CN104612682B - One kind is based on UWB coal-winning machines absolute position accurate calibration method and device - Google Patents
One kind is based on UWB coal-winning machines absolute position accurate calibration method and device Download PDFInfo
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- CN104612682B CN104612682B CN201410749250.5A CN201410749250A CN104612682B CN 104612682 B CN104612682 B CN 104612682B CN 201410749250 A CN201410749250 A CN 201410749250A CN 104612682 B CN104612682 B CN 104612682B
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- 238000004891 communication Methods 0.000 claims abstract description 95
- 239000003245 coal Substances 0.000 claims abstract description 32
- 238000005065 mining Methods 0.000 claims abstract description 32
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- 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
- E21C35/08—Guiding the machine
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Abstract
The present invention discloses one kind and is based on UWB coal-winning machines absolute position accurate calibration method and device, including coal-winning machine fuselage, coal mining machine positioning device, positioner explosion-resistant enclosure, host computer, four super wideband wireless communication UWB sensors and POE interchangers；The stationary positioned device explosion-resistant enclosure on coal-winning machine fuselage；Coal mining machine positioning device is connect in positioner explosion-resistant enclosure；Coal mining machine positioning device includes UWB positioning labels；Super wideband wireless communication UWB sensors are equidistantly fixed on the hydraulic support of end；Super wideband wireless communication UWB sensors are connected by POE interchangers with host computer.Of the invention to carry out accurate calibration strong antijamming capability using super wideband wireless communication UWB, transmission rate is high, has higher bandwidth, lower power consumption and can provide being accurately positioned for silo shearer, securely and reliably and is easily installed, is easy to operate.
Description
Technical field
It is particularly a kind of to be based on UWB pairs the present invention relates to a kind of method and device of coal-winning machine absolute position accurate calibration
Coal-winning machine absolute position carries out the method and device of accurate calibration.
Background technology
Coal resources are the main energy sources in China, and the rational exploitation and utilization to coal resources are current mining industry health hairs
The premise of exhibition.In the recovery process of coal resources, coal-winning machine is one of important equipment of underground work.Currently, in fully mechanized mining work
When making the face normal coal mining activity of progress, the linkage of coal-winning machine, drag conveyor and hydraulic support is still adopted under many circumstances
Manually mode is operated, but to realize the automation of whole process, it is necessary to realize coal-winning machine, scratch board conveyor and hydraulic pressure
The three machines linkage automation of support.Simultaneously as China's coal field geology complicated condition, underground mining bad environments, working condition
The problems such as arduous, protrudes, and this, which operates and run for coal-winning machine, proposes higher level requirement.Regardless of whether it is that three machines link certainly
Dynamicization or coal-winning machine recovery process, the accurate calibration to coal-winning machine absolute position are the important foundations for completing coal mining activity.By
Then underground work, the calibrating mode that some we commonly use can not often meet the needs of current accurate calibration, with modernization
The development of science and technology, the progressively intensification of super wideband wireless alignment system (UWB) research so as to the accurate school of coal-winning machine absolute position
Standard is possibly realized.
Ultra wide band (UWB) technology, also known as impulse radio electricity (Impulse Radio) technology, are nothings more advanced at present
Line mechanics of communication.It realizes ultra wide band in short distance, the data transfer of high speed, while the modulation system of UWB technology and adopts
The features such as multiple access technology, makes it have the broader bandwidth, data transfer of high speed, low compared to other wireless communication technologys
Power consumption, the features such as security performance is high, therefore cause the attention of people.UWB technology is increasingly becoming wireless communication field research
One focus of exploitation, and it is considered as the key technology of next generation wireless communication.For sides such as infrared, bluetooth, wireless, bigbee
Method, it must be measured due to infrared in visual range, comparatively Bluetooth technology does not have full maturity, and communication speed
It is low, wireless and bigbee mainly as the communication in short distance and reliability it is low, it is unstable, therefore often result in precision and do not reach
Demand.UWB technology has the advantages of precision is high relative to these modes.
In the classical calibration fashion of coal-winning machine, tend not to enough realize accurate calibration, constant error be present.This is due to
Bad environments under mine, the precision of measurement are often limited by the various conditions in underground, it is impossible to realize the requirement of accurate calibration.
Currently, the coal-winning machine positioning method that underground coal mine typically uses mainly has gear counting method, infrared emission method, ultrasonic reflections
Method, radio sensing network coal-winning machine positioning mode and pure-inertial guidance method.Wherein, it is by row that coal-winning machine gear, which counts positioning mode,
The number of turns for walking portion's pinion rotation is counted, and orients the position of coal-winning machine according to hydraulic support.This method is simpler
Single, cost is low, but because coal-winning machine is moved along working face transverse direction and longitudinal direction in operation process, and gear counting method can only
Coal-winning machine walking distance is determined, therefore causes positioning inaccurate, produces very big error.Infrared emission positioning rule is in coal-winning machine
Fuselage installs infrared launcher, is fixed with infrared receiving device in hydraulic support, in coal-winning machine operation process, passes through reception
The device analysis strong and weak to reception signal, so as to judge coal-winning machine particular location.Being using the shortcomings that this method can not be continuous
Detection coal-winning machine position, while the transmitting and reception of infrared signal necessarily be in same level, otherwise be difficult effective
Reception signal, therefore in the subsurface environment of reality, because disturbing factor is numerous, can not often be accurately positioned.Pure inertia is determined
Position method is that the axle acceleration and axis angular rate of coal-winning machine are drawn using accelerometer and gyroscope, then determines to adopt by algorithm
The position of coal machine.This method shortcoming is due to that gyroscope and accelerometer have drift, and coal-winning machine has very in the course of the work
Strong vibrations, thus precision it is difficult to ensure that, can not also realize the absolute fix to coal-winning machine.
The content of the invention
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention provides a kind of exhausted to coal-winning machine based on UWB
The method and device of accurate calibration is carried out to position, realizes and coal-winning machine is accurately positioned.
Technical scheme：To achieve the above object, the technical solution adopted by the present invention is：
One kind is based on UWB coal-winning machines absolute position accurate calibration device, including coal-winning machine fuselage 1, coal mining machine positioning device
2nd, positioner explosion-resistant enclosure 3, host computer 5, several super wideband wireless communication UWB sensors 6 and POE interchangers 10；Adopting
Positioner explosion-resistant enclosure 3 is fixedly connected with coal machine fuselage 1；Connection coal-winning machine positioning dress in the positioner explosion-resistant enclosure 3
Put 2；The coal mining machine positioning device 2 includes UWB positioning labels 4；The super wideband wireless communication UWB sensors 6 are equidistant
It is fixed on the hydraulic support of the end of coal-winning machine operation；All super wideband wireless communication UWB sensors 6 are handed over by POE
Change planes and 10 be connected with host computer 5.
Further, super wideband wireless communication UWB sensors 6 are connected with POE interchangers 10 using shielding line.
One kind is based on UWB coal-winning machines absolute position accurate calibration method, comprises the following steps：
1), according to the distribution of ore deposit underworkings and coal mining environment, arranged on the hydraulic support of the end of coal-winning machine operation
Several super wideband wireless communication UWB sensors 6；UWB positioning labels 4 are placed in coal mining machine positioning device 2；Along production zone
Delimit the signal transmitting and receiving region of each super wideband wireless communication UWB sensors 6；By laser range finder measure each ultra wide band without
The absolute coordinate of line communication UWB sensors 6；
2), super wideband wireless communication UWB sensors 6 use POE mode；Ethernet is established, is specially：Arrangement
POE interchangers 10 and host computer 5, each super wideband wireless communication UWB sensors 6 are connected by POE interchangers 10 and host computer 5
Connect, and connected between each super wideband wireless communication UWB sensors 6 using annular connected mode；
3), the host computer 5 receives the transmission signal of each super wideband wireless communication UWB sensors 6, is believed according to transmitting
Number waveform maximum setting noise threshold；The absolute coordinate of UWB sensors 6 is communicated in host computer according to each super wideband wireless
Coal-winning machine absolute position accurate calibration model is established in 5；
4), arbitrarily choose a point in signal transmitting and receiving region and place UWB positioning labels 4；Determined using what AOA and TDOA was combined
Position algorithm positions to UWB positioning labels 4, is specially：
41) UWB positioning labels (4) are obtained by AOA methods and each super wideband wireless communicates the angle of UWB sensors (6)
Relation；Any two super wideband wireless communication UWB sensors (6) are received by TDOA localization methods measurement UWB positioning labels (4)
The time difference of the positioning signal of transmitting；
42) all time differences obtained according to step 41), UWB positioning labels 4 are calculated using hyperbola location algorithm
Position；Obtain to measure behind the position of UWB positioning labels 4 UWB positioning labels 4 height and UWB positioning labels 4 with it is each
The distance between individual super wideband wireless communication UWB sensors 6, coal-winning machine absolute position essence is transported to by obtained distance and height
In true calibrating patterns, whether the position and angle of detecting each super wideband wireless communication UWB sensors 6 have deviation, are calibrated；
5), coal-winning machine carries out mining operations, and super wideband wireless communication UWB sensors 6 will be collected on positioner 2
In UWB positioning the data message of label 4 send host computer 5 to, by the data in the accurate calibration model of coal-winning machine absolute position
Reason system describes the absolute location information of the UWB positioning labels 4 in coal mining machine positioning device 2, that is, obtains the essence residing for coal-winning machine
True position.
6) after, coal-winning machine operation once terminates, calibrated again, repeat step 4)~step 5).
Further, in the step 1)：Each super wideband wireless communication UWB sensors 6 are arranged in coal mining at equal intervals
The same side sustained height position on the hydraulic support of the termination end of machine operation, and arrange that height is more than arrangement in step 4)
UWB positions more than the height 1m of label 4；Each super wideband wireless communication UWB sensors 6 tilt down 25 degree based on plumb line,
Each back side use level instrument of super wideband wireless communication UWB sensors 6 ensures the upper surface of super wideband wireless communication UWB sensors 6
It is horizontal.
Further, the quantity of the super wideband wireless communication UWB sensors 6 is 4.
Beneficial effect：It is provided by the invention it is a kind of based on UWB to coal-winning machine absolute position carry out accurate calibration method and
Device：
(1) super wideband wireless alignment system (UWB) is used, it is final by way of AOA is combined with TDOA to realize to mining
Machine absolute position carries out accurate calibration.Wherein AOA refers to based on reception signal preset angle configuration, azimuth positioning measurement, is measurement signal
The angle of the transmitted wave up to super wideband wireless communication UWB sensors is issued to from UWB positioning labels, wherein positioning label from UWB
It is transmitted into the RADIAL during super wideband wireless communicates UWB sensors and is properly termed as direction line, is determined according to direction line
UWB positions label and super wideband wireless communication UWB sensor angles relations.TDOA is pointed to up to time difference method, is that measurement is different super
Broadband wireless communication UWB sensors receive the time difference of the positioning signal of same UWB positioning label, and thus calculate UWB
Label is positioned to the range difference of different super wideband wireless communication UWB sensors, is typically positioned using hyperbola location algorithm.
(2) such as traditional positioning method of gear counting method, infrared emission method, supersonic reflection method, due to being that underground is made
Industry, limited by various severe, complicated working conditions under mine, while influenceed by underground geological environment, tended not to
Enough realize is accurately positioned to coal-winning machine, very big error be present, and the positioning method commonly used on some wells can not also use.Choose
UWB super wideband wireless communication system make use of the advantages of UWB in itself to coal-winning machine absolute position accurate calibration, its high bandwidth, low
The features such as power consumption, strong antijamming capability, transmission rate are high, the availability of frequency spectrum is high, power system capacity is big, multi-path resolved rate is high, ensures
The precision of positioning, position error is reduced, provides coal-winning machine absolute position accurate calibration.The present invention enters to coal-winning machine absolute position
Row accurate calibration, the situation for producing danger is in process of production evaded in advance, there is important reference value and practical significance.
The inventive method uses, and securely and reliably, installs and easy to operate.
Brief description of the drawings
Fig. 1 is super wideband wireless communication UWB sensors and UWB positioning label arrangement schematic diagram of the present invention；
Fig. 2 is coal-winning machine absolute position accurate calibration schematic device of the present invention；
Fig. 3 is super wideband wireless communication UWB sensor wire schematic diagrams of the present invention；
Fig. 4 is super wideband wireless communication UWB working sensor schematic diagrams of the present invention；
Fig. 5 is that super wideband wireless communication UWB sensors of the present invention are mutually located schematic diagram；
Fig. 6 is coal-winning machine absolute position accurate calibration theory diagram of the present invention.
In figure：1st, coal-winning machine fuselage；2nd, coal mining machine positioning device；3rd, positioner explosion-resistant enclosure；4th, UWB positions label；
5th, host computer；6th, super wideband wireless communication UWB sensors, wherein 6-1 are master reference, and 6-2,6-3,6-4 are from sensor；7、
Hydraulic support；8th, scratch board conveyor；9th, goaf；10th, POE interchangers.
Embodiment
The present invention is further described below in conjunction with the accompanying drawings.
UWB technology has following important advantage：
(1), strong anti-interference performance：UWB signal, in transmitting by faint wireless pulse signals disperse in broad frequency
In band, power output is even below noise caused by conventional equipment.Signal energy is restored during reception, in despreading process
Produce spreading gain.(2), transmission rate is high：It is every to hundreds of megabits that UWB data rate can reach tens MBPSs
Second, speed is greatly improved compared to other modes.(3), very bandwidth is wide：The bandwidth that UWB is used is in more than 1GHz, up to
Several GHz, and can simultaneously work and not interfere with each other with current narrow-band communication system.This present in frequency resource growing tension
My god.Open a kind of new time-domain radio resource.(4), the availability of frequency spectrum is high, and power system capacity is big：Because it need not produce just
String carrier signal, directly launch impulse sequence, thus UWB systems have very wide frequency spectrum and very low mean power, are advantageous to
Coexisted with other systems, so as to improve the availability of frequency spectrum.(5), transmission power is low：In short-range communications applications, ultra wide band
The transmission power of emitter can generally accomplish to be less than 1mW.So contribute to good common between ultra wide band and existing narrow band communication
Deposit, had a very big significance for the utilization rate for improving wireless frequency spectrum, the radio spectrum resources for preferably alleviating growing tension are asked
Topic.(6), multi-path resolved rate is high：Because it is using duration extremely short burst pulse, its time is upper and spatially
Resolution ratio be all extremely strong, facilitate ranging, positioning, tracking etc. activity development.
If Fig. 1 is that UWB sensors of the present invention and positioning label arrange schematic diagram；
One kind is based on UWB coal-winning machines absolute position accurate calibration device, including coal-winning machine fuselage 1, coal mining machine positioning device
2nd, positioner explosion-resistant enclosure 3, host computer 5, several super wideband wireless communication UWB sensors 6 and POE interchangers 10；Adopting
Positioner explosion-resistant enclosure 3 is fixedly connected with coal machine fuselage 1；Connection coal-winning machine positioning dress in the positioner explosion-resistant enclosure 3
Put 2；The coal mining machine positioning device 2 includes UWB positioning labels 4；The super wideband wireless communication UWB sensors 6 are equidistant
It is fixed on the hydraulic support of the end of coal-winning machine operation；All super wideband wireless communication UWB sensors 6 are handed over by POE
Change planes and 10 be connected with host computer 5.
Further, super wideband wireless communication UWB sensors 6 are connected with POE interchangers 10 using shielding line.
Further, comprise the following steps：
1), according to the distribution of ore deposit underworkings and coal mining environment, arranged on the hydraulic support of the end of coal-winning machine operation
Four super wideband wireless communication UWB sensors 6；UWB positioning labels 4 are placed in coal mining machine positioning device 2；It is any to choose one
Super wideband wireless communication UWB 6 master references as coal-winning machine operation of sensor, its excess-three super wideband wireless communication UWB are passed
Sensor 6 is used as from sensor；The signal transmitting and receiving region of each super wideband wireless communication UWB sensors 6 delimited along production zone；It is logical
Cross the absolute coordinate that laser range finder measures each super wideband wireless communication UWB sensors 6；
2), super wideband wireless communication UWB sensors 6 use POE mode；Ethernet is established, is specially：Arrangement
POE interchangers 10 and host computer 5, each super wideband wireless communication UWB sensors 6 are connected by POE interchangers 10 and host computer 5
Connect, Ethernet passes through the Dynamic Host Configuration Protocol server in host computer 5, there is provided IP address；Each super wideband wireless communication UWB sensors 6 it
Between using annular connected mode connect；
Annular connected mode connection super wideband wireless communication UWB sensors 6, time signal is defeated from master reference arbitrary port
Go out, be sequentially input at next upper right corner port from sensor, should be output interface from other interfaces of sensor.
3), host computer 5 collects the positioning signal of the transmitting of super wideband wireless communication UWB sensors 6, and institute is shown in host computer 5
Some positioning signals, it is determined that ethernet network normal operation；The host computer 5 receives each super wideband wireless communication UWB
The transmission signal of sensor 6, noise threshold is set according to the waveform maximum of transmission signal；Communicated according to each super wideband wireless
The absolute coordinate of UWB sensors 6 establishes coal-winning machine absolute position accurate calibration model in host computer 5；
4), arbitrarily choose a point in signal transmitting and receiving region and place UWB positioning labels 4；Determined using what AOA and TDOA was combined
Position algorithm positions to UWB positioning labels 4, is specially：
41) UWB positioning labels (4) are obtained by AOA methods and each super wideband wireless communicates the angle of UWB sensors (6)
Relation；Any two super wideband wireless communication UWB sensors (6) are received by TDOA localization methods measurement UWB positioning labels (4)
The time difference of the positioning signal of transmitting；
42) all time differences obtained according to step 41), UWB positioning labels 4 are calculated using hyperbola location algorithm
Position；Obtain to measure behind the position of UWB positioning labels 4 UWB positioning labels 4 height and UWB positioning labels 4 with it is each
The distance between individual super wideband wireless communication UWB sensors 6, coal-winning machine absolute position essence is transported to by obtained distance and height
In true calibrating patterns, whether the position and angle of detecting each super wideband wireless communication UWB sensors 6 have deviation, are calibrated；
AOA refers to be based on reception signal preset angle configuration, is that measurement signal is issued to super wideband wireless from UWB positioning labels 4 and led to
The angle of the transmitted wave of UWB sensors 6 is interrogated, wherein being transmitted into super wideband wireless communication UWB sensors 6 from UWB positioning labels 4
During RADIAL be properly termed as direction line, according to direction line come determine UWB positioning label 4 and super wideband wireless communicate UWB
The angular relationship of sensor 6；TDOA is pointed to up to time difference method, is that the different super wideband wireless communication UWB sensors 6 of measurement receive
The time difference of the positioning signal of UWB positioning labels 4, and thus calculate UWB and position label 4 to the communication of different super wideband wireless
The range difference of UWB sensors 6, typically positioned using hyperbola location algorithm.By the way of AOA and TDOA is combined, UWB
Positioning label 4 position can be calculated by any two information, such as a TDOA and AOA either two AOA, therefore ensure
UWB positioning label 4 at least can communicate UWB sensors 6 by two super wideband wireless and receive simultaneously.Pass through TDOA and AOA volumes
Location algorithm communicates UWB sensors 6 to super wideband wireless and calibrated.
5), coal-winning machine carries out mining operations, and super wideband wireless communication UWB sensors 6 will be collected on positioner 2
In UWB positioning the data message of label 4 send host computer 5 to, by the data in the accurate calibration model of coal-winning machine absolute position
Reason system describes the absolute location information of the UWB positioning labels 4 in coal mining machine positioning device 2, that is, obtains the essence residing for coal-winning machine
True position.
6) after, coal-winning machine operation once terminates, calibrated again, repeat step 4)~step 5).
Further, in the step 1)：Each super wideband wireless communication UWB sensors 6 are arranged in coal mining at equal intervals
The same side sustained height position on the hydraulic support of the termination end of machine operation, and arrange that height is more than arrangement in step 4)
UWB positions more than the height 1m of label 4；Each super wideband wireless communication UWB sensors 6 tilt down 25 degree based on plumb line,
Each back side use level instrument of super wideband wireless communication UWB sensors 6 ensures the upper surface of super wideband wireless communication UWB sensors 6
It is horizontal.
Fig. 3 is the connection mode of super wideband wireless communication UWB sensors 6, is connected using annular connected mode；Time signal
Exported from master reference arbitrary port, it is necessary to be sequentially input at next upper right corner port from sensor, from sensor
Other interfaces are output interface, and its connecting line is the netting twine with shielding, and master reference ensures time synchronized as time source.From
POE mode, each super wideband wireless communication UWB sensors 6 are connected with the interface of POE interchangers 10 by netting twine, established
Ethernet.POE interchangers are connected by netting twine with host computer, pass through Dynamic Host Configuration Protocol server, there is provided IP address.
Fig. 4 is the general principle that super wideband wireless communicates the positioning of UWB sensors 6, i.e., by AOA and TDOA modes to UWB
Positioning label 4 is positioned.A1, a2 are azimuth, i.e. the AOA positioning methods angle to be measured.T1, T2 are UWB positioning marks
Label 4 reach the time of two super wideband wireless communication UWB sensors 6, and T=T1-T2 is reaching time-difference, i.e. TDOA modes are wanted
The reaching time-difference of measurement.
Fig. 5 is in coal-winning machine recovery process, and four super wideband wireless communicate UWB sensors 6 due to being arranged in end
Hydraulic support on, and can be moved with the movement of hydraulic support, be arranged on ultra-wide at the tip position of coal-winning machine operation
Band wireless telecommunications UWB sensors are as fixed base stations.In coal-winning machine recovery process per back production once, one of ultra wide band
The meeting of wireless telecommunications UWB sensors 6 is moved with the hydraulic support where its arrangement, therefore is not all moved with 3 after movement every time
The coordinate for the super wideband wireless communication UWB sensors 6 that dynamic super wideband wireless communication UWB sensors 6 are gone after determination movement；So
UWB sensors 6, which are communicated, with 3 super wideband wireless not moved determines the exhausted of the super wideband wireless communication UWB sensors 6 after movement
To coordinate.
Fig. 6 is coal-winning machine absolute position accurate calibration theory diagram of the present invention.Choose super wideband wireless communication UWB sensings
Basis of the device 6 as system, it is to communicate UWB sensors 6 in underground arrangement super wideband wireless first, by being established in host computer 5
Coal-winning machine absolute position accurate calibration model realization communicates the management of UWB sensors 6 to super wideband wireless, in coal-winning machine back production
Cheng Zhong, super wideband wireless communication UWB sensor 6 receives UWB positioning label signals and transfers data to host computer, by host computer 5
To signal management and data processing, coal-winning machine absolute position is finally given.
Described above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (4)
1. one kind is based on UWB coal-winning machines absolute position accurate calibration method, including coal-winning machine fuselage (1), coal mining machine positioning device
(2), positioner explosion-resistant enclosure (3), host computer (5), several super wideband wireless communication UWB sensors (6) and POE interchangers
(10)；Positioner explosion-resistant enclosure (3) is fixedly connected with coal-winning machine fuselage (1)；Connect in the positioner explosion-resistant enclosure (3)
Connect coal mining machine positioning device (2)；The coal mining machine positioning device (2) includes UWB positioning labels (4)；The super wideband wireless
Communication UWB sensors (6) are equidistantly fixed on the hydraulic support of the end of coal-winning machine operation；All super wideband wireless communications
UWB sensors (6) are connected by POE interchangers (10) with host computer (5), it is characterised in that：Comprise the following steps：
1), according to the distribution of ore deposit underworkings and coal mining environment, arranged on the hydraulic support of the end of coal-winning machine operation some
Individual super wideband wireless communication UWB sensors (6)；UWB positioning labels (4) are placed in coal mining machine positioning device (2)；Along mining area
The signal transmitting and receiving region of each super wideband wireless communication UWB sensors (6) delimited in domain；Each ultra-wide is measured by laser range finder
Absolute coordinate with wireless telecommunications UWB sensors (6)；
2), super wideband wireless communication UWB sensors (6) use POE mode；Ethernet is established, is specially：Arrange POE
Interchanger (10) and host computer (5), each super wideband wireless communication UWB sensors (6) by POE interchangers (10) with it is upper
Machine (5) connects, and is connected between each super wideband wireless communication UWB sensors (6) using annular connected mode；
3), the host computer (5) receives the transmission signal of each super wideband wireless communication UWB sensors (6), is believed according to transmitting
Number waveform maximum setting noise threshold；The absolute coordinate of UWB sensors (6) is communicated upper according to each super wideband wireless
Coal-winning machine absolute position accurate calibration model is established in machine (5)；
4), arbitrarily choose a point in signal transmitting and receiving region and place UWB positioning labels (4)；The positioning combined using AOA and TDOA
Algorithm positions label (4) positioning to UWB, is specially：
41) UWB positioning labels (4) are obtained by AOA and each super wideband wireless communicates the angular relationship of UWB sensors (6)；By
TDOA measures the time difference that different super wideband wireless communication UWB sensors (6) receive the positioning signal of UWB positioning labels (4)；
42) all time differences obtained according to step 41), the position of UWB positioning labels (4) is calculated using hyperbola location algorithm
Put；The height of UWB positioning labels (4) can be measured after obtaining the position of UWB positioning labels (4) and the UWB positions label (4)
The distance between each super wideband wireless communication UWB sensors (6), it is absolute that obtained distance and height are transported to coal-winning machine
In the accurate calibration model of position, whether the position and angle of detecting each super wideband wireless communication UWB sensors (6) have deviation,
Calibrated；
5), coal-winning machine carries out mining operations, and super wideband wireless communication UWB sensors (6) will be collected on positioner (2)
In UWB positioning label (4) data message send host computer (5) to, by the number in the accurate calibration model of coal-winning machine absolute position
Describe the absolute location information of the UWB positioning labels (4) in coal mining machine positioning device (2) according to processing system, that is, obtain coal-winning machine
Residing exact position；
6) after, coal-winning machine operation once terminates, calibrated again, repeat step 4)~step 5).
2. one kind according to claim 1 is based on UWB coal-winning machines absolute position accurate calibration method, it is characterised in that：It is super
Broadband wireless communication UWB sensors (6) are connected with POE interchangers (10) using shielding line.
3. one kind according to claim 1 is based on UWB coal-winning machines absolute position accurate calibration method, it is characterised in that：Institute
State in step 1)：Each super wideband wireless communication UWB sensors (6) are arranged in the termination end of coal-winning machine operation at equal intervals
Hydraulic support on the same side sustained height position, and arrange height be more than step 4) in arrangement UWB positioning label (4) height
More than 1m；Each super wideband wireless communication UWB sensors (6) tilt down 25 degree based on plumb line, in each super wideband wireless
Communicate UWB sensors (6) back side use level instrument and ensure that super wideband wireless communication UWB sensors (6) upper surface is horizontal.
4. one kind according to claim 1 is based on UWB coal-winning machines absolute position accurate calibration method, it is characterised in that：Institute
The quantity for stating super wideband wireless communication UWB sensors (6) is 4.
Priority Applications (4)
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|---|---|---|---|
| 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 |
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| 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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| CN104612682A CN104612682A (en) | 2015-05-13 |
| CN104612682B true CN104612682B (en) | 2017-11-24 |
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| CN (1) | CN104612682B (en) |
| WO (1) | WO2016091020A1 (en) |
| ZA (1) | ZA201605789B (en) |
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| CN104612682B (en) * | 2014-12-09 | 2017-11-24 | 中国矿业大学 | One kind is based on UWB coal-winning machines absolute position accurate calibration method and device |
| CN104714209B (en) * | 2015-03-27 | 2017-04-26 | 中国矿业大学 | Dynamic positioning method and device based on UWB and laser ranging combination |
| AU2016200783B1 (en) * | 2015-05-28 | 2016-04-21 | Commonwealth Scientific And Industrial Research Organisation | System and method for controlling a mining machine using identifying characteristics |
| CN105298509A (en) * | 2015-09-17 | 2016-02-03 | 上海创力集团股份有限公司 | Positioning system of tunnel boring machine |
| CN105259549A (en) * | 2015-09-24 | 2016-01-20 | 北京天地玛珂电液控制系统有限公司 | Coal mining machine position monitoring device based on ultra-narrow pulse technology |
| CN105352504B (en) * | 2015-12-01 | 2018-03-06 | 中国矿业大学 | The coal mining machine positioning device and method that a kind of inertial navigation merges with laser scanning |
| CN105554837A (en) * | 2016-01-08 | 2016-05-04 | 中国矿业大学 | Intelligent sensing node and sending method for underground working face wireless sensor network |
| CN106121723B (en) * | 2016-02-19 | 2018-10-16 | 中国矿业大学 | A kind of mining face equipment positioning system |
| US10082567B2 (en) * | 2016-03-24 | 2018-09-25 | Joy Global Underground Mining Llc | Longwall system creep detection |
| US10087754B2 (en) * | 2016-03-24 | 2018-10-02 | Joy Global Underground Mining Llc | Longwall system face alignment detection and steering |
| CN106019221B (en) * | 2016-05-17 | 2019-05-24 | 安徽酷哇机器人有限公司 | UWB positioning system based on AoA |
| CN106168139B (en) * | 2016-08-24 | 2018-05-22 | 天津华宁电子有限公司 | A kind of hydraulic support Wireless movement detects and looks for straight system and method automatically |
| CN107300385A (en) * | 2017-08-25 | 2017-10-27 | 上海瀚界科技发展有限公司 | Inertial navigation alignment system based on UWB rangings |
| CN108873004B (en) * | 2018-04-28 | 2023-12-29 | 京东方科技集团股份有限公司 | Ranging device, ranging system and ranging method |
| CN109946649B (en) * | 2019-03-24 | 2020-12-04 | 北京工业大学 | Low-cost indoor narrow and long environment two-dimensional UWB system positioning method |
| CN109931958B (en) * | 2019-03-27 | 2020-12-08 | 中国矿业大学 | UWB-based coal mining machine working face end calibration device and method |
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| CN110988829B (en) * | 2019-12-27 | 2023-03-21 | 福建汉特云智能科技有限公司 | Vehicle sensor calibration method and system based on UWB positioning |
| CN114251122A (en) * | 2020-09-25 | 2022-03-29 | 安迈智能(北京)矿山科技股份有限公司 | Mine pressure basic information acquisition system |
| 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 |
| 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 |
| CN113029995B (en) * | 2021-03-10 | 2022-09-27 | 太原理工大学 | Linear frequency modulation coal rock radiation detection device and method |
| CN113075677B (en) * | 2021-03-31 | 2024-01-30 | 安徽大学 | Intelligent monitoring device and method for underground coal mine separation layer |
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| CN113316247B (en) * | 2021-05-24 | 2022-12-09 | 三一智矿科技有限公司 | Positioning system, method and device for underground working face of coal mine |
| CN113993083A (en) * | 2021-09-09 | 2022-01-28 | 中用科技有限公司 | Regional personnel management system and method |
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| CN114513748B (en) * | 2022-03-15 | 2024-01-30 | 北京远特科技股份有限公司 | Indoor high-precision positioning method and device and electronic equipment |
| CN115045702A (en) * | 2022-06-09 | 2022-09-13 | 北京天玛智控科技股份有限公司 | Intelligent coal caving control method and system based on multi-mode data |
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| CN101169038B (en) * | 2006-10-27 | 2010-09-08 | 三一重型装备有限公司 | Full automatic tunneling machine |
| DE102008050068B3 (en) * | 2008-10-01 | 2010-01-28 | Rag Aktiengesellschaft | Method of controlling the extraction in long-term farms by monitoring the mountain share in the production |
| CN102937707B (en) * | 2009-01-16 | 2016-08-03 | 日电（中国）有限公司 | For the method, apparatus and system to calibrating positioning device |
| DE102009026011A1 (en) * | 2009-06-23 | 2010-12-30 | Bucyrus Europe Gmbh | Method for determining the position or location of plant components in mining and extraction facilities |
| CN102183255A (en) * | 2011-03-07 | 2011-09-14 | 中国矿业大学 | Positioning device and method of coal mining machine in full-mechanized mining face |
| CN102680941A (en) * | 2012-06-01 | 2012-09-19 | 中国矿业大学(北京) | Method and system for ultra wide band positioning in coal mine |
| CN203120161U (en) * | 2013-03-02 | 2013-08-07 | 山东电力集团公司济宁供电公司 | Indoor positioning system based on ultra wideband wireless communication technology |
| CN104159291A (en) * | 2013-05-15 | 2014-11-19 | 北京云谷信息技术有限公司 | Passive type TDOA positioning method |
| CN103410512B (en) * | 2013-08-15 | 2015-08-05 | 中国矿业大学 | Merge coal-winning machine absolute positioning apparatus and the method for geological environment information |
| CN104058215B (en) * | 2014-06-05 | 2015-12-09 | 中国矿业大学 | Based on the dynamic aligning method of slat conveyer of coalcutter absolute motion track |
| CN104612682B (en) * | 2014-12-09 | 2017-11-24 | 中国矿业大学 | One kind is based on UWB coal-winning machines absolute position accurate calibration method and device |
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- 2014-12-09 CN CN201410749250.5A patent/CN104612682B/en not_active Expired - Fee Related
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2015
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Also Published As
| Publication number | Publication date |
|---|---|
| ZA201605789B (en) | 2018-05-30 |
| WO2016091020A1 (en) | 2016-06-16 |
| CN104612682A (en) | 2015-05-13 |
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