CN108769918B - A positioning and navigation system for personnel up and down in deep precise mining wells combined with the Internet of Things - Google Patents

Abstract

The invention provides a positioning navigation system for personnel getting on and off a combined internet deep precise mining well, which comprises a navigation equipment terminal, a position service base station, a ground monitoring command system and underground environment monitoring equipment. The navigation equipment terminal is provided with a visual display screen, a micro control unit, a micro inertial navigation module, a tag identification and positioning module, a GPS module, a multi-sensor detection module, an electronic map navigation module, an early warning module, a communication module and a power supply, the invention realizes positioning and navigation of personnel and vehicles in a deep underground well where GPS signals are difficult to reach, grasps the position distribution of the personnel and vehicles in the underground well through a ground monitoring system, realizes monitoring and commanding of the personnel and vehicles, and senses the underground environment through the communication module and the multi-sensor environment monitoring module to prevent danger; when a danger occurs, personnel are instructed to escape and rescue in time through the communication and positioning navigation module, and the life and property safety of underground and mining personnel is guaranteed to the greatest extent.

Description

A positioning and navigation system for personnel up and down in deep precise mining wells combined with the Internet of Things

technical field

The invention relates to a personnel positioning and navigation system and method, in particular to a personnel positioning and navigation system and a method for personnel up and down a deep precise mining well combined with the Internet of Things.

Background technique

With the large-scale mining of coal in recent years, the shallow coal resources have gradually decreased or even started to dry up, and more and more mines have begun to increase the mining depth, changing from shallow mining to deep mining. Generally speaking, the deep part generally refers to the range of 700 to 1000 m. Although increasing mining depth can ensure coal production, it also brings safety risks. On the one hand, as the mining depth increases, the downhole pressure increases, which makes the prediction and prevention of various disasters more difficult, and also increases the gas content and gas concentration in the underground roadway, which brings potential safety risks. The increase of the depth will also increase the ground temperature, and the underground working environment will deteriorate, which will seriously affect the normal production and the health of workers. Under this condition, it becomes particularly important to realize the monitoring of the location of underground personnel and vehicles, the monitoring of environmental changes, the early warning of dangerous situations, the positioning and navigation of underground personnel, and the rapid evacuation of dangerous situations.

The rapid development of satellite positioning and navigation technology has made the application of outdoor location services more widely, but the satellite signal cannot pass through the ground in the underground, so the positioning method based on the satellite signal cannot be realized in the underground, which makes the ground face the position of the underground personnel and vehicles. It becomes difficult for underground personnel to locate and navigate themselves. The traditional underground positioning method is to achieve positioning by installing RFID radio frequency tags, which is equivalent to a common access control system, but this method has poor positioning accuracy, and may also miss reading when there are many people, and the system is too simple Single, not suitable for deep mining environment.

At present, due to the rapid development of micro-electromechanical technology and Internet of Things technology, various types of sensors have become smaller and smaller, and the integration level has become higher and higher, making it possible to obtain high-precision positioning by multi-sensor fusion. Usually, these technologies use WiFi, RFID, Bluetooth and other methods for positioning, but most of them are aimed at common environments such as shopping malls and hospitals. Simple positioning does not take into account the complexity of the underground environment, it cannot monitor the underground environment, and it does not have the ability to communicate and alarm. At present, there are no mature products on the market with functions such as underground positioning and navigation, positioning, monitoring, early warning, and communication.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a positioning and navigation system and method for personnel up and down a deep precise mining well combined with the Internet of Things for the special environment of deep wells, which can realize the precise positioning and monitoring of personnel and vehicles in deep wells by ground personnel, It can remotely perceive the underground environment, and give reasonable command and dispatch when danger occurs; at the same time, it can enable workers to locate and navigate underground, perceive the underground environment, and give early warning in case of danger. The technical solution provided by the present invention is: a positioning and navigation system for personnel up and down in a deep precise mining well combined with the Internet of Things. The deep well positioning and navigation system includes a navigation equipment terminal, a location service base station, a ground monitoring command system, and an underground environment monitoring equipment. The navigation terminal is provided with a visual display screen, a micro control unit, a micro inertial navigation module, a label identification and positioning module, a GPS module, a multi-sensing detection module, an electronic map navigation module, an early warning module, a communication module and a power supply. The visual display screen, The micro-inertial navigation module, the tag identification and positioning module, the GPS module, the multi-sensing detection module, the electronic map navigation module, the early warning module, the communication module and the power supply are respectively connected with the micro-control unit.

Further, the label identification and positioning module of the navigation equipment terminal includes a transmitter and an antenna for receiving absolute coordinate information of underground positioning; wherein the transmitter performs wireless communication with the underground location service base station through the antenna, The location service base station sends the received data and the arrival time of the data to the ground monitoring and command system, and the ground monitoring and command system performs precise positioning according to the received information, and sends the precise coordinates to the navigation equipment terminal.

Further, the deep well up and down positioning and navigation system uses an explosion-proof laptop PC or an explosion-proof mobile smart phone as the navigation equipment terminal, and communicates and transmits data to the location service base station and the ground monitoring command system through the communication module.

Further, the deep well up and down positioning and navigation system constructs the Internet of Things through the multi-sensor detection module of the downhole environment monitoring equipment and the navigation equipment terminal; Temperature sensor, pressure sensor, air quality sensor, gas detector, remotely monitor the environmental indicators such as light intensity, temperature, air pressure value, air quality value, and gas concentration value around the underground environmental monitoring equipment and workers, and monitor all the environmental indicators. The environmental indicators are shared through the communication module, so that the ground personnel can grasp the downhole situation in real time without going downhole. When the environmental indicators in the area are higher than the national supervision value, on the one hand, the warning module of the navigation equipment terminal will alert the underground staff; On the other hand, through the communication module, the specific situation of the underground is timely fed back to the ground monitoring and command system, and the early warning module is triggered to plan a safe path and notify the underground personnel to prepare for evacuation or protection.

Further, its navigation method includes the following steps:

a. At the beginning of the establishment of the system, the location service base station and the underground environment monitoring equipment were placed in the key positions of the underground—the inflection point, terrain point, danger-prone point, and on the road that the underground workers must pass through every day, and the corresponding accurate three-dimensional coordinate information was recorded. as an identifier;

b. After entering the mining area, the micro-control unit of the navigation equipment terminal can independently select the required positioning mode by judging whether the personnel are in the underground environment or the underground environment;

c. The GPS module of the navigation equipment terminal is used to start the GPS module separately for positioning when the ground satellite signal on the well is very strong;

d. The label identification and positioning module of the navigation equipment terminal includes a transmitter and an antenna for receiving the absolute coordinate information of underground positioning; when the staff enters the underground with the navigation equipment terminal, the transmitter transmits high-frequency pulse data packets. To the location service base station, the location service base station sends the received data and the arrival time of the data to the ground monitoring and command system, and the ground monitoring and command system realizes the accurate positioning of the underground personnel and vehicles through the TOA method according to the received time, and sends the data to the ground monitoring and command system. The precise coordinates are sent to the navigation equipment terminal; the antenna receives information, including absolute coordinate information and broadcast information broadcast by the ground to underground personnel;

e. The micro-inertial navigation module of the navigation equipment terminal is used to assist in calculating the three-dimensional position information of the personnel; when the GPS signal is weak, the GPS positioning information of the previous moment is used as the initial position, and the inertial navigation system in the micro-inertial navigation module is used as the initial position. Continue positioning; in the underground environment, the absolute three-dimensional coordinate information is obtained through the label identification and positioning module of the navigation equipment terminal, and then the obtained three-dimensional coordinates are used as the new initial position of the inertial navigation system to continue high-precision positioning;

f. At the beginning of the establishment of the system, the regional map of the mine area and the underground roadway environment map were made into an electronic map through the embedded geographic information system development platform, and put into the system to build an electronic map navigation module, which can realize the electronic map. Basic functions of zooming in, zooming out, opening, closing, rotating, selecting, refreshing, and roaming;

g. When the label identification and positioning module of the navigation equipment terminal is enabled, the system will mark the obtained absolute coordinate information on the electronic map and display it through the visual display screen, so that the personnel on the ground can know the current position and the personnel on the ground can understand the information on the ground. the specific distribution of personnel;

h. During the navigation operation, select the corresponding point of interest mark on the electronic map to obtain the distance from the person and vehicle to the point of interest, and mark the optimal path to the point of interest on the electronic map; when the system An alarm will be issued when it is found that people and vehicles continuously deviate from the optimal path;

i. The system has the function of information query, which can calculate the distance and query the properties of the object. By selecting a point of interest on the electronic map, the temperature, pressure, air quality, gas concentration, and light conditions can be obtained through the underground environment monitoring equipment near the point of interest, and the distance from personnel and vehicles to the point of interest can be obtained;

j. The constructed Internet of Things can remotely monitor the environmental indicators such as light intensity, temperature, air pressure value, air quality value, and gas concentration value around the underground environmental monitoring equipment according to the multi-sensor detection module of the underground environmental monitoring equipment and the navigation equipment terminal. , in the event of danger, through the early warning module of the navigation equipment terminal, it will give an early warning to the underground personnel in time, and plan a safe path, so that the underground personnel can prepare for evacuation or protection;

k. When the deep well positioning and navigation system encounters sudden danger during the work process of the staff, the staff can quickly press the early warning module on the navigation equipment terminal, and its precise coordinates are immediately sent to the ground monitoring and command system, and the ground The monitoring and command system notifies the nearest personnel for rescue through the communication module.

The beneficial effects of the invention are: GPS positioning technology, inertial navigation technology and ultra-wideband technology are integrated to realize the positioning and navigation of personnel up and down the deep precise mining well, and combined with the Internet of Things, to realize the monitoring and perception of the underground environment by the ground personnel.

a. The system is a non-contact automatic identification UWB ultra-wideband technology. It does not require manual intervention during positioning. It has strong signal penetration capability, high robustness, wide coverage, and can be used in various harsh environments. It can correct the inertia in time in the well. The positioning result of the guide system can realize the high-precision positioning downhole;

b. The system integrates GPS positioning technology, inertial navigation technology and ultra-wideband technology to achieve real-time seamless high-precision positioning and navigation up and down deep mining wells;

c. The system connects multiple sensors through the Internet of Things, and monitors the changes in environmental indicators of underground light intensity, temperature, air pressure, air quality, and gas concentration in real time through light sensors, temperature sensors, pressure sensors, air quality sensors, and gas detectors. , shared through the communication module, so that the ground personnel can realize remote monitoring, and can respond in time when danger occurs;

d. Master the location distribution of underground personnel and vehicles through the ground monitoring and command system to realize the monitoring and command of personnel and vehicles; at the same time, through the communication module and multi-sensor environment monitoring module to perceive the underground environment to prevent the occurrence of danger; when danger occurs, Timely command personnel to escape and rescue through the communication and positioning and navigation module, and maximize the safety of life and property of underground and mining personnel.

Description of drawings

FIG. 1 is a system overall structural frame diagram of a personnel positioning and navigation system for up and down precise mining wells combined with the Internet of Things according to the present invention.

FIG. 2 is a flow chart of a positioning, navigation and monitoring method of a personnel positioning and navigation system for up and down precise mining wells combined with the Internet of Things according to the present invention.

As shown in the figure: 1. Navigation equipment terminal, 1.1, visual display screen, 1.2, micro control unit, 1.3, micro inertial navigation module, 1.4, label identification and positioning module, 1.4a, transmitter, 1.4b, antenna, 1.5, GPS module, 1.6, multi-sensing detection module, 1.7, electronic map navigation module, 1.8, early warning module, 1.9, communication module, 1.10, power supply, 1.11, charging socket, 2, location service base station, 3, ground monitoring command system, 4. Downhole environmental monitoring equipment.

Detailed ways

The present invention will be further elaborated below in conjunction with the accompanying drawings 1-2 and specific embodiments.

A positioning and navigation system for personnel up and down a deep precise mining well combined with the Internet of Things, the system is composed of a navigation equipment terminal 1, a location service base station 2, a ground monitoring command system 3, and an underground environment monitoring equipment 4; wherein the navigation equipment terminal 1 is provided with a visualization Display screen 1.1, micro control unit 1.2, micro inertial navigation module 1.3, tag identification and positioning module 1.4, GPS module 1.5, multi-sensor detection module 1.6, electronic map navigation module 1.7, early warning module 1.8, communication module 1.9 and power supply 1.10; visualization Display screen 1.1, micro inertial navigation module 1.3, label identification and positioning module 1.4, GPS module 1.5, multi-sensor detection module 1.6, electronic map navigation module 1.7, early warning module 1.8, communication module 1.9 and power supply 1.10 are respectively carried out with the micro control unit 1.2 connect.

The location service base station 2 is a UWB base station, and the label in the location identification and positioning module 1.4 is a UWB label.

The label identification and positioning module 1.4 of the navigation equipment terminal 1 includes a transmitter 1.4a and an antenna 1.4b for receiving absolute coordinate information for underground positioning; wherein the transmitter 1.4a transmits high-frequency pulse data packets to the location service base station 2 , the location service base station 2 sends the data to the ground monitoring command system 3, and the ground monitoring command system 3 realizes the precise positioning of the underground personnel and vehicles through the TOA method according to the received time, and sends the precise coordinates to the location service base station 2, The location service base station 2 sends it to the navigation equipment terminal 1; the antenna 1.4b receives the information sent by the location service base station 2, including the absolute coordinate information and the broadcast information broadcasted by the ground to the underground personnel.

In the deep well up and down positioning and navigation system, an explosion-proof laptop PC or an explosion-proof mobile smart phone is used as a navigation device terminal. The PC terminal is equipped with a deep mine up and down positioning and navigation system, including a map of the area above and below the mine, and an environment map of the underground roadway. The electronic map of the structure above and below the mine can be viewed through the visual TFT display screen, which can realize the basic enlargement, reduction, and reduction of the electronic map. Basic functions of opening, closing, rotating, selecting, refreshing, roaming.

The navigation device terminal 1 is provided with a charging socket 1.11, and the power module 1.10 can be charged by connecting the charging socket 1.11 through a flexible wire.

The communication module 1.9 of the navigation equipment terminal 1 is a GSM, GPRS, 3G, 4G, 5G communication module.

The GPS module 1.5 on the navigation equipment terminal 1 is used for uphole positioning; the label identification and positioning module 1.4 is used for underground high-precision positioning and identification of underground absolute position information; Auxiliary positioning when weak. Usually, the micro-inertial navigation module 1.3 will reduce the positioning accuracy due to the accumulation of errors. Therefore, when using the micro-inertial navigation module 1.3 for downhole auxiliary positioning, it is necessary to continuously use the high-precision positioning information of the tag identification and positioning module 1.4 to initialize position to eliminate the accumulation of errors. At the beginning of the establishment of the system, the location service base station 2 and the underground environment monitoring equipment 4 were placed in the key positions of the underground—inflection points, terrain points, danger-prone points, and on the road that underground workers must pass through every day. The placement plan is based on actual specific needs. Determine, take the corresponding precise three-dimensional coordinate information as the identifier. When the staff enters the mining area with the navigation equipment terminal 1, the micro-control unit 1.2 of the navigation equipment terminal 1 can independently select the required positioning mode by judging whether the staff is in the underground environment or the underground environment; when the staff carries the navigation equipment When the equipment terminal 1 enters the well, the transmitter 1.4a transmits high-frequency pulse data packets to the location service base station 2, and the location service base station 2 sends the received data and the arrival time of the data to the ground monitoring command system 3, which is commanded by the ground monitoring and control. System 3 realizes the precise positioning of underground personnel and vehicles through the TOA method according to the received time, and sends the precise coordinates to the navigation equipment terminal 1; Precision positioning.

A navigation method for personnel up and down a deep precise mining well, the steps are as follows:

a. At the beginning of the establishment of the system, the regional map up and down the mine and the environment map of the underground roadway are made into electronic maps through the embedded geographic information system development platform, and put into the system to build the electronic map navigation module 1.7, which can realize the electronic map navigation module 1.7. Basic functions of zooming in, zooming out, opening, closing, rotating, selecting, refreshing and roaming on the map;

b. When the label identification and positioning module 1.4 of the navigation equipment terminal 1 is activated, the system will mark the obtained absolute coordinate information on the electronic map and display it through the visual display screen 1.1, so that the personnel up and down the mine can know the current position, and the ground personnel can know the current position. Understand the specific distribution of personnel up and down the mine;

c. During the navigation operation, select the corresponding point of interest mark on the electronic map to obtain the distance from the person and vehicle to the point of interest, and mark the optimal path to the point of interest on the electronic map; when the system An alarm will be issued when it is found that people and vehicles continuously deviate from the optimal path;

d. The system has the function of information query, which can calculate the distance and query the properties of the object. By selecting a point of interest on the electronic map, the temperature, pressure, air quality, gas concentration, and light conditions can be obtained through the underground environment monitoring equipment 4 near the point of interest, and the distance from personnel and vehicles to the point of interest can be obtained.

The deep well up and down positioning and navigation system constructs the Internet of Things through the underground environment monitoring equipment 4 and the multi-sensor detection module 1.6 of the navigation equipment terminal 1 . The multi-sensor detection module 1.6 of the downhole environmental monitoring equipment 4 and the navigation equipment terminal 1 integrates a light sensor, a temperature sensor, a pressure sensor, an air quality sensor, and a gas detector to detect the light intensity, temperature, and air pressure values around the downhole environmental monitoring equipment 4. The environmental indicators such as air quality value and gas concentration value are monitored remotely, and all environmental indicators are shared through the communication module 1.9, so that ground personnel can grasp the situation in real time without going downhole; when the regional environmental indicators are higher than national supervision When the value is reached, the specific situation of the well is timely fed back to the ground monitoring and command system 3 through the communication module 1.9, and the early warning module 1.8 is triggered to plan a safe path and notify the underground personnel to prepare for evacuation or protection.

The present invention and its embodiments have been described above, and the description is not restrictive, and what is shown in the accompanying drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. All in all, if those of ordinary skill in the art are inspired by it, and without departing from the purpose of the present invention, any structural modes and embodiments similar to this technical solution are designed without creativity, all should belong to the protection scope of the present invention.

Claims (4)

1. A positioning and navigation system for personnel up and down precise mining wells in combination with the Internet of Things, is characterized in that: the positioning and navigation system for up and down wells in deep wells comprises a navigation equipment terminal, a location service base station, a ground monitoring command system, and an underground environment monitoring equipment, and the navigation The terminal is provided with a visual display screen, a micro control unit, a micro inertial navigation module, a label identification and positioning module, a GPS module, a multi-sensor detection module, an electronic map navigation module, an early warning module, a communication module and a power supply. The inertial navigation module, tag identification and positioning module, GPS module, multi-sensing detection module, electronic map navigation module, early warning module, communication module and power supply are respectively connected with the microcontroller unit; The GPS module of the navigation equipment terminal is used to independently activate the GPS module for positioning when the ground satellite signal in the well is strong; The label identification and positioning module of the navigation equipment terminal includes a transmitter and an antenna for receiving absolute coordinate information of underground positioning; wherein the transmitter performs wireless communication with the underground location service base station through the antenna, and the location service base station Send the received data and the arrival time of the data to the ground monitoring and command system, and the ground monitoring and command system performs precise positioning according to the received information, and sends the precise coordinates to the navigation equipment terminal; The micro-inertial navigation module of the navigation equipment terminal is used to assist in calculating the three-dimensional position information of the personnel; when the GPS signal is weak, the GPS positioning information of the previous moment is used as the initial position, and the positioning is continued through the inertial navigation system in the micro-inertial navigation module ; In the underground environment, the absolute three-dimensional coordinate information is obtained through the label identification and positioning module of the navigation equipment terminal, and then the obtained three-dimensional coordinates are used as the new initial position of the inertial navigation system to continue high-precision positioning. 2. A kind of deep precise mining well positioning and navigation system according to claim 1, it is characterized in that: described deep well positioning and navigation system takes explosion-proof laptop PC or explosion-proof mobile smart phone as the The navigation equipment terminal communicates and transmits data to the location service base station and the ground monitoring command system through the communication module. 3. A kind of deep precise mining well positioning and navigation system according to claim 1, characterized in that: the deep well positioning and navigation system is detected by multi-sensor detection of underground environment monitoring equipment and navigation equipment terminals. modules to build the Internet of Things; the multi-sensor detection modules of the underground environment monitoring equipment and navigation equipment terminals integrate light sensors, temperature sensors, pressure sensors, air quality sensors, and gas detectors. The environmental indicators such as light intensity, temperature, air pressure, air quality, and gas concentration are monitored remotely, and all environmental indicators are shared through the communication module, so that ground personnel can grasp the situation in real time without going downhole. When the environmental index is higher than the national supervision value, on the one hand, the warning module of the navigation equipment terminal is used to alert the underground staff; Get out of a safe path and notify underground personnel to prepare for evacuation or protection. 4. the navigation method of a kind of deep precise mining well positioning and navigation system combined with Internet of Things according to claim 1, is characterized in that, comprises the following steps: a. At the beginning of the establishment of the system, the location service base station and the underground environment monitoring equipment were placed in the key positions of the underground—the inflection point, terrain point, danger-prone point, and on the road that the underground workers must pass through every day, and the corresponding accurate three-dimensional coordinate information was recorded. as an identifier; b. After entering the mining area, the micro-control unit of the navigation equipment terminal can independently select the required positioning mode by judging whether the personnel are in the underground environment or the underground environment; c. The GPS module of the navigation equipment terminal is used to start the GPS module separately for positioning when the ground satellite signal on the well is very strong; d. The label identification and positioning module of the navigation equipment terminal includes a transmitter and an antenna for receiving the absolute coordinate information of underground positioning; when the staff enters the underground with the navigation equipment terminal, the transmitter transmits high-frequency pulse data packets. To the location service base station, the location service base station sends the received data and the arrival time of the data to the ground monitoring and command system, and the ground monitoring and command system realizes the accurate positioning of the underground personnel and vehicles through the TOA method according to the received time, and sends the data to the ground monitoring and command system. The precise coordinates are sent to the navigation equipment terminal; the antenna receives information, including absolute coordinate information and broadcast information broadcast by the ground to underground personnel; e. The micro-inertial navigation module of the navigation equipment terminal is used to assist in calculating the three-dimensional position information of the personnel; when the GPS signal is weak, the GPS positioning information of the previous moment is used as the initial position, and the inertial navigation system in the micro-inertial navigation module is used as the initial position. continue to locate; In the underground environment, the absolute three-dimensional coordinate information is obtained through the label identification and positioning module of the navigation equipment terminal, and then the obtained three-dimensional coordinates are used as the new initial position of the inertial navigation system to continue high-precision positioning; f. At the beginning of the establishment of the system, the regional map of the mine area and the underground roadway environment map were made into an electronic map through the embedded geographic information system development platform, and put into the system to build an electronic map navigation module, which can realize the electronic map. Basic functions of zooming in, zooming out, opening, closing, rotating, selecting, refreshing, and roaming; g. When the label identification and positioning module of the navigation equipment terminal is enabled, the system will mark the obtained absolute coordinate information on the electronic map and display it through the visual display screen, so that the personnel on the ground can know the current position and the personnel on the ground can understand the information on the ground. the specific distribution of personnel; h. During the navigation operation, select the corresponding point of interest mark on the electronic map to obtain the distance from the person and vehicle to the point of interest, and mark the optimal path to the point of interest on the electronic map; when the system An alarm will be issued when it is found that people and vehicles continuously deviate from the optimal path; i. The system has the function of information query, which can calculate the distance and query the object attributes; by selecting the point of interest on the electronic map, the temperature, pressure and air quality can be obtained through the underground environment monitoring equipment near the point of interest , gas concentration, light conditions, get the distance from people and vehicles to the point of interest; j. The constructed Internet of Things can remotely monitor the environmental indicators such as light intensity, temperature, air pressure value, air quality value, and gas concentration value around the underground environmental monitoring equipment according to the multi-sensor detection module of the underground environmental monitoring equipment and the navigation equipment terminal. , in the event of danger, through the early warning module of the navigation equipment terminal, it will give an early warning to the underground personnel in time, and plan a safe path, so that the underground personnel can prepare for evacuation or protection; k. When the deep well positioning and navigation system encounters sudden danger during the work process of the staff, the staff can quickly press the early warning module on the navigation equipment terminal, and its precise coordinates are immediately sent to the ground monitoring and command system, and the ground The monitoring and command system notifies the nearest personnel for rescue through the communication module.

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