating module of navigation equipment terminal, then by institute
New initial position of the three-dimensional coordinate of acquisition as inertial navigation system, continues high-precision positioning.
F, at the beginning of system is established, area map, the underworkings environment map above and below the well of mining area are passed through into embedded geographical information
System development platform is made as electronic map, and is put into system and is configured to navigation of electronic map module, may be implemented to electronics
The basic amplification of map, diminution, opening, the basic function of closing, rotation, selection, refreshing, roaming；
G, when enable navigation equipment terminal tag recognition locating module after, system by obtained absolute coordinate information in electronics
It marks on map and is shown by visualizing display screen, allow the upper and lower personnel of well to know current position, ground staff is allowed to understand well
The specific distribution of upper and lower personnel；
When h, carrying out navigation operation, corresponding point-of-interest is selected to mark on the electronic map, you can to obtain personnel, vehicle to sense
The distance of point of interest, and the optimal path for reaching point-of-interest is marked on the electronic map；When system discovery personnel's vehicle is continuous
Alarm can be sent out when deviating optimal path；
I, this system has information searching function, and the inquiry with object properties can be calculated into the amount of row distance.By electronically
Point-of-interest is selected on figure, you can temperature, pressure, air matter are obtained by the subsurface environment monitoring device near point-of-interest
Amount, gas density, bright situation, obtain personnel, vehicle to point-of-interest distance.
J, the Internet of Things of structure is according to the multi-sensor detection module of subsurface environment monitoring device and navigation equipment terminal, to underground
Bright intensity, temperature, atmospheric pressure value, air quality value, the environmental index of gas concentration around environment monitoring equipment carry out remote
The monitoring of journey when causing danger by the warning module of navigation equipment terminal in time to personnel in the pit's early warning, and cooks up peace
Complete trails allows personnel in the pit to carry out and withdraws or protect preparation.
K, Position Fixing Navigation System encounters under certain danger the deep well in staff's course of work up and down, and staff can
The rapid warning module pressed in navigation equipment terminal, accurate coordinates are sent to ground monitoring command system immediately, by ground
Monitoring and commanding system notifies nearest personnel to rescue by communication module.
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| CN111123782A (en) * | 2019-12-24 | 2020-05-08 | 精英数智科技股份有限公司 | Coal mine informatization comprehensive monitoring method, device and system |
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