CN111737391A - Method for accurately positioning underground mining mountain operators - Google Patents
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Abstract
The invention provides an accurate positioning method for underground mining mountain operators, and relates to the technical field of operator positioning. The accurate positioning method for the underground mining workers comprises a system consisting of a base station, an identification card, a resolving server and computer software; the base station is used for receiving the information of the identification card and obtaining the coordinate position of the identification card through an algorithm; the identification card is used for transmitting signals according to a set time interval. The invention changes the original regional distance positioning into dynamic coordinate positioning, changes the walking coordinate and commands the escape of underground personnel more quickly; secondly, the original playback of the motion history track of the operator is changed into real-time and synchronous underground and aboveground, so that the direction of the operator is displayed more visually; and thirdly, the original engineering PDF picture or three-dimensional stereogram in the system is changed into a CAD drawing, the relative position of personnel is more accurate, and the change of the three aspects realizes the real-time, dynamic and synchronous accurate positioning of underground operation personnel.
Description
Technical Field
The invention relates to the technical field of operator positioning, in particular to an accurate positioning method for underground mining mountain operators.
Background
In the process of mine operation and production, because natural conditions are complex and the operation environment is poor, and people cannot fully and deeply know the objective law of mine disasters, the carelessness, the operation against regulations and the command against regulations are sometimes paralyzed, and the possibility of certain disasters is caused. In order to rapidly and effectively treat the mine accident, protect the life safety of workers and reduce the national resource and property loss, the workers must do rescue work according to the requirements of two regulations (coal mine safety regulations and coal mine rescue regulations), and simultaneously, the workers must be educated about how to actively carry out self rescue and mutual rescue when the accident happens.
At present, the underground mining personnel positioning system generally adopts the RFID radio frequency technology, the system sends out stored radio frequency signals through energy obtained through induced current, sends out information stored on a chip or actively sends out signals with a certain frequency through the energy obtained through the induced current, a reader-writer reads the information and decodes the information, and then the information is sent to a data management system for data processing.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides an accurate positioning method for underground mining mountain operators, which solves the defects and shortcomings in the prior art.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: an underground mining mountain operator accurate positioning method comprises a system consisting of a base station, an identification card, a resolving server and computer software;
the base station is used for receiving the information of the identification card and obtaining the coordinate position of the identification card through an algorithm;
the identification card is used for transmitting signals according to a set time interval;
the underground operator is dynamically and synchronously displayed on the CAD engineering plan in real time;
the resolving server is used for calculating the position coordinates of the identification card (personnel), a computer model is established through two algorithms of a binary quadratic equation and a trigonometric function, the position coordinates of the personnel are solved, the computer software is used for analyzing the CAD engineering plane drawing file format, and a graph is drawn and displayed on a computer screen and used as a map for positioning the personnel to track the positioning of the personnel in real time.
Preferably, the positioning method comprises the following steps:
1) the base station device is internally provided with a UWB module as a positioning anchor point, and an identification card worn on the body of underground personnel is internally provided with a UWB module as a positioning label;
2) when underground personnel are in a signal coverage area, the identification card sends a UWB information frame, the UWB positioning anchor point realizes the accurate measurement of the flight time of electromagnetic waves by detecting a physical frame header, and the distance is obtained by utilizing the product of the light speed (fixed value) and the time;
3) the positioning base station transmits the distance information to a position calculation server, calculation software calculates and calculates position coordinates of personnel according to the known base station position information and stores the position coordinates into a database, and positioning application software tracks the position change in real time by inquiring the database, identifies the position coordinates to a CAD drawing and displays the position coordinates on a computer screen.
Preferably, the positioning method adopts a UWB pulse signal communication technology, the position coordinates of the operator are calculated by measuring the distance between the base station and the identification card, the coordinates are marked as (x, y) and stored in a computer database, and after the computer calculates, the coordinate information is reflected on a computer CAD drawing.
Preferably, when the coordinates (x, y) are calculated, the positioning method firstly determines that the base point in the plane is unchanged, the coordinates of the base point are (0, 0), and by measuring the distance from the known base point to the coordinate position as h, the measurement calculation formula is as follows:
h ═ c × t, where c is the speed of light propagation in air and t is the time of flight;
in one-dimensional positioning, because the geographic map is determined, the inclination angle of the position point to be obtained is known, and assuming that the included angle with the x axis is a, we can obtain:
the coordinates (x, y) of the position point to be found can be obtained by calculation:
where (x0, y0) is the base point coordinate, assumed here to be (0, 0).
Preferably, the current activity situation of the downhole operator is dynamically and synchronously positioned on the CAD engineering plan in real time, and the personnel coordinates on the CAD engineering plan are changed and traceable along with the movement of the downhole operator.
(III) advantageous effects
The invention provides an accurate positioning method for underground mining mountain operators. The method has the following beneficial effects:
according to the invention, the UWB chip pulse technology is adopted for accurate positioning of underground operators, so that the original area distance positioning is changed into dynamic coordinate positioning, the walking coordinate is changed, and the underground operators are instructed to escape more quickly; secondly, the original playback of the motion history track of the operator is changed into real-time and synchronous underground and aboveground, so that the direction of the operator is displayed more visually; and thirdly, the original engineering PDF picture or three-dimensional stereogram in the system is changed into a CAD drawing, the relative position of personnel is more accurate, and the change of the three aspects realizes the real-time, dynamic and synchronous accurate positioning of underground operation personnel.
Drawings
FIG. 1 is a topology diagram of the system layout of the present invention;
FIG. 2 is a plan view of a CAD project of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example (b):
as shown in fig. 1-2, an embodiment of the present invention provides an accurate positioning method for an underground mining mountain operator, where the positioning method includes a system composed of a base station, an identification card, a calculation server, and computer software;
the base station is used for receiving the information of the identification card and obtaining the coordinate position of the identification card through an algorithm;
the identification card is used for transmitting signals according to a set time interval;
the underground operator is dynamically and synchronously displayed on the CAD engineering plan in real time;
the resolving server is used for calculating the position coordinates of the identification card (personnel), a computer model is established through two algorithms of a binary quadratic equation and a trigonometric function, the computer software for resolving the position coordinates of the personnel is used for resolving the CAD engineering plane drawing file format, and a graph is drawn and displayed on a computer screen to be used as a map for positioning the personnel and track the positioning of the personnel in real time.
In the invention, the positioning method comprises the following steps:
1) the base station device is internally provided with a UWB module as a positioning anchor point, and an identification card worn on the body of underground personnel is internally provided with a UWB module as a positioning label;
2) when underground personnel are in a signal coverage area, the identification card sends a UWB information frame, the UWB positioning anchor point realizes the accurate measurement of the flight time of electromagnetic waves by detecting a physical frame header, and the distance is obtained by utilizing the product of the light speed (fixed value) and the time;
3) the positioning base station transmits the distance information to a position calculation server, calculation software calculates and calculates position coordinates of personnel according to the known base station position information and stores the position coordinates into a database, and positioning application software tracks the position change in real time by inquiring the database, identifies the position coordinates to a CAD drawing and displays the position coordinates on a computer screen.
The positioning method adopts UWB pulse signal communication technology, calculates the position coordinates of the operator by measuring the distance between the base station and the identification card, the coordinates are marked as (x, y), and are stored in a computer database, and after the computer calculates, the coordinate information is reflected on a computer CAD drawing.
In the invention, when the positioning method is used for calculating coordinates (x, y), firstly, the base point in a plane is determined to be unchanged, the coordinate of the base point is (0, 0), the distance from the known base point to the coordinate position is measured to be h, and the measurement calculation formula is as follows:
h ═ c × t, where c is the speed of light propagation in air and t is the time of flight;
in one-dimensional positioning, because the geographic map is determined, the inclination angle of the position point to be obtained is known, and assuming that the included angle with the x axis is a, we can obtain:
the coordinates (x, y) of the position point to be found can be obtained by calculation:
where (x0, y0) is the base point coordinate, assumed here to be (0, 0).
In the invention, the current activity situation of the underground operator is positioned on the CAD engineering plan in real time, dynamically and synchronously, and the personnel coordinate on the CAD engineering plan is changed and traceable along with the movement of the underground operator.
According to the invention, the UWB chip pulse technology is adopted for accurate positioning of underground operators, so that the original area distance positioning is changed into dynamic coordinate positioning, the walking coordinate is changed, and the underground operators are instructed to escape more quickly; secondly, the original playback of the motion history track of the operator is changed into real-time and synchronous underground and aboveground, so that the direction of the operator is displayed more visually; and thirdly, the original engineering PDF picture or three-dimensional stereogram in the system is changed into a CAD drawing, the relative position of personnel is more accurate, and the change of the three aspects realizes the real-time, dynamic and synchronous accurate positioning of underground operation personnel.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The method for accurately positioning underground mining mountain operators is characterized by comprising the following steps of: the positioning method comprises a system consisting of a base station, an identification card, a resolving server and computer software;
the base station is used for receiving the information of the identification card and obtaining the coordinate position of the identification card through an algorithm;
the identification card is used for transmitting signals according to a set time interval;
the underground operator is dynamically and synchronously displayed on the CAD engineering plan in real time;
the resolving server is used for calculating the position coordinates of the identification card (personnel), a computer model is established through two algorithms of a binary quadratic equation and a trigonometric function, the position coordinates of the personnel are solved, the computer software is used for analyzing the CAD engineering plane drawing file format, and a graph is drawn and displayed on a computer screen and used as a map for positioning the personnel to track the positioning of the personnel in real time.
2. The method for accurately positioning an underground mining mountain operator according to claim 1, wherein the method comprises the following steps: the positioning method comprises the following steps:
1) the base station device is internally provided with a UWB module as a positioning anchor point, and an identification card worn on the body of underground personnel is internally provided with a UWB module as a positioning label;
2) when underground personnel are in a signal coverage area, the identification card sends a UWB information frame, the UWB positioning anchor point realizes the accurate measurement of the flight time of electromagnetic waves by detecting a physical frame header, and the distance is obtained by utilizing the product of the light speed (fixed value) and the time;
3) the positioning base station transmits the distance information to a position calculation server, calculation software calculates and calculates position coordinates of personnel according to the known base station position information and stores the position coordinates into a database, and positioning application software tracks the position change in real time by inquiring the database, identifies the position coordinates to a CAD drawing and displays the position coordinates on a computer screen.
3. The method for accurately positioning an underground mining mountain operator according to claim 1, wherein the method comprises the following steps: the positioning method adopts a UWB pulse signal communication technology, the position coordinates of an operator are calculated by measuring the distance between a base station and an identification card, the coordinates are marked as (x, y) and stored in a computer database, and after the computer calculates, the coordinate information is reflected on a computer CAD drawing.
4. A method for accurate positioning of an operator in an underground mining mountain according to any of claims 1 to 3, characterized in that: when the positioning method is used for calculating coordinates (x, y), firstly, a base point in a plane is determined to be unchanged, the coordinate of the base point is (0, 0), the distance from the known base point to the coordinate position is measured to be h, and the measurement calculation formula is as follows:
h ═ c × t, where c is the speed of light propagation in air and t is the time of flight;
in one-dimensional positioning, because the geographic map is determined, the inclination angle of the position point to be obtained is known, and assuming that the included angle with the x axis is a, we can obtain:
the coordinates (x, y) of the position point to be found can be obtained by calculation:
where (x0, y0) is the base point coordinate, assumed here to be (0, 0).
5. The method for accurately positioning an underground mining mountain operator according to claim 3, wherein the method comprises the following steps: the current activity situation of the underground operating personnel is dynamically and synchronously positioned on the CAD engineering plan in real time, and the personnel coordinates on the CAD engineering plan are changed and traceable along with the movement of the underground operating personnel.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112291537A (en) * | 2020-12-28 | 2021-01-29 | 南京北路智控科技股份有限公司 | Multi-system fusion communication system and method based on CAD mapping map |
| CN113379192A (en) * | 2021-05-11 | 2021-09-10 | 紫金矿业集团股份有限公司 | Automatic mine ore blending management and scheduling system based on UWB technology |
| CN115199336A (en) * | 2022-07-15 | 2022-10-18 | 中钢集团马鞍山矿山研究总院股份有限公司 | Mine goaf form real-time monitoring system and modeling method |
| WO2023151131A1 (en) * | 2022-02-14 | 2023-08-17 | 中煤科工集团沈阳研究院有限公司 | Testing device and testing method for coal mine moving target positioning capability |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112291537A (en) * | 2020-12-28 | 2021-01-29 | 南京北路智控科技股份有限公司 | Multi-system fusion communication system and method based on CAD mapping map |
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| WO2023151131A1 (en) * | 2022-02-14 | 2023-08-17 | 中煤科工集团沈阳研究院有限公司 | Testing device and testing method for coal mine moving target positioning capability |
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| CN115199336B (en) * | 2022-07-15 | 2023-06-06 | 中钢集团马鞍山矿山研究总院股份有限公司 | Real-time monitoring system and modeling method for mine goaf morphology |
| WO2024011891A1 (en) * | 2022-07-15 | 2024-01-18 | 中钢集团马鞍山矿山研究总院股份有限公司 | Real-time mine goaf morphology monitoring system, and modeling method |
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