CN117823219A - Indoor hybrid positioning device, method and system based on lighting network - Google Patents
Indoor hybrid positioning device, method and system based on lighting network Download PDFInfo
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- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F11/00—Rescue devices or other safety devices, e.g. safety chambers or escape ways
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- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
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- H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
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Abstract
The invention provides an indoor hybrid positioning device, method and system based on a lighting network, and belongs to the field of coal mine engineering; solves the problem of unsafe lighting of miners; the method comprises the following steps: step S1: acquiring environmental data of the mine in the observation time through a positioning device; step S2: calculating the safety index of the mine according to the environmental data to obtain the safety area range of the mine; step S3: acquiring movement data of miners; judging whether a worker is positioned in a mine safety area according to the mobile data; if the mining tool is positioned, constructing a miner movement model according to the movement data; if not, alarming; step S4: controlling the lighting device to work according to the miner movement model; according to the invention, the mining tunnel environment and the mining site position are acquired and analyzed, so that the safety area is divided for the mining site, and the safety of the mining site is ensured.
Description
Technical Field
The invention discloses an indoor hybrid positioning device, method and system based on a lighting network, and relates to the field of coal mine engineering.
Background
The existing lighting network system or method for miners has the following disadvantages:
1. influence of the environment on the positioning: in the indoor environment, there may be reflection, interference and other factors affecting the positioning accuracy, and structures such as walls, partitions and the like may cause signal reflection, affecting the positioning accuracy.
2. System complexity: the integration of lighting network and other sensor data requires complex algorithms and data integration techniques, increasing the design, debugging and maintenance costs of the system.
3. Deployment and maintenance costs: the lighting system may need to be intelligently adapted to support the positioning function, which requires additional investment, as well as long-term maintenance and management.
The problems of the lighting network system or the lighting network method can bring potential safety hazards of insufficient signal coverage, data delay, poor system stability, larger error and the like to miners.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention aims to provide an indoor hybrid positioning device, method and system based on an illumination network, which aim to solve the problem of unsafe illumination of miners.
In order to achieve the above object, the present invention is realized by the following technical scheme: an indoor hybrid positioning method based on a lighting network comprises the following steps:
step S1: acquiring environmental data of the mine in the observation time through a positioning device;
step S2: calculating the safety index of the mine according to the environmental data to obtain the safety area range of the mine;
step S3: acquiring movement data of miners; judging whether a worker is positioned in a mine safety area according to the mobile data; if the mining tool is positioned, constructing a miner movement model according to the movement data; if not, alarming;
step S4: and controlling the lighting device to work according to the miner movement model.
Further, the step S1 includes the following steps:
step S11: acquiring the position of the primary main control device through a positioning system, and marking the position as a base point position;
step S12: acquiring the relative positions of the secondary illumination positioning devices from the primary main control device through the secondary illumination positioning devices;
step S13: respectively obtaining the number of the secondary illumination positioning devices corresponding to the A area, the B area, the C area and the D area;
step S14: acquiring the length, width and height of each mine hole or mine corresponding to the vertical direction and the horizontal direction of the mine through a secondary illumination positioning device;
step S15: acquiring the oxygen content, the water vapor content and the harmful gas content in each mine cavity in the mine through a secondary illumination positioning device;
step S16: the location of the base point, the relative location, the length, width and height of the mine cavity, the oxygen content and the harmful gas content are taken as environmental data.
Further, the step S2 includes the following steps:
step S21: taking the 'base point position' as an origin; constructing a space coordinate system by taking the north direction of the origin as a z axis, the east direction as a y axis and the vertical downward direction as a z axis;
step S22: bringing the relative position of the secondary lighting positioning device into a spatial coordinate system;
step S23: counting the number of the secondary illumination positioning devices corresponding to the A area, the B area, the C area and the D area respectively, and recording the numbers as An, bn, cn and Dn;
step S24: calculating the safety index of the area A;
step S25: and (3) sequentially calculating the safety ranges corresponding to the B area, the C area and the D area by using the same execution step for calculating the safety index of the A area.
Further, the step S24 includes the following steps:
step S241: the area A is marked with a secondary illumination positioning device vertically upwards facing the origin as 1, and all the secondary illumination positioning devices in the area A are marked with the marks in a direction horizontally far away from the origin;
step S242: counting all secondary illumination positioning devices in the area A, and corresponding coordinate data and mine tunnel parameters;
1，（x 1 ，y 1 ，z 1 ) Mine hole parameters: l (L) 1 、w 1 、h 1 ；
2，（x 2 ，y 2 ，z 2 ) Mine hole parameters: l (L) 2 、w 2 、h 2 ；
3，（x 3 ，y 3 ，z 3 ) Mine hole parameters: l (L) 3 、w 3 、h 3 ；
An-1，（x An-1 ，y An-1 ，z An-1 ) Mine hole parameters: l (L) An-1 、w An-1 、h An-1 ；
An，（x An ，y An ，z An ) Mine hole parameters: l (L) An 、w An 、h An ；
Step S243: dividing the mine tunnel in the area A into An-1 mine tunnel sections according to adjacent positions of the secondary illumination positioning device;
1 st mine tunnel section: 1 to 2; the 2 nd mine hole section: 2 to 3; 3 rd mine tunnel section: 3 to 4; … … An-1 mine hole section: an-1 to An;
step S244: counting the oxygen content, the water vapor content and the harmful gas content in each mine cavity at the beginning of the observation time and at the end of the observation time; respectively designated IA1, IB1 and IC1, IA2, IB2 and IC2;
step S245: sequentially calculating the gas safety index II of each mine cavity section;
1 st mine tunnel section: II 1～2 The formula of (2) is as follows:
；
the 2 nd mine hole section: II 2～3 The formula of (2) is as follows:
；
3 rd mine tunnel section: II 3～4 The formula of (2) is as follows:
；
and so on,
an-1 th mine tunnel segment: II An-1～An The formula of (2) is as follows:
；
step S246: sequentially calculating the position safety index D of each mine tunnel section;
1 st mine tunnel section: d (D) 1～2 The formula of (2) is as follows:
；
the 2 nd mine hole section: d (D) 2～3 The formula of (2) is as follows:
；
3 rd mine tunnel section: d (D) 3～4 The formula of (2) is as follows:
；
and so on,
an-1 st oreHole section: d (D) An-1～An The formula of (2) is as follows:
；
step S246: sequentially calculating the environmental safety index SA of each mine cavity section;
1 st mine tunnel section: SA (SA) 1～2 The formula of (2) is as follows: SA (SA) 1～2 ＝II 1～2 *（1/D 1～2 ）；
The 2 nd mine hole section: SA (SA) 2～3 The formula of (2) is as follows: SA (SA) 2～3 ＝II 2～3 *（1/D 2～3 ）；
3 rd mine tunnel section: SA (SA) 3～4 The formula of (2) is as follows: SA (SA) 3～4 ＝II 3～4 *（1/D 3～4 ）；
And so on,
an-1 th mine tunnel segment: SA (SA) An-1～An The formula of (2) is as follows: SA (SA) An-1～An ＝II An-1～An *（1/D An-1～An ）；
Step S247: sequentially calculating the space safety index SP of each mine hole;
1 st mine tunnel section: SP (service provider) 1～2 The formula of (2) is as follows: SP (service provider) 1～2 ＝（l 2 *w 2 *h 2 ）－（l 1 *w 1 *h 1 ）；
The 2 nd mine hole section: SP (service provider) 2～3 The formula of (2) is as follows: SP (service provider) 2～3 ＝（l 3 *w 3 *h 3 ）－（l 2 *w 2 *h 2 ）；
3 rd mine tunnel section: SP (service provider) 3～4 The formula of (2) is as follows: SP (service provider) 3～4 ＝（l 4 *w 4 *h 4 ）－（l 3 *w 3 *h 3 ）；
And so on,
an-1 th mine tunnel segment: SP (service provider) An-1～An The formula of (2) is as follows: SP (service provider) An-1～An ＝（l An *w An *h An ）－（l An-1 *w An-1 *h An-1 ）；
Step S248: sequentially calculating the comprehensive safety index S of each mine hole;
1 st mine tunnel section: s is S 1～2 The formula of (2) is as follows: s is S 1～2 ＝SA 1～2 *SP 1～2 ；
The 2 nd mine hole section: s is S 2～3 The formula of (2) is as follows: s is S 2～3 ＝SA 2～3 *SP 2～3 ；
3 rd mine tunnel section: s is S 3～4 The formula of (2) is as follows: s is S 3～4 ＝SP 3～4 *SP 3～4 ；
And so on,
an-1 th mine tunnel segment: s is S An-1～An The formula of (2) is as follows: s is S An-1～An ＝SA An-1～An *SP An-1～An ；
Step S249: determining the safety range of the area A;
step S2491: arranging the comprehensive safety indexes S in a descending order to obtain a set BA;
step S2492: traversing from the first item of the set BA, marking a mine tunnel section with the first comprehensive safety index S less than or equal to 0, and marking the mine tunnel section as a termination item;
step S2493: and (5) marking the mine tunnel section corresponding to the first item to the ending item in the aggregate BA as a region A safety range.
Further, the step S3 includes the following steps:
step S31: acquiring the current position and the current time of a miner by a secondary illumination positioning device;
step S32: judging whether the current position of the miner is in the range of the safety zone or not; if yes, executing a step S33, and constructing a miner movement model; if not, monitoring the moving direction of the miners, enabling the secondary illumination positioning device to be in an alert state, and executing step S34;
step S33: constructing a miner movement model;
step S331: substituting the current position of the miner into the space coordinate system constructed in the step S21 to obtain start-stop position coordinates (x 0, y0, z 0) of the miner;
step S332: respectively acquiring the moving speed and the moving acceleration of a mineworker at corresponding moments on an x axis, a y axis and a z axis through a secondary illumination positioning device, and respectively marking the moving speed and the moving acceleration as vx, vy and vz, ax, ay and az;
step S333: the current time is marked as t0, and a miner movement model is constructed, wherein t represents time;
x-axis movement;
；
a y-axis movement;
；
z-axis movement;
；
step S34: selecting a safety zone closest to the current position of the miner as a first safety zone, and acquiring the distance between the current position of the miner and the first safety zone to be recorded as r;
step S35: obtaining the current position (xx, yy, zz) of the miners by using the same method as the steps S331-S332 through a secondary illumination positioning device; the movement speed and the movement acceleration of the miners at corresponding moments on the x axis, the y axis and the z axis are respectively marked as vvx, vvy and vvz, aax, aay and aaz;
step S36: calculating the moving distance delta r of the miners from the first safety zone;
step S361: substituting vvx, vvy and vvz, aax, aay and aaz into the formula of step S333 to calculate Xr, yr and Zr; substitution of vvx for vx, vvy for vy, vvz for vz; substitution ax with aax, substitution ay with aay, substitution az with aaz;
step S362: calculating Deltar;
；
step S37: judging whether Deltar is larger than 0; if the delta r is larger than 0, indicating that the miner is approaching the first safety zone, and maintaining the warning state of the secondary lighting positioning device until the miner enters the first safety zone; if Δr is less than or equal to 0, indicating that the miners are far away from the first safety zone, maintaining the second-level lighting positioning device in an alert state, and executing step S38;
step S38: judging whether a safety zone exists around the first safety zone; if the first safety zone exists, the miner approaches the safety zone, and the secondary illumination positioning device maintains the alert state until the miner enters the first safety zone; if the alarm signal does not exist, the miner is far away from the safety area, the secondary illumination positioning device is changed from an alarm state to an alarm state, and light and voice alarm are carried out.
An indoor hybrid positioning system based on a lighting network, the positioning system comprising:
and a data acquisition module: the method comprises the steps of acquiring environmental data of a mine in mine observation time;
and a data processing module: the safety index calculation module is used for calculating the safety index of the mine according to the environmental data to obtain the range of the mine safety area;
personnel monitoring module: the method comprises the steps of obtaining movement data of miners; judging whether a worker is positioned in a mine safety area according to the mobile data; if the alarm is located, the alarm is not given; if not, alarming;
the lighting device comprehensive control module: the lamp data of the lighting device are acquired in real time; and adjusting the lighting device according to the movement data and the lamp data.
Further, the flow of the lighting device integrated control module is as follows:
scheme A1: the lighting device comprehensive control module adjusts the lighting device according to the miner movement data;
scheme a11: continuously acquiring position data, time, speed data and acceleration data of a mineworker relative to an origin through a secondary illumination positioning device;
scheme a12: substituting the data acquired in the process A11 into a miner movement model constructed in the step S33, and calculating the movement position of the miner;
scheme a13: sequentially controlling a secondary illumination positioning device corresponding to a moving position area of a mineworker to start an illumination function;
scheme A2: the lighting device comprehensive control module associates a primary main control device and a secondary lighting positioning device, and obtains the total number and the fault number of all the secondary lighting positioning devices in the area A, the area B, the area C and the area D respectively through the methods of the steps S11 to S12 and the steps S21 to S24 to obtain lamp data which are respectively marked as mA, mB, mC and mD, uA, uB, uC and uD;
flow A3: calculating the failure rate N of the A area, the B area, the C area and the D area; na=ua/mA, nb=ub/mB, nc=uc/mC, nd=ud/mD;
flow A4: judging whether the failure rate NA of the area A is larger than or equal to 0.5; if the failure rate NA is greater than or equal to 0.5; all the secondary illumination positioning devices in the area A are in an alert state, the miner evacuation information is broadcast through voice, and the secondary illumination positioning devices are controlled by lamp data; if the failure rate NA is less than 0.5; the secondary illumination positioning device with faults in the area A enters an alert state, other secondary illumination positioning devices are unchanged, and the secondary illumination positioning device is controlled by mobile data;
scheme A5: the lighting device comprehensive control module adjusts the secondary lighting positioning devices of the area B, the area C and the area D by using the same method of the process A4.
An indoor hybrid positioning device based on a lighting network comprises:
a primary main control device and a secondary illumination positioning device; the primary main control device is provided with a positioning system and is arranged at the ground position above the mine and used for linking the secondary illumination positioning device;
the secondary lighting positioning device comprises: nail-shaped fixed mine illumination positioning device and horizontal movable mine illumination positioning device;
the fixed mine lighting positioner of nail type includes:
the lamp comprises a lamp group, a rotating assembly, a lamp body, a first linkage device, a second linkage device and a third linkage device;
and (3) a rotating assembly: the lamp set irradiation angle is manually or automatically adjusted by a miner;
a lamp body: the device is used for carrying the lamp group and comprises a multifunctional component, a power supply selector, a voice broadcasting component, a main power supply and a secondary power supply;
the multifunctional assembly includes: the gas detection component is used for detecting the contents of oxygen, water vapor and harmful gases in the mine cavity; the video identification component is used for real-time video of the mine tunnel and identifying miners in the video of the mine tunnel, if the video shows the miners, the video identification component turns on illumination, and if the video does not show the miners, the video identification component turns off illumination; the speed measuring assembly is used for detecting the moving speed and the moving acceleration of a miner; the positioning component is used for acquiring the relative position of the secondary illumination positioning device; the fault detection component is used for detecting whether the lamp set passes through the current, if so, the lamp set is normal, and if not, the lamp set is abnormal;
a power supply selector: the auxiliary power supply is used for detecting the residual charge of the main power supply, and if the residual charge of the main power supply is less than or equal to 30%, the auxiliary power supply is switched;
linkage one, linkage two and linkage three: the nail-shaped fixed mine lighting positioning device is used for being fixed on the rock wall of the mine cavity;
the horizontal movable mine illumination positioning device comprises:
the lamp comprises a lamp group, a rotating assembly, a lamp body, a mechanical structure and a base; the lamp group, the rotating assembly and the lamp body of the horizontal movable mine illumination positioning device have the same corresponding structural functions as the nail-shaped fixed mine illumination positioning device; the mechanical structure is used for adjusting the height of the lamp group of the horizontal movable mine illumination positioning device; and the base is used for moving the horizontal movable mine illumination positioning device.
Compared with the prior art, the invention has the beneficial effects that:
1. high-precision positioning: the invention can realize the high-precision positioning of the position of the miner in the mine cavity, is beneficial to the safety monitoring and management of the miner, and can quickly and accurately determine the position of the miner especially in emergency.
2. The coverage range is wide: the invention can cover the whole mine or the area in the mine hole, so that other devices do not need to be additionally deployed to realize the positioning function, and the complexity and the deployment cost of the system are reduced.
3. The real-time performance is strong: the invention can provide real-time position information, and the position change of the miners can be monitored and updated in real time, so that management staff can know the current position and dynamic condition of the miners conveniently.
4. Easy integration and management: the invention is generally deployed in a mine tunnel, only needs to intelligently modify a lighting system, adds a positioning function, and does not need additional hardware investment and equipment maintenance; meanwhile, the network-based positioning system can be managed in a centralized way, and is convenient to configure and update.
5. Emergency response: the invention can be combined with other sensors, such as smoke, vibration and the like, and is used for monitoring the environmental condition of a mine tunnel in real time, giving an alarm and starting emergency response measures in time, so that the safety of miners is ensured.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a schematic diagram of the method of the present invention;
FIG. 2 is a schematic view of the same plane underground mining area partition of the present invention;
FIG. 3 is a schematic view of the zonal view of a different planar subsurface mine area according to the present invention;
FIG. 4 is a schematic diagram of a spatial coordinate system according to the present invention;
FIG. 5 is a schematic view of a zone A mine tunnel according to the present invention;
FIG. 6 is a schematic view of a nail-shaped stationary mine illumination positioning apparatus of the present invention;
FIG. 7 is a schematic view of a nail-shaped stationary mine illumination positioning apparatus of the present invention;
FIG. 8 is a schematic view of a horizontal movable mine illumination positioning apparatus of the present invention;
fig. 9 is a schematic circuit diagram of a lamp body according to the present invention.
The reference numerals are as follows:
1. a lamp set; 2. a rotating assembly; 3. a lamp body; 11. a first linkage device; 12. a linkage device II; 13. a linkage device III; 21. a mechanical structure; 22. a base; 31. a multifunctional component; 32. a power supply selector; 33. a voice broadcasting component; 34. a main power supply; 35. and a secondary power supply.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
It should be noted that, the "an indoor hybrid positioning method based on a lighting network" is hereinafter referred to as "a positioning method"; "an indoor hybrid positioning system based on a lighting network" is hereinafter referred to as "positioning system"; "an indoor hybrid positioning device based on a lighting network" is hereinafter referred to as "positioning device"; the positioning device comprises a primary main control device and a secondary illumination positioning device.
Example 1
An indoor hybrid positioning method based on a lighting network comprises the following steps:
step S1: acquiring environmental data of the mine in the observation time through a positioning device;
the observation time is a safe waiting time before a mineworker enters a mine, the general observation time is set to be 2 hours, and a system developer can change the observation time by himself under the requirement of a mine responsible person.
Referring to fig. 2 and 3, step S1 is as follows:
it should be noted that, with the primary main control device vertically downward as the positive direction, the underground mine area is divided into the area A, the area B, the area C and the area D according to the four directions of northeast, northwest, southwest and southeast relative to the positive direction, and the area of each area is not necessarily the same.
Step S11: acquiring the position of the primary main control device through a positioning system, and marking the position as a base point position;
step S12: acquiring the relative positions of the secondary illumination positioning devices from the primary main control device through the secondary illumination positioning devices;
step S13: respectively obtaining the number of the secondary illumination positioning devices corresponding to the A area, the B area, the C area and the D area;
step S14: acquiring the length, width and height of each mine hole or mine corresponding to the vertical direction and the horizontal direction of the mine through a secondary illumination positioning device;
step S15: acquiring the oxygen content, the water vapor content and the harmful gas content in each mine cavity in the mine through a secondary illumination positioning device;
the harmful gas refers to the gas in the mine, such as carbon monoxide, carbon dioxide, methane and hydrogen sulfide, which is harmful to human body.
Step S16: the location of the base point, the relative location, the length, width and height of the mine cavity, the oxygen content and the harmful gas content are taken as environmental data.
Step S2: calculating the safety index of the mine according to the environmental data to obtain the safety area range of the mine;
the step S2 is as follows:
step S21: taking the 'base point position' as an origin; constructing a space coordinate system by taking the north direction of the origin as a z axis, the east direction as a y axis and the vertical downward direction as a z axis;
step S22: referring to FIG. 4, the relative position of the secondary lighting positioning device is brought into a spatial coordinate system;
step S23: counting the number of the secondary illumination positioning devices corresponding to the A area, the B area, the C area and the D area respectively, and recording the numbers as An, bn, cn and Dn;
step S24: referring to fig. 5, calculating a security index of the area a;
step S241: the area A is marked with a secondary illumination positioning device vertically upwards facing the origin as 1, and all the secondary illumination positioning devices in the area A are marked with the marks in a direction horizontally far away from the origin;
step S242: counting all secondary illumination positioning devices in the area A, and corresponding coordinate data and mine tunnel parameters;
note that, l in the mine cavity parameter represents the mine cavity length, w represents the mine cavity width, and h represents the mine cavity height.
1，（x 1 ，y 1 ，z 1 ) Mine hole parameters: l (L) 1 、w 1 、h 1 ；
2，（x 2 ，y 2 ，z 2 ) Mine hole parameters: l (L) 2 、w 2 、h 2 ；
3，（x 3 ，y 3 ，z 3 ) Mine hole parameters: l (L) 3 、w 3 、h 3 ；
……
An-1，（x An-1 ，y An-1 ，z An-1 ) Mine hole parameters: l (L) An-1 、w An-1 、h An-1 ；
An，（x An ，y An ，z An ) Mine hole parameters: l (L) An 、w An 、h An ；
Step S243: dividing the mine tunnel in the area A into An-1 mine tunnel sections according to adjacent positions of the secondary illumination positioning device;
1 st mine tunnel section: 1 to 2; the 2 nd mine hole section: 2 to 3; 3 rd mine tunnel section: 3 to 4; … … An-1 mine hole section: an-1 to An;
step S244: counting the oxygen content, the water vapor content and the harmful gas content in each mine cavity at the beginning of the observation time and at the end of the observation time; respectively designated IA1, IB1 and IC1, IA2, IB2 and IC2;
step S245: sequentially calculating the gas safety index II of each mine cavity section;
1 st mine tunnel section: II 1～2 The formula of (2) is as follows:
；
the 2 nd mine hole section: II 2～3 The formula of (2) is as follows:
；
3 rd mine tunnel section: II 3～4 The formula of (2) is as follows:
；
……
and so on,
an-1 th mine tunnel segment: II An-1～An The formula of (2) is as follows:
；
step S246: sequentially calculating the position safety index D of each mine tunnel section;
1 st mine tunnel section: d (D) 1～2 The formula of (2) is as follows:
；
the 2 nd mine hole section: d (D) 2～3 The formula of (2) is as follows:
；
3 rd mine tunnel section: d (D) 3～4 The formula of (2) is as follows:
；
……
and so on,
an-1 th mine tunnel segment: d (D) An-1～An The formula of (2) is as follows:
；
step S246: sequentially calculating the environmental safety index SA of each mine cavity section;
1 st mine tunnel section: SA (SA) 1～2 The formula of (2) is as follows: SA (SA) 1～2 ＝II 1～2 *（1/D 1～2 ）；
The 2 nd mine hole section: SA (SA) 2～3 The formula of (2) is as follows: SA (SA) 2～3 ＝II 2～3 *（1/D 2～3 ）；
3 rd mine tunnel section: SA (SA) 3～4 The formula of (2) is as follows: SA (SA) 3～4 ＝II 3～4 *（1/D 3～4 ）；
……
And so on,
an-1 th mine tunnel segment: SA (SA) An-1～An The formula of (2) is as follows: SA (SA) An-1～An ＝II An-1～An *（1/D An-1～An ）；
Step S247: sequentially calculating the space safety index SP of each mine hole;
1 st mine tunnel section: SP (service provider) 1～2 The formula of (2) is as follows: SP (service provider) 1～2 ＝（l 2 *w 2 *h 2 ）－（l 1 *w 1 *h 1 ）；
The 2 nd mine hole section: SP (service provider) 2～3 The formula of (2) is as follows: SP (service provider) 2～3 ＝（l 3 *w 3 *h 3 ）－（l 2 *w 2 *h 2 ）；
3 rd mine tunnel section: SP (service provider) 3～4 The formula of (2) is as follows: SP (service provider) 3～4 ＝（l 4 *w 4 *h 4 ）－（l 3 *w 3 *h 3 ）；
……
And so on,
an-1 th mine tunnel segment: SP (service provider) An-1～An The formula of (2) is as follows: SP (service provider) An-1～An ＝（l An *w An *h An ）－（l An-1 *w An-1 *h An-1 ）；
Step S248: sequentially calculating the comprehensive safety index S of each mine hole;
1 st mine tunnel section: s is S 1～2 The formula of (2) is as follows: s is S 1～2 ＝SA 1～2 *SP 1～2 ；
The 2 nd mine hole section: s is S 2～3 The formula of (2) is as follows: s is S 2～3 ＝SA 2～3 *SP 2～3 ；
3 rd mine tunnel section: s is S 3～4 The formula of (2) is as follows: s is S 3～4 ＝SP 3～4 *SP 3～4 ；
……
And so on,
an-1 th mine tunnel segment: s is S An-1～An The formula of (2) is as follows: s is S An-1～An ＝SA An-1～An *SP An-1～An ；
Step S249: determining the safety range of the area A;
step S2491: arranging the comprehensive safety indexes S in a descending order to obtain a set BA;
step S2492: traversing from the first item of the set BA, marking a mine tunnel section with the first comprehensive safety index S less than or equal to 0, and marking the mine tunnel section as a termination item;
step S2493: the mine tunnel section corresponding to the first item to the termination item in the aggregate BA is recorded as a safe range of the area A;
step S25: and (3) sequentially calculating the safety ranges corresponding to the B area, the C area and the D area by using the same execution steps from the step S241 to the step S249.
Step S3: acquiring movement data of miners; judging whether a worker is positioned in a mine safety area according to the mobile data; if the mining tool is positioned, constructing a miner movement model according to the movement data; if not, alarming;
the step S3 is as follows:
step S31: acquiring the current position and the current time of a miner by a secondary illumination positioning device;
step S32: judging whether the current position of the miner is in the range of the safety zone or not; if yes, executing a step S33, and constructing a miner movement model; if not, monitoring the moving direction of the miners, enabling the secondary illumination positioning device to be in an alert state, and executing step S34;
step S33: constructing a miner movement model;
step S331: substituting the current position of the miner into the space coordinate system constructed in the step S21 to obtain start-stop position coordinates (x 0, y0, z 0) of the miner;
step S332: respectively acquiring the moving speed and the moving acceleration of a mineworker at corresponding moments on an x axis, a y axis and a z axis through a secondary illumination positioning device, and respectively marking the moving speed and the moving acceleration as vx, vy and vz, ax, ay and az;
step S333: the current time is marked as t0, and a miner movement model is constructed, wherein t represents time;
x-axis movement;
；
a y-axis movement;
；
z-axis movement;
；
step S34: selecting a safety zone closest to the current position of the miner as a first safety zone, and acquiring the distance between the current position of the miner and the first safety zone to be recorded as r;
step S35: obtaining the current position (xx, yy, zz) of the miners by using the same method as the steps S331-S332 through a secondary illumination positioning device; the movement speed and the movement acceleration of the miners at corresponding moments on the x axis, the y axis and the z axis are respectively marked as vvx, vvy and vvz, aax, aay and aaz;
step S36: calculating the moving distance delta r of the miners from the first safety zone;
step S361: substituting vvx, vvy and vvz, aax, aay and aaz into the formula of step S333 to calculate Xr, yr and Zr; substitution of vvx for vx, vvy for vy, vvz for vz; substitution ax with aax, substitution ay with aay, substitution az with aaz;
step S362: calculating Deltar;
；
step S37: judging whether Deltar is larger than 0; if the delta r is larger than 0, indicating that the miner is approaching the first safety zone, and maintaining the warning state of the secondary lighting positioning device until the miner enters the first safety zone; if Δr is less than or equal to 0, indicating that the miners are far away from the first safety zone, maintaining the second-level lighting positioning device in an alert state, and executing step S38;
step S38: judging whether a safety zone exists around the first safety zone; if the first safety zone exists, the miner approaches the safety zone, and the secondary illumination positioning device maintains the alert state until the miner enters the first safety zone; if the alarm signal does not exist, the miner is far away from the safety area, the secondary illumination positioning device is changed from an alarm state to an alarm state, and light and voice alarm are carried out.
Step S4: controlling the lighting device to work according to the miner movement model;
the step S4 is as follows:
step S41: continuously acquiring position data, time, speed data and acceleration data of a mineworker relative to an origin through a secondary illumination positioning device;
step S42: substituting the data acquired in the step S41 into a miner movement model constructed in the step S33, and calculating the movement position of the miner;
step S43: and sequentially controlling the secondary illumination positioning devices corresponding to the movable position areas of the miners to start the illumination function.
Example two
An indoor hybrid positioning system based on a lighting network comprising:
the system comprises a data acquisition module, a data processing module, a personnel monitoring module, a lighting device comprehensive control module, a database and a controller; the data acquisition module, the data processing module, the personnel monitoring module and the lighting device comprehensive control module are respectively connected with the database and the controller.
Database: for storing the observation time.
And a data acquisition module: the method comprises the steps of acquiring environmental data of a mine in mine observation time;
the workflow of the data acquisition module is as follows:
the data acquisition module acquires the observation time through a database;
the data acquisition module is associated with a primary main control device and a secondary illumination positioning device;
the data acquisition module is used for acquiring the environmental data of the mine in the observation time by calling the methods from the step S11 to the step S16, and sending the environmental data to the data processing module.
And a data processing module: the safety index of the mine is calculated according to the environmental data, and a mine safety range is obtained;
the workflow of the data processing module is as follows:
the data processing module receives the environmental data, invokes the methods from the step S21 to the step S25, and calculates the safety range of the mine.
Personnel monitoring module: the method comprises the steps of obtaining movement data of miners; judging whether a worker is positioned in a mine safety area according to the mobile data; if the alarm is located, the alarm is not given; if not, alarming;
the workflow of the personnel monitoring module is as follows:
the personnel monitoring module is used for monitoring whether a miner is located in a safe area or not and giving an alarm by calling the method from the step S31 to the step S38;
the lighting device comprehensive control module: the lamp data of the lighting device are acquired in real time; adjusting the lighting device according to the movement data and the lamp data;
the flow of the lighting device integrated control module is as follows:
scheme A1: the lighting device integrated control module calls the method from the step S41 to the step S43, and realizes the adjustment of the lighting device according to the mobile data;
scheme A2: the lighting device comprehensive control module associates a primary main control device and a secondary lighting positioning device, and obtains the total number and the fault number of all the secondary lighting positioning devices in the area A, the area B, the area C and the area D respectively through the methods of the steps S11 to S12 and the steps S21 to S24 to obtain lamp data which are respectively marked as mA, mB, mC and mD, uA, uB, uC and uD;
flow A3: calculating the failure rate N of the A area, the B area, the C area and the D area; na=ua/mA, nb=ub/mB, nc=uc/mC, nd=ud/mD;
flow A4: judging whether the failure rate NA of the area A is larger than or equal to 0.5; if the failure rate NA is greater than or equal to 0.5; all the secondary illumination positioning devices in the area A are in an alert state, the miner evacuation information is broadcast through voice, and the secondary illumination positioning devices are controlled by lamp data; if the failure rate NA is less than 0.5; the secondary illumination positioning device with faults in the area A enters an alert state, other secondary illumination positioning devices are unchanged, and the secondary illumination positioning device is controlled by mobile data;
scheme A5: the lighting device comprehensive control module adjusts the secondary lighting positioning devices of the area B, the area C and the area D by using the same method of the process A4.
Practical example III
An indoor hybrid positioning device based on a lighting network comprises:
a primary main control device and a secondary illumination positioning device; the primary main control device is provided with a positioning system and is arranged at the ground position above the mine and used for linking the secondary illumination positioning device; the secondary illumination positioning device is arranged in the mine and used for illumination positioning of miners.
It should be noted that there is only one primary main control device in a mining area, and there are a plurality of secondary lighting positioning devices; the primary master is typically installed by default at the surface mine entrance.
The secondary lighting positioning device comprises: nail-shaped fixed mine illumination positioning device and horizontal movable mine illumination positioning device;
the nail-shaped fixed mine lighting positioning device is called a nail-shaped device for short; the horizontal movable mine lighting positioning device is simply referred to as a mobile device.
Referring to fig. 6 and 7, the nail-shaped fixed mine illumination positioning apparatus includes:
the lamp comprises a lamp group 1, a rotating assembly 2, a lamp body 3, a first linkage device 11, a second linkage device 12 and a third linkage device 13;
and (3) a rotating assembly: the lamp set irradiation angle is manually or automatically adjusted by a miner;
referring to fig. 9, the lamp body 3: the lamp group 1 comprises a multifunctional component 31, a power supply selector 32, a voice broadcasting component 33, a main power supply 34 and a secondary power supply 35;
the multifunction assembly 31 includes: the gas detection component is used for detecting the contents of oxygen, water vapor and harmful gases in the mine cavity; the video identification component is used for real-time video of the mine tunnel and identifying miners in the video of the mine tunnel, if the video shows the miners, the video identification component turns on illumination, and if the video does not show the miners, the video identification component turns off illumination; the speed measuring assembly is used for detecting the moving speed and the moving acceleration of a miner; the positioning component is used for acquiring the relative position of the secondary illumination positioning device; the fault detection assembly is used for detecting whether current passes through the lamp group; if yes, the lamp group is normal; if not, indicating that the lamp group is abnormal;
power supply selector 32: for detecting the remaining charge amount of the main power supply, and if the remaining charge amount of the main power supply 34 is less than or equal to 30%, switching the auxiliary power supply 35;
referring to fig. 7, linkage one 11, linkage two 12 and linkage three 13: the nail-shaped fixed mine lighting positioning device is used for being fixed on the rock wall of the mine cavity;
the miners punch holes at the positions where the nail-shaped devices are required to be installed, the nail-shaped devices are placed in the holes, the first linkage device 11 is rotated, and the first linkage device 11 drives the saw tooth structure of the second linkage device 12 and the claw structure of the third linkage device 13 to fix the nail-shaped devices;
referring to fig. 8, the horizontal movable mine illumination positioning apparatus includes:
the lamp comprises a lamp group 1, a rotating assembly 2, a lamp body 3, a mechanical structure 21 and a base 22; wherein the lamp group 1, the rotating component 2 and the lamp body 3 of the mobile device have the same corresponding structure functions as the nail-shaped device; a mechanical structure 21 for moving the device to adjust the height of the lamp set; a base 22 for movement of the mobile device.
In the present application, if a corresponding calculation formula appears, the calculation formulas are all dimensionalized and take numerical calculation, and the coefficients such as a weight coefficient, a scaling factor and the like in the formulas are set to be a result value obtained by quantizing each parameter, and the sizes of the weight coefficient and the scaling factor are only required to not influence the proportional relation between the parameter and the result value.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. An indoor hybrid positioning method based on a lighting network is characterized by comprising the following steps:
step S1: acquiring environmental data of the mine in the observation time through a positioning device;
step S2: calculating the safety index of the mine according to the environmental data to obtain the safety area range of the mine;
step S3: acquiring movement data of miners; judging whether a worker is positioned in a mine safety area according to the mobile data; if the mining tool is positioned, constructing a miner movement model according to the movement data; if not, alarming;
step S4: and controlling the lighting device to work according to the miner movement model.
2. The indoor hybrid positioning method based on the lighting network according to claim 1, wherein the step of step S1 is as follows:
step S11: acquiring the position of the primary main control device through a positioning system, and marking the position as a base point position;
step S12: acquiring the relative positions of the secondary illumination positioning devices from the primary main control device through the secondary illumination positioning devices;
step S13: respectively obtaining the number of the secondary illumination positioning devices corresponding to the A area, the B area, the C area and the D area;
step S14: acquiring the length, width and height of each mine hole or mine corresponding to the vertical direction and the horizontal direction of the mine through a secondary illumination positioning device;
step S15: acquiring the oxygen content, the water vapor content and the harmful gas content in each mine cavity in the mine through a secondary illumination positioning device;
step S16: and taking the base point position, the relative position, the length, the width and the height of the mine cavity, the oxygen content and the harmful gas content as environmental data, and entering a step S2.
3. The indoor hybrid positioning method based on the lighting network according to claim 2, wherein the step of step S2 is as follows:
step S21: taking the base point position as an origin; constructing a space coordinate system by taking the north direction of the origin as a z axis, the east direction as a y axis and the vertical downward direction as a z axis;
step S22: bringing the relative position of the secondary lighting positioning device into a spatial coordinate system;
step S23: counting the number of the secondary illumination positioning devices corresponding to the A area, the B area, the C area and the D area respectively, and recording the numbers as An, bn, cn and Dn;
step S24: calculating the safety index of the area A;
step S25: and (3) sequentially calculating the safety ranges corresponding to the B area, the C area and the D area by using the same execution step for calculating the safety index of the A area, and entering step S3.
4. A lighting network-based indoor hybrid positioning method according to claim 3, wherein the step of step S24 is as follows:
step S241: the area A is marked with a secondary illumination positioning device vertically upwards facing the origin as 1, and all the secondary illumination positioning devices in the area A are marked with the marks in a direction horizontally far away from the origin;
step S242: counting all secondary illumination positioning devices in the area A, and corresponding coordinate data and mine tunnel parameters;
1，（x 1 ，y 1 ，z 1 ) Mine hole parameters: l (L) 1 、w 1 、h 1 ；
2，（x 2 ，y 2 ，z 2 ) Mine hole parameters: l (L) 2 、w 2 、h 2 ；
3，（x 3 ，y 3 ，z 3 ) Mine hole parameters: l (L) 3 、w 3 、h 3 ；
An-1，（x An-1 ，y An-1 ，z An-1 ) Mine hole parameters: l (L) An-1 、w An-1 、h An-1 ；
An，（x An ，y An ，z An ) Mine hole parameters: l (L) An 、w An 、h An ；
Step S243: dividing the mine tunnel in the area A into An-1 mine tunnel sections according to adjacent positions of the secondary illumination positioning device;
1 st mine tunnel section: 1 to 2; the 2 nd mine hole section: 2 to 3; 3 rd mine tunnel section: 3 to 4; … … An-1 mine hole section: an-1 to An;
step S244: counting the oxygen content, the water vapor content and the harmful gas content in each mine cavity at the beginning of the observation time and at the end of the observation time; respectively designated IA1, IB1 and IC1, IA2, IB2 and IC2;
step S245: sequentially calculating the gas safety index II of each mine cavity section;
1 st mine tunnel section: II 1～2 The formula of (2) is as follows:
；
the 2 nd mine hole section: II 2～3 The formula of (2) is as follows:
；
3 rd mine tunnel section: II 3～4 The formula of (2) is as follows:
；
and so on,
an-1 th mine tunnel segment: II An-1～An The formula of (2) is as follows:
；
step S246: sequentially calculating the position safety index D of each mine tunnel section;
1 st mine tunnel section: d (D) 1～2 The formula of (2) is as follows:
；
the 2 nd mine hole section: d (D) 2～3 The formula of (2) is as follows:
；
3 rd mine tunnel section: d (D) 3～4 The formula of (2) is as follows:
；
and so on,
an-1 th mine tunnel segment: d (D) An-1～An The formula of (2) is as follows:
；
step S246: sequentially calculating the environmental safety index SA of each mine cavity section;
1 st mine tunnel section: SA (SA) 1～2 The formula of (2) is as follows: SA (SA) 1～2 ＝II 1～2 *（1/D 1～2 ）；
The 2 nd mine hole section: SA (SA) 2～3 The formula of (2) is as follows: SA (SA) 2～3 ＝II 2～3 *（1/D 2～3 ）；
3 rd mine tunnel section: SA (SA) 3～4 The formula of (2) is as follows: SA (SA) 3～4 ＝II 3～4 *（1/D 3～4 ）；
And so on,
an-1 th mine tunnel segment: SA (SA) An-1～An The formula of (2) is as follows: SA (SA) An-1～An ＝II An-1～An *（1/D An-1～An ）；
Step S247: sequentially calculating the space safety index SP of each mine hole;
1 st mine tunnel section: SP (service provider) 1～2 The formula of (2) is as follows: SP (service provider) 1～2 ＝（l 2 *w 2 *h 2 ）－（l 1 *w 1 *h 1 ）；
The 2 nd mine hole section: SP (service provider) 2～3 The formula of (2) is as follows: SP (service provider) 2～3 ＝（l 3 *w 3 *h 3 ）－（l 2 *w 2 *h 2 ）；
3 rd mine tunnel section: SP (service provider) 3～4 The formula of (2) is as follows: SP (service provider) 3～4 ＝（l 4 *w 4 *h 4 ）－（l 3 *w 3 *h 3 ）；
And so on,
an-1 th mine tunnel segment: SP (service provider) An-1～An The formula of (2) is as follows: SP (service provider) An-1～An ＝（l An *w An *h An ）－（l An-1 *w An-1 *h An-1 ）；
Step S248: sequentially calculating the comprehensive safety index S of each mine hole;
1 st mine tunnel section: s is S 1～2 The formula of (2) is as follows: s is S 1～2 ＝SA 1～2 *SP 1～2 ；
The 2 nd mine hole section: s is S 2～3 The formula of (2) is as follows: s is S 2～3 ＝SA 2～3 *SP 2～3 ；
3 rd mine tunnel section: s is S 3～4 The formula of (2) is as follows: s is S 3～4 ＝SP 3～4 *SP 3～4 ；
And so on,
an-1 th mine tunnel segment: s is S An-1～An The formula of (2) is as follows: s is S An-1～An ＝SA An-1～An *SP An-1～An ；
Step S249: determining the safety range of the area A;
step S2491: arranging the comprehensive safety indexes S in a descending order to obtain a set BA;
step S2492: traversing from the first item of the set BA, marking a mine tunnel section with the first comprehensive safety index S less than or equal to 0, and marking the mine tunnel section as a termination item;
step S2493: and (5) marking the mine tunnel section corresponding to the first item to the ending item in the aggregate BA as a region A safety range.
5. A lighting network-based indoor hybrid positioning method according to claim 3, wherein the step of step S3 is as follows:
step S31: acquiring the current position and the current time of a miner by a secondary illumination positioning device;
step S32: judging whether the current position of the miner is in the range of the safety zone or not; if yes, executing a step S33, and constructing a miner movement model; if not, monitoring the moving direction of the miners, enabling the secondary illumination positioning device to be in an alert state, and executing step S34;
step S33: constructing a miner movement model;
step S331: substituting the current position of the miner into the space coordinate system constructed in the step S21 to obtain start-stop position coordinates (x 0, y0, z 0) of the miner;
step S332: respectively acquiring the moving speed and the moving acceleration of a mineworker at corresponding moments on an x axis, a y axis and a z axis through a secondary illumination positioning device, and respectively marking the moving speed and the moving acceleration as vx, vy and vz, ax, ay and az;
step S333: the current time is marked as t0, and a miner movement model is constructed, wherein t represents time;
x-axis movement;
；
a y-axis movement;
；
z-axis movement;
；
step S34: selecting a safety zone closest to the current position of the miner as a first safety zone, and acquiring the distance between the current position of the miner and the first safety zone to be recorded as r;
step S35: obtaining the current position (xx, yy, zz) of the miners by using the same method as the steps S331-S332 through a secondary illumination positioning device; the movement speed and the movement acceleration of the miners at corresponding moments on the x axis, the y axis and the z axis are respectively marked as vvx, vvy and vvz, aax, aay and aaz;
step S36: calculating the moving distance delta r of the miners from the first safety zone;
step S361: substituting vvx, vvy and vvz, aax, aay and aaz into the formula of step S333 to calculate Xr, yr and Zr; substitution of vvx for vx, vvy for vy, vvz for vz; substitution ax with aax, substitution ay with aay, substitution az with aaz;
step S362: calculating Deltar;
；
step S37: judging whether Deltar is larger than 0; if the delta r is larger than 0, indicating that the miner is approaching the first safety zone, and maintaining the warning state of the secondary lighting positioning device until the miner enters the first safety zone; if Δr is less than or equal to 0, indicating that the miners are far away from the first safety zone, maintaining the second-level lighting positioning device in an alert state, and executing step S38;
step S38: judging whether a safety zone exists around the first safety zone; if the first safety zone exists, the miner approaches the safety zone, and the secondary illumination positioning device maintains the alert state until the miner enters the first safety zone; if the alarm signal does not exist, the miner is far away from the safety area, the secondary illumination positioning device is changed from an alarm state to an alarm state, and light and voice alarm are carried out.
6. An indoor hybrid positioning system based on a lighting network, which is applicable to an indoor hybrid positioning method based on a lighting network as set forth in any one of claims 1-5, and is characterized in that the positioning system comprises:
and a data acquisition module: the method comprises the steps of acquiring environmental data of a mine in mine observation time;
and a data processing module: the safety index calculation module is used for calculating the safety index of the mine according to the environmental data to obtain the range of the mine safety area;
personnel monitoring module: the method comprises the steps of obtaining movement data of miners; judging whether a worker is positioned in a mine safety area according to the mobile data; if the alarm is located, the alarm is not given; if not, alarming;
the lighting device comprehensive control module: the lamp data of the lighting device are acquired in real time; and adjusting the lighting device according to the movement data and the lamp data.
7. The indoor hybrid positioning system based on the lighting network of claim 6, wherein the flow of the lighting device integrated control module is as follows:
scheme A1: the lighting device comprehensive control module adjusts the lighting device according to the miner movement data;
scheme a11: continuously acquiring position data, time, speed data and acceleration data of a mineworker relative to an origin through a secondary illumination positioning device;
scheme a12: substituting the data acquired in the process A11 into a miner movement model constructed in the step S33, and calculating the movement position of the miner;
scheme a13: sequentially controlling a secondary illumination positioning device corresponding to a moving position area of a mineworker to start an illumination function;
scheme A2: the lighting device comprehensive control module associates a primary main control device and a secondary lighting positioning device, and obtains the total number and the fault number of all the secondary lighting positioning devices in the area A, the area B, the area C and the area D respectively through the methods of the steps S11 to S12 and the steps S21 to S24 to obtain lamp data which are respectively marked as mA, mB, mC and mD, uA, uB, uC and uD;
flow A3: calculating the failure rate N of the A area, the B area, the C area and the D area; na=ua/mA, nb=ub/mB, nc=uc/mC, nd=ud/mD;
flow A4: judging whether the failure rate NA of the area A is larger than or equal to 0.5; if the failure rate NA is greater than or equal to 0.5; all the secondary illumination positioning devices in the area A are in an alert state, the miner evacuation information is broadcast through voice, and the secondary illumination positioning devices are controlled by lamp data; if the failure rate NA is less than 0.5; the secondary illumination positioning device with faults in the area A enters an alert state, other secondary illumination positioning devices are unchanged, and the secondary illumination positioning device is controlled by mobile data;
scheme A5: the lighting device comprehensive control module adjusts the secondary lighting positioning devices of the area B, the area C and the area D by using the same method of the process A4.
8. An indoor hybrid positioning device based on a lighting network, which is applicable to an indoor hybrid positioning method based on a lighting network as set forth in any one of claims 1-5, and is characterized in that the positioning device comprises:
a primary main control device and a secondary illumination positioning device; the primary main control device is provided with a positioning system and is arranged at the ground position above the mine and used for linking the secondary illumination positioning device;
the secondary lighting positioning device comprises: nail-shaped fixed mine illumination positioning device and horizontal movable mine illumination positioning device;
the fixed mine lighting positioner of nail type includes:
the lamp comprises a lamp group, a rotating assembly, a lamp body, a first linkage device, a second linkage device and a third linkage device;
and (3) a rotating assembly: the lamp set irradiation angle is manually or automatically adjusted by a miner;
a lamp body: the device is used for carrying the lamp group and comprises a multifunctional component, a power supply selector, a voice broadcasting component, a main power supply and a secondary power supply;
the multifunctional assembly includes: the gas detection component is used for detecting the contents of oxygen, water vapor and harmful gases in the mine cavity; the video identification component is used for real-time video of the mine tunnel and identifying miners in the video of the mine tunnel, if the video shows the miners, the video identification component turns on illumination, and if the video does not show the miners, the video identification component turns off illumination; the speed measuring assembly is used for detecting the moving speed and the moving acceleration of a miner; the positioning component is used for acquiring the relative position of the secondary illumination positioning device; the fault detection component is used for detecting whether the lamp set passes through the current, if so, the lamp set is normal, and if not, the lamp set is abnormal;
a power supply selector: the auxiliary power supply is used for detecting the residual charge of the main power supply, and if the residual charge of the main power supply is less than or equal to 30%, the auxiliary power supply is switched;
linkage one, linkage two and linkage three: the nail-shaped fixed mine lighting positioning device is used for being fixed on the rock wall of the mine cavity;
the horizontal movable mine illumination positioning device comprises:
the lamp comprises a lamp group, a rotating assembly, a lamp body, a mechanical structure and a base; the lamp group, the rotating assembly and the lamp body of the horizontal movable mine illumination positioning device have the same corresponding structural functions as the nail-shaped fixed mine illumination positioning device; the mechanical structure is used for adjusting the height of the lamp group of the horizontal movable mine illumination positioning device; the base is used for moving the horizontal movable mine illumination positioning device.
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