CN109653789A - A kind of portable mine intelligent escape guide device - Google Patents
A kind of portable mine intelligent escape guide device Download PDFInfo
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- CN109653789A CN109653789A CN201910127451.4A CN201910127451A CN109653789A CN 109653789 A CN109653789 A CN 109653789A CN 201910127451 A CN201910127451 A CN 201910127451A CN 109653789 A CN109653789 A CN 109653789A
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- 230000009429 distress Effects 0.000 claims abstract description 128
- 239000003245 coal Substances 0.000 claims abstract description 17
- 238000005065 mining Methods 0.000 claims abstract description 10
- 230000001133 acceleration Effects 0.000 claims description 21
- 238000004364 calculation method Methods 0.000 claims description 14
- 230000006870 function Effects 0.000 claims description 11
- 238000004519 manufacturing process Methods 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 6
- 238000012937 correction Methods 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims description 2
- 230000005662 electromechanics Effects 0.000 claims description 2
- 230000005358 geomagnetic field Effects 0.000 claims 1
- 238000004422 calculation algorithm Methods 0.000 description 15
- 238000000034 method Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 7
- 238000004590 computer program Methods 0.000 description 6
- 238000006073 displacement reaction Methods 0.000 description 5
- 238000012544 monitoring process Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 238000007514 turning Methods 0.000 description 4
- 230000007613 environmental effect Effects 0.000 description 3
- 230000015654 memory Effects 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 231100000331 toxic Toxicity 0.000 description 2
- 230000002588 toxic effect Effects 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
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- 231100001261 hazardous Toxicity 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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- 238000011835 investigation Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000007787 long-term memory Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F11/00—Rescue devices or other safety devices, e.g. safety chambers or escape ways
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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Abstract
This application discloses a kind of portable mine intelligent escape guide device, including mobile terminal application software and server database, the server database is used to provide the basic information and notification message in mine for the mobile terminal application software；The mobile terminal application software includes personnel positions computing module, optimal keeps away calamity path-generating module and Route guiding generation module, when the notification message represents, and coal mining accident occurs, the personnel positions computing module estimates the geographical location of distress personnel, the optimal geographical location for keeping away calamity path-generating module according to the basic information and after calculating generates optimal best-effort path, and the Route guiding generation module generates route guidance information according to the optimal best-effort path.The application can calculate in real time optimal refuge taking route according to the current geographic position and disaster scenarios it of distress personnel and provide Voice Navigation, help distress personnel fast-escape.
Description
Technical field
The present invention relates to public safety field more particularly to a kind of portable mine intelligent escape guide devices.
Background technique
Coal mine is constantly subjected to extensive concern as the strategic resources of national development.The sudden and diffusion of coal mining accident is fast
Speed keeps away calamity escape difficulty after making distress personnel calamity.After disaster occurs, fear can make one to be difficult to keep calm and awake.Urgent feelings
When condition occurs, due to security needs, mine can face the even full mine power-off of part power-off, lighting installation weakens, section communication
Situations such as base station stops working.Distress personnel need to be presently in position by experience judgement and select to keep away calamity path, thus,
Underground escaping guide device is particularly important.
At present in terms of the escaping guide device of underground, in the industry mostly to have the physics for the best-effort path formulated instruction dress in advance
It is set to master, including escape guiding rope, by the downhole rescuing indicator in diode displaying direction and is printed on set escape
The escape direction board in path.But it is in danger to find that these escaping guide devices can not timely and effectively pass to information by investigation
Personnel.It traces it to its cause: first is that escape direction board exists only in certain fixed positions, being difficult to ensure that distress personnel can be obtained effectively after calamity
Obtain information；Second is that escape route be it is prefabricated, can not provide according to current condition adjustment and for distress personnel and be presently in position
Confidence breath and real-time specific aim route guidance information；Third is that many escaping guide devices are destroyed after calamity, can not work normally.
Summary of the invention
For shortcoming existing for above-mentioned existing apparatus, the application provides a kind of portable mine intelligent escape guidance dress
It sets, which can go out targetedly optimal escape for the geographical location of current distress personnel and underground disaster scenarios it real-time resolving
Means of livelihood diameter, in map denotation, and according to the direction of travel of distress personnel and travel distance real-time perfoming Voice Navigation.The application is logical
The various ways such as sound and image are crossed, distress personnel escape is pointedly helped in real time, can effectively promote escape efficiency, guarantee life
Order property safety.
In order to achieve the goal above, guidance distress personnel safe escape, the application adopt the following technical scheme that
A kind of portable mine intelligent escape guide device, including mobile terminal application software and server database, it is described
Mobile terminal application software and server database communication connection, the server database are used to apply for the mobile terminal
Software provides the basic information and notification message in mine；
The mobile terminal application software includes:
Personnel positions computing module, for calculating the geographical location of distress personnel；
It is optimal to keep away calamity path-generating module, for generating optimal best-effort path；
Route guiding generation module, for generating route guidance information；
When the notification message represents, and coal mining accident occurs, geography of the personnel positions computing module to distress personnel
Position is calculated, and the optimal geographical location for keeping away calamity path-generating module according to the basic information and after calculating generates most
Excellent best-effort path, the Route guiding generation module generate route guidance information according to the optimal best-effort path.
The Route guiding generation module is analyzed by current location to distress personnel and direction of travel, and is combined
It is described it is optimal keep away calamity path-generating module it is resulting it is optimal keep away calamity path, to distress personnel in key positions such as tunnel turnings
Direction of advance, time and distance do corresponding judgement, and key message group is merged to the route guidance information for generating text formatting.
Optionally, the mobile terminal application software further includes speech production playing module；
After the Route guiding generation module generates route guidance information according to the optimal best-effort path, the voice
It generates playing module and voice guidance message is generated according to the route guidance information.
The speech production playing module is by the word content in the notification information and the route guidance information
It is converted into acoustic information and is broadcasted by hearing devices built in included loudspeaker and the indicator of trapped personnel helmet, facilitate distress personnel
Key message is received in time.
Optionally, the mobile terminal application software further includes electronically marking identification module, for receiving pre- be embedded in tunnel
Electronically target electronic signal；
When distress personnel moves in mine according to the voice guidance message, it is described electronically mark identification module according to
The electronic signal received obtains belonging to the electronic signal electronically target landmark locations；
It is described it is optimal keep away calamity path-generating module and corrected according to the landmark locations obtain from the personnel positions computing module
The geographical location of the distress personnel taken.
Optionally, the basic information includes at least tunnel information, formation information, the communication information, production information, positioning letter
Breath, security information, electromechanics and rescue aid information.Wherein, the tunnel information must include tunnel node absolute coordinate, tunnel
The gradient, tunnel topological relation, drift section, tunnel coding, tunnel type and tunnel barrier.
Optionally, the mobile terminal application software further includes mobile GIS platform, for providing the basis for distress personnel
Information；
The mobile GIS platform includes:
Map display module, for the basic information to be formed visualized map according to prefabricated map symbol；
Basic information update module, it is locating in mine for being downloaded from the server database and caching distress personnel
Region the basic information；
Basic information enquiry module, for providing the function of inquiring the basic information for distress personnel；
Keyword search module, for providing the function for inquiring the basic information in a manner of keyword for distress personnel
Energy.
The mobile terminal application software based on moving GIS platform, be embedded with it is described it is optimal keep away calamity path-generating module,
The personnel positions computing module, the Route guiding generation module and the speech production playing module.
The mobile GIS platform includes map display module, basic information update module, basic information enquiry module and pass
Keyword search module；The map display module be used for by the basic datas such as map datum, monitoring data on basis according to
Screen of the prefabricated map symbol plotting in terminal device；The basic information update module is used for from the server database
Download and cache distress personnel be presently in each layer basic map data such as the tunnel map datum of region base, purpose monitoring with
And downloading receives real-time notification message；The basic information enquiry module is used to inquire in detail by each POI operation of to map
Information；The keyword search module is used to carry out searching for relevant information by keying in or the keyword of voice input limiting
Rope.
Optionally, the mobile GIS platform further includes login module, and the login module is used to receive the use of user's input
Family information, and the correctness of the user information is verified.
Optionally, the mobile terminal application software is installed on the terminal device of distress personnel carrying, the terminal device band
There are accelerometer and gyroscope；
The accelerometer is used to provide the acceleration of distress personnel for the personnel positions computing module；
The gyroscope is used to provide each axis angular rate for the personnel positions computing module.
Optionally, when the notification message represents, and coal mining accident occurs, the personnel positions computing module is according to
Acceleration obtains the boat of distress personnel away from, pedestrian's boat away from moving for distress personnel relative to last accurately geographical location
Dynamic distance；
The personnel positions computing module calculates the course for obtaining distress personnel, the pedestrian according to each axis angular rate
Course is the angle that distress personnel changes relative to the direction of advance that the last time determines；
The personnel positions computing module navigates according to the pedestrian away from the geography for obtaining distress personnel with the pedestrian course
Position.
Optionally, the personnel positions computing module includes:
Boat away from rough calculation model, for obtained according to the velocity amplitude boat of distress personnel away from；
Model is roughly calculated in course, for obtaining the course of distress personnel according to each axis angular rate；
Random error model, for pedestrian boat away from the boat that obtains of rough calculation model away from thick with the pedestrian course
The course that slightly computation model obtains is modified.
The personnel positions computing module is used to be turned according to the acceleration and each axis of gyroscope of the current walking of distress personnel
Angle calculates the forward travel distance and direction of advance of distress personnel, and the relative movement distance of distress personnel is calculated with this.In conjunction with from
The geographical location of distress personnel is counted in the exact position of the current distress personnel last time inquired in personnel location system
It calculates.
The optimal calamity path-generating module of keeping away is resolved toxic in tunnel after disaster occurs by establishing tunnel threedimensional model
Harmful gas concentration, in conjunction with tunnel threedimensional model and toxic and harmful gas concentration calculation tunnel equivalent length, in the equivalent length
On the basis of obtained by improved optimal path algorithm and optimal keep away calamity best-effort path.
It optionally, further include the geography of distress personnel by the basic information that the basic information enquiry module can inquire
Position；
If network service can be used in the mobile terminal application software, when the notification message represents, and coal mining accident occurs,
It is described it is optimal keep away calamity path-generating module according to the basic information and from the basic information enquiry module obtain distress personnel
Geographical location generate optimal best-effort path.
Optionally, the server database runs the clothes requested from the mobile terminal application software using C++ program
Business；
The server database foundation has spatial database, for storing the basic information.
The mobile GIS platform that the application uses shows current geographical location to distress personnel.The application by it is described most
Excellent calamity path-generating module of keeping away obtains optimal path, and is provided accordingly by the current walking states of distress personnel and geographical location
The duration and directivity information of path instruction are played back by hearing devices built in included loudspeaker and the indicator of trapped personnel helmet.
The application keeps away the deficient situation of calamity escape guiding instruction for current underground, it is intended to provide in real time for underground coal mine distress personnel
Targetedly keep away calamity escape guiding.Using coal mine intrinsic safety type Intelligent mobile equipment as carrier, escape support system is embedded, by described
It is optimal to keep away calamity path-generating module and the optimal road Bi Zai is calculated according to the geographical location of current distress personnel and disaster scenarios it in real time
Line, then Voice Navigation is provided by voice for distress personnel.The device keeps away calamity ability to underground operators emergency is improved, and enhances
The confidence and success rate escaped after its calamity reduce life and property loss caused by all kinds of emergency events and are of great significance.
Detailed description of the invention
Fig. 1 is a kind of block diagram of portable mine intelligent escape guide device；
Fig. 2 is the flow chart for obtaining the geographical location of distress personnel；
Fig. 3 is the schematic illustration of pedestrian's dead reckoning algorithm；
Fig. 4 is electronically to identify other schematic illustration.
Specific embodiment
To keep the purposes, technical schemes and advantages of embodiment of the present invention clearer, implement below in conjunction with the present invention
Attached drawing in example, technical scheme in the embodiment of the invention is clearly and completely described.Obviously, described embodiment
It is a part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work belongs to the model that the present invention protects
It encloses.
Fig. 1 shows a kind of block diagram of portable mine intelligent escape guide device, referring to Fig.1, is based on Android system
Mobile terminal application software be installed on the portable terminal device of distress personnel, wherein match in the mobile terminal application software
It is equipped with the address of server database, the wireless of mobile terminal application software and server database can be realized by wireless network
Connection, the server database can provide Map Services and other data services for the mobile terminal application software.
Various services needed for the server database runs the mobile terminal application software by C++ program, including
User's checking service, Map Services, the download service of basic information, the upload of notification message and download service etc..The clothes simultaneously
Business client database foundation has spatial database storing various basic informations, such as establishes and have spatial database, for storing
Underground network information, hydrogeological information, coal mining system information, driving system information, Mechatronic Systems information, transportation system's letter
Breath, one through three prevention information, drainage system information, monitoring and controlling system information, personnel in the pit's vehicle location information, underground emergency are kept away
Dangerous system information, mine compressed air self-help system information, underground mine water supply are sued and laboured system information, mine communication contacted system information.
The mobile terminal application software include map display module, basic information update module, basic information enquiry module,
Keyword search module optimal keeps away calamity path-generating module, personnel positions computing module, Route guiding generation module and voice
Generate playing module.
As shown in Figure 1, the function of the mobile terminal application software is using the map display module of the mobile GIS platform as base
Plinth.The acquisition and update of data may be implemented in the basic information update module, for downloading from the server-side database
The coal seam information of display corresponding with update, tectonic information, purpose monitoring information, personnel location information etc..The map denotation mould
Block is that the map datum of basic information update module downloading exists each element visualization by its each layer configuration file
The screen of the terminal device of distress personnel.The basic information enquiry module provide obtain mine under some specific location it is detailed
The function of thin basic information, specifically, when distress personnel is clicked and inquired a query event can be triggered, the mobile terminal is answered
The POI nearest away from the place is calculated by the coordinate of the scene of the query event with software, and passes through the unique of the POI
Mark obtains the corresponding basic information in the place from the server database.The keyword search module is then distress personnel
Provide the function of being directed to some keyword and obtain basic information.Its inquiry mode be by key in text or sound come into
Row, rather than pass through the geographical location of identification distress personnel.Different types of basic information, in the screen of the terminal device of distress personnel
Also different data display modes is corresponding on curtain.Such as gas detection apparatus, gas concentration value, CONCENTRATION STATE will be shown
(whether normal), detector specific location etc..For another example, for personnel localization base station, by display current base station lists of persons and respectively
Personnel go into the well the time, can also carry out trace playback for personal.For another example, it for industrial video monitoring base station, can show current
Underground image.
It is produced after optimal topological structure, the internal gradient and the calamity for keeping away calamity path-generating module by comprehensively considering tunnel
The harm value of object optimal keeps away calamity path to calculate.Concrete methods of realizing are as follows: lane is established by the real topology in tunnel first
The network model in road, but not using the physical length in tunnel as network edge weight, but with the spatial weighting length in tunnel ---
Tunnel equivalent length is as the current ease index in measurement tunnel.It is being applied to several masters that refuge taking route solves by comparison
Stream shortest path first keeps away demand and the lane of calamity problem from coal mine roadway after dijkstra's algorithm, A* algorithm, ant group algorithm
Road network characteristic is set out, and is compared to algorithm above and preferentially, has been selected the bellman-ford algorithm of queue optimization, also known as
For Shortest Path Faster Algorithm (SPFA).It is contemplated that bellman-ford algorithm is just for single road
Diameter weight and disaster factors can not be included in solution procedure, the optimal calamity path-generating module of keeping away carries out existing algorithm
It improves: establishing the biobjective scheduling algorithm comprising accumulation threshold constrained objective of suitable Disastrous environment.
After disaster occurs, if the terminal device of distress personnel can be used network service, i.e. distress personnel can be with
The geographical location being presently in is inquired by the basic information enquiry module, optimal keeps away calamity path-generating module then described
The geographical location that distress personnel can be preferentially obtained from the basic information enquiry module, if the terminal device of distress personnel can not
To use network to service, i.e., the described mobile terminal application software can not request to take by wireless network to the server database
Business, then the optimal calamity path-generating module of keeping away can only obtain the geographical position of distress personnel from the personnel positions computing module
It sets.
In the disclosure, the mobile terminal application software is installed on the portable terminal device of distress personnel, the terminal
Equipment has accelerometer and gyroscope.The accelerometer is used to provide distress personnel for the personnel positions computing module
Acceleration；The gyroscope is used to provide each axis angular rate for the personnel positions computing module；The personnel positions calculate mould
Root tuber obtains the boat of distress personnel away from, pedestrian's boat away from obtained by calculating for distress personnel relative to the last time according to the acceleration
Geographical location and the relative distance of movement；The personnel positions computing module obtains distress personnel according to each axis angular rate
Course, the pedestrian course be distress personnel relative to the direction of advance that the last time determines the angle that changes；The personnel
Position computation module is navigated according to the pedestrian away from the geographical location for obtaining distress personnel with the pedestrian course.
It, can be according to the end when personnel positions computing module can not know the geographical location of distress personnel after calamity
The included accelerometer of end equipment and gyroscope, pedestrian's dead reckoning algorithm and tunnel structure carry out the geography to distress personnel
Position is calculated.In the application, the intelligently realizing explosion-proof formula terminal device that the terminal device uses waist to hold can be more effectively
Escape navigation is carried out to indicator of trapped personnel.
Terminal device portable for distress personnel, such as common Intelligent mobile equipment (such as mobile phone), due to
Lower-cost inertial sensor is generallyd use, therefore can there are problems that drift error when acquiring data.It is common to overcome
The included inexpensive inertial sensor itself of Intelligent mobile equipment there are problems that drift error, the application pass through building Bi-
LSTM model navigates to calculate away from prediction and the error in course angle calculating, and is modified to error, pushes away to improve its personnel
Position precision is calculated, provides more accurate position for underground coal mine emergency escape intelligent guiding device.
Fig. 2 shows the flow charts in the geographical location for calculating distress personnel, as shown in Fig. 2, including the following steps.
In step s 11, it acquires pedestrian's related data and pre-processes.
In step s 12, be roughly calculated the boat of distress personnel away from and course.
In step s 13, random error model is established.
In step S14, the geographical location of distress personnel is calculated.
First in step s 11, it acquires pedestrian's related data and pre-processes.
In previous experiments, state when simulation distress personnel is escaped, (this during collector advances according to desired trajectory
When intelligent terminal is held in waist) accelerometer, the top that are got by the data acquisition software of intelligent mobile terminal
The sequence data that spiral shell instrument and magnetometer generate in real time, i.e. linear acceleration described in Fig. 2, the angular acceleration and the earth magnetism
, desired trajectory direction is the predetermined angular.Meanwhile rangefinder is directed toward by tunnel and records personnel's forward travel distance in real time
Variation, the time series data are to be displaced described in Fig. 2.According to live changes of magnetic field, environmental parameter value described in Fig. 2 is set.
In step s 12, be roughly calculated the boat of distress personnel away from and course.
By the way of walking interior integral to acceleration sequence data and gyroscope single shaft angular speed is come the boat to distress personnel
It is roughly calculated away from, course.The personnel positions computing module includes boat away from rough calculation model and course rough calculation mould
Type, pedestrian's boat is away from rough calculation model according to the collected acceleration sequence data of the accelerometer through step size computation mould
Type and step counting model rough calculation obtain the boat of distress personnel away from including the displacement of random error described in i.e. Fig. 2.Pedestrian's boat
To rough calculation model according to the collected each axis angular rate of the gyroscope (using when rough calculation is uniaxial angular speed)
Rough calculation obtains the course of distress personnel, i.e. includes the course drift angle of error described in Fig. 2.It is in danger due in case of emergency
Personnel are it is difficult to ensure that leg speed is consistent for a long time.Thus the application uses and integrates to obtain to pretreated acceleration sequence data
The walking distance coarse value of distress personnel.It is influenced by hardware noise and external condition, in use gyroscope to distress personnel
Course when being calculated, calculate that result can have accumulated error.It is no longer that each shaft angle of gyroscope is fast for the accumulation for reducing error
Degree is included in calculating, and filtering out for error, and the side of progress only is fixed perpendicular to the uniaxial angular speed of direction of advance to gyroscope
It is roughly calculated to angle.
In step s 13, random error model is established.
By the study to CNN and LSTM network characteristic and principle, two-way shot and long term memory network (Bi- is constructed
Directional Long Short-Term Memory, Bi-LSTM) model and constantly adjust, to predict boat away from prediction and
Error in course angle calculating.The acquisition pattern of random error model is as shown in Figure 2.It is input number by the linear acceleration
According to the difference of the displacement comprising random error and the displacement true value is obtained as target data by the study of Bi-LSTM
Boat is away from error model.Using the linear acceleration, angular acceleration, earth's magnetic field value and environmental parameter as input data, by the packet
Time series data, that is, course error sequence of the difference of course drift angle and actual heading angle containing error passes through as target data
Bi-LSTM model learning obtains course error model.
The random error model includes pedestrian's boat away from error model and pedestrian's course error model.Such as Fig. 2
It is shown, when obtaining boat away from error model by Bi-LSTM model learning, using collected linear acceleration as Bi-LSTM's
A part of input data subtracts each other to obtain using collected shift value as displacement true value and the shift value comprising random error
Target data of the displacement error value as Bi-LSTM, pedestrian's boat is obtained away from error mould by Bi-LSTM learning training
Type.By Bi-LSTM model learning obtain course error model when, by collected earth's magnetic field value, angular acceleration values and
A part of input data of the linear acceleration value as Bi-LSTM will be collected using environmental parameter as another part input data
Earth's magnetic field value, angular acceleration values and linear acceleration value carry out solving of attitude and obtain the course drift angle comprising error, will be pre-
The angle error that the predetermined angle angle value of fixed track is subtracted each other as angle true value and the course drift angle comprising error is as Bi-
The target data of LSTM obtains pedestrian's course error model by Bi-LSTM learning training.
In step S14, the geographical location of distress personnel is calculated.
In distress personnel escape, is first navigated according to step S12 from the pedestrian and obtained away from rough calculation model comprising error
Boat away from, from the pedestrian course rough calculation model obtain the course comprising error.Further according to the pedestrian in step S13
It navigates and includes to described away from line error correction, pedestrian's course error model is carried out to the boat comprising error away from error model
The course of error carries out angle error amendment, with obtain distress personnel relative to last accurate geographical location final boat away from
With the variation in course.On the basis of revised boat is away from course, i.e. using pedestrian's dead reckoning algorithm (i.e. PDR algorithm)
The more accurate geographical location of distress personnel can be obtained.
Fig. 3 shows the schematic illustration of pedestrian's dead reckoning algorithm, as shown in figure 3, selecting an initial bit first
Set, from initial position, by course to distress personnel and boat away from calculating, successively calculate the current geography of distress personnel
Position is relative to the distance in last geographical location and the change in direction, then obtains its current geographical location.The application is logical
It crosses and judges whether network is unobstructed to determine whether enabling personnel positions calculating.Under offline condition, personnel will be passed through for the last time
The accurate geographic position for the distress personnel that base station is got is escaped set under the hazardous condition of current tunnel as initial position
Raw direction carries out the calculating in the geographical location of distress personnel as direction of advance.As shown in figure 3, being set in advance to the map in mine
Determine all directions four direction, (x0,y0) characterization initial position, (x1,y1) be according to the boat of distress personnel away from course in (x0,
y0) on the basis of be calculated.Similarly, multiple coordinates later all in accordance with the distress personnel boat away from course previous
It is calculated on the basis of coordinate, each coordinate characterizes the geographical location being calculated each time.
Electronically mark identification module geographical location corresponding to electronics terrestrial reference for identification.It is electronically designated as in tunnel
The RFID label tag of intersection and key point pre-plugged, the label can launch outward electromagnetic wave.As shown in figure 4,1 marks for RFID
Label, 2 be intelligent movable antiknock device.After the terminal device that distress personnel carries receives each label signal, according to each tag ID
Corresponding position information can obtain geographical location general locating for the terminal device.The location information is handed over mainly as tunnel
The identification and foundation that prong turns to also can be used as the check and correction of personnel positions calculating.
The Route guiding generation module be used in conjunction with distress personnel current geographic position, travel speed and direction and
It is optimal that calamity best-effort path is kept away to generate guidance information in real time.The Route guiding generation module needs to call the base at work
Plinth information inquiry module is obtained to obtain the geographical location being presently in of distress personnel, or from the personnel positions computing module
Take the geographical location of distress personnel.
For example, when the notification message that the mobile application software receives represents, and coal mining accident occurs, the dress
The geographical location for obtaining distress personnel first is set, if the network signal of the terminal device of distress personnel is good, by the base
Geographical location of the personnel location information that plinth information inquiry module provides as distress personnel.If the terminal device of distress personnel
Network signal can not normal use, then calculate resulting personnel location information as people in danger the personnel positions computing module
The locating geographical location information of member, while the electronics terrestrial reference at the key point for passing through tunnel proofreads the geographical location.
After getting the geographical location of distress personnel, by it is described it is optimal keep away calamity path-generating module generate one with
The geographical location is the optimal best-effort path of starting point.
After generating the optimal best-effort path, the Route guiding generation module is real-time according to the optimal best-effort path
Plan a geographical location being presently in using distress personnel as the best-effort path of starting point for distress personnel.For example, institute
Route guiding generation module is stated by the geographical location of current distress personnel, in conjunction with tunnel structure etc. by shortest path by personnel
Position computation module calculates that the course angle of the personnel obtained as foundation, judges line direction and planning road before the reality of distress personnel
Whether diameter direction is consistent.In view of coal mine roadway is the more fixed restricted clearance of total direction of advance, thus to its preceding line direction
Judgement is relaxed in 120 degree.Its side is determined less than 60 ° when the angle of the practical direction of advance of distress personnel and planning path
To consistent.If consistent, its progress number and whenabouts before next turning point is calculated according to the speed of a ship or plane of distress personnel.?
When the step number and time are less than or equal to limit threshold value, generate and play navigation hint.If inconsistent, generate prompting message and broadcast
It puts, prompts distress personnel to pay attention to current direction of advance, it is instructed to return to the correct direction of planning.
At turning point in mine, described device can keep away calamity escape in conjunction with optimal according to the run trace of distress personnel
Path determines that turning point turns to, and converts " left and right, straight trip " such side that can determine that without extraneous help for the angle
To instruction.It is verified further according to obtained electronics landmark information, prompts distress personnel to keep away calamity best-effort path along optimal with this
It withdraws.
The speech production playing module in the application, for converting acoustic information for text information and playing out
Come.The module calls the voice built in local in sound bank, and passes through the terminal device of distress personnel (such as mobile phone or other intelligence
Mobile device) loudspeaker play in real time.No matter whether the terminal device networks, can be by notification message and Route guiding
Information passes to distress personnel in real time in a manner of voice broadcast.
The present invention passes through all kinds of basic informations of server database real-time update underground, provides for the distress personnel of underground
The inquiry and function of search of each basic information；The application can be in mobile terminal application software networking or the shape of failed cluster simultaneously
The geographical location of distress personnel is obtained under state and is generated in real time targetedly optimal keep away calamity escape route and optimal keep away for this
The Voice Navigation of calamity escape route helps distress personnel rapidly to escape.
In addition, it should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, apparatus or calculate
Machine program product.Therefore, the form of embodiment combining software and hardware aspects can be used in the embodiment of the present invention.Moreover, this hair
It wherein includes the computer-usable storage medium (packet of computer usable program code that bright embodiment, which can be used in one or more,
Include but be not limited to magnetic disk storage, CD-ROM, optical memory etc.) on the form of computer program product implemented.
The embodiment of the present invention is described referring to the block diagram of terminal device of the present invention (system) and computer program product
's.It should be understood that each box in block diagram can be realized by computer program instructions.It can provide these computer program instructions to arrive
General purpose computer, special purpose computer, Embedded Processor or other programmable data processing terminal devices processor to generate
One machine, so that the instruction generation executed by computer or the processor of other programmable data processing terminal devices is used for
Realize the dress for the function of specifying in one or more flows of the flowchart and/or one or more blocks of the block diagram
It sets.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing terminal devices
In computer-readable memory operate in a specific manner, so that instruction stored in the computer readable memory generates packet
The manufacture of command device is included, which realizes in one side of one or more flows of the flowchart and/or block diagram
The function of being specified in frame or multiple boxes.
These computer program instructions can also be loaded into computer or other programmable data processing terminal devices, so that
Series of operation steps are executed on computer or other programmable terminal equipments to generate computer implemented processing, thus
The instruction executed on computer or other programmable terminal equipments is provided for realizing in one or more flows of the flowchart
And/or in one or more blocks of the block diagram specify function the step of.
It should also be noted that, herein, the terms "include", "comprise" or its any other variant are intended to non-
It is exclusive to include, so that process, method, article or terminal device including a series of elements are not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or terminal
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except there is also other identical elements in process, method, article or the terminal device for including the element.
These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of portable mine intelligent escape guide device, which is characterized in that including mobile terminal application software and server-side number
According to library, the mobile terminal application software and server database communication connection, the server database is for being described
Mobile terminal application software provides the basic information and notification message in mine；
The mobile terminal application software includes:
Personnel positions computing module, for calculating the geographical location of distress personnel；
It is optimal to keep away calamity path-generating module, for generating optimal best-effort path；
Route guiding generation module, for generating route guidance information；
When the notification message represents, and coal mining accident occurs, geographical location of the personnel positions computing module to distress personnel
It is calculated, the optimal geographical location for keeping away calamity path-generating module according to the basic information and after calculating generates optimal escape
Means of livelihood diameter, the Route guiding generation module generate route guidance information according to the optimal best-effort path.
2. the apparatus according to claim 1, which is characterized in that the mobile terminal application software further includes that speech production plays
Module；
After the Route guiding generation module is generated according to the optimal best-effort path customizes route guidance information, institute's predicate
Sound generates playing module and generates voice guidance message according to the route guidance information, and the information is transmitted to the included expansion of equipment
Hearing devices built in sound device and the indicator of trapped personnel helmet simultaneously play.
3. the apparatus of claim 2, which is characterized in that the mobile terminal application software further includes electronically identifying not
Module, for receiving the pre- electronically target electronic signal being embedded in tunnel；
When distress personnel moves in mine according to the voice guidance message, the electronically mark identification module is according to reception
To electronic signal obtain belonging to the electronic signal electronically target landmark locations；
The optimal calamity path-generating module of keeping away is obtained according to landmark locations correction from the personnel positions computing module
The geographical location of distress personnel.
4. device according to claim 1,2 or 3, which is characterized in that the basic information includes at least: tunnel information,
Formation information, the communication information, production information, location information, security information, electromechanics and rescue aid information.
5. device according to claim 1,2 or 3, which is characterized in that the mobile terminal application software further includes mobile GIS
Platform, for providing the basic information for distress personnel；
The mobile GIS platform includes:
Map display module, for the basic information to be formed visualized map according to prefabricated map symbol；
Basic information update module, for distress personnel area locating in mine to be downloaded and cached from the server database
The basic information in domain；
Basic information enquiry module, for providing the function of inquiring the basic information for distress personnel；
Keyword search module, for providing the function of inquiring the basic information in a manner of keyword for distress personnel.
6. device according to claim 5, which is characterized in that the mobile terminal application software is installed on distress personnel carrying
Terminal device, the terminal device have accelerometer, gyroscope and magnetometer；
The accelerometer is used to provide the acceleration of distress personnel for the personnel positions computing module；
The gyroscope is used to provide each axis angular rate for the personnel positions computing module；
The magnetometer is used to provide geomagnetic field intensity value for the personnel positions computing module.
7. device according to claim 6, which is characterized in that when the notification message represents, and coal mining accident occurs, institute
State personnel positions computing module according to the acceleration obtain the boat of distress personnel away from, pedestrian's boat away from for distress personnel it is opposite
In the last relative distance for calculating resulting geographical location and movement；
The personnel positions computing module calculates the course for obtaining distress personnel, the pedestrian course according to each axis angular rate
The angle changed for distress personnel relative to the direction of advance that the last time determines；
The personnel positions computing module navigates according to the pedestrian away from the geographical location for obtaining distress personnel with the pedestrian course.
8. device according to claim 7, which is characterized in that the personnel positions computing module includes:
Boat away from rough calculation model, for obtained according to the acceleration boat of distress personnel away from；
Model is roughly calculated in course, for obtaining the course of distress personnel according to each axis angular rate；
Random error model, by pedestrian boat away from the boat that obtains of rough calculation model away from the pedestrian course roughly based on
The course that model obtains is calculated to be modified.
9. device according to claim 5, which is characterized in that the base that can be inquired by the basic information enquiry module
Plinth information further includes the geographical location of distress personnel；
It is described when the notification message represents, and coal mining accident occurs if network service can be used in the mobile terminal application software
Optimal calamity path-generating module of keeping away is according to the basic information and the distress personnel obtained from the basic information enquiry module
Geographical location generates optimal best-effort path.
10. the apparatus according to claim 1, which is characterized in that the server database is come from using the operation of C++ program
The service of the mobile terminal application software request；
The server database foundation has spatial database, for storing the basic information.
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| CN201910127451.4A CN109653789B (en) | 2019-02-20 | 2019-02-20 | Portable mine intelligence guiding device that flees |
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| CN109653789B (en) | 2020-11-06 |
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