CN105179013A - Coal illegal mining monitoring method based on vibration monitoring and positioning - Google Patents

Coal illegal mining monitoring method based on vibration monitoring and positioning Download PDF

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Publication number
CN105179013A
CN105179013A CN201510488853.9A CN201510488853A CN105179013A CN 105179013 A CN105179013 A CN 105179013A CN 201510488853 A CN201510488853 A CN 201510488853A CN 105179013 A CN105179013 A CN 105179013A
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vibration
coal
vibrating sensor
signal
ripple
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CN105179013B (en
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孙继平
刘毅
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China University of Mining and Technology CUMT
China University of Mining and Technology Beijing CUMTB
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China University of Mining and Technology Beijing CUMTB
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Abstract

The invention discloses a coal illegal mining monitoring method based on vibration monitoring and positioning. The method relates to the fields of vibration sensors, data processing, geographic information, communications, and the like. According to the monitoring method, the vibration signals of blasting mining, blasting driving and the like in a coal resource range are acquired through the vibration sensors, vibration sources are positioned, and when the positions of the vibration sources are determined to be in the coal resource range and not to belong to a well field range through the positioning, a coal illegal mining alarm signal is automatically sent. The monitoring method adequately considers the production characteristics of coal illegal mining, as well as is capable of accurately determining coal illegal mining phenomena in a large range, simple to implement, and capable of avoiding various human factors of manual supervision, avoiding the occurrences of illegal mining events, and protecting national coal resources.

Description

Based on the coal illegal mining monitoring method of vibration monitoring location
Technical field
The present invention relates to a kind of coal illegal mining monitoring method based on vibration monitoring location, the method relates to sensor, data processing and the field such as to communicate.
Background technology
Coal is China's main energy sources, accounts for primary energy 70%.Coal industry is high risk industries, and the accidents such as gas, floods, fire, top board, coal dust annoying Safety of Coal Mine Production.In addition, accident investigation shows, in coal production super layer cross the border illegal mining cause death by accident, in coal mining accident, occupy larger ratio.
Coal illegal mining has the features such as disguise is strong, discovery is difficult, supervision difficulty.For Timeliness coverage and supervision, some local administrative departments accredit ore deposit personnel to private small coal mines, exercise supervision inspection.But bribe because ore deposit is main, the reason such as the personnel of supervision and check in ore deposit professional ability and sense of responsibility difference, not having can Timeliness coverage and contain illegal mining and then play death by accident together with leading to.Therefore, be badly in need of the Automatic Measurement Technique that research prevents coal illegal mining, avoid the various human factors of artificial supervision, further strengthening illegal mining supervision, containment illegal mining event occurs, and protects national coal resource, prevents the casualty accident caused by illegal mining.
Summary of the invention
The present invention proposes a kind of coal illegal mining monitoring method based on vibration monitoring location, concrete grammar comprises:
1. near coal resources area, place vibrating sensor, vibration wave signal is locality descended by vibrating sensor, the vibration wave signal setting threshold value is exceeded when monitoring underground, then according to vibrating sensor data and vibrating sensor position, vibration source is positioned, when location obtain vibration source position within the scope of coal resource but do not belong within the scope of field with "nine squares" time, send coal illegal mining alarm signal.
2. vibrating sensor has clocking capability, and has satellite automatic correcting time function, and timing is calibrated internal clocking, ensures all vibrating sensor clock synchronous.
3. vibrating sensor frequency detection range should be not less than 0 to 600Hz, and vibrating sensor collection signal comprises big gun and adopts vibration signal, big gun pick vibration signal, coal breakage vibration signal, roof collapse vibration signal.
4. when using single three-way vibration acceleration transducer, the vibration acceleration data in real-time detection three directions, when all directions are in the threshold time T of setting, be consecutively detected two-time vibration ripple signal, then using first ripple as P ripple, second ripple, as S ripple, according to the different spread speed of P ripple and S ripple and judge vibration source and the distance of three-way vibration acceleration transducer on three coordinate directions interval time, obtains vibration source position according to sensing station.
5. when vibrating sensor adopts multiple three-way vibration acceleration transducer to locate, the vibration acceleration data in real-time detection all the sensors three directions, when all directions are in the threshold time T of setting, multiple vibrating sensor all detects vibration wave signal, then according to the vibration acceleration data determination first motion direction in three directions, according to the first motion direction determination vibration source position that each vibrating sensor position and detection obtain.
6. use three-dimensional geographic information system to delimit coal resource, and record the field with "nine squares" scope in each colliery, when monitoring the vibration wave found, three-dimensional geographic information system is utilized vibration source position field with "nine squares" scope and coal resource scope to be compared, when comparison finds that vibration source position is within the scope of coal resource, but when not belonging within the scope of field with "nine squares", send coal illegal mining alarm signal.
Accompanying drawing explanation
Fig. 1 System Implementation schematic diagram.
Fig. 2 vibrating sensor structural representation.
Fig. 3 illegal mining monitoring schematic flow sheet.
Fig. 4 vibration source positioning flow schematic diagram
Fig. 5 vibrates three direction data waveform exemplary plot
Detailed description of the invention
The described coal illegal mining monitoring method based on vibration monitoring location is realized by following monitoring system in this example, and system composition as shown in Figure 1, mainly comprises:
1. vibrating sensor (101), is responsible for locality plane and the vibration signal perpendicular to ground line three directions, and by signal digitlization, then data remote transmission digitlization obtained is to monitor server.
2. mobile network (102), the cordless communication network that cellular provider provides, the networks such as optional GPRS, CDMA or 3G, for terminal device provides network insertion and data communication services.Due to vibrating sensor dispose distant, use wired network communication or private radio communication network all not easily to implement, build and maintenance cost higher, so use existing mobile network to connect wired remote.
3. telecommunication network (103), use internet or coal network, monitor server and monitoring host computer pass through network service.
4. the network switch (104); Be responsible for management and the exchanges data of the equipment accessed network.
5. location-server (105); Be responsible for gathering each vibrating sensor data, storing, and store vibrating sensor positional information; According to the vibration data that vibrating sensor detects, vibration source position is positioned, and position data is transferred to GIS server.
6. monitor server (106); Store the geography information such as coal resources and field with "nine squares", colliery in monitored area, receive the vibration source positional information of the ground vibration that location-server is sent, vibration source position and coal resources and position, field with "nine squares", colliery are carried out monitoring rate pair, when vibration source position is within the scope of coal resource but when not belonging within the scope of field with "nine squares", send coal illegal mining alarm signal to monitoring host computer (107), and provide inquiry to transfer service for monitoring host computer user.
7. monitoring host computer (107); Have sound and light of alarm, production supervision Service Management personnel check each coal production situation in area under one's jurisdiction by monitoring host computer, check that monitor server (203) provides warning message, and can transfer historical data from monitor server.
Vibrating sensor structure is as shown in Figure 2:
1. processor (201); Be responsible for vibration simulation signal transacting, clock log and Control on Communication; Select the MSP430F147 single-chip microcomputer of TI company.This model is 16 risc architectures, has 32kFlash, 1kRAM; And have 5 kinds of low-power consumption modes, abundant sheet inner peripheral module, the plurality of advantages such as clock system flexibly.MSP430 supports 1.8 ~ 3.6V voltage, and this example system adopts 3.3V operating voltage.The built-in precision of MSP430F147 is the A/D converter of 12 200kps.1 non-linear differential error, 1 non-linear integral error, 4 kinds of analog-to-digital conversion patterns.Three output signal accesses of three-dimensional acceleration vibrating sensor (202) have the port of analog-digital conversion function; Locating module (203) and mobile communication module (204) connect two two-way UART ports of MSP430F147 respectively.
2. three-dimensional acceleration vibrating sensor (202); Adopting, the sensor of analog signal output can be selected, also can select the sensor that data signal exports. the MMA7260Q of this example selection analog signal output, MMA7260Q are the most highly sensitive is 1.5g, voltage 2.2V ~ 3.6V, and this example adopts 3.3V voltage.Should note the direction signs on sensor during installation, ensure that Z axis is perpendicular to ground line, X-axis is consistent with the direction that Y direction should set with location-server and record, to ensure correct positions calculations.
3. storage chip (203) adopts 1 24C512, only employs a storage chip, does not need to arrange chip select address, so the sheet of 24C512 clicks the whole ground connection of pin.24C512 uses I2C bus communication, use two standard I/O interfaces to add pull-up resistor and connect SCL and SDA pin, realize processor and storage chip Control on Communication.Storage chip stores data, when mobile communication module fails the vibration signal data of collection to transfer out in time due to reasons such as network connectivity fai_lure, processor is stored data in storage chip, after network connects recovery, send data to location-server again.
4. locating module (203); Be responsible for the signal receiving position location satellite transmission, realize system time service.GPS, GLONASS or Big Dipper locating module can be adopted, to be connected with processor by UART port and to communicate.
5. mobile communication module (204); Be responsible for remote radio communication, vibration data acquisition process obtained by mobile communications network is sent to telecommunication network, by telecommunication network, data is delivered to location-server.The modules such as mobile communication module optional GPRS, CDMA or 3G, because data volume that native system transmits is little, GPRS module can meet the demands.The MG323 module of this example selection Huawei; Be connected with processor by UART port.
6. power supply (205) comprises DC/AC, power management, battery, battery charging management part, and it is that sensing system is powered that DC/AC is responsible for 220V alternating current being converted to 5V dc source, can adopt switch power module; It is system power supply that power management section is responsible for 5V Power convert to be 3.3V; Detect DC/AC electric power thus supplied simultaneously, when AC power has a power failure, then automatically switch to reserve battery and power, to ensure system worked well a period of time; Reserve battery uses lithium-ions battery; lithium battery (group) should have anti-reverse function, has outside internal protection circuitry, has outer protection circuit; possess the functions such as anti-overcharge, anti-mistake is put, overcurrent, short circuit, also have equalizaing charge, balanced discharge function.Voltage transitions adopts MAX1724 series of power conversion voltage stabilizing chip, is converted to the operating voltage that 3.3V is stable, for processor, sensor power, locating module and mobile communication module are powered.Battery charging management circuit adopts the LM3658 chip of TI, 2.5 ~ 6V input voltage, output current can reach 1A, and the actual size of electric current can be regulated by external resistance, built-in power fet environmentally temperature can adjust charging current automatically, maintains battery life.
Illegal mining monitoring flow process is as shown in Figure 3:
1. (301) three-dimensional acceleration vibrating sensor (202) locality descends vibration signal, is changed by analog signal A/D by the processor (201) of vibrating sensor system.
2. (302) monitor the vibration data be converted to, and when monitoring data variation and being larger, then judge to vibrate.
3. (303) will extremely vibrate all vibration datas of terminating in latter 5 second time period for 3 seconds before change and data acquisition time is sent to location-server.
4. (304) location-server (105) processes the vibration data of all directions that vibrating sensor is uploaded, as all directions are consecutively detected two-time vibration ripple signal in the threshold time T of setting, using first ripple as P ripple, second ripple is as S ripple.
5. (305) are according to the different spread speed of P ripple and S ripple and judge vibration source and the distance of three-way vibration acceleration transducer on three coordinate directions interval time, obtain vibration source position according to sensing station.
6. the vibration source position information obtained is sent to monitor server by (306), by generalized information system, the location geographic information of vibration source position information with the coal resources stored and field with "nine squares", colliery is compared, when location obtain vibration source position within the scope of coal resource but do not belong within the scope of field with "nine squares" time, send coal illegal mining warning message to monitoring host computer (107).
7. (307) send coal illegal mining sound and light alarm signal by monitoring host computer.
Vibration source positioning flow is as shown in Figure 4:
1. (401) carry out low-pass digital filter to vibration data group, by the too high-frequency component filtering for significant wave.
2. (402) timing asks variance computing to image data, using the maximum axle of variance as with reference to axle, when monitoring numerical value and sensor stable state variance continues to exceed threshold value A, then judge to monitor vibration wave signal, search the first data exceeding threshold value B with the absolute value of the difference of sensor steady-state average value, using the initial time T of the acquisition time of these data as this vibration wave 1, wherein A > B; A, B value of all directions, according to detection setting different value, is designated as A respectively x, A y, A zand B x, B y, B z.
3. (403) are after monitoring the initial time of vibration signal, continue monitoring sensor output valve, use (401) identical detection method to measure the initial time T of second vibration wave 2.When all directions setting threshold time T in be consecutively detected two-time vibration ripple signal, then using first ripple as P ripple, second ripple is as S ripple, and the initial time of ripple is respectively T p=T 1, T s=T 2.
4. (404) ask vibration source to vibrating sensor distance; If P ripple and S velocity of wave propagation are V sand V p, the P ripple detected and S ripple time are T sand T p, vibration source is R to vibrating sensor distance, then
5. (405) ask all directions component calculated value, for determining first motion direction; Analyze each axial P wave datum, using the maximum axle of variance as with reference to axle, with the maximum value moment with average value difference for peak time, get each axle at this moment between value and the absolute value of average value difference, be respectively M x, M y, M z.
6. (406) ask vibration source coordinate value; If what vibrating sensor detected sets vibrating sensor position as (x 0, y 0, z 0), then obtain coordinates of vibration source position (x by following formula d, y d, z d)
x d = R V P V S cos 1 2 ( π 2 + arctan M Z 2 M X 2 + M Y 2 ) cos ( arctan M Y M X ) + x 0 y d = R V P V S cos 1 2 ( π 2 + arctan M Z 2 M X 2 + M Y 2 ) sin ( arctan M Y M X ) + y 0 z d = R sin ( arctan M Y M X ) + z 0
When using multiple vibrating sensor to position, following solving equations is used to obtain vibration source coordinate 2 (x i-x i-1) x+2 (y i-y i-1) y+2 (z i-z i-1) z=x i 2-x i-1 2+ y i 2-y i-1 2+ z i 2-z i-1 2-V p 2(T i 2-T i-1 2) i=(1,2 ..., m); Wherein (x i, y i, z i) be the surving coordinate of i-th sensor; T iit is the vibration initial time monitored; M is the number of sensor vibration signal being detected.
Vibrate three direction data waveform examples as shown in Figure 5:
Vertical Z axis amplitude is maximum in this example, so all judge based on Z axis data in judgement vibration initial time and time to peak.

Claims (6)

1. the coal illegal mining monitoring method based on vibration monitoring location, it is characterized in that: near coal resources area, place vibrating sensor, vibration wave signal is locality descended by vibrating sensor, the vibration wave signal setting threshold value is exceeded when monitoring underground, then according to vibrating sensor data and vibrating sensor position, vibration source is positioned, when location obtain vibration source position within the scope of coal resource but do not belong within the scope of field with "nine squares" time, send coal illegal mining alarm signal.
2. alarm method as claimed in claim 1, is characterized in that: vibrating sensor has clocking capability, and has satellite automatic correcting time function, and timing is calibrated internal clocking, ensures all vibrating sensor clock synchronous.
3. alarm method as claimed in claim 1, it is characterized in that: vibrating sensor frequency detection range should be not less than 0 to 600Hz, vibrating sensor collection signal comprises big gun and adopts vibration signal, big gun pick vibration signal, coal breakage vibration signal, roof collapse vibration signal.
4. alarm method as claimed in claim 1, it is characterized in that: when using single three-way vibration acceleration transducer, the vibration acceleration data in real-time detection three directions, when all directions are in the threshold time T of setting, be consecutively detected two-time vibration ripple signal, then using first ripple as P ripple, second ripple is as S ripple, according to the different spread speed of P ripple and S ripple and judge vibration source and the distance of three-way vibration acceleration transducer on three coordinate directions interval time, obtain vibration source position according to sensing station.
5. alarm method as claimed in claim 1, it is characterized in that: when vibrating sensor adopts multiple three-way vibration acceleration transducer to locate, the vibration acceleration data in real-time detection all the sensors three directions, when all directions are in the threshold time T of setting, multiple vibrating sensor all detects vibration wave signal, then according to the vibration acceleration data determination first motion direction in three directions, according to the first motion direction determination vibration source position that each vibrating sensor position and detection obtain.
6. alarm method as claimed in claim 1, it is characterized in that: use three-dimensional geographic information system to delimit coal resource, and record the field with "nine squares" scope in each colliery, when monitoring the vibration wave found, three-dimensional geographic information system is utilized vibration source position field with "nine squares" scope and coal resource scope to be compared, when comparison finds that vibration source position is within the scope of coal resource, but when not belonging within the scope of field with "nine squares", send coal illegal mining alarm signal.
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CN109613299A (en) * 2018-11-14 2019-04-12 深圳绿米联创科技有限公司 Viberation detector, method, intelligent door lock and system
CN112284516A (en) * 2020-09-16 2021-01-29 北京无线电计量测试研究所 Ground excavation safety monitoring equipment, system and method
CN113324648A (en) * 2021-07-09 2021-08-31 中国铁道科学研究院集团有限公司铁道科学技术研究发展中心 Portable high-speed railway wheel rail vibration space-time synchronization test method and system

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CN112284516A (en) * 2020-09-16 2021-01-29 北京无线电计量测试研究所 Ground excavation safety monitoring equipment, system and method
CN113324648A (en) * 2021-07-09 2021-08-31 中国铁道科学研究院集团有限公司铁道科学技术研究发展中心 Portable high-speed railway wheel rail vibration space-time synchronization test method and system

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