阅读说明：本技术 一种煤矿透水事故井下人员定位方法及装备 (Method and equipment for positioning underground personnel in coal mine water permeability accident ) 是由 马艺桐 于 2021-08-05 设计创作，主要内容包括：本发明涉及水下信标追踪系统技术领域,且公开了一种煤矿透水事故井下人员定位方法及装备,包括水下搜救机器人、水上控制平台、水下信标追踪系统、接收系统以及水上控制系统,所述水下信标追踪系统加工在手环内部,手环由矿井工人佩戴,所述水上控制系统主要有显示器、电脑主机、控制台、控制手柄、控制中继和控制单元；本发明中,当矿井遭遇水灾,矿井通道被淹没,人员被困于井下,遇难人员位置不够确定,逃生人员所在场所也难以推测,可以通过矿井工作人员佩戴的检测手环内的水下信标追踪人员位置,并将信号发送至水下信标接收系统,手环还可以对人员生命体征进行检测,确定遇难人数,及时展开搜救。(The invention relates to the technical field of underwater beacon tracking systems, and discloses a method and equipment for positioning underground personnel in a coal mine water-permeable accident, which comprises an underwater search and rescue robot, an above-water control platform, an underwater beacon tracking system, a receiving system and an above-water control system, wherein the underwater beacon tracking system is processed inside a bracelet, the bracelet is worn by a mine worker, and the above-water control system is mainly provided with a display, a computer host, a control console, a control handle, a control relay and a control unit; in the invention, when a mine is in flood, a mine channel is submerged, people are trapped underground, the positions of the people in distress are not determined enough, the places where the escape people are located are difficult to guess, the positions of the people can be tracked through the underwater beacons in the detection bracelet worn by the mine workers, signals are sent to the underwater beacon receiving system, and the bracelet can also detect the vital signs of the people, determine the number of the people in distress and timely perform search and rescue.)

1. The utility model provides a colliery accident underground personnel location method and equipment that permeates water, includes search and rescue robot, above-water control platform, beacon tracker under water, receiving system and above-water control system, its characterized in that: the underwater beacon tracking system is processed inside the bracelet, the bracelet is worn by mine workers, the water control system mainly comprises a display, a computer host, a control console, a control handle, a control relay and a control unit, the water control system transmits operation information to the water monitoring platform, the water control platform adopts a server rack design, a remote control box, an operating key mouse and an external expansion equipment interface unit can be integrated into a whole, the underwater search and rescue robot comprises a host (1), a propeller (2), a working lamp (3), an underwater camera (4), an underwater beacon receiving device (5), an underwater beacon positioning device (6), a crawler belt part (7) and a mechanical arm (8), the propeller (2) is installed inside the host (1), and the underwater beacon positioning device (6) is fixedly connected to the left side above the host (1), one side of the upper portion of the host (1) close to the underwater beacon positioning device (6) is fixedly connected with an underwater beacon receiving device (5), the front of the host (1) is fixedly connected with an underwater camera (4), the left side and the right side of the front of the host (1) are fixedly connected with working lamps (3), the lower portion of the front of the host (1) close to the underwater camera (4) is in transmission connection with a mechanical arm (8), a crawler belt part (7) is additionally arranged below the host (1), the propeller (2) comprises two horizontal propellers and two vertical lifting propellers, the horizontal propellers and the vertical lifting propellers have synergistic effect and are used for the flexible underwater movement of the robot, the underwater beacon tracking system positions personnel and sends signals to a receiving system, the receiving system receives personnel position information and transmits the signals to an above-water control system, the underwater beacon positioning device (6) carried by the underwater search and rescue robot positions the robot and simultaneously transmits the position information to the overwater control system, a controller can obtain the position information of the underwater search and rescue robot, the depth and the like of the underwater search and rescue robot through the underwater beacon positioning device (6) of the robot, a sonar in the underwater search and rescue robot can obtain real-time and high-resolution video-like images, the underwater search and rescue robot can work even under the conditions of low visibility or zero visibility, the maximum range of the underwater search and rescue robot can reach 100m, and convenience is brought to remote detection.

2. The method and the equipment for positioning underground personnel in the coal mine water permeability accident according to claim 1 are characterized in that: the overwater control system can realize 4G wireless communication, the display uses 17-inch high-definition high-brightness LCD, screen images can be kept clear and visible under the irradiation of certain sunlight, X86 platform hardware is selected for the control relay and can be used as software platforms of most of sensors and inspection equipment, the control unit is designed with one-key photographing and shooting functions, a video real-time playback function is specially designed, and image data can be played back and analyzed in real time.

3. The method and the equipment for positioning underground personnel in the coal mine water permeability accident according to claim 1 are characterized in that: the underwater search and rescue robot transmits communication signals by using a buoyancy cable, the communication adopts carrier communication, the length of the underwater search and rescue robot is 450 meters, and the underwater search and rescue robot can bear 200 kilograms of pulling force.

4. The method and the equipment for positioning underground personnel in the coal mine water permeability accident according to claim 1 are characterized in that: the bracelet possesses the function of testing personnel vital sign, beacon tracker's activation mode is for going into water activation under water, beacon positioner (6) include multiple sensor under water, can be to pressure under water, position under water, all ring edge borders surveys, beacon receiving arrangement (5) are used for receiving stranded personnel's positional information under water, and when personnel underwater signal is locked, the search and rescue robot then with self position under water to and stranded personnel's position sends to control system on water, and search and rescue personnel utilize control system on water can be through the location of observation personnel and search and rescue robot under water, know the condition under water, and control the robot, reach the personnel position that is difficult.

5. The method and the equipment for positioning underground personnel in the coal mine water permeability accident according to claim 1 are characterized in that: control system in host computer (1) can receive the signal of the control system on water on ground to the operation of control propeller (2), camera (4) accessible cloud platform under water realizes 360 rotations, beacon positioner (6) are used for gathering the position signal of this robot under water to and survey the surrounding environment, arm (8) are used for acquireing suspicious material under water, through the control system operation on water.

6. The method and the equipment for positioning underground personnel in the coal mine water permeability accident according to claim 1 are characterized in that: the underwater beacon positioning device (6) mainly comprises an acoustic transducer, a signal processing circuit board, a battery and a watertight shell.

Technical Field

The invention relates to the technical field of underwater beacon tracking systems, in particular to a method and equipment for positioning underground personnel in a coal mine water permeability accident.

Background

Mine disasters are one of the most serious disasters in the resource exploration process of human beings, and are divided into five categories, namely mine flood. The mine is different from the common underwater, when disasters happen, the geological structure of the mine is likely to change, and the search and rescue difficulty is increased. Accurate location is the prerequisite of rescue, and after the accident of permeating water takes place in the pit, current personnel positioning system who takes radio wave as the owner will suffer destruction, perhaps the locate function can't be implemented in filling the water tunnel. And the phenomenon that personnel and clothing separation probably appear in the personnel that are strikeed by rivers, and the present location chip is integrated in the safety helmet, and the cap separation can very appear very much after the accident that permeates water takes place, and the trapped personnel also can not be found to the precision even the normal work of detection equipment.

So a more effective and intelligent way is needed for the search and rescue of the personnel. The robot is taken as a modern emerging development tool, plays an important role in the aspects of service, investigation, maintenance, rescue and the like, except the important tool of the robot, the underwater beacon tracking and receiving system is an important system for searching and rescuing people, the underwater beacon tracking system can provide personnel position information, the underwater beacon receiving system can receive the personnel position information and transmit the personnel position information to the water control system, and the searching and rescuing people can operate the robot to search and rescue. The invention provides a positioning method and search and rescue equipment for underground personnel in a mine water-permeable accident, aiming at the problems.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides a method and equipment for positioning underground personnel in a coal mine water-permeable accident, and solves the problem of blindly developing search and rescue work due to uncertainty of underground conditions.

(II) technical scheme

In order to achieve the purpose, the invention provides the following technical scheme: a method and equipment for positioning underground personnel in coal mine water-permeable accidents comprise an underwater search and rescue robot, an above-water control platform, an underwater beacon tracking system, a receiving system and an above-water control system, wherein the underwater beacon tracking system is processed inside a bracelet, the bracelet is worn by mine workers, the above-water control system mainly comprises a display, a computer host, a control platform, a control handle, a control relay and a control unit, the above-water control system transmits operation information to the above-water monitoring platform, the above-water control platform adopts a server frame design, can integrate and integrate a remote control box, an operation key mouse and an external expansion equipment interface unit, the underwater search and rescue robot comprises a host, a propeller, a working lamp, an underwater camera, an underwater beacon receiving device, an underwater beacon positioning device, a crawler part and a mechanical arm, and the propeller is arranged inside the host, the underwater beacon tracking system is characterized in that an underwater beacon positioning device is fixedly connected to the left side above the host, an underwater beacon receiving device is fixedly connected to one side, close to the underwater beacon positioning device, of the upper portion of the host, an underwater camera is fixedly connected to the front of the host, working lamps are fixedly connected to the left side and the right side of the front of the host, a mechanical arm is connected to the lower portion, close to the underwater camera, of the front of the host in a transmission mode, a crawler belt part is additionally arranged below the host, the propeller comprises two horizontal propellers and two vertical lifting propellers, the horizontal propellers and the vertical lifting propellers are in synergistic effect and used for the flexible underwater movement of a robot, the underwater beacon tracking system is used for positioning personnel and sending signals to a receiving system, the receiving system is used for receiving personnel position information and transmitting the signals to an above-water control system, and the underwater beacon positioning device carried by the underwater search and rescue robot is used for positioning and simultaneously transmitting the self to the above-water control system, the control personnel can obtain the position information, the depth and the like of the underwater search and rescue robot through the underwater beacon positioning device of the robot, the sonar in the control personnel can obtain real-time and high-resolution video images, the control personnel can work even under the conditions of low visibility or zero visibility, the maximum range can reach 100m, and convenience is provided for remote detection.

Preferably, the water control system can realize 4G wireless communication, the display uses 17 cun high definition highlight LCD, also can keep the screen image clear and visible under certain sunlight irradiation, X86 platform hardware is selected for the control relay, can regard as the software platform of most sensors, check-out set, the control unit design has a key and shoots, makes a video recording the function to designed the real-time playback function of video specially, can real-time playback and analysis image data.

Preferably, the underwater search and rescue robot transmits communication signals by using a buoyancy cable, the communication adopts carrier communication, the length of the underwater search and rescue robot is 450 meters, and the underwater search and rescue robot can bear 200 kilograms of pulling force.

Preferably, the bracelet possesses the function of detection personnel vital sign, beacon tracker's the activation mode is for going into water activation under water, beacon positioner contains multiple sensor under water, can be to pressure under water, position under water, the surrounding environment surveys, beacon receiving arrangement is used for receiving stranded personnel's positional information under water, and when personnel underwater signal is locked, the search and rescue robot then with self position to and stranded personnel's position sends control system on water, and search and rescue personnel utilize control system on water can be through the location of observation personnel and search and rescue robot under water, know the condition under water, and control the robot, arrive the personnel's position of distress.

Preferably, control system in the host computer can receive the signal of the control system on water on ground to the operation of control propeller, camera accessible cloud platform under water realizes 360 rotations, beacon positioner under water is used for gathering the position signal of this robot to and survey the surrounding environment, the arm is used for acquireing suspicious material under water, through the control system operation on water.

Preferably, the underwater beacon positioning device mainly comprises an acoustic transducer, a signal processing circuit board, a battery and a watertight shell.

(III) advantageous effects

The invention provides a method and equipment for positioning underground personnel in coal mine water permeability accidents, which have the following beneficial effects:

(1) according to the invention, when a mine is in a flood, a mine channel is submerged, people are trapped underground, the positions of people in distress are not determined enough, the places where escape people are located are difficult to guess, the positions of the people can be tracked through underwater beacons in detection bracelets worn by mine workers, signals are sent to an underwater beacon receiving system, the bracelets can also detect vital signs of the people, the number of the people in distress is determined, and searching and rescuing are carried out in time.

(2) In the invention, an underwater beacon receiving system for installing an underwater search and rescue robot receives personnel position information and transmits signals to an above-water control system, personnel can control the robot to move through the above-water control system and reach the vicinity of rescued personnel, and an underwater beacon positioning device mainly comprises an acoustic transducer, a signal processing circuit board, a battery and a watertight shell. The acoustic transducer mainly realizes the signal conversion of electricity and sound electricity, and the signal processing board is used for processing the received acoustic signals. The battery is the energy source that keeps beacon locating device circuit under water to normally work. The watertight shell provides a watertight space for the whole device and can bear the action of water pressure.

(3) In the invention, a controller can observe the situation near the water robot through a camera of the robot, the underwater beacon positioning device can be used for observing the situations of positions, terrains, obstacles and the like near the robot, when the obstacle is observed, the controller can use the control handle to enable the robot to effectively avoid the obstacle, and when the position of a trapped or distressed person is close, an accurate position signal is sent to the water control system to implement accurate rescue work.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a left side view of the present invention;

FIG. 3 is a schematic top view of the structure of FIG. 1 according to the present invention;

fig. 4 is a diagram of the relationship between the working frequency and the acting distance of the underwater acoustic signal.

In the figure: 1. a host; 2. a propeller; 3. a working lamp; 4. an underwater camera; 5. an underwater beacon receiving device; 6. an underwater beacon locating device; 7. a track portion; 8. a robotic arm.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 to 4, the present invention provides a technical solution: the underground personnel positioning method and equipment for the coal mine water-permeable accident comprise an underwater search and rescue robot, an above-water control platform, an underwater beacon tracking system, a receiving system and an above-water control system, wherein the underwater beacon tracking system is processed inside a bracelet, the bracelet is worn by mine workers, the above-water control system mainly comprises a display, a computer host, a control console, a control handle, a control relay and a control unit, the above-water control system transmits operation information to the above-water monitoring platform, the above-water control platform is designed in a server frame mode, a remote control box, an operation keyboard mouse and an external expansion equipment interface unit can be integrated into a whole, the underwater search and rescue robot is integrally cuboid, and comprises a host 1, a propeller 2, a working lamp 3, an underwater camera 4, an underwater beacon receiving device 5, an underwater beacon positioning device 6 and a crawler belt part 7, The underwater beacon positioning device 6 is fixedly connected to the left side of the upper portion of the host 1, the size of the underwater beacon positioning device 6 is small and can be used for position marking of personnel and underwater equipment, the service life of a power supply of the underwater beacon positioning device 6 is 20-40 days, the operation depth reaches 1216m, an underwater beacon receiving device 5 is fixedly connected to one side, close to the underwater beacon positioning device 6, of the upper portion of the host 1, an underwater camera 4 is fixedly connected to the front portion of the host 1, working lamps 3 are fixedly connected to the left side and the right side of the front portion of the host 1, a mechanical arm 8 is connected to the lower portion, close to the underwater camera 4, of the front portion of the host 1 in a transmission mode, a crawler belt portion 7 is additionally arranged below the host 1, the propeller 2 comprises two horizontal propellers and two vertical lifting propellers, one-way thrust force is 16kg, the horizontal propellers and the vertical lifting propellers are in a synergistic effect and used for the robot to flexibly move underwater, the underwater beacon tracking system positions personnel, and sends signals to the receiving system, the receiving system receives personnel position information, and transmits the signals to the water control system, the underwater beacon positioning device 6 carried by the underwater search and rescue robot positions the personnel and simultaneously transmits the self-positioning to the water control system, the control personnel can obtain the position information of the underwater search and rescue robot through the underwater beacon positioning device 6 of the robot, the depth and the like of the underwater search and rescue robot, a sonar in the underwater beacon tracking system can obtain real-time and high-resolution video images, the underwater beacon tracking system can work even under the conditions of low visibility or zero visibility, the maximum range can reach 100m, convenience is provided for remote detection, the acting distance of the underwater beacon positioning system needs to find the relation between the optimal frequency and the positioning signals to find the proper signal working frequency.

FOM (good quality factor) is SL-NL-DIR-DT, wherein SL is sound source level, NL is noise level, DIR is receiving directivity coefficient, DT is detection threshold value, and normal noise spectrum level is changed into

A curve of frequency versus range can be obtained. As shown in fig. 4 below. From fig. 4, it can be seen that as the operating frequency of the beacon signal increases, its range decreases. In the system, according to the working range of a frequency band of a used transmitting transducer, the working frequency of a positioning beacon signal can be selected within the frequency range of 5 kHz-15 kHz, the propagation distance is 5 km-15 km, a camera of the robot carries a holder, under the auxiliary action of an underwater lighting system, a rescuer can comprehensively observe objects with short distances, the obtained underwater information is sent to a display of an overwater control platform through the instruments for observation and measurement, a control unit integrates the information, the rescue worker is controlled by controlling the rescue worker to search and rescue the robot underwater, when the rescue robot observes trapped persons or persons in distress underwater, a position mark is made, accurate position information is sent to the control platform and a monitoring system, and accurate rescue work is implemented.

In the embodiment, the positions of underground personnel generally have two conditions, one is that the personnel escape in time and can reach underground parts with higher geographical positions or refuge chambers. The other people who are not in time to escape may be distributed in different water bottom areas. The search and rescue personnel can control the robot to move through the water control system to reach the vicinity of the rescued personnel; the crawler belt part 7 can be additionally arranged below the main machine 1, land advancing can be realized by additionally arranging the crawler belt part 7, and the crawler belt part 7 can be suitable for water and can cope with more complex mine environments when not additionally arranged; the underwater search and rescue robot is used as modern mechanical equipment and can replace most of operations performed by traditional rescue workers, so that the personal safety of the rescue workers is guaranteed, the strong loading capacity of the equipment can be used for carrying multiple sensors to perform multidimensional search and rescue, the underwater search and rescue robot for mines solves a plurality of problems in rescue work after mine flood occurs, and a better search and rescue scheme is provided.

Furthermore, the overwater control system can realize 4G wireless communication, the display uses a 17-inch high-definition high-brightness LCD, screen images can be kept clear and visible under the irradiation of certain sunlight, X86 platform hardware is selected for a control relay and can be used as a software platform of most of sensors and inspection equipment, the control unit is designed with one-key photographing and shooting functions, a video real-time playback function is specially designed, and image data can be played back and analyzed in real time.

Furthermore, the underwater search and rescue robot transmits communication signals by using a buoyancy cable, the communication adopts carrier communication, the length of the underwater search and rescue robot is 450 meters, and the underwater search and rescue robot can bear 200 kilograms of pulling force.

Further, the bracelet possesses the function of detection personnel vital sign, beacon tracker's activation mode is for going into water activation under water, beacon positioner 6 contains multiple sensor under water, can be to pressure under water, position under water, the surrounding environment surveys, beacon receiver 5 is used for receiving stranded personnel's positional information under water, signal is locked under water when personnel, search and rescue robot then with self position under water, and stranded personnel position sends control system on water, search and rescue personnel utilize control system on water can be through the location of observation personnel and search and rescue robot under water, know the condition under water, and control the robot, reach the personnel position that is difficult.

Further, control system in the host computer 1 can receive the signal of the control system on water on ground to control propeller 2's operation, camera 4 accessible cloud platform under water realizes 360 rotations, and beacon positioner 6 is used for gathering the position signal of this robot under water to and survey the surrounding environment, and arm 8 is used for acquireing suspicious material under water, through the control system operation on water.

Furthermore, the underwater beacon positioning device 6 mainly comprises an acoustic transducer, a signal processing circuit board, a battery and a watertight shell, wherein the acoustic transducer mainly realizes signal conversion between electricity and sound, the signal processing board is used for processing received sound signals, the battery is an energy source for maintaining the normal work of a circuit of the underwater beacon positioning device 6, and the watertight shell provides a watertight space for the whole device and can bear the water pressure effect.

In conclusion, the working process of the invention is as follows: when a mine encounters flood, a mine channel is submerged, people are trapped underground, the positions of the people in distress are not determined enough, the places where escape people are located are difficult to guess, the positions of the people can be tracked through underwater beacons in a detection bracelet worn by the mine workers, signals are sent to an underwater beacon receiving system, the bracelet can also detect vital signs of the people to determine the number of the people in distress, search and rescue are performed in time, the underwater beacon receiving system for installing the underwater search and rescue robot receives the position information of the people and transmits the signals to an above-water control system, the people can control the robot to move through the above-water control system to reach the positions near the people in distress, and the underwater beacon positioning device 6 mainly comprises an acoustic transducer, a signal processing circuit board, a battery and a watertight shell. The acoustic transducer mainly realizes the signal conversion of electricity and sound electricity, and the signal processing board is used for processing the received acoustic signals. The battery is the energy source for maintaining the normal work of the underwater beacon positioning device 6 circuit. The watertight casing provides a watertight space for whole device, can bear the water pressure effect, the control personnel can pass through the camera of robot, observe near the condition of water robot, beacon positioner 6 can be used to observe near the position of robot under water, the topography, condition such as barrier, when observing there is the barrier, the control personnel can use brake valve lever, make the robot effectively avoid the barrier, when being close stranded or when the personnel position of distress, with accurate position signal transmission to control system on the water, implement accurate rescue work.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.