CN102997914B - 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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- CN102997914B CN102997914B CN201210408210.5A CN201210408210A CN102997914B CN 102997914 B CN102997914 B CN 102997914B CN 201210408210 A CN201210408210 A CN 201210408210A CN 102997914 B CN102997914 B CN 102997914B
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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 coal-winning machine three-dimensional localization and method, particularly a kind of coal-winning machine locating and detecting device and method.
Background technology
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 manual hand manipulation.
Fully-mechanized mining working is one of coal production nucleus, and three machines be made up of coal-winning machine, drag conveyor and hydraulic support are as fully-mechanized mining working core winning equipment, and carry brokenly coal, coaling and the task such as supporting, is the key that fully-mechanized mining working is produced.Current great majority need to realize three machines interlocks by manual intervention, and want to realize three machines and automatically run, and need to solve coal-winning machine self adaptation coal cutting and hydraulic support with problems such as machine automations, major technique is wherein the location of coal-winning machine at fully-mechanized mining working.
Because when fully-mechanized mining working geologic structure complexity, work under bad environment, coal mining route, change, 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 coal-winning machine.Current existing method has gear counting method, infrared emission method, supersonic reflection method, inertial navigation method and wireless Zigbee.
Described gear counting method is that after rotating number by the counting shearer hauled-part gear teeth, converse the particular location of coal-winning machine, the method is quite ripe, and cost is low, but existence can only realize straight line location and have the deficiencies such as cumulative errors; Described infrared emission method is difference installation infrared transmitter and receiver on coal-winning machine and hydraulic support, the infrared signal being received transmitter by receiver knows coal winning machine position, its weak point is the position can not monitoring coal-winning machine continuously, simultaneously once coal-winning machine and hydraulic support be not in a level height, then receiver is difficult to receive signal; Described ultrasonic reflections rule installs ultrasound reflector at crossheading, ultrasonic wave is received by the receiver of crossheading after coal-winning machine reflection, distance is calculated by the echo time, but the defect that the method exists is when face length is larger, sound declines very large, causes echo error greatly even cannot receive echo; Inertial navigation method utilizes acceleration transducer and gyroscope, coal winning machine position, speed and attitude can be provided, but along with its positioning precision of increase of coal-winning machine movement travel has larger drift, need continuous correction through external information to eliminate position error; Described wireless Zigbee utilizes wireless signal strength to decay to carry out distance inverse, determine coal winning machine position, but the drift of radio node reference coordinate and the nonlinear characteristic of signal intensity attenuation, thus make employing ZigBee technology to position that there is larger error.
Summary of the invention
Technical problem: the object of the present invention is to provide a kind of coal-winning machine three-dimensional localization checkout gear and method, solves the problem that monitoring difficulty is large, position error is large that underground coal mine fully-mechanized mining working mining condition is complicated, the changeable lower coal-winning machine location of production environment exists.
Technical scheme: coal-winning machine three-dimensional localization checkout gear comprises, coal-winning machine fuselage, wireless location sensor, resolves frequency measurement unit, radio label sensor, height detection sensor, acceleration transducer, location microprocessing unit and explosion-resistant enclosure; At coal-winning machine 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, coal-winning machine fuselage installs location microprocessing unit and explosion-resistant enclosure.
Coal-winning machine three-dimensional localization detection method of the present invention is: calculate radio label sensor reference coordinate value, resolve frequency measurement unit according to acceleration measurement dynamic conditioning locating periodically, utilize wireless pulse signals between wireless location sensor and radio label sensor simultaneously, Distance geometry angle between coal-winning machine fuselage and hydraulic support is detected, the data of acquisition are transferred to location microprocessing unit, the D coordinates value obtaining coal-winning machine is resolved through location algorithm, along with the movement of coal-winning machine, the location of coal-winning machine at whole fully-mechanized mining working can be realized, concrete steps are:
1) employing height detection sensor detects the supporting height on hydraulic support in real time, in conjunction with the center distance between hydraulic support, obtains the reference coordinate value of radio label sensor on hydraulic support through coordinate transform;
2) acceleration transducer is adopted to measure coal-winning machine acceleration, resolve frequency measurement unit and calculate positioning calculation frequency according to coal-winning machine moving speed, carry out dynamic conditioning locating periodically, thus the radio label sensor that scheduling wireless location sensor communicates with in scope carries out radio communication, forms a positioning unit;
3) wireless pulse signals between wireless location sensor and radio label sensor is utilized, realize the measurement of the time of advent and angle of arrival between coal-winning machine and hydraulic support, and fading filter is carried out to data, improve the effect of new measurement data and suppress the impact of legacy data, obtaining the Distance geometry angle between coal-winning machine and hydraulic support;
4) reference coordinate of combining wireless label sensor and the Distance geometry angle between coal-winning machine and hydraulic support, set up the nonlinear equation about coal winning machine position, with coal-winning machine on drag conveyor running orbit for edge-restraint condition, under the multiple error sources such as radio label sensor reference coordinate location error and wireless distance finding error, carry out the Solving Nonlinear Equation based on sigma point Kalman filtering, obtain coal-winning machine three-dimensional coordinate.
Beneficial effect, owing to have employed such scheme, coal-winning machine fuselage installs wireless location sensor, installs radio label sensor under every platform hydraulic support top beam, and each radio label sensor fixes one unique No. ID, the corresponding reference coordinate of each ID; Wireless location sensor communicates with radio label sensor corresponding in scope and carries out radio communication, forms a positioning unit, along with the movement of coal-winning machine, can realize the location of coal-winning machine at whole fully-mechanized mining working.
Carry out coal-winning machine three-dimensional localization by wireless location sensor and radio label sensor, without the need in fully-mechanized mining working wiring, belong to a kind of Distributed localization mode.Along with the propelling of fully-mechanized mining working, the fluctuations in coal seam causes the change of coal-winning machine cutting height, hydraulic support stand height is changed, causes the uncertainty of radio label sensor reference coordinate, thus resolves to location algorithm and bring larger error.Therefore, the present invention utilizes height detection sensor to detect supporting height on hydraulic support in real time, and in conjunction with center distance between hydraulic support, thus the radio label sensor reference coordinate be arranged on hydraulic support is calculated.And based on acceleration transducer determination coal-winning machine moving speed, resolve frequency measurement unit according to coal-winning machine moving speed and calculate positioning calculation frequency, carry out dynamic conditioning locating periodically, improve the battery of wireless location sensor and radio label sensor; Utilize the time of arrival (toa) between wireless location sensor and radio label sensor and angle of arrival on this basis, calculate the distance between coal-winning machine and hydraulic support, resolved the three-dimensional coordinate that can obtain coal-winning machine by location algorithm.
Advantage: this invention can be applicable to the monitoring of coal winning machine position in the interlock of fully-mechanized mining working three machine, with the wireless signal time of advent and angle of arrival for ranging technology, have stable positioning precision, and sensor has deployment way flexibly, easy for installation.
Accompanying drawing explanation
Fig. 1 is Shearer Position Monitoring structural representation of the present invention.
Fig. 2 is that coal-winning machine 3 D locating device of the present invention forms schematic diagram.
Fig. 3 is coal-winning machine 3 D positioning system theory diagram of the present invention.
Fig. 4 is that coal-winning machine three-dimensional localization of the present invention resolves software programming flow chart.
In figure: 1, coal-winning machine fuselage; 2, wireless location sensor; 3, frequency measurement unit is resolved; 4, radio label sensor; 5, height detection sensor; 6, acceleration transducer; 7, microprocessing unit is located; 8, explosion-resistant enclosure.
Detailed description of the invention
Below in conjunction with accompanying drawing, one embodiment of the present of invention are further described:
Embodiment 1: in fig. 1 and 2, coal-winning machine 3 D locating device primarily of coal-winning machine 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 coal-winning machine 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.On coal-winning machine fuselage, location microprocessing unit 7 and explosion-resistant enclosure 8 are installed simultaneously.
In figs. 2 and 3, coal-winning machine fuselage installs wireless location sensor, install radio label sensor under every platform hydraulic support top beam, each radio label sensor fixes one unique No. ID, the corresponding reference coordinate of each ID; Wireless location sensor communicates with radio label sensor corresponding in scope and carries out radio communication, forms a positioning unit; Radio label sensor 4 reference coordinate value is calculated, resolve frequency measurement unit 3 according to acceleration measurement dynamic conditioning locating periodically, utilize wireless pulse signals between wireless location sensor 2 and radio label sensor 4 simultaneously, Distance geometry angle between coal-winning machine fuselage 1 and hydraulic support is detected, the data of acquisition are transferred to location microprocessing unit 7, obtain the D coordinates value of coal-winning machine; Along with the movement of coal-winning machine, can realize the location of coal-winning machine at whole fully-mechanized mining working, concrete grammar step is as follows:
1, during coal-winning machine cut rib, utilization is arranged on the height detection sensor under hydraulic support top beam, after signal sampling, amplification filtering, A/D conversion, the supporting height of real-time detection hydraulic support, and in conjunction with the center distance between hydraulic support, obtain the reference coordinate of radio label sensor on hydraulic support through coordinate transform computing, realize upgrading radio label sensor reference coordinate on hydraulic support in coal-winning machine cutting course.
2, acceleration transducer determination coal-winning machine moving speed is adopted, resolve frequency measurement unit and calculate positioning calculation frequency according to coal-winning machine moving speed, carry out dynamic conditioning locating periodically, when coal-winning machine translational speed is lower, locating periodically can be improved, once coal-winning machine translational speed is very fast, reduce locating periodically, thus improve the battery of wireless location sensor and radio label sensor, according to locating periodically, the constructing communication network module on coal-winning machine wireless location sensor is to the radio label sensor initiating communication request on hydraulic support.
3, after the request of wireless location sensor initiating communication, radio label sensor sends wireless pulse signals to wireless location sensor, measure the wireless pulse signals time of advent and angle of arrival, realize the measurement of coal-winning machine and hydraulic support spacing and angle, on this basis, to adjust the distance and angle-data carries out fading filter, namely improve the effect of new measurement data and suppress the impact of legacy data, obtaining accurate time of arrival (toa) and angle of arrival angle value;
4, the Distance geometry angle between coal-winning machine and hydraulic support and radio label sensor reference coordinate value is adopted, the equation of motion and observational equation are set up respectively to coal-winning machine running status, and the Solving Nonlinear Equation carried out under the multiple errors such as radio label sensor reference coordinate location error and wireless distance finding error based on sigma point Kalman filtering, obtain the once estimation of coal winning machine position; In conjunction with coal-winning machine along drag conveyor linear running track as edge-restraint condition, by reduce location feasible zone, carry out boundary condition constraint under coal winning machine position quadratic estimate, the accurate three-dimensional coordinate position of coal-winning machine can be determined.
Fig. 4 is that coal-winning machine three-dimensional localization of the present invention resolves software programming flow chart.First carry out coal-winning machine location microprocessing unit to initialize, then height detection sensor is sampled, obtained the supporting height of hydraulic support by computing, in conjunction with hydraulic support center distance, write coordinate transform program and obtain radio label sensor reference coordinate.Resolve simultaneously carrying out radio label sensor reference coordinate, acceleration transducer is utilized to gather coal-winning machine translational acceleration, coal-winning machine translational speed is obtained through integral operation, resolve frequency measurement unit and calculate positioning calculation frequency according to coal-winning machine moving speed thus adjustment locating periodically, then the wireless signal value time of advent and angle of arrival angle value is gathered, next the nlos environment completing wireless signal differentiates process, and write fading filter algorithm routine and obtain accurate Distance geometry angle value, by coal-winning machine positioning calculation, coding obtains the three-dimensional coordinate of coal-winning machine.
Claims (1)
1. a coal-winning machine three-dimensional localization detection method, it is characterized in that: radio label sensor reference coordinate value is calculated, resolve frequency measurement unit according to acceleration measurement dynamic conditioning locating periodically, utilize wireless pulse signals between wireless location sensor and radio label sensor simultaneously, Distance geometry angle between coal-winning machine fuselage and hydraulic support is detected, the data of acquisition are transferred to location microprocessing unit, the D coordinates value obtaining coal-winning machine is resolved through location algorithm, along with the movement of coal-winning machine, the location of coal-winning machine at whole fully-mechanized mining working can be realized, concrete steps are:
1) employing height detection sensor detects the supporting height on hydraulic support in real time, in conjunction with the center distance between hydraulic support, obtains the reference coordinate value of radio label sensor on hydraulic support through coordinate transform;
2) acceleration transducer is adopted to measure coal-winning machine acceleration, resolve frequency measurement unit and calculate positioning calculation frequency according to coal-winning machine moving speed, carry out dynamic conditioning locating periodically, thus the radio label sensor that scheduling wireless location sensor communicates with in scope carries out radio communication, forms a positioning unit;
3) wireless pulse signals between wireless location sensor and radio label sensor is utilized, realize the measurement of the time of advent and angle of arrival between coal-winning machine and hydraulic support, and fading filter is carried out to data, improve the effect of new measurement data and suppress the impact of legacy data, obtaining the Distance geometry angle between coal-winning machine and hydraulic support;
4) reference coordinate of combining wireless label sensor and the Distance geometry angle between coal-winning machine and hydraulic support, set up the nonlinear equation about coal winning machine position, with coal-winning machine on drag conveyor running orbit for edge-restraint condition, under radio label sensor reference coordinate location error and the multiple error source of wireless distance finding error, carry out the Solving Nonlinear Equation based on sigma point Kalman filtering, obtain coal-winning machine three-dimensional coordinate.
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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 |
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| CN106121723B (en) * | 2016-02-19 | 2018-10-16 | 中国矿业大学 | A kind of mining face equipment positioning system |
| CN106089201B (en) * | 2016-04-26 | 2017-06-06 | 山东科技大学 | A kind of cut paths planning method for unmanned coal-face |
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| 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 |
| CN110231626B (en) * | 2019-06-10 | 2023-04-18 | 中国矿业大学 | Positioning monitoring system and monitoring method for coal mining machine |
| 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 |
| 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 |
| TWI741821B (en) * | 2020-10-07 | 2021-10-01 | 廣達電腦股份有限公司 | Electronic device with gravity sensor assisted positioning |
| CN113685177B (en) * | 2021-07-09 | 2024-06-11 | 中煤科工开采研究院有限公司 | Position measurement system and method for coal mining machine |
| 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 |
| CN118362116A (en) * | 2024-06-17 | 2024-07-19 | 三一重型装备有限公司 | Coal cutter positioning method and device, electronic equipment, medium and engineering machinery |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2006151574A (en) * | 2004-11-29 | 2006-06-15 | Mitsubishi Heavy Ind Ltd | Cargo handing machine for container, container control system and container cargo handing method |
| US7400246B2 (en) * | 2006-04-11 | 2008-07-15 | Russell Mark Breeding | Inertial Sensor Tracking System |
| CN201508184U (en) * | 2009-05-20 | 2010-06-16 | 北京派瑞根科技开发有限公司 | Web exhibition-based positioning and tracking system of three-dimensional trajectory of object |
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