CN103899309B - Underground coal mine development machine close-distance safety detection system and detection method - Google Patents
Underground coal mine development machine close-distance safety detection system and detection method Download PDFInfo
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Abstract
A kind of underground coal mine development machine close-distance safety detection system and detection method, belong to colliery close-distance safety detection system and detection method.Detection system is made up of the beacon control device be arranged on development machine and multiple mobile collection device carried by staff respectively; System work process is closely detected by risk zontation, system compensation, mobile collection device (MAD), danger judgement and alarm response flow are formed; System establishes two dimensional surface coordinate system and formulates deathtrap model, in coordinate system, determines the coordinate data information of each point in deathtrap, and this information is stored in controlled processing unit; Establish detection model and complete detection method; And select low frequency electromagnetic field as detection signal medium.The invention solves under the particular surroundings of underground tunneling roadway, because of development machine there is viewing blind zone in operator, and cause development machine that the problem of personal safety accident occurs in the course of the work.
Description
Technical field
The present invention relates to a kind of colliery close-distance safety detection system and detection method, particularly relate to a kind of underground coal mine development machine close-distance safety detection system and detection method.
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 while the drivage efficiency effectively improving coal mine roadway, owing to being subject to the restriction of the conditions such as driving face working space is narrow and small, low visibility, also certain potential safety hazard is there is around development machine, common potential safety hazard is as follows: development machine can occur when development machine runs and squeeze people, scraper chain chain rupture casualty accident, and the staff being not intended to close development machine is scalded by too high oil temperature or injures accident etc. by a crashing object.The main cause that above-mentioned development machine casualty accident occurs is that staff is strayed into deathtrap or development machine and starts in process and make neighbouring personnel be additionally related to multi-functional passive entry deathtrap, this not only have impact on normal production operation safety, more causes grave danger to the life security of field personnel.Therefore in order to reduce and avoid the generation of this type of security incident, need to take effective method staff to be isolated in beyond deathtrap.Current colliery often adopts the measure such as warning sign, segregator barriers staff to be isolated, but its effect not obvious.Due to mobility when development machine works, so need according to the regular dismounting of the progress of development machine and install these warning signs and fence, this also can cause regular hour and economic loss.
Summary of the invention
The object of the invention is to provide a kind of underground coal mine development machine close-distance safety detection system and detection method, solve the problem of down-hole development machine surrounding people security protection.
Technical scheme: for realizing above object, underground coal mine development machine close-distance safety detection system of the present invention is made up of the beacon control device be arranged on development machine and multiple mobile collection device carried by staff respectively;
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 is connected with the output of controlled processing unit;
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 are connected with STM32 microcontroller both-way communication with man-machine interface circuit, be connected with warning circuit and interface circuit at the output of STM32 microcontroller, 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 true virtual value detection circuit, and antenna, prime frequency selection circuit, signal selective frequency amplifier circuit and true virtual value detection 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 true virtual value detection circuit of low frequency magnetic field detecting unit.
The detection method of underground coal mine development machine close-distance safety detection system of the present invention: this close-distance safety detection system course of work is closely detected by risk zontation, system compensation, mobile collection device MAD, danger judgement and alarm response flow are formed; 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 controlled processing unit; System compensation and mobile collection device MAD closely detect and select diffractive strong low frequency electromagnetic field as signal medium;
Concrete detection method is as follows:
The first step: controlled processing unit controls correcting unit and corrects systems axiol-ogy data according to surrounding environment change;
Second step: when development machine surrounding work personnel number is n people to the maximum, system configuration n mobile collection device MAD, and mobile collection device MAD is numbered 1 ~ n, during 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 successively, 2,3 ..., a n synchronized data signal, and by rf data communicating circuit, synchronized data signal is sent to all mobile collection device MAD around, mobile collection device MAD within the scope of effective communication will return detection data, mobile collection device MAD not within the scope of effective communication, system will arrange return data for empty; System completes with this rule and interactive correspondence between multiple mobile collection device MAD, and the data communication having defined whole mobile collection device MAD is a scan period;
3rd step: while carrying out data communication, controlled processing unit controls 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 ... during synchronized data signal, controlled processing unit controls low frequency magnetic field generating unit A work, will record the electromagnetic field intensity angle value now produced by A when mobile collection device MAD receives these data-signals; When generation 2,6,10 ... during synchronized data signal, control low frequency magnetic field generating unit B work, when mobile collection device MAD receives these data-signals, will the electromagnetic field intensity angle value now produced by B be recorded; 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, For 20 mobile collection device MAD, after a scan period, each mobile collection device MAD is by record A, B, C, D tetra-groups, often organize totally 5 data, and mobile collection device MAD calculates the average often organizing data; If certain mobile collection device MAD is not always within the scope of effective communication, then this mobile collection device MAD only by within the scope of effective communication time the data calculating mean value that detects; From second scan period, mobile collection device MAD numbers the mobile collection device MAD consistent with the synchronized data signal received while recording current field magnetic field intensity, and the often group in upper cycle self record stored detects statistical average and sends it back controlled processing unit;
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; when there being mobile collection device MAD appear at warning or shut down region, controlled processing unit will control warning circuit or control the response that parking made by development machine.
In described step 3, controlled processing unit calculates the method for mobile collection device MAD positional information in the four groups of data receiving a mobile collection device MAD:
(1) average of A, B, C, D tetra-groups of data is stored;
(2) three values (i.e. magnetic field intensity average) larger in A, B, C, D tetra-groups of statistical average 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, and σ is the distance coefficient of model, and θ is the multiplying power factor of model, drawn by large amount measurement data and computer simulation emulation, under now providing one group of simulation well, environment computer emulates the parameter value drawn, 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, along with the change of environment, carries out adjustment corrective system to parameter a, b;
(3) controlled processing unit calculates the positional information of this mobile collection device MAD by three limit location algorithms according to three range data obtained in computational methods step (2).
The correction mechanism of correcting unit in described step one:
The time that define system completes correction is calibration cycle; System works first performs a calibration cycle, then performs 10 scan periods, and later 1 calibration cycle and 10 scan periods alternately perform successively;
(1) distance of correcting unit and low frequency magnetic field generating unit A, B, C, D is established to be respectively L1, L2, L3, L4;
(2) controlled processing unit sends the synchrodata of 1 ', 2 ', 3 ', 4 ' to correcting unit, and when sending 1 ', controlled processing unit controls low frequency magnetic field generating unit A work, and when sending 2 ', B works, and C, D are similar; When correcting unit receives 1 ', detect and record the field strength values that now A sends, when receiving 2 ', detect and record the field strength values of B generation, C, D are similar; Correcting unit is recorded after four field strength values x1, x2, x3, x4 occur A, B, C, D, and the data recorded are sent it back controlled processing unit;
(3) the data value x1 that returned by correcting unit of controlled processing unit, x2, x3, x4 substitute into L ' λ e-(x-σ)
2in/θ, the distance calculating correcting unit and A, B, C, D is respectively L1 ', L2 ', L3 ', L4 '; L-L'=ax+b, by L1-L1 ', L2-L2 ' calculate one 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 have employed such scheme, the present invention is occurred by comprehensive utilization electromagnetic field, sensor intelligent detects, embedded system control technology, down-hole complex work ambient influnence can overcome, realize carrying out safety detection to the personnel appeared in deathtrap fast, and carry out automatic alarm and control the operations such as development machine autostop, ensure personnel in the pit's life security to greatest extent, there is simple installation, practical, the feature that stability is high, simultaneously to alleviating labor strength, ensure 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 can extend to other fully-mechanized mining working and need to carry out the workplace of 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 (MAD) system architecture diagram of the present invention.
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, region is shut down; 6, system valid analysing range; 7, mobile collection device; 8, low frequency magnetic field detecting unit; 9, detection control unit.
Detailed description of the invention
Below in conjunction with the embodiment in accompanying drawing, the invention will be further described:
Embodiment 1: underground coal mine development machine close-distance safety detection system of the present invention is made up of the beacon control device be arranged on development machine and multiple mobile collection device carried by staff respectively;
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 is connected with the output of controlled processing unit;
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 are connected with STM32 microcontroller both-way communication with man-machine interface circuit, be connected with warning circuit and interface circuit at the output of STM32 microcontroller, 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 true virtual value detection circuit, and antenna, prime frequency selection circuit, signal selective frequency amplifier circuit and true virtual value detection 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 true virtual value detection circuit of low frequency magnetic field detecting unit 8.
The detection method of underground coal mine development machine close-distance safety detection system of the present invention: this close-distance safety detection system course of work is closely detected by risk zontation, system compensation, mobile collection device MAD, danger judgement and alarm response flow are formed; 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 controlled processing unit; System compensation and mobile collection device MAD closely detect and select diffractive strong low frequency electromagnetic field as signal medium;
Concrete detection method is as follows:
The first step: controlled processing unit controls correcting unit and corrects systems axiol-ogy data according to surrounding environment change;
Second step: when development machine surrounding work personnel number is n people to the maximum, system configuration n mobile collection device MAD, and mobile collection device MAD is numbered 1 ~ n, during 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 successively, 2,3 ..., a n synchronized data signal, and by rf data communicating circuit, synchronized data signal is sent to all mobile collection device MAD around, mobile collection device MAD within the scope of effective communication will return detection data, mobile collection device MAD not within the scope of effective communication, system will arrange return data for empty; System completes with this rule and interactive correspondence between multiple mobile collection device MAD, and the data communication having defined whole mobile collection device MAD is a scan period;
3rd step: while carrying out data communication, controlled processing unit controls 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 ... during synchronized data signal, controlled processing unit controls low frequency magnetic field generating unit A work, will record the electromagnetic field intensity angle value now produced by A when mobile collection device MAD receives these data-signals; When generation 2,6,10 ... during synchronized data signal, control low frequency magnetic field generating unit B work, when mobile collection device MAD receives these data-signals, will the electromagnetic field intensity angle value now produced by B be recorded; 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, For 20 mobile collection device MAD, after a scan period, each mobile collection device MAD is by record A, B, C, D tetra-groups, often organize totally 5 data, and mobile collection device MAD calculates the average often organizing data; If certain mobile collection device MAD is not always within the scope of effective communication, then this mobile collection device MAD only by within the scope of effective communication time the data calculating mean value that detects; From second scan period, mobile collection device MAD numbers the mobile collection device MAD consistent with the synchronized data signal received while recording current field magnetic field intensity, and the often group in upper cycle self record stored detects statistical average and sends it back controlled processing unit;
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; when there being mobile collection device MAD appear at warning or shut down region, controlled processing unit will control warning circuit or control the response that parking made by development machine.
In described step 3, controlled processing unit calculates the method for mobile collection device MAD positional information in the four groups of data receiving a mobile collection device MAD:
(1) average of A, B, C, D tetra-groups of data is stored;
(2) three values (i.e. magnetic field intensity average) larger in A, B, C, D tetra-groups of statistical average 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, and σ is the distance coefficient of model, and θ is the multiplying power factor of model, drawn by large amount measurement data and computer simulation emulation, under now providing one group of simulation well, environment computer emulates the parameter value drawn, 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, along with the change of environment, carries out adjustment corrective system to parameter a, b;
(3) controlled processing unit calculates the positional information of this mobile collection device MAD by three limit location algorithms according to three range data obtained in computational methods step (2).
The correction mechanism of correcting unit in described step one:
The time that define system completes correction is calibration cycle; System works first performs a calibration cycle, then performs 10 scan periods, and later 1 calibration cycle and 10 scan periods alternately perform successively;
(1) distance of correcting unit and low frequency magnetic field generating unit A, B, C, D is established to be respectively L1, L2, L3, L4;
(2) controlled processing unit sends the synchrodata of 1 ', 2 ', 3 ', 4 ' to correcting unit, and when sending 1 ', controlled processing unit controls low frequency magnetic field generating unit A work, and when sending 2 ', B works, and C, D are similar; When correcting unit receives 1 ', detect and record the field strength values that now A sends, when receiving 2 ', detect and record the field strength values of B generation, C, D are similar; Correcting unit is recorded after four field strength values x1, x2, x3, x4 occur A, B, C, D, and the data recorded are sent it back controlled processing unit;
(3) the data value x1 that returned by correcting unit of controlled processing unit, x2, x3, x4 substitute into L '=λ e-(x-σ)
2in/θ, the distance calculating correcting unit and A, B, C, D is respectively L1 ', L2 ', L3 ', L4 '; L-L'=ax+b, by L1-L1 ', L2-L2 ' calculate one 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, the hardware components of underground coal mine development machine close-distance safety detection system of the present invention is made up of a beacon control device and multiple mobile collection device MAD7 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 the corner, 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 Mobileacquisitiondevice, and English name is abbreviated as MAD.
With reference to Fig. 1, now provide a kind of risk zontation method, for avoiding the rock splashed 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, thus reserve the shutdown region of 0.5m and 1.5m alarm region with prevent development machine under non-driving state normal advance time accidentally injure staff.Risk zontation considers the factors such as development machine model, and set up two dimensional surface coordinate system and formulate deathtrap model, 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 between controlled processing unit and correcting unit and exchanges data.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 is by the numbering of this staff of display and positional information; Power supply circuits can carry out stable power-supplying to required power pack each 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 true virtual value detection 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, prime frequency selection circuit output connection signal selective frequency amplifier circuit input, and signal selective frequency amplifier circuit output connects true virtual value detection circuit input; The detection signal of low frequency magnetic field detecting unit 8 goes to the A/D sampling module of the STM32 microcontroller 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 required power pack each in MAD7.
In Fig. 4, underground coal mine development machine close-distance safety detection system main work flow of the present invention is as follows: (1) system initialization, makes it enter the normal workweek phase.(2) system compensation, the electromagnetic consumable factor of update the system working region changes the systematic error caused.(3) beacon control device scans all MAD positional informations; report to the police once there be MAD to appear at or shut down region; controlled processing unit starts interruption immediately and controls warning circuit and make development machine make corresponding response, sends alarm signal to corresponding MAD simultaneously.(4) controlled processing unit returns interrupt spot continuation scanning after performing alarm command, and alarm time stops response after reaching and presetting.(5) having defined all MAD communications (namely the synchronized data signal of 1 ~ n is sent completely) is a scan period, and when the scan period, number of times reached default, system will return (2) and carry out system compensation next time.Systemic circulation works repeatedly, guarantees the safety of personnel.
In Fig. 5, underground coal mine development machine close-distance safety detection system scanning process of the present invention is as follows: first controlled processing unit sends synchronizing signal (1 ~ n) to all MAD, and mould 4 division is carried out to synchronizing signal, as data-signal m (m <=n) mod4=0 sent, low frequency magnetic field generating unit A works, and MAD will record the electromagnetic field intensity angle value now produced by A; As mmod4=1, low frequency magnetic field generating unit B works, and MAD will record the electromagnetic field intensity angle value now produced by B; As mmod4=2, low frequency magnetic field generating unit C works, and MAD will record the electromagnetic field intensity angle value now produced by C; As mmod4=3, low frequency magnetic field generating unit D works, and MAD will record the electromagnetic field intensity angle value now produced by D.After a scan period, each MAD will record A, B, C, D tetra-groups of data, and MAD calculates the average often organizing data.From second scan period; number the data passing its front scan cycle record with the identical MAD of synchronizing signal back; its data reduction of controlled processing unit process becomes positional information; when MAD is in warning or shuts down region; system break scans; make corresponding warning or shut down and respond and transmit warning message to corresponding MAD, after performing alarm command, system continues to scan, and alarm response stops response after reaching and presetting.After controlled processing unit sends 1 ~ n synchronized data signal, a scan period terminates.
Controlled processing unit is receiving the four cell mean data of a MAD, and the method calculating MAD positional information is as follows:
(1) average that A, B, C, D tetra-groups of data are often organized is stored;
(2) three values (i.e. magnetic field intensity average) larger in A, B, C, D tetra-groups of statistical average 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, and σ is the distance coefficient of model, and θ is the multiplying power factor of model, drawn by large amount measurement data and computer simulation emulation, under now providing one group of simulation well, environment computer emulates the parameter value drawn, 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, along with the change of environment, carries out adjustment corrective system to parameter a, b.
(3) controlled processing unit calculates the positional information of this MAD by three limit location algorithms according to obtain in (2) three range data.
In Fig. 6, underground coal mine development machine close-distance safety detection system correction work flow process of the present invention is as follows: controlled processing unit generates first successively and corrects synchronizing signal i=1 ', 2 ', 3 ', 4 ', control low frequency magnetic field generating unit A, B, C, D work respectively, and control the work clock of correcting unit simultaneously.Namely as i=1 ', low frequency magnetic field generating unit A works, and correcting unit detects and records the low frequency magnetic field intensity level of A generation; During i=2 ', low frequency magnetic field generating unit B works, and correcting unit detects and records the low frequency magnetic field intensity level of B generation; 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, recorded four groups of data are transferred to controlled processing unit by cable data communicating circuit by correcting unit, controlled processing unit process data, draw a, the value of b.The method calculating a, 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 and four field strength values occur is respectively x1, x2, x3, x4.The data value x1 that correcting unit returns by controlled processing unit, x2, x3, x4 substitute into L ' λ e-(x-σ)
2in/θ, the distance calculating correcting unit and A, B, C, D is respectively L1 ', L2 ', L3 ', L4 '.L-L'=ax+b, one group of parameter a1, b1 of correction link ax+b is calculated by L1-L1 ', L2-L2 ', calculated another group parameter a2, the b2 of 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, the mobile collection device MAD workflow of underground coal mine development machine close-distance safety detection system of the present invention 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, mould 4 division is carried out to synchronizing signal.As synchronizing signal mmod4=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; As synchronizing signal mmod4=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; As synchronizing signal mmod4=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; As synchronizing signal mmod4=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, D tetra-groups of data, and MAD calculates the average often organizing data.From second scan period, received the often group statistical average that a upper cycle stores by the MAD that numbers identical synchronized data signal with self and send to controlled processing unit.When MAD receives the alarm signal of controlled processing unit, MAD interrupts its work and carries out alarm response, and MAD performs after alarm command completes and returns to interrupt spot, and alarm time stops response after reaching and presetting.
Claims (3)
1. a underground coal mine development machine close-distance safety detection system, is characterized in that: this detection system is made up of the beacon control device be arranged on development machine and multiple mobile collection device carried by staff respectively;
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 is connected with the output of controlled processing unit;
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 are connected with STM32 microcontroller both-way communication with man-machine interface circuit, be connected with warning circuit and interface circuit at the output of STM32 microcontroller, 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, MCU controller, cable data communicating circuit; The output of low frequency magnetic field testing circuit is connected with the input of MCU controller, and MCU controller 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 true virtual value detection circuit, and antenna, prime frequency selection circuit, signal selective frequency amplifier circuit and true virtual value detection 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 true virtual value detection circuit of low frequency magnetic field detecting unit.
2. the detection method of underground coal mine development machine close-distance safety detection system according to claim 1, is characterized in that: detection method: this close-distance safety detection system course of work is closely detected by risk zontation, system compensation, mobile collection device MAD, danger judgement and alarm response flow are formed; 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 controlled processing unit; System compensation and mobile collection device MAD closely detect and select diffractive strong low frequency electromagnetic field as signal medium;
Concrete detection method is as follows:
The first step: controlled processing unit controls correcting unit and corrects systems axiol-ogy data according to surrounding environment change;
Second step: when development machine surrounding work personnel number is n people to the maximum, system configuration n mobile collection device MAD, and mobile collection device MAD is numbered 1 ~ n, during 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 successively, 2,3 ..., a n synchronized data signal, and by rf data communicating circuit, synchronized data signal is sent to all mobile collection device MAD around, mobile collection device MAD within the scope of effective communication will return detection data, mobile collection device MAD not within the scope of effective communication, system will arrange return data for empty; System completes with this rule and interactive correspondence between multiple mobile collection device MAD, and the data communication having defined whole mobile collection device MAD is a scan period;
3rd step: while carrying out data communication, controlled processing unit controls 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 ... during synchronized data signal, controlled processing unit controls low frequency magnetic field generating unit A work, will record the electromagnetic field intensity angle value now produced by A when mobile collection device MAD receives these data-signals; When generation 2,6,10 ... during synchronized data signal, control low frequency magnetic field generating unit B work, when mobile collection device MAD receives these data-signals, will the electromagnetic field intensity angle value now produced by B be recorded; 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, When mobile collection device MAD is 20, after a scan period, each mobile collection device MAD is by record A, B, C, D tetra-groups, often organize totally 5 data, and mobile collection device MAD calculates the average often organizing data; If certain mobile collection device MAD is not always within the scope of effective communication, then this mobile collection device MAD only by within the scope of effective communication time the data calculating mean value that detects; From second scan period, mobile collection device MAD numbers the mobile collection device MAD consistent with the synchronized data signal received, while record current field electromagnetic field intensity angle value, the often group in upper cycle self record stored detects statistical average and sends it back controlled processing unit;
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; when there being mobile collection device MAD appear at warning or shut down region, controlled processing unit will control warning circuit or control the response that parking made by development machine.
3. the detection method of underground coal mine development machine close-distance safety detection system according to claim 2, it is characterized in that: in described step 3, controlled processing unit calculates the method for mobile collection device MAD positional information in the four groups of data receiving a mobile collection device MAD:
(1) average of A, B, C, D tetra-groups of data is stored;
(2) by three values larger in A, B, C, D tetra-groups of statistical average, namely electromagnetic field intensity angle value average is converted to range information, and the conversion Mathematical Modeling of native system application is as follows:
L=
L is distance value, and unit cm, x are electromagnetic field intensity angle value, detects to obtain voltage signal, unit mv, λ are the factor of proportionality of model, and σ is the distance coefficient of model, θ is the multiplying power factor of model, and drawn by large amount measurement data and computer simulation emulation, λ, σ, θ remain unchanged in application process;
for the fine setting correction link of system, along with the change of environment, adjustment corrective system is carried out to parameter a, b;
(3) controlled processing unit calculates the positional information of this mobile collection device MAD by three limit location algorithms according to three range data obtained in computational methods step (2);
The correction mechanism of correcting unit in described step one:
The time that define system completes correction is calibration cycle; System works first performs a calibration cycle, then performs 10 scan periods, and later 1 calibration cycle and 10 scan periods alternately perform successively;
(1) distance of correcting unit and low frequency magnetic field generating unit A, B, C, D is established to be respectively L1, L2, L3, L4;
(2) controlled processing unit sends the synchrodata of 1 ', 2 ', 3 ', 4 ' to correcting unit, and when sending 1 ', controlled processing unit controls low frequency magnetic field generating unit A work, and when sending 2 ', B works, and when sending 3 ', C works, and when sending 4 ', D works; When correcting unit receives 1 ', detect and record the electromagnetic field intensity angle value that now A sends, when receiving 2 ', detect and record B occur electromagnetic field intensity angle value, when receiving 3 ', detect and record the electromagnetic field intensity angle value that C sends, when receiving 4 ', detect and record the electromagnetic field intensity angle value that D occurs; Correcting unit is recorded A, B, C, D and four electromagnetic field intensity angle value x1 is occurred, and after x2, x3, x4, the data recorded is sent it back controlled processing unit;
(3) the data value x1 that returned by correcting unit of controlled processing unit, x2, x3, x4 substitute into
in, the distance calculating correcting unit and A, B, C, D is respectively L1 ', L2 ', L3 ', L4 '; L-L '=
, by L1-L1 ', L2-L2 ' and calculate correction link
one group of parameter a1, b1, by L3-L3 ', L4-L4 ' calculate correction link
another group parameter a2, b2, finally obtain real time correction parameter a, b by the average of a1, a2 and the average of b1, b2.
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