井巷三维人员定位系统关键技术

Key Technologies of 3D Underground Personnel Positioning System

针对现有的煤矿井下人员定位系统的定位精度低、定位结果表达不明确、只能区域定位等缺点,提出了一种基于无线实时定位和虚拟仿真技术的井巷三维空间中的人员定位方法。介绍了井巷三维人员定位系统的结构、工作原理、系统功能及关键技术。为提高系统定位性能及三维表达能力,设计了井下人员实时三维坐标的计算方法和改进的摄像机遮挡检测算法,并基于Unity3D引擎和3ds Max建模工具构建了三维空间人员定位系统的原型,实现了人员信息管理、三维实时定位、轨迹查询、周边环境信息查询、违规行为监督等功能,可为灾后救援、生产调度、考勤管理等提供支持。以山西某煤矿为试点,通过井下实验,得出系统的定位误差控制在3 m之内,且可实时保证人员位置及周边环境处于摄像机可见状态,验证了定位算法的可行性。该系统已实际应用,效果良好。

Aiming at the shortages in traditional personnel positioning systems like low positioning accuracy, not clear po- sitioning expression, and only regional positioning, a personnel positioning system in 3D coal undergrounds is proposed based on WiFi and VR technologies. The structure, working principle, system function and key technologies of this system are intro- duced. To improve positioning skills and three-dimensional expression performance of the system, real-time calculation of 3D coordinates of underground personnel and an improved camera occlusion detection algorithm are designed, and the prototype three-dimensional space personnel positioning system is built based on Unity3I） engine and the 3ds Max modeling tool,realizing the functions of personnel information management, three-dimensional real-time positioning, path query, violations supervision, which can provide support for post-disaster relief,production scheduling, attendance management and so on. Taking a coal mine in Shanxi as a trial, error of the system is controlled within 3 m by underground experiments, and personnel real-time location and surrounding environment are visible in the camera, which verifies the feasibility of locating algorithm. The system has been applied in practice with a good effect.