CN104360311A - Positioning and monitoring system for coal mine machines - Google Patents
Positioning and monitoring system for coal mine machines Download PDFInfo
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- CN104360311A CN104360311A CN201410639869.0A CN201410639869A CN104360311A CN 104360311 A CN104360311 A CN 104360311A CN 201410639869 A CN201410639869 A CN 201410639869A CN 104360311 A CN104360311 A CN 104360311A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
- G01S5/0268—Hybrid positioning by deriving positions from different combinations of signals or of estimated positions in a single positioning system
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
Abstract
The invention discloses a positioning and monitoring system for coal mine machines. The positioning and monitoring system for the coal mine machines comprises auxiliary fixed node devices, auxiliary blind node devices and a main device, wherein the auxiliary fixed node devices are arranged at positioning nodes on the wall of a roadway and used for providing position response information for positioning of blind nodes, the auxiliary blind node devices are arranged at the blind nodes on a coal mine machine to be positioned, communicated with the auxiliary fixed node devices and used for obtaining the position information of at least two blind nodes on the coal mine machine, and the main device is communicated with at least two auxiliary bind node devices by establishing a wireless monitoring network and use for obtaining the positioning coordinates of the coal mine machine to the positioned according to the position information of at least two blind nodes. By means of the implementation of the positioning and monitoring system, the influence on the positioning and monitoring by the severe environment of a coal mine can be reduced, and the safety of the production of the coal mine can be effectively improved.
Description
Technical field
The present invention relates to Coal Mining Technology field, particularly a kind of locating and monitoring system of coal mine machinery.
Background technology
Along with coal mining mechanization, the improving constantly of automaticity, a large amount of coal mine machineries is applied to down-hole.Because underground coal mine bad environments, working condition are poor, this to long-term work in such a case coal mine machinery propose very high requirement, how to grasp parameter, the positional information of underground work machinery in real time, facilitation will be played to Safety of Coal Mine Production.
Present inventor finds: existing coal mine machinery supervisory system is mainly on-site supervision, and wired monitoring is in the majority.This monitor mode is lower for the positioning precision of coal mine machinery, often can only provide the positioning precision of workshop section's level, and wired monitoring wiring is loaded down with trivial details.Present inventor predicts: along with the development of technology of Internet of things, becomes inevitable technological trend by the monitoring being applied to coal mine machinery progressively ripe for wireless technology, location.But there be limited evidence currently of has ripe wireless monitor scheme, poor to the wireless monitor of coal mine machinery, aspect, location versatility, application scenarios is single.
Summary of the invention
In view of this, the object of the embodiment of the present invention is the locating and monitoring system proposing a kind of coal mine machinery, can reduce the impact of colliery rugged surroundings on locating and monitoring, effectively improves the security of coal production.
For solving above-mentioned technical matters, the present invention proposes a kind of locating and monitoring system of coal mine machinery, the locating and monitoring system of this coal mine machinery comprises: fix a point from equipment, is arranged at the location node place in wall, for providing position response message for blind node locating; At least two blind spots are from equipment, be arranged at least two blind Nodes on coal mine machinery to be positioned, with fixed point from devices communicating, for merging RSSI (Received Signal Strength Indicator according to position response message, received signal strength index) range measurement principle and TOF (Time of Flight, flight time) range measurement principle, calculate the positional information of the blind node of at least two of being positioned on coal mine machinery; Main equipment, sets up wireless monitor network, with at least two blind spots from devices communicating, carries out filtering process for the positional information extracting at least two blind nodes, calculates the position coordinates of at least two corresponding blind nodes; And, for being optimized process in conjunction with the position coordinates of actual range to these at least two blind nodes between these at least two blind nodes, and calculate the elements of a fix obtaining coal mine machinery to be positioned.
Alternatively, in certain embodiments, at least two blind spots comprise the first blind spot from equipment and the second blind spot from equipment from equipment, on the first blind node being arranged at coal mine machinery to be positioned respectively and the second blind node; Wherein, the first blind spot is definite value from equipment and the second blind spot from the actual range between equipment.
Alternatively, in certain embodiments, at least two blind spots from equipment one comprise: the first transceiver module, for adding wireless monitor network and periodically sending position request information in a broadcast manner, receives the position response message of fixed point from equipment feedback; Main control module, be connected with the first transceiver module, for the position coordinates in extracting position response message, and the orientation distance between the location node calculating blind node and transmission position response message herein accordingly, in conjunction with the position coordinates of location node, calculate the positional information of at least two blind nodes; Wherein, the first transceiver module is connected with main equipment, for the positional information of at least two blind nodes is sent to main equipment; Power module, for powering for the first transceiver module and main control module.
Alternatively, in certain embodiments, main control module comprises: the first computing unit, based on RSSI range measurement principle, calculates residing the first reference distance L between blind node and the location node of replying its position request information
r; Second computing unit, based on TOF range measurement principle, calculates residing the second reference distance L between blind node and the location node of replying its position request information
t; 3rd computing unit, according to average velocity, the first reference distance L that the cycle of blind node broadcasts position requests, coal mine machinery to be positioned normally run
rwith the second reference distance L
t, be optimized process and obtain residing orientation distance L between blind node and the location node of replying its position request information; 4th computing unit, according to the position coordinates of orientation distance L, the location node corresponding with feedback position response message, calculates the positional information of at least two blind nodes.
Alternatively, in certain embodiments, fix a point to comprise from equipment: the second transceiver module, for adding wireless monitor network or access mine cable network, and the position request information that reception at least two blind spots send from equipment; Responder module, for generating position response message according to position request information; Wherein, the second transceiver module is also for sending position response message to the blind spot sending position request information from equipment.
Alternatively, in certain embodiments, the locating and monitoring system of this coal mine machinery also comprises monitoring from equipment, for monitoring the duty of coalcutter, scrapper conveyor and/or hydraulic support; Monitor and bind from the identify label of the identify label of equipment and monitored hydraulic support, coalcutter, scrapper conveyor.Wherein, monitor and comprise from standby: monitoring module, is connected with the sensor be arranged on coal mine machinery control point, for the working status parameter of poll control point; 3rd transceiver module, for sending to main equipment by the working status parameter of control point.
Alternatively, in certain embodiments, monitor and also comprise from equipment: judge module, for judging whether the working status parameter of control point exceedes default threshold value; Alarm module, is connected with judge module and execution module, for reporting to the police when determining that working status parameter exceedes default threshold value.
Alternatively, in certain embodiments, fix a point also to comprise from equipment or monitoring from equipment: display interface, for showing mode of operation, the working status parameter of monitoring and/or warning message; Wherein, mode of operation comprises station-keeping mode and monitoring mode; And/or multiplexing keyboard, for manual input control parameter or querying command; And/or interface module, comprises serial ports program burn writing interface, CAN (controller local area network) interface for being connected with mine cable network, interface that sensor connects and the actuator interface with coal mine machinery.
Alternatively, in certain embodiments, main equipment also for: send control command by the mode of a multiple spot or point-to-multipoint to monitoring from equipment, and the elements of a fix of control command and/or coal mine machinery to be positioned be uploaded to the administrative center of host computer and/or shown.Above-mentioned 3rd transceiver module also for: receive control command, and pass to the topworks of the coal mine machinery that it is monitored.
Alternatively, in certain embodiments, main equipment comprises: human-computer interaction module, for selecting frequency of operation, setting up wireless monitor network and display mode of operation; Wherein, mode of operation comprises station-keeping mode and monitoring mode; Main transceiver module, for receiving the positional information of at least two blind nodes, the operating parameter information of control point, sends control command to monitoring from equipment; And, for sending the elements of a fix of control command and coal mine machinery to be positioned by wireless monitor network or cable network to host computer; Locating module, is connected with main transceiver module, for extracting the positional information of at least two blind nodes and carrying out filtering process to it, obtains the position coordinates of at least two blind nodes; And, for according to being arranged at the first blind spot on coal mine machinery to be positioned from equipment and the second blind spot from the position coordinates of the blind node of actual range optimization at least two between equipment, obtain the elements of a fix of coal mine machinery to be positioned; Monitoring module, is connected with main transceiver module, human-computer interaction module, for the Monitoring Data that collection monitoring is sent from equipment, stores after Monitoring Data fusion treatment; And, pre-set corresponding threshold value for judging whether Monitoring Data exceeds.
Alternatively, in certain embodiments, show fault and report to the police human-computer interaction module is also for exceeding corresponding threshold value during in Monitoring Data, and for input of control commands, controlled in wireless being carried out to fault support.And/or, the first transceiver module, the second transceiver module, the 3rd transceiver module and main transceiver module also for: select respective frequency of operation, regulate respective communication range.
Relative to prior art, various embodiments of the present invention have the following advantages:
The locating and monitoring system of coal mine machinery of the present invention adopts wireless monitor mode, and arranging net of wireless monitor network is convenient and simple.After adopting the technical scheme of the embodiment of the present invention, can set up multiple non-interfering monitor network at the same area fast, can realize Control on Communication mode that is point-to-point, point-to-multipoint, communication range is adjustable, adapts to different application scenarioss, and versatility is good.
In addition, the hardware device in locating and monitoring system can adopt modular design, and soft and hardware all can be selected according to practical application.Like this, existing comparatively complicated installation work can be avoided on the one hand, cost-saving; On the other hand also can the cable network of compatible existing maturation, form monitoring and the fixer network of larger stalwartness.
Therefore, the locating and monitoring system of coal mine machinery of the present invention adopts optimization location algorithm, two (or many) blind node positioning methods of RSSI and TOF fusion, the impact of underground coal mine rugged surroundings on locating effect can be reduced, improve positioning precision to a greater extent, effectively improve the security of coal production.
More characteristics and advantages of the embodiment of the present invention are explained in embodiment afterwards.
Accompanying drawing explanation
The accompanying drawing of a formation embodiment of the present invention part is used to provide the further understanding to the embodiment of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
The distribution schematic diagram of the locating and monitoring system of the coal mine machinery that Fig. 1 provides for the embodiment of the present invention;
The workflow schematic diagram of main equipment in the locating and monitoring system of the coal mine machinery that Fig. 2 provides for the embodiment of the present invention;
From the workflow schematic diagram of equipment in the locating and monitoring system of the coal mine machinery that Fig. 3 provides for the embodiment of the present invention.
Description of reference numerals
10 main equipments
20 fixed points are from equipment
21 first blind spots are from equipment
22 second blind spots are from equipment
23 monitoring are from equipment
30 mine cable networks
40 wireless monitor networks
50 coal mine machineries to be positioned
60 hydraulic supports
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
It should be noted that, when not conflicting, the feature in the embodiment of the present invention and embodiment can combine mutually.
In order to solve the problems such as the wired monitoring wiring existed in the monitoring of existing coal mine machinery, location technology is loaded down with trivial details, positioning precision is low, and wireless monitor poor universality, scheme are immature, the present embodiment proposes a kind of locating and monitoring system of coal mine machinery.Hardware device in various embodiments of the present invention can be divided into main equipment and from equipment from effect in systems in which, main equipment and all can adopt modular design from equipment, can carry out cutting according to the actual requirements to hardware configuration.Such as, main equipment is full-function device, comprises all modules, can not possess the functions such as display, button from equipment.Corresponding to the hardware configuration of master and slave equipment, the software program in various embodiments of the present invention mainly comprises main equipment program and from device program, main equipment is responsible for setting up wireless monitor network, can be operated in monitoring mode and station-keeping mode two kinds of patterns; Be responsible for data acquisition after adding network from equipment, monitoring pattern, station-keeping mode and blind node mode Three models can be operated in.Can mode of operation programs different for the equipment of various embodiments of the present invention proposition be individually fixed in different hardware devices, to form hardware roles different in locating and monitoring system.
Below in conjunction with accompanying drawing, each preferred embodiment of the present invention is described further:
With reference to Fig. 1, the distribution schematic diagram of the locating and monitoring system of its coal mine machinery proposed for the present embodiment.In the present embodiment, the locating and monitoring system of this coal mine machinery comprises: fix a point from equipment 20, blind spot from equipment and main equipment 10.
Wherein, the location node be arranged at from equipment 20 in wall of fixing a point, for providing position response message for blind node locating.Blind spot is arranged at the blind Nodes coal mine machinery 50 to be positioned from equipment, communicate from equipment 20 with fixed point, for merging RSSI range measurement principle and TOF range measurement principle according to position response message, calculate the positional information of the blind node of at least two of being positioned on coal mine machinery.
Main equipment 10 sets up wireless monitor network, with at least two blind spots from devices communicating, carries out filtering process for the positional information extracting these at least two blind nodes, calculates the position coordinates of at least two corresponding blind nodes; And main equipment 10 is optimized process for the position coordinates of actual range to described at least two blind nodes between at least two blind nodes described in combining, and calculates the elements of a fix of coal mine machinery to be positioned.
In the locating and monitoring system of above-mentioned coal mine machinery, arranged net by main equipment 10, convenient and simple, can set up multiple non-interfering monitor network at the same area fast, versatility is good.Each monitoring positioning equipment, if fixed point is from equipment 20, at least two blind spots from equipment and main equipment 10, carry out communication that is point-to-point or point-to-multipoint, and communication range is adjustable, adapts to different application scenarioss by wireless monitor network.In addition, although above-described embodiment adopts is communication, also can the cable network of compatible down-hole, form monitoring and the fixer network of larger stalwartness.
And, optimization location algorithm, two (or many) blind node positioning methods that above-described embodiment adopts RSSI and TOF to merge, the impact of underground coal mine rugged surroundings on locating effect can be reduced, improve positioning precision to a greater extent, effectively improve the security of coal production.
It is pointed out that fixed point can have identical hardware composition from equipment 20, at least two blind spots from equipment and main equipment 10, hardware can adopt modular design, and the soft and hardware of each monitoring positioning equipment all can be selected according to practical application, cost-saving.Such as, the method for mode of operation and communication range is selected to adapt to different application by the button on hardware device.Following software and hardware in the design can the principle of cutting, and hardware device is primarily of main control module, human-computer interaction module, interface module, power module composition.Mainly contain two kinds of equipment in the application: main equipment and from equipment, wirelessly networking between two kinds of equipment, exchange data.Main equipment comprises all hardware modules, and primary responsibility collects display network monitoring data, editor's transmission control command in the application; Be made up of from equipment basic function module, be responsible for monitoring, locator data process, upload.
In addition, also by implanting different software control procedures in each master and slave equipment, different mode of operations is realized, as station-keeping mode, monitoring mode, blind node mode etc.Software program in above-described embodiment mainly can comprise main equipment program and from device program, realize same hardware device like this and can be operated in different mode of operations, and without the need to changing hardware.
Software program in above-described embodiment mainly comprises main equipment program and from device program, the workflow of master and slave equipment is respectively as shown in Fig. 2 Fig. 3.And for different application scenarioss, equipment can be selected to perform different mode of operations.
For ease of understanding above-described embodiment, below in conjunction with Fig. 2 and Fig. 3, the course of work of each master and slave equipment is made the following instructions:
1, from equipment: blind node mode
As shown in Figure 1, as the optional embodiment of one, in the locating and monitoring system of above-mentioned coal mine machinery, at least two blind spots comprise the first blind spot from equipment 21 and the second blind spot from equipment 22 from equipment, on the first blind node being arranged at coal mine machinery 50 to be positioned respectively and the second blind node.Wherein, the first blind spot is definite value from equipment 21 and the second blind spot from the actual range between equipment 22.Here, blind node referring to that position coordinates is still uncertain, needing by calculating the node location obtained.
Wherein, coal mine machinery 50 to be positioned for need track and localization ore deposit under equipment, such as, can be the mechanically moving such as shuttle car, bracket carrier, under the locating and monitoring system of above-mentioned coal mine machinery is applied to mine, need the scene of track and localization.
In an embodiment, above-mentioned at least two blind spots can comprise further from equipment: the first transceiver module, main control module and power module; Wherein, the first transceiver module is used for adding wireless monitor network and periodically sending position request information in a broadcast manner, receives the position response message that fixed point is fed back from equipment 20.Main control module is connected with the first transceiver module, for the position coordinates in extracting position response message, and the orientation distance between the location node calculating blind node and transmission position response message herein accordingly, in conjunction with the position coordinates of location node, calculate the positional information of at least two blind nodes.Wherein, the first transceiver module is connected with main equipment, for the positional information of at least two blind nodes is sent to main equipment.
In above-described embodiment, power module is used for being that the first transceiver module and main control module are powered.In above-described embodiment, power module can adopt nickel-hydrogen chargeable cell or external intrinsic safety electric source two schemes.Require that nickel-hydrogen chargeable cell need increase reliable accurate current-limiting resistance and overall rubber seal, so that integral replacing for meeting coal peace.
Here, propose the locator meams of a kind of RSSI range finding and TOF range finding complex optimum algorithm and how blind node, realize the hi-Fix of coal mine machinery.Therefore, as the optional embodiment of one, above-mentioned main control module can comprise with lower module:
1) the first computing unit, based on RSSI range measurement principle, calculates residing the first reference distance L between blind node and the location node of replying its position request information
r.
2) the second computing unit, based on TOF range measurement principle, calculates residing the second reference distance L between blind node and the location node of replying its position request information
t.
3) the 3rd computing unit, according to average velocity, the first reference distance L that the cycle of blind node broadcasts position requests, coal mine machinery to be positioned normally run
rwith the second reference distance L
t, be optimized process and obtain residing orientation distance L between blind node and the location node of replying its position request information.
4) the 4th computing unit, according to the position coordinates of orientation distance L, the location node corresponding with feedback position response message, calculates the positional information of at least two blind nodes.
For bracket carrier position application, the fixed point working in location node pattern is arranged in the known point position of specifying of the wall of bracket carrier travel route from equipment 20.First blind spot is arranged in the open of bracket carrier from equipment 21 and the second blind spot from equipment 22, and on the low position of electromagnetic interference (EMI), distance between two points c is known, and makes it to work in blind node mode.
It should be noted that, for increasing reliability and the network life cycle of fixer network, also fixed point can be accessed the existing cable network 30 in colliery from equipment 20 and carry out power taking and data transmission, main equipment 10 is hand-holdable, for on-site supervision commander, also can be connected to cable network and monitor for long range positioning.
For ease of understanding above-described embodiment, as shown in Figure 3, each course of work from equipment is described further:
1) under blind node mode from equipment: be arranged in the first blind spot bracket carrier and adopt the mode of broadcast to send position request information from equipment 22 with the fixed cycle from equipment 21 and the second blind spot.Wherein, broadcast cycle decides according to the translational speed of mechanically moving.
2) under location node pattern from equipment: the fixed point be arranged in wall is replied after equipment 20 receives position request information.The first blind spot on bracket carrier fixes a point, from the position response message of equipment 20, to extract the position coordinates of respondent according to three that receive at first separately from equipment 21 and the second blind spot from equipment 22 respectively, and calculates the distance with himself.
Below, the complex optimum algorithm of find range to the RSSI range finding adopted in above-described embodiment and TOF and the locator meams of how blind node further illustrate as follows: because underground coal mine lane wall absorbs wireless signal, decays, the RSSI distance-finding method generally adopted now cannot obtain high-precision locating effect, propose a kind of complex optimum location algorithm merging RSSI and TOF in the present invention, the range measurement be shown below can be obtained as calculated:
Herein, for the first blind node and the first blind spot from equipment 21, wherein, L is the distance between location node and the first blind node, L
rfor RSSI algorithm records distance, L
tfor TOF algorithm records distance, S is the cycle of blind node broadcasts position requests, V
avrfor the average velocity of the normal operation of machinery.
In formula (1), the L calculated if this RSSI finds range
ri+1with the L calculated that found range last time
rbetween difference and this TOF to find range the L calculated
ti+1with the L calculated that found range last time
tbetween difference sum, be less than or equal to the distance of the average velocity movement within two RQ cycle S times normally run with machinery, then L=1/2 (L
r+ L
t);
The L calculated if this RSSI finds range
ri+1with the L calculated that found range last time
rbetween difference be less than or equal to the distance of the average velocity movement within a RQ cycle S time normally run with machinery; Further, the L of this TOF range finding calculating
ti+1with the L calculated that found range last time
tbetween difference be greater than the distance of the average velocity movement within a RQ cycle S time normally run with machinery, then L=L
r;
The L that this TOF range finding calculates
ti+1with the L calculated that found range last time
tbetween difference, be less than or equal to the distance of the average velocity movement within a RQ cycle S time normally run with machinery; Further, the L of this RSSI range finding calculating
ri+1with the L calculated that found range last time
rbetween difference be greater than the distance of the average velocity movement within a RQ cycle S time normally run with machinery, then L=L
t;
Other situations, then ineligible, discard processing.
Based on this, first blind spot records the distance of the first blind node and three location nodes according to above-mentioned algorithm from equipment 21, in conjunction with the coordinate of location node, adopt 3 centroid localization algorithm to obtain the position coordinates of oneself, finally the positional information of blind node is sent to main equipment 10.
In above-described embodiment, the locator meams of employing complex optimum algorithm and double blinding node can solve the independent RSSI of employing and find range unstable, is subject to the problems such as the error of electromagnetic interference (EMI) generation, and can also reduces the impact that winding roadway refracted signal causes reduction distance accuracy.Therefore, optimization location algorithm, double blinding node positioning method that RSSI and TOF merges, can also reduce the impact of underground coal mine rugged surroundings on locating effect, improve positioning precision to greatest extent.
It is pointed out that under network load allows situation, the locator meams of how blind node can be adopted, to improve positioning precision further.How the position fixing process of blind node and the position fixing process of aforementioned double blinding node similar, can refer to aforementioned position fixing process, repeat no more herein.
2, from equipment: location node pattern
From fixed point from equipment 20 for be operated in location node pattern from equipment, from its function, this fixed point can comprise from equipment 20: the second transceiver module and responder module.Second transceiver module is used for adding wireless monitor network 40 or access mine cable network 40, receives the position request information that at least two blind spots send from equipment.Responder module is used for generating position response message according to position request information.Wherein, the second transceiver module is also for sending position response message at least two blind spots sending position request information from equipment.
Fixed point is arranged in the assigned address of wall from equipment 20, its position coordinates is known, after receiving position request information, at least two blind spots sending position request information are replied from equipment, there is provided reference position information at least two blind spots from equipment by position response message, make at least two blind spots can calculate the position coordinates of self from equipment.
3, from equipment: monitoring mode
As the optional embodiment of one, the locating and monitoring system of above-mentioned coal mine machinery also can comprise: monitor from equipment 23, monitoring from equipment 23 for monitoring the equipment working state parameter information of coal mine machinery, the duty of the workplace of such as hydraulic support 60, coalcutter, scrapper conveyor.Wherein, monitor and bind from the identify label of the identify label of equipment 23 and monitored hydraulic support 60, coalcutter, scrapper conveyor, thus by identifying that monitoring can confirm concrete monitoring target from the identify label of equipment 23.
For hydraulic support, in monitoring application, for grasping the working status parameter information of hydraulic support workplace in real time, main equipment 10 can be utilized to set up monitor network, main equipment 10 and each monitoring can form multiple non-interference local monitor network easily from equipment 23.Each monitoring has unique network ID from equipment 23, can bind during networking with monitored hydraulic support.Every frame hydraulic support is installed a monitoring from equipment 23, monitor and gather the data such as set cap pressure, oil cylinder stroke from equipment 23 by sensor.
As shown in Figure 3 from equipment workflow, monitor and add main equipment 10 from equipment 23 and set up monitor network, under being in monitoring mode, gather the data of the coal mine machinery that it is positioned at.This monitoring comprises from equipment 23: monitoring module and the 3rd transceiver module, monitoring module is connected with the sensor be arranged on coal mine machinery control point, for the working status parameter of poll control point.Wherein, the 3rd transceiver module is also for sending to main equipment 10 by the working status parameter sending control point.
As the optional embodiment of one, above-mentioned monitoring also can comprise from equipment 23: judge module and alarm module, and judge module is for judging whether the working status parameter of control point exceedes default threshold value.Alarm module is connected with judge module and execution module, for reporting to the police when determining that working status parameter exceedes default threshold value.
Optionally, in above-described embodiment, fix a point also can comprise any one structure following composition from equipment 20 or monitoring from equipment 23:
1) display interface, for showing mode of operation, the working status parameter of monitoring and/or warning message.Wherein, mode of operation comprises station-keeping mode and monitoring mode.
2) multiplexing keyboard, for manual input control parameter or querying command.
3) interface module, comprises serial ports program burn writing interface, the CAN controller lan interfaces for being connected with mine cable network, the interface be connected with sensor and the actuator interface with coal mine machinery.
4, main equipment: blind node locating pattern, monitoring mode
Main equipment 10 has networking centre frequency, communication radius is adjustable, perform the colliery intrinsically safe wireless equipment of passage, hardware modularity feature by button control software design.
In main equipment workflow as shown in Figure 2, main equipment 10, according to the frequency of operation of self, sets up monitor network, and main equipment 10 can by field staff's hand-held.
1) under blind node locating pattern, the course of work of main equipment:
First, the location coordinate information (a of first, second blind spot that the first blind spot is sent from equipment 21 and the second blind spot from equipment 22 is received
x, a
y) (b
x, b
y).
Further, be the error that filtering network interferences causes, according to formula below, mean filter process carried out to the location coordinate information of first, second blind spot:
Like this, the position coordinates of two blind spots from equipment (i.e. two blind nodes) is obtained
optionally, for improving positioning precision further, by judging the position coordinates of two blind spots from equipment
whether meet following formula, judge that whether this positioning result is effective:
Wherein, c is two from the actual arrangement distance of equipment, and d is fault tolerance, and needed for position application, precision sets.If formula (4) is set up, then the position coordinates of two blind spots from equipment is described
effectively, result is retained.If judge that formula (4) is false, then positioning result is invalid, abandons and terminates this time location, starting blind node locating process next time.
Finally, get qualified two coordinate mid points, 1/2 (a+b), as the elements of a fix of bracket carrier, and shown or be uploaded to administrative center.
2) in the monitoring mode, the course of work of main equipment:
Main equipment 10 is in wireless monitor network range, and collection monitoring from the Monitoring Data of equipment 23, and stores after Data Fusion, when discovery data exception, as image data transfinite time, carry out showing and reporting to the police.Site operation personnel according to alarm condition editor control order on main equipment 10, can carry out controlled in wireless to fault support.
Such as, in such as Fig. 1 under the scene shown in the upper right corner, the monitoring that main equipment 10 and each hydraulic support 60 are installed carries out remote monitoring from equipment 23 to each hydraulic support 60, in itself and Fig. 1, the key distinction of lower left corner scene is: the main equipment 10 in the scene of the upper right corner is by CAN interface, Monitoring Data is uploaded to floor control center by the existing cable network 30 in colliery, managerial personnel can send control command on ground by main equipment, fault support is operated, thus realizes the remote monitoring of hydraulic support.Main equipment 10 in the scene of the lower left corner passes through wireless monitor network,
It is pointed out that by selecting different frequency of operation, make multiple monitor network non-interference of the same area, main equipment selects network operating frequencies when setting up monitor network by button.In addition, main equipment 10 and at least two blind spots from equipment, monitor and can carry out point-to-point and point-to-multipoint delivery between equipment 23, to realize single rack operation to hydraulic support and multi rack synchronous operation.The communication range 40 of main equipment can regulate according to the actual requirements.
In the locating and monitoring system of above-mentioned coal mine machinery, main equipment 10 also can be used for: send control command to monitoring from equipment 23 by the mode of a multiple spot or point-to-multipoint, and the elements of a fix of control command and/or coal mine machinery to be positioned are uploaded to the administrative center of host computer and/or are shown.In above-described embodiment, monitor from the 3rd transceiver module of equipment 23 also for: receive described control command, and pass to the topworks of the coal mine machinery that it is monitored.
In an embodiment, for realizing above-mentioned monitoring and positioning function, above-mentioned main equipment 10 can comprise with lower module:
1) human-computer interaction module, for selecting frequency of operation, setting up wireless monitor network and display mode of operation.Wherein, mode of operation comprises station-keeping mode and monitoring mode.
Wherein, human-computer interaction module is also used in when Monitoring Data exceeds corresponding threshold value and shows fault and report to the police, and carries out controlled in wireless for input of control commands to fault support.
2) main transceiver module, for receiving the positional information of at least two blind nodes, the operating parameter information of control point, sends control command to monitoring from equipment 23.And, for sending the elements of a fix of control command and coal mine machinery to be positioned by wireless monitor network 40 or cable network 30 to host computer.
3) locating module, is connected with main transceiver module, for extracting the positional information of at least two blind nodes and carrying out filtering process to it, obtains the position coordinates of at least two blind nodes.And, for according to being arranged at the first blind spot on coal mine machinery to be positioned from equipment 21 and the second blind spot from least two the blind spot position coordinateses of the actual range optimization between equipment 22, obtain the elements of a fix of coal mine machinery to be positioned.
4) monitoring module, is connected with main transceiver module, human-computer interaction module, for the Monitoring Data that collection monitoring is sent from equipment 23, stores after Monitoring Data fusion treatment.And, pre-set corresponding threshold value for judging whether Monitoring Data exceeds.
Optionally, in the various embodiments described above, the first transceiver module, the second transceiver module, the 3rd transceiver module and main transceiver module also can be used for: select respective frequency of operation, regulate respective communication range.
In sum, the hardware device of the various embodiments described above can mainly contain and be divided into four large ingredients:
1) main control module, adopts the wireless transceiver device of single piece type, has that volume is little, low-power consumption, processing power are strong, possess TOF station-keeping ability (the JN5148 chip as Jennic company).Alternatively, main control module can select the non-single piece type scheme of wireless chip and CPU combination to realize.Here, main control module refers to the hardware carrier in aforesaid master-slave equipment, if monitoring module, locating module are also a kind of forms of main control module.
2) human-computer interaction module, has the display of data, multiplexing keyboard and sound and light of alarm.
3) interface module mainly comprises serial ports program burn writing interface, for the CAN interface be connected with mine cable network and the interface be connected with sensor.
4) power module, can adopt nickel-hydrogen chargeable cell or external intrinsic safety electric source two schemes.
The hardware device related in various embodiments of the present invention selects the method for mode of operation and communication range to adapt to different application by multiplexing button, can form multiple non-interference local monitor network easily in monitoring application; The hi-Fix of coal mine machinery is realized by the algorithm of location technology optimization fusion and the locator meams of how blind node.Thus meet the requirement of underground coal mine different application scene.
It should be noted that, the hardware device related in the various embodiments described above is connected to the existing cable network of underground coal mine by interface module, forming range more greatly, more healthy and stronger monitor network, can be used as the carrier of the project such as digital mine, aboveground command centre.
Compared with prior art, various embodiments of the present invention have the following advantages:
The locating and monitoring system of various embodiments of the present invention adopts wireless monitor mode, arranging net of wireless monitor network is convenient and simple, multiple non-interfering monitor network can be set up fast at the same area, Control on Communication mode that is point-to-point, point-to-multipoint can be realized, communication range is adjustable, adapts to different application scenarioss.
In addition, the hardware device in locating and monitoring system can adopt modular design, and soft and hardware all can be selected according to practical application.Like this, existing comparatively complicated installation work can be avoided on the one hand, cost-saving; On the other hand also can the cable network of compatible existing maturation, form monitoring and the fixer network of larger stalwartness.
In addition, the optimization location algorithm, the double blinding node positioning method that adopt RSSI and TOF to merge, decrease the impact of colliery rugged surroundings on locating and monitoring, consider the factors such as the actual motion feature of monitored object; The impact of underground coal mine rugged surroundings on locating effect can also be reduced, improve the reliability of positioning precision and monitoring to greatest extent, guarantee coal mine production safety.
Obviously, those skilled in the art should be understood that, each module of the locating and monitoring system of above-mentioned coal mine machinery of the present invention or each step can realize with general calculation element, they can concentrate on single calculation element, or be distributed on network that multiple calculation element forms, alternatively, they can realize with the executable program code of calculation element, thus, they can be stored and be performed by calculation element in the storage device, or they are made into each integrated circuit modules respectively, or the multiple module in them or step are made into single integrated circuit module to realize.Like this, the present invention is not restricted to any specific hardware and software combination.Described memory storage is nonvolatile memory, as: ROM/RAM, flash memory, magnetic disc, CD etc.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (11)
1. a locating and monitoring system for coal mine machinery, is characterized in that, comprising:
Fixed point, from equipment (20), is arranged at the location node place in wall, for providing position response message for blind node locating;
At least two blind spots are from equipment, be arranged at least two blind Nodes on coal mine machinery to be positioned (50), communicate from equipment (20) with described fixed point, for merging RSSI (received signal strength index) range measurement principle and TOF (flight time) range measurement principle according to described position response message, calculate the positional information of at least two the blind nodes be positioned on described coal mine machinery;
Main equipment (10), set up wireless monitor network (40), with described at least two blind spots from devices communicating, carry out filtering process for the positional information of at least two blind nodes described in extracting, calculate the position coordinates of at least two corresponding blind nodes; And, be optimized process for the position coordinates of actual range to described at least two blind nodes between at least two blind nodes described in combining, and calculate the elements of a fix of described coal mine machinery to be positioned (50).
2. the locating and monitoring system of coal mine machinery according to claim 1, is characterized in that, described at least two blind spots comprise the first blind spot from equipment (21) and the second blind spot from equipment (22) from equipment; The first blind node that described first blind spot is arranged at coal mine machinery to be positioned (50) respectively from equipment (21) and the second blind spot from equipment (22) and the second blind node;
Wherein, described first blind spot is definite value from equipment (21) and described second blind spot from the actual range between equipment (22).
3. the locating and monitoring system of coal mine machinery according to claim 2, is characterized in that, described at least two blind spots comprise from equipment:
First transceiver module, for adding wireless monitor network and periodically sending position request information in a broadcast manner, receives the position response message that described fixed point is fed back from equipment (20);
Main control module, be connected with described first transceiver module, for extracting the position coordinates in the response message of described position, and the orientation distance calculated accordingly herein between blind node and the location node sending described position response message, in conjunction with the position coordinates of described location node, calculate the positional information of at least two blind nodes; Wherein, described first transceiver module is connected with described main equipment, for the positional information of described at least two blind nodes is sent to described main equipment;
Power module, for powering for described first transceiver module and described main control module.
4. the locating and monitoring system of coal mine machinery according to claim 3, is characterized in that, described main control module comprises:
First computing unit, based on RSSI (received signal strength index) range measurement principle, calculates residing the first reference distance L between blind node and the location node of replying its position request information
r;
Second computing unit, based on TOF (flight time) range measurement principle, calculates residing the second reference distance L between blind node and the location node of replying its position request information
t;
3rd computing unit, according to average velocity, the first reference distance L that the cycle of blind node broadcasts position requests, coal mine machinery to be positioned normally run
rwith the second reference distance L
t, be optimized process and obtain residing orientation distance L between blind node and the location node of replying its position request information;
4th computing unit, according to the position coordinates of described orientation distance L, the location node corresponding with feedback described position response message, calculates blind spot positional information.
5. the locating and monitoring system of coal mine machinery according to claim 4, is characterized in that, described fixed point comprising from equipment (20):
Second transceiver module, for adding described wireless monitor network (40) or access mine cable network (30), and receives the position request information that described blind spot sends from equipment;
Responder module, for generating position response message according to described position request information;
Wherein, described second transceiver module is also for sending position response message to the blind spot sending described position request information from equipment.
6. the locating and monitoring system of the coal mine machinery according to any one of claim 1 to 5, it is characterized in that, this system also comprises monitoring from equipment (23), for monitoring in coalcutter, scrapper conveyor and hydraulic support (60) duty of at least one; Described monitoring is bound from the identify label of the identify label of equipment (23) and monitored hydraulic support (60), coalcutter, scrapper conveyor; Wherein, described monitoring comprising from equipment (23):
Monitoring module, is connected with the sensor be arranged on coal mine machinery control point, for the working status parameter of poll control point;
3rd transceiver module, for sending to described main equipment (10) by the working status parameter of described control point.
7. the locating and monitoring system of coal mine machinery according to claim 6, is characterized in that, described monitoring also comprises from equipment (23):
Judge module, for judging whether the working status parameter of described control point exceedes default threshold value;
Alarm module, is connected with described judge module and described execution module, for reporting to the police when determining that working status parameter exceedes default threshold value.
8. the locating and monitoring system of coal mine machinery according to claim 7, is characterized in that, described fixed point also at least comprises one following structure from equipment (20) or described monitoring from equipment (23):
Display interface, for showing at least one in mode of operation, the working status parameter of monitoring and warning message; Wherein, described mode of operation comprises station-keeping mode and monitoring mode;
Multiplexing keyboard, for manual input control parameter or querying command;
Interface module, comprises serial ports program burn writing interface, CAN (controller local area network) interface for being connected with mine cable network (30), the interface be connected with described sensor and the actuator interface with coal mine machinery.
9. the locating and monitoring system of coal mine machinery according to claim 8, is characterized in that:
Described main equipment (10) also for: send control command by the mode of a multiple spot or point-to-multipoint to described monitoring from equipment (23), and the elements of a fix of described control command and/or coal mine machinery to be positioned be uploaded to the administrative center of host computer and/or shown;
Described 3rd transceiver module also for: receive described control command, and pass to the topworks of the coal mine machinery that it is monitored.
10. the locating and monitoring system of coal mine machinery according to claim 9, is characterized in that, described main equipment (10) comprising:
Human-computer interaction module, for setting up wireless monitor network and display mode of operation; Wherein, described mode of operation comprises station-keeping mode and monitoring mode;
Main transceiver module, for the positional information of at least two blind nodes, the operating parameter information of control point described in receiving, sends control command to described monitoring from equipment (23); And, for being sent the elements of a fix of described control command and coal mine machinery to be positioned to described host computer by wireless monitor network (40) or cable network (30);
Locating module, is connected with described main transceiver module, for extracting the positional information of at least two blind nodes and carrying out filtering process to it, obtains the position coordinates of at least two blind nodes; And, for according to being arranged at the first blind spot on coal mine machinery to be positioned from equipment (21) and described second blind spot from the position coordinates of at least two blind nodes described in the actual range optimization between equipment (22), obtain the elements of a fix of coal mine machinery to be positioned;
Monitoring module, is connected with described main transceiver module, described human-computer interaction module, for the Monitoring Data that collection monitoring is sent from equipment (23), stores after described Monitoring Data fusion treatment; And, pre-set corresponding threshold value for judging whether described Monitoring Data exceeds.
The locating and monitoring system of 11. coal mine machineries according to claim 10, is characterized in that:
Described human-computer interaction module also for: show fault when described Monitoring Data exceeds corresponding threshold value and report to the police, and for input of control commands, controlled in wireless being carried out to fault support; And/or,
Described first transceiver module, described second transceiver module, described 3rd transceiver module and described main transceiver module also for: select respective frequency of operation, regulate respective communication range.
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