CN108769918B - Positioning and navigation system for personnel on and off combination internet deep accurate mining well - Google Patents
Positioning and navigation system for personnel on and off combination internet deep accurate mining well Download PDFInfo
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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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- 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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Abstract
The invention provides a positioning navigation system for personnel getting on and off a combined internet deep precise mining well, which comprises a navigation equipment terminal, a position service base station, a ground monitoring command system and underground environment monitoring equipment. The navigation equipment terminal is provided with a visual display screen, a micro control unit, a micro inertial navigation module, a tag identification and positioning module, a GPS module, a multi-sensor detection module, an electronic map navigation module, an early warning module, a communication module and a power supply, the invention realizes positioning and navigation of personnel and vehicles in a deep underground well where GPS signals are difficult to reach, grasps the position distribution of the personnel and vehicles in the underground well through a ground monitoring system, realizes monitoring and commanding of the personnel and vehicles, and senses the underground environment through the communication module and the multi-sensor environment monitoring module to prevent danger; when a danger occurs, personnel are instructed to escape and rescue in time through the communication and positioning navigation module, and the life and property safety of underground and mining personnel is guaranteed to the greatest extent.
Description
Technical Field
The invention relates to a personnel positioning navigation system and a method, in particular to a personnel positioning navigation system and a method for getting on and off a deep accurate mining well by combining internet of things.
Background
With the recent mass mining of coal, shallow coal resources are gradually reduced and even exhausted, and more mines are increased in mining depth, and the deep mining is changed from the shallow mining. Generally, the deep part is generally in the range of 700 to 1000 m. Increasing the mining depth can ensure the coal yield, but also brings safety risks. On one hand, the mining depth is increased, the underground pressure is increased, so that the difficulty in predicting and preventing various disasters is increased, and meanwhile, the gas content and the gas concentration of an underground roadway are increased, so that potential safety risk is brought; on the other hand, the increase of the mining depth can also increase the ground temperature, deteriorate the underground operation environment and seriously affect the normal production and the physical health of workers. Under the condition, the realization of monitoring the position of underground personnel and vehicles, monitoring environmental changes, early warning of dangerous conditions, positioning and navigation of underground personnel and quick evacuation in case of dangerous conditions become more important.
The application of outdoor position service becomes wide due to the rapid development of satellite positioning and navigation technology, but the underground satellite signals cannot penetrate through the ground, so that the positioning mode based on the satellite signals cannot be realized underground, the ground is enabled to monitor the position of vehicles of underground personnel, and the positioning and navigation work of the underground personnel on the underground personnel becomes difficult. The traditional underground positioning mode is realized by installing an RFID (radio frequency identification) radio frequency tag, which is equivalent to a common access control system, but the positioning accuracy of the method is poor, the phenomenon of reading missing can occur under the condition of more personnel, and the system is too simple and single and is not suitable for the underground deep mining environment.
At present, due to the rapid development of the micro-electro-mechanical technology and the internet of things technology, the sizes of various sensors become smaller and smaller, the integration level also becomes higher and higher, and the high-precision positioning of the fusion of multiple sensors becomes possible. Generally, these techniques use modes such as using wiFi, RFID, bluetooth to fix a position, but mostly all aim at ordinary common environment such as market, hospital, and positioning system to in the deep underground is less, does not have navigation function basically moreover, can only carry out simple location, does not consider the complicacy of underground environment, can't monitor the underground environment, does not possess the ability of communication warning. At present, no mature product with functions of underground positioning navigation, positioning, monitoring, early warning, communication and the like exists in the market.
Disclosure of Invention
The invention aims at the special deep underground environment, and provides a deep accurate mining underground personnel positioning and navigation system and a method thereof combining internet of things, which can realize accurate positioning and monitoring of ground personnel on deep underground personnel and vehicles, can remotely sense the underground environment, and give reasonable command and scheduling when danger occurs; meanwhile, workers can realize positioning and navigation underground, the underground environment can be sensed, and early warning is timely performed when danger occurs. The technical scheme provided by the invention is as follows: the utility model provides a combine personnel location navigation about accurate exploitation well in thing networking deep, deep underground location navigation includes navigation equipment terminal, position service basic station, ground control command system, underground environment monitoring equipment, navigation terminal is equipped with visual display screen, little the control unit, is used to lead module, label discernment orientation module, GPS module, many sensing detection module, electronic map navigation module, early warning module, communication module and power a little, visual display screen, the module of being used to lead a little, label discernment orientation module, GPS module, many sensing detection module, electronic map navigation module, early warning module, communication module and power are connected with little the control unit respectively.
Further, the tag identification and positioning module of the navigation equipment terminal comprises a transmitter and an antenna, and is used for receiving absolute coordinate information of underground positioning; the transmitter is in wireless communication with a position service base station arranged underground through an antenna, the position service base station sends the received data and the arrival time of the data to a ground monitoring command system, the ground monitoring command system carries out accurate positioning according to the received information and sends accurate coordinates to a navigation equipment terminal.
Furthermore, the deep underground up-and-down positioning navigation system takes an explosion-proof portable computer PC or an explosion-proof mobile intelligent mobile phone as a navigation equipment terminal, and carries out communication and data transmission to a position service base station and a ground monitoring command system through a communication module.
Further, the deep underground up-and-down positioning navigation system constructs an internet of things through underground environment monitoring equipment and a multi-sensor detection module of a navigation equipment terminal; the underground environment monitoring equipment and the multi-sensor detection module of the navigation equipment terminal are integrated with an illumination sensor, a temperature sensor, a pressure sensor, an air quality sensor and a gas detector, the environment indexes of the brightness intensity, the temperature, the air pressure value, the air quality value and the gas concentration value around the underground environment monitoring equipment and workers are remotely monitored, all the environment indexes are shared through a communication module, ground personnel can master the underground condition in real time without reaching the underground, and when the environment index of a region is higher than a national supervision value, on one hand, an alarm is given to the underground workers through an early warning module of the navigation equipment terminal; on the other hand, the underground specific conditions are timely fed back to the ground monitoring command system through the communication module, the early warning module is triggered, a safety path is planned, and underground personnel are informed to be ready for evacuation or protection.
Further, the navigation method comprises the following steps:
a. at the beginning of system establishment, a position service base station and underground environment monitoring equipment are arranged at underground key positions, namely inflection points, topographic points and danger prone points, and underground workers must pass the paths every day, and corresponding accurate three-dimensional coordinate information is recorded as an identifier;
b. after entering a mining area, the micro control unit of the navigation equipment terminal can autonomously select a required positioning mode by judging whether a person is in an aboveground environment or an underground environment;
c. the GPS module of the navigation equipment terminal is used for independently starting the GPS module to carry out positioning when the ground satellite signal on the ground is strong;
d. the tag identification and positioning module of the navigation equipment terminal comprises a transmitter and an antenna and is used for receiving absolute coordinate information of underground positioning; when a worker enters the underground with a navigation equipment terminal, a transmitter transmits a high-frequency pulse data packet to a position service base station, the position service base station transmits the received data and the arrival time of the data to a ground monitoring and commanding system, the ground monitoring and commanding system realizes the accurate positioning of the underground worker and the underground vehicle through a TOA method according to the received time and transmits the accurate coordinate to the navigation equipment terminal; the antenna receives information including absolute coordinate information and broadcast information broadcasted to underground personnel from the ground;
e. the micro inertial navigation module of the navigation equipment terminal is used for assisting in calculating three-dimensional position information of personnel; when the GPS signal is weak, the GPS positioning information at the previous moment is taken as an initial position, and the positioning is continued through an inertial navigation system in the micro inertial navigation module; in an underground environment, absolute three-dimensional coordinate information is acquired through a tag identification and positioning module of a navigation equipment terminal, and then the acquired three-dimensional coordinate is used as a new initial position of an inertial navigation system to continue high-precision positioning;
f. at the beginning of system establishment, an area map above and below a mine well and an underground roadway environment map are manufactured into an electronic map through an embedded geographic information system development platform and are placed into the system to be constructed into an electronic map navigation module, so that basic functions of basic amplification, reduction, opening, closing, rotation, selection, refreshing and roaming of the electronic map can be realized;
g. after a label identification positioning module of a navigation equipment terminal is started, the system marks the obtained absolute coordinate information on an electronic map and displays the absolute coordinate information through a visual display screen, so that the underground personnel can know the current position, and the ground personnel can know the specific distribution of the underground personnel;
h. when navigation operation is carried out, corresponding interest point marks are selected on the electronic map, so that the distances from people and vehicles to the interest points can be obtained, and the optimal paths reaching the interest points are marked on the electronic map; an alarm is given when the system finds that the personnel vehicle continuously deviates from the optimal path;
i. the system has an information query function, and can perform distance calculation and object attribute query. By selecting an interest point on the electronic map, the temperature, pressure, air quality, gas concentration and brightness conditions can be obtained through underground environment monitoring equipment near the interest point, and the distance from personnel and vehicles to the interest point is obtained;
j. the constructed Internet of things remotely monitors environmental indexes of brightness intensity, temperature, air pressure value, air quality value and gas concentration value around the underground environment monitoring equipment according to the underground environment monitoring equipment and a multi-sensor detection module of a navigation equipment terminal, timely warns underground personnel through a prewarning module of the navigation equipment terminal when danger occurs, plans a safety path and enables the underground personnel to be ready for evacuation or protection;
k. when the deep underground up-and-down positioning navigation system encounters sudden danger in the working process of workers, the workers can quickly press the early warning module on the navigation equipment terminal, the accurate coordinates of the early warning module are immediately sent to the ground monitoring command system, and the ground monitoring command system informs the nearest personnel to rescue through the communication module.
The invention has the beneficial effects that: due to the fact that the GPS positioning technology, the inertial navigation technology and the ultra-wideband technology are integrated, positioning and navigation of personnel on and off the deep precise exploitation well are achieved, and monitoring perception of ground personnel on the underground environment is achieved by combining the Internet of things.
a. The system is a non-contact automatic identification UWB (ultra wide band) technology, manual intervention is not needed during positioning, the signal penetration capability is strong, the robustness is high, the coverage range is wide, the system can be used in various severe environments, the positioning result of the inertial navigation system can be corrected in time underground, and high-precision underground positioning is realized;
b. the system integrates a GPS positioning technology, an inertial navigation technology and an ultra wide band technology, and realizes real-time seamless high-precision positioning navigation up and down a deep mining well;
c. the system is connected with a plurality of sensors through the Internet of things, environmental index changes of underground brightness intensity, temperature, air pressure value, air quality value and gas concentration value are monitored in real time through an illumination sensor, a temperature sensor, a pressure sensor, an air quality sensor and a gas detector, and are shared through a communication module, so that ground personnel can realize remote monitoring and can respond in time when danger occurs;
d. the position distribution of underground personnel and vehicles is mastered through a ground monitoring command system, so that the personnel and vehicles are monitored and commanded; meanwhile, the underground environment is sensed through the communication module and the multi-sensor environment monitoring module, so that danger is prevented; when a danger occurs, personnel are instructed to escape and rescue in time through the communication and positioning navigation module, and the life and property safety of underground and mining personnel is guaranteed to the greatest extent.
Drawings
Fig. 1 is a system general structural framework diagram of a positioning navigation system for personnel on and off a deep precision production well in a combination networking.
FIG. 2 is a flow chart of a positioning navigation monitoring method of a positioning navigation system for personnel on and off a deep precise exploitation well combined with a network of junctions according to the present invention.
As shown in the figure: 1. navigation equipment terminal, 1.1, visual display screen, 1.2, little the control unit, 1.3, little the inertial navigation module, 1.4, label discernment orientation module, 1.4a, the transmitter, 1.4b, the antenna, 1.5, the GPS module, 1.6, many sensing detection module, 1.7, electronic map navigation module, 1.8, the early warning module, 1.9, communication module, 1.10, the power, 1.11, charging socket, 2, the position service basic station, 3, ground monitoring command system, 4, the environmental monitoring equipment in pit.
Detailed Description
The invention is further explained in detail below with reference to the accompanying figures 1-2 and the detailed description.
A positioning navigation system for personnel on and off a deep precise mining well combined with internet of things is composed of a navigation equipment terminal 1, a position service base station 2, a ground monitoring command system 3 and an underground environment monitoring equipment 4; the navigation equipment terminal 1 is provided with a visual display screen 1.1, a micro control unit 1.2, a micro inertial navigation module 1.3, a label identification and positioning module 1.4, a GPS module 1.5, a multi-sensor detection module 1.6, an electronic map navigation module 1.7, an early warning module 1.8, a communication module 1.9 and a power supply 1.10; the visual display screen 1.1, the micro inertial navigation module 1.3, the tag identification and positioning module 1.4, the GPS module 1.5, the multi-sensor detection module 1.6, the electronic map navigation module 1.7, the early warning module 1.8, the communication module 1.9 and the power supply 1.10 are respectively connected with the micro control unit 1.2.
The location service base station 2 is a UWB base station, and the tag in the location identification and positioning module 1.4 is a UWB tag.
The tag identification and positioning module 1.4 of the navigation equipment terminal 1 comprises a transmitter 1.4a and an antenna 1.4b, and is used for receiving absolute coordinate information of underground positioning; the transmitter 1.4a transmits a high-frequency pulse data packet to the position service base station 2, the position service base station 2 transmits the data to the ground monitoring and commanding system 3, the ground monitoring and commanding system 3 realizes accurate positioning of underground personnel and vehicles through a TOA method according to the received time, the accurate coordinates are transmitted to the position service base station 2, and the position service base station 2 transmits the accurate coordinates to the navigation equipment terminal 1; the antenna 1.4b receives information sent by the location service base station 2, including absolute coordinate information and broadcast information broadcast by surface to downhole personnel.
The deep well up-and-down positioning navigation system takes an explosion-proof laptop PC or an explosion-proof mobile smart phone as a navigation equipment terminal. The PC terminal is provided with a deep underground positioning navigation system which comprises an underground regional map and an underground roadway environment map of a mining area, an underground structure electronic map can be checked through a visual TFT display screen, and basic functions of basic amplification, reduction, opening, closing, rotation, selection, refreshing and roaming of the electronic map can be realized.
Be equipped with charging socket 1.11 on the navigation equipment terminal 1, connect charging socket 1.11 through the flexible conductor and can charge by power module 1.10.
And the communication module 1.9 of the navigation equipment terminal 1 is a GSM, GPRS, 3G, 4G or 5G communication module.
The GPS module 1.5 on the navigation equipment terminal 1 is used for positioning on the well; the tag identification and positioning module 1.4 is used for underground high-precision positioning and identifying underground absolute position information; the micro inertial navigation module 1.3 is used for assisting positioning when underground satellite-free signals or above-ground satellite signals are weak. Generally, the micro inertial navigation module 1.3 will cause the reduction of the positioning accuracy due to the accumulation of errors, so when the micro inertial navigation module 1.3 is used for downhole auxiliary positioning, the position needs to be initialized continuously by using the high-accuracy positioning information of the tag identification positioning module 1.4 to eliminate the accumulation of errors. At the beginning of system establishment, a position service base station 2 and underground environment monitoring equipment 4 are arranged at underground key positions, namely inflection points, topographical points and danger-prone points, and underground workers must pass through the paths every day, the arrangement scheme is determined according to actual specific requirements, and corresponding accurate three-dimensional coordinate information is used as an identifier. When a worker enters a mining area with the navigation equipment terminal 1, the micro control unit 1.2 of the navigation equipment terminal 1 can autonomously select a required positioning mode by judging whether the worker is in an aboveground environment or an underground environment; when a worker enters the underground with the navigation equipment terminal 1, the transmitter 1.4a transmits a high-frequency pulse data packet to the position service base station 2, the position service base station 2 transmits the received data and the arrival time of the data to the ground monitoring and commanding system 3, the ground monitoring and commanding system 3 realizes the accurate positioning of the underground worker and the vehicle through a TOA method according to the received time, and the accurate coordinate is transmitted to the navigation equipment terminal 1; meanwhile, the accurate coordinate information is used as a new initial position of the inertial navigation system, and continuous high-precision positioning is obtained.
A deep accurate mining well personnel getting-on and getting-off navigation method comprises the following steps:
a. at the beginning of system establishment, an area map above and below a mine well and an underground roadway environment map are manufactured into an electronic map through an embedded geographic information system development platform and are placed into the system to be constructed into an electronic map navigation module 1.7, so that basic functions of basic amplification, reduction, opening, closing, rotation, selection, refreshing and roaming of the electronic map can be realized;
b. after the label identification positioning module 1.4 of the navigation equipment terminal 1 is started, the system marks the obtained absolute coordinate information on an electronic map and displays the absolute coordinate information through a visual display screen 1.1, so that the underground personnel can know the current position, and the ground personnel can know the specific distribution of the underground personnel;
c. when navigation operation is carried out, corresponding interest point marks are selected on the electronic map, so that the distances from people and vehicles to the interest points can be obtained, and the optimal paths reaching the interest points are marked on the electronic map; an alarm is given when the system finds that the personnel vehicle continuously deviates from the optimal path;
d. the system has an information query function, and can perform distance calculation and object attribute query. By selecting the point of interest on the electronic map, the temperature, pressure, air quality, gas concentration and light conditions can be obtained through the underground environment monitoring equipment 4 near the point of interest, and the distance from personnel and vehicles to the point of interest can be obtained.
The deep underground up-and-down positioning navigation system constructs the Internet of things through the underground environment monitoring equipment 4 and the multi-sensor detection module 1.6 of the navigation equipment terminal 1. The underground environment monitoring equipment 4 and the multi-sensor detection module 1.6 of the navigation equipment terminal 1 are integrated with an illumination sensor, a temperature sensor, a pressure sensor, an air quality sensor and a gas detector, the environment indexes of the brightness intensity, the temperature, the air pressure value, the air quality value and the gas concentration value around the underground environment monitoring equipment 4 are remotely monitored, and all the environment indexes are shared through the communication module 1.9, so that ground personnel can master the underground condition in real time without reaching the underground; when the environmental index of the region is higher than the national supervision value, the specific underground condition is timely fed back to the ground monitoring and commanding system 3 through the communication module 1.9, the early warning module 1.8 is triggered, a safety path is planned, and underground personnel are informed to be ready for evacuation or protection.
The present invention and its embodiments have been described above, and the description is not intended to be limiting, and the drawings are only one embodiment of the present invention, and the actual structure is not limited thereto. In summary, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (4)
1. A personnel on-off positioning navigation system for a deep accurate mining well combined with internet of things is characterized in that: the deep underground up-and-down positioning navigation system comprises a navigation equipment terminal, a position service base station, a ground monitoring command system and underground environment monitoring equipment, wherein the navigation terminal is provided with a visual display screen, a micro control unit, a micro inertial navigation module, a tag identification and positioning module, a GPS module, a multi-sensor detection module, an electronic map navigation module, an early warning module, a communication module and a power supply, and the visual display screen, the micro inertial navigation module, the tag identification and positioning module, the GPS module, the multi-sensor detection module, the electronic map navigation module, the early warning module, the communication module and the power supply are respectively connected with the micro control unit;
the GPS module of the navigation equipment terminal is used for independently starting the GPS module to carry out positioning when the ground satellite signal on the ground is strong;
the tag identification and positioning module of the navigation equipment terminal comprises a transmitter and an antenna and is used for receiving absolute coordinate information of underground positioning; the transmitter is in wireless communication with a position service base station arranged underground through an antenna, the position service base station sends the received data and the arrival time of the data to a ground monitoring command system, the ground monitoring command system carries out accurate positioning according to the received information and sends accurate coordinates to a navigation equipment terminal;
the micro inertial navigation module of the navigation equipment terminal is used for assisting in calculating three-dimensional position information of personnel; when the GPS signal is weak, the GPS positioning information at the previous moment is taken as an initial position, and the positioning is continued through an inertial navigation system in the micro inertial navigation module; in an underground environment, absolute three-dimensional coordinate information is acquired through a tag identification and positioning module of a navigation equipment terminal, and then the acquired three-dimensional coordinate is used as a new initial position of an inertial navigation system to continue high-precision positioning.
2. The system of claim 1, wherein the system comprises: the deep underground up-and-down positioning navigation system takes an explosion-proof portable computer PC or an explosion-proof mobile intelligent mobile phone as a navigation equipment terminal, and carries out communication and data transmission to a position service base station and a ground monitoring command system through a communication module.
3. The system of claim 1, wherein the system comprises: the deep underground up-and-down positioning navigation system constructs an internet of things through underground environment monitoring equipment and a multi-sensor detection module of a navigation equipment terminal; the underground environment monitoring equipment and the multi-sensor detection module of the navigation equipment terminal are integrated with an illumination sensor, a temperature sensor, a pressure sensor, an air quality sensor and a gas detector, the environment indexes of the brightness intensity, the temperature, the air pressure value, the air quality value and the gas concentration value around the underground environment monitoring equipment and workers are remotely monitored, all the environment indexes are shared through a communication module, ground personnel can master the underground condition in real time without reaching the underground, and when the environment index of a region is higher than a national supervision value, on one hand, an alarm is given to the underground workers through an early warning module of the navigation equipment terminal; on the other hand, the underground specific conditions are timely fed back to the ground monitoring command system through the communication module, the early warning module is triggered, a safety path is planned, and underground personnel are informed to be ready for evacuation or protection.
4. The navigation method of the personnel positioning navigation system on the combination networking deep precision mining well according to claim 1, characterized by comprising the following steps:
a. at the beginning of system establishment, a position service base station and underground environment monitoring equipment are arranged at underground key positions, namely inflection points, topographic points and danger prone points, and underground workers must pass the paths every day, and corresponding accurate three-dimensional coordinate information is recorded as an identifier;
b. after entering a mining area, the micro control unit of the navigation equipment terminal can autonomously select a required positioning mode by judging whether a person is in an aboveground environment or an underground environment;
c. the GPS module of the navigation equipment terminal is used for independently starting the GPS module to carry out positioning when the ground satellite signal on the ground is strong;
d. the tag identification and positioning module of the navigation equipment terminal comprises a transmitter and an antenna and is used for receiving absolute coordinate information of underground positioning; when a worker enters the underground with a navigation equipment terminal, a transmitter transmits a high-frequency pulse data packet to a position service base station, the position service base station transmits the received data and the arrival time of the data to a ground monitoring and commanding system, the ground monitoring and commanding system realizes the accurate positioning of the underground worker and the underground vehicle through a TOA method according to the received time and transmits the accurate coordinate to the navigation equipment terminal; the antenna receives information including absolute coordinate information and broadcast information broadcasted to underground personnel from the ground;
e. the micro inertial navigation module of the navigation equipment terminal is used for assisting in calculating three-dimensional position information of personnel; when the GPS signal is weak, the GPS positioning information at the previous moment is taken as an initial position, and the positioning is continued through an inertial navigation system in the micro inertial navigation module;
in an underground environment, absolute three-dimensional coordinate information is acquired through a tag identification and positioning module of a navigation equipment terminal, and then the acquired three-dimensional coordinate is used as a new initial position of an inertial navigation system to continue high-precision positioning;
f. at the beginning of system establishment, an area map above and below a mine well and an underground roadway environment map are manufactured into an electronic map through an embedded geographic information system development platform and are placed into the system to be constructed into an electronic map navigation module, so that basic functions of basic amplification, reduction, opening, closing, rotation, selection, refreshing and roaming of the electronic map can be realized;
g. after a label identification positioning module of a navigation equipment terminal is started, the system marks the obtained absolute coordinate information on an electronic map and displays the absolute coordinate information through a visual display screen, so that the underground personnel can know the current position, and the ground personnel can know the specific distribution of the underground personnel;
h. when navigation operation is carried out, corresponding interest point marks are selected on the electronic map, so that the distances from people and vehicles to the interest points can be obtained, and the optimal paths reaching the interest points are marked on the electronic map; an alarm is given when the system finds that the personnel vehicle continuously deviates from the optimal path;
i. the system has an information query function, and can perform distance calculation and object attribute query; by selecting an interest point on the electronic map, the temperature, pressure, air quality, gas concentration and brightness conditions can be obtained through underground environment monitoring equipment near the interest point, and the distance from personnel and vehicles to the interest point is obtained;
j. the constructed Internet of things remotely monitors environmental indexes of brightness intensity, temperature, air pressure value, air quality value and gas concentration value around the underground environment monitoring equipment according to the underground environment monitoring equipment and a multi-sensor detection module of a navigation equipment terminal, timely warns underground personnel through a prewarning module of the navigation equipment terminal when danger occurs, plans a safety path and enables the underground personnel to be ready for evacuation or protection;
k. when the deep underground up-and-down positioning navigation system encounters sudden danger in the working process of workers, the workers can quickly press the early warning module on the navigation equipment terminal, the accurate coordinates of the early warning module are immediately sent to the ground monitoring command system, and the ground monitoring command system informs the nearest personnel to rescue through the communication module.
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| CN109597381B (en) * | 2018-12-04 | 2020-03-31 | 贵州航天云网科技有限公司 | Internet of things safety management system based on big data |
| CN109976345A (en) * | 2019-04-02 | 2019-07-05 | 安徽延达智能科技有限公司 | A kind of Camera calibration of crusing robot in underground complex environment |
| 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 |
| CN111343571A (en) * | 2020-03-07 | 2020-06-26 | 郑州联睿电子科技有限公司 | 5G-oriented integrated positioning system and positioning method integrating UWB |
| CN112162237B (en) * | 2020-09-08 | 2024-04-19 | 天地（常州）自动化股份有限公司 | Mining vehicle positioning equipment and positioning method |
| CN114245310B (en) * | 2021-09-24 | 2024-01-19 | 上海欣子信息科技有限公司 | Underground multi-tag co-location method based on ultra-wideband technology and portable equipment |
| CN114245293A (en) * | 2021-12-01 | 2022-03-25 | 新疆天池能源有限责任公司 | Coal mine personnel and vehicle safety management and control system and method based on UWB and Beidou positioning |
| CN114245292A (en) * | 2021-12-01 | 2022-03-25 | 新疆天池能源有限责任公司 | Danger source warning method and system based on personnel positioning triggering |
| CN116337012B (en) * | 2023-03-20 | 2023-10-20 | 重庆地质矿产研究院 | Surface mine boundary pile position layout optimization method based on oblique photogrammetry technology |
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