CN-122028025-A - Mine water disaster emergency linkage escape guiding system based on Internet of things and intelligent terminal

CN122028025ACN 122028025 ACN122028025 ACN 122028025ACN-122028025-A

Abstract

The invention discloses a mine water disaster emergency linkage escape guiding system based on the Internet of things and an intelligent terminal, which relates to the technical field of mine safety and comprises a water condition sensing module, a Mesh communication module and an emergency guiding module which are sequentially connected, wherein the water condition sensing module is used for collecting water immersion state, pressure and liquid level data, the Mesh communication module is used for carrying out distributed information transmission on the water immersion state, pressure and liquid level data, and the emergency guiding module is used for processing the water immersion state, pressure and liquid level data and dynamically indicating an escape path according to a processing result. The invention integrates the functions of water condition sensing, mesh ad hoc network communication and dynamic path planning, is suitable for water inrush accident emergency rescue scenes of various underground mines, improves the communication response speed, reduces disaster report delay, improves the path planning accuracy, and successfully avoids dynamic inundation areas.

Inventors

ZHAI DEHUA
FENG LIJIE
GUO LILI
LI YAXIANG
BAI JIANYU
LI FENGYOU
LI YUAN
ZHENG JUNHUA

Assignees

山西科达自控股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260413

Claims (8)

1. The mine water disaster emergency linkage escape guiding system based on the Internet of things and the intelligent terminal is characterized by comprising a water situation sensing module, a Mesh communication module and an emergency guiding module which are sequentially connected; The water condition sensing module is used for collecting water immersion state, pressure and liquid level data; The Mesh communication module is used for carrying out distributed information transmission on the water immersion state, pressure and liquid level data; The emergency guiding module is used for processing the water immersion state, pressure and liquid level data and dynamically indicating an escape path according to a processing result.
2. The mine water disaster emergency linkage escape guiding system based on the internet of things and the intelligent terminal as claimed in claim 1, wherein the Mesh communication module adopts a LoRaWAN and Bluetooth dual-mode Mesh ad hoc network protocol.
3. The mine water disaster emergency linkage escape guiding system based on the internet of things and the intelligent terminal, which is characterized in that the emergency guiding module comprises a data processing unit, and the data processing unit is used for carrying out fusion processing, dynamic weight calculation and path planning operation on the water immersion state, pressure and liquid level data.
4. The mine water disaster emergency linkage escape guiding system based on the internet of things and the intelligent terminal according to claim 3, wherein the fusion processing is performed on the water immersion state, the pressure and the liquid level data, and the mine water disaster emergency linkage escape guiding system comprises the following steps: Preprocessing the water immersion state, pressure and liquid level data, aligning the data of different sensors based on a time stamp, and performing unified coordinate system conversion; Adopting Kalman filtering to reduce noise, establishing a state equation and an observation equation, and iteratively updating an optimal estimated value; and carrying out water level distribution prediction through an ARIMA model based on the optimal estimated value.
5. The mine water disaster emergency linkage escape guiding system based on the internet of things and the intelligent terminal, which is disclosed in claim 4, is characterized in that the dynamic weight calculation introduces three weight factors of water level rising speed, roadway gradient and refuge chamber capacity, and the weight coefficients of the factors are obtained through an analytic hierarchy process.
6. The mine water disaster emergency linkage escape guiding system based on the Internet of things and the intelligent terminal as set forth in claim 3, wherein the path planning operation adopts an improvement A An algorithm; said improvement A The heuristic function of the algorithm is defined as f (n) =g (n) +α h(n); Wherein g (n) is the actual cost from the starting point to the node n, h (n) is Manhattan distance estimation from the node n to the target point, and alpha is a dynamic weight coefficient; said improvement A The algorithm has the time complexity of O, E as the edge number and V as the node number, and the path updating adopts an event triggering and period updating combination mode, and is updated immediately when the water level change rate exceeds a preset threshold value or the roadway state is changed.
7. The mine water disaster emergency linkage escape guiding system based on the internet of things and the intelligent terminal, which is characterized in that a water logging sensor is adopted to collect water bursting vibration waves; Based on the water burst vibration wave, adopting a triangular positioning algorithm to perform disaster source positioning in combination with time difference; and calculating a distance difference according to the signal arrival time difference, and establishing a hyperbolic equation set to solve the coordinates of the water bursting point.
8. The mine water disaster emergency linkage escape guiding system based on the internet of things and the intelligent terminal, which is characterized in that node coordinates of the water logging sensor are set to be S 1 (x 1 ,y 1 )、S 2 (x 2 ,y 2 )、S 3 (x 3 ,y 3 ), respectively, signal propagation speed is set to be v, and signal arrival time difference is set to be delta t 12 、Δt 13 ; The distance difference equation is I P-S 1 |-|P-S 2 |=v·Δt 12 ,|P-S 1 |-|P-S 3 |=v·Δt 13 ; Solving a nonlinear equation set by adopting a Chan algorithm; wherein P is the coordinates of the water bursting point.

Description

Mine water disaster emergency linkage escape guiding system based on Internet of things and intelligent terminal Technical Field The invention relates to the technical field of mine safety, in particular to a mine water disaster emergency linkage escape guiding system based on the Internet of things and an intelligent terminal. Background The existing mine water disaster emergency system is generally provided with the technical bottlenecks that a wired main communication network is relied on, communication is interrupted due to the fact that a line is damaged in a water burst accident, disaster report is delayed for more than 10 minutes, escape route indication is a static identification and cannot be dynamically adjusted according to real-time water level change, misleading risks exist, and the system is integrally paralyzed after a central server is in failure due to the lack of distributed autonomous decision making capability. For example, although water level monitoring is achieved compared with the existing mine water damage early warning system, ad hoc network communication and dynamic path planning are not involved, and emergency response efficiency is low. Therefore, aiming at the defects of the prior art, how to provide a mine water disaster emergency linkage escape guiding system based on the Internet of things and an intelligent terminal is a problem which needs to be solved by the person skilled in the art. Disclosure of Invention In view of the above, the invention provides a mine water disaster emergency linkage escape guiding system based on the Internet of things and an intelligent terminal, which integrates water condition sensing, mesh ad hoc network communication and dynamic path planning functions and is suitable for water inrush accident emergency rescue scenes of various underground mines. In order to achieve the aim, the mine water disaster emergency linkage escape guiding system based on the Internet of things and the intelligent terminal comprises a water situation sensing module, a Mesh communication module and an emergency guiding module which are connected in sequence; The water condition sensing module is used for collecting water immersion state, pressure and liquid level data; The Mesh communication module is used for carrying out distributed information transmission on the water immersion state, pressure and liquid level data; The emergency guiding module is used for processing the water immersion state, pressure and liquid level data and dynamically indicating an escape path according to a processing result. Preferably, the Mesh communication module adopts a LoRaWAN and Bluetooth dual-mode Mesh ad hoc network protocol. Preferably, the emergency guiding module comprises a data processing unit, and the data processing unit is used for carrying out fusion processing, dynamic weight calculation and path planning operation on the water immersion state, pressure and liquid level data. Preferably, the fusing processing is performed on the water immersion state, pressure and liquid level data, including: Preprocessing the water immersion state, pressure and liquid level data, aligning the data of different sensors based on a time stamp, and performing unified coordinate system conversion; Adopting Kalman filtering to reduce noise, establishing a state equation and an observation equation, and iteratively updating an optimal estimated value; and carrying out water level distribution prediction through an ARIMA model based on the optimal estimated value. Preferably, the dynamic weight calculation introduces three weight factors of water level rising speed, roadway gradient and refuge chamber capacity, and the weight coefficient of each factor is obtained through a hierarchical analysis method. Preferably, the path planning operation employs improvement AAn algorithm; said improvement A The heuristic function of the algorithm is defined as f (n) =g (n) +αh(n); Wherein g (n) is the actual cost from the starting point to the node n, h (n) is Manhattan distance estimation from the node n to the target point, and alpha is a dynamic weight coefficient; said improvement A The algorithm has the time complexity of O, E as the edge number and V as the node number, and the path updating adopts an event triggering and period updating combination mode, and is updated immediately when the water level change rate exceeds a preset threshold value or the roadway state is changed. Preferably, a water immersion sensor is used for collecting water burst vibration waves; And based on the water bursting vibration wave, performing disaster source positioning by adopting a triangular positioning algorithm and combining a time difference, calculating a distance difference according to the signal arrival time difference, and establishing a hyperbolic equation set to solve the coordinates of the water bursting points. Preferably, the node coordinates of the water logging sensor are set to be S1(x1,y1)、S2(x2,y2