CN102279410A - Real-time monitoring system and method for underground mining activities of mine - Google Patents

Abstract

The invention discloses a real-time monitoring system for underground mining activities of a mine. The system comprises: a signal collection processing unit, wherein the signal collection processing unit includes vibration sensors and detection plates as well as the vibration sensor and a detection plate are arranged in a mining area; a space positioning unit; and a positioning releasing unit. The detection plates carry out filtering and noise reduction on vibration signals by a rapid algorithm of a wavelet, wherein the algorithm is based on DSP; and the signals are digitalized to identify blasting seismic waves. Stereo geographic coordinate data and time of a blasting point are solved. And stereo geographic coordinate data that is processed by coordinate transformation is marked on an electronic map of the mining area, wherein the electronic map is displayed on a display. Beneficial effects of the invention are as follows: construction is easy to carry out; stability is high; and a monitoring precision is high.

Description

Movable real-time monitoring system of mine underground mining and method thereof

Technical field

The present invention relates to movable real-time monitoring system of a kind of mine underground mining and method thereof.

Background technology

Find by the behavioural analysis that the mine underground mining is produced, most of recovery activity is all covered by thick rock, soil layer, the ready-made technology that can accurately survey the recovery activity of underground 200-800 rice very lacks, and mainly contains border vibration electromagnetic induction, is based upon the personnel in the pit and locatees two kinds of technology in exploitation location on the basis.

Border vibration electromagnetic induction technology, popular saying is exactly the circle of sunkening cord, this technology is comparatively simple, computation model that need not be complicated, the vibration that produces during just by underground explosion exerts an influence to electromagnetic induction coil (one type sensor device), produces the little electric current of electromagnetic induction, be converted into digital signal by little process chip, send terminal server by parallel conducting wire to according to certain communication protocol then and produce pre-early warning signal.This technology is only carried out the irritability collection to shake to information, can't calculate the position of focus, need to lay the return cable of longer distance and power supply in real time, and owing to need deep-cut landfill on the border, mining area, construction cost is very high.Any one point of coincidence circuit is destroyed, and is difficult to search, and needs all to change.

The exploitation location technology that the personnel in the pit locatees on the basis is the extension of personnel in the pit's location technology, the location that to be the radio-frequency card (being loaded on safety helmet) that carries by the personnel of going into the well carry out with the interactively of radio-frequency (RF) acquisition card more, personnel in the pit location.Be based upon dynamically monitoring that this technical exploitation location also can be real-time to digging up mine, but because equipment must carry into the down-hole, while is because of the personnel's of going into the well subjective reason (can not be with this equipment when layer crosses the border as deliberately surpassing), the activity that can not guarantee to cross the border is monitored, and must carry out layouting of radio-frequency (RF) acquisition device simultaneously to building the tunnel, bring certain uncertain factor for the exploitation of crossing the border.

Summary of the invention

For solving above technical deficiency, the invention provides a kind of construction of being convenient to, stability is high, movable real-time monitoring system of the mine underground mining that monitoring accuracy is high and method thereof.

The present invention is achieved by the following measures:

Underground mining movable real-time monitoring system in a kind of mine of the present invention comprises:

The signal acquisition process unit comprises the vibration transducer and the check-out console that are arranged in the mining area, and vibration transducer is gathered vibration signal, and check-out console carries out Filtering Processing and digitizing with vibration signal;

The space orientation unit comprises the main frame of joint detection plate, and the signal after check-out console is handled calculates, and draws the three-dimensional geographic coordinate data of blow-up point;

The location release unit comprises remote monitoring server and display, and remote monitoring server receives three-dimensional geographic coordinate data, and is labeled on the mining area electronic chart of display demonstration.

In order to collect the vibration signal in the three dimensions more all sidedly, above-mentioned vibration transducer is 4～5 three axis vibration sensor that are arranged on the Different Plane.

Above-mentioned main frame is connected with GPS time service module, is used for having reduced the measuring error that time reference brings to the real-time time service of main frame, makes bearing accuracy higher.

Signal transmission for convenience, radio communication between above-mentioned main frame and the remote monitoring server.

The monitoring method of the movable real-time monitoring system of a kind of mine underground mining may further comprise the steps:

A. vibration transducer is gathered the mining area vibration signal and is sent to check-out console, and check-out console carries out filtering and noise reduction by the fast algorithm based on the small echo of DSP to vibration signal, and with signal digitalized, identifies attenuation of seismic waves;

B. main frame carries out spectrum analysis to attenuation of seismic waves, sets up explosion Monitoring and Positioning mathematical model, adopts conjugate vector base algorithm to find the solution ill system of linear equations, solves the three-dimensional geographic coordinate data and the time of blow-up point;

C. remote monitoring server receives the three-dimensional geographic coordinate data of blow-up point that main frame sends, and adopts the method for iteration that data are carried out coordinate conversion, is labeled on the mining area electronic chart of display demonstration.

Preferably, in step a, adopt the face of land method of layouting, vibration transducer is fixed on two meters left and right sides steel pipes, insert the face of land; Perhaps adopt buried method, adopt drilling outfit to bore the Jing Dong of 10-60 rice, vibration transducer is put into Jing Dong, the vibration transducer collection is from the vibration signal in the three dimensions.

Time reference is the key of result of calculation accuracy, and total system is carried out time service by GPS, has reduced the measuring error that time reference brings, and makes bearing accuracy higher.

Preferably, between above-mentioned main frame and the remote monitoring server by wireless or and wire communication.

The invention has the beneficial effects as follows:

1. with respect to based on personnel in the pit's location technology, effectively get rid of the intervention of human factor; Compare with the radio-frequency card locator meams, system finishes automatically to the collection of attenuation of seismic waves and processing, does not need artificial participation, has reduced human intervention.Meanwhile, total system adopts the surveillance and control measure that a point location, multi-point monitoring combine, and (promptly a point just can be finished the location, but in order to ensure bearing accuracy and fault-resistant characteristic, carry out multipoint positioning), and monitor state has been carried out the fault alarm design again, added the examination measure to plant maintenance, the equipment that can guarantee is constantly online, human intervention is got rid of in monitoring basically constantly.

2. Xian Jin waveform extracting technology and location algorithm; The mathematical model of waveform extracting technology and core is the soul of system, to choosing of waveform is to be based upon on the basis of repeatedly experiment, finally selected for use waveform character obvious, the best wavelet transformation of extraction effect extracts seismic signal, and the wavelet algorithm calculated amount is big, and memory space is big, operation time is long, realize that in bottom hardware wavelet algorithm has very big difficulty, especially in order to guarantee the real-time of system, has adopted fast wavelet transform and inverse transformation thereof in the system.For working time and the memory space that further reduces program, the programming of fast wavelet transform is optimized, when the small echo denoise algorithm of one time 256 word length was carried out in actual measurement, system only used the time of 0.2ms, has reached the requirement of real-time.Guaranteed the accuracy that blast signal is gathered.Simultaneously, for the core calculations model, passed through repeatedly choose, simplation verification, actual verification, final certain state-of-the-art conjugate vector base algorithm computation mould model has been captured the location technology difficult problem of quick high accuracy.Adopt the method for iteration to realize accurately finding the solution, high-precision coordinate transformating technology is provided.

3. the mathematical model selected of native system, satisfy a point location fully, promptly when having only a check point, also can carry out the location of blow-up point, but a bit in degree of accuracy, all may have problems on the fault destructiveness, in view of this consideration, we have adopted multipoint positioning, polyalgorithm, adopt CAN bus (or GPRS) to carry out data interconnect simultaneously, can increase and detect the raising bearing accuracy of counting, have extremely strong extensibility.This comprehensive Design has not only effectively improved the early warning precision, has guaranteed the ability to fault-resistant simultaneously again.

4. the science of time reference, accuracy; Time reference is the key of result of calculation accuracy, and system has adopted the GPS module to carry out accurate time service, has reduced the measuring error that time reference brings, and makes bearing accuracy higher.

5. extremely strong adaptive faculty and reliable communication support; This system has wired, wireless two kinds of working methods, when the scene can provide wired condition, adopts wired mode, the accurate location of carrying out blow-up point that can be very fast, in the time of can't carrying out wired operation at the scene, can carry out data with GPRS and transmit, be fit to the scope operation of big mining area.Strict protocols is adopted in communication, and exclusive two-way communication protocol instruction guarantees under the rugged surroundings that the reliable transmission of instruction and data is thoroughly stopped to fail to report, report by mistake owing to what data transmission was made mistakes and caused.

Description of drawings

Fig. 1 is a structural representation of the present invention.

Among the figure: 1 vibration transducer I, 2 check-out console I, 3 vibration transducer II, 4 check-out console II, 5 vibration transducer III, 6 check-out console III, 7 vibration transducer IV, 8 check-out console IV, 9 vibration transducer V, 10 check-out console V, 11 main frames, 12 remote monitoring server, 13 displays, 14 user terminals, 15 portable terminals.

Embodiment

As shown in Figure 1, underground mining movable real-time monitoring system in a kind of mine of the present invention comprises:

The signal acquisition process unit, comprise the vibration transducer and the check-out console that are arranged in the mining area, each vibration transducer connects a check-out console, and vibration transducer is 4～5 three axis vibration sensor, be arranged on the Different Plane, can collect the vibration signal in the three dimensions more all sidedly.As the vibration transducer I 1 among the figure, check-out console I 2, vibration transducer II3, check-out console II4, vibration transducer III5, check-out console III6, vibration transducer IV7, check-out console IV8, vibration transducer V9 and check-out console V10, check-out console carries out Filtering Processing and digitizing with vibration signal.

The space orientation unit comprises the main frame 11 of joint detection plate, and the signal after check-out console is handled calculates, and draws the three-dimensional geographic coordinate data of blow-up point; Main frame 11 is connected with GPS time service module, is used for having reduced the measuring error that time reference brings to main frame 11 real-time time services, makes bearing accuracy higher.

The location release unit comprises remote monitoring server 12 and display 13, and remote monitoring server 12 receives three-dimensional geographic coordinate data, and is labeled on the mining area electronic chart of display 13 demonstrations.User terminal 14 also can be visited remote monitoring server 12, query-related information.

Signal transmission for convenience, between above-mentioned main frame 11 and the remote monitoring server 12, pass through the mobile communication base station radio communication between check-out console and the main frame 11, portable terminal 15 also can receive wireless signal.

Its monitoring method may further comprise the steps:

A. vibration transducer is gathered the mining area vibration signal and is sent to check-out console, and check-out console carries out filtering and noise reduction by the fast algorithm based on the small echo of DSP to vibration signal, and with signal digitalized, identifies attenuation of seismic waves;

B. 11 pairs of attenuation of seismic waves of main frame are carried out spectrum analysis, set up explosion Monitoring and Positioning mathematical model, adopt conjugate vector base algorithm to find the solution ill system of linear equations, solve the three-dimensional geographic coordinate data and the time of blow-up point;

C. remote monitoring server 12 receives the three-dimensional geographic coordinate data of blow-up point that main frame 11 sends, and adopts the method for iteration that data are carried out coordinate conversion, is labeled on the mining area electronic chart of display 13 demonstrations.

In step a, adopt the face of land method of layouting, vibration transducer is fixed on two meters left and right sides steel pipes, insert the face of land; Perhaps adopt buried method, adopt drilling outfit to bore the Jing Dong of 10-60 rice, vibration transducer is put into Jing Dong, the vibration transducer collection is from the vibration signal in the three dimensions.

Time reference is the key of result of calculation accuracy, and total system is carried out time service by GPS, has reduced the measuring error that time reference brings, and makes bearing accuracy higher.

Between main frame 11 and the remote monitoring server 12 by wireless or and wire communication.

Concrete operation steps is:

(1) layouts;

According to the mining area one-piece construction, in the scope of mining area, select appropriate information collection point (multiselect is with possessing the work area of power supply advantage with the supervision advantage).The face of land method of layouting is adopted in the pure mining area of environment, sensor is fixed on two meters left and right sides steel pipes, insert the face of land.For disturbing big mining area, adopt buried method, adopt drilling outfit to bore the Jing Dong (is the best to cross water table aquifer according to actual conditions) of 10-60 rice, the blasting vibration sensor is positioned over the hole at the bottom of, sensor signal is drawn by lead-in wire and is raised to ground.Sensor carries out work such as the waterproof of sensor and lead cable, anti-soil corrosion, the anti-plague of rats, anti-geology disaster fail in tension in the process of installing.

(2) seismic wave collection, attenuation of seismic waves identification and transmission;

When explosion took place under mine, the vibration wave of generation acted on the vibration transducer of being layouted, by spreading out of ground by leader cable after the vibration transducer collection, through the software Intelligent Recognition, after being judged as attenuation of seismic waves, store, and the explosion generation moment and location information are issued main frame 11.

Because the signal that vibration transducer detects contains a lot of interference, these undesired signals not only may have been flooded normal attenuation of seismic waves signal, also may cause erroneous judgement, thereby cause correctly to detect seismic event or causing the error of location the attenuation of seismic waves due in.For blow-up point is accurately located, at first should get rid of the interference of other signals.Mainly comprise earthquake, pulsation, the vibration of mine car, train or other automobile, the interference of strong wind or thunder and lightning, ore deposit shake etc.

Wavelet transformation is the new technology of being attached great importance in recent years, many new methods towards feature detection and texture analysis, as multiresolution analysis, time-frequency domain analysis, pyramid algorith etc., all finally belong in the category of wavelet transformation (wavelet transforms).

Fourier transform in the lineary system theory is as orthogonal basis function with all unlimited sinusoidal curve ripple that stretches on both direction.For the transient signal or the signal (for example edge) of localization highly, because these compositions are not similar to any one fourier basis functions, their conversion coefficient (frequency spectrum) is not compact, presents the quite chaotic formation of a width of cloth on the frequency spectrum.In this case, Fourier transform is the arrangement by complexity, all serves as that zero function is realized to offset that some sinusoidal wave modes construct in most of interval.

In order to overcome above-mentioned defective, use the transform method of finite width basis function progressively to grow up.These basis functions are not only changing on the frequency but also on the position, and they are ripples of finite width and are called as small echo (wavelet).Conversion based on them is exactly a wavelet transformation.

Check-out console adopts the fast algorithm based on the small echo of DSP.For the such non-stationary signal of white Gaussian noise, small echo denoising method is undoubtedly filtering algorithm preferably, yet the wavelet algorithm calculated amount is big, memory space is big, operation time is long, realize that in bottom hardware wavelet algorithm has very big difficulty, especially in order to guarantee the real-time of system, has adopted fast wavelet transform and inverse transformation thereof in the system.For working time and the memory space that further reduces program, the programming of fast wavelet transform is optimized, when the small echo denoise algorithm of one time 256 word length was carried out in actual measurement, system only used the time of 0.2ms, has reached the requirement of real-time.

For this reason, use fast wavelet transform (DWT), when signal is reconstructed, use quick inverse wavelet transform (FWT).Calculation procedure is:

(1) f (x) is projected to { V _nOn

$f\left(x\right)\≈\underset{k=0}{\overset{2^n-1}{\mathrm{\Σ}}}{c}_k^n\mathrm{\Φ}(2^{n}x-k)=f_n$

(2) wavelet decomposition algorithm

When using the pyramid algorith of multiresolution analysis,

$c_k^{j-1}=\underset{l}{\mathrm{\Σ}}{a}_{l-2k}{c}_l^j,$ $d_k^{j-1}=\underset{l}{\mathrm{\Σ}}{b}_{l-2k}{c}_l^j$

f _n＝g _n-1+g _n-2+g _n-3+.......+g _n-m+f _n-m

$h_j=\underset{k}{\mathrm{\Σ}}{c}_k^j\mathrm{\Φ}(2^{j}x-k),$ $g_j=\underset{k}{\mathrm{\Σ}}{d}_k^j{\mathrm{\Ψ}}_4(2^{j}x-k)$

And g _n, h _nThe coefficient of is-symbol polynomial expression G (z), H (z):

$G\left(z\right)=\frac{1}{2}\underset{n}{\mathrm{\Σ}}{g}_n{z}^n=z^{-1}{\left(\frac{1+z}{2}\right)}^m\frac{E_{2m-1}\left(z\right)}{E_{2m-1}\left(z^2\right)}$

$H\left(z\right)=\frac{1}{2}\underset{n}{\mathrm{\Σ}}{h}_n{z}^n={-z}^{-1}{\left(\frac{1-z}{2}\right)}^m\frac{(2m-1)!}{E_{2m-1}\left(z^2\right)}$

$E_{2m-1}=(2m-1)!\underset{k=0}{\overset{2n-2}{\mathrm{\Σ}}}{N}_{2n}(k+1)z^k$

Have during reconstruct:

Wavelet algorithm effect used among wavelet algorithm that native system is realized and the MATLAB is suitable.

In signals transmission, existing vibration transducer, its output signal mostly is voltage signal, along with transmission range increases, the decay of voltage is also just big more, generally the transmission line distance greater than 10 meters later on just can not be correct the reflection vibration signals.In system, application class drives the remote transmission that cable technology has realized feeble signal, has guaranteed the real-time reliable detection of blasting vibration signal.Solved that vibration signal is remote, the high precision transmission.

(3) location of quick high accuracy.

When explosion position and time were found the solution in main frame 11 inherences, used matrix was generally ill-condition matrix.The method of finding the solution ill system of linear equations generally can be divided into direct method, process of iteration, and current some advanced algorithms that occur such as genetic algorithm, simulated annealing, mixed chaos algorithm etc.But because these algorithms all have certain limitation, they can not find the solution all ill systems of linear equations out preferably, and therefore studying the algorithm of finding the solution ill system of linear equations is when last important arduous again engineering.Used conjugate vector base algorithm here.

The step of its algorithm is:

Step1: initialization data.Appoint to x1, calculate, r1=Ax1-b gets

And put k=1.

Step2: calculate

And x _K+1=x _k+ t _kp _k, r _K+1=r _k+ t _kAp _kCalculate α respectively according to following formula _kAnd β _kCalculate p then _K+1=α _kr _K+1+ β _kp _k, put k=k+1.

${\mathrm{\α}}_k=-\frac{p_k^{T}A{p}_k}{\sqrt{{\left(p_k^{T}A{p}_k\right)}^2{r}_{k+1}^T{r}_{k+1}+{\left(r_{k+1}^{T}A{p}_k\right)}^2{p}_k^T{p}_k}},$ ${\mathrm{\β}}_k=\frac{r_{k+1}^{T}A{p}_k}{\sqrt{{\left(p_k^{T}A{p}_k\right)}^2{r}_{k+1}^T{r}_{k+1}+{\left(r_{k+1}^{T}A{p}_k\right)}^2{p}_k^T{p}_k}}$

Step3: if k=n 1, then algorithm stops, and forwards Step4 to; Otherwise changing Step2 over to continues to calculate.

Step4: calculate

Promptly obtain separating of system of linear equations.

(4) high-precision coordinate transform;

Because the mining area map is the planimetric coordinates of Beijing Geodetic Coordinate System 1954, remote monitoring server 12 maps are the terrestrial coordinate of 1984 world coordinate systems, monitoring system is in the data that will convert to the coordinate behind the explosion wave location under 1984 world coordinate systems that server accepts, so need carry out the conversion between BJ_54 and the WGS_84 coordinate system.And in coordinate transform, need find the solution seven parameters of different coordinates conversion by least square method.And in coordinate transform, the problem of finding the solution of ill-condition equation also often appears, adopt the method for iteration to realize accurately finding the solution in the native system.

The WGS-84 coordinate system:

The WGS-84 coordinate system is the coordinate system that present GPS adopts, and the ephemeris parameter that GPS issued just is based on this coordinate system.The full name of WGS-84 coordinate system is World Geodical System-84 (world geodetic system-84), and it is the earth's core body-fixed coordinate system system.The WGS-84 coordinate system is set up by map service of U.S. Department of Defense, has replaced the coordinate system that GPS adopted at that time-WGS-72 coordinate system in 1987 and becomes the employed coordinate system of GPS.The true origin of WGS-84 coordinate system is positioned at the barycenter of the earth, and the Z axle points to the agreement earth extreme direction of BIH1984.0 definition, and X-axis is pointed to the initiator noon face of BIH1984.0 and the intersection point in equator, and Y-axis and X-axis and Z axle constitute right-handed system.

Beijing coordinate system in 1954:

Beijing coordinate system was the geodetic surveying coordinate system that China extensively adopts at present in 1954, was a seed ginseng heart coordinate system.This coordinate system stems from the nineteen forty-two husband of the pul section coordinate system that the former Soviet Union adopted.The reference ellipsoid that this coordinate system adopts is a Krasovsky ellipsoid, and the parameter of this ellipsoid is: a=6378245mf=1/298.3.Planimetric coordinates position on China's topomap is that benchmark is calculated with these data all.

Conversion between BJ_54 and the WGS_84 coordinate system:

1. at first utilize seven parameter models, the BJ_54 plane right-angle coordinate is converted to the WGS_84 plane right-angle coordinate, corresponding coordinate conversion model is:

In the formula, Δ X, Δ Y, Δ Z are 3 translation parameterss; θ x, θ Y, θ Z are 3 rotation parameters, and m is a scale parameter.In order to try to achieve this 7 conversion parameters, need 3 common points at least, when unnecessary 3 common points, try to achieve the probability value of 7 parameters by least square method.Obtaining just can to carry out the conversion that the BJ_54 planimetric coordinates is tied to the WGS_84 plane coordinate system under 7 known parameters.

2. adopt the Gauss Projection Plane Rectangular Coordinates formula, the WGS_84 plane right-angle coordinate is converted to earth coordinates.

(a) Gauss projection inverse: rectangular coordinate on the Gauss projection plane of known certain point (x, y), ask this terrestrial coordinate on ellipsoid (L, B), promptly

Coordinate transform.

(b) the projective transformation condition that must satisfy:

The x coordinate axis projects into central meridian, is the axis of symmetry of projection;

Length projection on the x axle remains unchanged;

Projection has conformality character, i.e. orthomorphic condition.

(c) projection process:

Calculate the latitude of pedal B of the projection of ordinate on ellipsoid according to x _f, then press B _fCalculate (B _f-B) and through the difference l, obtain B=B at last _f-(B _f-B), L=L ₀+ l.

(d) computing formula:

$\left.\begin{array}{c}B=B_f-\frac{t_f}{{2M}_f{\mathrm{<figure-callout\; id="2"\; label="N\; f\; y"\; filenames="HDA0000069733730000011.png"\; state="\{\{state\}\}">N</figure-callout>}}_f}{y}^{}{}^2+\frac{t_f}{{24M}_f{N}_f^3}(5+3{\mathrm{<figure-callout\; id="3"\; label="t\; f"\; filenames="HDA0000069733730000011.png"\; state="\{\{state\}\}">t</figure-callout>}}_f^{}+{\mathrm{\&eta;}}_f^2-9{\mathrm{\&eta;}}_f^2{t}_f^2)y^4-\\ \frac{t_f}{720M_f{N}_f^5}(61+90{\mathrm{<figure-callout\; id="2"\; label="t\; f"\; filenames="HDA0000069733730000011.png"\; state="\{\{state\}\}">t</figure-callout>}}_f^{}+45t_f^4)y^6\\ l=\frac{1}{N_f\cos B_f}y-\frac{1}{6{\mathrm{<figure-callout\; id="3"\; label="N\; f"\; filenames="HDA0000069733730000011.png"\; state="\{\{state\}\}">N</figure-callout>}}_f^{}\cos B_f}(1+2{\mathrm{<figure-callout\; id="2"\; label="t\; f"\; filenames="HDA0000069733730000011.png"\; state="\{\{state\}\}">t</figure-callout>}}_f^{}+{\mathrm{\&eta;}}_f^2){\mathrm{<figure-callout\; id="3"\; label="y"\; filenames="HDA0000069733730000011.png"\; state="\{\{state\}\}">y</figure-callout>}}^3+\\ \frac{1}{120{\mathrm{<figure-callout\; id="5"\; label="N\; f"\; filenames="HDA0000069733730000011.png"\; state="\{\{state\}\}">N</figure-callout>}}_f^{}\cos B_f}(5+28{\mathrm{<figure-callout\; id="2"\; label="t\; f"\; filenames="HDA0000069733730000011.png"\; state="\{\{state\}\}">t</figure-callout>}}_f^{}+24{\mathrm{<figure-callout\; id="4"\; label="t\; f"\; filenames="HDA0000069733730000011.png"\; state="\{\{state\}\}">t</figure-callout>}}_f^{}+6{\mathrm{\&eta;}}_{\mathrm{<figure-callout\; id="2"\; label="f"\; filenames="HDA0000069733730000011.png"\; state="\{\{state\}\}">f</figure-callout>}}^2+8{\mathrm{\&eta;}}_f^2{t}_f^2){\mathrm{<figure-callout\; id="5"\; label="y"\; filenames="HDA0000069733730000011.png"\; state="\{\{state\}\}">y</figure-callout>}}^5\end{array}\right\}$

When requiring conversion accuracy to 0.01 " time, can be reduced to following formula:

$\left.\begin{array}{c}B=B_f-\frac{t_f}{{2M}_f{\mathrm{<figure-callout\; id="2"\; label="N\; f\; y"\; filenames="HDA0000069733730000011.png"\; state="\{\{state\}\}">N</figure-callout>}}_f}{y}^{}{}^2+\frac{t_f}{{24M}_f{N}_f^3}(5+3{\mathrm{<figure-callout\; id="3"\; label="t\; f"\; filenames="HDA0000069733730000011.png"\; state="\{\{state\}\}">t</figure-callout>}}_f^{}+{\mathrm{\&eta;}}_f^2-9{\mathrm{\&eta;}}_f^2{t}_f^2)y^4\\ l=\frac{1}{N_f\cos B_f}y-\frac{1}{6{\mathrm{<figure-callout\; id="3"\; label="N\; f"\; filenames="HDA0000069733730000011.png"\; state="\{\{state\}\}">N</figure-callout>}}_f^{}\cos B_f}(1+2{\mathrm{<figure-callout\; id="2"\; label="t\; f"\; filenames="HDA0000069733730000011.png"\; state="\{\{state\}\}">t</figure-callout>}}_f^{}+{\mathrm{\&eta;}}_f^2){\mathrm{<figure-callout\; id="3"\; label="y"\; filenames="HDA0000069733730000011.png"\; state="\{\{state\}\}">y</figure-callout>}}^3+\\ \frac{1}{120{\mathrm{<figure-callout\; id="5"\; label="N\; f"\; filenames="HDA0000069733730000011.png"\; state="\{\{state\}\}">N</figure-callout>}}_f^{}\cos B_f}(5+28{\mathrm{<figure-callout\; id="2"\; label="t\; f"\; filenames="HDA0000069733730000011.png"\; state="\{\{state\}\}">t</figure-callout>}}_f^{}+24t_f^4){\mathrm{<figure-callout\; id="5"\; label="y"\; filenames="HDA0000069733730000011.png"\; state="\{\{state\}\}">y</figure-callout>}}^5\end{array}\right\}$

(5) issue of locating information:

Remote monitoring server 12 is uploaded to monitor server by the perfect GPRS network of China Mobile or CHINAUNICOM with locator data, and is marked by the electronic chart of server in the mining area after the position data of determining blow-up point.User terminal 14 also can be visited remote monitoring server 12, query-related information.

In order to carry out the position of explosion wave seismic phase analysis and definite explosion focus, be furnished with four signal acquisition point in the General System at least, processor need arrive the correct time of detecting sensor by the record attenuation of seismic waves, can calculate the particular location of blow-up point.Yet each minute, the check point timing error was very big to the influence of bearing accuracy, and the system that can not guarantee is in recording time information time synchronized constantly.So in realizing the explosion wave positioning system, synchronism and the simultaneity of the time of necessary strict guarantee each minute check point.Because it is round-the-clock that GPS receives function, receives the signal that the GPS Aerospace Satellite sends in real time, can obtain accurate navigator fix information and precise time information, temporal information comprises the synchronization pulse of year, month, day, hour, min, second and per second output.

Because it is synchronous with the rising edge of UTC from the pulse per second (PPS) (1PPS) of GPS receiver output, each pulse per second (PPS) error is no more than 1 μ s (the GN80H module can reach the precision of 30ns), therefore utilize the pulse per second (PPS) of GPS receiver output can the calibration system work clock, this just can make the time interval of each second corresponding with the clock of UTC in time interval of each second of system clock correspondence basic identical; And in GPS receiver output pulse per second (PPS), also export an absolute UTC time simultaneously, utilize this time to revise the system works clock, just can make the time and the UTC Universal Time Coordinated basically identical of system, and four (containing more than four) branch check points are all accepted the time service of GPS receiver, guarantee these systems with almost same time synchronized work, thereby guarantee that processor is at the due in to the accurate recording waveform in the signal acquisition process.

The signal transmission transfers to data processing unit CPU by the CAN bus or with GPRS mode (at the environment that can not carry out wire transmission) with seismic event information package and additional data check information.

The foregoing description is described to be in order to specify this patent; though describe by specific term in the literary composition; but can not limit the protection domain of this patent with this; being familiar with the personage of this technical field can be after the spirit of understanding this patent and principle change or revises it and reach equivalent purpose; and this equivalence change and modification all should be covered by the claim scope and define in the category.

Claims (8)

1. the movable real-time monitoring system of mine underground mining is characterized in that, comprising:

The signal acquisition process unit comprises the vibration transducer and the check-out console that are arranged in the mining area, and vibration transducer is gathered vibration signal, and check-out console carries out Filtering Processing and digitizing with vibration signal;

The space orientation unit comprises the main frame of joint detection plate, and the signal after check-out console is handled calculates, and draws the three-dimensional geographic coordinate data of blow-up point;

The location release unit comprises remote monitoring server and display, and remote monitoring server receives three-dimensional geographic coordinate data, and is labeled on the mining area electronic chart of display demonstration.

2. according to the movable real-time monitoring system of the described mine of claim 1 underground mining, it is characterized in that: described vibration transducer is 4～5 three axis vibration sensor that are arranged on the Different Plane.

3. according to the movable real-time monitoring system of the described mine of claim 1 underground mining, it is characterized in that: described main frame is connected with GPS time service module, is used for to the real-time time service of main frame.

4. according to the movable real-time monitoring system of the described mine of claim 1 underground mining, it is characterized in that: radio communication between described main frame and the remote monitoring server.

5. a monitoring method of utilizing the movable real-time monitoring system of the described mine of claim 1 underground mining is characterized in that, may further comprise the steps:

A. vibration transducer is gathered the mining area vibration signal and is sent to check-out console, and check-out console carries out filtering and noise reduction by the fast algorithm based on the small echo of DSP to vibration signal, and with signal digitalized, identifies attenuation of seismic waves;

B. main frame carries out spectrum analysis to attenuation of seismic waves, sets up explosion Monitoring and Positioning mathematical model, adopts conjugate vector base algorithm to find the solution ill system of linear equations, solves the three-dimensional geographic coordinate data and the time of blow-up point;

C. remote monitoring server receives the three-dimensional geographic coordinate data of blow-up point that main frame sends, and adopts the method for iteration that data are carried out coordinate conversion, is labeled on the mining area electronic chart of display demonstration.

6. according to the monitoring method of the movable real-time monitoring system of the described mine of claim 5 underground mining, it is characterized in that: in step a, adopt the face of land method of layouting, vibration transducer is fixed on two meters left and right sides steel pipes, insert the face of land; Perhaps adopt buried method, adopt drilling outfit to bore the Jing Dong of 10-60 rice, vibration transducer is put into Jing Dong, the vibration transducer collection is from the vibration signal in the three dimensions.

7. according to the monitoring method of the movable real-time monitoring system of the described mine of claim 5 underground mining, it is characterized in that: total system is carried out time service by GPS.

8. according to the monitoring method of the movable real-time monitoring system of the described mine of claim 5 underground mining, it is characterized in that: between described main frame and the remote monitoring server by wireless or and wire communication.

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