CN104612682A - UWB-based precise calibration method for coal-cutter absolute position and apparatus - Google Patents
UWB-based precise calibration method for coal-cutter absolute position and apparatus Download PDFInfo
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
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- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
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Abstract
The invention discloses a UWB-based (Ultra Wideband) precise calibration method for a coal-cutter absolute position and an apparatus. The apparatus comprises a coal cutter body, a coal-cutter positioner, a positioner explosion-proof housing, a host computer, four ultra-wideband (UWB) wireless communication sensors and a POE (Power Over Ethernet) switch; the coal cutter body is fixedly provided with the positioner explosion-proof housing; the positioner explosion-proof housing is inside provided with the coal-cutter positioner; the coal-cutter positioner is inside provided with a UWB positioning label; the ultra-wideband (UWB) wireless communication sensors are fixedly disposed on a hydraulic support at a coal-cutter running end at intervals; and the ultra-wideband (UWB) wireless communication sensors are connected with the host computer via the POE switch. ultra-wideband (UWB) wireless communication is utilized for precise calibration, the anti-interference capability is strong, the transmission speed is high, relatively high bandwidth and relatively low power consumption are provided, and also precise positioning for a downhole coal cutter is provided, and the apparatus is safe, reliable, easy to install and convenient to operate.
Description
Technical field
The present invention relates to method and the device of a kind of coal-winning machine absolute position accurate calibration, particularly a kind of method and device based on UWB, coal-winning machine absolute position being carried out to accurate calibration.
Background technology
Coal resources are main energy sources of China, are prerequisites that current mining industry develops in a healthy way to rational exploitation and the utilization of coal resources.In the recovery process of coal resources, coal-winning machine is one of important equipment of underground work.Current, when fully-mechanized mining working carries out normal coal mining activity, the interlock of coal-winning machine, drag conveyor and hydraulic support still adopts manual type to operate under many circumstances, but to realize the automation of whole process, three machine interlock automations of coal-winning machine, scratch board conveyor and hydraulic support must be realized.Meanwhile, due to China's coal field geology complicated condition, underground mining bad environments, working condition is arduous waits outstanding problem, and this proposes higher level requirement for coal-winning machine operation and operation.And no matter be three machine interlock automation or coal-winning machine recovery process, be the important foundation of coal mining activity to the accurate calibration of coal-winning machine absolute position.Owing to being underground work, some we calibrating mode commonly used often cannot meet the demand of current accurate calibration, along with the development of modernization science and technology, the progressively intensification that super wideband wireless navigation system (UWB) is studied, makes to become possibility to the accurate calibration of coal-winning machine absolute position.
Ultra broadband (UWB) technology, also known as impulse radio electricity (Impulse Radio) technology, is wireless communication technique more advanced at present.It achieve the data transmission of ultra broadband in short distance, high speed, the feature such as the modulation system of UWB technology and the multiple access technology of employing makes it have wider bandwidth, data transmission at a high speed, low power consumption, security performance high compared to other wireless communication technologys simultaneously, therefore causes the attention of people.UWB technology becomes a focus of wireless communication field research and development gradually, and is regarded as the key technology of next generation wireless communication.For the method such as infrared, bluetooth, wireless, bigbee, must measure in visual range due to infrared, Bluetooth technology does not have full maturity comparatively speaking, and communication speed is low, wireless and bigbee is mainly as the communication in short distance and reliability is low, instability, therefore often causes precision not reach demand.UWB technology, relative to these modes, has the advantage that precision is high.
In the classical calibration fashion of coal-winning machine, often can not realize accurate calibration, there is constant error.This is due to bad environments under mine, and the precision of measurement is often subject to the restriction of the various condition in down-hole, can not realize the requirement of accurate calibration.Current, the coal-winning machine locate mode that underground coal mine generally adopts mainly contains gear counting method, infrared emission method, supersonic reflection method, radio sensing network coal-winning machine positioning mode and pure-inertial guidance method.Wherein, coal-winning machine gear counting positioning mode is by counting the number of turns of running part pinion rotation, and orients the position of coal-winning machine according to hydraulic support.This Measures compare is simple, and cost is low, but due to coal-winning machine be along work plane transverse direction and lengthwise movement in operation process, and gear counting method can only be determined therefore to cause coal-winning machine walking distance location inaccuracy, produce very big error.Infrared emission location rule is at coal-winning machine fuselage installation infrared emitter, is fixed with infrared receiving device at hydraulic support, in coal-winning machine operation process, by the analysis that receiving system is strong and weak to received signal, thus judges coal-winning machine particular location.The shortcoming of this method is adopted to be can not detect the position of coal-winning machine by continuous print, the transmitting and receiving of infrared signal simultaneously must be in same level, otherwise are difficult to effective Received signal strength, therefore in the subsurface environment of reality, because disturbing factor is numerous, often can not accurately locate.Pure inertial positioning method is the axle acceleration and the axis angular rate that utilize accelerometer and gyroscope to draw coal-winning machine, is then determined the position of coal-winning machine by algorithm.This method shortcoming is that coal-winning machine has very strong vibrations in the course of the work because gyroscope and accelerometer exist drift, and therefore precision is difficult to ensure, also cannot realize the absolute fix to coal-winning machine.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the invention provides a kind of method and the device that based on UWB, coal-winning machine absolute position are carried out to accurate calibration, realizes the accurate location to coal-winning machine.
Technical scheme: for achieving the above object, the technical solution used in the present invention is:
A kind of based on UWB coal-winning machine absolute position accurate calibration device, comprise coal-winning machine fuselage 1, coal-winning machine positioner 2, positioner explosion-resistant enclosure 3, host computer 5, several super wideband wireless communications UWB sensor 6 and POE switch 10; Coal-winning machine fuselage 1 is fixedly connected with positioner explosion-resistant enclosure 3; Coal-winning machine positioner 2 is connected in described positioner explosion-resistant enclosure 3; Described coal-winning machine positioner 2 comprises UWB positioning label 4; Described super wideband wireless communication UWB sensor 6 is equidistantly fixed on the hydraulic support of the end that coal-winning machine runs; All super wideband wireless communication UWB sensors 6 are all connected with host computer 5 by POE switch 10.
Further, super wideband wireless communication UWB sensor 6 adopts shielding line to be connected with POE switch 10.
A kind of based on UWB coal-winning machine absolute position accurate calibration method, comprise the steps:
1), according to the distribution of ore deposit underworkings and coal mining environment, the hydraulic support of the end that coal-winning machine runs arranges several super wideband wireless communications UWB sensor 6; UWB positioning label 4 is placed in coal-winning machine positioner 2; The signal transmitting and receiving region of each super wideband wireless communication UWB sensor 6 delimited along production zone; The absolute coordinate of each super wideband wireless communication UWB sensor 6 is measured by laser range finder;
2), super wideband wireless communication UWB sensor 6 adopts POE mode; Set up Ethernet, be specially: arrange POE switch 10 and host computer 5, each super wideband wireless communication UWB sensor 6 is all connected with host computer 5 by POE switch 10, and adopts annular connected mode to connect between each super wideband wireless communication UWB sensor 6;
3), described host computer 5 receives transmitting of each super wideband wireless communication UWB sensor 6, according to the waveform maximum value setting noise threshold transmitted; Absolute coordinate according to each super wideband wireless communication UWB sensor 6 sets up coal-winning machine absolute position accurate calibration model in host computer 5;
4), choose arbitrarily a point in signal transmitting and receiving region and place UWB positioning label 4; The location algorithm adopting AOA and TDOA to combine is located UWB positioning label 4, is specially:
41) angular relationship of UWB positioning label (4) and each super wideband wireless communication UWB sensor (6) is obtained by AOA method; The time difference that UWB positioning label (4) receives the framing signal that any two super wideband wireless communication UWB sensor (6) are launched is measured by TDOA localization method;
42) according to step 41) all time differences of obtaining, adopt hyperbola location algorithm to calculate the position of UWB positioning label 4; The height of this UWB positioning label 4 and the distance between this UWB positioning label 4 and each super wideband wireless communication UWB sensor 6 can be recorded after obtaining the position of UWB positioning label 4, the Distance geometry height obtained is transported in the accurate calibration model of coal-winning machine absolute position, whether the position and the angle that detect each super wideband wireless communication UWB sensor 6 have deviation, calibrate;
5), coal-winning machine carries out mining operations, super wideband wireless communication UWB sensor 6 sends host computer 5 by what collect to about UWB positioning label 4 data message in positioner 2, described the absolute location information of the UWB positioning label 4 in coal-winning machine positioner 2 by the data handling system in the accurate calibration model of coal-winning machine absolute position, namely obtain the exact position residing for coal-winning machine.
6), coal-winning machine run once terminate after, again calibrate, repeat step 4) ~ step 5).
Further, described step 1) in: sustained height position, the same side on the equally spaced hydraulic support being arranged in the end, termination that coal-winning machine runs of each super wideband wireless communication UWB sensor 6, and layout is highly greater than step 4) middle UWB positioning label 4 height more than the 1m arranged; Each super wideband wireless communication UWB sensor 6 downward-sloping 25 degree based on plumb line, uses level gauge to ensure super wideband wireless communication UWB sensor 6 upper surface level at each super wideband wireless communication UWB sensor 6 back side.
Further, the quantity of described super wideband wireless communication UWB sensor 6 is 4.
Beneficial effect: a kind of method and device based on UWB, coal-winning machine absolute position being carried out to accurate calibration provided by the invention:
(1) adopt super wideband wireless navigation system (UWB), the mode combined by AOA and TDOA finally realizes carrying out accurate calibration to coal-winning machine absolute position.Wherein AOA refers to based on Received signal strength preset angle configuration, azimuth location survey, it is measuring-signal sends the transmitted wave arriving super wideband wireless communication UWB sensor angle from UWB positioning label, the radial line be wherein transmitted into the process of super wideband wireless communication UWB sensor from UWB positioning label can be called direction line, determines UWB positioning label and super wideband wireless communication UWB sensor angles relation according to direction line.TDOA points to and reaches time difference method, measure the time difference that different super wideband wireless communication UWB sensor receives the framing signal of same UWB positioning label, and calculating the range difference of UWB positioning label to different super wideband wireless communication UWB sensor thus, the general hyperbola location algorithm that adopts positions.
(2) as traditional in gear counting method, infrared emission method, supersonic reflection method etc. locate mode, owing to being underground work, various severe, complicated working condition restriction under being subject to mine, be subject to the impact of down-hole geological environment simultaneously, often can not realize accurately locating coal-winning machine, there is very large error, some aboveground conventional locate modes also cannot adopt.Choose UWB super wideband wireless communication system to coal-winning machine absolute position accurate calibration, make use of the advantage of UWB itself, its high bandwidth, low-power consumption, antijamming capability is strong, transfer rate is high, the availability of frequency spectrum is high, power system capacity is large, multi-path resolved rate high, ensure that the precision of location, reduce position error, provide coal-winning machine absolute position accurate calibration.The present invention carries out accurate calibration to coal-winning machine absolute position, has evaded in advance and has produced dangerous situation in process of production, had important reference value and practical significance.The inventive method use, safe and reliable, install and easy to operate.
Accompanying drawing explanation
Fig. 1 is that super wideband wireless communication UWB sensor of the present invention and UWB positioning label arrange schematic diagram;
Fig. 2 is coal-winning machine absolute position of the present invention accurate calibration device schematic diagram;
Fig. 3 is super wideband wireless communication UWB sensor mode of connection schematic diagram of the present invention;
Fig. 4 is super wideband wireless communication UWB working sensor mode schematic diagram of the present invention;
Fig. 5 is that super wideband wireless communication UWB sensor of the present invention locates schematic diagram mutually;
Fig. 6 is coal-winning machine absolute position of the present invention accurate calibration theory diagram.
In figure: 1, coal-winning machine fuselage; 2, coal-winning machine positioner; 3, positioner explosion-resistant enclosure; 4, UWB positioning label; 5, host computer; 6, super wideband wireless communication UWB sensor, wherein 6-1 is master reference, and 6-2,6-3,6-4 are from sensor; 7, hydraulic support; 8, scratch board conveyor; 9, goaf; 10, POE switch.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further described.
UWB technology has following important advantage:
(1), strong anti-interference performance: UWB signal, launch time by faint wireless pulse signals disperse in broad frequency band, power output even lower than conventional equipment produce noise.During reception, signal energy is restored, in despreading process, produce spreading gain.(2), transfer rate is high: the data rate of UWB can reach tens MBPSs to hundreds of MBPS, and speed is greatly improved compared to other modes.(3), very bandwidth is wide: the bandwidth that UWB uses, at more than 1GHz, up to a few GHz, and can work with current narrow-band communication system simultaneously and not interfere with each other.This is in today of frequency resource growing tension.Open a kind of new time-domain radio resource.(4), the availability of frequency spectrum is high, power system capacity is large: because do not need to produce sinusoidal carrier signal, directly launch impulse sequence, thus UWB system has very wide frequency spectrum and very low mean power, be conducive to coexisting with other system, thus improve the availability of frequency spectrum.(5), transmitting power is low: in short-range communications applications, the transmitting power of ultra-broadband emitter can be accomplished usually lower than 1mW.Contribute to well coexisting between ultra broadband and existing narrow band communication like this, the utilization rate improving wireless frequency spectrum is had a very big significance, better alleviate the radio spectrum resources problem of growing tension.(6), multi-path resolved rate is high: because it adopts is duration extremely short burst pulse, so its time upper and spatially resolution ratio is all extremely strong, carrying out of the activities such as convenient range finding, location, tracking.
If Fig. 1 is that UWB sensor of the present invention and positioning label arrange schematic diagram;
A kind of based on UWB coal-winning machine absolute position accurate calibration device, comprise coal-winning machine fuselage 1, coal-winning machine positioner 2, positioner explosion-resistant enclosure 3, host computer 5, several super wideband wireless communications UWB sensor 6 and POE switch 10; Coal-winning machine fuselage 1 is fixedly connected with positioner explosion-resistant enclosure 3; Coal-winning machine positioner 2 is connected in described positioner explosion-resistant enclosure 3; Described coal-winning machine positioner 2 comprises UWB positioning label 4; Described super wideband wireless communication UWB sensor 6 is equidistantly fixed on the hydraulic support of the end that coal-winning machine runs; All super wideband wireless communication UWB sensors 6 are all connected with host computer 5 by POE switch 10.
Further, super wideband wireless communication UWB sensor 6 adopts shielding line to be connected with POE switch 10.
Further, comprise the steps:
1), according to the distribution of ore deposit underworkings and coal mining environment, the hydraulic support of the end that coal-winning machine runs arranges four super wideband wireless communication UWB sensors 6; UWB positioning label 4 is placed in coal-winning machine positioner 2; Choose arbitrarily the master reference that a super wideband wireless communication UWB sensor 6 runs as coal-winning machine, its excess-three super wideband wireless communication UWB sensor 6 is as from sensor; The signal transmitting and receiving region of each super wideband wireless communication UWB sensor 6 delimited along production zone; The absolute coordinate of each super wideband wireless communication UWB sensor 6 is measured by laser range finder;
2), super wideband wireless communication UWB sensor 6 adopts POE mode; Set up Ethernet, be specially: arrange POE switch 10 and host computer 5, each super wideband wireless communication UWB sensor 6 is all connected with host computer 5 by POE switch 10, Ethernet, by the Dynamic Host Configuration Protocol server in host computer 5, provides IP address; Annular connected mode is adopted to connect between each super wideband wireless communication UWB sensor 6;
Annular connected mode connects super wideband wireless communication UWB sensor 6, and time signal exports from master reference arbitrary port, and order is input to the next port, the upper right corner from sensor, should be output interface from other interfaces of sensor.
3), host computer 5 collect super wideband wireless communication UWB sensor 6 launch framing signal, show all framing signals in host computer 5, then determine that ethernet network normally runs; Described host computer 5 receives transmitting of each super wideband wireless communication UWB sensor 6, according to the waveform maximum value setting noise threshold transmitted; Absolute coordinate according to each super wideband wireless communication UWB sensor 6 sets up coal-winning machine absolute position accurate calibration model in host computer 5;
4), choose arbitrarily a point in signal transmitting and receiving region and place UWB positioning label 4; The location algorithm adopting AOA and TDOA to combine is located UWB positioning label 4, is specially:
41) angular relationship of UWB positioning label (4) and each super wideband wireless communication UWB sensor (6) is obtained by AOA method; The time difference that UWB positioning label (4) receives the framing signal that any two super wideband wireless communication UWB sensor (6) are launched is measured by TDOA localization method;
42) according to step 41) all time differences of obtaining, adopt hyperbola location algorithm to calculate the position of UWB positioning label 4; The height of this UWB positioning label 4 and the distance between this UWB positioning label 4 and each super wideband wireless communication UWB sensor 6 can be recorded after obtaining the position of UWB positioning label 4, the Distance geometry height obtained is transported in the accurate calibration model of coal-winning machine absolute position, whether the position and the angle that detect each super wideband wireless communication UWB sensor 6 have deviation, calibrate;
AOA refers to based on Received signal strength preset angle configuration, it is measuring-signal is issued to the transmitted wave of super wideband wireless communication UWB sensor 6 angle from UWB positioning label 4, the radial line be wherein transmitted into the process of super wideband wireless communication UWB sensor 6 from UWB positioning label 4 can be called direction line, determines UWB positioning label 4 and super wideband wireless communication UWB sensor 6 angular relationship according to direction line; TDOA points to and reaches time difference method, measure the time difference that different super wideband wireless communication UWB sensor 6 receives the framing signal of UWB positioning label 4, and calculating the range difference of UWB positioning label 4 to different super wideband wireless communication UWB sensor 6 thus, the general hyperbola location algorithm that adopts positions.Adopt the mode that AOA and TDOA combines, UWB positioning label 4 position can be calculated by any two information, such as TDOA and AOA or two AOA, therefore ensures that UWB positioning label 4 at least can be received by two super wideband wireless communication UWB sensors 6 simultaneously.By TDOA and AOA volume location algorithm, super wideband wireless communication UWB sensor 6 is calibrated.
5), coal-winning machine carries out mining operations, super wideband wireless communication UWB sensor 6 sends host computer 5 by what collect to about UWB positioning label 4 data message in positioner 2, described the absolute location information of the UWB positioning label 4 in coal-winning machine positioner 2 by the data handling system in the accurate calibration model of coal-winning machine absolute position, namely obtain the exact position residing for coal-winning machine.
6), coal-winning machine run once terminate after, again calibrate, repeat step 4) ~ step 5).
Further, described step 1) in: sustained height position, the same side on the equally spaced hydraulic support being arranged in the end, termination that coal-winning machine runs of each super wideband wireless communication UWB sensor 6, and layout is highly greater than step 4) middle UWB positioning label 4 height more than the 1m arranged; Each super wideband wireless communication UWB sensor 6 downward-sloping 25 degree based on plumb line, uses level gauge to ensure super wideband wireless communication UWB sensor 6 upper surface level at each super wideband wireless communication UWB sensor 6 back side.
Fig. 3 is the connection mode of super wideband wireless communication UWB sensor 6, adopts annular connected mode to connect; Time signal exports from master reference arbitrary port, and sequentially must be input to the next port, the upper right corner from sensor, be output interface from other interfaces of sensor, and its connecting line is the netting twine of band shielding, and master reference ensures time synchronized as time source.Select POE mode, each super wideband wireless communication UWB sensor 6 is connected with POE switch 10 interface by netting twine, sets up Ethernet.POE switch is connected with host computer by netting twine, by Dynamic Host Configuration Protocol server, provides IP address.
Fig. 4 is the general principle of super wideband wireless communication UWB sensor 6 location, is namely positioned UWB positioning label 4 by AOA and TDOA mode.A1, a2 are azimuth, i.e. the angle that will measure of AOA locate mode.T1, T2 are the time that UWB positioning label 4 arrives two super wideband wireless communication UWB sensors 6, and T=T1-T2 is that the time of advent is poor, and namely TDOA mode is poor for the time of advent that will measure.
Fig. 5 is in coal-winning machine recovery process, four super wideband wireless communication UWB sensors 6 are owing to being arranged on the hydraulic support of end, and can move along with the movement of hydraulic support, be arranged on the tip position place super wideband wireless communication UWB sensor of coal-winning machine operation as fixed base stations.In coal-winning machine recovery process, every back production once, along with it, one of them super wideband wireless communication UWB sensor 6 can arrange that the hydraulic support at place moves, all use 3 coordinates not having the super wideband wireless communication UWB sensor 6 of movement to remove to determine the super wideband wireless communication UWB sensor 6 after moving after therefore moving at every turn; So with the super wideband wireless communication UWB sensor 6 of 3 not movements determine mobile after the absolute coordinate of super wideband wireless communication UWB sensor 6.
Fig. 6 is coal-winning machine absolute position of the present invention accurate calibration theory diagram.Namely the basis of super wideband wireless communication UWB sensor 6 as system is chosen, first be arrange super wideband wireless communication UWB sensor 6 in down-hole, by setting up the management of coal-winning machine absolute position accurate calibration model realization to super wideband wireless communication UWB sensor 6 at host computer 5, in coal-winning machine exploitation process, super wideband wireless communication UWB sensor 6 accepts UWB positioning label signal and transfers data to host computer, by host computer 5 pairs of signal managements and data processing, finally obtain coal-winning machine absolute position.
The above is only the preferred embodiment of the present invention; be noted that for those skilled in the art; under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (5)
1. based on a UWB coal-winning machine absolute position accurate calibration device, it is characterized in that: comprise coal-winning machine fuselage (1), coal-winning machine positioner (2), positioner explosion-resistant enclosure (3), host computer (5), several super wideband wireless communications UWB sensor (6) and POE switch (10); Coal-winning machine fuselage (1) is fixedly connected with positioner explosion-resistant enclosure (3); Coal-winning machine positioner (2) is connected in described positioner explosion-resistant enclosure (3); Described coal-winning machine positioner (2) comprises UWB positioning label (4); Described super wideband wireless communication UWB sensor (6) is equidistantly fixed on the hydraulic support of the end that coal-winning machine runs; All super wideband wireless communication UWB sensor (6) are all connected with host computer (5) by POE switch (10).
2. one according to claim 1 is based on UWB coal-winning machine absolute position accurate calibration device, it is characterized in that: super wideband wireless communication UWB sensor (6) adopts shielding line to be connected with POE switch (10).
3. one according to claim 1 is based on UWB coal-winning machine absolute position accurate calibration method, it is characterized in that: comprise the steps:
1), according to the distribution of ore deposit underworkings and coal mining environment, the hydraulic support of the end that coal-winning machine runs arranges several super wideband wireless communications UWB sensor (6); UWB positioning label (4) is placed in coal-winning machine positioner (2); The signal transmitting and receiving region of each super wideband wireless communication UWB sensor (6) delimited along production zone; The absolute coordinate of each super wideband wireless communication UWB sensor (6) is measured by laser range finder;
2), super wideband wireless communication UWB sensor (6) adopts POE mode; Set up Ethernet, be specially: arrange POE switch (10) and host computer (5), each super wideband wireless communication UWB sensor (6) is all connected with host computer (5) by POE switch (10), and adopts annular connected mode to connect between each super wideband wireless communication UWB sensor (6);
3), described host computer (5) receives transmitting of each super wideband wireless communication UWB sensor (6), according to the waveform maximum value setting noise threshold transmitted; Absolute coordinate according to each super wideband wireless communication UWB sensor (6) sets up coal-winning machine absolute position accurate calibration model in host computer (5);
4), choose arbitrarily a point in signal transmitting and receiving region and place UWB positioning label (4); The location algorithm adopting AOA and TDOA to combine, to UWB positioning label (4) location, is specially:
41) angular relationship of UWB positioning label (4) and each super wideband wireless communication UWB sensor (6) is obtained by AOA method; The time difference that UWB positioning label (4) receives the framing signal that any two super wideband wireless communication UWB sensor (6) are launched is measured by TDOA localization method;
42) according to step 41) all time differences of obtaining, adopt hyperbola location algorithm to calculate the position of UWB positioning label (4); The height of this UWB positioning label (4) and the distance between this UWB positioning label (4) and each super wideband wireless communication UWB sensor (6) can be recorded after obtaining the position of UWB positioning label (4), the Distance geometry height obtained is transported in the accurate calibration model of coal-winning machine absolute position, whether the position and the angle that detect each super wideband wireless communication UWB sensor (6) have deviation, calibrate;
5), coal-winning machine carries out mining operations, super wideband wireless communication UWB sensor (6) sends host computer (5) by what collect to about UWB positioning label (4) data message in positioner (2), described the absolute location information of the UWB positioning label (4) in coal-winning machine positioner (2) by the data handling system in the accurate calibration model of coal-winning machine absolute position, namely obtain the exact position residing for coal-winning machine.
6), coal-winning machine run once terminate after, again calibrate, repeat step 4) ~ step 5).
4. one according to claim 3 is based on UWB coal-winning machine absolute position accurate calibration method, it is characterized in that: described step 1) in: sustained height position, the same side on the equally spaced hydraulic support being arranged in the end, termination that coal-winning machine runs of each super wideband wireless communication UWB sensor (6), and layout is highly greater than step 4) middle UWB positioning label (4) height more than the 1m arranged; Each super wideband wireless communication UWB sensor (6) downward-sloping 25 degree based on plumb line, uses level gauge to ensure super wideband wireless communication UWB sensor (6) upper surface level at each super wideband wireless communication UWB sensor (6) back side.
5. one according to claim 1 is based on UWB coal-winning machine absolute position accurate calibration method, it is characterized in that: the quantity of described super wideband wireless communication UWB sensor (6) is 4.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410749250.5A CN104612682B (en) | 2014-12-09 | 2014-12-09 | One kind is based on UWB coal-winning machines absolute position accurate calibration method and device |
| PCT/CN2015/092936 WO2016091020A1 (en) | 2014-12-09 | 2015-10-27 | Uwb-based precise calibration method and apparatus for absolute position of coal cutter |
| AU2015388821A AU2015388821B2 (en) | 2014-12-09 | 2015-11-03 | Dynamic locating method and device based on UWB combined with laser ranging |
| ZA2016/05789A ZA201605789B (en) | 2014-12-09 | 2016-08-19 | Uwb-based precise calibration method and apparatus for absolute position of coal cutter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410749250.5A CN104612682B (en) | 2014-12-09 | 2014-12-09 | One kind is based on UWB coal-winning machines absolute position accurate calibration method and device |
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| Publication Number | Publication Date |
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| CN104612682A true CN104612682A (en) | 2015-05-13 |
| CN104612682B CN104612682B (en) | 2017-11-24 |
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| CN201410749250.5A Expired - Fee Related CN104612682B (en) | 2014-12-09 | 2014-12-09 | One kind is based on UWB coal-winning machines absolute position accurate calibration method and device |
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| CN (1) | CN104612682B (en) |
| WO (1) | WO2016091020A1 (en) |
| ZA (1) | ZA201605789B (en) |
Cited By (23)
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| WO2016091020A1 (en) * | 2014-12-09 | 2016-06-16 | 中国矿业大学 | Uwb-based precise calibration method and apparatus for absolute position of coal cutter |
| WO2016155308A1 (en) * | 2015-03-27 | 2016-10-06 | 中国矿业大学 | Dynamic locating method and device based on uwb combined with laser ranging |
| CN106194177A (en) * | 2015-05-28 | 2016-12-07 | 联邦科学和工业研究组织 | The miner improved and control method |
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| GB2550662A (en) * | 2016-03-24 | 2017-11-29 | Joy Mm Delaware Inc | Longwall system face alignment detection and steering |
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| CN112484625A (en) * | 2020-11-12 | 2021-03-12 | 西南交通大学 | High-precision displacement measurement method based on UWB channel impulse response |
| CN112484625B (en) * | 2020-11-12 | 2021-09-17 | 西南交通大学 | High-precision displacement measurement method based on UWB channel impulse response |
| CN112360457B (en) * | 2020-12-11 | 2022-11-08 | 深圳市翌日科技有限公司 | Coal mining machine positioning method based on triangular coal cutting principle |
| CN112360457A (en) * | 2020-12-11 | 2021-02-12 | 深圳市翌日科技有限公司 | Coal mining machine positioning method based on triangular coal cutting principle |
| CN113154989A (en) * | 2020-12-25 | 2021-07-23 | 中国人民解放军战略支援部队信息工程大学 | Dynamic precision calibration method of UWB system |
| CN113316247A (en) * | 2021-05-24 | 2021-08-27 | 三一智矿科技有限公司 | Positioning system, method and device for underground working face of coal mine |
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| CN113993083A (en) * | 2021-09-09 | 2022-01-28 | 中用科技有限公司 | Regional personnel management system and method |
| CN114413868A (en) * | 2022-02-09 | 2022-04-29 | 国网浙江省电力有限公司经济技术研究院 | Total station aiming reflecting prism system and method based on UWB and electric control glass |
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|---|---|
| CN104612682B (en) | 2017-11-24 |
| WO2016091020A1 (en) | 2016-06-16 |
| ZA201605789B (en) | 2018-05-30 |
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