CN103957595A - High-precision borehole operation personnel positioning system and method - Google Patents
High-precision borehole operation personnel positioning system and method Download PDFInfo
- Publication number
- CN103957595A CN103957595A CN201410202988.XA CN201410202988A CN103957595A CN 103957595 A CN103957595 A CN 103957595A CN 201410202988 A CN201410202988 A CN 201410202988A CN 103957595 A CN103957595 A CN 103957595A
- Authority
- CN
- China
- Prior art keywords
- location
- substation
- signal
- grid point
- server
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
The invention discloses a high-precision borehole operation personnel positioning system and method. The high-precision borehole operation personnel positioning method comprises the steps that the internal space of an underground roadway is divided into rectangular space grids, a serial number Ni is given to each grid point, the calibrated characteristic parameter of each grid point Ni is collected, and a positioning database is established; positioning terminals carried by borehole operation personnel send out detection signals containing the IDs of the positioning terminals in real time; the received detection signals are transmitted to a positioning server by positioning AP substations in the underground roadway respectively; the positioning server obtains the IDs of the detection signals and the real-time characteristic parameters through calculation; the real-time characteristic parameters are compared with the calibrated characteristic parameter, in the positioning database, of each grid point Ni, so that the accurate positions of the borehole operation personnel in the underground roadway are obtained. According to the high-precision borehole operation personnel positioning method, errors caused by extraction of the diameter of a first arrival path of electromagnetic waves are completely shielded, the influence of a complicated electromagnetic environment is eliminated, and the borehole operation personnel positioning accuracy is improved.
Description
Technical field
The location of underground operators of the present invention, is specifically related to underground operators high-accuracy position system and method.
Background technology
The security incident of pit mining industry takes place frequently, therefore, the safe pay attention to day by day of country to coal mine underground operators, supervision is constantly strengthened, and in succession puts into effect multinomial rule of management.As: the tenth requirement of < < safety regulations in coal mine > >: coal mining enterprise must set up into well detection system and the well personnel that come in and go out and check system; < < coal mine downhole safety hedging " six large systems " construction is improved basic demand and is inspected for acceptance the 17 requirement of Tentative Measures > >: all well personnel of entering must carry identification card; AQ6210-2007 and AQ1048-2007 < < coal mine underground operators management system use with management regulation > > in require: each personnel well head of coming in and going out should arrange the device that whether check identification card normal and uniqueness detects, and points out and take card personnel and related personnel.Its main purpose is: effectively carry out miner's management, contain overcrowding production, guarantee rescue and relief work, safety first-aid.
The basis that miner is carried out to effectively manage is the accurate location of underground operators.Conventional localization method mainly contains three kinds at present:
(1) navigation system based on REID (RFID, Radio Frequency IdenPificaPion), this navigation system application is more extensive, but has following problems:
Positioning precision is limited by read write line distribution density, can only locate feasible region, does not accomplish dynamically real-time accurate location, once mine disaster occurs, cannot locate accurately the particular location at mine disaster personnel place;
Because RFID can only locate feasible region, cannot detect the situations that a people carries many cards, be not easy to ore deposit leader to personnel's work attendance and management;
Limited by RFID read or write speed, can not process many people simultaneously fast by the situation of card-reading system, be prone to skip.
(2) based on the navigation system based on cell ID (Cell ID) in cellular radio, it is the position that the ID of cellular cell estimates object to be positioned place that this navigation system is utilized the serving BS at object to be positioned place, the IDShi whole world, cellular network Zhong community is unique, and the position at object to be positioned place is mainly determined by the ID of cellular cell and cell coverage area.It is simple that Cell ID realizes principle, without locating terminal, change, also without measuring complicated signal characteristic value, only need network side to do slight improvement, increase positioning flow, it is the simplest method in current wireless location technology, only need about 3 seconds positioning time, but this technology is come the position of consumer positioning by the community at identification user place, and positioning precision is often in radius of society quantity rank, about 200 to 300 meters of left and right scopes, positioning precision is very low.But due to the particular surroundings of underworkings, as wireless signal multipath transmisstion, signal fadeout is large, be difficult to line-of-sight propagation, so this technology is not suitable for accurately locating under coal mine.
(3) based on received signal strength (RSSI, Received Signal SPrengPh IndicaPion) navigation system, be the main localization method of current Zigbee and WiFi network using, it calculates the distance between mobile node and transmission substation according to the propagation loss type of wireless signal.The signal strength signal intensity that mobile node receives changes along with the change of distance of Distance Transmission substation, be that mobile node is nearer with transmission substation distance, the signal strength signal intensity receiving is stronger, otherwise mobile node is far away apart from transmission substation, the signal strength signal intensity receiving is more weak, RSSI localization method is to utilize this characteristic, the signal strength signal intensity recording is converted to apart from discreet value, then will compares apart from discreet value and signal strength signal intensity map, then determine final positioning result after filtering.RSSI localization method is simple and easy to implement.But the propagation loss model of wireless signal is affected by environment very large, so general RSSI navigation system often must rely on the density that increases transmission substation, and control the position error in one direction by global optimization approach, but the wire environment that subsurface environment multidimensional tunnel forms, cannot obtain the field intensity data of other directions in plane, so when exist in tunnel as larger metal shelter etc. affects the factor of transmission of wireless signals, position error is larger.
In addition, the roadway road of mine is long and narrow, closed communication port, and due to the existence of the reasons such as dust, humidity, electromagnetic interference, communication condition is more severe, is mainly manifested in these points: first, multipath effect is serious.Multipath transmisstion can cause time delay expansion, signal phase skew and frequency expansion; Secondly, obstructed path is propagated for signal strength signal intensity impact very large.After the air line distance between travelling carriage and receiver is blocked, only have refraction and reflection path to reach receiving terminal, the signal strength signal intensity RSSI that reception place obtains can be weakened, and has further increased the error of measured value, has reduced the positioning precision of system.
Summary of the invention
Technical problem to be solved by this invention is how to improve the problem of the positioning precision of underground operators.
In order to solve the problems of the technologies described above, the technical solution adopted in the present invention is to provide a kind of high-precision mine real-time location method, comprises the following steps:
Underworkings inner space is divided into coffin grid and by each grid point (X
i, Y
i, Z
i) be numbered N
i, gather each grid point N
idemarcation Characteristic parameter B
iset up location database; Described demarcation Characteristic parameter B
iobtain in the following way: at each grid point N
ithe numbering N that upper transmitting contains this grid point
iwireless calibration signal, a plurality of location AP substation in underworkings in this wireless launcher range of receiving receives respectively described wireless calibration signal and sends to location-server, described location-server resolves each and locates AP substation S
kthe wireless calibration signal of receiving, and each is received to signal R
kiamplitude, arrive angle, Signal to Interference plus Noise Ratio and interference strength as the demarcation Characteristic parameter B of this grid point
i, wherein: (X
i, Y
i, Z
i) be grid point N
icoordinate, i=1～n, the quantity that n is grid point, k=1～m, m is the quantity of the location AP substation in wireless launcher range of receiving;
The locating terminal that underground operators is worn sends the detectable signal of the ID that contains this locating terminal in real time, and each the location AP substation in underworkings in this locating terminal range of receiving will receive that respectively detectable signal is transmitted to location-server;
The detectable signal that location-server is received each location AP substation resolves, obtain ID and the real-time characteristic parameter P of locating terminal, described real-time characteristic parameter P comprises amplitude, arrival angle, Signal to Interference plus Noise Ratio and the interference strength of the detectable signal that each location AP substation is received;
By the demarcation Characteristic parameter B of each grid point in real-time characteristic parameter P and location database
icontrast, using the position of the immediate grid point of numerical value as underground operators the accurate location in underworkings.
In said method, with the movement of down-hole development machine, real-time update location database, the concrete practice is as follows:
On the development machine of down-hole, support is set, described support is provided with the node matching with lane space grid point longitudinal cross-section, and an extended wireless transmitter module is installed on each node;
Described in each, extended wireless transmitter module, with face synchronizing moving, at corresponding driving position transmitting spread signal, includes ID and the coordinate of respective extension wireless transmitter module in this spread signal;
Location AP substation in range of receiving is sent to described location-server by the extension feature parameter of spread signal and adds to and in location database, creates new grid point, described extension feature parameter comprises amplitude, arrival angle, signal to noise ratio and the interference strength of received spread signal, and the coordinate of new grid point is by the location positioning of driving position and extended wireless transmitter module.
In said method, when there is network failure, the real-time characteristic parameter of detectable signal is kept in the memory on the AP substation of location, and when network failure is repaired, location AP substation sends to location-server to resolve respectively each real-time characteristic parameter of preserving in memory.
In said method, ground is provided with monitor workstation, and the locating terminal that underground operators is worn is provided with for sending the warning button of alarm signal, after location AP substation is received alarm signal, sends described monitor workstation to.
In said method, described monitor workstation produces overcrowding warning according to the quantity of terminal in certain region and the comparative result of specified quantity.
In said method, described monitor workstation produces a people according to the comparative result of the distance between adjacent two terminals and set point and is with many cards to report to the police.
The present invention also provides a kind of underground operators high-accuracy position system, comprises and is arranged on ground location-server and is arranged on the sniffer in underworkings.
Described location-server is provided with location database and comparison module, and described sniffer comprises a plurality of location AP substation, and described location AP substation is connected to described location-server by explosion-proof optical switch; In described location database, preserve in advance the demarcation characteristic parameter of each grid point on underworkings coffin grid, described demarcation characteristic parameter is the amplitude that sets in advance the demarcation signal that this received wireless transmitter module of location AP substation in the range of receiving of the wireless launcher in respective grid points sends, arrives angle, Signal to Interference plus Noise Ratio and interference strength.
Described in each, locate and on AP substation, be equipped with wireless receiving module and measurement module, the locating terminal that underground operators is worn is provided with wireless transmitter module, locating terminal sends the detectable signal of the ID that contains this locating terminal in real time by described wireless transmitter module, location AP substation in range of receiving is received after detectable signal, by the measurement module on it, obtain the real-time characteristic parameter of received detectable signal and send to location-server, described real-time characteristic parameter comprises the amplitude of the detectable signal that each location AP substation is received, arrive angle, Signal to Interference plus Noise Ratio and interference strength.
Comparison module on location-server, according to the comparison result of the demarcation characteristic parameter of each grid point in real-time characteristic parameter and location database, obtains the accurate location of locating terminal in underworkings.
In said system, all location AP substation is divided into many groups, a plurality of location AP substation in every group is connected on the network interface of an optical-electrical converter by netting twine respectively, and the light delivery outlet of described optical-electrical converter is connected on described location-server by described explosion-proof optical switch.
In said system, also comprise locator data real-time extension device, described locator data real-time extension device comprises follows the synchronization-moving support of down-hole development machine.Described support is provided with the node matching with lane space grid point longitudinal cross-section.An extended wireless transmitter module is installed on each node.Described in each, extended wireless transmitter module is with face synchronizing moving, and at corresponding driving position transmitting spread signal.The ID that includes respective extension wireless transmitter module in this spread signal, the location AP substation in range of receiving is sent to described location-server by the extension feature parameter of spread signal and adds to and in location database, creates new grid point.Described extension feature parameter comprises amplitude, arrival angle, signal to noise ratio and the interference strength of received spread signal, and the coordinate of new grid point is by the location positioning of driving position and extended wireless transmitter module.
In said system, also comprise and be arranged on ground monitor workstation, described monitor workstation produces overcrowding warning according to the quantity of terminal in certain region and the comparative result of specified quantity; Described monitor workstation produces a people according to the comparative result of the distance between adjacent two terminals and set point and is with many cards to report to the police.
The present invention, location-server is provided with location database, preserves in advance the demarcation characteristic parameter of each grid point on underworkings space lattice in location database.The detectable signal that location AP substation reception locating terminal sends obtains its real-time characteristic parameter and sends to location-server, location-server, according to the comparison result of the demarcation characteristic parameter of each grid point in real-time characteristic parameter and location database, obtains the accurate location of locating terminal in underworkings.Shield electromagnetic wave head completely and reached the error that footpath extraction brings, got rid of the impact of underworkings complex electromagnetic environment, greatly improved the positioning precision of underground operators.
Accompanying drawing explanation
Fig. 1 is underground operators high-precision locating method flow chart in the present invention;
Fig. 2 is the structural representation of underground operators high-accuracy position system in the present invention.
Embodiment
The invention provides a kind of underground operators high-accuracy position system and method, by being carried out to grid type space identification, underworkings sets up location database, near and utilize and in tunnel, respectively locate detectable signal that locating terminal that AP substation receives in real time sends and the comparative result of location database, the accurate location of realizing underground operators.Shield electromagnetic wave head completely and reached the error that footpath extraction brings, got rid of the impact of underworkings complex electromagnetic environment, greatly improved the positioning precision of underground operators.Below in conjunction with specification drawings and specific embodiments, the present invention is described in detail.
As shown in Figure 1, underground operators high-precision locating method provided by the invention comprises the following steps;
Step 10: underworkings inner space is divided into the space lattice that is comprised of rectangle and by each grid point (X
i, Y
i, Z
i) be numbered N
i, gather each grid point N
idemarcation Characteristic parameter B
iset up location database.
Wherein, set up the method for location database as follows:
(1) at each grid point N
ithe numbering N that upper transmitting contains this grid point
iwireless calibration signal;
(2) in underworkings, a plurality of location AP substation in this wireless launcher range of receiving receives respectively described wireless calibration signal and sends to location-server;
(3) location-server resolves each location AP substation S
kthe wireless calibration signal of receiving, and each is received to signal R
kiamplitude (RSSI), arrive the correlation measure such as angle (AOA), Signal to Interference plus Noise Ratio and interference strength as the demarcation Characteristic parameter B of this grid point
i, (X
i, Y
i, Z
i) be grid point N
icoordinate, i=1～n, the quantity that n is grid point, k=1～m, m is the quantity of the location AP substation in wireless launcher range of receiving.
(4) the demarcation characteristic parameter of each grid point is kept in location database.For fear of error, each space networks lattice point is repeatedly sampled, and carry out filtering processing.
Step 20: the locating terminal that underground operators is worn sends the detectable signal of the ID that contains this locating terminal in real time, each the location AP substation in underworkings in this locating terminal range of receiving will receive that respectively detectable signal is transmitted to location-server.
Step 30: the detectable signal that location-server is received each location AP substation resolves, obtain ID and the real-time characteristic parameter P of locating terminal, real-time characteristic parameter P comprises amplitude, arrival angle, Signal to Interference plus Noise Ratio and the interference strength of the detectable signal that each location AP substation is received.
Step 40: by the demarcation Characteristic parameter B of each grid point in real-time characteristic parameter P and location database
icontrast, with the position (X of the immediate grid point of numerical value
i, Y
i, Z
i) accurate location as underground operators in underworkings.
In step 40, calculate first respectively the calculated value of real-time characteristic parameter and demarcation characteristic parameter; Then the calculated value of the demarcation characteristic parameter of the calculated value of real-time characteristic parameter and each grid point is compared, using the position of the immediate grid point of numerical value as underground operators the accurate location in underworkings.
As shown in Figure 2, underground operators high-accuracy position system provided by the invention comprises: be arranged on ground location-server 10, monitor workstation 40 and be arranged on the sniffer in underworkings.
Location-server 10 is provided with location database 11 and comparison module 12.Sniffer comprises a plurality of location AP substation 21, by explosion-proof optical switch 22, is connected to location-server 10.
Wherein, in the method that the mode of setting up of location database is introduced, made detailed description in the above, at this, no longer repeated to introduce.
In the present embodiment, all location AP substation in underworkings is divided into many groups, a plurality of location AP substation in every group is connected on the network interface of an optical-electrical converter 23 by netting twine first respectively, then the light delivery outlet of optical-electrical converter 23 is connected on location-server 10 by explosion-proof optical switch 22.This arrangement, can effectively reduce the quantity of downhole transmitted line, reduces down-hole wiring, effectively reduces because the fault that line broken circuit causes improves personnel in the pit's operating efficiency.
On each location AP substation, be equipped with wireless receiving module (WiFi receiver module) and measurement module, the locating terminal 30 that underground operators is worn is provided with wireless transmitter module (WiFi transmitter module), locating terminal 30 sends detectable signal Sounding in real time, the ID that contains this locating terminal in detectable signal, location AP substation in range of receiving is received after detectable signal, by measurement module, obtain respectively the real-time characteristic parameter of detectable signal, real-time characteristic parameter comprises the amplitude (RSSI) of detectable signal, arrive angle (AOA) and Signal to Interference plus Noise Ratio (SINR), and send to location-server 10.
Comparison module 12 on location-server 10 is compared the demarcation characteristic parameter of each grid point in real-time characteristic parameter and location database 11, and wherein real-time characteristic parameter is the accurate location in locating terminal underworkings with the coordinate figure of demarcating the immediate grid node of numerical value of characteristic parameter.
In this programme, the precision of location is determined by the size of space networks lattice point, therefore, can to the setting of space networks lattice point size, improve positioning precision by the initial stage, for example: the spacing of space networks lattice point is made as to 4 meters * 4 meters * 4 meters, can be by Positioning Precision Control below 4 meters.Certainly, can to the spacing of grid point, adjust according to cost, to meet the needs of different positioning precisioies.
In addition, in system provided by the invention, also comprise locator data real-time extension device, this device comprises follows the synchronization-moving support of down-hole development machine, support is provided with the node matching with lane space grid point longitudinal cross-section, an extended wireless transmitter module is installed on each node, each extended wireless transmitter module is with face synchronizing moving, and at corresponding driving position transmitting spread signal (identical with detectable signal), the ID that includes respective extension wireless transmitter module in this spread signal, AP substation in range of receiving is sent to location-server by the extension feature parameter of spread signal, location-server adds extension feature parameter in location database, to create new grid point to.Extension feature parameter comprise received spread signal amplitude, arrive the measurement of correlation amounts such as angle, Signal to Interference plus Noise Ratio, interference strength, the coordinate of new grid point is by the location positioning of driving position and extended wireless transmitter module.On the AP substation of location, be also provided with network monitoring module and memory, when network service is broken down, the characteristic parameter of the detectable signal that location AP substation is received is kept in memory, after network recovery is normal, can immediately all characteristic parameters in memory be uploaded to location-server, location-server carries out respectively silver and calculates and generate accordingly historical locating information.
Underground operators high-accuracy position system provided by the invention, except can realizing the hi-Fix of underground operators, also possesses following function:
(1) attendance management and illegally enter well and report to the police;
(2) personnel in the pit arrives at overtime warning;
(3) personnel in the pit's status monitoring, comprises direction of travel, the speed of travel, region, operating time, area monitoring, historical track playback of personnel in the pit etc.;
(4) one people are with many cards to report to the police;
(5) the overcrowding warning in region;
(6) network failure is reported to the police;
(7) dual-host backup and switching;
(8) emergency alarm and informing function.
Respectively the implementation of above-mentioned functions is introduced below.
(1) attendance management.
When carrying the entering well personnel and enter well head work attendance AP substation coverage area of locating terminal, work attendance AP substation reads the information such as the ID card number of locating terminal and order of classes or grades at school, work post, affiliated unit, locating terminal state, and shows on well head LED large-screen;
By professional testing staff, checked the situation that whether has a people to carry many cards, if not, open and control lock road, personnel Cong Zha road enters well;
The state information reporting according to locating terminal can effectively judge whether locating terminal damages, or electric weight is not enough, and is recorded into well personnel's the discrepancy well time;
Well head work attendance AP substation is connected with location database, can inquire about at any time in/out well time and the in/out well number of times of locating terminal, is convenient to mining management;
According to the information of well head work attendance AP substation record, can realize statistics in man-hour, operating personnel in work attendance, divide in station software input/stop time statistics within certain period (as one week, one month or a season) certain enter well personnel's summation in man-hour, system provides accordingly and checks, printing function.
Well head work attendance AP substation is a kind of special location AP substation, concrete structure is: location AP substation is placed in a box, by the penetration loss of the box signal that locating terminal sends of decaying, a signal strength threshold is set simultaneously, while only having the signal strength signal intensity receiving when location AP substation to be greater than threshold value, system is just carried out work attendance registration.Five, this box is metal-back, adopt paster or stainless steel iron plate, another side is heavy sheet glass, because metal can electromagnetic wave absorption channel, the signal that signal is carried out from metal piercing is almost 0, or extremely, like this, the signal that locating terminal sends can only penetrate into from glass direction, and guarantee that locating terminal is greater than threshold value (can be set to-50dBm of threshold value is for example set at the received signal strength values of sweep limits (being set at present 1 meter of of distance A P substation), because the electromagnetic wave of 2.4GHz is 10dBm to the penetration loss empirical value of the heavy sheet glass of 12mm).
In attendance management, can, according to the condition restriction such as the different order of classes or grades at school ID scope that card personnel's locating terminal is taken in the interior down-hole of section sometime, when illegally taking when card personnel enter well head work attendance AP substation, can identify this card and send warning.
(2) personnel in the pit arrives at overtime warning.
According to the position of locating terminal and the time of advent, make comparisons by the card personnel arrival time of taking that the arrival time of regulation and well head work attendance AP substation are detected, thereby identify, arrive at overtime personnel, and warning message is fed back to monitor workstation.
(3) personnel in the pit's status monitoring.
By the locating information to personnel in the pit, analyze, can obtain personnel in the pit's the situation such as direction of travel, the speed of travel, region, operating time, and can carry out historical track playback, to facilitate personnel in the pit's job management.
(4) one people are with many cards to report to the police.
The personnel in the pit's who obtains based on real-time monitoring positional information, adds up every two locating terminals at the probability of a position, thereby a people is carried to the situations of blocking more, carries out alarm, prevents from occurring in colliery the situation of personnel Dai Ban, is convenient to personal management.Concrete grammar is:
Step 31: location-server calculates the positional information of locating terminal;
Step 32: the positional information of locating terminal is stored in buffer memory cache, and according to time-sequencing;
Step 33: time division section win_count and time maximum max_time;
Step 34: according to time period win_count circulation, and judge whether to arrive maximum time value max_time, if do not reached, perform step 35, on the contrary execution step 39;
Step 35: extraction Ti (i=1,2 ..., max_time) the locating terminal positional information in the moment;
Step 36: have the location AP substation nearest apart from locating terminal in the positional information of locating terminal, this location AP substation of take is found out the identical locating terminal of nearest location AP substation as benchmark, if nearest location AP substation is identical, performs step 37, otherwise continue circulation;
Step 37: calculate distance between two locating terminals and with distance threshold value comparison;
Step 38: if be less than distance threshold value, think that these two locating terminals, a position, record this MAC Address of locating terminal between two;
Step 39: calculating two locating terminals probability together in time period win_count, if probability is greater than certain thresholding, think that these two locating terminals have problem, may be that a people carries many cards, carries out alarm, and outputs in txt file.
(5) the overcrowding warning in region.
Underworkings is divided into a plurality of regions, and to the maximum personnel amount of each region division, when counting when card total number of persons is taken in certain region over maximum limit person, can sends overcrowding warning, and warning message is fed back to monitor workstation.
(6) network failure is reported to the police and data buffer storage.
After location AP substation and location-server connect, location AP divides standing-meeting initiatively to send heartbeat request signal every 5s;
Location-server returns to heartbeat response signal after receiving the heartbeat signal of AP at every turn;
If location AP substation is not received message response continuous 3 times, be considered as disconnecting with location-server;
Location AP substation is preserved locator data;
Location AP substation continuous repeated attempt is connected with location-server, once re-establish connection, locates the data that AP divides standing-meeting to scan by the data of buffer memory with current time and all sends to location-server;
Location-server positions and resolves.
(7) dual-host backup and switching, comprise the two-shipper switching of location-server and the backup of location database.
Two location-servers are set in native system: one is master server, and another is backup server.Master server and backup server be principal and subordinate each other, bi-directional synchronization data, and when the data on a station server have the operations such as additions and deletions change, the synchronous database of mysql on another station server also has same operation.Concrete operation step is:
The open shop simultaneously of master and slave location-server, service routine reads the role that configuration parameter decides self.As: location-server A is as master server, location-server B is as backup server, the IP address of location-server A is 192.168.0.86, and the IP address of location-server B is 192.168.0.10, and the IP of server self is used while being used for realizing dual-host backup intercommunication.
Master server creates virtual IP address 192.168.0.87 (this IP is the external service IP address of location-server), and starts corresponding socket service.
The service routine of standby server (backup server) is only monitored the heartbeat message of master server, and other service modules wouldn't load operating.
When master server breaks down, location-server B (backup server) cannot receive heartbeat message, so backup server is taken over service-creation virtual IP address, starts corresponding socket service, continued locator data and processed, operation role becomes master server.
(8) emergency alarm and informing function.
Consider complexity and the danger of coal mine environment, and personnel's regionality in mine, the features such as work mobility, system of the present invention has following functions: (1) controls separately function, as separately certain miner play to notice, to certain region miner, play notice separately, or carry out the broadcast of full ore deposit; (2) organically blend with security monitoring, complex automatic system, share security monitoring, complex automatic system relevant data.Such as: while there is the situations such as gas exceeding limit, blower fan cisco unity malfunction in mine, system is sent safety warning automatically in specific region, and commander related personnel takes necessary measure; (3) in conjunction with emergency preplan, carry out automatic or emergency management and rescue: when system detects safety monitoring system alarm, while there is serious accident in down-hole, can be according to prior setting program, transfer relevant emergency preplan, commander Field Force withdraws, and also can manually call emergency preplan voice, play to appointed area, directly the commander relevant personnel withdraw.The course of work is as follows:
Step 81: ground monitoring work station finds that down-hole occurs extremely, has documentary whip, has unauthorized person to enter situation triggering alarm event and the notification events such as forbidden zone.
Step 82: location-server receives after alarm event and notification event, different user, zones of different or the full mine of selecting as required appropriate location AP substation to notify.
Step 83: location AP substation is according to alarm event and the notification event instruction of receiving, the locating terminal in the coverage of issuing a notice.Sending to area people, certain concrete personnel's signaling format to take the MAC Address of locating terminal is sign.Selection mode is the positional information according to locating terminal, finds the AP substation nearest apart from locating terminal, then announcement information is sent to this AP, if notice is all a plurality of locating terminals, relates to a plurality of AP substations.
Step 84: locating terminal, according to the alarm event and the notification event instruction that receive, carries out word demonstration, indicator light demonstration, vibration prompting or voice message, informs that the miner who carries locating terminal carries out emergency treatment.
In order to economize on electricity, a switch is set on locating terminal, control and whether need receiving alarm event and notification event.
In addition, locating terminal is provided with for sending the warning button of alarm signal, take card personnel and send warning message by the alarm button of pressing on locating terminal, after receiving warning message, location AP substation sends monitor workstation to, monitor workstation is according to the known alert locations of the positional information of locating terminal, to arrange corresponding processing.
The present invention is not limited to above-mentioned preferred forms, and anyone should learn the structural change of making under enlightenment of the present invention, and every have identical or close technical scheme with the present invention, within all falling into protection scope of the present invention.
Claims (10)
1. underground operators high-precision locating method, is characterized in that, comprises the following steps:
Underworkings inner space is divided into coffin grid and by each grid point (X
i, Y
i, Z
i) be numbered N
i, gather each grid point N
idemarcation Characteristic parameter B
iset up location database; Described demarcation Characteristic parameter B
iobtain in the following way: at each grid point N
ithe numbering N that upper transmitting contains this grid point
iwireless calibration signal, a plurality of location AP substation in underworkings in this wireless launcher range of receiving receives respectively described wireless calibration signal and sends to location-server, described location-server resolves each and locates AP substation S
kthe wireless calibration signal of receiving, and each is received to signal R
kiamplitude, arrive angle, Signal to Interference plus Noise Ratio and interference strength as the demarcation Characteristic parameter B of this grid point
i, wherein: (X
i, Y
i, Z
i) be grid point N
icoordinate, i=1～n, the quantity that n is grid point, k=1～m, m is the quantity of the location AP substation in wireless launcher range of receiving;
The locating terminal that underground operators is worn sends the detectable signal of the ID that contains this locating terminal in real time, and each the location AP substation in underworkings in this locating terminal range of receiving will receive that respectively detectable signal is transmitted to location-server;
The detectable signal that location-server is received each location AP substation resolves, obtain ID and the real-time characteristic parameter P of locating terminal, described real-time characteristic parameter P comprises amplitude, arrival angle, Signal to Interference plus Noise Ratio and the interference strength of the detectable signal that each location AP substation is received;
By the demarcation Characteristic parameter B of each grid point in real-time characteristic parameter P and location database
icontrast, using the position of the immediate grid point of numerical value as underground operators the accurate location in underworkings.
2. underground operators high-precision locating method as claimed in claim 1, is characterized in that, with the movement of down-hole development machine, and real-time update location database, the concrete practice is as follows:
On the development machine of down-hole, support is set, described support is provided with the node matching with lane space grid point longitudinal cross-section, and an extended wireless transmitter module is installed on each node;
Described in each, extended wireless transmitter module, with face synchronizing moving, at corresponding driving position transmitting spread signal, includes ID and the coordinate of respective extension wireless transmitter module in this spread signal;
Location AP substation in range of receiving is sent to described location-server by the extension feature parameter of spread signal and adds to and in location database, creates new grid point, described extension feature parameter comprises amplitude, arrival angle, signal to noise ratio and the interference strength of received spread signal, and the coordinate of new grid point is by the location positioning of driving position and extended wireless transmitter module.
3. underground operators high-accuracy position system as claimed in claim 1, it is characterized in that, when there is network failure, the real-time characteristic parameter of detectable signal is kept in the memory on the AP substation of location, when network failure is repaired, location AP substation sends to location-server to resolve respectively each real-time characteristic parameter of preserving in memory.
4. underground operators high-accuracy position system as claimed in claim 1, it is characterized in that, ground is provided with monitor workstation, the locating terminal that underground operators is worn is provided with for sending the warning button of alarm signal, after location AP substation is received alarm signal, sends described monitor workstation to.
5. underground operators high-accuracy position system as claimed in claim 4, is characterized in that, described monitor workstation produces overcrowding warning according to the quantity of terminal in certain region and the comparative result of specified quantity.
6. underground operators high-accuracy position system as claimed in claim 4, is characterized in that, described monitor workstation produces a people according to the comparative result of the distance between adjacent two terminals and set point and is with many cards to report to the police.
7. underground operators high-accuracy position system, comprises and is arranged on ground location-server and is arranged on the sniffer in underworkings, it is characterized in that:
Described location-server is provided with location database and comparison module, and described sniffer comprises a plurality of location AP substation, and described location AP substation is connected to described location-server by explosion-proof optical switch; In described location database, preserve in advance the demarcation characteristic parameter of each grid point on underworkings coffin grid, described demarcation characteristic parameter is the amplitude that sets in advance the demarcation signal that this received wireless transmitter module of location AP substation in the range of receiving of the wireless launcher in respective grid points sends, arrives angle, Signal to Interference plus Noise Ratio and interference strength;
Described in each, locate and on AP substation, be equipped with wireless receiving module and measurement module, the locating terminal that underground operators is worn is provided with wireless transmitter module, locating terminal sends the detectable signal of the ID that contains this locating terminal in real time by described wireless transmitter module, location AP substation in range of receiving is received after detectable signal, by the measurement module on it, obtain the real-time characteristic parameter of received detectable signal and send to location-server, described real-time characteristic parameter comprises the amplitude of the detectable signal that each location AP substation is received, arrive angle, Signal to Interference plus Noise Ratio and interference strength,
Comparison module on location-server, according to the comparison result of the demarcation characteristic parameter of each grid point in real-time characteristic parameter and location database, obtains the accurate location of locating terminal in underworkings.
8. underground operators high-accuracy position system as claimed in claim 7, it is characterized in that, all location AP substation is divided into many groups, a plurality of location AP substation in every group is connected on the network interface of an optical-electrical converter by netting twine respectively, and the light delivery outlet of described optical-electrical converter is connected on described location-server by described explosion-proof optical switch.
9. underground operators high-accuracy position system as claimed in claim 7, it is characterized in that, also comprise locator data real-time extension device, described locator data real-time extension device comprises follows the synchronization-moving support of down-hole development machine, described support is provided with the node matching with lane space grid point longitudinal cross-section, an extended wireless transmitter module is installed on each node, described in each, extended wireless transmitter module is with face synchronizing moving, and at corresponding driving position transmitting spread signal, the ID that includes respective extension wireless transmitter module in this spread signal, location AP substation in range of receiving is sent to described location-server by the extension feature parameter of spread signal and adds to and in location database, creates new grid point, described extension feature parameter comprises the amplitude of received spread signal, arrive angle, signal to noise ratio and interference strength, the coordinate of new grid point is by the location positioning of driving position and extended wireless transmitter module.
10. underground operators high-accuracy position system as claimed in claim 7, it is characterized in that, also comprise and be arranged on ground monitor workstation, described monitor workstation produces overcrowding warning according to the quantity of terminal in certain region and the comparative result of specified quantity; Described monitor workstation produces a people according to the comparative result of the distance between adjacent two terminals and set point and is with many cards to report to the police.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410202988.XA CN103957595B (en) | 2014-05-14 | 2014-05-14 | Underground operators high-accuracy position system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410202988.XA CN103957595B (en) | 2014-05-14 | 2014-05-14 | Underground operators high-accuracy position system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103957595A true CN103957595A (en) | 2014-07-30 |
| CN103957595B CN103957595B (en) | 2017-08-25 |
Family
ID=51334786
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410202988.XA Active CN103957595B (en) | 2014-05-14 | 2014-05-14 | Underground operators high-accuracy position system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103957595B (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104481591A (en) * | 2014-11-19 | 2015-04-01 | 天地（常州）自动化股份有限公司 | Approaching person monitoring and pre-warning device for movable mine excavation facility and working method thereof |
| CN104832213A (en) * | 2015-05-06 | 2015-08-12 | 中国矿业大学(北京) | Coal theft-mining monitoring method based on personnel positioning system |
| CN104991224A (en) * | 2015-06-26 | 2015-10-21 | 苏州木兰电子科技有限公司 | Tunnel positioning safety management system based on ZigBee and RFID |
| CN105760988A (en) * | 2016-02-01 | 2016-07-13 | 武汉易瑞信息技术股份有限公司 | Timing method and system based on wireless location |
| CN105848280A (en) * | 2015-01-13 | 2016-08-10 | 上海庆科信息技术有限公司 | WIFI (Wireless Fidelity) positioning method, device and system |
| CN105873211A (en) * | 2016-04-29 | 2016-08-17 | 安徽华米信息科技有限公司 | Positioning method and device |
| CN106846755A (en) * | 2017-03-03 | 2017-06-13 | 浙江禾连网络科技有限公司 | A kind of accurate indoor positioning and warning system and method based on hospital's medical trouble |
| CN107605533A (en) * | 2017-09-08 | 2018-01-19 | 桂林加宏汽车修理有限公司 | A kind of miner's safety monitoring system and method |
| CN109116303A (en) * | 2018-08-30 | 2019-01-01 | 上海奥孛睿斯科技有限公司 | A kind of positioning dimension determines method, positioning system and localization method |
| CN111550289A (en) * | 2020-05-29 | 2020-08-18 | 山东爱拓软件开发有限公司 | Method, management server and system suitable for coal face area limitation |
| CN112732782A (en) * | 2020-12-30 | 2021-04-30 | 精英数智科技股份有限公司 | Method and device for identifying overload state of underground operation personnel and production decision system |
| CN114245313A (en) * | 2021-11-18 | 2022-03-25 | 华迪计算机集团有限公司 | Wi-Fi-based underground finite space operator detection method and system |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1393813A (en) * | 2001-06-26 | 2003-01-29 | 王双德 | Intelligent location and safety management system for underground workers |
| CN101729263A (en) * | 2009-12-10 | 2010-06-09 | 周双 | Wireless network switch system suitable for underground coal mine or coal mine shaft |
| US20110286437A1 (en) * | 2010-05-20 | 2011-11-24 | At&T Mobility Ii Llc | Wi-Fi Intelligent Selection Engine |
| CN102360459A (en) * | 2011-08-19 | 2012-02-22 | 北京华通伟业科技发展有限公司 | Safety monitoring system for underground operating personnel |
| CN102523621A (en) * | 2012-01-10 | 2012-06-27 | 中国矿业大学(北京) | System and method for positioning underground personnel |
| CN202735506U (en) * | 2012-06-01 | 2013-02-13 | 中国矿业大学(北京) | Coal mine downhole one-dimensional positioning system based on wireless sensor network |
| CN103115602A (en) * | 2013-01-07 | 2013-05-22 | 安徽理工大学 | Mining subsidence monitoring information mobile acquisition terminal system and acquisition method thereof |
| CN103244188A (en) * | 2013-05-14 | 2013-08-14 | 太原科技大学 | Coal mine underground integrated monitoring and controlling system based on internet of things technology |
| CN103576654A (en) * | 2013-11-01 | 2014-02-12 | 神华集团有限责任公司 | Coalmine production control system based on GIS |
| CN103634908A (en) * | 2013-12-13 | 2014-03-12 | 顾伟 | Personnel positioning system |
| CN204014085U (en) * | 2014-05-14 | 2014-12-10 | 肖登坤 | Underground operators high-accuracy position system |
-
2014
- 2014-05-14 CN CN201410202988.XA patent/CN103957595B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1393813A (en) * | 2001-06-26 | 2003-01-29 | 王双德 | Intelligent location and safety management system for underground workers |
| CN101729263A (en) * | 2009-12-10 | 2010-06-09 | 周双 | Wireless network switch system suitable for underground coal mine or coal mine shaft |
| US20110286437A1 (en) * | 2010-05-20 | 2011-11-24 | At&T Mobility Ii Llc | Wi-Fi Intelligent Selection Engine |
| CN102360459A (en) * | 2011-08-19 | 2012-02-22 | 北京华通伟业科技发展有限公司 | Safety monitoring system for underground operating personnel |
| CN102523621A (en) * | 2012-01-10 | 2012-06-27 | 中国矿业大学(北京) | System and method for positioning underground personnel |
| CN202735506U (en) * | 2012-06-01 | 2013-02-13 | 中国矿业大学(北京) | Coal mine downhole one-dimensional positioning system based on wireless sensor network |
| CN103115602A (en) * | 2013-01-07 | 2013-05-22 | 安徽理工大学 | Mining subsidence monitoring information mobile acquisition terminal system and acquisition method thereof |
| CN103244188A (en) * | 2013-05-14 | 2013-08-14 | 太原科技大学 | Coal mine underground integrated monitoring and controlling system based on internet of things technology |
| CN103576654A (en) * | 2013-11-01 | 2014-02-12 | 神华集团有限责任公司 | Coalmine production control system based on GIS |
| CN103634908A (en) * | 2013-12-13 | 2014-03-12 | 顾伟 | Personnel positioning system |
| CN204014085U (en) * | 2014-05-14 | 2014-12-10 | 肖登坤 | Underground operators high-accuracy position system |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104481591B (en) * | 2014-11-19 | 2016-08-24 | 天地（常州）自动化股份有限公司 | Mine movable extractive equipment personnel are close to monitoring warning device and method of work thereof |
| CN104481591A (en) * | 2014-11-19 | 2015-04-01 | 天地（常州）自动化股份有限公司 | Approaching person monitoring and pre-warning device for movable mine excavation facility and working method thereof |
| CN105848280A (en) * | 2015-01-13 | 2016-08-10 | 上海庆科信息技术有限公司 | WIFI (Wireless Fidelity) positioning method, device and system |
| CN104832213A (en) * | 2015-05-06 | 2015-08-12 | 中国矿业大学(北京) | Coal theft-mining monitoring method based on personnel positioning system |
| CN104832213B (en) * | 2015-05-06 | 2017-08-25 | 中国矿业大学(北京) | Coal illegal mining monitoring method based on personnel location system |
| CN104991224A (en) * | 2015-06-26 | 2015-10-21 | 苏州木兰电子科技有限公司 | Tunnel positioning safety management system based on ZigBee and RFID |
| CN105760988B (en) * | 2016-02-01 | 2017-06-16 | 武汉易瑞信息技术股份有限公司 | A kind of clocking method and system based on wireless location |
| CN105760988A (en) * | 2016-02-01 | 2016-07-13 | 武汉易瑞信息技术股份有限公司 | Timing method and system based on wireless location |
| CN105873211A (en) * | 2016-04-29 | 2016-08-17 | 安徽华米信息科技有限公司 | Positioning method and device |
| CN106846755A (en) * | 2017-03-03 | 2017-06-13 | 浙江禾连网络科技有限公司 | A kind of accurate indoor positioning and warning system and method based on hospital's medical trouble |
| CN107605533A (en) * | 2017-09-08 | 2018-01-19 | 桂林加宏汽车修理有限公司 | A kind of miner's safety monitoring system and method |
| CN109116303A (en) * | 2018-08-30 | 2019-01-01 | 上海奥孛睿斯科技有限公司 | A kind of positioning dimension determines method, positioning system and localization method |
| CN111550289A (en) * | 2020-05-29 | 2020-08-18 | 山东爱拓软件开发有限公司 | Method, management server and system suitable for coal face area limitation |
| CN111550289B (en) * | 2020-05-29 | 2021-11-02 | 山东爱拓软件开发有限公司 | Method, management server and system suitable for coal face area limitation |
| CN112732782A (en) * | 2020-12-30 | 2021-04-30 | 精英数智科技股份有限公司 | Method and device for identifying overload state of underground operation personnel and production decision system |
| CN112732782B (en) * | 2020-12-30 | 2022-11-29 | 精英数智科技股份有限公司 | Method and device for identifying over-man state of underground operator and production decision system |
| CN114245313A (en) * | 2021-11-18 | 2022-03-25 | 华迪计算机集团有限公司 | Wi-Fi-based underground finite space operator detection method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103957595B (en) | 2017-08-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103957595A (en) | High-precision borehole operation personnel positioning system and method | |
| CN107295457B (en) | Indoor distribution antenna feeder monitoring and positioning method and system | |
| CN103957508A (en) | Accurate underground wireless positioning system and method based on combination of WiFi and gyroscope | |
| CN103178999B (en) | A kind of ADS-B method of data capture | |
| CN102354431A (en) | Monitoring and prewarning system and method for geological disasters | |
| CN110708659A (en) | Personnel positioning method and system suitable for mine path | |
| CN106597419B (en) | The underground coal mine accurate positioning method synchronous without clock | |
| US20100026570A1 (en) | Method and apparatus for intermittent location reporting | |
| CN103982240B (en) | The double integrated wireless communication system in a kind of mine personnel location | |
| CN102711245B (en) | Two-stage matching and positioning method in WLAN (Wireless Local Area Network) area in indoor environment | |
| CN102074097A (en) | Radioactive source supervision system and method | |
| CN203050783U (en) | Underground positioning and monitoring communication system | |
| CN110007271A (en) | A kind of mine personnel accurate positioning method and error determination method | |
| CN204014085U (en) | Underground operators high-accuracy position system | |
| CN110286300A (en) | A kind of multi branch electric power lines road Fault Locating Method, device, equipment and system | |
| CN204591347U (en) | Based on the coal illegal mining monitoring system of personnel positioning | |
| CN203849836U (en) | Vehicle-mounted radioactive source real-time on-line monitoring system | |
| CN103178616A (en) | Wireless-positioning-technology-based transformer substation intelligent forbidden zone management method | |
| CN103016061B (en) | Underground locating and monitoring communication system | |
| CN204014075U (en) | Be applied to the navigation system of tunnel construction site | |
| CN109874173A (en) | Real-time location method in converter station/substation under complex electromagnetic environment based on UWB | |
| CN103337134B (en) | A kind of electromagnetic field and gamma field two field emission sources safe locating device | |
| CN206523627U (en) | A kind of public security total management system based on UWB location technologies | |
| CN203441527U (en) | Accurate tracking locating and rescue escape system for roadway | |
| CN203232519U (en) | Antitheft system for distribution transformer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |