CN105353348B - A kind of system and method for being used to position underground coal mine movement target - Google Patents
A kind of system and method for being used to position underground coal mine movement target Download PDFInfo
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- CN105353348B CN105353348B CN201510666112.5A CN201510666112A CN105353348B CN 105353348 B CN105353348 B CN 105353348B CN 201510666112 A CN201510666112 A CN 201510666112A CN 105353348 B CN105353348 B CN 105353348B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a kind of system and method for being used to position underground coal mine movement target.Present system is according to coal mine roadway line condition, it is only necessary to each crossover location arrangement anchor point node of circuit in tunnel, and move target for underground coal mine and be equipped with mobile node, you can realize being accurately positioned for underground coal mine movement target；Present system investment is small, and positioning precision is far above traditional section alignment system.The inventive method moves target angular displacement, the measurement of displacement of the lines using gyroscope, acceleration transducer, need to be controlled the error in calculating process, because coal mine down-hole tunnel track section divides, distance is shorter, and mobile node relative displacement data error is smaller；The absolute location information of mobile target is positioned using ultrasonic wave, because the speed of ultrasonic propagation is much smaller than radio signal or other electric signals, therefore, the inventive method is higher using the TOA movements target Absolutely orientation precision based on ultrasonic wave, meets available accuracy requirement.
Description
Technical field
The invention belongs to field of mine monitoring and communication, be related to it is a kind of be used to positioning the system of underground coal mine movement target,
It is and a kind of for positioning underground coal mine movement mesh calibration method.
Background technology
China's coal-mine underground geological conditions is extremely complex, and mine laneway is up to tens kms, and working environment is severe, operation
Point is scattered, and operating personnel and equipment mobility are big.Operating personnel is often difficult to determine oneself in the position of underground coal mine, particularly
When accident occurs, it is more difficult to be accurately positioned scene of the accident personnel and mobile units；Further, since underground coal mine mobile units is many
More, such as various transports, loading locomotive position are disperseed, and management gets up to be inconvenient.Therefore, make if can be established in underground coal mine
Industry personnel and the Precise Position System of mobile units, realize position enquiring in underground coal mine of operating personnel and mobile units, road
The functions such as footpath analysis, navigation, can significantly increase coal mine downhole safety production, rescue and relief work ability and can more rationally, it is efficient
The resources of production are allocated on ground and management produces.Therefore, research coal mine moves down the Exact Location System and method of moving-target, and exploitation is full
The product and system of sufficient mine actual demand turn into the problem of current mine excavation industry is in the urgent need to address.
The content of the invention
It is an object of the invention to propose a kind of system for being used to position underground coal mine movement target, can realize to colliery
Underground moving target is accurately positioned, beneficial to the automatic management level for improving coal mining enterprise.
To achieve these goals, the present invention adopts the following technical scheme that：
A kind of system for being used to position underground coal mine movement target, is included in the movable joint installed in each mobile target
Point and tunnel circuit each crossover location arrange anchor point node；Gyroscope, acceleration are configured with the mobile node
Sensor, ultrasonic sensor one, central processing unit and the network equipment；Gyroscope is used for the angle position for detecting the mobile target
Move；Acceleration transducer is used for the displacement of the lines for detecting the mobile target；Central processing unit is used to carry out data processing；Network is set
It is ready for use on and realizes communication between the mobile node and data service system, and then identity is carried out to each mobile target in underground
Information identifies；The ultrasonic sensor two matched with the ultrasonic sensor one is configured with anchor point node.
Further, it is at least three in the anchor point number of nodes of each crossover location of tunnel circuit.
In addition, the invention also provides one kind for positioning underground coal mine movement mesh calibration method, it uses following technology
Scheme：
One kind is used to position underground coal mine movement mesh calibration method, is used to position underground coal mine movement using above-mentioned one kind
The system of target；This method comprises the following steps：
A obtains the angular displacement data and displacement of the lines data of mobile target by gyroscope and acceleration transducer, and combines
The positional information of coal mine down-hole tunnel circuit, the station-keeping data of mobile target is calculated by solving；
B obtains moving absolute position number of the target in current location by ultrasonic sensor one and ultrasonic sensor two
According to；
C obtains moving target in the position of underground coal mine to above-mentioned station-keeping data and absolute position data read group total
Confidence ceases.
Further, in step a, the station-keeping data solution procedure of mobile target is as follows：
Positional information, angular displacement data and displacement of the lines data with reference to coal mine down-hole tunnel circuit carry out calculating comparison, really
Surely the direction of motion information and displacement information of target are moved, so as to which the station-keeping data of mobile target be calculated.
Further, in step b, the TOA methods based on ultrasonic wave obtain moving absolute position number of the target in current location
According to.
Further, in step b, before absolute position data calculating is carried out,
Mobile node needs to be communicated by the network equipment and data service system, completes each mobile target body in underground
The identification of part information, then according to the moving target information after identification, move the ultrasonic wave location Calculation of target.
The invention has the advantages that：
The present invention is according to coal mine roadway line condition, it is only necessary to each crossover location arrangement anchor point section of circuit in tunnel
Point, and move target for underground coal mine and be equipped with mobile node, you can realize being accurately positioned for underground coal mine movement target；This
Invention system investment is small, and positioning precision is far above traditional section alignment system.In addition, the inventive method uses gyroscope, added
Velocity sensor moves target angular displacement, the measurement of displacement of the lines, it is necessary to be controlled to the error in calculating process, due to
Coal mine down-hole tunnel track section divides, and distance is shorter, and mobile node relative displacement data error is smaller；Move the absolute of target
Positional information is positioned using ultrasonic wave, because the speed of ultrasonic propagation is much smaller than radio signal or other electric signals, therefore,
The inventive method is higher using the TOA movements target Absolutely orientation precision based on ultrasonic wave, meets available accuracy requirement.
Brief description of the drawings
Fig. 1 is the acceleration transducer coordinate system figure of mobile node in the present invention.
Fig. 2 is the schematic diagram of coal mine down-hole tunnel mobile node and anchor point node in the present invention.
Embodiment
Below in conjunction with the accompanying drawings and embodiment is described in further detail to the present invention：
A kind of system for being used to position underground coal mine movement target, is included in the movable joint installed in each mobile target
Point and tunnel circuit each crossover location arrange anchor point node.Gyroscope, acceleration are configured with the mobile node
Sensor, ultrasonic sensor one, central processing unit and the network equipment.Gyroscope is used for the angle position for detecting the mobile target
Move.Acceleration transducer is used for the displacement of the lines for detecting the mobile target.Central processing unit is used to carry out data processing.Network is set
It is ready for use on and realizes communication between the mobile node and data service system, and then identity is carried out to each mobile target in underground
Information identifies；The ultrasonic sensor two matched with the ultrasonic sensor one is configured with anchor point node, ultrasonic wave passes
Installation site of the sensor two in coal mine down-hole tunnel determines that the positional information can carry out absolute fix as to mobile node
Foundation.
Preferably, at least three ultrasonic sensors two are installed in every place tunnel crossover location, utilize 3 ultrasonic wave TOA
Localization method, it is possible to achieve mobile target is accurately positioned.
In addition, the invention also provides one kind for positioning underground coal mine movement mesh calibration method, using above-mentioned one kind
System for positioning underground coal mine movement target.This method comprises the following steps：
Relative localization algorithms of a based on gyroscope, acceleration transducer and tunnel circuit
Acceleration coordinate system is as shown in Figure 1 inside mobile node.In three reference axis of mobile node coordinate system, pass through
Gyroscope, acceleration transducer detect angular acceleration and acceleration of the mobile node in three reference axis, and then pass through meter
Calculate the attitudes vibration for determining mobile node within the corresponding period, and within the period mobile node relative displacement size
And direction.The attitudes vibration of mobile node and relative displacement are that the acceleration transducer before changing relative to positions of mobile nodes is sat
Mark system is calculated, it is desirable to obtains the actual positional information of mobile node and has to determine position of the mobile node before being moved
Confidence ceases.
As shown in Fig. 2 when mobile node setting in motion in tunnel, the gyroscope, the acceleration that are configured on mobile node
Sensor can not judge to move target actual displacement angle in all directions and displacement of the lines；In order to which mobile aimed acceleration is sat
Mark system establishes corresponding relation with actual tunnel circuit coordinate system, using according to mobile target velocity, determines to move in certain period of time
The moving displacement (shift length is more than twice of span length) of moving-target, so that it is determined that mobile target is in acceleration coordinate system
The corresponding relation of moving displacement and moving displacement on the line direction of tunnel on certain direction, tunnel circuit coordinate system is established with moving
The relation of moving-target acceleration coordinate system, realize the detection of the relative shift to mobile target in the circuit of tunnel.
Precision Orientation Algorithms of the b based on ultrasonic sensor
When the mobile target of installation mobile node is moved in coal mine down-hole tunnel circuit, target to be moved is moved to anchor point
During node, the supersonic generator one configured on mobile node sends ultrasonic wave, and the ultrasonic wave being configured on anchor point node passes
Sensor two is caught, and the TOA methods based on ultrasonic wave are determined to move range information of the target relative to anchor point node；Due to anchor point
Node coordinate is changeless, the distance number by anchor point node location data information with mobile node relative to anchor point node
Can be in the hope of accurate position data of the mobile target in the position according to geometry solving calculating is carried out.
As shown in Fig. 2 it is fitted with the anchor point of a number of position determination in underground coal mine well head, tunnel crossover location
Node, therefore, the absolute location information for accurately trying to achieve mobile target can be realized in these positions.It should be noted that
Before carrying out absolute position data calculating, mobile node needs the communication by the network equipment and data service system, completes well
Under each mobile target identity information identification, then according to the moving target information after identification, the ultrasonic wave for moving target is determined
Position calculates.
Underground coal mine location algorithms of the c based on Multi-information acquisition
The obtained accurate relative location data of above-mentioned steps a and step b and absolute position data are subjected to read group total, can
To obtain moving accurate location information of the target in underground coal mine.
Certainly, described above is only presently preferred embodiments of the present invention, and the present invention is not limited to enumerate above-described embodiment, should
When explanation, any those skilled in the art are all equivalent substitutes for being made, bright under the teaching of this specification
Aobvious variant, all falls within the essential scope of this specification, ought to be protected by the present invention.
Claims (5)
1. a kind of system for being used to position underground coal mine movement target, it is characterised in that be included in each mobile target and install
Mobile node and tunnel circuit each crossover location arrange anchor point node；Gyro is configured with the mobile node
Instrument, acceleration transducer, ultrasonic sensor one, central processing unit and the network equipment；Gyroscope is used to detect the mobile mesh
Target angular displacement；Acceleration transducer is used for the displacement of the lines for detecting the mobile target；Central processing unit is used to carry out at data
Reason；The network equipment is used to realize the communication between the mobile node and data service system, and then to each mobile mesh in underground
Mark carries out identity information identification；The ultrasonic sensor matched with the ultrasonic sensor one is configured with anchor point node
Two；In tunnel, the anchor point number of nodes of each crossover location of circuit is at least three.
2. one kind is used to position underground coal mine movement mesh calibration method, using as claimed in claim 1 a kind of for positioning coal
The system that mine moves down moving-target, it is characterised in that comprise the following steps：
A obtains the angular displacement data and displacement of the lines data of mobile target by gyroscope and acceleration transducer, and combines colliery
The positional information of underworkings circuit, the station-keeping data of mobile target is calculated by solving；
B obtains moving absolute position data of the target in current location using ultrasonic sensor one and ultrasonic sensor two；
C obtains moving target in the position of underground coal mine letter to above-mentioned station-keeping data and absolute position data read group total
Breath.
It is 3. according to claim 2 a kind of for positioning underground coal mine movement mesh calibration method, it is characterised in that the step
In rapid a, the station-keeping data solution procedure of mobile target is as follows：
Positional information, angular displacement data and displacement of the lines data with reference to coal mine down-hole tunnel circuit carry out calculating comparison, it is determined that moving
The direction of motion information and displacement information of moving-target, so as to which the station-keeping data of mobile target be calculated.
It is 4. according to claim 2 a kind of for positioning underground coal mine movement mesh calibration method, it is characterised in that the step
In rapid b, the TOA methods based on ultrasonic wave obtain moving absolute position data of the target in current location.
It is 5. according to claim 2 a kind of for positioning underground coal mine movement mesh calibration method, it is characterised in that the step
In rapid b, before absolute position data calculating is carried out,
Mobile node needs to be communicated by the network equipment and data service system, completes each mobile target identities letter in underground
Breath identification, then according to the moving target information after identification, move the ultrasonic wave location Calculation of target.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510666112.5A CN105353348B (en) | 2015-06-30 | 2015-10-15 | A kind of system and method for being used to position underground coal mine movement target |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510386592X | 2015-06-30 | ||
| CN201510386592 | 2015-06-30 | ||
| CN201510666112.5A CN105353348B (en) | 2015-06-30 | 2015-10-15 | A kind of system and method for being used to position underground coal mine movement target |
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| Publication Number | Publication Date |
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| CN105353348A CN105353348A (en) | 2016-02-24 |
| CN105353348B true CN105353348B (en) | 2018-02-16 |
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| CN106323278B (en) * | 2016-08-04 | 2019-03-15 | 河海大学常州校区 | A kind of anti-failure positioning method for handover control of sensing network for rescue and system |
| CN107911795B (en) * | 2017-11-14 | 2021-03-12 | 四川广旺能源发展（集团）有限责任公司 | Mobile mine safety system |
| CN110646762B (en) * | 2018-06-26 | 2021-09-10 | 苏州触达信息技术有限公司 | System, method and computer readable storage medium for monitoring position of person in tunnel |
| CN113931696B (en) * | 2021-09-09 | 2024-01-23 | 上海申传电气股份有限公司 | Underground roadway map integrating sensing multi-roadway segmentation and quick positioning method of electric locomotive |
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| CN102457807A (en) * | 2010-10-20 | 2012-05-16 | 大唐移动通信设备有限公司 | Method and terminal for determining positional information |
| CN103941231A (en) * | 2014-05-13 | 2014-07-23 | 李建 | Indoor positioning system and positioning method for ultrasound radio frequency signal combined processing |
| CN104244406B (en) * | 2014-09-18 | 2017-07-18 | 中国矿业大学 | Mine movable object locating system and method under a kind of cloud computing data |
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