CN112627898A - Underground personnel positioning system for mine safety - Google Patents
Underground personnel positioning system for mine safety Download PDFInfo
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- CN112627898A CN112627898A CN202011616581.3A CN202011616581A CN112627898A CN 112627898 A CN112627898 A CN 112627898A CN 202011616581 A CN202011616581 A CN 202011616581A CN 112627898 A CN112627898 A CN 112627898A
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- 238000013461 design Methods 0.000 claims abstract description 5
- 230000004927 fusion Effects 0.000 claims description 7
- 238000004422 calculation algorithm Methods 0.000 claims description 6
- 230000003044 adaptive effect Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 5
- 230000001133 acceleration Effects 0.000 claims description 3
- 230000005389 magnetism Effects 0.000 claims description 3
- 239000000126 substance Substances 0.000 claims description 3
- 238000004891 communication Methods 0.000 abstract description 7
- 238000005259 measurement Methods 0.000 abstract description 3
- 238000012800 visualization Methods 0.000 abstract description 2
- 239000003245 coal Substances 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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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
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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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
- H04W4/029—Location-based management or tracking 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
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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- General Physics & Mathematics (AREA)
- Mining & Mineral Resources (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Radar, Positioning & Navigation (AREA)
- Environmental & Geological Engineering (AREA)
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Abstract
The invention discloses an underground personnel positioning system for mine safety, which comprises a hand ring, a geomagnetic sensor, a three-dimensional attitude sensor and an intelligent control terminal, wherein the geomagnetic sensor and the three-dimensional attitude sensor are arranged in the hand ring, the intelligent control terminal is in wireless communication with the hand ring and is used for driving a corresponding character model to move in a built mine three-dimensional model according to received data collected by the three-dimensional attitude sensor, calculating the position of underground personnel according to the data collected by the geomagnetic sensor and the three-dimensional attitude sensor, realizing the accurate measurement of underground personnel distribution and personnel quantity, and simultaneously realizing the acquisition of the position of the character model at a certain time point in a script playback mode when accidental communication interruption occurs, thereby reducing the search and rescue range; a mine three-dimensional model is built on the basis of a design drawing of a mine, and a corresponding character model is driven to move in the built mine three-dimensional model according to data collected by a received three-dimensional attitude sensor, so that the visualization of the position of mine personnel is realized.
Description
Technical Field
The invention relates to the technical field of mine safety, in particular to an underground personnel positioning system for mine safety.
Background
Along with the increasing emphasis of the country on the safe production work of the coal mine, the routine requirements of coal mine production enterprises are improved, at present, the problem that the underground coal mine is difficult to manage personnel entering the mine generally exists, particularly in the coal face, the time for the personnel to enter and exit the mine is not fixed, the personnel are not centralized and the dispersity is very high, the situation that the personnel enter and exit the mine is accurately mastered is greatly difficult, the underground information on the mine is difficult to be uploaded and transmitted accurately in time, the personnel on the mine are difficult to master the dynamic distribution and the operation situation of the underground personnel in time, once an accident occurs, accurate data cannot be provided for the distribution and the personnel number of the mine constructors, and the mine constructors cannot be rescued effectively and pertinently.
Disclosure of Invention
The invention aims to provide an underground personnel positioning system for mine safety, which realizes accurate measurement of underground personnel distribution and personnel quantity.
In order to solve the technical problems, the underground personnel positioning system for mine safety comprises a bracelet, a geomagnetic sensor, a three-dimensional attitude sensor and an intelligent control terminal, wherein the geomagnetic sensor and the three-dimensional attitude sensor are arranged in the bracelet, the intelligent control terminal is in wireless communication with the bracelet, and the intelligent control terminal is used for driving a corresponding character model to move in a built three-dimensional mine model according to received data collected by the three-dimensional attitude sensor and calculating the position of underground personnel according to the data collected by the geomagnetic sensor and the three-dimensional attitude sensor.
Furthermore, the intelligent control terminal constructs a mine three-dimensional model according to a design drawing of the mine.
Furthermore, the intelligent control terminal obtains geomagnetic path data of the current region of the underground personnel through a geomagnetic positioning model according to the collected geomagnetic signals to obtain approximate position information of the underground personnel.
Furthermore, the intelligent control terminal calculates the approximate position of the underground personnel according to the motion direction data and the acceleration data of the underground personnel collected by the three-dimensional attitude sensor, so as to obtain the approximate position information of the underground personnel.
Furthermore, the intelligent control terminal obtains the similarity of the two approximate position information through the Euclidean distance to obtain the score of the positioning result, then utilizes the self-adaptive score fusion algorithm to fuse the obtained approximate position information in the scoring level to obtain the final score of the user, and outputs the position data of the underground personnel.
Further, the adaptive score fusion algorithm formula is as follows:
;
wherein the content of the first and second substances,
a score representing the location of the earth magnetism,
a score representing the three-dimensional attitude sensor positioning,
。
furthermore, the alpha and the beta adopt a self-adaptive value taking method, and the formula is as follows:
furthermore, the system also comprises a script recording module which is used for recording the motion process of the character model in a script recording mode, and the acquisition of the position of the character model at a certain time point can be realized in a script playback mode.
The invention has the beneficial effects that: the intelligent control terminal is used for driving a corresponding character model to move in a constructed mine three-dimensional model according to received data collected by the three-dimensional attitude sensor, and meanwhile, the position of underground personnel is calculated according to the data collected by the geomagnetic sensor and the three-dimensional attitude sensor, so that the distribution of the underground personnel and the accurate measurement of the quantity of the underground personnel are realized, and meanwhile, when accidental communication interruption occurs, the position of the character model at a certain time point can be obtained in a script playback mode, so that the search and rescue range is greatly reduced; a mine three-dimensional model is built on the basis of a design drawing of a mine, and a corresponding character model is driven to move in the built mine three-dimensional model according to data collected by a received three-dimensional attitude sensor, so that the visualization of the position of mine personnel is realized.
Drawings
FIG. 1 is a diagram of the system of the present invention.
Detailed Description
As shown in fig. 1, the underground personnel positioning system for mine safety of the present invention includes a bracelet, a geomagnetic sensor, a three-dimensional attitude sensor and an intelligent control terminal that is in wireless communication with the bracelet, wherein the geomagnetic sensor, the three-dimensional attitude sensor and a lithium battery powered by a wireless communication module are disposed in the bracelet, a three-dimensional model building module in the intelligent control terminal builds a mine three-dimensional model according to a design drawing of a mine, a character model driving module drives a corresponding character model to move in the built mine three-dimensional model according to data collected by the received three-dimensional attitude sensor, and simultaneously, the position of an underground personnel is calculated according to data collected by the geomagnetic sensor and the three-dimensional attitude sensor.
In this embodiment, a geomagnetic positioning module in the intelligent control terminal obtains geomagnetic path data of a current region where the underground personnel are located according to the collected geomagnetic signals through a geomagnetic positioning model, so as to obtain approximate position information of the underground personnel; and the attitude positioning module in the intelligent control terminal calculates the approximate position of the underground personnel according to the motion direction data and the acceleration data of the underground personnel acquired by the three-dimensional attitude sensor to obtain the approximate position information of the underground personnel.
In this embodiment, the adaptive score fusion module in the intelligent control terminal obtains the similarity between two approximate location information through the euclidean distance to obtain the score of the positioning result, and then uses the adaptive score fusion algorithm to fuse the obtained approximate location information in the scoring hierarchy to obtain the final score of the user, and outputs the location data of the downhole personnel. The adaptive score fusion algorithm formula is as follows:
wherein the content of the first and second substances,
a score representing the location of the earth magnetism,
a score representing the three-dimensional attitude sensor positioning,
。
the sum adopts a self-adaptive value-taking scheme, and formulas are shown as (2) and (3):
the intelligent control terminal is internally provided with a script recording module for recording the motion process of the character model in a script recording mode, and when unexpected communication interruption occurs, the position of the character model at a certain time point can be acquired in a script playback mode, so that the search and rescue range is greatly reduced.
The above embodiments will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
Claims (8)
1. The utility model provides a mine safety is with personnel positioning system in pit which characterized in that: the intelligent control terminal is used for driving a corresponding character model to move in a constructed mine three-dimensional model according to data collected by the received three-dimensional attitude sensor, and meanwhile, the position of underground personnel is calculated according to the data collected by the geomagnetic sensor and the three-dimensional attitude sensor.
2. A mine safety downhole personnel positioning system according to claim 1, characterized in that: and the intelligent control terminal constructs a mine three-dimensional model according to a design drawing of the mine.
3. A mine safety downhole personnel positioning system according to claim 1, characterized in that: the intelligent control terminal obtains geomagnetic path data of the current region of the underground personnel through a geomagnetic positioning model according to the collected geomagnetic signals to obtain approximate position information of the underground personnel.
4. A mine safety downhole personnel positioning system according to claim 1, characterized in that: the intelligent control terminal calculates the approximate position of the underground personnel according to the movement direction data and the acceleration data of the underground personnel collected by the three-dimensional attitude sensor, and the approximate position information of the underground personnel is obtained.
5. A mine safety downhole personnel positioning system according to claim 1, characterized in that: the intelligent control terminal obtains the similarity of the two approximate position information through the Euclidean distance to obtain the score of the positioning result, then utilizes the self-adaptive score fusion algorithm to fuse the obtained approximate position information in the scoring hierarchy, obtains the final score of the user, and outputs the position data of the underground personnel.
6. A mine safety downhole personnel positioning system according to claim 5, wherein: the adaptive score fusion algorithm formula is as follows:
;
wherein the content of the first and second substances,
a score representing the location of the earth magnetism,
a score representing the three-dimensional attitude sensor positioning,
。
7. a mine safety downhole personnel positioning system according to claim 6, wherein: the alpha and the beta adopt a self-adaptive value taking method, and the formula is as follows:
8. a mine safety downhole personnel positioning system according to claim 1, characterized in that: the system also comprises a script recording module which is used for recording the motion process of the character model in a script recording mode, and the acquisition of the position of the character model at a certain time point can be realized in a script playback mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011616581.3A CN112627898A (en) | 2020-12-31 | 2020-12-31 | Underground personnel positioning system for mine safety |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011616581.3A CN112627898A (en) | 2020-12-31 | 2020-12-31 | Underground personnel positioning system for mine safety |
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| CN112627898A true CN112627898A (en) | 2021-04-09 |
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| CN202011616581.3A Pending CN112627898A (en) | 2020-12-31 | 2020-12-31 | Underground personnel positioning system for mine safety |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114353782A (en) * | 2022-01-11 | 2022-04-15 | 华北理工大学 | Underground positioning method and underground positioning device based on Baseline-RFMDR |
Citations (6)
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|---|---|---|---|---|
| CN103188604A (en) * | 2011-12-31 | 2013-07-03 | 丹东东方测控技术有限公司 | Method and device achieving underground mine positioning and navigation |
| CN104244406A (en) * | 2014-09-18 | 2014-12-24 | 中国矿业大学 | Mine movement target positioning system and method under cloud computing data |
| CN108344411A (en) * | 2018-02-09 | 2018-07-31 | 湖南人文科技学院 | Indoor high-accuracy position system |
| CN207999282U (en) * | 2018-03-13 | 2018-10-23 | 浙江理工大学 | Intelligent mine safety monitoring system |
| WO2019136918A1 (en) * | 2018-01-11 | 2019-07-18 | 华为技术有限公司 | Indoor positioning method, server and positioning system |
| CN111985037A (en) * | 2020-08-27 | 2020-11-24 | 长沙眸瑞网络科技有限公司 | Three-dimensional roadway editing method based on terminal equipment |
-
2020
- 2020-12-31 CN CN202011616581.3A patent/CN112627898A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103188604A (en) * | 2011-12-31 | 2013-07-03 | 丹东东方测控技术有限公司 | Method and device achieving underground mine positioning and navigation |
| CN104244406A (en) * | 2014-09-18 | 2014-12-24 | 中国矿业大学 | Mine movement target positioning system and method under cloud computing data |
| WO2019136918A1 (en) * | 2018-01-11 | 2019-07-18 | 华为技术有限公司 | Indoor positioning method, server and positioning system |
| CN108344411A (en) * | 2018-02-09 | 2018-07-31 | 湖南人文科技学院 | Indoor high-accuracy position system |
| CN207999282U (en) * | 2018-03-13 | 2018-10-23 | 浙江理工大学 | Intelligent mine safety monitoring system |
| CN111985037A (en) * | 2020-08-27 | 2020-11-24 | 长沙眸瑞网络科技有限公司 | Three-dimensional roadway editing method based on terminal equipment |
Non-Patent Citations (2)
| Title |
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| 舍乐模，刘英，高锁军, 北京：北京工业大学出版社 * |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114353782A (en) * | 2022-01-11 | 2022-04-15 | 华北理工大学 | Underground positioning method and underground positioning device based on Baseline-RFMDR |
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