CN102927865A - High-accuracy global system positioning (GPS) geared drill automatic hole arrangement system - Google Patents
High-accuracy global system positioning (GPS) geared drill automatic hole arrangement system Download PDFInfo
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Abstract
The invention provides a high-accuracy global system positioning (GPS) geared drill automatic hole arrangement system and belongs to the technical field of open-cast mining digitization drilling and blasting. The high-accuracy GPS geared drill automatic hole arrangement system comprises an intelligent terminal, a double-frequency GPS module, a GPS differential station, a computer network and a terminal computer of a scheduling control center, a GPS differential station, intelligent terminal host computer software and scheduling control center software. The high-accuracy GPS geared drill automatic hole arrangement system has the advantages of eliminating various factors which are hidden and uncontrollable and influence drilling and blasting quality in traditional drilling and blasting process, high and new technology available now is used to improve traditional process, and therefore refine course management and digital control course are achieved.
Description
Technical field
The invention belongs to surface mining digitlization drilling and blasting technical field, the automatic cloth of a kind of high-precision GPS rotary drill hole system particularly is provided.
Background technology
The most of opencut of China is continued to use traditional drilling and blasting production technology at present, platform measuring and blast hole that Some Enterprises has adopted the blast hole design software to carry out early stage generate, more enterprise then does the blast hole design analysis hardly, in rig when location perforation, put the conventional tag methods such as clitter, piling, line with artificial experience, locate extremely inaccuracy, the uniformity of the blast hole degree of depth also can not be guaranteed, and bottom out-of-flatness after the bursting work causes follow-up shovel to pretend the industry environment abominable.In order to eliminate potential in traditional drilling and blasting production technology, uncontrollable, as to affect drilling and blasting quality various factors, utilize existing new and high technology that traditional handicraft is transformed, realize that management process becomes more meticulous, the control procedure digitlization.
Summary of the invention
The object of the present invention is to provide the automatic cloth of a kind of high-precision GPS rotary drill hole system, eliminated potential in traditional drilling and blasting production technology, uncontrollable, as to affect drilling and blasting quality various factors, utilize existing new and high technology that traditional handicraft is transformed, realize that management process becomes more meticulous, the control procedure digitlization.
Rotary drill of the present invention is from starting cloth hole system to comprise intelligent terminal, the double-frequency GPS module, GPS difference station, the computer network of dispatching control center (comprises wired local area network, wireless communication networks) and terminal computer (comprising: the network switch, the webserver, the management and running computer, the electronic chart computer, the explosion management computer, subscriber computer, the communication management computer, the address model computer), GPS difference station, intelligent terminal host software and dispatching control center software.
The installation site:
Dispatching control center software is installed on the corresponding terminal computer of dispatching control center; The relative opening at dispatching control center is built at GPS difference station, and differential data sends to intelligent terminal by wireless communication networks with broadcast mode; Intelligent terminal is installed on the rotary drill, utilize the intelligent terminal host software of installing, after at first the corresponding computer by wireless communication networks and dispatching control center connects, carry out exchanges data by the dispatching control center software that is installed on the corresponding computer again; The gps satellite locating module is installed in intelligent terminal host inside, by this module borehole coordinate is accurately located, thereby realization is to the location of rotary drill punch position; Wireless communication networks is the carrier of swap data between each corresponding terminal computer of intelligent terminal host and dispatching control center; The wired local area network of dispatching control center links together each corresponding terminal computer, is the hardware environment of dispatching control center running software.
Annexation between the each several part:
Management and running computer, electronic chart computer, explosion management computer, subscriber computer, communication management and the network switch physics that is placed in dispatching control center link to each other, computer network by dispatching control center carries out exchanges data, and the webserver provides various respective service; GPS difference station links to each other by the RS232 interface with the communication management computer; Intelligent terminal host is carried out communication by wireless communication networks and communication management computer, and the data of collection are stored in the webserver.The system architecture (see figure 1).
1, intelligent terminal
Intelligent terminal is installed on the rotary drill, is comprised of built-in industrial control machine, double-frequency GPS module, wireless communication module, standard RS232 serial ports, RS485 interface, power module, penetration depth acquisition module, intelligent terminal host, intelligent terminal display, penetration depth measurement module.Adopt corresponding high-strength cable to connect between the each several part, shell adopts totally-enclosed metal structure to encapsulate, structure (as shown in Figure 2).Finish mainly that punch position navigation, location, penetration depth are measured, position, hole measurement of coordinates is finished in perforation, with ground maneuvers control centre communication function.
Annexation between the each several part:
The built-in built-in industrial control machine of intelligent terminal host.Built-in industrial control machine comprises 4 RS232 interfaces, 1 Ethernet interface, 1 VGA interface, 1 expansion RS485 interface, 2 USB interfaces.The intelligent terminal display is connected with intelligent terminal host by the VGA interface; The double-frequency GPS module is connected with built-in industrial control machine by the RS232 interface; The penetration depth measurement module links to each other with expansion RS485 interface; Ethernet interface is connected with wireless communication module.
(1) built-in industrial control machine (shown in Figure 3)
Intelligent terminal adopts the built-in industrial control machine of the WinSystems EPX of company series fan-free structure, its volume is little, heating is low, antijamming capability is strong, have 1 Ethernet interface, 4 RS232 interfaces, 2 USB interfaces and a VGA interface, each interface function is as follows:
Described Ethernet interface is connected with the wireless module of UBNT company, finishes exchanges data with dispatching control center by covering on-the-spot wireless communication networks.
Described RS232 interface 1 and interface 2 are used for gathering the GPS locator data; Interface 3 is used for receiving the GPS differential data; Interface 4 is used for gathering the penetration depth data.
Described VGA interface is used for being connected between intelligent terminal host and the intelligent terminal display.
Described USB interface is used for installing operating system and debugging utility
(2) double-frequency GPS locating module
The double-frequency GPS locating module is installed in the intelligent terminal host, with RS232 mode and built-in industrial control machine communication.Native system adopts two double-frequency GPS locating modules, uses carrier phase difference mode and makes the positioning accuracy 1cm+1ppm that is up to the standard, and elevation ± 2cm+1ppm realizes that high accuracy locates fast.
Every double-frequency GPS locating module has two RS232 interfaces, and interface 1 receives the GPS locator data, and interface 2 receives the GPS differential data.The interface 1 of first double-frequency GPS locating module is connected with the RS232 interface 1 of built-in industrial control machine, provides the GPS locator data to system, and interface 2 is connected with the RS232 interface 3 of built-in industrial control machine, receives the GPS differential data; The interface 1 of second double-frequency GPS locating module is connected with the RS232 interface 2 of built-in industrial control machine, provides the GPS locator data to system, and interface 2 is connected with the RS232 interface 3 of built-in industrial control machine, receives the GPS differential data.
Because rotary drill is bulky, the drill rod rack height generally apart from about 20 meters on ground, rock larger by the course of work.If be directly installed on the drilling cramp top with a GPS module, the small action of rig all can cause the increase of measure error, in order to solve the on-line measurement of drilling point position coordinate position, adopt two double-frequency GPS locating modules, utilize known two point coordinates to ask thirdly coordinate mode, calculating the borer drill rod coordinate is the punch position coordinate.When practical application, pass through practice test, use drilling rod to become isosceles triangle (isosceles triangle method) mode all can determine exactly the drilling rod position coordinates with two gps antennas with two gps antennas in same linear fashion (straight line azimuth method) or drilling rod, effectively solved vibrations, rocked the measure error of bringing.Concrete straight line azimuth method or the isosceles triangle method used can be determined according to the concrete condition of rotary drill.
The concrete condition of described straight line azimuth method is, drill rod of blast-hole drill is on the extended line of two GPS reception antennas or drill rod of blast-hole drill is between two GPS reception antennas, calculates the drilling rod coordinate by the length gauge of known two GPS point coordinates and A, B.(as shown in Figure 4)
If: the coordinate of GPS1 is (x
B, y
B), the coordinate of GPS2 is (x
A, y
A)
Ask: the coordinate of drilling rod is (X, Y)
Wherein: the azimuth is M
M＝arctan((y
a-y
b)/(x
a-x
b))
Four kinds of situations are divided at the azimuth:
The first situation (first quartile):
Work as y
A-y
B0, x
A-x
B0 o'clock, N=M
The second situation (the second quadrant):
Work as y
A-y
B＜0, x
A-x
B0 o'clock, N=180 °-M
The third situation (third quadrant):
Work as y
A-y
B＜0, x
A-x
B＜0 o'clock, N=180 °+M
The 4th kind of situation (fourth quadrant):
Work as y
A-y
B0, x
A-x
B＜0 o'clock, N=360 °-M
The calculating of drilling rod coordinate
X=x
B+A*cosN
Y=y
B+A*sinN
Being the position coordinates of drilling rod by the coordinate (X, Y) that calculates gained, also is the position coordinates that rig need to be bored a hole.
The concrete condition of described isosceles triangle method is, drill rod of blast-hole drill becomes isosceles triangle with two gps antennas, and drilling rod is in the summit of isosceles triangle, calculates the drilling rod coordinate by the length gauge of known two GPS point coordinates and R.(as shown in Figure 5).
Known: A (X
1, Y
1), B (X
2, Y
2) 2 positions are isosceles triangle base 2 points (A, 2 of B are respectively two anchor points of GPS), L is A, B distance between two points, R are that left arm is long.Ask the C point coordinates.
X=X
1+((X
2-X
1）-(Y
2-Y
1)*RL）/2
Y=Y
1+((X
2_X
1)*RL+(Y
2-Y
1))/2
Being the position coordinates of drilling rod by the coordinate (X, Y) that calculates gained, also is the position coordinates that rig need to be bored a hole.
(3) wireless communication module
The PPM-WIRELESS wireless communication module embeds on the expansion board of PC04 structure, adopts the PC104 interface to be connected with built-in industrial control machine, is encapsulated in the intelligent terminal host.Realize following functions:
Receive control centre's instruction;
Receive the perforation coordinate data of explosion design;
Receive the GPS differential data of control centre;
Be uploaded to dispatching control center rig job position coordinate;
Be uploaded to dispatching control center rotary drill work at present state;
Be uploaded to dispatching control center punch position coordinate and penetration depth number.
(4) standard RS232 interface
(5) penetration depth acquisition module
The penetration depth acquisition module is used for the drilling depth of Real-time Collection rotary drill, is the critical component of control at the bottom of the accurate hole.Because the particularity of the real-time that penetration depth gathers and perforation action, having restricted a lot of acquisition modes can not use, and adopts by experiment the OMRON rotary encoder to add the intelligence instrument combination and has effectively solved the rotating of perforation procedure and the real-time that the degree of depth gathers.
The OMRON rotary encoder adopts flexible the link with the main shaft of rotary drill, rotates along with the rotation of main shaft.The OMRON encoder rotates a circle and produces 500 pulses, and pulse output signals is linked into the LGD100 instrument, and instrument is according to the umber of pulse of the direction of rotation record coding device generation of rotary encoder.
LGD100 pulse recording instrument has the input interface of 2 tunnel pulses, 1 road RS485 interface.The input interface of pulse records respectively the forward and backward pulse of the output of OMRON rotary encoder, the anti-reflection of main story umber of pulse turns advances the umber of pulse that rice produces when umber of pulse is the actual boring of drilling rod, the umber of pulse of advancing meter degree of depth and generation that rotates a circle by rotary encoder calculates the depth ratio of pulse, calculates the penetration depth data; The RS485 interface of LGD100 instrument is connected with the serial ports 4 of PC104 built-in industrial control machine by RS232-RS485 converter, gathers the penetration depth data.
(6) power module
Power module provides stabilized power source, input voltage for intelligent terminal host hardware: DC9-36V, output voltage: DC12V.Have filtering, lightning protection, antijamming capability.
(7) intelligent terminal display
The intelligent terminal display is comprised of liquid crystal display, touch-screen.Liquid crystal display be used for idsplay order and with produce relevant information interface, LCD screen adopts colored 8.4 inches, screen resolution 800 * 600, angle of visibility is spent greater than 160, operating ambient temperature-35 ° C-70 ° C adopts inserted mounting structure; Touch-screen is used for operating the corresponding button, and the lower end adds carriage, adds 5 millimeters plate glass between liquid crystal display and the touch-screen, gains in strength.
2, GPS difference station
Realize rig applying GPS system automatic cloth hole, need intelligent terminal host GPS positioning accuracy to bring up to Centimeter Level.Therefore, need to set up High Precision Central difference station, difference information is sent to intelligent terminal host, GPS difference station structure (as shown in Figure 6).Its concrete function is as follows.
(1) provides the RTK differential signal
Utilize the Continuous Observation data of base station to carry out networking, by the MESH net, to mining area user's real-time release RTK differential data (1-2 centimetres of precision).
(2) provide DGPS pseudo range difference signal
By the means of communication such as wireless communication networks issues GPS pseudo range difference signal (difference accuracy is sub-meter grade), for GIS user and automobile navigation user provide data acquisition and navigator fix service.
(3) original data processing
Gather and preserve initial data, provide comprehensively real-time original observed data according to 1 second sample rate to the user, and can satisfy user's demand according to user's authority, can retrieve easily, inquire about and extract the certain data afterwards of processing of initial data or process.
4, the computer network of dispatching control center
The computer network of dispatching control center is comprised of wired local area network and wireless communication networks.Wired local area network adopts the 100M Ethernet that corresponding terminal computer physics is linked to each other, and realizes data sharing.Wireless communication networks is that the mobile device (comprising rotary drill, power shovel, mine car etc.) in the exploiting field provides signal to cover, and makes the equipment that needs control receive the instruction, data of dispatching control center and provides production process data for dispatching control center.
5, intelligent terminal host software
Intelligent terminal host software is installed in the intelligent terminal host, be responsible for reception, the various instructions of resolution scheduling control centre, bursting work production plan data, and for dispatching control center gathers production process data, punch position coordinate data, penetration depth data etc., basic function is as follows:
The post personnel log in: the operating post personnel succeed logs in (whether possess differentiation is this equipment operator ability) after on duty.Effect: proceed to people's organization of production, statistics, the basis of analysis.
Operation application: rig opens car operation forward direction center and sends application, can carry out operation after being given the ratification; Homework type comprises: normal operation, mobile position, the upkeep operation etc. of boring; The subsidiary fault of equipment fault repairing application is tentatively judged, presses electrical equipment, machinery minute large class, by position segmentation group.Effect: carry out operation and examine, and can finish the production and operation data acquisition that holds in the different work.
Perforation plan: obtain the concrete explosion cloth hole coordinate, pitch-row, hole depth in (or given) quick-fried district etc. from the simulation blasting system, for rotary drill provides the production plan related data.
The bursting work plan is issued certain bench drill machine by the center wireless network, forms cloth pore size distribution control chart.Intelligent terminal is according to position, the hole coordinate figure of production plan, demonstrates the cloth pore size distribution situation map in quick-fried district in the screen simulation, and when the driver chose concrete some boring, intelligent terminal navigated for driver's operation of boring a hole.
The perforation operation: after intelligent terminal is judged concrete punch position, send the information of can boring a hole to the rotary drill driver, begin the operation of boring a hole, measure in real time simultaneously the penetration depth data, prompting driver perforation is finished when reaching projected depth.
Perforation is finished: intelligent terminal arrived the central database system with data upload such as borehole coordinate, rice track data, the number of holes, punching rates after perforation was finished.
Equipment fault: in time to control centre's feedback, control centre is according to failure condition when rig breaks down, and place under repair personnel process, after being disposed, to control centre's feedback information.
6, dispatching control center software
Dispatching control center software comprises software (this invention does not comprise) the five parts composition of installing on the software installed on the software installed on the software installed on the management and running computer, the communication management computer, the electronic chart computer, software (this invention does not comprise) that the explosion management computer is installed, the address model computer.
Relation between system's each several part (as shown in Figure 7)
The explosion management Computer Design goes out punch position coordinate and penetration depth, forms the bursting work plan;
The electronic chart computer carries out the reasonability examination to the bursting work plan;
The communication management computer sends to intelligent terminal host to the perforation planning data;
Intelligent terminal host is carried out bore operation according to the bursting work plan, and the data communication device that bore operation is finished is crossed the webserver data storehouse that wireless communication networks is sent to dispatching control center in real time;
The explosion management computer reads the perforations results of central database, carries out Computer Simulated Blasting, determines explosive payload and firing order;
The address model computer reads the data such as sudden and violent district coordinate that explosion finishes, hole depth, porous, forms three-dimensional address model.
Innovation of the present invention comprises five aspects:
1, use two double-frequency GPS modules to realize location, drill rod of blast-hole drill position
The rotary drill in-house facility is huge, during work vibrations violent, and more than 20 meters above ground level of drilling cramp, double-frequency GPS module can not solve the drilling rod position accurately.In order to solve the accurate location of drilling rod position, use two double-frequency GPS modules to realize the accurate location of drilling rod position.
2. share with explosion design system, address model system data
This system and explosion design system, address model system data are shared, and realize design, produce, manage the whole process closed-loop control.
3. punch position navigation
Change originally with conventional tag methods such as artificial experience pendulum clitter, piling, line, utilize the double-frequency GPS module to realize the punch position precision navigation, not only improve the perforation precision, and eliminated the influence factor at rain, snow, mist, daytime, night, realized the rig all weather operations.
4. accurately control at the bottom of the hole
Use the automatic cloth of high-precision GPS rotary drill hole system, not only guarantee the horizontal location precision that it is holed, and can also dynamically follow the tracks of penetration depth, institute is bored a hole deeply accurately be controlled at same horizontal plane or in a horizontal angle domatic.Blasting quality is improved significantly.
5. perforations results is measured automatically
Rig punch position coordinate, penetration depth are automatically measured, and are sent to dispatching control center by wireless communication networks.Dispatching control center is integrated to production process dynamic monitoring, perforation and blasting measurement, realizes that management process becomes more meticulous, the control procedure digitlization.
Description of drawings
Fig. 1 is system network architecture figure.
Fig. 2 is the intelligent terminal host structure chart.
Fig. 3 is the equipment embedded industrial computer hardware chart of vehicle intelligent terminal.
Fig. 4 is the GPS receiver antenna location drawing.
Fig. 5 is the GPS receiver antenna location drawing.
Fig. 6 is the configuration of GPS differential antennae and wiring layout.
Fig. 7 designs auditing flow figure for explosion.
Fig. 8 is the punch position coordinate diagram.
Fig. 9 is electronic chart.
Figure 10 is the dose calculating chart.
Figure 11 is borehole blasting on line figure.
Figure 12 is perforation charter figure.
Figure 13 is explosion Letter of Instructions figure.
Figure 14 is WGS-84 coordinate system figure.
Figure 15 is coordinate system space flow path switch figure.
The specific embodiment
1. Shoudu Iron and Steel Co mining company Shuichang Iron ore deposit brief introduction
This system will formally bring into operation at Shoudu Iron and Steel Co mining company Shuichang Iron the end of the year 2009.Shoudu Iron and Steel Co mining company Shuichang Iron is positioned at the domestic Qianan City of Tangshan, Hebei Province and Qianxi County intersection, and mining area area 19.55km2 was constructed and put into operation in 1969, exploits continuously so far more than 40 years, and the accumulative total extracted ore is 3.1 hundred million t approximately.Now keep year overall output of ore and waste 5,600 ten thousand t, ore 1,100 ten thousand t, the scale of ore handling capacity 1,800 ten thousand t is one of super-huge outdoors iron ore in Asia.Using 6 in YZ-55 rig, 1 in 45-R rig at present.
2. improve existing Blast-Code computer blasting desing software design
(1) improves the explosion design work
The self-developing program realizes automatically extracting in batches the coordinate in big gun hole on the stope plane, improve the present blasting measurement program of publishing picture, and realizes the total digitalization of blasting measurement drawing.
(2) set up minute horizontal blasting and measure CAXA
Can show the big gun hole of explosion easily by explosion topographic and geologic data base call, realize convenient, fast, connect blasting domain planning accurately.
(3) improve active computer explosion design
According to the present actual conditions of Shuichang Iron, in conjunction with the problem that exists in the software, re-start software programming, to 4.0 versions, what solve its existence can not utilize the problems such as my ore deposit present SURPAC software stope database file upgrades in time, partial function imperfection software upgrading.
(4) set up explosion topographic and geologic database
Can utilize easily SURPAC software to carry out real-time update, can promptly carry out the explosion design for loading explosion electronic chart and database of blasting data.
(5) set up ore deposit rock explosiveness Mathematical Modeling.
With on-the-spot actual the combining of Shuichang Iron, improve opencut ore deposit rock explosiveness classification Mathematical Modeling, and accordingly the Shuichang Iron stope is carried out the explosion subregion, and improve step vertical centering control Deep Hole Millisecond Blasting Technique module, realize flexile automatic-explosion design, human-generated explosives criterion design review.
3, data sampling and processing, Coordinate Conversion research and development of software
The data sampling and processing research and development of software
Utilize on computers external explosion topographic and geologic database to carry out artificial blast-hole design, then utilize the blast-code explosion to design the human assistance computer explosion design auditing flow (as shown in Figure 7) that 4.0 version programs carry out the examination of explosion design rationality.
(1) open Shuichang Iron explosion topographic and geologic database, input coordinate is determined design geographic location, quick-fried district, understands accurately its geologic aspects (lithology, hardness, tomography etc.).
(2) open the Shuichang Iron minute level quick-fried district template figure of corresponding level, find the quick-fried district that is close to the quick-fried district of design, and it is loaded on the Shuichang Iron Blasting geology topographic map.
(3) carry out after top two steps, according to Shuichang Iron explosion subregion guide parameters table, according to the geographical location circumstances in the quick-fried district of design, determine its subregion and hole pattern parameter, and begin to design quick-fried district.
(4) after blasting domain planning is finished, generate sudden and violent district punch position coordinate, (as shown in Figure 8).
(5) the automatic cloth of rotary drill hole system and explosion design data are shared the result
At first, open the file of preserving coordinate, find and whether check the coordinate number consistent with the hole count in the quick-fried district of design.
Then, the file (.txt) of preserving coordinate is opened with Excel software, and its x and y exchanged mutually, and the preservation file.
With the File Open of second step preservation, and copy its full content; The boring project documentation of the system that then opens a terminal arrives the inside with content replication; The system program that opens a terminal at last, the planning data of will holing imports in the system.
(6) pass down the big gun hole coordinate in the quick-fried district of design to rig GPS terminal
At first, after the system of the automatic cloth of data importing rotary drill hole, open electronic chart, check whether the hole count in the map is consistent with design with the geographical position, (as shown in Figure 9).
Secondly,, explosion is designed position, hole coordinate be sent on the rotary drill intelligent terminal by wireless transport module by after the reasonability data detection in the explosion design result, instruct the perforation operation with its coordinate.
(7) the post operation personnel are by the operation of boring a hole of design coordinate
The first, after the rig terminal receives quick-fried district coordinate design data, take out the papery perforation charter of sending to synchronously, the hole count on itself and the terminal screen is checked;
The second, after having checked, in screen is looked for and definite rig will be bored a hole hole number.Press position, the hole position movement rig of screen, capturing position begins the operation of boring a hole;
The 3rd, after punch off, on the rig terminating machine, by finishing, the actual coordinate in hole is passed in the management system of rotary drill terminal cloth hole.
Rig post work flow is:
Open GPS terminal → carry out post and register → send operation and ask → receive mobile drill mating holes position behind the dispatch command for instructions, reach system accuracy requirement → system's release, allow the rig operation of boring a hole.
(8) derive the pore-forming coordinate
After the perforation of quick-fried district was finished, the automatic cloth of rotary drill hole system was kept at institute's porose position coordinate that rig feeds back in the central database, simultaneously perforations results is formed text.
(9) arrangement pore-forming coordinate
Open the file that previous step is preserved, save as a excel file, provide it to measure and use.
(10) import computer explosion design system, examination explosion design
At first, open computer explosion design system, among the dat file import system with the arrangement of (9) step.
After the data importing system, beginning explosion design, after examination is passed through in design, output: dose computational chart (as shown in figure 10), on line figure (as shown in figure 11), perforation charter (as shown in figure 12), explosion Letter of Instructions (as shown in figure 13) etc.
(11) measure publish picture examination burst size and complete design
The technician take by the examination design drawing and quick-fried district composite plane after, explosion plan and blast working that can be follow-up according to design organization.
(12) provide perforations results for the address model module
The rig perforation is finished data and is comprised that the excessively three-dimensional mining geological model system of the data communication devices such as coordinate position, hole depth, perforation character accurately calculates ore deposit, the rock total amount in the scope of exploiting field, the reasonable arrangement schedule of extraction and development, make mining Manufacturing science, reasonable, orderly, realize enterprise's scientific development.
4. Coordinate Conversion research and development of software
Because simulation explosion design module, address model module all adopt the BJ-54 coordinate system, and gps system adopts the WGS-84 coordinate system, want to realize the data sharing between each module, must mutually change different coordinate systems.
WGS-84 and BJ-54 Coordinate Conversion
In order to adapt to address model software and simulation blasting software, system need to change WGS-84 coordinate and BJ-54 coordinate mutually, therefore, need to set up the Mathematical Modeling that adapts with it, realize rotation of coordinate, translation and height fitting in the different coordinates, reach the purpose of scientific and reasonable application.
In gps system, satellite mainly is used as the spatial observation target of location aware.Therefore, in order to determine the surface-based observing station position, the instantaneous position of gps satellite also should be converted in the unified earth-based coordinate system.
(1) WGS-84 coordinate system: be the coordinate system that present GPS adopts earth coordinates WGS-84(World Geodetic System-84), the ephemeris parameter that GPS issues just is based on this coordinate system.(as shown in Figure 14)
The initial point of WGS-84 coordinate system is earth centroid M, Z axis points to agreement earth polar (the Conventional Terrestrial Pole of BIH1984.0 definition, CTP), X-axis is pointed to the zero meridian plane of BIH1984.0 definition and the intersection point in the corresponding equator of CTP, Y-axis is perpendicular to the XMZ plane, and consists of right-handed coordinate system (such as Fig. 4) with Z, X-axis.The earth ellipsoid that the WGS-84 coordinate system adopts is called the WGS-84 ellipsoid, and major parameter is: 1. major radius a=6378137m; 2. WGS-84 flattening of ellipsoid f=1/298.257223563; 3. the earth (containing atmosphere) gravitational constant GM=(3986005 * 10
8) m
3/ s
24. normal second order zonal harmonic coefficient C2.0=484.16685 * 10
-65. rotational-angular velocity of the earth ω=(7292115 * 10
-11) rad/s.
(2) 1954 years Beijing coordinate systems: Beijing coordinate system in 1954 is the Geodetic coordinate system that China extensively adopts at present.This coordinate system adopts the krassowski eliipsoid of 1938 of the former Soviet Union, and its parameter is: major radius a=6378245m, ellipticity f=1/298.3, initial point are positioned at the husband of pul section of the former Soviet Union.This ellipsoid is not reorientated according to the astronomical observation data of China at that time, but locked by the first-class of former Soviet Union's Siberia, come through the Northeast of China biography, the height anomaly of this coordinate system is that result with former Soviet Union's nineteen fifty-five geoid again adjustment is for the value of starting at, calculate out by China astronmical leveling route, and elevation is that Huang Hai mean sea level take 1956 Qingdao tidal stations is as benchmark.
(3) conversion of coordinate system (seeing Figure 15): the GPS calculation result under WGS-84 has high precision, but because the needs of producing, must carry out the conversion of coordinate, for avoiding causing loss of significance in the transfer process, can satisfy again simultaneously monitoring and the requirement of producing two aspects, monitoring net should be carried out the conversion of two kinds of coordinate systems, the one, convert the gps coordinate of monitoring point to mining area production coordinate system, can by with original mining area production coordinate system in the point of safes translocation find the solution corresponding conversion parameter, elevation then adopts approximating method to ask the normal height of fixed point, to satisfy need of production; The 2nd, choose suitable meridian in the mining area and be used as the plane coordinate system that central meridian is set up monitoring net, convert gps coordinate in this plane coordinates system coordinate, and adopt geodetic height, can avoid like this causing loss of significance because of the conversion of coordinate system.
(4) intelligent terminal: be installed in rig and sail indoorly, use liquid crystal touch display screen curtain mode to operate, adopt bifrequency GPS locating module collection position coordinate, employing wireless communication network and dispatching control center realization communication.Having antidetonation, dustproof, anti-interference, hold during power off ability to work, is the executor of the automatic cloth of rotary drill hole system.The storage of explosion design result, the navigation of punch position, perforation are finished the collection of measurement, penetration depth of coordinate all from intelligent terminal host, and therefore, intelligent terminal also is the core of system.
Claims (10)
1. the automatic cloth of high-precision GPS rotary drill hole system, it is characterized in that, comprise computer network and terminal computer, GPS difference station, intelligent terminal host software and the dispatching control center software of intelligent terminal, double-frequency GPS module, GPS difference station, dispatching control center;
The computer network of dispatching control center comprises wired local area network, wireless communication networks;
Terminal computer comprises the network switch, the webserver, management and running computer, electronic chart computer, explosion management computer, subscriber computer, communication management computer, address model computer;
Dispatching control center software is installed on the corresponding terminal computer of dispatching control center; The relative opening at dispatching control center is built at GPS difference station, and differential data sends to intelligent terminal by wireless communication networks with broadcast mode; Intelligent terminal is installed on the rotary drill, utilize the intelligent terminal host software of installing, after at first the corresponding computer by wireless communication networks and dispatching control center connects, carry out exchanges data by the dispatching control center software that is installed on the corresponding computer again; The gps satellite locating module is installed in intelligent terminal host inside, by this module borehole coordinate is accurately located, thereby realization is to the location of rotary drill punch position; Wireless communication networks is the carrier of swap data between each corresponding terminal computer of intelligent terminal host and dispatching control center; The wired local area network of dispatching control center links together each corresponding terminal computer, is the hardware environment of dispatching control center running software.
Annexation between the each several part:
Management and running computer, electronic chart computer, explosion management computer, subscriber computer, communication management and the network switch physics that is placed in dispatching control center link to each other, computer network by dispatching control center carries out exchanges data, and the webserver provides various respective service; GPS difference station links to each other by the RS232 interface with the communication management computer; Intelligent terminal host is carried out communication by wireless communication networks and communication management computer, and the data of collection are stored in the webserver.
2. system according to claim 1, it is characterized in that, described intelligent terminal is installed on the rotary drill, is comprised of built-in industrial control machine, double-frequency GPS module, wireless communication module, standard RS232 serial ports, RS485 interface, power module, penetration depth acquisition module, intelligent terminal host, intelligent terminal display, penetration depth measurement module; Adopt cable to connect between the each several part, shell adopts totally-enclosed metal structure to encapsulate, finish that punch position navigation, location, penetration depth are measured, position, hole measurement of coordinates is finished in perforation, with ground maneuvers control centre communication function;
Cable annexation between the described each several part:
Built-in industrial control machine comprises 4 RS232 interfaces, 1 Ethernet interface, 1 VGA interface, 1 expansion RS485 interface, 2 USB interfaces; The intelligent terminal display is connected with intelligent terminal host by the VGA interface; The double-frequency GPS module is connected with built-in industrial control machine by the RS232 interface; The penetration depth measurement module links to each other with expansion RS485 interface; Ethernet interface is connected with wireless communication module.
3. system according to claim 2 is characterized in that, described double-frequency GPS locating module is installed in the intelligent terminal host, with RS232 mode and built-in industrial control machine communication; Adopt two double-frequency GPS locating modules, use carrier phase difference mode and make the positioning accuracy 1cm+1ppm that is up to the standard, elevation ± 2cm+1ppm realizes that high accuracy locates fast.
Every double-frequency GPS locating module has two RS232 interfaces, and interface 1 receives the GPS locator data, and interface 2 receives the GPS differential data; The interface 1 of first double-frequency GPS locating module is connected with the RS232 interface 1 of built-in industrial control machine, provides the GPS locator data to system, and interface 2 is connected with the RS232 interface 3 of built-in industrial control machine, receives the GPS differential data; The interface 1 of second double-frequency GPS locating module is connected with the RS232 interface 2 of built-in industrial control machine, provides the GPS locator data to system, and interface 2 is connected with the RS232 interface 3 of built-in industrial control machine, receives the GPS differential data.
4. system according to claim 2 is characterized in that, the PPM-WIRELESS wireless communication module of described wireless communication module embeds on the expansion board of PC04 structure, adopts the PC104 interface to be connected with built-in industrial control machine, is encapsulated in the intelligent terminal host; Realize following functions:
Receive control centre's instruction;
Receive the perforation coordinate data of explosion design;
Receive the GPS differential data of control centre;
Be uploaded to dispatching control center rig job position coordinate;
Be uploaded to dispatching control center rotary drill work at present state;
Be uploaded to dispatching control center punch position coordinate and penetration depth number.
5. system according to claim 1 is characterized in that, described standard RS232 interface 1 and interface 2 usefulness are respectively at gathering 2 GPS locating module data; Serial ports 3 is used for receiving the GPS differential data; Serial ports 4 is used for gathering the penetration depth data.
6. system according to claim 2, it is characterized in that, described penetration depth acquisition module is used for the drilling depth of Real-time Collection rotary drill, adopts the OMRON rotary encoder to add the intelligence instrument combination and has solved the rotating of perforation procedure and the real-time that the degree of depth gathers;
The OMRON rotary encoder adopts flexible the link with the main shaft of rotary drill, rotates along with the rotation of main shaft; The OMRON encoder rotates a circle and produces 500 pulses, and pulse output signals is linked into the LGD100 instrument, and instrument is according to the umber of pulse of the direction of rotation record coding device generation of rotary encoder.
7. system according to claim 2 is characterized in that, described power module provides stabilized power source, input voltage for intelligent terminal host hardware: DC9-36V, output voltage: DC12V.Have filtering, lightning protection, antijamming capability.
8. system according to claim 2 is characterized in that, described intelligent terminal display is comprised of liquid crystal display, touch-screen; Liquid crystal display be used for idsplay order and with produce relevant information interface, LCD screen adopts colored 8.4 inches, screen resolution 800 * 600, angle of visibility is spent greater than 160, operating ambient temperature-35 ° C-70 ° C adopts inserted mounting structure; Touch-screen is used for operating the corresponding button, and the lower end adds carriage, adds 5 millimeters plate glass between liquid crystal display and the touch-screen, gains in strength.
9. system according to claim 2 is characterized in that, described GPS difference station function is as follows:
Provide the RTK differential signal: utilize the Continuous Observation data of base station to carry out networking, by the MESH net, to mining area user's real-time release RTK differential data, 1-2 centimetres of precision;
DGPS pseudo range difference signal is provided: by the means of communication such as wireless communication networks issues GPS pseudo range difference signal, difference accuracy is sub-meter grade, for GIS user and automobile navigation user provide data acquisition and navigator fix service;
Original data processing: gather and preserve initial data, provide comprehensively real-time original observed data according to 1 second sample rate to the user, and can satisfy user's demand according to user's authority, can retrieve easily, inquire about and extract the certain data afterwards of processing of initial data or process.
10. system according to claim 1, it is characterized in that, described intelligent terminal host software is installed in the intelligent terminal host, be responsible for reception, the various instructions of resolution scheduling control centre, bursting work production plan data, and be dispatching control center collection production process data, punch position coordinate data, penetration depth data.
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| CN103343683B (en) * | 2013-07-01 | 2016-08-10 | 武汉理工大学 | A kind of rotary drill based on GPS is bored a hole localization method in real time |
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