CN108093475A - Mine personnel positioning device and method - Google Patents
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Abstract
本发明涉及一种矿井人员定位装置及方法，其装置包括至少两个第一定位标签、第二定位标签和远端控制器；至少两个第一定位标签等距离设置在矿井巷道墙壁上，第二定位标签设置在工作人员工作服上，远端控制器设置在矿井外的远端监控中心，至少两个第一定位标签、第二定位标签和远端控制器顺次无线连接。本发明的定位装置只需要工作人员佩戴第二定位标签在矿井下工作，远端控制器就可以计算出工作人员的位置，远端监控中心根据所述工作人员的位置就可以判断开采是否过界，不需要专业人员进行人工测量，且成本较低。
The invention relates to a mine personnel positioning device and method. The device includes at least two first positioning tags, a second positioning tag and a remote controller; at least two first positioning tags are arranged equidistantly on the wall of the mine roadway. The second positioning tag is set on the work clothes of the staff, the remote controller is set at the remote monitoring center outside the mine, and at least two first positioning tags, the second positioning tag and the remote controller are sequentially connected wirelessly. The positioning device of the present invention only requires the staff to wear the second positioning tag to work in the mine, the remote controller can calculate the position of the staff, and the remote monitoring center can judge whether the mining is out of bounds according to the position of the staff , does not require professionals to perform manual measurement, and the cost is low.
Description
技术领域technical field
本发明涉及矿井无线定位领域，尤其涉及一种矿井人员定位装置及方法。The invention relates to the field of mine wireless positioning, in particular to a mine personnel positioning device and method.
背景技术Background technique
由于矿山的开采都是在地下进行，很难对开采的越界行为作出及时有效的判定，现有检测主要靠人工手段。专业人员利用专业仪器到矿井中进行测量，查看开采部分是否越界，这种手段效率低，且测量一次的成本需要十万元。Since the mining of mines is carried out underground, it is difficult to make timely and effective judgments on the cross-border behavior of mining, and the existing detection mainly relies on manual means. Professionals use professional instruments to measure in the mine to check whether the mining part is out of bounds. This method is inefficient, and the cost of one measurement needs 100,000 yuan.
发明内容Contents of the invention
本发明所要解决的技术问题是针对上述现有技术的不足，提供一种矿井人员定位装置及方法。The technical problem to be solved by the present invention is to provide a mine personnel positioning device and method for the above-mentioned deficiencies in the prior art.
本发明解决上述技术问题的技术方案如下：一种矿井人员定位装置，The technical solution of the present invention to solve the above technical problems is as follows: a mine personnel positioning device,
包括至少两个第一定位标签、第二定位标签和远端控制器；至少两个第一定位标签等距离设置在矿井巷道墙壁上，第二定位标签设置在工作人员工作人员工作服上，远端控制器设置在矿井外的远端监控中心，至少两个第一定位标签、第二定位标签和远端控制器顺次无线连接；It includes at least two first positioning tags, a second positioning tag and a remote controller; at least two first positioning tags are arranged equidistantly on the wall of the mine roadway, the second positioning tag is arranged on the work clothes of the staff, and the remote The controller is set in the remote monitoring center outside the mine, and at least two first positioning tags, second positioning tags and the remote controller are sequentially connected wirelessly;
第二定位标签用于接收至少两个第一定位标签中的一个或多个第一定位标签分别发送的识别信息，其中识别信息包括与第一定位标签对应的第一定位标签识别码；The second positioning tag is used to receive identification information sent by one or more first positioning tags of the at least two first positioning tags, wherein the identification information includes a first positioning tag identification code corresponding to the first positioning tag;
第二定位标签还用于获取接收识别信息时的接收信号强度指示值；The second positioning tag is also used to obtain the received signal strength indicator value when receiving the identification information;
第二定位标签还用于将与第二定位标签对应的第二定位标签识别码、一个或多个第一定位标签识别码，以及一个或者多个接收信号强度指示值发送至远端控制器；The second positioning tag is also used to send the second positioning tag identification code corresponding to the second positioning tag, one or more first positioning tag identification codes, and one or more received signal strength indication values to the remote controller;
远端控制器用于根据第二定位标签识别码、一个或多个第一定位标签识别码，以及一个或者多个接收信号强度指示值，确定工作人员的位置。The remote controller is used to determine the location of the worker according to the second positioning tag identification code, one or more first positioning tag identification codes, and one or more received signal strength indication values.
本发明的有益效果是：本发明的定位装置在矿井巷道设置至少两个第一定位标签，工作人员佩戴第二定位标签在矿井下工作，第二定位标签接收至少一个第一定位标签发送的第一定位标签识别码，并计算接收信号强度指示值后，将至少一个接收信号强度指示值、至少一个第一定位标签识别码和第二定位标签识别码发送到远端控制器，以计算工作人员的位置，远端监控中心根据远端控制器计算的工作人员的位置就可以判断开采是否过界，不需要专业人员进行人工测量，且成本较低。The beneficial effects of the present invention are: the locating device of the present invention is provided with at least two first locating tags in the mine roadway, the staff wears the second locating tags to work in the mine, and the second locating tags receive at least one first locating tag sent by the first locating tag. a positioning tag identification code, and after calculating the received signal strength indication value, at least one received signal strength indication value, at least one first positioning tag identification code and the second positioning tag identification code are sent to the remote controller to calculate the staff The remote monitoring center can judge whether the mining has crossed the boundary according to the position of the staff calculated by the remote controller. It does not require manual measurement by professionals, and the cost is low.
在上述技术方案的基础上，本发明还可以做如下改进：On the basis of above-mentioned technical scheme, the present invention can also be improved as follows:
进一步：定位装置还包括网关，至少一个第二定位标签和远端控制器之间通过网关无线连接；第二定位标签通过网关将第二定位标签识别码、一个或多个第一定位标签识别码，以及一个或者多个接收信号强度指示值发送至远端控制器。Further: the positioning device also includes a gateway, at least one second positioning tag and the remote controller are wirelessly connected through the gateway; the second positioning tag sends the second positioning tag identification code, one or more first positioning tag identification codes through the gateway , and one or more RSSI values are sent to the remote controller.
上述进一步方案是有益效果为：通过网关可在不同的网络环境下实现第二定位标签与远端控制器的无线连接，以将第二定位标签发送的至少一个第一定位标签识别码、接收信号强度指示值和第二定位标签识别码传到远端控制器。The above-mentioned further solution has the beneficial effect that the gateway can realize the wireless connection between the second positioning tag and the remote controller in different network environments, so as to transmit at least one first positioning tag identification code and received signal sent by the second positioning tag. The intensity indication value and the second location tag identification code are transmitted to the remote controller.
进一步：远端控制器具体用于：Further: the remote controller is specifically used for:
将一个或者多个第一定位标签识别码分别与预存储的标签信息进行匹配，获取一个或多个第一定位标签的位置信息，其中预存储的标签信息包括所有第一定位标签位置和第一定位标签识别码之间的映射关系表；Match the identification codes of one or more first positioning tags with the pre-stored tag information respectively, and obtain the position information of one or more first positioning tags, wherein the pre-stored tag information includes all the positions of the first positioning tags and the first A mapping relationship table between positioning tag identification codes;
根据一个或多个第一定位标签的位置信息、一个或者多个接收信号强度指示值以及第二定位标签识别码确定工作人员的位置。The location of the staff is determined according to the location information of one or more first positioning tags, one or more received signal strength indication values and the identification code of the second positioning tag.
上述进一步方案的有益效果为：远端控制器可以根据第一定位标签识别码获取第一定位标签的位置，并进一步根据至少一个第一定位标签的位置、至少一个接收信号强度指示值和第二定位标签识别码计算出工作人员的位置。The beneficial effect of the above further solution is: the remote controller can obtain the position of the first positioning tag according to the first positioning tag identification code, and further according to the position of at least one first positioning tag, at least one received signal strength indicator value and the second The location tag identification code calculates the location of the worker.
进一步：远端控制器具体用于：Further: the remote controller is specifically used for:
将一个或多个第一定位标签的位置信息以及一个或者多个接收信号强度指示值以及第二定位标签识别码代入基于接收信号强度指示测距的定位算法中，获取工作人员的位置。The position information of one or more first positioning tags, one or more received signal strength indication values and the second positioning tag identification code are substituted into the positioning algorithm based on the received signal strength indication distance measurement to obtain the position of the staff.
上述进一步方案的有益效果为：远端控制器以一个或多个第一定位标签的位置信息、一个或者多个接收信号强度指示值以及第二定位标签识别码参数，利用基于接收信号强度指示测距的定位算法计算得到工作人员的位置。The beneficial effect of the above further solution is: the remote controller uses the location information of one or more first positioning tags, one or more received signal strength indicator values and the second positioning tag identification code parameters, and utilizes the position information based on the received signal strength indicator The location algorithm of distance calculates the location of the staff.
进一步：预先存储的标签信息还包括第二定位标签识别码与工作人员信息的一一映射关系表；Further: the pre-stored tag information also includes a one-to-one mapping relationship table between the second positioning tag identification code and staff information;
当确定工作人员当前位置已经超出预设矿井范围时，根据第二定位标签识别码，从第二定位标签识别码与工作人员信息的一一映射关系表中获取工作人员的信息；When it is determined that the current position of the staff has exceeded the preset mine range, according to the second positioning tag identification code, the information of the staff is obtained from the one-to-one mapping relationship table between the second positioning tag identification code and the staff information;
根据工作人员的信息向工作人员发出告警信息。According to the information of the staff, an alarm message is sent to the staff.
上述进一步方案的有益效果为：远端控制器可以在工作人员开采越界时从第二定位标签识别码与工作人员信息的一一映射关系表中获取工作人员的姓名或者联系方式信息，以向工作人员发出警告信息。The beneficial effect of the above further scheme is: the remote controller can obtain the name or contact information of the staff from the one-to-one mapping relationship table between the identification code of the second positioning tag and the staff information when the staff crosses the boundary in mining, so as to provide information to the staff. Personnel issued a warning message.
本发明还提供一种矿井人员定位方法，矿井人员定位方法包括如下步骤：The present invention also provides a method for locating mine personnel. The method for locating mine personnel includes the following steps:
步骤1：第二定位标签接收至少两个第一定位标签中的一个或者多个第一定位标签分别发送的识别信息，其中识别信息包括与第一定位标签对应的第一定位标签识别码；Step 1: The second positioning tag receives the identification information sent by one or more first positioning tags of the at least two first positioning tags, wherein the identification information includes the first positioning tag identification code corresponding to the first positioning tag;
步骤2：第二定位标签获取接收识别信息时的接收信号强度指示值；Step 2: The second positioning tag obtains the received signal strength indicator value when receiving the identification information;
步骤3：第二定位标签将与第二定位标签对应的第二定位标签识别码、一个或者多个第一定位标签识别码，以及一个或者多个接收信号强度指示值发送至远端控制器；Step 3: The second positioning tag sends the second positioning tag identification code corresponding to the second positioning tag, one or more first positioning tag identification codes, and one or more received signal strength indication values to the remote controller;
步骤4：远端控制器根据第二定位标签识别码、一个或者多个第一定位标签识别码，以及一个或者多个接收信号强度指示值，确定工作人员的位置。Step 4: The remote controller determines the location of the worker according to the second positioning tag identification code, one or more first positioning tag identification codes, and one or more received signal strength indication values.
本发明的有益效果为：本发明的定位方法，在矿井巷道设置至少两个第一定位标签，工作人员佩戴第二定位标签在矿井下工作，第二定位标签接收至少一个第一定位标签发送的第一定位标签识别码，并计算接收信号强度指示值后将至少一个接收信号强度指示值、至少一个第一定位标签识别码和第二定位标签识别码发送到远端控制器，以计算工作人员的位置，远端监控中心根据远端控制器计算出的工作人员的位置就可以判断开采是否过界，不需要专业人员进行人工测量，且成本较低。The beneficial effects of the present invention are as follows: in the positioning method of the present invention, at least two first positioning tags are set in the mine roadway, the staff wears the second positioning tag to work in the mine, and the second positioning tag receives at least one first positioning tag. The first positioning tag identification code, and after calculating the received signal strength indication value, at least one received signal strength indication value, at least one first positioning tag identification code and the second positioning tag identification code are sent to the remote controller to calculate the staff According to the position of the staff calculated by the remote controller, the remote monitoring center can judge whether the mining is out of bounds. It does not require manual measurement by professionals, and the cost is low.
进一步：步骤2中，第二定位标签通过网关将第二定位标签识别码、一个或者多个第一定位标签识别码、以及一个或者多个接收信号强度指示值发送至远端控制器。Further: in step 2, the second positioning tag sends the second positioning tag identification code, one or more first positioning tag identification codes, and one or more received signal strength indication values to the remote controller through the gateway.
上述进一步方案的有益效果为：通过网关可在不同的网络环境下实现第二定位标签与远端控制器的无线连接，以将第二定位标签发送的至少一个第一定位标签识别码、接收信号强度指示值和第二定位标签识别码传到远端控制器。The beneficial effect of the above further solution is: the gateway can realize the wireless connection between the second positioning tag and the remote controller in different network environments, so as to transmit at least one first positioning tag identification code and received signal sent by the second positioning tag. The intensity indication value and the second location tag identification code are transmitted to the remote controller.
进一步：步骤3的具体实现为：Further: the specific implementation of step 3 is:
步骤31：将一个或者多个第一定位标签识别码分别与预存储的标签信息进行匹配，获取一个或多个第一定位标签的位置信息，其中预存储的标签信息包括所有第一定位标签位置和第一定位标签识别码之间的映射关系表；Step 31: Match the identification codes of one or more first positioning tags with the pre-stored tag information respectively, and obtain the position information of one or more first positioning tags, wherein the pre-stored tag information includes the positions of all first positioning tags and the mapping relationship table between the first positioning tag identification code;
步骤32：根据一个或多个第一定位标签的位置信息、一个或者多个接收信号强度指示值以及第二定位标签识别码确定工作人员的位置。Step 32: Determine the location of the worker according to the location information of one or more first positioning tags, one or more received signal strength indicators and the identification code of the second positioning tag.
上述进一步方案的有益效果为：远端控制器可以根据第一定位标签识别码获取第一定位标签的位置，并进一步根据至少一个第一定位标签的位置、至少一个接收信号强度指示值和第二定位标签识别码计算出工作人员的位置。The beneficial effect of the above further solution is: the remote controller can obtain the position of the first positioning tag according to the first positioning tag identification code, and further according to the position of at least one first positioning tag, at least one received signal strength indicator value and the second The location tag identification code calculates the location of the worker.
进一步：步骤32的具体实现为：Further: the specific implementation of step 32 is:
将一个或多个第一定位标签的位置信息、一个或者多个接收信号强度指示值以及第二定位标签识别码代入基于接收信号强度指示测距的定位算法中，获取工作人员的位置。The position information of one or more first positioning tags, one or more received signal strength indication values and the second positioning tag identification code are substituted into the positioning algorithm based on received signal strength indication distance measurement to obtain the position of the staff.
上述进一步方案对有益效果为：远端控制器以一个或多个第一定位标签的位置信息、一个或者多个接收信号强度指示值以及第二定位标签识别码参数，利用基于接收信号强度指示测距的定位算法计算得到工作人员的位置。The beneficial effect of the above further solution is: the remote controller uses the position information of one or more first positioning tags, one or more received signal strength indicator values and the second positioning tag identification code parameters, and uses the position information based on the received signal strength indicator The location algorithm of distance calculates the location of the staff.
进一步：预先存储的标签信息还包括第二定位标签识别码与工作人员信息的一一映射关系；Further: the pre-stored tag information also includes a one-to-one mapping relationship between the second positioning tag identification code and the staff information;
当确定工作人员当前位置已经超出预设矿井范围时，根据第二定位标签识别码，从第二定位标签识别码与工作人员信息的一一映射关系表中获取工作人员的信息；When it is determined that the current position of the staff has exceeded the preset mine range, according to the second positioning tag identification code, the information of the staff is obtained from the one-to-one mapping relationship table between the second positioning tag identification code and the staff information;
根据工作人员的信息向工作人员发出告警信息。According to the information of the staff, an alarm message is sent to the staff.
上述进一步方案对有益效果为：远端控制器可以在工作人员开采越界时从第二定位标签识别码与工作人员信息的一一映射关系表中获取工作人员的姓名或者联系方式信息，以向工作人员发出警告。The above-mentioned further scheme has a beneficial effect on the following: the remote controller can obtain the name or contact information of the staff from the one-to-one mapping relationship table between the second positioning tag identification code and the staff information when the staff crosses the border in mining, so as to report to the staff Personnel issued a warning.
附图说明Description of drawings
图1为本发明的矿井人员定位装置的结构示意图；Fig. 1 is the structural representation of mine personnel positioning device of the present invention;
图2为本发明的矿井人员定位方法的流程示意图。Fig. 2 is a schematic flow chart of the mine personnel positioning method of the present invention.
具体实施方式Detailed ways
以下结合附图对本发明的原理和特征进行描述，所举实例只用于解释本发明，并非用于限定本发明的范围。The principles and features of the present invention are described below in conjunction with the accompanying drawings, and the examples given are only used to explain the present invention, and are not intended to limit the scope of the present invention.
如图1所示，一种矿井人员定位装置，包括至少两个第一定位标签、第二定位标签和远端控制器；至少两个第一定位标签等距离设置在矿井巷道墙壁上，第二定位标签设置在工作人员工作服上，远端控制器设置在矿井外的远端监控中心，至少两个第一定位标签、第二定位标签和远端控制器顺次无线连接；As shown in Figure 1, a mine personnel locating device includes at least two first locating tags, a second locating tag and a remote controller; The positioning tags are set on the work clothes of the staff, the remote controller is set in the remote monitoring center outside the mine, and at least two first positioning tags, the second positioning tags and the remote controller are sequentially connected wirelessly;
第二定位标签用于接收至少两个第一定位标签中的一个或多个第一定位标签分别发送的识别信息，其中识别信息包括与第一定位标签对应的第一定位标签识别码；The second positioning tag is used to receive identification information sent by one or more first positioning tags of the at least two first positioning tags, wherein the identification information includes a first positioning tag identification code corresponding to the first positioning tag;
第二定位标签还用于获取接收识别信息时的接收信号强度指示值；The second positioning tag is also used to obtain the received signal strength indicator value when receiving the identification information;
第二定位标签还用于将与第二定位标签对应的第二定位标签识别码、一个或多个第一定位标签识别码，以及一个或者多个接收信号强度指示值发送至远端控制器；The second positioning tag is also used to send the second positioning tag identification code corresponding to the second positioning tag, one or more first positioning tag identification codes, and one or more received signal strength indication values to the remote controller;
远端控制器用于根据第二定位标签识别码、一个或多个第一定位标签识别码，以及一个或者多个接收信号强度指示值，确定工作人员的位置。The remote controller is used to determine the location of the worker according to the second positioning tag identification code, one or more first positioning tag identification codes, and one or more received signal strength indication values.
在实际中，第一定位标签从井口开始沿主平垌布置，每隔第一预设距离(例如8米)设置一个点位，每个第一定位标签信号覆盖范围有限，但是所有的第一定位标签信号覆盖整个巷道。第一定位标签每隔一定时间发送定位标签识别码，当有工作人员携带第二定位标签下矿时，不断接收一定范围内的至少一个第一定位标签发送的定位标签识别码，并计算接收信号强度指示值后将与第二定位标签识别码、至少一个第一定位标签识别码和至少一个接收信号强度指示值发送给远端控制器进行计算，从而得到工作人员的位置。In practice, the first positioning tags are arranged along the main level from the wellhead, and a point is set every first preset distance (for example, 8 meters). The signal coverage of each first positioning tag is limited, but all the first positioning tags Positioning tag signals cover the entire roadway. The first positioning tag sends the positioning tag identification code at regular intervals. When a staff member carries the second positioning tag to go to the mine, the positioning tag identification code sent by at least one first positioning tag within a certain range is continuously received, and the received signal is calculated. The strength indication value will be sent to the remote controller for calculation along with the second positioning tag identification code, at least one first positioning tag identification code and at least one received signal strength indication value, so as to obtain the staff's position.
本发明的定位装置只需要工作人员佩戴第二定位标签在矿井下工作，远端控制器就可以计算出工作人员的位置，远端监控中心根据工作人员的位置就可以判断开采是否过界，不需要专业人员进行人工测量，且成本较低。The positioning device of the present invention only requires the staff to wear the second positioning tag to work in the mine, and the remote controller can calculate the position of the staff, and the remote monitoring center can judge whether the mining is out of bounds according to the position of the staff. Professionals are required for manual measurement, and the cost is low.
本实施例中，定位装置还包括网关，网关设置在巷道墙壁上，至少一个第二定位标签和远端控制器之间通过网关无线连接；第二定位标签通过网关将第二定位标签识别码、一个或多个第一定位标签识别码，以及一个或者多个接收信号强度指示值发送至远端控制器。In this embodiment, the positioning device further includes a gateway, the gateway is arranged on the roadway wall, at least one second positioning tag and the remote controller are wirelessly connected through the gateway; the second positioning tag sends the second positioning tag identification code, The one or more identification codes of the first positioning tags and the one or more received signal strength indication values are sent to the remote controller.
在实际中，第一定位标签采用Jmark-T6409智能标签。Jmark-T6409智能标签通过蓝牙将第一定位标签识别码向外发送。且Jmark-T6409智能标签尺寸小，成本低，发射间隔可调节，且采用3M胶粘贴方式安装，安装简单。In practice, the first positioning label adopts Jmark-T6409 smart label. The Jmark-T6409 smart label sends out the identification code of the first positioning label through Bluetooth. And the Jmark-T6409 smart label is small in size, low in cost, adjustable in the launch interval, and installed with 3M adhesive, which is easy to install.
第二定位标签采用蓝牙扫描终端，蓝牙扫描终端的识别码即为第二定位标签识别码。蓝牙扫描终端支持蓝牙扫描功能，可以实现对固定安装的第一定位标签进行扫描计算，可同时接收多个第一定位标签发送的第一定位标签识别码并计算接收信号强度指示值，且可以支持Jura通信功能，可以将第二定位标签识别码、至少一个第一定位标签发送的定位标签识别码和至少一个信号接收强度指示值通过Jura网络发送给网关。The second positioning tag adopts a Bluetooth scanning terminal, and the identification code of the Bluetooth scanning terminal is the identification code of the second positioning tag. The Bluetooth scanning terminal supports the Bluetooth scanning function, which can realize the scanning calculation of the fixedly installed first positioning tag, and can simultaneously receive the first positioning tag identification code sent by multiple first positioning tags and calculate the received signal strength indicator value, and can support The Jura communication function can send the second positioning tag identification code, at least one positioning tag identification code sent by the first positioning tag, and at least one signal reception strength indicator value to the gateway through the Jura network.
网关采用Jmark-TG6509智能网关，设置在距离井口第二预设距离(例如72米)的位置，与远端监控中心以4G/RJ45外部公共网络连接。Jmark-TG6509具有Jura网络数据的汇聚功能，且具有8路上行通道，支持同时接收8个第二定位标签发送的数据，大大的提高了第二定位标签数据上传的实时性。The gateway adopts Jmark-TG6509 intelligent gateway, which is set at the second preset distance (for example, 72 meters) from the wellhead, and is connected to the remote monitoring center with 4G/RJ45 external public network. Jmark-TG6509 has the aggregation function of Jura network data, and has 8 uplink channels, which supports simultaneous reception of data sent by 8 second positioning tags, which greatly improves the real-time performance of the second positioning tag data upload.
本实施例中，远端控制器，具体用于：In this embodiment, the remote controller is specifically used for:
将一个或者多个第一定位标签识别码分别与预存储的标签信息进行匹配，获取一个或多个第一定位标签的位置信息，其中预存储的标签信息包括所有第一定位标签位置和第一定位标签识别码之间的映射关系表；Match the identification codes of one or more first positioning tags with the pre-stored tag information respectively, and obtain the position information of one or more first positioning tags, wherein the pre-stored tag information includes all the positions of the first positioning tags and the first A mapping relationship table between positioning tag identification codes;
根据一个或多个第一定位标签的位置信息、一个或者多个接收信号强度指示值以及第二定位标签识别码确定工作人员的位置。The location of the staff is determined according to the location information of one or more first positioning tags, one or more received signal strength indication values and the identification code of the second positioning tag.
远端控制器可以根据第一定位标签识别码获取第一定位标签的位置，并进一步根据计算出工作人员的位置。The remote controller can obtain the position of the first positioning tag according to the identification code of the first positioning tag, and further calculate the position of the staff according to the identification code.
本实施例中，远端控制器具体用于：In this embodiment, the remote controller is specifically used for:
将一个或多个第一定位标签的位置信息以及一个或者多个接收信号强度指示值以及第二定位标签识别码代入基接收信号强度指示测距的定位算法中，获取述工作人员的位置。The position information of one or more first positioning tags, one or more received signal strength indicator values and the second positioning tag identification code are substituted into the positioning algorithm based on received signal strength indication ranging to obtain the position of the staff.
具体地，基于接收信号强度测距的定位算法是结合接收信号强度指示测距和多点定位的现有定位技术，通过接收信号强度指示测距原理将接收信号强度指示值转变为第一定位标签与第二定位标签的距离，并利用多点定位原理，根据第二定位标签识别码、至少一个第一定位标签的位置和至少一个第一定位标签与第二定位标签的距离确定工作人员的位置。当第二定位标签接收到一个第一定位标签发送的数据时，根据第二定位标签与这个第一定位标签的距离和这第一定位标签的位置，只能得到第二定位标签的所在区域范围；当第二定位标签接收到两个第一定位标签发送的数据时，根据第二定位标签与两个第一定位标签的距离和两个第一定位标签的位置，可计算出两个可能的位置，此时根据矿井巷道的范围可排除一个可能的位置，从而得到工作人员的确切位置；当第二定位标签接收到至少三个第一定位标签发送的数据时，可任意提取三个定位标签，根据第二定位标签与三个第一定位标签的距离和三个第一定位标签的位置，可唯一确定工作人员的位置。Specifically, the positioning algorithm based on received signal strength ranging is an existing positioning technology that combines received signal strength indication ranging and multi-point positioning, and converts the received signal strength indication value into the first positioning tag through the principle of receiving signal strength indication ranging The distance from the second positioning tag, and using the principle of multi-point positioning, determine the position of the staff according to the identification code of the second positioning tag, the position of at least one first positioning tag and the distance between at least one first positioning tag and the second positioning tag . When the second positioning tag receives the data sent by the first positioning tag, according to the distance between the second positioning tag and the first positioning tag and the position of the first positioning tag, only the area where the second positioning tag is located can be obtained ; When the second positioning tag receives the data sent by the two first positioning tags, according to the distance between the second positioning tag and the two first positioning tags and the positions of the two first positioning tags, two possible Position, at this time, a possible position can be excluded according to the scope of the mine roadway, so as to obtain the exact position of the staff; when the second positioning tag receives the data sent by at least three first positioning tags, three positioning tags can be arbitrarily extracted , according to the distance between the second positioning tag and the three first positioning tags and the positions of the three first positioning tags, the position of the staff can be uniquely determined.
本实施例中，预先存储的标签信息还包括第二定位标签识别码与工作人员信息的一一映射关系表；In this embodiment, the pre-stored tag information also includes a one-to-one mapping relationship table between the second positioning tag identification code and the staff information;
当确定工作人员当前位置已经超出预设矿井范围时，根据第二定位标签识别码，从第二定位标签识别码与工作人员信息的一一映射关系表中获取工作人员的信息；When it is determined that the current position of the staff has exceeded the preset mine range, according to the second positioning tag identification code, the information of the staff is obtained from the one-to-one mapping relationship table between the second positioning tag identification code and the staff information;
根据工作人员的信息向工作人员发出告警信息。According to the information of the staff, an alarm message is sent to the staff.
在实际中，远端控制器还可以与手机等移动设备连接，第二定位标签的使用者信息包括工作人员的工号，姓名和手机号码，当工作人员的位置越界，远端控制器可根据手机号码向工作人员发短信以提醒工作人员。不需专业人员带着专业仪器下矿人工测量，来判断开采是否过界，节约了人力与物力。In practice, the remote controller can also be connected with mobile devices such as mobile phones. The user information of the second positioning tag includes the employee's job number, name and mobile phone number. Cell phone number texts staff to alert staff. There is no need for professionals to carry professional instruments into the mine for manual measurement to judge whether the mining has crossed the boundary, which saves manpower and material resources.
如图2所示，本发明还提供一种矿井人员定位方法，包括如下步骤：As shown in Figure 2, the present invention also provides a mine personnel positioning method, comprising the following steps:
步骤1：第二定位标签接收至少两个第一定位标签中的一个或者多个第一定位标签分别发送的识别信息，其中识别信息包括与第一定位标签对应的第一定位标签识别码；Step 1: The second positioning tag receives the identification information sent by one or more first positioning tags of the at least two first positioning tags, wherein the identification information includes the first positioning tag identification code corresponding to the first positioning tag;
步骤2：第二定位标签获取接收识别信息时的接收信号强度指示值；Step 2: The second positioning tag obtains the received signal strength indicator value when receiving the identification information;
步骤3：第二定位标签将与第二定位标签对应的第二定位标签识别码、一个或者多个第一定位标签识别码，以及一个或者多个接收信号强度指示值发送至远端控制器；Step 3: The second positioning tag sends the second positioning tag identification code corresponding to the second positioning tag, one or more first positioning tag identification codes, and one or more received signal strength indication values to the remote controller;
步骤4：远端控制器根据第二定位标签识别码、一个或者多个第一定位标签识别码，以及一个或者多个接收信号强度指示值，确定工作人员的位置。Step 4: The remote controller determines the location of the worker according to the second positioning tag identification code, one or more first positioning tag identification codes, and one or more received signal strength indication values.
在实际中，第一定位标签从井口开始沿主平垌布置，每隔第一预设距离(例如8米)设置一个点位，每个第一定位标签信号覆盖范围有限，但是所有的第一定位标签信号覆盖整个巷道。第一定位标签每隔一定时间发送第一定位标签识别码，当有工作人员携带第二定位标签下矿时，不断接收一定范围内的至少一个第一定位标签发送的定位标签识别码，并计算接收信号强度指示值后将第二定位标签识别码，至少一个第一定位标签识别码和至少一个接收信号强度指示值发送给远端控制器进行计算，从而得到工作人员的位置。In practice, the first positioning tags are arranged along the main level from the wellhead, and a point is set every first preset distance (for example, 8 meters). The signal coverage of each first positioning tag is limited, but all the first positioning tags Positioning tag signals cover the entire roadway. The first positioning tag sends the first positioning tag identification code at regular intervals. When a staff member carries the second positioning tag to go to the mine, the positioning tag identification code sent by at least one first positioning tag within a certain range is continuously received, and calculated After receiving the signal strength indication value, the second positioning tag identification code, at least one first positioning tag identification code and at least one received signal strength indication value are sent to the remote controller for calculation, thereby obtaining the position of the staff.
本发明的定位方法只需要工作人员佩戴第二定位标签在矿井下工作，远端控制器就可以计算出工作人员的位置，远端监控中心根据工作人员的位置就可以判断开采是否过界，不需要专业人员进行人工测量，且成本较低。The positioning method of the present invention only requires the staff to wear the second positioning tag to work in the mine, and the remote controller can calculate the position of the staff, and the remote monitoring center can judge whether the mining is out of bounds according to the position of the staff. Professionals are required for manual measurement, and the cost is low.
本实施例中，步骤2中，第二定位标签通过网关将第二定位标签识别码、一个或者多个第一定位标签识别码、以及一个或者多个接收信号强度指示值发送至远端控制器。In this embodiment, in step 2, the second positioning tag sends the second positioning tag identification code, one or more first positioning tag identification codes, and one or more received signal strength indication values to the remote controller through the gateway .
在实际中，第一定位标签采用Jmark-T6409智能标签。Jmark-T6409智能标签通过蓝牙将第一定位标签识别码向外发送。且Jmark-T6409智能标签尺寸小，成本低，发射间隔可调节，且采用3M胶粘贴方式安装，安装简单。In practice, the first positioning label adopts Jmark-T6409 smart label. The Jmark-T6409 smart label sends out the identification code of the first positioning label through Bluetooth. And the Jmark-T6409 smart label is small in size, low in cost, adjustable in the launch interval, and installed with 3M adhesive, which is easy to install.
第二定位标签采用蓝牙扫描终端，蓝牙扫描终端的识别码即为第二定位标签识别码。蓝牙扫描终端支持蓝牙扫描功能，可以实现对固定安装的第一定位标签进行扫描计算，可同时接收多个第一定位标签发送的第一定位标签识别码。并计算接收信号强度指示值，且可以支持Jura通信功能，可以将第二定位标签识别码、至少一个第一定位标签发送的至少一个第一定位标签识别码和至少一个信号接收强度指示值通过Jura网络发送给网关。The second positioning tag adopts a Bluetooth scanning terminal, and the identification code of the Bluetooth scanning terminal is the identification code of the second positioning tag. The bluetooth scanning terminal supports the bluetooth scanning function, which can realize the scanning calculation of the fixedly installed first positioning tags, and can receive the first positioning tag identification codes sent by multiple first positioning tags at the same time. And calculate the received signal strength indicator value, and can support the Jura communication function, can pass the second positioning tag identification code, at least one first positioning tag identification code sent by at least one first positioning tag and at least one signal receiving strength indicator value through Jura The network sends to the gateway.
网关采用Jmark-TG6509智能网关，设置在距离井口第二预设距离(例如72米)的位置，与远端监控中心以4G/RJ45外部公共网络连接。Jmark-TG6509具有Jura网络数据的汇聚功能，且具有8路上行通道，支持同时接收8个第二定位标签发送的数据，大大的提高了第二定位标签数据上传的实时性。The gateway adopts Jmark-TG6509 intelligent gateway, which is set at the second preset distance (for example, 72 meters) from the wellhead, and is connected to the remote monitoring center with 4G/RJ45 external public network. Jmark-TG6509 has the aggregation function of Jura network data, and has 8 uplink channels, which supports simultaneous reception of data sent by 8 second positioning tags, which greatly improves the real-time performance of the second positioning tag data upload.
本实施例中，步骤3的具体实现为：In this embodiment, the concrete realization of step 3 is:
步骤31：将一个或者多个第一定位标签识别码分别与预存储的标签信息进行匹配，获取一个或多个第一定位标签的位置信息，其中预存储的标签信息包括所有第一定位标签位置和第一定位标签识别码之间的映射关系表；Step 31: Match the identification codes of one or more first positioning tags with the pre-stored tag information respectively, and obtain the position information of one or more first positioning tags, wherein the pre-stored tag information includes the positions of all first positioning tags and the mapping relationship table between the first positioning tag identification code;
步骤32：根据一个或多个第一定位标签的位置信息、一个或者多个接收信号强度指示值以及第二定位标签识别码确定工作人员的位置。Step 32: Determine the location of the worker according to the location information of one or more first positioning tags, one or more received signal strength indicators and the identification code of the second positioning tag.
远端控制器可以根据第一定位标签识别码获取第一定位标签的位置，并进一步根据计算出工作人员的位置。The remote controller can obtain the position of the first positioning tag according to the identification code of the first positioning tag, and further calculate the position of the staff according to the identification code.
本实施例中，步骤32的具体实现为：In this embodiment, the concrete realization of step 32 is:
将一个或多个第一定位标签的位置信息、一个或者多个接收信号强度指示值以及第二定位标签识别码代入基于接收信号强度指示测距的定位算法中，获取工作人员的位置。The position information of one or more first positioning tags, one or more received signal strength indication values and the second positioning tag identification code are substituted into the positioning algorithm based on received signal strength indication distance measurement to obtain the position of the staff.
具体地，基于接收信号强度测距的定位算法是结合接收信号强度指示测距和多点定位的现有定位技术，通过接收信号强度指示测距原理将接收信号强度指示值转变为第一定位标签与第二定位标签的距离，并利用多点定位原理，根据第二定位标签识别码、至少一个第一定位标签的位置和至少一个第一定位标签与第二定位标签的距离确定工作人员的位置。当第二定位标签接收到一个第一定位标签发送的数据时，根据第二定位标签与这个第一定位标签的距离和这第一定位标签的位置，只能得到第二定位标签的所在区域范围；当第二定位标签接收到两个第一定位标签发送的数据时，根据第二定位标签与两个第一定位标签的距离和两个定位标签的位置，可计算出两个可能的位置，此时根据矿井巷道的范围可排除一个可能的位置，从而得到工作人员的确切位置；当第二定位标签接收到至少三个第一定位标签发送的数据时，可任意提取三个第一定位标签，根据第二定位标签与三个第一定位标签的距离和三个第一定位标签的位置，可唯一确定工作人员的位置。Specifically, the positioning algorithm based on received signal strength ranging is an existing positioning technology that combines received signal strength indication ranging and multi-point positioning, and converts the received signal strength indication value into the first positioning tag through the principle of receiving signal strength indication ranging The distance from the second positioning tag, and using the principle of multi-point positioning, determine the position of the staff according to the identification code of the second positioning tag, the position of at least one first positioning tag and the distance between at least one first positioning tag and the second positioning tag . When the second positioning tag receives the data sent by the first positioning tag, according to the distance between the second positioning tag and the first positioning tag and the position of the first positioning tag, only the area where the second positioning tag is located can be obtained ; When the second positioning tag receives the data sent by the two first positioning tags, two possible positions can be calculated according to the distance between the second positioning tag and the two first positioning tags and the positions of the two positioning tags, At this time, a possible position can be excluded according to the scope of the mine roadway, so as to obtain the exact position of the staff; when the second positioning tag receives the data sent by at least three first positioning tags, three first positioning tags can be arbitrarily extracted , according to the distance between the second positioning tag and the three first positioning tags and the positions of the three first positioning tags, the position of the staff can be uniquely determined.
本实施例中，预先存储的标签信息还包括第二定位标签识别码与工作人员信息的一一映射关系；In this embodiment, the pre-stored tag information also includes a one-to-one mapping relationship between the second positioning tag identification code and the staff information;
当确定工作人员当前位置已经超出预设矿井范围时，根据第二定位标签识别码，从第二定位标签识别码与工作人员信息的一一映射关系表中获取工作人员的信息；When it is determined that the current position of the staff has exceeded the preset mine range, according to the second positioning tag identification code, the information of the staff is obtained from the one-to-one mapping relationship table between the second positioning tag identification code and the staff information;
根据工作人员的信息向工作人员发出告警信息。According to the information of the staff, an alarm message is sent to the staff.
在实际中，远端控制器还可以与手机等移动设备连接，第二定位标签的使用者信息包括工作人员的工号，姓名和手机号码，当工作人员的位置越界，远端控制器可根据手机号码向工作人员发短信以提醒工作人员。不需专业人员带着专业仪器下矿人工测量，来判断开采是否过界，节约了人力与物力。In practice, the remote controller can also be connected with mobile devices such as mobile phones. The user information of the second positioning tag includes the employee's job number, name and mobile phone number. Cell phone number texts staff to alert staff. There is no need for professionals to carry professional instruments into the mine for manual measurement to judge whether the mining has crossed the boundary, which saves manpower and material resources.
以上仅为本发明的较佳实施例，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The above are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention Inside.
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Application publication date: 20180529 |