CN115379556A - Underground intelligent electric lamp device for positioning personnel and positioning method - Google Patents
Underground intelligent electric lamp device for positioning personnel and positioning method Download PDFInfo
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- H—ELECTRICITY
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Abstract
The invention relates to an underground intelligent electric lamp device for positioning personnel and a positioning method, wherein an interaction module is used for receiving and sending collected data between an intelligent electric lamp and a positioning card worn by personnel through a UWB signal, the data is screened, optimized, corrected and the like, and an instruction is fed back in a real-time or periodic manner; deploying intelligent lamps according to requirements, properly adjusting equipment of the intelligent lamps, and safely and efficiently accessing acquired data to a data center layer by layer through a wired communication unit; any common substation sends a ranging signal to at least one positioning card in the range, the positioning card replies a response signal to the substation after receiving the ranging signal, and the common substation uniformly sends the received ranging result to the edge substations in the range through a wired communication unit to record, calibrate and correct data, store and report the data to a data center. Personnel positioning is simpler, the problem of inaccurate information between communications is solved, the pressure of a data center is reduced, and the energy consumption of the data center is reduced.
Description
Technical Field
The invention relates to a positioning technology, in particular to an underground intelligent electric lamp device for positioning personnel and a positioning method.
Background
In the working scenes of mines and underground mining, the situation that the underground positioning is used for reporting to the ground center is indispensable, so that the field situation is well commanded. In recent years, the coal industry is continuously upgraded in a safe, green, efficient and intelligent way, the mechanization, automation and informatization of coal mines are also continuously improved, and the positioning technology for underground personnel is one of the directions of intensive research of many technologists.
The existing underground positioning technology is also like RFID, zigbee technology, WI-FI technology and the like, but the existing underground positioning technology has low positioning precision and cannot perform two-dimensional accurate positioning, particularly a system of the RFID technology can only detect whether personnel carrying a positioning card are in the wireless range of a positioning substation, cannot perform personnel positioning, and is difficult to meet the underground operation requirement at the present stage; although the system based on Zigee and WI-FI technology can position a person, the data result of the system has a non-negligible error. With the change of the information age, the scale of the acquired data is gradually increased, the load pressure of the data center is unbalanced, and the common underground substation and the ground center are difficult to support the data analysis requirements required by modern science and technology life.
Disclosure of Invention
The intelligent electric lamp is used as a main body, the intelligent electric lamp is deployed according to the requirement, equipment of the intelligent electric lamp is properly adjusted, collected data are safely and efficiently connected into a data center layer by layer, results of underground personnel positioning conditions are optimized, meanwhile, the data are stored into a control center, and the following equipment is indicated in the next step.
The technical scheme of the invention is as follows: an underground intelligent lamp device for positioning personnel comprises a ground data center and a plurality of divided edge area units which are deployed according to the field requirements, wherein each edge area unit consists of 1 edge analysis lamp and a plurality of data acquisition lamps in the area; each data acquisition electric lamp acquires positioning card information in corresponding edge regions in the pit through a data acquisition unit, the data information is sent to edge analysis electric lamps in the regions through a signal transmitter in a wireless communication mode, the edge analysis electric lamps receive data from the acquisition electric lamps in the regions through a data interaction module, and the acquired data are optimized and stored through an edge analysis electric lamp inner edge analyzer and then uploaded to a ground data center through an edge analysis electric lamp inner edge interaction module.
Preferably, the data collection electric lamp comprises a mounted lighting device and a wireless communication unit.
Preferably, the edge analysis electric lamp comprises a mounted lighting device, a wireless communication device, an edge interaction module and an edge analyzer.
A method for positioning an underground intelligent electric lamp device for positioning personnel comprises the following steps:
1) The data acquisition electric lamp acquires data, transmits an acquired data signal to a positioning card in a communication range based on a UWB signal, immediately transmits a data result to the edge analysis electric lamp through the wired communication unit for storage and further processing;
2) On one hand, the edge analysis lamp processes data results, immediately stores the results collected by the data acquisition lamp in the area to a ground data center, and the ground data center further optimizes the results; on the other hand, whether the data acquisition electric lamp detection equipment in each area normally operates or not is periodically detected, and for the emergency result, the data is stored in the nearest edge analysis electric lamp which is effectively worked nearby in real time and is timely reported to a ground data center for feedback;
3) The ground data center displays the positioning distribution of the underground personnel under the normal condition, and the distribution condition of the underground personnel is arranged according to the report of the result; and (3) analyzing the emergency data signals transmitted in the step 2), and carrying out next indication on the processed result by a worker.
Further, the step 1) of collecting data of the electric lamp specifically comprises the following steps:
1.1 Based on the periodic self-testing distance between the wired communication mode and each data acquisition electric lamp in the fringe area unit, and based on the time t of the ranging signal sent by the first data acquisition electric lamp 1 And the time t when the second data acquisition lamp receives the distance measurement signal sent by the first data acquisition lamp 2 And a response signal, the time t when the first data acquisition lamp receives the response signal of the second data acquisition lamp 12 Obtaining the distance S between the first data acquisition electric lamp and the second data acquisition electric lamp according to the time-velocity formula v = S/t 12 Detecting the distance S between two data acquisition lamps 12 And the distance l between two data acquisition lamps known at the time of field deployment 12 Comparing, namely detecting whether the equipment normally operates;
1.2 Time T) of obtaining the distance measurement signal between the locator card and the two last data acquisition lamps available in the communication range 11 And T 21 The delay response time of the signal received by the locator card is T 1 The transmission speed of the radio signal is the speed of light c, and the process can be expressed as follows:
according to T acquired by data 11 And T 21 And the distance l between two data acquisition lamps known at the time of field deployment 12 The response time of the substation is very short, so that the moving speed of underground personnel is highSlower, can calculate d 11 ＝1/2[l 12 +c(T 11 -T 12 )/2]、d 12 ＝l 12 -d 11 According to d 11 、d 12 And two data acquisition electric lamp position data are positioned.
Furthermore, the data acquisition electric lamp is characterized in that the two data acquisition electric lamps which send the ranging signals first uniformly recover data to calculate the distance between the locator card and the locator card, and the distance is uploaded to the edge analysis electric lamp through the wired communication unit.
Further, the step 2) specifically comprises the following steps:
2.1 The edge analysis lamp preprocesses data reported by each data acquisition lamp within the range;
2.2 The edge analysis lamp summarizes and classifies the preprocessed data, divides the preprocessed data into positioning data and self-testing data based on the characteristic attributes of the data, optimizes the positioning data, calculates the accurate positioning of underground personnel and focuses attention on the places where the personnel gather; detecting the self-testing data to check the working condition of the underground electric lamp equipment;
2.3 Based on the summary results, anomalous data is identified and fed back to the ground data center.
Further, an edge analyzer in the edge analysis electric lamp receives data on the data acquisition electric lamp, and optimizes a result collected under the current condition based on a Kalman filtering principle; and (3) whether the data acquisition lamp equipment in the self-detection area operates normally in a period or not, and if abnormal events exist in the analysis result, such as abnormal equipment detection, abnormal personnel positioning and the like, signals are immediately sent to a ground data center.
Furthermore, an edge interaction module in the edge analysis lamp is simultaneously responsible for data interaction between the edge analysis lamp and the data acquisition lamp as well as between the edge analysis lamp and a ground data center, receives initial data sent by the data acquisition lamp, and transmits the initial data to an edge analyzer through a firewall and data encryption; judging whether further processing is needed for the analysis result of the edge analyzer, and if the optimization processing is finished, continuously uploading the result to a ground data center; and the ground center feeds back the received data and then sends the instructions back to each data acquisition electric lamp layer by layer.
The invention has the beneficial effects that: the underground intelligent lamp device and the positioning method for positioning personnel reasonably deploy the intelligent lamp underground by taking on-site actual requirements as driving, discretize the data pressure of a data center, reduce the energy consumption of the data center and improve the accuracy and the efficiency of data analysis; the underground personnel distribution condition is known and an emergency treatment mechanism is deployed for emergency situations by using the region division unit, so that support is provided for underground safety protection. The invention utilizes a layered interaction mode to collect the analysis results of the intelligent electric lamp, the edge analysis intelligent electric lamp and the data center in turn; by utilizing the edge computing architecture, local data are filtered, screened and corrected by the intelligent electric lamps based on the wired communication unit through the edge analysis, the data pressure of a data center is relieved, the load of the data center is reduced by effectively utilizing the edge data analysis capability of the intelligent electric lamps, the data analysis energy consumption of the data center is reduced while the data safety of the local intelligent electric lamps is ensured, and the high efficiency and the accuracy of the whole data analysis are improved.
Drawings
FIG. 1 is a diagram of an embodiment of an underground intelligent lighting fixture for locating personnel;
FIG. 2 is a block diagram of a data acquisition lamp according to an embodiment of the present invention;
FIG. 3 is a block diagram of an edge-analyzed lamp in accordance with an embodiment of the present invention;
FIG. 4 is a diagram of a locator card in accordance with the practice of the present invention;
FIG. 5 is a flow chart of data collection according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of an edge analyzer in an edge analyzing lamp according to an embodiment of the present invention;
FIG. 7 is a flowchart of an edge interaction module in an edge analysis lamp according to an embodiment of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and the specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
As shown in fig. 1, a ground data center is deployed according to the field requirements to divide N edge areas, and each edge area is composed of 1 edge analysis lamp and several data acquisition lamps in the area. Every data acquisition electric light passes through data collection station and gathers the interior locator card information of corresponding marginal zone in the pit, rethread signal transmitter adopts wireless communication's mode to send data information for the marginal analysis electric light in corresponding the region, the marginal analysis electric light receives the data on each acquisition electric light in coming from this region through data interaction module, rethread marginal analysis electric light inward flange analysis ware is optimized the data of gathering, after preserving, upload to ground data center by marginal analysis electric light inward flange interaction module.
Fig. 2 and 3 show a lamp structure according to an embodiment of the present invention, and the device for data collection of lamp mounting includes a lighting device 1 and a wireless communication device 2; the equipment for edge analysis lamp mounting comprises: lighting apparatus 1, wireless communication device 2, edge interaction apparatus 3, edge analyzer 4.
Fig. 4 shows a positioning card structure of an embodiment of the present invention, for the safety and health of the personnel in the well, the positioning card can not be placed above the waist of the personnel, and can not affect the increase of the error of data acquisition, and the positioning card structure is designed to be in a box which is stuck on the waist of the personnel. The power supply supporting device is required to work at first, and the power supply supporting device is designed into a rechargeable storage power supply pattern for frequent work in future; the positioning communication unit comprises an antenna and a positioning chip for equipment requirements; the processor is provided for data storage and identification.
A method for positioning an underground intelligent electric lamp device for positioning personnel comprises the following steps:
s1: the common substations (data acquisition electric lamps) are responsible for acquiring data, and immediately transmit data results (acquiring positioning data by calculating acquisition time according to the known distance between the common substations when deployed and the time when the common substations transmit the acquired data and the time when response signals are received) to the edge substations through the wired communication unit after positioning cards in a communication range send acquired data signals based on UWB signals, and then carry out next processing;
s2: the edge substations (edge analysis electric lamps) process data results on one hand, immediately store the results collected by the common substations in the area to a ground data center, and the ground data center further optimizes the results; on the other hand, whether the common substation detection equipment in each area normally operates or not is detected in a period, and for the result of emergency, the data is stored into the nearest edge substation which effectively works nearby in real time and is reported to the ground data center in time for feedback;
s3: the ground data center displays the positioning distribution of the underground personnel clearly under the normal condition, and the distribution condition of the underground personnel is arranged according to the report of the result; and (4) analyzing the emergency data signal transmitted in the step (S2), and carrying out next indication on the processed result by a worker.
In the above steps, the collecting of the data by the common substation in step S1 specifically includes the following steps:
(1) Based on the periodic self-testing distance between substations in the wired communication mode, and based on the time t of the ranging signal sent by the substation 1 1 The time t when the substation 2 receives the ranging signal sent by the substation 1 2 And a response signal, a time t when the substation 1 receives the response signal of the substation 2 12 The distance S between the substations 1 and 2 is derived from the time-velocity equation (v = S/t) 12 Detecting the distance S between substations 12 And the distance l between substations known at the time of field deployment 12 Comparing, namely detecting whether the equipment normally operates;
(2) Obtaining the ranging signal time T of the positioning card and the two effective nearest substations in the communication range 11 And T 21 The delay response time of the signal received by the locator card is T 1 The transmission speed of the radio signal is the speed of light c, and the following equation can be obtained:
according to T acquired by data 11 And T 21 And the distance l between the substation 1 and the substation 2, which is known at the time of field deployment 12 Because the response time of the substation is very short and the moving speed of underground personnel is slow, d can be calculated 11 ＝1/2[l 12 +c(T 11 -T 12 )/2]、d 12 ＝l 12 -d 11 According to d 11 、d 12 And positioning by using the position data of the substation 1 and the substation 2.
The distance between the locator card and the locator card is calculated by uniformly recovering data from the substation which firstly sends the ranging signals in the two ranging substations, and the distance is uploaded to the edge substation through the wired communication unit.
The step S2 specifically includes the following steps:
(1) Preprocessing data reported by each common substation in the range;
(2) The method comprises the steps of summarizing and classifying preprocessed data, classifying the preprocessed data into positioning data and self-testing data based on data characteristic attributes, optimizing the positioning data, calculating accurate positioning of underground personnel, and meanwhile, focusing attention on a person gathering place; detecting the self-testing data to check the working condition of the underground electric lamp equipment;
(3) And identifying abnormal data based on the summary result and feeding the abnormal data back to the ground data center.
The step S3 specifically comprises the following steps: and integrating, summarizing and calculating the data transmitted to the ground data center in the step S3, feeding back the final result to monitoring personnel, and issuing the decision to the edge substations in the global range layer by layer from the ground center and then to the substations in the range.
FIG. 5 is a flow chart of data collection according to an embodiment of the present invention. The specific steps of the common data acquisition lamp comprise the following steps:
(1) A ranging signal is sent by any outstation (for example outstation 1) to at least one locator card within communication range.
(2) After receiving the ranging signal sent by the substation 1, the locator card 1 immediately replies a response signal to the substation 1.
(3) After the substation 1 receives the response signal replied by the positioning card 1, the time T of the ranging signal is calculated and marked according to the time of sending the ranging signal and the time of receiving the response signal replied by the positioning card 1 11 。
(4) And another substation 2 next to the positioning card 1 immediately sends out the ranging signal after receiving the ranging signal sent out by the substation 1.
(5) After receiving the ranging signal sent by the substation 2, the locator card 1 immediately replies a response signal to the substation 2.
(6) After the substation 2 receives the response signal replied by the positioning card 1, the time T of the ranging signal is calculated and marked according to the time of sending the ranging signal and the time of receiving the response signal replied by the positioning card 1 21 And will measure the distance signal T 21 To the substation 1.
(7) Substation 1 according to T 11 、T 21 Distance d between substation 1 and substation 2 12 And calculating the distance between the positioning card 1 and the substations 1 and 2, and never realizing the positioning of the positioning card 1.
From the above, a reciprocating process of the substation and the locator card includes the transmission time of two one-way signals and the delay time of a signal response (for example, T) 1 )
In the formula, T 1 The delay time from the receiving of the ranging signal to the replying of the response signal is the positioning card 1; d 11 And d 21 The distances between the substation 1 and the substation 2 and the positioning card 1 are respectively; and c is the transmission speed of the ranging signal. According to T acquired by data 11 And T 21 And the distance l between the substation 1 and the substation 2, which is known at the time of field deployment 12 Because the response time of the substation is very short and the moving speed of underground personnel is slow, d can be calculated 11 ＝1/2[l 12 +c (T 11 -T 12 )/2]、d 12 ＝l 12 -d 11 According to d 11 、d 12 And positioning by the substation 1 and the substation 2.
Fig. 6 is a schematic diagram of an edge analyzer in an edge analyzing lamp according to an embodiment of the present invention. The edge analyzer receives data on the data acquisition lamp, and optimizes the result collected under the current condition based on the Kalman filtering principle; whether intelligent electric light equipment in the area normally operates is self-detected within a certain period. And if abnormal events exist in the analysis result, such as abnormal equipment detection, abnormal personnel positioning and the like, immediately sending a signal to the ground data center.
FIG. 7 is a flowchart of an edge interaction module in an edge analysis lamp according to an embodiment of the present invention. The edge interaction module is simultaneously responsible for data interaction between the edge analysis lamp and the data acquisition lamp as well as between the edge analysis lamp and the ground data center. The edge interaction module receives initial data sent by the data acquisition lamp, and the initial data is transmitted to the edge analyzer through a firewall and data encryption; and judging whether further processing is needed or not according to the analysis result of the edge analyzer, and continuously uploading to the ground data center if the optimization processing is finished. Similarly, the ground center feeds back the received data and then sends the instructions back to each data acquisition electric lamp layer by layer.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (9)
1. An underground intelligent electric lamp device for positioning personnel is characterized by comprising a ground data center and a plurality of divided edge area units which are deployed according to the field requirements, wherein each edge area unit consists of 1 edge analysis electric lamp and a plurality of data acquisition electric lamps in the area; each data acquisition electric lamp acquires positioning card information in corresponding edge regions in the pit through a data acquisition unit, the data information is sent to edge analysis electric lamps in the regions through a signal transmitter in a wireless communication mode, the edge analysis electric lamps receive data from the acquisition electric lamps in the regions through a data interaction module, and the acquired data are optimized and stored through an edge analysis electric lamp inner edge analyzer and then uploaded to a ground data center through an edge analysis electric lamp inner edge interaction module.
2. The device of claim 1, wherein the data collection light comprises an onboard lighting device and a wireless communication unit.
3. The downhole intelligent light device for locating personnel as claimed in claim 1, wherein the edge analysis light comprises an on-board lighting device, a wireless communication device, an edge interaction module, an edge analyzer.
4. A method for positioning an underground intelligent electric lamp device for positioning personnel is characterized by comprising the following steps:
1) The data acquisition lamp acquires data, transmits an acquired data signal to a positioning card in a communication range based on a UWB signal, immediately transmits a data result to the edge analysis lamp through the wired communication unit for storage and further processing;
2) The edge analysis lamp processes the data result on one hand, immediately stores the result collected by the data acquisition lamp in the area to the ground data center, and the ground data center further optimizes the result; on the other hand, whether the data acquisition electric lamp detection equipment in each area normally operates or not is periodically detected, and for the emergency result, the data is stored in the nearest edge analysis electric lamp which is effectively working nearby in real time and is timely reported to a ground data center for feedback;
3) The ground data center displays the data of the positioning distribution of the underground personnel under the normal condition, and the distribution condition of the underground personnel is arranged according to the report of the result; and (3) analyzing the emergency data signals transmitted in the step 2), and carrying out next indication on the processed result by a worker.
5. The method for locating a personnel intelligent lamp device in a well according to claim 4, wherein the step 1) of collecting data by the data collection lamp specifically comprises the following steps:
1.1 Based on the periodic self-testing distance between the wired communication mode and each data acquisition electric lamp in the fringe area unit, and based on the time t of the ranging signal sent by the first data acquisition electric lamp 1 The second data acquisition lamp receives the ranging signal moment t sent by the first data acquisition lamp 2 And a response signal, the time t when the first data acquisition lamp receives the response signal of the second data acquisition lamp 12 Obtaining the distance S between the first data acquisition electric lamp and the second data acquisition electric lamp according to the time-velocity formula v = S/t 12 Detecting the distance S between two data acquisition lamps 12 And the distance l between two data acquisition lamps known at the time of field deployment 12 Comparing, namely detecting whether the equipment normally operates;
1.2 Time T) of obtaining ranging signals of the locator card and the last two valid data acquisition lamps within the communication range 11 And T 21 The delay response time of the signal received by the locator card is T 1 The transmission speed of the radio signal is the speed of light c, and the process can be expressed as follows:
according to T acquired by data 11 And T 21 And the distance l between two data acquisition lamps known at the time of field deployment 12 Because the response time of the substation is very short and the moving speed of underground personnel is slow, d can be calculated 11 ＝1/2[l 12 +c(T 11 -T 12 )/2]、d 12 ＝l 12 -d 11 According to d 11 、d 12 And two data acquisition electric lamp position data are carried outAnd (6) positioning.
6. The method as claimed in claim 5, wherein the data acquisition lamp is used for calculating the distance between the locator card and the data acquisition lamp, which sends the distance measurement signal first, and uploading the distance to the edge analysis lamp through the wired communication unit.
7. The method for locating a personnel intelligent electric light device in a well according to claim 4, wherein the step 2) comprises the following steps:
2.1 The edge analysis lamp preprocesses data reported by each data acquisition lamp within the range;
2.2 The edge analysis lamp summarizes and classifies the preprocessed data, divides the preprocessed data into positioning data and self-testing data based on the characteristic attributes of the data, optimizes the positioning data, calculates the accurate positioning of underground personnel and focuses attention on the places where the personnel gather; detecting the self-testing data to check the working condition of the underground electric lamp equipment;
2.3 Based on the summary results, anomalous data is identified and fed back to the ground data center.
8. The method of claim 7, wherein the edge analyzer in the edge analyzing lamp receives data from the data acquisition lamp, and optimizes the results collected under the current conditions based on the Kalman filtering principle; and (3) whether the data acquisition lamp equipment in the self-detection area operates normally in a period or not, and if abnormal events exist in the analysis result, such as abnormal equipment detection, abnormal personnel positioning and the like, signals are immediately sent to a ground data center.
9. The method of claim 7, wherein the edge interaction module of the edge analysis lamp is responsible for data interaction between the edge analysis lamp and the data acquisition lamp as well as between the edge analysis lamp and the ground data center, and the edge interaction module receives initial data sent by the data acquisition lamp and transmits the initial data to the edge analyzer through a firewall and data encryption; judging whether further processing is needed for the analysis result of the edge analyzer, and if the optimization processing is finished, continuously uploading the analysis result to a ground data center; and the ground center feeds back the received data and then sends the instructions back to each data acquisition electric lamp layer by layer.
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