CN105179013B - 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 PDFInfo
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- CN105179013B CN105179013B CN201510488853.9A CN201510488853A CN105179013B CN 105179013 B CN105179013 B CN 105179013B CN 201510488853 A CN201510488853 A CN 201510488853A CN 105179013 B CN105179013 B CN 105179013B
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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
Technical field
The present invention relates to a kind of coal illegal mining monitoring method based on vibration monitoring positioning, the method is related to sensor, number
According to the field such as treatment and communication.
Background technology
Coal is China's main energy sources, accounts for primary energy 70%.Coal industry is high risk industries, gas, floods, fire
The accidents such as calamity, top board, coal dust annoying Safety of Coal Mine Production.In addition, accident investigation shows, super layer crosses the border illegal mining in coal production
The death by accident of initiation, occupies larger ratio in coal mining accident.
Coal illegal mining has the features such as disguised strong, discovery is difficult, supervision is difficult.To find in time and supervising, some ground square tubes
Reason department accredits ore deposit personnel to private small coal mines, exercise supervision inspection.But bribed due to ore deposit master, the personnel's business of supervision and check in ore deposit
The reason such as ability and sense of responsibility difference, it is no in time to find and contain illegal mining and then lead to play death by accident together.Therefore, it is anxious
The Automatic Measurement Technique for preventing coal illegal mining need to be studied, it is to avoid the various human factors of artificial supervision, further reinforcing illegal mining prison
Pipe, containment illegal mining event occurs, the national coal resource of protection, prevents the casualty accident caused by illegal mining.
The content of the invention
The present invention proposes a kind of coal illegal mining monitoring method based on vibration monitoring positioning, and specific method includes：
1. vibrating sensor is placed around in coal resources area, vibration wave signal is locality descended by vibrating sensor,
When vibration wave signal of the underground generation more than given threshold is monitored, then according to vibrating sensor data and vibrating sensor position
Vibration source is positioned, when positioning obtains vibration source position in the range of coal resource but when being not belonging in the range of field with "nine squares", is sent out
Go out coal illegal mining alarm signal.
2. vibrating sensor has clocking capability, and with satellite automatic correcting time function, regularly internal clocking is entered
Row calibration, it is ensured that all vibrating sensor clock synchronizations.
3. vibrating sensor frequency detection range should be not less than 0 to 600Hz, and vibrating sensor collection signal is adopted including big gun and shaken
Dynamic 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 three directions of real-time detection,
When all directions are in the threshold time T of setting, two-time vibration ripple signal is consecutively detected, then using first ripple as P ripples, second
Individual ripple judges that vibration source is passed with three-way vibration acceleration as S ripples according to P ripples spread speed different from S ripples and interval time
Distance of the sensor on three coordinate directions, vibration source position is obtained according to sensing station.
5. when vibrating sensor is positioned using multiple three-way vibration acceleration transducers, real-time detection all the sensors three
The vibration acceleration data in individual direction, when all directions are in the threshold time T of setting, multiple vibrating sensors all detect vibration
Ripple signal, then the vibration acceleration data according to three directions determine first motion direction, according to each vibrating sensor position and detection
The first motion direction for obtaining determines vibration source position.
6. coal resource delimited using three-dimensional geographic information system, and record the field with "nine squares" scope in each colliery, work as prison
When surveying the vibration wave for finding, vibration source position field with "nine squares" scope and coal resource scope are compared using three-dimensional geographic information system
It is right, vibration source position is found in the range of coal resource when comparing, but be not belonging to when in the range of field with "nine squares", send coal illegal mining alarm
Signal.
Brief description of the drawings
Fig. 1 systems implement schematic diagram.
Fig. 2 vibrating sensor structural representations.
Fig. 3 illegal mining monitoring schematic flow sheets.
Fig. 4 vibration source positioning flow schematic diagrames
Fig. 5 vibrates three direction data waveform exemplary plots
Specific embodiment
It is described in this example based on vibration monitoring positioning coal illegal mining monitoring method realized by following monitoring system,
System is constituted as shown in figure 1, mainly including：
1. vibrating sensor (101), are responsible for collection ground level and perpendicular to three vibration signals in direction of ground level, and will
Signal is digitized, then will digitize the data remote transmission that obtains to monitoring server.
2. mobile network (102), the cordless communication network that cellular provider is provided, optional GPRS, CDMA or 3G
Deng network, for terminal device provides network insertion and data communication services.Because vibrating sensor deployment is distant, no matter make
All it is difficult to implement with wired network communication or private radio communication network, builds and maintenance cost is higher, so using existing
Mobile network connection wired remote.
3. telecommunication network (103), using internet or coal network, monitor server and monitoring host computer logical by network
Letter.
4. the network switch (104)；It is responsible for management and the data exchange of the equipment of access network.
5. location-server (105)；It is responsible for being acquired each vibrating sensor data, storing, and the vibration that is stored with is passed
Sensor positional information；The vibration data detected according to vibrating sensor is positioned to vibration source position, and by position data
It is transferred to GIS server.
6. monitoring server (106)；Be stored with the geography information such as coal resources and colliery field with "nine squares" in monitored area, receives fixed
The vibration source positional information of the ground vibration that position server is sent, vibration source position is supervised with coal resources and colliery field with "nine squares" position
Survey and compare, when vibration source position is in the range of coal resource but when being not belonging in the range of field with "nine squares", coal is sent to monitoring host computer (107)
Charcoal illegal mining alarm signal, and transfer service for monitoring host computer user provides inquiry.
7. monitoring host computer (107)；With sound and light of alarm, production supervision Service Management personnel checked by monitoring host computer
Each coal production situation in area under one's jurisdiction, checks that monitoring server (203) provides warning message, and can transfer history number from monitoring server
According to.
Vibrating sensor structure is as shown in Figure 2：
1. processor (201)；It is responsible for vibration simulation signal transacting, clock log and Control on Communication；Selection TI companies
MSP430F147 single-chip microcomputers.16 risc architectures of the model, with 32k Flash, 1kRAM；And have 5 kinds of low-power consumption modes,
Many advantages, such as abundant piece inner peripheral module, flexible clock system.MSP430 supports 1.8~3.6V voltages, this example system
System uses 3.3V operating voltages.The built-in precision of MSP430F147 is 12 A/D converters of 200kps.1 non-linear differential is missed
Difference, 1 non-linear integral error, 4 kinds of analog-to-digital conversion patterns.Three output signals of three-dimensional acceleration vibrating sensor (202)
Access the port with analog-digital conversion function；Locating module (203) and mobile communication module (204) connect MSP430F147's respectively
Two two-way UART ports.
2. three-dimensional acceleration vibrating sensor (202)；Using, the sensor of analog signal output may be selected, also may be selected
The MMA7260Q of sensor this example selection analog signal outputs of data signal output, it is 1.5g that MMA7260Q highests are sensitive,
Voltage 2.2V~3.6V, this example uses 3.3V voltages.The direction signs on sensor are should be noted that during installation, it is ensured that Z axis are vertical
In ground level, the direction that X-axis and Y direction should set and record with location-server is consistent, to ensure correct positions calculations.
3. storage chip (203) uses 1 24C512, has only used a storage chip, is not required to set chip select address, institute
Pin is clicked with the piece of 24C512 to be all grounded.24C512 uses I2C bus communications, using two standard I/O interfaces plus drawing
Resistance connects SCL and SDA pins, realizes processor and storage chip Control on Communication.Storage chip data storage, works as mobile communication
Module due to when the reasons such as network connectivity fai_lure fail in time to transfer out the vibration signal data of collection, by processor by number
According to storage in storage chip, location-server is transferred data to again after network connection is recovered.
4. locating module (203)；It is responsible for receiving the signal that position location satellite sends, realizes system time service.Can using GPS,
GLONASS or Big Dipper locating module, by UART ports and processor connection communication.
5. mobile communication module (204)；It is responsible for remote radio communication, is obtained acquisition process by mobile communications network
Vibration data is sent to telecommunication network, and data are delivered into location-server by telecommunication network.The optional GPRS of mobile communication module,
The modules such as CDMA or 3G, by the system transmits data volume less, GPRS module can meet requirement.This example selection Huawei
MG323 modules；It is connected with processor by UART ports.
6. power supply (205) includes DC/AC, power management, and battery, battery charging management part, DC/AC are responsible for handing over 220V
Stream electricity is converted to 5V dc sources for sensing system is powered, and can use switch power module；Power management section is responsible for 5V
Power convert is that 3.3V is system power supply；DC/AC electric power thus supplieds are detected simultaneously, when AC power has a power failure, are then automatically switched to standby
Powered with battery, to ensure system worked well for a period of time；Reserve battery uses the lithium-ions battery, lithium battery (group) should to have
Have counnter attack connection function, with internal protection circuitry outside, with outer protection circuit, possess anti-overcharge, anti-mistake put, excessively stream, short circuit etc.
Function, also equalizaing charge, balanced discharge function.Voltage conversion changes voltage stabilizing chip using MAX1724 series of power, changes
It is that processor, sensor power, locating module and mobile communication module are powered to the operating voltage of 3.3V stabilizations.Battery charges
Management circuit using TI LM3658 chips, 2.5~6V input voltages, up to 1A, the actual size of electric current can be with for output current
Adjusted by external resistance, built-in power fet can maintain the battery longevity according to environment temperature adjust automatically charging current
Life.
Illegal mining monitoring flow is as shown in Figure 3：
1. (301) three-dimensional acceleration vibrating sensor (202) locality descends vibration signal, by vibrating sensor system
Reason device (201) changes analog signal A/D.
2. the vibration data that (302) monitoring is converted to, when monitoring that data variation is larger, then judges to vibrate.
3. when (303) extremely vibrate 3 seconds before change all vibration datas and the data acquisition terminated in rear 5 second time period
Between send to location-server.
4. (304) location-server (105) processes the vibration data of all directions that vibrating sensor is uploaded, and such as all directions exist
Two-time vibration ripple signal is consecutively detected in the threshold time T of setting, using first ripple as P ripples, second ripple is used as S ripples.
5. (305) judge vibration source and three-way vibration acceleration according to P ripples spread speed different from S ripples and interval time
Distance of the sensor on three coordinate directions, vibration source position is obtained according to sensing station.
6. the vibration source position information that (306) will obtain is sent to monitoring server, is believed vibration source position by generalized information system
Breath is compared with the coal resources and the location geographic information in colliery field with "nine squares" for being stored, when positioning obtains vibration source position in coal
In the range of ore resources but it is not belonging to when in the range of field with "nine squares", coal illegal mining warning message is sent 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, and the too high-frequency component for significant wave is filtered.
2. (402) regularly carry out asking variance computing to gathered data, using the maximum axle of variance as reference axis, when monitoring
When numerical value continues to exceed threshold value A with sensor stable state variance, then judge to monitor vibration wave signal, search first steady with sensor
The absolute value of the difference of state average value exceed threshold value B data, using the acquisition time of this data as this vibration wave it is initial when
Between T1, wherein A ＞ B；A, B value of all directions are designated as A respectively according to detection setting different valueX、AY、AZAnd BX、BY、BZ。
3. (403) continue to monitor sensor output value after the initial time for monitoring vibration signal, use (401) phase
Same detection method determines second initial time T of vibration wave2.When all directions are continuously detected in the threshold time T of setting
To two-time vibration ripple signal, then using first ripple as P ripples, second ripple is respectively T as S ripples, the initial time of rippleP=T1、
TS=T2。
4. (404) seek vibration source to vibrating sensor distance；If the spread speed of P ripples and S ripples is VSAnd VP, the P for detecting
Ripple and S ripple times are TSAnd TP, vibration source to vibrating sensor distance is R, then
5. (405) seek all directions component calculated value, for determining first motion direction；Each axial P wave numbers evidence is analyzed, with variance most
Big axle, as reference axis, is peak time with the maximum value moment with average value difference, take each axle this time value with
The absolute value of average value difference, respectively MX、MY、MZ。
6. (406) seek vibration source coordinate value；If it is (x that what vibrating sensor was detected sets vibrating sensor position0, y0,
z0), then coordinates of vibration source position (x is obtained by below equationd, yd, zd)
When being positioned using multiple vibrating sensors, solved using below equation group and obtain (the x of vibration source coordinate 2i-
xi-1)x+2(yi-yi-1)y+2(zi-zi-1) z=xi 2-xi-1 2+yi 2-yi-1 2+zi 2-zi-1 2-VP 2(Ti 2-Ti-1 2) i=(1,2 ...,
m)；Wherein (xi, yi, zi) it is i-th measurement coordinate of sensor；TiIt is the vibration initial time for monitoring；M is to detect
The number of the sensor of vibration signal.
Vibrate three direction data waveform examples as shown in Figure 5：
Vertical Z axis amplitude is maximum in this example, so judging that vibrating initial time and time to peak is all based on Z
Number of axle evidence is judged.
Claims (4)
1. it is a kind of based on vibration monitoring positioning coal illegal mining monitoring method, it is characterised in that：Put near coal resources area
Vibrating sensor is put, vibration wave signal is locality descended by vibrating sensor, when monitoring that underground occurs more than given threshold
Vibration wave signal, then position according to vibrating sensor data and vibrating sensor position to vibration source, when positioning is shaken
Dynamic source position sends coal illegal mining alarm signal in the range of coal resource but when being not belonging in the range of field with "nine squares", wherein, vibration source
Method for determining position is as follows：
When the vibrating sensor uses single three-way vibration acceleration transducer, the vibration in three directions of real-time detection accelerates
Degrees of data, when all directions are in the threshold time T of setting, is consecutively detected two-time vibration ripple signal, then using first ripple as P
Ripple, second ripple judges that vibration source adds with three-way vibration as S ripples according to P ripples spread speed different from S ripples and interval time
Distance of the velocity sensor on three coordinate directions, vibration source position is obtained according to sensing station；
When the vibrating sensor is using multiple three-way vibration acceleration transducers, all vibration acceleration sensings of real-time detection
The vibration acceleration data in three directions of device, when all directions are in the threshold time T of setting, multiple vibrating sensors are all detected
Vibration wave signal, then the vibration acceleration data according to three directions determine first motion direction, according to each vibrating sensor position and
The first motion direction that detection is obtained determines vibration source position.
It is 2. as claimed in claim 1 to be based on the coal illegal mining monitoring method that vibration monitoring is positioned, it is characterised in that：Vibrating sensing
Utensil has clocking capability, and with satellite automatic correcting time function, regularly internal clocking is calibrated, it is ensured that all vibrations
Sensor clock synchronization.
It is 3. as claimed in claim 1 to be based on the coal illegal mining monitoring method that vibration monitoring is positioned, it is characterised in that：Vibrating sensing
Device frequency detection range should be not less than 0 to 600Hz, and vibrating sensor gathers signal and adopts vibration signal, big gun pick vibration letter including big gun
Number, coal breakage vibration signal, roof collapse vibration signal.
It is 4. as claimed in claim 1 to be based on the coal illegal mining monitoring method that vibration monitoring is positioned, it is characterised in that：Use three-dimensional
GIS-Geographic Information System delimited coal resource, and record the field with "nine squares" scope in each colliery, when the vibration wave that monitoring finds, profit
Vibration source position field with "nine squares" scope and coal resource scope are compared with three-dimensional geographic information system, vibration source is found when comparing
Position is not belonging to when in the range of field with "nine squares" in the range of coal resource, sends coal illegal mining alarm signal.
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| CN107045319A (en) * | 2017-04-06 | 2017-08-15 | 北京建筑大学 | One kind row inspection storehouse operation area monitoring method and device |
| CN107688165B (en) * | 2017-07-11 | 2020-11-10 | 国网山西省电力公司电力科学研究院 | Method for positioning vibration noise source of extra-high voltage transformer |
| 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 |
| WO2020235525A1 (en) * | 2019-05-22 | 2020-11-26 | アンリツインフィビス株式会社 | Test body, and diagnosis system and article inspection device using same |
| 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 |
| CN113324648B (en) * | 2021-07-09 | 2021-11-12 | 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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| CN201331378Y (en) * | 2009-01-06 | 2009-10-21 | 北京铱钵隆芯科技有限责任公司 | Vibration tester |
| CN102778668A (en) * | 2012-07-23 | 2012-11-14 | 中煤科工集团西安研究院 | Method for quickly and precisely positioning passive mine focus |
| JP2015078884A (en) * | 2013-10-16 | 2015-04-23 | 富士通株式会社 | Monitoring device, monitoring program, and monitoring method |
| CN103742194A (en) * | 2013-12-04 | 2014-04-23 | 桂林电子科技大学 | Subsurface source positioning method and mining area illegal mining prevention monitoring system |
| CN204476480U (en) * | 2015-03-24 | 2015-07-15 | 重庆飞尔达机电股份有限公司 | A kind of Mine Monitoring prior-warning device |
| CN104806294B (en) * | 2015-05-06 | 2017-08-15 | 中国矿业大学(北京) | Coal illegal mining monitoring method based on coal mine output and energy consumption monitoring |
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