KR102059514B1 - Mine Navigation System and Method Based on Beacon - Google Patents

Abstract

The present invention relates to a system for measuring a moving time and a measuring method of a device 210 in a mine using a beacon capable of quantitatively measuring the moving time of equipment 210 that is input to a mine site using a beacon system. Beacons are installed in a number of mines and configured to communicate with adjacent beacons to synchronize the system time and beacon communication; A terminal attached to the equipment 210 moving in the mine to communicate with the beacon and transmit its ID to the corresponding beacon; And a server configured to receive information on a moving time of the equipment 210 to which the terminal is attached from the beacon. The apparatus is configured to attach the beacon to a mine pit, and beacons communicate with a smartphone to operate in the gang. It is effective to measure the travel time of) squarely.

Description

Beacon-based mine navigation system and method {Mine Navigation System and Method Based on Beacon}

The present invention relates to a beacon-based mine navigation system and method, and more particularly, after analyzing the optimal transport path through network analysis and installing Bluetooth beacons throughout the mine, the equipment (dump truck) ) Is a beacon-based mine navigation system and method that can visualize the two-dimensional and three-dimensional view of the current position of the device 210 and the optimal transport path on the mobile device screen through the Android application.

In today's highly mechanized mining sites, the efficient operation and management of equipment is critical not only for the productivity and safety of mining, but also for the profitability of mining companies. Recently, as a new solution for efficient transport operation, a navigation system that combines routing, tracking, and display functions has been developed and actively introduced into the mining field.

The navigation system introduced in the mining field analyzes the optimal transport path of the dump truck, tracks the location of the dump truck in the mine, the optimal transport path for the onboard equipment, the current position of the equipment, the cycle time, etc. Is displayed. However, in the mine, because the GPS (Global Positioning System) signal and wired and wireless communication is mainly carried out in the disconnected environment, there is a problem that it is difficult to share the transport work information and the location of the equipment in real time. Due to these problems, it is difficult to develop and implement a navigation system in the present mine. Accordingly, there is a demand for the design and development of a new navigation system suitable for the mining environment.

1) Korean Registered Patent No. 10-0454840 (Name of Invention: Bus Information System and Bus Information Management Method Using the Same) 2) Korean Patent Publication No. 10-2004-0086675 (Invention name: Estimation Time Arrival Device and Method)

Therefore, the present invention is to solve the above-mentioned problems of the prior art, the object of the present invention is to assign the transport work from any point to the optimal transport route to the workplace using a network analysis technique, such as road, railway, waterway vector It is to provide a beacon-based mine navigation system and method that can derive the optimal travel path connecting the starting point and the destination at the minimum cost in the networked environment.

In addition, the present invention is configured based on the Bluetooth Low Energy (BLE) technology, which is part of the Bluetooth 4.0 wireless technology in order to recognize the location of the equipment (dump truck) in the mine by using a wireless sensor technology is operated at a lower power and packet ( It is to provide a beacon-based mine navigation system and method that enables efficient data transmission by reducing the size of the packet).

In addition, the present invention is to provide a beacon-based mine navigation system and method that allows the user to easily recognize their location by displaying the current location and the optimal transport path of the dump truck in the mine.

Beacon-based mine navigation system for achieving the above object,

Beacons are installed and configured in a number of mines, beacons to communicate with adjacent beacons to synchronize the system time and assigned to a universally unique identifier (UUID), major, minor to identify each other between beacons installed inside or outside the mine beacon communication ; A terminal provided with an operator operating the equipment moving in the mine and installed with an application for communicating with the beacon, transmitting its ID to the corresponding beacon, and displaying its location received from the beacon; And a server that receives location information of the equipment attached to the terminal from the beacon and information about a travel time corresponding to each moving location including a departure time, a transit time, and an arrival time.

The beacons may be assigned to a universally unique identifier (UUID), major, minor, and may be configured to be mutually distinguishable between beacons installed inside or outside the mine.

The application may be configured to display a current route of a device having the terminal and a transport route to a destination on a 3D Geographic Information Systems (GIS) database for the mine built in the terminal.

The application may include the universally unique identifier (UUID), the major, the minor, the received signal strength indication (RSSI), a recognition time, and a recognition of the beacon when the equipment enters the signal receiving area of the beacon. Recognized distance can be configured to recognize the beacon of the received signal strength is high.

The application stores the beacon signal including the universally unique identifier (UUID), the major, the minor, the received signal strength, the recognition time and the recognized distance of the recognized beacon in the 3D GIS database of the terminal. In addition, the 3D GIS database may be configured to divide a starting point and a destination into a link and a node, and to select a transport path having a minimum cumulative cost connecting the line and the node.

The application of the terminal may be configured to search for minors of all beacons installed along the analyzed transport path, and upload all minors to the server after the beacon search is completed.

The application of the terminal deletes the signal recognition time, UUID, major, minor, received signal strength, recognition time and recognized distance from the three-dimensional geographic information system database when the equipment completes a predetermined task and arrives at the starting point It may be configured to receive waypoint information from the server from the origin to the destination and display it on the terminal.

The server displays the movement path and location of the device according to the location of the beacon corresponding to the minor uploaded by the application of the terminal and recognizes the total use time and the accumulated distance of the devices tracked by the beacon in real time. By using a beacon signal including the number of times of daily transport of equipment, the average daily transport amount may be configured to manage the attendance of the operator operating the equipment and to display the communication history using the beacon.

It is installed and configured in a number of mines and communicates with adjacent beacons to synchronize the system time, and a beacon is configured to be mutually identified between installed beacons installed inside or outside the mine by being given a Universally Unique Identifier (UUID), major, and minor. Beacons; A terminal provided with an operator operating the equipment moving in the mine and installed with an application for communicating with the beacon, transmitting its ID to the corresponding beacon, and displaying its location received from the beacon; A beacon-based mine navigation method comprising: a beacon-based mine navigation method comprising: a beacon signal including a location information of the equipment attached to the terminal and the departure time, transit time and arrival time from the beacon; Constructing a 3D Geographic Information Systems (GIS) database; The application displaying a transport path to a current location and a destination of the device in the constructed 3D geographic database system on a terminal; The application may be configured to enter the universally unique identifier (UUID), the major, the minor, Received Signal Strength Indication (RSSI), a recognition time of the beacon from the beacon when the equipment enters the signal receiving area of the beacon. Receiving a beacon signal including the recognized distance; The application searching for minors of all beacons installed along the transport path; Uploading all the minors to a server so that a delivery path of the device is displayed on the server; And the application deletes the signal recognition time, UUID, major, minor, received signal strength, recognition time, and recognized distance from the 3D GIS database when the equipment arrives at the starting point after completing the predetermined task. It is configured to include.

The displaying of the transport path on the terminal may include: recognizing a beacon having a high reception signal strength; The application of the terminal, storing the beacon signal including the UUID, the major, the minor, the received signal strength, the recognition time and the recognized distance of the recognized beacon in the 3D GIS database of the terminal; And the three-dimensional geographic information system database, comprising: dividing a starting point and a destination into a link and a node, and selecting a path having a minimum cumulative cost connecting the line and the node. have.

The displaying of the transport path on the terminal may include: displaying a menu for selecting a transport path from a 3D image or a 2D image to a current location and a destination of a device including the terminal; Displaying a transport path in which a selected cumulative cost occurs at least when the 3D image is selected by the equipment operator as a 3D image; And displaying a transport path in which a selected cumulative cost occurs at a minimum when a 2D image is selected by the equipment operator as a 2D image.

Therefore, the beacon-based mine navigation system and method of the present invention are assigned a transport operation from a certain point, and the optimal transport route to the workplace is determined by using the network analysis technique in the environment where the vector network such as roads, railways and waterways is constructed. It is possible to minimize the waste of time that can be caused by crosstalk of the transport route by deriving the optimal travel route connecting the destination with the minimum cost.

In addition, the beacon-based mine navigation system and method of the present invention is configured based on the Bluetooth Low Energy (BLE) technology, which is part of the Bluetooth 4.0 wireless technology to recognize the location of the equipment in the mine by using the wireless sensor technology, lower power It operates in the network and reduces the size of the packet, thereby enabling efficient data transmission.

In addition, the beacon-based mine navigation system and method of the present invention allows the user to easily recognize his or her position in the mine by displaying the current position and the optimal transportation path of the equipment in the mine in the interface of the terminal in 2D or 3D. There is an effect that can move easily inside the mine.

In addition, the beacon-based mine navigation system and method of the present invention utilizes Android-based mobile devices to implement a navigation function, so that there is no need to manufacture a separate terminal.

In addition, the beacon-based mine navigation system and method of the present invention does not need to install a separate power or communication network in the underground mine, and because the price of beacon products is low, the system installation cost is lower than other wireless sensor systems and beacons The software development kit (SDK) can be used to extend the BBUNS application by implementing additional functions such as real-time location tracking, automatic attendance management, and communication between managers and operators, as well as navigation functions.

1 is a block diagram showing the configuration of a beacon-based mine navigation system according to an embodiment of the present invention.
Figure 2 is a view showing the interior of the mine tunnel located in Samcheok in accordance with an embodiment of the present invention in a Mercator coordinate system.
3 is a diagram illustrating an example of analyzing an optimal path of a vector network using the Dijkstra algorithm according to an embodiment of the present invention.
Figure 4 is a three-dimensional view showing a transport road constructed from underground mines in accordance with one embodiment of the present invention.
5 is a photograph showing the installation of beacons to implement the mine navigation system according to an embodiment of the present invention.
Figure 6 is an underground mine map showing the installation location of beacons according to an embodiment of the present invention.
7 is a view illustrating a Bluetooth beacon installed along an optimal transport path and an optimal transport road connecting a grinding plant and a 540 ML workplace according to an embodiment of the present invention.
8 is a view showing a scene displayed on the terminal when the equipment is recognized in the beacon according to an embodiment of the present invention.
9 is a picture showing screens that appear when the application is executed in the terminal according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings showing an embodiment of the present invention will be described in more detail the present invention.

1 is a block diagram showing the configuration of a beacon-based mine navigation system according to an embodiment of the present invention. The present invention is largely configured to include a beacon 110, the terminal 120 and the server 130.

Referring to FIG. 1, first, a plurality of beacons 110 are installed in a mine and configured to communicate with adjacent Bluetooth beacons to synchronize system time and are assigned a Universally Unique Identifier (UUID), major, minor, and the like. It is configured to be mutually distinguishable between installed Bluetooth beacons. Beacon 110 may be to communicate using Bluetooth.

The terminal 120 is provided or possessed by an operator operating the equipment 210 for moving in the mine, communicates with the beacon 110, transmits its ID to the corresponding beacon 110, and his position received from the beacon Can be displayed. In addition, the terminal 120 is installed an application that can display its location. The application will be described with reference to the drawings to be described later.

The server 130 receives information about the location and the travel time of the beacon signal including the location information and the departure time, the transit time and the arrival time of the equipment 210 to which the terminal 120 is attached from the beacon 110. .

2 is a view showing the interior of the mine shaft located in Samcheok in accordance with an embodiment of the present invention in a Mercator coordinate system.

Referring to FIG. 2, an application installed in the terminal 120 is a starting point of the equipment 210 having the terminal on a 3D Geographic Information Systems (GIS) database for the mine built in the terminal. And display the transport route to the current location and destination.

In the present invention, the Daesung MDI limestone underground mine (37 ° 19'7˝N, 129 ° 6'14˝E,) located in Samcheok, Gangwon-do, was established as a research area. The underground mine produces 1.5 million tons of high-grade limestone annually through the room and pillar mining method, which is used for various purposes such as steelmaking and cement manufacturing.

Underground mines in the study area use dump trucks as equipment 210 for the transport of ores and waste-rock. The dump truck loads the ore produced at the workplace, moves to a crushing plant located outside the underground mine, and then releases the ore into the crusher. On the other hand, in the case of waste rock mined together during the production of ore, the dump truck loads the waste rock and moves to the wastedump located inside the underground mine to drop the waste stone. In the present invention, an underground mine navigation system for dump trucks carrying ore while reciprocating a work tunnel and a crushing plant located outside the underground mine was designed.

The transport destination of the dump truck for ore transport is set differently depending on the location of the workshop where the limestone ore is currently produced. The production work of the limestone mine mentioned in the present invention is planned on a daily basis through the production planning system, and the location of the workshop is selected differently according to the production work plan. Once the location of the workshop is determined, the job manager provides the dump truck operator with the location of the workshop. If production works are conducted in multiple workshops at the same time, the job manager analyzes the efficient dump truck layout and informs each dump truck operator of his assigned location. Dump trucks are transported through the transport tunnels installed in the underground mines, and then to the crushing sites located outside the mines. Dump trucks operate repeatedly from the abandoned yard and workshop to transport the ore. Dump trucks are transported on average about 8-9 times per driver per day.

3 is a diagram illustrating an example of analyzing an optimal path of a vector network using a Dijkstra algorithm according to an embodiment of the present invention.

Referring to FIG. 3, an application of the present invention may include a universally unique identifier (UUID), the major, the minor, a received signal strength indication (RSSI), a recognition time, and a recognized distance of a recognized beacon 110. The beacon signal including the stored in the 3D GIS database of the terminal.

The 3D GIS database is configured to divide the origin and destination into links and nodes, and to select a transport route with minimal cumulative costs connecting the lines and nodes.

That is, in the present invention, the analysis of the optimum transportation path that the equipment 210 can operate between the crushing plant and the workplace with a minimum time by setting the objective function as the transport time of the equipment 210 in the network analysis.

The optimal path is analyzed by Dijkstra's algorithm, which is a path optimization algorithm based on graph theory. Dijkstra's algorithm shows an example of analyzing the optimal travel route that can be operated on the vector network with minimal travel cost. A vector network consists of links and nodes connecting the lines. All links record the travel costs required to pass through them, and all nodes record the cumulative travel costs for moving from the source node (n0) to the corresponding node (n3) (see Figure 3 (a)). . First, calculate the moving cost of moving from the starting node (n0) to the adjacent node (n1, n2), and compare the recorded value (∞) with the calculated value and convert the lower value into the new cumulative moving cost. (See FIG. 3B). After the calculation, the starting node (n0) is in a "fixed" state where the cumulative movement cost does not change, and the node (n2) having the lowest cumulative movement cost value is changed to a new starting node (see FIG. 3 (c)). . As in the previous method, the cumulative movement cost of all nodes in the vector network is calculated (see FIGS. 3D and 3E). When the cumulative movement cost is given to all nodes, an optimal movement path is obtained which connects the source node (n0) and the destination node (n3) with the minimum movement cost (see (f) of FIG. 3).

4 is a three-dimensional view showing a transport road constructed in an underground mine according to an embodiment of the present invention.

Referring to FIG. 4, a 3D GIS database was constructed for all transport roads built in the underground mine of the research area for the analysis of the optimal transport path of the dump truck through network analysis. The transport road of the dump truck in the study area is a haul road connecting the crushing field and the shaft outside the mine, an adit connecting the tunnel entrance and the intersection, and the entrance of each level at the intersection. It consists of Decline, ramp connecting level and level, and level within the workplace. Declines and ramps are shafts with slopes between -8 ° and 8 °, and for the rest of the haul roads are horizontal drifts with a slope of approximately 0 degrees. The horizontal tunnel was digitized by forming a new polyline along the transport road shown in the mine drawing and assigning an elevation value to each polyline.

Unlike the previous method, the dead hole and ramp were formed by forming points corresponding to the two end points of the polyline, assigning them different elevation values, and then forming a sloped polyline connecting the two points. After combining all the digitized transport roads into one, the transport roads were constantly cut at 50m intervals in consideration of the signal output range of the beacon 110. In the case of the transport road built in the workplace, a plurality of transport roads were formed by cutting all points at which two or more transport roads formed in different driving directions intersect.

The travel time that occurs when each polyline is cut by 50m on the digitized 3D transport road is calculated. In order to calculate the travel time for all polylines, the average travel speed of each 15 ton dump truck in the Daesung MDI limestone underground mine was used.

Type of carrying road Approximate speed (km / h) Empty equipment Loaded equipment Drift 20 15 Decline and ramp 10 5 Level 15 15

The time taken to move all the polylines was calculated by dividing the length of the polyline by the average travel speed of the dump truck and assigning the calculated values to the attributes of the individual polylines.

Figure 5 is a picture showing the installation of a Bluetooth beacon 110 to implement a mine navigation system according to an embodiment of the present invention.

Referring to FIG. 5, in the present invention, 420 ML, 520 ML, and 540 ML where limestone is produced in the underground mines and a total of 50 Bluetooth beacons along all the transport roads through which the equipment 210 passes to enter the workplace 110) were installed. A total of four Bluetooth beacons 110 were installed outside the underground mine. In the underground mine, Bluetooth beacons 110 were installed in the center of the transport road cut in 50m units, and in the transport road in the workplace, the beacons were installed in a curve in which the driving direction was changed to 90 ° or more. Considering the driver's seat height of the 15 ton dump truck used in the study area, the beacon 110 was installed about 2.5 m from the ground.

Figure 6 is an underground mine map showing the installation location of beacons according to an embodiment of the present invention.

As illustrated in FIG. 4, a total of 50 Bluetooth beacons 110 were installed along all the transport roads through which the workplace and the equipment 210 pass to enter the workplace. A total of four Bluetooth beacons were installed outside the underground mine, and 1 to 4 are Bluetooth beacons 110 installed outside the underground mine. In the underground mine, Bluetooth beacons 110 were installed in the center of the transport road cut in 50m units, and in the transport road in the workplace, the beacons were installed in a curve in which the driving direction was changed to 90 ° or more.

The type of beacon 110 installed in the underground mine is Reco Beacon (Reco Beacon, (2017, Seoul, Korea)) manufactured by Purple. Reco Beacon is a beacon that periodically transmits a Bluetooth signal, the user can directly set the signal strength and signal transmission period through the administrator application. Reco Beacon can be operated with both iBeacon and Google's Eddystone, the beacon standards that are widely used around the world, and are compatible with various iOS and Android-based smart devices that support Bluetooth 4.0 technology. . It is considered to be suitable for underground mining environment because of its durability, some waterproofness and less influence of dust. In the present invention, the signal strength of the Bluetooth beacon 110 is set to 4 dBm and the signal transmission period is set to 0.01 s in order to maximize the Bluetooth signal recognition rate of the smart device in the underground mine. Detailed specification of the record beacon can be seen in Table 2 below.

property size 45 mm 20 mm (Diameter Height) weight 11.6 g (0.4 oz) Processor 32-bit ARM Cortex-M0 (ARM Holdings, Cambridge, UK) Chipset Nordic nrf51822 (Nordic Semiconductor, Oslo, Norway) battery CR2450 Lithium Coin Battery (3V, 620mAh, Panasonic, Osaka, Japan) casting Acrylonitrile Butadiene Styrene (ABS) Plastic Heat resistance 93 ° C (200 ° F) Working temperature -10 ° C-60 ° C (14 ° F-140 ° F) TX power -16 dbm-4 dbm Signal range 1-70 m

For efficient operation and management of the Bluetooth Beacon system, a unique ID is assigned to all Bluetooth Beacons installed in the underground mine. iBeacon gives Bluetooth beacons the ability to identify all installed products in a specific area by assigning different universally unique identifiers (UUIDs), major and minor. For example, if the UUIDs of all Bluetooth beacons installed by Company A are set identically, the major is assigned differently according to the different area codes where the beacons are installed, and the minors of the Bluetooth beacons installed in the same area are assigned in order from 1 Bluetooth beacons can be easily identified.

UUID size can be set up to 16 bytes, major and minor size can be up to 2 bytes, and major and minor can be assigned as one integer between 0 and 65535. In the experiment for implementing the present invention, the UUID and major information of all the Bluetooth beacons 110 installed in the underground mine are set to be the same, and minor is the number 1 along the path of the equipment (dump truck) 210 as shown in FIG. To 50 in order.

In the present invention, after receiving a signal transmitted by the beacon to confirm the location of the equipment 210 in the underground mine, BBUNS (Bluetooth Beacon) to visualize the optimal transport route to the starting point, the current location of the equipment 210 and the destination to the mobile device based Underground Navigation System) application. The BBUNS application was developed based on the Android operating system (Google, CA, USA). Android applications can be easily developed using the Android API and a number of libraries (e.g. SQLite, OpenGL) included in the Android SDK (Software Development Kit) provided by Google. And because Android is open source-oriented, it's easy to get the core features and development tools you need for application development. The BBUNS application was developed using Android Studio, one of the Android application development tools, and was implemented using the Java programming language. The BBUNS application can be used in various Android-based mobile devices such as smartphones and tablets. Meanwhile, although the embodiment of the present invention is made on the basis of Android, this is merely an example of actually applying an application for implementing the present invention, and it will be easily understood that it can be operated on an apple basis as well known by those skilled in the art.

When the BBUNS enters the Bluetooth signal receiving area of the device 210, the BBUNS recognizes the minor of the beacon 110 that transmits the corresponding signal. For accurate recognition of the beacon 110, BBUNS is designed to receive the radio signal transmitted by the beacon 110 in units of 1 second. If different beacons 110 enter the two signal areas transmitted, the beacon 110 in the nearest position is recognized. The signal receiving area is wider as the signal output strength of the beacon 110 is set higher. However, as the signal strength is set higher, the battery of the beacon 110 is rapidly consumed, so the user must set a reasonable signal strength. When BBUNS recognizes a Bluetooth beacon, BBUNS stores a beacon signal of the corresponding Bluetooth beacon in a 3D GIS database such as UUID, major, minor, signal strength, recognition time, and recognized distance.

Underground mining operations managers use network analysis to analyze the optimal transport path from the crushing plant to the workshop where the limestone is being produced. After extracting the analyzed optimal transport path as a new polyline, the minor query of all beacons 110 installed along the path is searched through a spatial query. After the beacon 110 search is completed, all minor information is uploaded to the server 130. That is, the application installed in the terminal 120 is configured to search the minor of all beacons 110 installed along the analyzed transport path, and upload all minors to the server 130 after the beacon 110 search is completed. .

If the location of the workplace is changed, the above-described process is performed again, and then all minor search results installed in the changed movement path are uploaded to the server 130 again. When the BBUNS application recognizes a Bluetooth beacon having a minor ID of 1 installed in the crushing plant, it logs in to the server 130 and checks whether the version of the server 130 has been updated. Since the wireless Internet environment such as Wi-Fi is required to access the server 130, the Bluetooth beacon with the minor ID number 1 was installed in the outdoor environment. The updated server 130 means that the workplace has been changed and the optimal transport path has been changed. Therefore, the changed Bluetooth beacon minor information and 2D and 3D path pictures are downloaded from the server 130 and stored in the database in the device. . If the version of the server 130 is not updated, the path pictures stored in the 3D GIS database are used.

After the data download operation through the server 130 is finished, BBUNS visualizes the optimal transport route to the destination through the GUI (Graphic User Interface) of the mobile device. BBUNS visualizes new two-dimensional and three-dimensional images whenever it recognizes new Bluetooth beacons installed in its route. The two-dimensional figure shows the two-dimensional transport route to the destination, the current position of the equipment 210, the direction of travel, and all the beacons 110 present on the route. The three-dimensional figure displays a transport path from the point where the beacon 110 is currently recognized to the point where the beacon 110 to be recognized next is located in three dimensions. Since all transport paths start from the crushing ground, the optimal transport path for the beacon 110 with minor ID 1 is visualized, and the optimal transport path is visualized in the beacon minor order along the optimal transport path. The driver of the equipment 210 travels to the workplace along the path indicated on the mobile device, then loads the limestone ore and travels back to the crushing site. In the return path, we visualize the path in the same way. The BBUNS application does not require a separate wireless internet environment for visualization, so it can be implemented in underground mines where no wireless internet environment is established.

When the equipment (dump truck) 210 arrives at the shredding site, BBUNS recognizes the beacons with minor equal to 1. At this time, all beacon signals (eg signal recognition time, UUID, major, minor, and reception) received by the application during operation are received. After the signal strength (RSSI) is uploaded to the server 130, they are all deleted from the 3D GIS database, and the equipment (dump truck) 210 returns the destination information and pictures through the server 130 again. After receiving it, carry it out again.

FIG. 7 is a view illustrating a Bluetooth beacon installed along an optimal transport path and an optimal transport road connecting a grinding plant and a 540 ML workplace according to an embodiment of the present invention.

Referring to FIG. 7, on February 15, 2017, the location of the limestone production workshop was determined to be 540ML, and a total of four dump trucks were allocated to the 540ML workshop. The crushing site was set as the starting point, and the loading point of the 540ML workplace was set as the destination, and the optimal transportation route was analyzed to minimize the transportation time of the truck through network analysis. The length of the transport route determined by the network analysis technique is about 4.56 km.

As a result of searching the minor of all the beacons installed in the optimal path through the spatial query, 30 beacons with a value from 1 to 30 were found.

When the BBUNS application recognizes a total of 30 different beacons 110 during truck operation, it downloads two-dimensional and three-dimensional path pictures to be displayed on the mobile device screen from the server 130, and three-dimensional geographic information system in the terminal 120. Stored in the database. The route plot consists of 29 plots showing the crushing site-workplace path in two dimensions, 29 plots showing three-dimensionally, and 29 plots showing the shop-crushing path two-dimensionally and 29 plots showing three-dimensionally. do.

8 is a view showing a scene displayed on the terminal when the equipment 210 is recognized in the beacon according to an embodiment of the present invention.

Referring to FIG. 8, randomly two of 116 two-dimensional and three-dimensional pictures are extracted. When the BBUNS recognizes a beacon having a minor ID of 3, it is displayed on the screen of the mobile device.

A total of four researchers boarded each of four dump trucks carrying hauling operations in the underground mine and tested the BBUNS application for three round trips. As the terminal 120, Samsung galaxy S5 smartphone, Samsung galaxy S6 smartphone, Samsung galaxy S7 smartphone, and Lenovo TAB were used for the application test, and the terminals 120 are equipped with Bluetooth technology of Bluetooth 4.0 or higher.

9 is a photograph showing screens of an application running on a terminal according to an embodiment of the present invention.

Referring to Figure 9, the equipment (dump truck) in the underground mine (210) is shown a picture of the mobile device that the current location and the optimal transport path is visible. BBUNS application is not only beacons installed outside the underground mine, but also underground mine All the beacons installed inside can be recognized, and whenever the minor recognizes the different beacons, it is confirmed that two- and three-dimensional path pictures that match the location of the beacons are displayed on the mobile device.

On the other hand, using the data recording the time when the beacon (100) was analyzed the time required for the transport operation. The final time when the beacon was recognized is halfway between the time when the device 210 first entered the beacon signal receiving area (ie, when the beacon was first recognized) and the time out of the area (ie, when the beacon was last recognized). Values were assumed.

Equipment (dump truck) (It took about 8 minutes and 25 seconds for the 210 to leave the crushing plant and pass through the underground mine entrance, and it took about 9 minutes and 25 seconds to get to the workshop from the underground mine entrance. Equipment (dump truck) (The time the 210 stayed in the workshop for loading work is about 4 minutes and 8 seconds. After the loading, the equipment (dump truck) (210 traveled from the workshop to the underground mine entrance.) It took about 13 minutes and 12 seconds, and it took about 5 minutes and 42 seconds to drive the crushing plant, so the total time for one ore transport operation was about 40 minutes and 52 seconds.

On the other hand, the server 130 can record the time and the number of ore transport operation including each unloading and loading operation in this way. Accordingly, the server 130 displays the movement path and the location of the device 210 according to the location of the beacon 110 corresponding to the minor uploaded by the application of the terminal, and tracks the device in real time by the beacon 110. By recognizing the total usage time and the cumulative distance of the 210 to manage the time and attendance of the operator operating the equipment 210 by using information including the number of times of daily transport of the equipment 210, the average transport amount.

10 is a flowchart showing a beacon-based mine navigation method according to an embodiment of the present invention.

Referring to FIG. 10, in operation S202, a 3D Geographic Information Systems (GIS) database for the mine is built in the server 130.

In step S204, the server 130 analyzes the optimal transport path that the truck can travel with minimum transport time between the assigned work place from the starting point through the network technique. The server 130 uploads the minors of the Bluetooth beacons installed in the optimal transport path analyzed from each Bluetooth beacon 110 to the server.

In step S206, the application of the terminal 120 is connected to the server 130 through wireless communication at the departure point. After reviewing the beacon minor uploaded on the server, download all 2D and 3D path view images corresponding to the beacon minor location.

The pictures downloaded in step S208 are stored in the storage space of the terminal 120.

In operation S210, the application of the terminal 120 receives the beacon signal from the Bluetooth beacon 110 in units of 0.1 seconds, and the Bluetooth beacon signal enters the signal reception area of the beacon (recognizing the Bluetooth signal) of the beacon UUID, major, minor, reception strength, recognition time, and recognition distance information.

In step S212, the terminal 120 stores the beacon signal including the UUID, major, minor, reception strength, recognition time and recognition distance information of the beacon.

In operation S214, when the application of the terminal 120 recognizes the Bluetooth signal, the terminal 120 visualizes both the current location of the equipment (two-dimensional path view picture) and the optimal transport path (three-dimensional path view picture) on the interface of the terminal. On the screen.

In operation S216, the server 130 determines whether the location of the workplace where the equipment 210 is to be operated is changed.

As a result of the determination in S218, if the position of the worker is changed, the optimum transportation route that can be operated with minimum transport time between the starting point and the assigned workplace is analyzed. After reanalysis, the process returns to step S206 described above.

In step S220, it is determined whether the work is finished. When the determination result is finished in step S220, the 2D and 3D path view pictures and beacon signals UUID, major, minor, received signal strength, recognition time and recognized, which are stored in the terminal storage space without downloading new pictures The distance is deleted from the 3D geographic information system database (step S222).

FIG. 11 is a flow chart illustrating the step of displaying a transport path of the equipment 210 of FIG. 10 in accordance with one embodiment of the present invention.

Referring to FIG. 11, in step S302, the terminal 120 recognizes a beacon having a high received signal strength;

In operation S304, the application of the terminal 120 includes information including the universally unique identifier (UUID), the major, the minor, received signal strength, a recognized time, and a recognized distance of the recognized beacon 110. Store in 3D geographic information system database.

In step S306, the three-dimensional geographic information system database divides a departure point and a destination into a link and a node, and selects a path having a minimum cumulative cost connecting the line and the node.

12 is a flow chart showing the step of displaying the transport path of the equipment 210 of FIG. 10 in accordance with an embodiment of the present invention.

Referring to FIG. 12, in operation S402, a menu for selecting a transport route from a current location and a destination of the equipment 210 including the terminal 120 to a 3D image or a 2D image is displayed. The operator of the equipment 210 having the terminal 120 selects a desired image from among a 3D image or a 2D image.

In step S404, when the 3D image is selected by the operator of the equipment 210, the transport path displaying the selected cumulative cost at least is displayed as the 3D image.

When the 2D image is selected by the operator of the equipment 210 in step S406, the transport path displaying the selected cumulative cost with the minimum is displayed as the 2D image. Meanwhile, in the above-described embodiment, the equipment 210 has been described, but the equipment 210 may be the dump truck described above.

In the present invention, 50 beacons were installed at 50m intervals along the transport road in the limestone underground mine. If more beacons are installed in underground mines at tighter intervals, the BBUNS application will be able to visualize the travel path more effectively by continuously changing two- and three-dimensional path pictures.

110: beacon 120: terminal
130: server 210: equipment (210)

Claims (11)

Beacons are installed and configured in a number of mines, beacons to communicate with adjacent beacons to synchronize the system time and assigned to a universally unique identifier (UUID), major, minor to be mutually distinguishable between beacons installed inside or outside the mine beacon communication ;
A terminal provided with an operator operating the equipment 210 for moving a path in the mine and installed with an application for communicating with the beacon, transmitting its ID to the corresponding beacon, and displaying its location received from the beacon; And
And a server configured to receive information on the movement time corresponding to each movement position including a departure time, a transit time, and an arrival time from the beacon of the equipment 210 to which the terminal is attached.
The terminal includes an entrance tunnel connecting the tunnel entrance and the intersection of the mine constituting a path in the mine, a decline connecting the entrances of the horizontal tunnels at the intersection, a horizontal tunnel and a horizontal tunnel. A ramp that connects the system, and includes a three-dimensional Geographic Information Systems (GIS) database for the mine including a horizontal tunnel in the workplace,
Beacons installed in the mine is disposed at predetermined intervals along the path in the mine, including a curve point that changes the direction more than 90 ° from the path in the mine,
Whenever the device 210 moves along a path in the mine and recognizes the beacons, the application routes the transport path to the point where the beacons to be recognized next in three dimensions by referring to the 3D GIS database. Display,
In the three-dimensional geographic information database, the decline and the ramp are shafts having a slope between -8 ° and 8 °, and the dead polyline of the dead shaft corresponds to both ends of the dead polyline. Each point is given a different elevation value, and is digitized in such a way as to form an inclined yarn polyline connecting the two end points.
The horizontal tunnel is a beacon-based mine navigation system is digitized by forming a horizontal polyline (line) polyline (line) along the transport road shown in the mine diagram, and giving an elevation value to the generated horizontal tunnel polyline. delete delete The method of claim 1, wherein the application,
When the device 210 enters the signal receiving area of the beacon, the universally unique identifier (UUID), the major, the minor, the received signal strength indication (RSSI), a recognition time, and a recognized time of the beacon Beacon-based mine navigation system that is configured to recognize the distance and the beacon high received signal strength. The method of claim 4, wherein the application,
Storing information including the universally unique identifier (UUID) of the recognized beacon, the major, the minor, received signal strength, a recognized time, and a recognized distance in a 3D geographic information system database of the terminal, and The information system database is a beacon-based mine navigation system that is configured to divide the starting point and the destination into a link (link) and a node (node), and to select a transport route with a minimum cumulative cost connecting the line and the node. The method of claim 5, wherein the application of the terminal,
Beacon-based mine navigation system that is configured to search for the minor of all beacons installed along the transport path, and after the beacon search is finished, upload all minor to the server. The method of claim 6, wherein the application of the terminal,
When the equipment 210 completes a predetermined task and arrives at the starting point, the signal recognition time, UUID, major, minor, received signal strength, recognition time, and recognized distance are deleted from the 3D GIS database and the server is deleted. Beacon-based mine navigation system that is configured to receive information from the waypoint from the origin to the destination to the terminal. The method of claim 6, wherein the server,
Display the movement path and location of the device 210 according to the location of the beacon corresponding to the minor uploaded by the application of the terminal and the total use time and cumulative distance of the device 210 tracked in real time by the beacon Recognizing that to manage the attendance of the operator operating the equipment 210 by using information including the number of times of daily transport, the average daily transport amount of the device 210 and configured to display the communication history using the beacon Beacon-based mine navigation system. delete delete delete

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