CN103899309A - Close range security detection system and close range security detection method of underground coal mine tunneling machine - Google Patents

Close range security detection system and close range security detection method of underground coal mine tunneling machine Download PDF

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CN103899309A
CN103899309A CN201410126982.9A CN201410126982A CN103899309A CN 103899309 A CN103899309 A CN 103899309A CN 201410126982 A CN201410126982 A CN 201410126982A CN 103899309 A CN103899309 A CN 103899309A
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circuit
data
magnetic field
mad
processing unit
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CN103899309B (en
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宗伟林
伍小杰
张同庄
郝晨光
陶洪钧
陈硕
王琪
姚乐
赵星杰
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China University of Mining and Technology CUMT
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China University of Mining and Technology CUMT
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Abstract

The invention relates to a close range security detection system and a close range security detection method of an underground coal mine tunneling machine, belonging to a close range security detection system and a close range security detection method of a coal mine. The detection system comprises a beacon control device arranged on the tunneling machine, and a plurality of mobile acquisition devices (MADs) which are respectively carried by workers; the working process of the system comprises the steps of dangerous area division, system correction, MAD close range detection, danger judgment and alarm response process. According to the system, a two-dimensional plane coordinate system is established, and a dangerous area model is formulated; the coordinate data information of all points in the dangerous area is determined in the coordinate system and is stored in a control processing unit; a detection model and a complete detection method are established; a low-frequency electromagnetic field is taken as a detection signal medium. According to the system and the method, the problem that the accidents of personal safety can be caused in the working process of the tunneling machine since an operator of the tunneling machine has a blind observation area in the special environment of underground tunneled roadway can be solved.

Description

Development machine close-distance safety detection system and detection method under coal mine
Technical field
The present invention relates to a kind of colliery close-distance safety detection system and detection method, relate in particular to development machine close-distance safety detection system and detection method under a kind of coal mine.
Background technology
In recent years, along with the fast development of coal in China industry, coal production equipment performance has increased significantly.In down-hole, the use of large-scale development machine is in effectively improving the drivage efficiency of coal mine roadway, the restriction of the conditions such as driving face working space is narrow and small owing to being subject to, low visibility, around development machine, also exist certain potential safety hazard, common potential safety hazard is as follows: development machine can occur in the time that development machine moves and squeeze people, scraper chain chain rupture casualty accident, the staff of unintentionally close development machine is by too high oil temperature scald or injure accident etc. by a crashing object.The main cause that above-mentioned development machine casualty accident occurs be staff be strayed into deathtrap or development machine start in process, make near the passive deathtrap that enters of personnel, this has not only affected normal production operation safety, more field personnel's life security has been caused to grave danger.Therefore in order to reduce and avoid the generation of this type of security incident, need to take effective method that staff is isolated in beyond deathtrap.Colliery often adopts the measure such as warning sign, segregator barriers that staff is isolated at present, but its effect not obvious.Mobility while work due to development machine, so need to and these warning signs and fence be installed according to the regular dismounting of the progress of development machine, this also can cause regular hour and economic loss.
Summary of the invention
The object of the invention is to provide development machine close-distance safety detection system and detection method under a kind of coal mine, solve down-hole development machine personnel safety guard's problem around.
Technical scheme: for realizing above object, under coal mine of the present invention, development machine close-distance safety detection system is by the beacon control device and the multiple mobile collection installation composition being carried by staff respectively that are arranged on development machine;
Described beacon control device comprises low frequency magnetic field generating unit, controlled processing unit and correcting unit; Low frequency magnetic field generating unit is arranged on four ends of development machine, and controlled processing unit and correcting unit are arranged on development machine;
Described low frequency magnetic field generating unit is made up of oscillator, active filter, power amplifier and transmitting antenna; Oscillator, active filter, power amplifier and transmitting antenna are linked in sequence, and wherein the input of oscillator and the output of controlled processing unit are connected;
Described controlled processing unit is made up of STM32 microcontroller, rf data communicating circuit, cable data communicating circuit, warning circuit, power supply circuits, man-machine interface circuit and interface circuit; Rf data communicating circuit, cable data communicating circuit and man-machine interface circuit are connected with STM32 microcontroller both-way communication, output at STM32 microcontroller is connected with warning circuit and interface circuit, and interface circuit is connected with the oscillator of low frequency magnetic field generating unit; Cable data communicating circuit is connected with the input of correcting unit;
Described correcting unit is made up of low frequency magnetic field testing circuit, STM32 microcontroller, cable data communicating circuit; The output of low frequency magnetic field testing circuit is connected with the input of STM32 microcontroller, and STM32 microcontroller is connected with cable data communicating circuit both-way communication, and cable data communicating circuit is connected with the cable data communicating circuit both-way communication of controlled processing unit;
Described mobile collection device is made up of low frequency magnetic field detecting unit, detection control unit; Described low frequency magnetic field detecting unit comprises: antenna, prime frequency selection circuit, signal selective frequency amplifier circuit and real effective testing circuit, and antenna, prime frequency selection circuit, signal selective frequency amplifier circuit and real effective testing circuit are linked in sequence; Described detection control unit comprises: STM32 microcontroller, power supply circuits, rf data communicating circuit, warning circuit and man-machine interface circuit; Power supply circuits provide power supply for complete machine, rf data communicating circuit is connected with STM32 microcontroller both-way communication with man-machine interface circuit, the output of STM32 microcontroller is connected with warning circuit, and the A/D input of STM32 microcontroller is connected with the output of the real effective testing circuit of low frequency magnetic field detecting unit.
The detection method of development machine close-distance safety detection system under coal mine of the present invention: this close-distance safety detection system course of work is made up of risk zontation, system compensation, closely detection of mobile collection device MAD, danger judgement and alarm response flow; Set up two dimensional surface coordinate system and formulate deathtrap model, in coordinate system, determining the coordinate data information of each point in deathtrap, and this information is stored in to controlled processing unit; System compensation and mobile collection device MAD closely detect and select low frequency electromagnetic field that diffraction is strong as signal medium;
Concrete detection method is as follows:
The first step: controlled processing unit control correcting unit detects data according to surrounding environment change to system and proofreaies and correct;
Second step: when around development machine, staff's number is n people to the maximum, system configuration n mobile collection device MAD, and mobile collection device MAD is numbered to 1～n, when work, n mobile collection device MAD's is all or part of in effective communication scope; The controlled processing unit of beacon control device produces 1,2,3 successively ..., a n synchronized data signal, and by rf data communicating circuit, synchronized data signal is sent to around to all mobile collection device MAD, mobile collection device MAD within the scope of effective communication will return to detection data, the not mobile collection device MAD within the scope of effective communication, system will arrange return data for empty; System complete with this rule and multiple mobile collection device MAD between mutual communication, the data communication that has defined whole mobile collection device MAD is a scan period;
The 3rd step: in carrying out data communication, controlled processing unit is controlled the job order of low frequency magnetic field generating unit successively; If four low frequency magnetic field generating units are numbered A, B, C, D, when controlled processing unit produce 1,5,9 ... when synchronized data signal, controlled processing unit control low frequency magnetic field generating unit A work, will record the electromagnetic field intensity value now being produced by A when mobile collection device MAD receives these data-signals; When produce 2,6,10 ... when synchronized data signal, control low frequency magnetic field generating unit B work, when mobile collection device MAD receives these data-signals, will record the electromagnetic field intensity value now being produced by B; In like manner, the work synchronized data signal of low frequency magnetic field generating unit C, D be 3,7,11 ... with 4,8,12, Take 20 mobile collection device MAD as example, after a scan period, each mobile collection device MAD will record tetra-groups, every group of A, B, C, D totally 5 data, and mobile collection device MAD calculates the average of every group of data; If certain mobile collection device MAD is not always within the scope of effective communication, the data calculating mean value that this mobile collection device MAD only detects by within the scope of effective communication time; Since second scan period, mobile collection device MAD numbers the mobile collection device MAD consistent with the synchronized data signal of receiving when front court magnetic field intensity worked as in record, detected data average send it back controlled processing unit by every group of a upper cycle of self record storage;
The 4th step: the data that controlled processing unit returns according to mobile collection device MAD; calculate the particular location of each mobile collection device MAD; in the time having mobile collection device MAD appear at warning or shut down region, controlled processing unit will be controlled warning circuit or control development machine the response of making parking.
In described step 3, controlled processing unit calculates the method for mobile collection device MAD positional information in four groups of data that receive a mobile collection device MAD:
(1) average of storage A, B, C, tetra-groups of data of D;
(2) three values (being magnetic field intensity average) larger in A, B, C, tetra-groups of data averages of D are converted to range information, the conversion Mathematical Modeling of native system application is as follows:
L＝λe-(x+σ) 2/θ+ax+b
L is distance value (/cm), x is field strength values (detecting to obtain voltage signal/mv), λ is the factor of proportionality of model, the distance coefficient that σ is model, the multiplying power factor that θ is model, drawn by a large amount of survey data and computer simulation emulation, now provide the parameter value that the Computer Simulation of one group of simulation subsurface environment draws, λ=3.099e+004, σ=3.613, θ=7.418, λ, σ, θ remain unchanged in application process; Ax+b is the fine setting correction link of system, and along with the variation of environment, to parameter a, b adjusts corrective system;
(3) controlled processing unit calculates the positional information of this mobile collection device MAD by three limit location algorithms according to three range data that obtain in computational methods step (2).
The correction mechanism of correcting unit in described step 1:
The time that define system completes correction is calibration cycle; System works is first carried out calibration cycle one time, then carries out the scan period 10 times, and later 1 calibration cycle and 10 scan periods alternately carry out successively;
(1) distance of establishing correcting unit and low frequency magnetic field generating unit A, B, C, D is respectively L1, L2, L3, L4;
(2) controlled processing unit to correcting unit send 1 ', 2 ', 3 ', 4 ' synchrodata, while sending 1 ', controlled processing unit control low frequency magnetic field generating unit A work, while sending 2 ', B work, C, D are similar; When correcting unit receives 1 ', detect and record the field strength values that now A sends, while receiving 2 ', detect and record the field strength values that B occurs, C, D are similar; Correcting unit is recorded A, B, four field strength values x1 occur for C, D, x2, and x3, after x4, sends it back controlled processing unit by the data of recording;
(3) the data value x1 that controlled processing unit returns to correcting unit, x2, x3, x4 substitution L ' λ e-(x-σ) 2in/θ, the distance that calculates correcting unit and A, B, C, D is respectively L1 ', L2 ', L3 ', L4 '; L-L'=ax+b, by L1-L1 ', L2-L2 ' calculates a group of parameter a1, b1 of correction link ax+b, by L3-L3 ', L4-L4' calculates another group parameter a2, the b2 of correction link ax+b, finally obtains real time correction parameter a, b by the average of a1, a2 and the average of b1, b2.
Beneficial effect, owing to having adopted such scheme, the present invention occurs by comprehensive utilization electromagnetic field, sensor intelligent detects, embedded system control technology, down-hole complex work ambient influnence can overcome, realize and fast the personnel that appear in deathtrap are carried out to safety detection, and carry out automatic alarm and control the operations such as development machine autostop, guarantee to greatest extent personnel in the pit's life security, there is simple installation, practical, the feature that stability is high, simultaneously to alleviating labor strength, guarantee that production safety all plays an important role and far reaching significance.Proposition of the present invention is not only of great advantage to the safety work of driving face in coal mine, and the workplace that can extend to other fully-mechanized mining working and need to carry out close contact security protection.
Accompanying drawing explanation
Fig. 1 is device scheme of installation of the present invention.
Fig. 2 is beacon control device system architecture diagram of the present invention.
Fig. 3 is mobile collection device of the present invention (MAD) system architecture diagram.
Fig. 4 is system main work flow figure of the present invention.
Fig. 5 is system scan flow chart of the present invention.
Fig. 6 is system compensation workflow diagram of the present invention.
Fig. 7 is mobile collection device workflow diagram of the present invention.
In figure: 1, low frequency magnetic field generating unit; 2, controlled processing unit; 3, correcting unit; 4, alarm region; 5, shut down region; 6, system valid analysing range; 7, mobile collection device; 8, low frequency magnetic field detecting unit; 9, detection control unit.
The specific embodiment
Below in conjunction with the embodiment in accompanying drawing, the invention will be further described:
Embodiment 1: under coal mine of the present invention, development machine close-distance safety detection system is by the beacon control device and the multiple mobile collection installation composition being carried by staff respectively that are arranged on development machine;
Described beacon control device comprises low frequency magnetic field generating unit 1, controlled processing unit 2 and correcting unit 3; Low frequency magnetic field generating unit 1 is arranged on four ends of development machine, and controlled processing unit 2 and correcting unit 3 are arranged on development machine;
Described low frequency magnetic field generating unit 1 is made up of oscillator, active filter, power amplifier and transmitting antenna; Oscillator, active filter, power amplifier and transmitting antenna are linked in sequence, and wherein the input of oscillator and the output of controlled processing unit are connected;
Described controlled processing unit 2 is made up of STM32 microcontroller, rf data communicating circuit, cable data communicating circuit, warning circuit, power supply circuits, man-machine interface circuit and interface circuit.Rf data communicating circuit, cable data communicating circuit and man-machine interface circuit are connected with STM32 microcontroller both-way communication, output at STM32 microcontroller is connected with warning circuit and interface circuit, and interface circuit is connected with the oscillator of low frequency magnetic field generating unit 1; Cable data communicating circuit is connected with the input of correcting unit;
Described correcting unit 3 is made up of low frequency magnetic field testing circuit, STM32 microcontroller, cable data communicating circuit.The output of low frequency magnetic field testing circuit is connected with the input of STM32 microcontroller, and STM32 microcontroller is connected with cable data communicating circuit both-way communication, and cable data communicating circuit is connected with the cable data communicating circuit both-way communication of controlled processing unit 2;
Described mobile collection device 7 is made up of low frequency magnetic field detecting unit 8, detection control unit 9.Described low frequency magnetic field detecting unit 8 comprises: antenna, prime frequency selection circuit, signal selective frequency amplifier circuit and real effective testing circuit, and antenna, prime frequency selection circuit, signal selective frequency amplifier circuit and real effective testing circuit are linked in sequence; Described detection control unit 9 comprises: STM32 microcontroller, power supply circuits, rf data communicating circuit, warning circuit and man-machine interface circuit; Power supply circuits provide power supply for complete machine, rf data communicating circuit is connected with STM32 microcontroller both-way communication with man-machine interface circuit, the output of STM32 microcontroller is connected with warning circuit, and the A/D input of STM32 microcontroller is connected with the output of the real effective testing circuit of low frequency magnetic field detecting unit 8.
The detection method of development machine close-distance safety detection system under coal mine of the present invention: this close-distance safety detection system course of work is made up of risk zontation, system compensation, closely detection of mobile collection device MAD, danger judgement and alarm response flow; Set up two dimensional surface coordinate system and formulate deathtrap model, in coordinate system, determining the coordinate data information of each point in deathtrap, and this information is stored in to controlled processing unit; System compensation and mobile collection device MAD closely detect and select low frequency electromagnetic field that diffraction is strong as signal medium;
Concrete detection method is as follows:
The first step: controlled processing unit control correcting unit detects data according to surrounding environment change to system and proofreaies and correct;
Second step: when around development machine, staff's number is n people to the maximum, system configuration n mobile collection device MAD, and mobile collection device MAD is numbered to 1～n, when work, n mobile collection device MAD's is all or part of in effective communication scope; The controlled processing unit of beacon control device produces 1,2,3 successively ..., a n synchronized data signal, and by rf data communicating circuit, synchronized data signal is sent to around to all mobile collection device MAD, mobile collection device MAD within the scope of effective communication will return to detection data, the not mobile collection device MAD within the scope of effective communication, system will arrange return data for empty; System complete with this rule and multiple mobile collection device MAD between mutual communication, the data communication that has defined whole mobile collection device MAD is a scan period;
The 3rd step: in carrying out data communication, controlled processing unit is controlled the job order of low frequency magnetic field generating unit successively; If four low frequency magnetic field generating units are numbered A, B, C, D, when controlled processing unit produce 1,5,9 ... when synchronized data signal, controlled processing unit control low frequency magnetic field generating unit A work, will record the electromagnetic field intensity value now being produced by A when mobile collection device MAD receives these data-signals; When produce 2,6,10 ... when synchronized data signal, control low frequency magnetic field generating unit B work, when mobile collection device MAD receives these data-signals, will record the electromagnetic field intensity value now being produced by B; In like manner, the work synchronized data signal of low frequency magnetic field generating unit C, D be 3,7,11 ... with 4,8,12, Take 20 mobile collection device MAD as example, after a scan period, each mobile collection device MAD will record tetra-groups, every group of A, B, C, D totally 5 data, and mobile collection device MAD calculates the average of every group of data; If certain mobile collection device MAD is not always within the scope of effective communication, the data calculating mean value that this mobile collection device MAD only detects by within the scope of effective communication time; Since second scan period, mobile collection device MAD numbers the mobile collection device MAD consistent with the synchronized data signal of receiving when front court magnetic field intensity worked as in record, detected data average send it back controlled processing unit by every group of a upper cycle of self record storage;
The 4th step: the data that controlled processing unit returns according to mobile collection device MAD; calculate the particular location of each mobile collection device MAD; in the time having mobile collection device MAD appear at warning or shut down region, controlled processing unit will be controlled warning circuit or control development machine the response of making parking.
In described step 3, controlled processing unit calculates the method for mobile collection device MAD positional information in four groups of data that receive a mobile collection device MAD:
(1) average of storage A, B, C, tetra-groups of data of D;
(2) three values (being magnetic field intensity average) larger in A, B, C, tetra-groups of data averages of D are converted to range information, the conversion Mathematical Modeling of native system application is as follows:
L＝λe-(x+σ) 2/θ+ax+b
L is distance value (/cm), x is field strength values (detecting to obtain voltage signal/mv), λ is the factor of proportionality of model, the distance coefficient that σ is model, the multiplying power factor that θ is model, drawn by a large amount of survey data and computer simulation emulation, now provide the parameter value that the Computer Simulation of one group of simulation subsurface environment draws, λ=3.099e+004, σ=3.613, θ=7.418, λ, σ, θ remain unchanged in application process; Ax+b is the fine setting correction link of system, and along with the variation of environment, to parameter a, b adjusts corrective system;
(3) controlled processing unit calculates the positional information of this mobile collection device MAD by three limit location algorithms according to three range data that obtain in computational methods step (2).
The correction mechanism of correcting unit in described step 1:
The time that define system completes correction is calibration cycle; System works is first carried out calibration cycle one time, then carries out the scan period 10 times, and later 1 calibration cycle and 10 scan periods alternately carry out successively;
(1) distance of establishing correcting unit and low frequency magnetic field generating unit A, B, C, D is respectively L1, L2, L3, L4;
(2) controlled processing unit to correcting unit send 1 ', 2 ', 3 ', 4 ' synchrodata, while sending 1 ', controlled processing unit control low frequency magnetic field generating unit A work, while sending 2 ', B work, C, D are similar; When correcting unit receives 1 ', detect and record the field strength values that now A sends, while receiving 2 ', detect and record the field strength values that B occurs, C, D are similar; Correcting unit is recorded A, B, four field strength values x1 occur for C, D, x2, and x3, after x4, sends it back controlled processing unit by the data of recording;
(3) the data value x1 that controlled processing unit returns to correcting unit, x2, x3, x4 substitution L '=λ e-(x-σ) 2in/θ, the distance that calculates correcting unit and A, B, C, D is respectively L1 ', L2 ', L3 ', L4 '; L-L'=ax+b, by L1-L1 ', L2-L2 ' calculates a group of parameter a1, b1 of correction link ax+b, by L3-L3 ', L4-L4' calculates another group parameter a2, the b2 of correction link ax+b, finally obtains real time correction parameter a, b by the average of a1, a2 and the average of b1, b2.
In Fig. 1, under coal mine of the present invention, the hardware components of development machine close-distance safety detection system is made up of a beacon control device and multiple mobile collection device MAD7 being carried by staff respectively.Beacon control device comprises low frequency magnetic field generating unit 1, controlled processing unit 2 and correcting unit 3.Low frequency magnetic field generating unit 1 is arranged on four jiaos, the edge of development machine.Controlled processing unit 2 is installed in the operating room on development machine, and correcting unit 3 is arranged on the geometric center place of development machine.Mobile collection device MAD is carried by staff, is distributed in the surrounding of development machine.The English name of described mobile collection device is Mobile acquisition device, and English name is abbreviated as MAD.
With reference to Fig. 1, now provide a kind of risk zontation method, for avoiding the rock splashing in development machine tunneling process to injure staff by a crashing object, development machine head both sides respectively reserve the shutdown region of 2m and the alarm region of 3m.The fuselage surrounding of development machine respectively reserves the shutdown region of 1m and the alarm region of 2m.Because the dead ahead in development machine course of normal operation is rock, no one person occurs, accidentally injures staff when preventing that development machine from normally advancing under non-driving state so reserve the shutdown region of 0.5m and 1.5m alarm region.Risk zontation is considered the factors such as development machine model, sets up two dimensional surface coordinate system and formulates deathtrap model, and coordinate data information is stored in controlled processing unit.
In Fig. 2, the beacon control device in the present invention is made up of low frequency magnetic field generating unit 1, controlled processing unit 2, correcting unit 3.Wherein low frequency magnetic field generating unit comprises oscillator, active filter, power amplifier and antenna.The output of oscillator is connected with source filter input, and active filter output connects power amplifier input, and power amplifier output connects antenna.Controlled processing unit 2 comprises STM32 microcontroller, cable data communicating circuit, rf data communicating circuit, man-machine interface circuit, warning circuit, power supply circuits and interface circuit.STM32 microcontroller connects four low frequency magnetic field generating units by interface circuit, drives the electromagnetic wave of each low frequency magnetic field generating unit generation CF and controls its work clock.Cable data communicating circuit is responsible for connection and the exchanges data between controlled processing unit and correcting unit.The signal input/output terminal of rf data communicating circuit connects the communication signal input/output terminal of STM32 microcontroller, and it comprises communication interface circuit and is equipped with communication antenna, realizes the data communication between controlled processing unit 2 and MAD7.The signal input part of warning circuit is connected with the alarm signal output ends of STM32 microcontroller, adopts the mode of sound and light alarm to realize warning function, reminds human pilot to note; The signal input part of STM32 microcontroller receives the output signal from man-machine interface circuit, realize the setting and adjustment of relevant parameter, man-machine interface circuit also comprises display device, be used for showing relevant parameter, once there be staff to be strayed into zone of alarm, display device will show this staff's numbering and positional information; Power supply circuits can carry out stable power-supplying to each required power pack in beacon control device.
In Fig. 3, mobile collection device MAD7 of the present invention is made up of low frequency magnetic field detecting unit 8, detection control unit 9, wherein low frequency magnetic field detecting unit 8 comprises reception antenna, prime frequency selection circuit, signal selective frequency amplifier circuit and real effective testing circuit, and detection control unit 9 comprises STM32 microcontroller, rf data communicating circuit, warning circuit, power supply circuits and man-machine interface circuit.The reception antenna of low frequency magnetic field detecting unit 8 is connected with prime frequency selection circuit input, and prime frequency selection circuit output connects signal selective frequency amplifier circuit input, and signal selective frequency amplifier circuit output connects real effective testing circuit input; The detection signal of low frequency magnetic field detecting unit 8 is gone to the A/D sampling module of the STM32 microcontroller inside in detection control unit 9, the signal input/output terminal of rf data communicating circuit connects the communication signal input/output terminal of STM32 microcontroller, and the signal input part of warning circuit connects the alarm signal output ends of STM32 microcontroller.The signal input part of STM32 microcontroller receives the output signal from man-machine interface circuit, realizes the setting and adjustment of relevant parameter; Power supply circuits carry out stable power-supplying to each required power pack in MAD7.
In Fig. 4, under coal mine of the present invention, development machine close-distance safety detection system main work flow is as follows: (1) system initialization, makes it enter the normal workweek phase.(2) system compensation, the electromagnetic consumable factor of the update the system working region systematic error causing that changes.(3) beacon control device scans all MAD positional informations; report to the police or shut down region once there be MAD to appear at; controlled processing unit starts interruption immediately to be controlled warning circuit and makes development machine make corresponding response, sends alarm signal to corresponding MAD simultaneously.(4) controlled processing unit returns to interrupt spot continuation scanning after carrying out alarm command, and alarm time stops response after reaching and presetting.(5) having defined all MAD communications (the synchronized data signal of 1～n is sent completely) is a scan period, and in the time that scan period number of times reaches default, system will be returned to (2) and carry out system compensation next time.Systemic circulation is worked repeatedly, guarantees personnel's safety.
In Fig. 5, under coal mine of the present invention, development machine close-distance safety detection system scanning process is as follows: controlled processing unit first to all MAD send synchronizing signals (1～n), and synchronizing signal is carried out to mould 4 divisions, when the data-signal m sending is (when the mod4=0 of m <=n), low frequency magnetic field generating unit A work, MAD will record the electromagnetic field intensity value now being produced by A; In the time of m mod4=1, low frequency magnetic field generating unit B work, MAD will record the electromagnetic field intensity value now being produced by B; In the time of m mod4=2, low frequency magnetic field generating unit C work, MAD will record the electromagnetic field intensity value now being produced by C; In the time of m mod4=3, low frequency magnetic field generating unit D work, MAD will record the electromagnetic field intensity value now being produced by D.After a scan period, each MAD will record A, B, C, tetra-groups of data of D, and MAD calculates the average of every group of data.Since second scan period; number the data of passing its last scan period record with the identical MAD of synchronizing signal back; controlled processing unit is processed its data reduction and is become positional information; when MAD is in the time reporting to the police or shut down region; system break scanning; make corresponding warning or shutdown and responding and transmitting warning message to corresponding MAD, after execution alarm command, system continues scanning, and alarm response stops response after reaching and presetting.Until controlled processing unit sends after 1～n synchronized data signal, a scan period finishes.
Controlled processing unit is receiving the four cell mean data of a MAD, and the method that calculates MAD positional information is as follows:
(1) average of every group of storage A, B, C, tetra-groups of data of D;
(2) three values (being magnetic field intensity average) larger in A, B, C, tetra-groups of data averages of D are converted to range information, the conversion Mathematical Modeling of native system application is as follows:
L＝λe-(x+σ) 2/θ+ax+b
L is distance value (/cm), x is field strength values (detecting to obtain voltage signal/mv), λ is the factor of proportionality of model, the distance coefficient that σ is model, the multiplying power factor that θ is model, drawn by a large amount of survey data and computer simulation emulation, now provide the parameter value that the Computer Simulation of one group of simulation subsurface environment draws, λ=3.099e+004, σ=3.613, θ=7.418, λ, σ, θ remain unchanged in application process.Ax+b is the fine setting correction link of system, and along with the variation of environment, to parameter a, b adjusts corrective system.
(3) controlled processing unit calculates the positional information of this MAD by three limit location algorithms according to three range data that obtain in (2).
In Fig. 6, under coal mine of the present invention, development machine close-distance safety detection system correction work flow process is as follows: controlled processing unit generates first successively proofreaies and correct synchronizing signal i=1 ', 2 ', 3 ', 4 ', control respectively low frequency magnetic field generating unit A, B, C, D work, and control the work clock of correcting unit simultaneously.In the time of i=1 ', low frequency magnetic field generating unit A works, and correcting unit detects and record the low frequency magnetic field intensity level that A occurs; When i=2 ', low frequency magnetic field generating unit B work, correcting unit detects and records the low frequency magnetic field intensity level that B occurs; C, D analogize.When low frequency magnetic field generating unit, D has worked, correcting unit detect and record D occur low frequency magnetic field intensity level after, correcting unit by cable data communicating circuit by four groups of recorded transfer of data to controlled processing unit, controlled processing unit deal with data, draw a, the value of b.Calculate a, the method for b value is as follows:
If correcting unit 1 is respectively L1, L2, L3, L4 with the distance of low frequency magnetic field generating unit A, B, C, D.Note correcting unit is recorded A, B, C, D four field strength values occur and be respectively x1, x2, x3, x4.The data value x1 that controlled processing unit returns to correcting unit, x2, x3, x4 substitution L ' λ e-(x-σ) 2in/θ, the distance that calculates correcting unit and A, B, C, D is respectively L1 ', L2 ', L3 ', L4 '.L-L'=ax+b, calculated one group of parameter a1, b1 of correction link ax+b by L1-L1 ', L2-L2 ', another group parameter a2, the b2 that are calculated correction link ax+b by L3-L3 ', L4-L4', finally obtain real time correction parameter a, b by the average of a1, a2 and the average of b1, b2.
In Fig. 7, under coal mine of the present invention, the mobile collection device MAD workflow of development machine close-distance safety detection system is as follows: after mobile collection apparatus system initializes, start to receive by rf data communicating circuit the synchronizing signal that controlled processing unit sends, and by the STM32 microcontroller of MAD, synchronizing signal is carried out to mould 4 divisions.In the time of synchronizing signal m mod4=0, the low frequency magnetic field detecting unit of MAD detects field strength values now, and is stored to A group by the STM32 microcontroller of MAD; In the time of synchronizing signal m mod4=1, the low frequency magnetic field detecting unit of MAD detects field strength values now, and is stored to B group by the STM32 microcontroller of MAD; In the time of synchronizing signal m mod4=2, the low frequency magnetic field detecting unit of MAD detects field strength values now, and is stored to C group by the STM32 microcontroller of MAD; In the time of synchronizing signal m mod4=3, the low frequency magnetic field detecting unit of MAD detects field strength values now, and is stored to D group by the STM32 microcontroller of MAD; After a scan period, each MAD will record A, B, C, tetra-groups of data of D, and MAD calculates the average of every group of data.Since second scan period, receive every group of data average a upper cycle being stored with the MAD that self numbers identical synchronized data signal and send to controlled processing unit.In the time that MAD receives the alarm signal of controlled processing unit, MAD interrupts its work and carries out alarm response, and MAD carries out after alarm command completes and returns to interrupt spot, and alarm time stops response after reaching and presetting.

Claims (4)

1.一种煤矿井下掘进机近距离安全检测系统，其特征是：该检测系统由安装在掘进机上的一个信标控制装置和多个分别由工作人员携带的移动采集装置组成；1. A short-distance safety detection system for underground heading machines in coal mines, characterized in that: the detection system is composed of a beacon control device installed on the heading machine and a plurality of mobile acquisition devices carried by the staff respectively; 所述的信标控制装置包括低频磁场发生单元、控制处理单元和校正单元；低频磁场发生单元安装在掘进机的四个端部，控制处理单元和校正单元安装在掘进机上；The beacon control device includes a low-frequency magnetic field generating unit, a control processing unit and a correction unit; the low-frequency magnetic field generating unit is installed at the four ends of the roadheader, and the control processing unit and the correction unit are installed on the roadheader; 所述的低频磁场发生单元由振荡器、有源滤波器、功放电路和发射天线组成；振荡器、有源滤波器、功放电路和发射天线顺序连接，其中振荡器的输入端与控制处理单元的输出端连接；Described low-frequency magnetic field generating unit is made up of oscillator, active filter, power amplifier circuit and transmitting antenna; Oscillator, active filter, power amplifier circuit and transmitting antenna are connected in sequence, wherein the input end of oscillator and the control processing unit output connection; 所述的控制处理单元由STM32微控制器、射频数据通讯电路、有线数据通讯电路、报警电路、供电电路、人机接口电路和接口电路组成；射频数据通讯电路、有线数据通讯电路和人机接口电路与STM32微控制器双向通讯连接，在STM32微控制器的输出端与报警电路和接口电路连接，接口电路与低频磁场发生单元的振荡器连接；有线数据通讯电路与校正单元的输入端连接；The control processing unit is composed of STM32 microcontroller, radio frequency data communication circuit, wired data communication circuit, alarm circuit, power supply circuit, man-machine interface circuit and interface circuit; radio frequency data communication circuit, wired data communication circuit and man-machine interface The circuit is connected to the STM32 microcontroller for two-way communication, and the output terminal of the STM32 microcontroller is connected to the alarm circuit and the interface circuit, and the interface circuit is connected to the oscillator of the low-frequency magnetic field generating unit; the wired data communication circuit is connected to the input terminal of the calibration unit; 所述的校正单元由低频磁场检测电路、STM32微控制器、有线数据通讯电路组成；低频磁场检测电路的输出端与STM32微控制器的输入端连接，STM32微控制器与有线数据通讯电路双向通讯连接，有线数据通讯电路与控制处理单元的有线数据通讯电路双向通讯连接；The correction unit is composed of a low-frequency magnetic field detection circuit, an STM32 microcontroller, and a wired data communication circuit; the output end of the low-frequency magnetic field detection circuit is connected to the input end of the STM32 microcontroller, and the STM32 microcontroller communicates bidirectionally with the wired data communication circuit connection, two-way communication connection between the wired data communication circuit and the wired data communication circuit of the control processing unit; 所述的移动采集装置由低频磁场检测单元、检测控制单元组成；所述的低频磁场检测单元包括：天线、前级选频电路、信号选频放大电路和真有效值检测电路，天线、前级选频电路、信号选频放大电路和真有效值检测电路顺序连接；所述的检测控制单元包括：STM32微控制器、供电电路、射频数据通讯电路、报警电路和人机接口电路；供电电路为整机提供电源，射频数据通讯电路和人机接口电路与STM32微控制器双向通讯连接，STM32微控制器的输出端与报警电路连接，STM32微控制器的A/D输入端与低频磁场检测单元的真有效值检测电路的输出端连接。The mobile acquisition device is composed of a low-frequency magnetic field detection unit and a detection control unit; the low-frequency magnetic field detection unit includes: an antenna, a pre-stage frequency selection circuit, a signal frequency selection amplifying circuit and a true RMS detection circuit, the antenna, the pre-stage The frequency selection circuit, the signal frequency selection amplification circuit and the true RMS detection circuit are sequentially connected; the detection control unit includes: an STM32 microcontroller, a power supply circuit, a radio frequency data communication circuit, an alarm circuit and a man-machine interface circuit; the power supply circuit is The whole machine provides power, the radio frequency data communication circuit and the man-machine interface circuit are connected with the STM32 microcontroller for two-way communication, the output terminal of the STM32 microcontroller is connected with the alarm circuit, the A/D input terminal of the STM32 microcontroller is connected with the low frequency magnetic field detection unit The output terminal of the true RMS detection circuit is connected. 2.权利要求1所述的煤矿井下掘进机近距离安全检测系统的检测方法，其特征是：检测方法：该近距离安全检测系统工作过程由危险区域划分、系统校正、移动采集装置MAD近距离检测、危险判断和报警响应流程构成；建立二维平面坐标系并制定危险区域模型，在坐标系内，确定危险区域内各点的坐标数据信息，并将该信息存储于控制处理单元；系统校正和移动采集装置MAD近距离检测选用绕射性强的低频电磁场作为信号媒介；2. The detection method of the short-distance safety detection system of coal mine underground roadheader according to claim 1 is characterized in that: detection method: the working process of the short-distance safety detection system is divided into dangerous areas, system correction, mobile acquisition device MAD short distance Detection, hazard judgment and alarm response process composition; establish a two-dimensional plane coordinate system and formulate a dangerous area model, determine the coordinate data information of each point in the dangerous area in the coordinate system, and store the information in the control processing unit; system calibration The low-frequency electromagnetic field with strong diffraction is selected as the signal medium for close-range detection with the mobile acquisition device MAD; 具体检测方法如下：The specific detection method is as follows: 第一步：控制处理单元控制校正单元根据周围环境变化对系统检测数据进行校正；Step 1: The control processing unit controls the correction unit to correct the system detection data according to the surrounding environment changes; 第二步：掘进机周围工作人员数最大为n人时，系统配置n个移动采集装置MAD，并将移动采集装置MAD编号为1～n，工作时n个移动采集装置MAD的全部或部分在有效通讯范围；信标控制装置的控制处理单元依次产生1、2、3、…、n个同步数据信号，并通过射频数据通讯电路将同步数据信号发送给周围所有的移动采集装置MAD，在有效通讯范围内的移动采集装置MAD将返回检测数据，不在有效通讯范围内的移动采集装置MAD，系统将设置返回数据为空；系统以此规则完成和多个移动采集装置MAD间的交互通讯，定义完成全部移动采集装置MAD的数据通讯为一个扫描周期；Step 2: When the maximum number of workers around the roadheader is n, the system configures n mobile acquisition devices MAD, and numbers the mobile acquisition devices MAD from 1 to n. When working, all or part of the n mobile acquisition devices MAD Effective communication range: the control processing unit of the beacon control device generates 1, 2, 3, ..., n synchronous data signals in sequence, and sends the synchronous data signals to all the surrounding mobile acquisition devices MAD through the radio frequency data communication circuit, in the effective The mobile acquisition device MAD within the communication range will return the detection data, and the mobile acquisition device MAD not within the effective communication range, the system will set the returned data to be empty; the system completes the interactive communication with multiple mobile acquisition devices MAD according to this rule, defined Completing the data communication of all mobile acquisition devices MAD is a scanning cycle; 第三步：在进行数据通讯的同时，控制处理单元依次控制低频磁场发生单元的工作顺序；设四个低频磁场发生单元编号为A、B、C、D，当控制处理单元产生1、5、9、…同步数据信号时，控制处理单元控制低频磁场发生单元A工作，移动采集装置MAD接收到这些数据信号时将记录下此时由A产生的电磁场强度值；当产生2、6、10、…同步数据信号时，控制低频磁场发生单元B工作，移动采集装置MAD接收到这些数据信号时将记录下此时由B产生的电磁场强度值；同理，低频磁场发生单元C、D的工作同步数据信号为3、7、11、…和4、8、12、…；以20个移动采集装置MAD为例，在一个扫描周期后，每个移动采集装置MAD都将记录A、B、C、D四组、每组共5个数据，移动采集装置MAD计算每组数据的平均值；如果某个移动采集装置MAD不是一直在有效通讯范围内，则该移动采集装置MAD只将在有效通讯范围内时检测到的数据计算平均值；从第二个扫描周期开始，移动采集装置MAD编号与收到的同步数据信号一致的移动采集装置MAD在记录当前场磁场强度的同时，将自身记录存储的上一周期的每组检测数据平均值发送回控制处理单元；Step 3: While performing data communication, the control processing unit sequentially controls the working sequence of the low-frequency magnetic field generating unit; set the numbers of the four low-frequency magnetic field generating units as A, B, C, D, when the control processing unit generates 1, 5, 9. When synchronizing data signals, the control processing unit controls the low-frequency magnetic field generation unit A to work, and the mobile acquisition device MAD will record the electromagnetic field strength value generated by A at this time when receiving these data signals; when 2, 6, 10, …When synchronizing data signals, control the low-frequency magnetic field generating unit B to work, and when the mobile acquisition device MAD receives these data signals, it will record the electromagnetic field strength value generated by B at this time; similarly, the low-frequency magnetic field generating units C and D work synchronously The data signals are 3, 7, 11, ... and 4, 8, 12, ...; taking 20 mobile acquisition devices MAD as an example, after one scanning cycle, each mobile acquisition device MAD will record A, B, C, D four groups, each with a total of 5 data, the mobile acquisition device MAD calculates the average value of each group of data; if a certain mobile acquisition device MAD is not always within the effective communication range, then the mobile acquisition device MAD will only be within the effective communication range Calculate the average value of the data detected within the time period; from the second scan cycle, the mobile acquisition device MAD whose number is consistent with the received synchronous data signal records the current field magnetic field strength, and records the stored data by itself. The average value of each group of detection data in the previous cycle is sent back to the control processing unit; 第四步：控制处理单元根据移动采集装置MAD返回的数据，计算每个移动采集装置MAD的具体位置，当有移动采集装置MAD出现在报警或停机区域时，控制处理单元将控制报警电路或控制掘进机作出停车的响应。Step 4: The control processing unit calculates the specific position of each mobile acquisition device MAD according to the data returned by the mobile acquisition device MAD. When a mobile acquisition device MAD appears in the alarm or shutdown area, the control processing unit will control the alarm circuit or control The roadheader responds by stopping. 3.根据权利要求2所述的煤矿井下掘进机近距离安全检测系统的检测方法，其特征是：所述步骤三中，控制处理单元在接收到一个移动采集装置MAD的四组数据计算出移动采集装置MAD位置信息的方法：3. the detection method of coal mine underground roadheader short-distance safety detection system according to claim 2 is characterized in that: in the described step 3, the control processing unit calculates the movement after receiving four groups of data of a mobile acquisition device MAD. The method of collecting the location information of the device MAD: (1)存储A、B、C、D四组数据的平均值；(1) Store the average value of the four groups of data A, B, C, and D; (2)将A、B、C、D四组数据平均值中较大的三个值(即磁场强度平均值)转换为距离信息，本系统应用的转换数学模型如下：(2) Convert the larger three values (i.e., the average value of magnetic field strength) among the average values of the four groups of data A, B, C, and D into distance information. The conversion mathematical model applied by this system is as follows: L＝λe-(x+σ)2/θ+ax+bL＝λe-(x+σ) 2 /θ+ax+b L为距离值(/cm)，x为磁场强度值(检测得电压信号/mv)，λ为模型的比例系数，σ为模型的距离系数，θ为模型的倍率系数，由大量测量数据和计算机模拟仿真得出，现给出一组模拟井下环境计算机仿真得出的参数值，λ＝3.099e+004，σ＝3.613，θ＝7.418，λ、σ、θ在应用过程中保持不变；ax+b为系统的微调校正环节，随着环境的变化，对参数a，b进行调整校正系统；L is the distance value (/cm), x is the magnetic field strength value (detected voltage signal/mv), λ is the scale coefficient of the model, σ is the distance coefficient of the model, and θ is the magnification coefficient of the model. It is obtained by simulation, and a set of parameter values obtained by computer simulation of simulated downhole environment are given here, λ=3.099e+004, σ=3.613, θ=7.418, λ, σ, θ remain unchanged during the application process; ax +b is the fine-tuning and correction link of the system. As the environment changes, the parameters a and b are adjusted and corrected; (3)控制处理单元根据计算方法步骤(2)中得到的三个距离数据通过三边定位算法计算出该移动采集装置MAD的位置信息。(3) The control processing unit calculates the position information of the mobile acquisition device MAD through a trilateral positioning algorithm according to the three distance data obtained in step (2) of the calculation method. 4.根据权利要求2所述的煤矿井下掘进机近距离安全检测系统的检测方法，其特征是：所述的步骤一中校正单元的校正机制：4. The detection method of the coal mine underground roadheader close-range safety detection system according to claim 2, characterized in that: the correction mechanism of the correction unit in the described step one: 定义系统完成校正的时间为校正周期；系统工作先执行一次校正周期，而后执行10次扫描周期，以后1次校正周期和10次扫描周期依次交替执行；Define the time when the system completes the calibration as the calibration cycle; the system works first to perform a calibration cycle, then executes 10 scan cycles, and then executes 1 calibration cycle and 10 scan cycles alternately; (1)设校正单元与低频磁场发生单元A、B、C、D的距离分别为L1，L2，L3，L4；(1) The distances between the calibration unit and the low-frequency magnetic field generating units A, B, C, and D are respectively L1, L2, L3, and L4; (2)控制处理单元向校正单元发送1’、2’、3’、4’的同步数据，发送1’时，控制处理单元控制低频磁场发生单元A工作，发送2’时，B工作，C、D类似；校正单元接收到1’时，检测并记录此时A发出的磁场强度值，接收2’时，检测并记录B发生的磁场强度值，C、D类似；校正单元记录下A、B、C、D发生四个磁场强度值x1，x2，x3，x4后，将记录下的数据发送回控制处理单元；(2) The control processing unit sends the synchronous data of 1', 2', 3', 4' to the correction unit. When sending 1', the control processing unit controls the low-frequency magnetic field generating unit A to work. When sending 2', B works, and C , D are similar; when the correction unit receives 1', it detects and records the magnetic field strength value sent by A at this time, and when it receives 2', it detects and records the magnetic field strength value generated by B, and C and D are similar; the correction unit records A, After B, C, and D generate four magnetic field strength values x1, x2, x3, and x4, the recorded data is sent back to the control processing unit; (3)控制处理单元将校正单元返回的数据值x1，x2，x3，x4代入L'＝λe-(x-σ)2/θ中，计算得到校正单元与A、B、C、D的距离分别为L1’、L2’、L3’、L4’；L-L’＝ax+b，由L1-L1’，L2-L2'计算得校正环节ax+b的一组参数a1、b1，由L3-L3’，L4-L4'计算得校正环节ax+b的另一组参数a2、b2，最终由a1、a2的平均值和b1、b2的平均值得到实时校正参数a，b。(3) The control processing unit substitutes the data values x1, x2, x3, and x4 returned by the correction unit into L'=λe-(x-σ) 2 /θ, and calculates the distance between the correction unit and A, B, C, and D L1', L2', L3', L4'respectively;L-L'=ax+b, a set of parameters a1, b1 of the correction link ax+b calculated by L1-L1', L2-L2', and calculated by L3 -L3', L4-L4' calculate another set of parameters a2, b2 of the correction link ax+b, and finally get the real-time correction parameters a, b from the average value of a1, a2 and b1, b2.
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