CN101251590B - Positioning system and positioning method for infrared wide-angle communication synchronous integral coal mining machine - Google Patents
Positioning system and positioning method for infrared wide-angle communication synchronous integral coal mining machine Download PDFInfo
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- CN101251590B CN101251590B CN2008100662336A CN200810066233A CN101251590B CN 101251590 B CN101251590 B CN 101251590B CN 2008100662336 A CN2008100662336 A CN 2008100662336A CN 200810066233 A CN200810066233 A CN 200810066233A CN 101251590 B CN101251590 B CN 101251590B
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Abstract
The invention relates to a locating system and a locating method of an infrared wide-angle communication synchronous integral type coal cutter which is used to determine the position of each hydraulic support inside the opposite working faces of the coal cutter inside a mechanized longwall face in the coal mine fully mechanized mining field. The coal cutter locating system comprises an infrared wide-angle transmitter and receivers, which are in communication connection. The locating method comprises the following steps: firstly, signal is sent out through the infrared wide-angle transmitter; secondly, each receiver obtains the received signal intensity value detected at the same moment by each receiver arranged on an adjacent support; finally, analysis is carried out according to the received signal intensity value to obtain the position of the infrared wide-angle transmitter relative to the receivers, thereby realizing coal cutter location. The locating system, which has a simple structure, has high interference immunity and accurate location during locating a coal cutter.
Description
Technical field
The present invention relates to a kind of infrared wide-angle communication synchronous integral coal mining machine positioning system and localization method of in mechanization longwall face, coal mine fully-mechanized mining field, determining each hydraulic support position in the coalcutter opposite working.
Background technology
The high-yield and high-efficiency mine mostly adopts longwall mining at present, how to judge that coalcutter is to realize one of necessary condition that robotization is mined in the position of workplace.In based on infrared existing coalcutter location technology, infrared launcher is installed on coalcutter, on each hydraulic support of workplace receiving trap is installed, coalcutter is the directed transponder pulse that continues in operational process, when the receiving trap on the support corresponding with the coalcutter position receives pulse signal, determine that coalcutter runs to this backing positions.
In the current techniques, because the infrared launcher on the coalcutter is a directional transmissions, the position of its coalcutter is determined by the receiving trap on the hydraulic support that receives this pulse signal, when the receiving trap of installing on the hydraulic support owing to smog, external factor such as block and cause in the time of can't receiving pulse signal, the failure that will cause the coalcutter position to determine, thus hidden danger brought for the safety of coal production.
Summary of the invention
For solve exist in the prior art since on the coalcutter the infrared aimed launcher installed when orientation is sent pulse signal, when the receiving trap of installing on the hydraulic support owing to smog, external factor such as block and cause in the time of can't receiving directed pulse signal, can cause the coalcutter location positioning to detect failure, bring this technical matters of hidden danger for the safety of coal production, the invention provides a kind of infrared wide-angle communication synchronous integral coal mining positioning system.
The present invention also provides a kind of localization method that uses infrared wide-angle communication synchronous integral coal mining positioning system to carry out the position probing of coalcutter.
Infrared wide-angle communication synchronous integral coal mining positioning system provided by the present invention comprises: infrared wide-angle emitter and a plurality of receiving trap, described infrared wide-angle emitter and described receiving trap are the communication annexation.Described infrared wide-angle emitter is installed on the coalcutter, described receiving trap is equidistant to be installed on the coal mining support, the infrared wide-angle emitter is used for being modulated into transmitting the pulse signal of 38KHz, and pulse signal is converted to light signal, and light signal launched with the form of wide-angle, each described receiving trap obtains the detected received signal intensity level of light signal that each described receiving trap sends according to the infrared wide-angle emitter at synchronization on the adjacent stent, and analyze according to the described received signal intensity level that obtains, to determine the relative position of described infrared wide-angle emitter, realize location to described coalcutter with respect to described receiving trap.
According to a preferred embodiment of the invention: described infrared wide-angle emitter comprises signal modulation portion and the infrared wide-angle emitting diode that is connected with described signal modulation portion, and described signal modulation portion is externally launched the pulse signal of 38KHz through described infrared wide-angle emission member.
According to a preferred embodiment of the invention: described receiving trap is an infrared receiving device, comprises infrared receiving diode, current/voltage-converted portion, exchanges enlarging section, digital signal processing portion and analog signal processing portion; Wherein, described digital signal processing portion comprises detection section, comparer and micro-control unit; Described analog signal processing portion comprises wave filter, amplifying circuit, absolute value circuit, integration part and peak value maintaining part.
The present invention also provides a kind of localization method that uses infrared wide-angle communication synchronous integral coal mining positioning system to carry out the position probing of coalcutter, this method is applied to comprise in the infrared wide-angle communication synchronous integral coal mining machine positioning system of infrared wide-angle emitter and a plurality of receiving traps, described localization method comprises step: the first step, send and the corresponding light signal of the pulse signal of 38KHz by described infrared wide-angle emitter, and light signal launched with the form of wide-angle, wherein, the pulse signal of this 38KHz is that described infrared wide-angle emitter forms according to the modulation that transmits; Second step, each described infrared receiving device obtain the detected received signal intensity level of light signal that each described receiving trap sends according to the infrared wide-angle emitter at synchronization on the adjacent stent; The described received signal intensity level that the 3rd step, basis are obtained is analyzed, and to determine the relative position of described infrared wide-angle emitter with respect to described infrared receiving device, realizes the location to described coalcutter.
According to a preferred embodiment of the invention: described infrared wide-angle emitter comprises signal modulation portion and the infrared wide-angle emitting diode that is connected with described signal modulation portion, and the described first step specifically comprises substep: at first, will transmit is modulated into the pulse signal of 38KHz by described signal modulation portion; Secondly, described pulse signal is launched with the form of light signal by described infrared wide-angle emitting diode.
According to a preferred embodiment of the invention: described receiving trap comprises infrared receiving diode, current/voltage-converted portion, exchanges enlarging section, digital signal processing portion and analog signal processing portion; Wherein, described digital signal processing portion comprises detection section, comparer and micro-control unit; Described analog signal processing portion comprises wave filter, amplifying circuit, absolute value circuit, integration part and peak value maintaining part, described second step specifically comprises substep: one, by described micro-control unit output high level described integration part and described peak value maintaining part are not worked, making described simulation process part output signal is 0; Two, the described infrared receiving device described light signal that will receive through infrared receiving diode, current-voltage conversion, exchange that output signal after amplifying enters the digital processing part and the simulation process part is handled respectively, in described infrared receiving device is in the emitting area of described infrared wide-angle emitter, the output signal that then exchanges after amplifying is approximate square-wave signal, its signal and the waveform similarity that transmits keep duty cycle information; Three, in described digital processes, exchange amplifying output signal is reduced to after by described detection section and described comparer to transmit and enters described micro-control unit and handle, in described simulation process part, the gauge tap closure of described integration part and described peak value maintaining part, its output analog signal values is 0; Four, by described micro-control unit the described signal element that receives is resolved, in receiving a signal element behind the complete numerical portion signal, the moment id number value that preservation receives, and the gauge tap of described integration part in the described simulation process portion and described peak value maintaining part disconnected, make the described integration and the peak value of described simulation process portion keep link to start working, and the beginning integration regularly; Five, the described integration of described simulation process portion and peak value keep link to start working, described receiving trap received signal is a simulating signal part in the signal element, the positive signal of absolute value circuit output keeps drawing the voltage signal relevant with receiving light power through integration and peak value, is input to the mould/number conversion interface of described micro-control unit; Six, after described micro-control unit integration was timed to, closed described integration part gauge tap descended integral element output analog signal values, and peak value keeps output voltage values constant, begins to carry out mould/number conversion; Seven, after described micro-control unit carries out described mould/number conversion and finishes,, make peak value keep output voltage to descend and use when receiving signal element next time described peak value maintaining part gauge tap closure; Eight, the mould after described micro-control unit will convert/number conversion value transmits on the described infrared receiving device of installing on the adjacent stent together with the described moment id number of this signal element, the loCal number of representing this seat in the plane to put; Nine, the micro-control unit of each described infrared receiving device obtains the data of the described receiving trap of installing on the adjacent stent, gets access to the intensity level that described infrared launcher that the synchronization different support receives transmits according to the moment id number in the data.
According to a preferred embodiment of the invention: the method analyzed according to described received signal intensity level is in described the 3rd step: one, when not have numerical value on the described receiving trap in the infrared emitting area be 0 check point, this check point is the check point that is blocked, and received signal intensity level on each described infrared receiving device in the infrared emission zone compared, the position of the above infrared receiving device correspondence of the peaked check point of described received signal intensity level is the launching site position, is the coalcutter position; Two, when in the described infrared emission zone when numerical value is arranged on the described infrared receiving device is 0 the check point that is blocked, and it is not 0 o'clock at the measured value of the adjacent check point of the described check point that is blocked, the check point of described adjacent check point for not being blocked, go out received signal detected intensity value on the described check point that is blocked by continuous two the check point numerical estimations that are not blocked that in described infrared emission zone, get access to, and received signal intensity level on each described infrared receiving device in the infrared emission zone compared, the position of described the above receiving trap correspondence of received signal intensity level maximum of points is the launching site position, is the coalcutter position.
According to a preferred embodiment of the invention: described two steps specifically comprise substep: one, get access to two continuous check points that are not blocked in described infrared emission zone, ask for the absolute value of described two check point differences that are not blocked, when numerical value on the back check point in the described check point that is blocked greater than the last check point in the described check point that is blocked on during numerical value, to add the above absolute difference be received signal detected intensity value on the described check point that is blocked that estimates to numerical value on the last check point in the described check point that is blocked; Two, after in the described check point that is blocked on the check point numerical value less than the last check point in the described check point that is blocked on numerical value, and, numerical value deducts when numerical value is greater than described absolute difference on the back check point in the described check point that is blocked on the last check point in the described check point that is blocked, and to add the above absolute difference be received signal detected intensity value on the described check point that is blocked that estimates to numerical value on the back check point in the described check point that is blocked; Three, after in the described check point that is blocked on the check point numerical value less than the last check point in the described check point that is blocked on numerical value, and, numerical value deducts when numerical value is less than described absolute difference on the back check point in the described check point that is blocked on the last check point in the described check point that is blocked, and to add the above absolute difference be received signal detected intensity value on the described check point that is blocked that estimates to numerical value on the last check point in the described check point that is blocked.
Comprise digital communication signal part and simulating signal part in the signal element of the emitter of infrared wide-angle described in the present invention emission, by the digital communication signal part, each described receiving trap that independent micro-control unit is installed is engraved when measuring light intensity initial have synchronism.Launch explanation promptly when realizing, digital signal enters CPU and handles, after CPU receives complete numerical information, begin to control the start time of integration, because the signal of emitter emission is identical, to receive the concluding time of numerical information also be identical to each described micro-control unit like this, and each described receiving trap begins the time of integration and time that integration finishes is identical also just so.
Comprise digital communication signal part and simulating signal part in the signal element of the emitter of infrared wide-angle described in the present invention emission,, can make each infrared receiving device on diverse location, integrated detected be carried out in identical transmitting by the simulating signal part.
Described each infrared receiving device is being measured the initial moment, detection signal, identical on integral time, has guaranteed at the measured value of each described infrared receiving device of synchronization only relevant with the relative position of described infrared receiving device and described infrared wide-angle emitter.
Each described infrared receiving device is by id number value constantly, and identification is measured constantly from the correspondence of the measured value that adjacent some receiving traps obtain, and what guarantee to obtain on each described infrared receiving device is detected value on the different detection positions of synchronization.
By computing to the detected value on the different detection positions of synchronization, obtain the position of described infrared wide-angle emitter with respect to described infrared receiving device, when blocking phenomenon on the described infrared receiving device, still can judge the position of described infrared wide-angle emitter accurately.
In sum, system architecture of the present invention is simple, use system of the present invention coalcutter being positioned anti-interference height in the process, and accurate positioning, effectively solved when the receiving trap of installing on the hydraulic support owing to smog, external factor such as block and cause in the time of to receive directed pulse signal, can cause the coalcutter location positioning to detect this technical matters of failure.
Description of drawings
Fig. 1. infrared wide-angle emitter modular structure synoptic diagram in infrared wide-angle communication synchronous integral coal mining positioning system of the present invention and the localization method;
Fig. 2. infrared receiving device modular structure synoptic diagram;
Fig. 3. key point waveform configuration synoptic diagram in infrared wide-angle emitter and the infrared receiving device;
Fig. 4. each infrared receiving device relative position relation structural representation of installing on infrared wide-angle emitter of installing on the coalcutter and the hydraulic support;
Fig. 5. the infrared wide-angle emitter sends signal element waveform configuration synoptic diagram;
Fig. 6. block the distribution situation synoptic diagram of each infrared receiving device light intensity detected value of workplace under the situation in nothing;
Fig. 7. the distribution situation synoptic diagram of each receiving trap light intensity detected value when second infrared receiving device blocks;
Fig. 8. the distribution situation synoptic diagram of each receiving trap light intensity detected value when the 3rd infrared receiving device blocks;
Fig. 9. the distribution situation synoptic diagram of each receiving trap light intensity detected value when the quatre infrared receiving device blocks;
Figure 10. launching site position judgment process flow diagram;
Figure 11. launching site position judgment process flow diagram when being blocked check point in the emitting area.
Embodiment:
The invention will be further described below in conjunction with drawings and Examples:
Infrared wide-angle communication synchronous integral coal mining positioning system of the present invention comprises: infrared wide-angle emitter 100 and receiving trap 200, described infrared wide-angle emitter 100 is the communication annexation with described infrared receiving device 200.See also infrared wide-angle emitter modular structure synoptic diagram in Fig. 1 infrared wide-angle communication synchronous integral coal mining of the present invention positioning system and the localization method, as shown in Figure 1, described infrared wide-angle emitter 100 comprises signal modulation portion 101 and the infrared wide-angle emitting diode 102 that is connected with described signal modulation portion 101.In order to reduce the influence of parasitic light to signal in the infrared receiving device 200, signal is modulated into the signal of certain dutycycle of 38KHz, by infrared wide-angle emitting diode 102 pulse duration frequency signal is launched with the form of light.
See also Fig. 2 infrared receiving device 200 modular structure synoptic diagram, described as shown in Figure 2 infrared receiving device 200 comprises infrared receiving diode 201, current/voltage-converted portion 202, exchanges enlarging section 203, digital signal processing portion 204 and analog signal processing portion 205; Wherein, described digital signal processing portion 204 comprises detection section 206, zero crossing comparer 207 and micro-control unit 208; Described analog signal processing portion 205 comprises bandpass filtering 209, amplifying circuit 210, absolute value circuit 211, integration part 212 and peak value maintaining part 213.Described in the present embodiment integration part 212 is an integrating circuit, and described peak value maintaining part 213 is a peak holding circuit.
See also key point waveform configuration synoptic diagram in Fig. 3 infrared wide-angle emitter and the receiving trap, as shown in Figure 3, the signal of described infrared wide-angle emitter 100 emissions is the positive pulse signal after the 38KHz modulation.Described infrared receiving diode 201 receiving optical signals also convert current signal to, and described current-voltage converter section 202 converts current signal to voltage signal.Be subjected to the influence of parasitic light, the signal after the conversion of described current-voltage is the superposed signal with a direct current signal of transmitting.Amplify with the flip-flop filtering of voltage signal and with AC signal described interchange enlarging section 203 minutes, because there is certain filter action this unit, its output signal is approximate square-wave signal, enters described digital signal processing part 204 respectively and described analog signal processing part 205 is handled.
Data are by the negative signal of detection 206 removal input signals in the described digital signal processing part 204, and output is similar to pulse signal, the pulse width approximately equal of the pulse signal that pulse width and described infrared wide-angle emitter 100 send.Described comparer 207 will be imported approximate pulse signal and carry out shaping, and the outputting standard pulse signal is that digital communication signal enters described micro-control unit 208 and handles.
Signal is by the spuious AC signal of described bandpass filter 209 filterings in the described simulation process part 205, output 38KHz sinusoidal signal, the amplitude of its sinusoidal signal is relevant with described wave filter 209 input signal amplitudes, and is promptly relevant with described infrared receiving device 200 receiving light powers.Described bandpass filter 209 output sinusoidal signals through amplify 210 and absolute value circuit 211 after, the energy (being integrated value) that is output as positive signal and signal is relevant with the sinusoidal signal amplitude.The start and end time of the integration part 212 of the micro-control unit 208 output pulse signals control simulation process part 205 of digital processing part 204, when described micro-control unit 208 is output as low level, integration part 212 gauge tap disconnect, begin the input signal of integration is carried out integration, when described micro-control unit 208 is output as high level, described integration part 212 gauge tap closures, integral element begin discharge.The start and end time of the peak value maintaining part 213 of the micro-control unit 208 output pulse signals control simulation process part 205 of digital processing part 204, when described micro-control unit 208 is output as low level, the gauge tap of peak value maintaining part 213 disconnects, its output voltage is followed the maximal value of input signal, when described micro-control unit 208 is output as high level, the gauge tap closure that peak value keeps, peak value keep the link output voltage to begin to descend.
Described infrared wide-angle emitter 100 is installed on the coalcutter, described infrared receiving device 200 is installed on each hydraulic support of workplace, the installation site of described infrared receiving device 200 on each hydraulic support of same size is identical, each described infrared receiving device 200 is uniformly-spaced placed, and the described infrared wide-angle emitter of installing on the coalcutter 100 and the relative position of each described infrared receiving device 200 are as shown in Figure 4.Emitting diode in the described infrared wide-angle emitter 100 is the wide angle emitted infrared diode, described first infrared receiving device, 2001 to the 5th infrared receiving devices 2005 in its emitting area all can be received and transmit, but the intensity of signal is along with described receiving trap 200 reduces with the increase of described infrared wide-angle emitter 100 distances, because the signal of described infrared wide-angle emitter 100 emissions is the pulse signal of 38KHz modulation, therefore the amplitude maximum of pulse signal composition in the signal that the 3rd infrared receiving device 2003 receives in the accompanying drawing 4, next is a quatre infrared receiving device 2004, second infrared receiving device 2002, the 5th infrared receiving device 2005, first infrared receiving device 2001, the infrared receiving device 2006 that described infrared wide-angle emitter 100 emitting areas are outer, 2007,2008 signals that receive will not comprise this 38KHz pulse signal composition.
Described infrared wide-angle emitter 100 with signal element be unit do not stop or intermittently row send, the signal element waveform is as shown in Figure 5.A signal element comprises two parts, and previous section is the digital communication signal part, and aft section is the simulating signal part.Signal carries out 38KHz modulation, in the digital communication signal part, when the dutycycle of signal presentation logic 0 smaller or equal to 25% time, when the dutycycle of signal presentation logic 1 more than or equal to 75% time; In the simulating signal part, the dutycycle of all signals is 50%.
The digital communication signal of a signal element comprises a start byte and a moment id number byte data at least, and every emission finishes a signal element, when sending the next signal unit its moment id number value is upgraded; The transmitting time of the simulating signal of a signal element is proper extension or shortening as required.
Set in the accompanying drawing 4, the light intensity detected value of first infrared receiving device 2001 is V1 under the synchronization, the light intensity detected value of second infrared receiving device 2002 is V2, the light intensity detected value of the 3rd infrared receiving device 2003 is V3, the light intensity detected value of quatre infrared receiving device 2004 is V4, the light intensity detected value of the 5th infrared receiving device 2005 is V5, and the light intensity detected value of the 6th infrared receiving device 2006 is V6, and the light intensity detected value of same N infrared receiving device is Vn.
According to described infrared receiving device 200 whether be in the described infrared launcher zone with and the distance of the described infrared launcher of distance far and near, block under the situation in normal nothing, each detected value satisfies the following V3＞V4＞V2＞V5＞V1＞V6=V7=......=Vn=0 that concerns;
Accompanying drawing 6 shows the distribution situation synoptic diagram that blocks each infrared receiving device 200 light intensity detected value of workplace under the situation in nothing.Transverse axis is for connecting the position of described each infrared receiving device 200 workplace of living in accompanying drawing 6, the longitudinal axis is described each infrared receiving device 200 intensity measurements to received signal, the described infrared wide-angle emitter of described the 3rd infrared receiving device of the maximum explanation of V3 this moment 2003 distances 100 is nearest, judges that described infrared wide-angle emitter 100 is in described the 3rd infrared receiving device 2003 positions.The measured value approximately linear that V1～V3 is ordered, the measured value that V3～V6 is ordered is linear approximate relationship also.
Accompanying drawing 7 shows the distribution situation synoptic diagram of each receiving trap 200 light intensity detected value when described second infrared receiving device 2002 blocks, accompanying drawing 8 shows the distribution situation synoptic diagram of each receiving trap 200 light intensity detected value when described the 3rd infrared receiving device 2003 blocks, and accompanying drawing 9 shows the distribution situation synoptic diagram of each receiving trap 200 light intensity detected value when described quatre infrared receiving device 2004 blocks.
The present invention also provides a kind of localization method that uses infrared wide-angle communication synchronous integral coal mining positioning system to carry out the position probing of coalcutter, and the process description of this localization method can be consulted Figure 10 launching site position judgment process flow diagram.The localization method of the position probing of coalcutter of the present invention comprises step: the first step, send signal by described infrared wide-angle emitter 100; Second step, each described infrared receiving device 200 obtain on the adjacent stent each described receiving trap 200 at the detected received signal intensity level of synchronization; The 3rd goes on foot, analyzes according to described infrared received signal intensity level, obtains the relative position of described infrared wide-angle emitter 100 with respect to described infrared receiving device 200, realizes the location to described coalcutter.
Wherein, the described first step specifically comprises substep: at first, will transmit is modulated into the pulse signal of 38KHz by described signal modulation portion 101; Secondly, described pulse signal is launched with the form of light by described infrared wide-angle emitting diode 102.
Described second step specifically comprises substep: one, make described integration part 212 gauge tap and described peak value maintaining part 213 gauge tap closures by described micro-control unit 208 output high level, making described simulation process part output signal is 0; Two, the described infrared receiving device 200 described light signal that will receive through current-voltage conversion 202, exchange that the output signal of amplifying after 203 enters digital processing part 204 and simulation process part 205 is handled respectively, when described infrared receiving device 200 is in the emitting area of described infrared wide-angle emitter 100, then exchange the output signal of amplifying after 203 and be approximate square-wave signal, its signal and the waveform similarity that transmits keep duty cycle information; Three, in described digital processes 204, exchange amplifying output signal is reduced to after by described detection section 206 and described comparer 207 to transmit and enters described micro-control unit 208 and handle, in described simulation process part 205, described integration and peak value retentive control switch closure, its output analog signal values is 0; Four, the described signal element that receives by 208 pairs of described micro-control units is resolved, in receiving a signal element behind the complete numerical portion signal, the moment id number value that preservation receives, and the gauge tap that the described integration in the described simulation process portion 205 and peak value keep disconnected, make the described integration and the peak value of described simulation process portion 205 keep link to start working, and the beginning integration regularly; Five, the described integration of described simulation process portion 205 and peak value keep link to start working, described infrared receiving device 200 received signals are a simulating signal part in the signal element, the positive signal of absolute value circuit 211 outputs keeps drawing the voltage signal relevant with receiving light power through integration and peak value, is input to the mould/number conversion interface of described micro-control unit 208; Six, after described micro-control unit 208 integrations were timed to, closed described integration part 212 gauge tap descended integral element output analog signal values, and peak value keeps output voltage values constant, begins to carry out mould/number conversion; Seven, after described micro-control unit 208 carries out described mould/number conversion and finishes,, make peak value keep output voltage to descend and use when receiving signal element next time described peak value maintaining part 213 gauge tap closures; Eight, the mould/number conversion value after described micro-control unit 208 will convert is transmitted on the described receiving trap of installing on the adjacent stent 200 together with the described moment id number of this signal element, the loCal number of representing this seat in the plane to put; Nine, the micro-control unit 208 of each described infrared receiving device 200 obtains the data of the described infrared receiving device of installing on the adjacent stent 200, gets access to the intensity level that described infrared launcher that the synchronization different support receives transmits according to the moment id number in the data.
The method analyzed according to described received signal intensity level is in described the 3rd step: one, when not have numerical value on the described infrared receiving device 200 in the infrared emitting area be 0 check point, received signal intensity level on each described infrared receiving device 200 in the infrared emission zone is compared, the position of described the above receiving trap 200 correspondence of received signal intensity level maximum of points is the launching site position, is the coalcutter position; Two, when in the described infrared emission zone when numerical value is arranged on the described infrared receiving device 200 is 0 check point, and it is not 0 o'clock at the measured value of the adjacent check point of described check point, described check point is the check point that is blocked, go out received signal detected intensity value on the described check point that is blocked by continuous two the check point numerical estimations that are not blocked that in described infrared emission zone, get access to, and received signal intensity level on each described infrared receiving device 200 in the infrared emission zone compared, the position of described the above infrared receiving device 200 correspondence of received signal intensity level maximum of points is the launching site position, is the coalcutter position.
Below with situation in the accompanying drawing 9, be example promptly when described quatre infrared receiving device 2004 blocks under the situation, deterministic process to the launching site position describes, each described infrared receiving device 200 light intensity detected value in the emitter zone satisfy V3＞V2＞V5＞V1＞V4=V6=0 at this moment, and deterministic process can be consulted Figure 11 launching site position judgment process flow diagram when being blocked check point in the emitting area.
Concrete determination methods flow process is:
The first step, the detected value V4 that detects quatre infrared receiving device 2004 described in the described infrared receiving device 200 in the emitting area are 0, and described the 3rd infrared receiving device 2003 that it is adjacent or the detected value V3 or the V5 of described the 5th infrared receiving device 2005 are non-vanishing, determine described quatre infrared receiving device 2004 and have taken place to block;
Second step: described first infrared receiving device 2001 and described second infrared receiving device 2002 are two continuous infrared receiving devices that are not blocked 200, described second infrared receiving device 2002 and described the 3rd infrared receiving device 2003 also are two continuous infrared receiving devices that are not blocked 200, calculate the absolute difference of the measured value V1 of the measured value V2 of described second infrared receiving device 2002 and described first infrared receiving device 2001, or the absolute difference of the measured value V3 of the measured value V2 of described second infrared receiving device 2002 of technology and described the 3rd infrared receiving device 2003;
The 3rd step, since the measured value V3 of described the 3rd infrared receiving device 2003 greater than the measured value V5 of described the 5th infrared receiving device 2005, judge the described quatre infrared receiving device 2004 that blocks and be in the measured value decline zone;
The 4th step: use the measured value V3 of described the 3rd infrared receiving device 2003 to deduct the absolute difference that in described second step, calculates, as the estimation measured value V4 of the described quatre infrared receiving device 2004 that is blocked;
The 5th step: the estimation measured value V4 of measured value V1, V2, V3, the V5 of described first infrared receiving device 2001 that is not blocked, described second infrared receiving device 2002, described the 3rd infrared receiving device 2003 and described the 5th infrared receiving device 2005 and the described quatre infrared receiving device 2004 that is blocked, maximizing is the measured value V3 of described the 3rd infrared receiving device 2003, judge thus described infrared wide-angle emitter 100 be in described the 3rd infrared receiving device 2003 over against the position, realize the location of coalcutter.
Comprise described digital signal processing part 204 and described analog signal processing part 205 in the signal element of the emitter of infrared wide-angle described in the present invention 100 emissions, by described digital signal processing part 204, each described receiving trap 200 that independent micro-control unit 208 is installed is engraved when measuring light intensity initial have synchronism.
Comprise described digital signal processing part 204 and described analog signal processing part 205 in the signal element of the emitter of infrared wide-angle described in the present invention 100 emissions, by described analog signal processing part 205, can make each infrared receiving device 200 on diverse location, integrated detected be carried out in identical transmitting.
Described each infrared receiving device 200 is being measured the initial moment, detection signal, identical on integral time, has guaranteed at the measured value of each described infrared receiving device 200 of synchronization only relevant with the relative position of described infrared receiving device 200 and described infrared wide-angle emitter 100.
Each described infrared receiving device 200 is by id number value constantly, and identification is measured constantly from the correspondence of the measured value that adjacent some receiving traps 200 obtain, and what guarantee to obtain on each described infrared receiving device 200 is detected value on the different detection positions of synchronization.
By computing to the detected value on the different detection positions of synchronization, obtain the position of described infrared wide-angle emitter 100 with respect to described infrared receiving device 200, when blocking phenomenon on the described infrared receiving device 200, still can judge the position of described infrared wide-angle emitter 100 accurately.
In sum, system architecture of the present invention is simple, use system of the present invention coalcutter being positioned anti-interference height in the process, and accurate positioning, effectively solved when the receiving trap of installing on the hydraulic support owing to smog, external factor such as block and cause in the time of to receive directed pulse signal, can cause the coalcutter location positioning to detect this technical matters of failure.
Above content be in conjunction with concrete preferred implementation to further describing that the present invention did, can not assert that concrete enforcement of the present invention is confined to these explanations.For the general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, can also make some deduction or replace, all should be considered as belonging to protection scope of the present invention.
Claims (8)
1. infrared wide-angle communication synchronous integral coal mining machine positioning system, it is characterized in that: described coalcutter positioning system comprises: infrared wide-angle emitter (100) and a plurality of receiving trap (200), described infrared wide-angle emitter (100) is the communication annexation with described receiving trap (200), described infrared wide-angle emitter (100) is installed on the coalcutter, described receiving trap (200) is equidistant to be installed on the coal mining support, infrared wide-angle emitter (100) is used for being modulated into transmitting the pulse signal of 38KHz, and pulse signal is converted to light signal, and light signal launched with the form of wide-angle, each described receiving trap (200) obtains the detected received signal intensity level of light signal that each described receiving trap (200) sends according to infrared wide-angle emitter (100) at synchronization on the adjacent stent, and analyze according to the described received signal intensity level that obtains, to determine the relative position of described infrared wide-angle emitter (100), realize location to described coalcutter with respect to described receiving trap (200).
2. according to the described coalcutter positioning system of claim 1, it is characterized in that: described infrared wide-angle emitter (100) comprises signal modulation portion (101) and the infrared wide-angle emitting diode (102) that is connected with described signal modulation portion (101), and described signal modulation portion (101) is externally launched the pulse signal of 38KHz through described infrared wide-angle emitting diode (102).
3. according to the described coalcutter positioning system of claim 1, it is characterized in that: described receiving trap (200) is an infrared receiving device, comprises infrared receiving diode (201), current/voltage-converted portion (202), exchanges enlarging section (203), digital signal processing portion (204) and analog signal processing portion (205); Wherein, described digital signal processing portion (204) comprises detection section (206), comparer (207) and micro-control unit (208); Described analog signal processing portion (205) comprises wave filter (209), amplifying circuit (210), absolute value circuit (211), integration part (212) and peak value maintaining part (213).
4. infrared wide-angle communication synchronous integral coal mining machine localization method, this method is applied to comprise that it is characterized in that: described localization method comprises step in the infrared wide-angle communication synchronous integral coal mining machine positioning system of infrared wide-angle emitter (100) and a plurality of receiving trap (200):
A: send and the corresponding light signal of the pulse signal of 38KHz by described infrared wide-angle emitter (100), and light signal launched with the form of wide-angle, wherein, the pulse signal of this 38KHz is that described infrared wide-angle emitter (100) forms according to the modulation that transmits;
B: each described receiving trap (200) obtains the detected received signal intensity level of light signal that each described receiving trap (200) sends according to infrared wide-angle emitter (100) at synchronization on the adjacent stent;
C: analyze according to the described received signal intensity level that obtains,, realize location to described coalcutter to determine the relative position of described infrared wide-angle emitter (100) with respect to described receiving trap (200).
5. according to the described localization method of claim 4, it is characterized in that: described infrared wide-angle emitter (100) comprises signal modulation portion (101) and the infrared wide-angle emitting diode (102) that is connected with described signal modulation portion (101), and described steps A specifically comprises substep:
A1: will transmit and be modulated into the pulse signal of 38KHz by described signal modulation portion (101);
A2: described pulse signal is launched with the form of light signal by described infrared wide-angle emitting diode (102).
6. according to the described localization method of claim 4, it is characterized in that: described receiving trap (200) comprises infrared receiving diode (201), current/voltage-converted portion (202), exchanges enlarging section (203), digital signal processing portion (204) and analog signal processing portion (205); Wherein, described digital signal processing portion (204) comprises detection section (206), comparer (207) and micro-control unit (208); Described analog signal processing portion (205) comprises wave filter (209), amplifying circuit (210), absolute value circuit (211), integration part (212) and peak value maintaining part (213), and described step B specifically comprises substep:
B1: by described micro-control unit (208) output high level described integration part (212) and described peak value maintaining part (213) are not worked, making described simulation process part (205) output signal is 0;
B2: the output signal of the described light signal that described receiving trap (200) will receive after (203) are amplified in infrared receiving diode (201), current/voltage-converted (202), interchange enters digital processing part (204) and simulation process part (205) is handled respectively, in described receiving trap (200) is in the emitting area of described infrared wide-angle emitter (100), the output signal that then exchanges after amplifying is approximate square-wave signal, its signal and the waveform similarity that transmits keep duty cycle information;
B3: in described digital processes (204), exchange amplifying output signal is reduced to after by described detection section (206) and described comparer (207) to transmit and enters described micro-control unit (208) and handle, in described simulation process part (205), the gauge tap closure of described integration part (212) and described peak value maintaining part (213), its output analog signal values is 0;
B4: the described signal element that receives is resolved by described micro-control unit (208), in receiving a signal element behind the complete numerical portion signal, the moment id number value that preservation receives, and with the gauge tap disconnection of the described integration part (212) in the described simulation process portion (205) with described peak value maintaining part (213), make the described integration and the peak value of described simulation process portion (205) keep link to start working, and the beginning integration regularly;
B5: the described integration of described simulation process portion (205) and peak value keep link to start working, described receiving trap (200) received signal is a simulating signal part in the signal element, the positive signal of absolute value circuit (211) output keeps drawing the voltage signal relevant with receiving light power through integration and peak value, is input to the mould/number conversion interface of described micro-control unit (208);
B6: after described micro-control unit (208) integration was timed to, closed described integration part (212) gauge tap descended integral element output analog signal values, and peak value keeps output voltage values constant, begins to carry out mould/number conversion;
B7: described micro-control unit (208) carries out described mould/number conversion finish after, with the gauge tap closure of described peak value maintaining part (213), make peak value keep output voltage to descend and use when receiving signal element next time;
B8: the mould after described micro-control unit (208) will convert/number conversion value, transmit on the described receiving trap of installing on the adjacent stent together with the described moment id number of this signal element, the loCal number of representing this seat in the plane to put;
B9: the micro-control unit of each described receiving trap (200) obtains the data of the described receiving trap of installing on the adjacent stent, gets access to the intensity level that described infrared launcher (100) that the synchronization different support receives transmits according to the moment id number in the data.
7. according to the described localization method of claim 4, it is characterized in that: the method for analyzing according to described received signal intensity level among the described step C is:
C1: when not have numerical value on the described receiving trap (200) in the infrared emitting area be 0 check point, this numerical value is that 0 check point is the check point that is blocked, and each described receiving trap (200) in the infrared emission zone is gone up the received signal intensity level compare, the position that described received signal intensity level the above infrared receiving device of peaked check point (200) is corresponding is the launching site position, is the coalcutter position;
C2: when in the described infrared emission zone when numerical value is arranged on the described receiving trap (200) is 0 the check point that is blocked, and it is not 0 o'clock at the measured value of the adjacent check point of the described check point that is blocked, the check point of described adjacent check point for not being blocked, go out received signal detected intensity value on the described check point that is blocked by continuous two the check point numerical estimations that are not blocked that in described infrared emission zone, get access to, and each described receiving trap (200) in the infrared emission zone is gone up the received signal intensity level compare, the position of the above receiving trap correspondence of the peaked check point of described received signal intensity level is the launching site position, is the coalcutter position.
8. according to the described localization method of claim 7, it is characterized in that: described step C2 specifically comprises substep:
C21: in the infrared emission zone, get access to two continuous check points that are not blocked, ask for the absolute value of the difference of described two check points that are not blocked, when numerical value on the back check point in the check point that is blocked greater than the last check point in the described check point that is blocked on during numerical value, to deduct the absolute value of described difference be received signal detected intensity value on the described check point that detects that is blocked that estimates to numerical value on the last check point in the described check point that is blocked;
C22: after in the described check point that is blocked on the check point numerical value less than the described a little last check point that is blocked on numerical value, and, numerical value deducts when numerical value is greater than described absolute difference on the back check point in the described check point that is blocked on the last check point in the described check point that is blocked, and to add the above absolute difference be received signal detected intensity value on the described check point that is blocked that estimates to numerical value on the back check point in the described check point that is blocked;
C23: after in the described check point that is blocked on the check point numerical value less than the last check point in the described check point that is blocked on numerical value, and, numerical value deducts when numerical value is less than described absolute difference on the back check point in the described check point that is blocked on the last check point in the described check point that is blocked, and to add the above absolute difference be received signal detected intensity value on the described check point that detects that is blocked that estimates to numerical value on the last check point in the described check point that is blocked.
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