CN102997914A - Three-dimensional locating and detecting device and method for coal cutter - Google Patents
Three-dimensional locating and detecting device and method for coal cutter Download PDFInfo
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Abstract
The invention discloses three-dimensional locating and detecting device and method for a coal cutter, and belongs to three-dimensional locating and three-dimensional locating methods for coal cutters. The locating and detecting device comprises a coal cutter body, a wireless location sensor, a calculation frequency measuring unit, a wireless label sensor, a height detection sensor, an acceleration sensor, a locating micro-processing unit and an explosion-proof shell, wherein the height detection sensor is used for measuring the support height of a hydraulic bracket and calculating a reference coordinate of the wireless label sensor; and the calculation frequency measuring unit dynamically regulates the locating period according to an acceleration measurement value, determines the distance and the angle between the coal cutter and the hydraulic bracket by the arrival time and the arrival angle of a signal between the wireless location sensor and the wireless label sensor, and performs calculation by using a location algorithm to obtain a three-dimensional coordinate of the coal cutter. The transmission of a wireless pulse signal under a non-line-of-sight environment of a work surface is easily affected; and the wireless pulse signal is distinguished and filtered under the non-line-of-sight environment, and the locating accuracy of the coal cutter is improved on the basis of improving the wireless range measuring accuracy.
Description
Technical field
The present invention relates to a kind of coalcutter three-dimensional localization and method, particularly a kind of coalcutter locating and detecting device and method.
Background technology
The China's coal-mine accident rate is higher, and its main cause is that the automaticity level of China coal industry equipment is low, and large number quipments depends on manually operation.
Fully-mechanized mining working is one of coal production nucleus, and three machines that are comprised of coalcutter, scraper conveyor and hydraulic support are as fully-mechanized mining working core winning equipment, bearing broken coal, coalingging and the task such as supporting, and be the key that fully-mechanized mining working is produced.Current great majority need to be realized the interlock of three machines by manual intervention, and want to realize that three machines move automatically, need to solve coalcutter self-adaptation coal cutting and hydraulic support with problems such as machine robotizations, and major technique wherein is that coalcutter is in the location of fully-mechanized mining working.
Because change when fully-mechanized mining working geologic structure complexity, work under bad environment, coal mining route, comprehensive mining machinery to aspects such as the requirement of roof and floor and sensor stabilities, are difficult to the kinematic parameter of Measurement accuracy coalcutter.Present existing method has gear counting method, infrared emission method, supersonic reflection method, inertial navigation method and wireless Zigbee.
Described gear counting method is after rotating number by the counting shearer hauled-part gear teeth, converses the particular location of coalcutter, and the method is quite ripe, and cost is low, can only realize the straight line location and have the deficiency such as cumulative errors but exist; Described infrared emission method is at coalcutter and hydraulic support difference installation infrared transmitter and receiver, the infrared signal that receives transmitter by receiver is known coal winning machine position, its weak point be can not the continuous monitoring coalcutter the position, in case coalcutter and hydraulic support be not on a level height simultaneously, then receiver is difficult to receive signal; Described ultrasonic reflections rule is at crossheading ultrasound reflector to be installed, ultrasound wave is received by the receiver of crossheading after the coalcutter reflection, by echo time calculating distance, but the defective that the method exists is in the situation that face length is larger, sound declines very large, causes the echo error greatly even can't receive echo; The inertial navigation method is to utilize acceleration transducer and gyroscope, coal winning machine position, speed and attitude can be provided, but along with its bearing accuracy of increase of coalcutter movement travel has larger drift, need to eliminate positioning error through the continuous correction of external information; Described wireless Zigbee utilizes wireless signal strength to decay to carry out apart from inverse, determine coal winning machine position, but the drift of radio node reference coordinate and the nonlinear characteristic of signal intensity attenuation have larger error thereby the employing ZigBee technology is positioned.
Summary of the invention
Technical matters: the object of the present invention is to provide a kind of coalcutter three-dimensional localization pick-up unit and method, solve the problem that the monitoring difficulty is large, positioning error is large that colliery down-hole combined mining working mining condition is complicated, the changeable lower coalcutter of production environment location exists.
Technical scheme: coalcutter three-dimensional localization pick-up unit comprises, coalcutter fuselage, wireless location sensor, resolves frequency measurement unit, radio label sensor, height detection sensor, acceleration transducer, location microprocessing unit and explosion-resistant enclosure; At coalcutter fuselage fixed wireless alignment sensor, resolve frequency measurement unit and acceleration transducer, fixed wireless label sensor and height detection sensor under hydraulic support top beam are installed location microprocessing unit and explosion-resistant enclosure at the coalcutter fuselage.
Coalcutter three-dimensional localization detection method of the present invention is: radio label sensor reference coordinate value is calculated, resolve frequency measurement unit and dynamically adjust locating periodically according to acceleration measurement, utilize simultaneously wireless pulse signals between wireless location sensor and radio label sensor, distance between coalcutter fuselage and hydraulic support and angle are detected, give the location microprocessing unit with the data transmission of acquisition, resolve the D coordinates value that obtains coalcutter through location algorithm, movement along with coalcutter, can realize coalcutter in the location of whole fully-mechanized mining working, concrete steps are:
1) the employing height detection sensor detects the supporting height on the hydraulic support in real time, in conjunction with the center distance between hydraulic support, obtains the reference coordinate value of radio label sensor on the hydraulic support through coordinate transform;
2) adopt acceleration transducer to measure the coalcutter acceleration, resolve frequency measurement unit and resolve frequency according to coalcutter moving speed compute location, dynamically adjust locating periodically, thereby the radio label sensor that the scheduling wireless location sensor communicates with in the scope is carried out radio communication, forms a positioning unit;
3) utilize wireless pulse signals between wireless location sensor and radio label sensor, realize time of arrival and the measurement that arrives angle between coalcutter and the hydraulic support, and data are carried out Attenuation Memory Recursive filtering, improve the effect of new measurement data and the impact of inhibition legacy data, obtain distance and angle between coalcutter and the hydraulic support;
4) distance between the reference coordinate of combining wireless label sensor and coalcutter and the hydraulic support and angle, foundation is about the nonlinear equation of coal winning machine position, take coalcutter on scraper conveyor running orbit as edge-restraint condition, under the multiple error sources such as radio label sensor reference coordinate site error and wireless distance finding error, carry out the Solving Nonlinear Equation based on the sigma point Kalman filtering, obtain the coalcutter three-dimensional coordinate.
Beneficial effect owing to having adopted such scheme, is installed wireless location sensor at the coalcutter fuselage, under every hydraulic support top beam radio label sensor is installed, and each radio label sensor is fixed a unique ID number, the corresponding reference coordinate of each ID; Wireless location sensor communicates with radio label sensor corresponding in the scope and carries out radio communication, forms a positioning unit, along with the movement of coalcutter, can realize that coalcutter is in the location of whole fully-mechanized mining working.
Carry out the coalcutter three-dimensional localization by wireless location sensor and radio label sensor, need not to belong to a kind of Distributed localization mode in the fully-mechanized mining working wiring.Along with the propelling of fully-mechanized mining working, the fluctuations in coal seam causes the variation of coalcutter cutting height, and the hydraulic support stand height is changed, and causes the uncertainty of radio label sensor reference coordinate, brings larger error thereby resolve for the location algorithm.Therefore, the present invention utilizes height detection sensor to detect in real time supporting height on the hydraulic support, and in conjunction with center distance between hydraulic support, thereby the radio label sensor reference coordinate that is installed on the hydraulic support is calculated.And determine the coalcutter moving speed based on acceleration transducer, and resolve frequency measurement unit and resolve frequency according to coalcutter moving speed compute location, dynamically adjust locating periodically, improve the battery of wireless location sensor and radio label sensor; Utilize on this basis the time of arrival (toa) between wireless location sensor and radio label sensor and arrive angle, calculate the distance between coalcutter and hydraulic support, resolve the three-dimensional coordinate that can obtain coalcutter by location algorithm.
Advantage: this invention can be applicable to the monitoring of coal winning machine position in the fully-mechanized mining working three machines interlocks, take wireless signal time of arrival with arrive angle as ranging technology, has stable bearing accuracy, and sensor has flexibly deployment way, and is easy for installation.
Description of drawings
Fig. 1 is Shearer Position Monitoring structural representation of the present invention.
Fig. 2 is that coalcutter 3 D locating device of the present invention consists of schematic diagram.
Fig. 3 is coalcutter 3 D positioning system theory diagram of the present invention.
Fig. 4 is that coalcutter three-dimensional localization of the present invention is resolved the software programming process flow diagram.
Among the figure: 1, coalcutter fuselage; 2, wireless location sensor; 3, resolve frequency measurement unit; 4, radio label sensor; 5, height detection sensor; 6, acceleration transducer; 7, location microprocessing unit; 8, explosion-resistant enclosure.
Embodiment
Below in conjunction with accompanying drawing one embodiment of the present of invention are further described:
Embodiment 1: in Fig. 1 and Fig. 2, the coalcutter 3 D locating device mainly by coalcutter fuselage 1, wireless location sensor 2, resolve frequency measurement unit 3, radio label sensor 4, height detection sensor 5, acceleration transducer 6, location microprocessing unit 7 and explosion-resistant enclosure 8; At coalcutter fuselage 1 fixed wireless alignment sensor 2, resolve frequency measurement unit 3 and acceleration transducer 6, fixed wireless label sensor 4 and height detection sensor 5 under hydraulic support top beam.At the coalcutter fuselage location microprocessing unit 7 and explosion-resistant enclosure 8 are installed simultaneously.
In Fig. 2 and Fig. 3, at the coalcutter fuselage wireless location sensor is installed, under every hydraulic support top beam radio label sensor is installed, each radio label sensor is fixed a unique ID number, the corresponding reference coordinate of each ID; Wireless location sensor communicates with radio label sensor corresponding in the scope and carries out radio communication, forms a positioning unit; Radio label sensor 4 reference coordinate values are calculated, resolve frequency measurement unit 3 and dynamically adjust locating periodically according to acceleration measurement, utilize simultaneously 4 wireless pulse signals of wireless location sensor 2 and radio label sensor, distance between coalcutter fuselage 1 and hydraulic support and angle are detected, give location microprocessing unit 7 with the data transmission of acquisition, obtain the D coordinates value of coalcutter; Along with the movement of coalcutter, can realize coalcutter in the location of whole fully-mechanized mining working, the concrete grammar step is as follows:
1, during coalcutter cut rib, utilization is installed in the height detection sensor under the hydraulic support top beam, after signal sampling, amplification filtering, A/D conversion, detect in real time the supporting height of hydraulic support, and in conjunction with the center distance between hydraulic support, obtain the reference coordinate of radio label sensor on the hydraulic support through the coordinate transform computing, realize in the coalcutter cutting course hydraulic support on the radio label sensor reference coordinate upgrade.
2, adopt acceleration transducer to determine the coalcutter moving speed, resolve frequency measurement unit and resolve frequency according to coalcutter moving speed compute location, dynamically adjust locating periodically, when the coalcutter translational speed is low, can improve locating periodically, when in case the coalcutter translational speed is very fast then reduce locating periodically, thereby improve the battery of wireless location sensor and radio label sensor, according to locating periodically, the radio label sensor initiating communication request of the constructing communication network module on the coalcutter wireless location sensor on the hydraulic support.
3, after the request of wireless location sensor initiating communication, radio label sensor sends wireless pulse signals to wireless location sensor, measure wireless pulse signals time of arrival and arrive angle, realize the measurement of coalcutter and hydraulic support spacing walk-off angle degree, on this basis, adjust the distance and carry out Attenuation Memory Recursive filtering with angle-data, namely improve the effect of new measurement data and the impact of inhibition legacy data, obtain accurate time of arrival (toa) and arrive angle value;
4, distance and angle and the radio label sensor reference coordinate value between employing coalcutter and hydraulic support, the coalcutter running status is set up respectively the equation of motion and observation equation, and under the multiple errors such as radio label sensor reference coordinate site error and wireless distance finding error, carry out Solving Nonlinear Equation based on the sigma point Kalman filtering, obtain the once estimation of coal winning machine position; In conjunction with coalcutter along scraper conveyor linear running track as edge-restraint condition, by reducing the location feasible zone, carry out the lower coal winning machine position secondary estimation of boundary condition constraint, can determine the accurate three-dimensional coordinate position of coalcutter.
Fig. 4 is that coalcutter three-dimensional localization of the present invention is resolved the software programming process flow diagram.At first carry out the microprocessing unit initialization of coalcutter location, then height detection sensor is sampled, obtain the supporting height of hydraulic support by computing, in conjunction with the hydraulic support center distance, write the coordinate transform program and obtain the radio label sensor reference coordinate.Resolve simultaneously carrying out the radio label sensor reference coordinate, utilize acceleration transducer to gather the coalcutter translational acceleration, obtain the coalcutter translational speed through integral operation, thereby resolve frequency measurement unit and resolve frequency adjustment locating periodically according to coalcutter moving speed compute location, then gather wireless signal value time of arrival and arrive angle value, next finish the nlos environment of wireless signal and differentiate processing, and write Attenuation Memory Recursive filtering algorithm program and obtain accurate distance and angle value, by the coalcutter positioning calculation, coding obtains the three-dimensional coordinate of coalcutter.
Claims (2)
1. coalcutter three-dimensional localization pick-up unit, it is characterized in that: locating and detecting device comprises, coalcutter fuselage, wireless location sensor, resolves frequency measurement unit, radio label sensor, height detection sensor, acceleration transducer, location microprocessing unit and explosion-resistant enclosure; At coalcutter fuselage fixed wireless alignment sensor, resolve frequency measurement unit and acceleration transducer, fixed wireless label sensor and height detection sensor under hydraulic support top beam are installed location microprocessing unit and explosion-resistant enclosure at the coalcutter fuselage.
2. coalcutter three-dimensional localization detection method, it is characterized in that: radio label sensor reference coordinate value is calculated, resolve frequency measurement unit and dynamically adjust locating periodically according to acceleration measurement, utilize simultaneously wireless pulse signals between wireless location sensor and radio label sensor, distance between coalcutter fuselage and hydraulic support and angle are detected, give the location microprocessing unit with the data transmission of acquisition, resolve the D coordinates value that obtains coalcutter through location algorithm, movement along with coalcutter, can realize coalcutter in the location of whole fully-mechanized mining working, concrete steps are:
1) the employing height detection sensor detects the supporting height on the hydraulic support in real time, in conjunction with the center distance between hydraulic support, obtains the reference coordinate value of radio label sensor on the hydraulic support through coordinate transform;
2) adopt acceleration transducer to measure the coalcutter acceleration, resolve frequency measurement unit and resolve frequency according to coalcutter moving speed compute location, dynamically adjust locating periodically, thereby the radio label sensor that the scheduling wireless location sensor communicates with in the scope is carried out radio communication, forms a positioning unit;
3) utilize wireless pulse signals between wireless location sensor and radio label sensor, realize time of arrival and the measurement that arrives angle between coalcutter and the hydraulic support, and data are carried out Attenuation Memory Recursive filtering, improve the effect of new measurement data and the impact of inhibition legacy data, obtain distance and angle between coalcutter and the hydraulic support;
4) distance between the reference coordinate of combining wireless label sensor and coalcutter and the hydraulic support and angle, foundation is about the nonlinear equation of coal winning machine position, take coalcutter on scraper conveyor running orbit as edge-restraint condition, under the multiple error sources such as radio label sensor reference coordinate site error and wireless distance finding error, carry out the Solving Nonlinear Equation based on the sigma point Kalman filtering, obtain the coalcutter three-dimensional coordinate.
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Cited By (17)
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| CN103410512A (en) * | 2013-08-15 | 2013-11-27 | 中国矿业大学 | Geological environment information-fused absolute positioning device and method for coal cutter |
| CN103438883A (en) * | 2013-07-19 | 2013-12-11 | 重庆安标科技有限公司 | Positioning, navigating and locus plotting apparatus |
| CN103899358A (en) * | 2014-03-19 | 2014-07-02 | 北京天地玛珂电液控制系统有限公司 | Conveyor upward-jumping and downward-sliding automatic control system |
| CN104100277A (en) * | 2014-08-01 | 2014-10-15 | 北京天地玛珂电液控制系统有限公司 | Automatic control system for pseudo-inclined fully mechanized mining face |
| CN104729538A (en) * | 2015-04-03 | 2015-06-24 | 中国矿业大学 | Calibration method and device of positioning and attitude determination system for laser-scanning based coal mining machine |
| CN104891133A (en) * | 2015-04-30 | 2015-09-09 | 中国矿业大学 | Control system and method of pushed and slipped motion order of scraper conveyer |
| CN105083914A (en) * | 2015-07-21 | 2015-11-25 | 四川航天电液控制有限公司 | Posture monitoring system for scraper conveyer |
| CN105259549A (en) * | 2015-09-24 | 2016-01-20 | 北京天地玛珂电液控制系统有限公司 | Coal mining machine position monitoring device based on ultra-narrow pulse technology |
| CN106089201A (en) * | 2016-04-26 | 2016-11-09 | 山东科技大学 | A kind of cut paths planning method for unmanned coal-face |
| CN106121723A (en) * | 2016-02-19 | 2016-11-16 | 中国矿业大学 | A kind of mining face equipment alignment system |
| CN107976192A (en) * | 2017-11-16 | 2018-05-01 | 太原理工大学 | A kind of fully-mechanized mining working fells and transports posture solution and the Forecasting Methodology of equipment |
| CN109633529A (en) * | 2018-11-28 | 2019-04-16 | 珠海优特电力科技股份有限公司 | The detection device of the positioning accuracy of positioning system, method and device |
| CN110231626A (en) * | 2019-06-10 | 2019-09-13 | 中国矿业大学 | A kind of coalcutter positioning monitoring system and its monitoring method |
| CN111812589A (en) * | 2020-07-24 | 2020-10-23 | 江苏科技大学 | Accurate positioning system and method for coal mining machine based on acoustic array |
| CN111896916A (en) * | 2020-07-24 | 2020-11-06 | 江苏科技大学 | System and method for measuring relative position of coal mining machine and hydraulic support |
| CN113587929A (en) * | 2021-09-30 | 2021-11-02 | 中煤科工开采研究院有限公司 | Method and device for cooperative positioning under underground coal mine |
| CN114295131A (en) * | 2020-10-07 | 2022-04-08 | 广达电脑股份有限公司 | Electronic device with gravity sensor auxiliary positioning |
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| CN103438883A (en) * | 2013-07-19 | 2013-12-11 | 重庆安标科技有限公司 | Positioning, navigating and locus plotting apparatus |
| CN103410512B (en) * | 2013-08-15 | 2015-08-05 | 中国矿业大学 | Merge coal-winning machine absolute positioning apparatus and the method for geological environment information |
| CN103410512A (en) * | 2013-08-15 | 2013-11-27 | 中国矿业大学 | Geological environment information-fused absolute positioning device and method for coal cutter |
| CN103899358B (en) * | 2014-03-19 | 2016-03-02 | 北京天地玛珂电液控制系统有限公司 | Downslide automatic control system altered by a kind of transporter |
| CN103899358A (en) * | 2014-03-19 | 2014-07-02 | 北京天地玛珂电液控制系统有限公司 | Conveyor upward-jumping and downward-sliding automatic control system |
| CN104100277A (en) * | 2014-08-01 | 2014-10-15 | 北京天地玛珂电液控制系统有限公司 | Automatic control system for pseudo-inclined fully mechanized mining face |
| CN104729538A (en) * | 2015-04-03 | 2015-06-24 | 中国矿业大学 | Calibration method and device of positioning and attitude determination system for laser-scanning based coal mining machine |
| CN104891133B (en) * | 2015-04-30 | 2017-02-22 | 中国矿业大学 | Control system and method of pushed and slipped motion order of scraper conveyer |
| CN104891133A (en) * | 2015-04-30 | 2015-09-09 | 中国矿业大学 | Control system and method of pushed and slipped motion order of scraper conveyer |
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| CN105259549A (en) * | 2015-09-24 | 2016-01-20 | 北京天地玛珂电液控制系统有限公司 | Coal mining machine position monitoring device based on ultra-narrow pulse technology |
| CN106121723A (en) * | 2016-02-19 | 2016-11-16 | 中国矿业大学 | A kind of mining face equipment alignment system |
| CN106121723B (en) * | 2016-02-19 | 2018-10-16 | 中国矿业大学 | A kind of mining face equipment positioning system |
| CN106089201A (en) * | 2016-04-26 | 2016-11-09 | 山东科技大学 | A kind of cut paths planning method for unmanned coal-face |
| CN107976192B (en) * | 2017-11-16 | 2021-03-23 | 太原理工大学 | Attitude solving and predicting method for fully mechanized coal mining face mining and transporting equipment |
| CN107976192A (en) * | 2017-11-16 | 2018-05-01 | 太原理工大学 | A kind of fully-mechanized mining working fells and transports posture solution and the Forecasting Methodology of equipment |
| CN109633529B (en) * | 2018-11-28 | 2021-05-25 | 珠海优特电力科技股份有限公司 | Detection equipment, method and device for positioning accuracy of positioning system |
| CN109633529A (en) * | 2018-11-28 | 2019-04-16 | 珠海优特电力科技股份有限公司 | The detection device of the positioning accuracy of positioning system, method and device |
| CN110231626A (en) * | 2019-06-10 | 2019-09-13 | 中国矿业大学 | A kind of coalcutter positioning monitoring system and its monitoring method |
| CN110231626B (en) * | 2019-06-10 | 2023-04-18 | 中国矿业大学 | Positioning monitoring system and monitoring method for coal mining machine |
| CN111812589A (en) * | 2020-07-24 | 2020-10-23 | 江苏科技大学 | Accurate positioning system and method for coal mining machine based on acoustic array |
| CN111896916A (en) * | 2020-07-24 | 2020-11-06 | 江苏科技大学 | System and method for measuring relative position of coal mining machine and hydraulic support |
| CN114295131A (en) * | 2020-10-07 | 2022-04-08 | 广达电脑股份有限公司 | Electronic device with gravity sensor auxiliary positioning |
| CN113587929A (en) * | 2021-09-30 | 2021-11-02 | 中煤科工开采研究院有限公司 | Method and device for cooperative positioning under underground coal mine |
| CN113587929B (en) * | 2021-09-30 | 2022-01-25 | 中煤科工开采研究院有限公司 | Method and device for cooperative positioning under underground coal mine |
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