CN105353348A - System and method for positioning moving target under coal mine - Google Patents
System and method for positioning moving target under coal mine Download PDFInfo
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- CN105353348A CN105353348A CN201510666112.5A CN201510666112A CN105353348A CN 105353348 A CN105353348 A CN 105353348A CN 201510666112 A CN201510666112 A CN 201510666112A CN 105353348 A CN105353348 A CN 105353348A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a system and method for positioning a moving target under a coal mine. The system just needs to arrange anchor nodes at all intersections of roadways according to the condition of the coal roadways, and distributes a moving node for the moving target under the coal mine, thereby achieving the accurate positioning of the moving target under the coal mine. The system is low in investment, and is far higher in positioning precision than a conventional section positioning system. The method employs a gyroscope and an acceleration sensor for measuring the angular displacement and the linear displacement of the moving target, and needs to control errors in a calculation process. Because the roadways under the coal mine are divided into sections, the distances are shorter, and the error of relative displacement data of a moving node is smaller. The method employs the ultrasonic positioning for determining absolute position information of the moving target. Because the propagation velocity of ultrasonic waves is far less than that of a wireless electric signal or other electric signals, the method is higher in positioning precision of absolute position of the moving target based on ultrasonic TOA, and meets the requirements of the actual precision.
Description
Technical field
The invention belongs to Mine Monitoring and the communications field, relating to a kind of system for locating underground coal mine moving target and a kind of method for locating underground coal mine moving target.
Background technology
China's coal-mine down-hole geologic condition is very complicated, and mine laneway reaches tens kms, work under bad environment, operating location disperse, operating personnel and equipment mobility large.Operating personnel is often difficult to determine oneself position at underground coal mine, particularly when accident occurs, is more difficult to accurate localized accident field staff and mobile units; In addition, because underground coal mine mobile units is numerous, such as various transport, the dispersion of shovel loader truck position, it is very inconvenient that management is got up.Therefore, if the Precise Position System of operating personnel and mobile units can be set up at underground coal mine, realize operating personnel and the mobile units function such as position enquiring, path analysis, navigation at underground coal mine, significantly can strengthen that coal mine downhole safety is produced, the ability of rescue and relief work can the resources of production be allocated more rationally, efficiently and manage production.Therefore, the Exact Location System of moving target and method under Study on Coal mine, exploitation meets the product of mine actual demand and system becomes current mine excavation industry problem in the urgent need to address.
Summary of the invention
The object of the invention is to propose a kind of system for locating underground coal mine moving target, the accurate location to underground coal mine moving target can be realized, be beneficial to the automatic management level improving coal mining enterprise.
To achieve these goals, the present invention adopts following technical scheme:
For locating a system for underground coal mine moving target, be included in the mobile node that each moving target is installed and the anchor point node arranged at each crossover location of tunnel circuit; Be configured with gyroscope, acceleration transducer, ultrasonic sensor one, central processing unit and the network equipment on the mobile node; Gyroscope is for detecting the angular displacement of described moving target; Acceleration transducer is for detecting the displacement of the lines of described moving target; Central processing unit is used for carrying out data processing; The network equipment for realizing the communication between described mobile node and data service system, and then carries out identity information identification to each moving target of down-hole; Anchor point node is configured with the ultrasonic sensor two mated with described ultrasonic sensor one.
Further, three are at least at the anchor point number of nodes of each crossover location of tunnel circuit.
In addition, the invention allows for a kind of method for locating underground coal mine moving target, it adopts following technical scheme:
For locating a method for underground coal mine moving target, adopt above-mentioned a kind of system for locating underground coal mine moving target; The method comprises the steps:
A obtains angular displacement data and the displacement of the lines data of moving target by gyroscope and acceleration transducer, and in conjunction with the positional information of coal mine down-hole tunnel circuit, by solving the station-keeping data calculating moving target;
B obtains the absolute position data of moving target in current location by ultrasonic sensor one and ultrasonic sensor two;
C, to above-mentioned station-keeping data and absolute position data read group total, obtains the positional information of moving target at underground coal mine.
Further, in step a, the station-keeping data solution procedure of moving target is as follows:
Carry out calculating comparison in conjunction with the positional information of coal mine down-hole tunnel circuit, angular displacement data and displacement of the lines data, determine direction of motion information and the displacement information of moving target, thus calculate the station-keeping data of moving target.
Further, in step b, obtain the absolute position data of moving target in current location based on hyperacoustic TOA method.
Further, in step b, before carrying out absolute position data calculating,
Mobile node needs to carry out communication by the network equipment and data service system, each mobile object identify information identification under completed well, then according to the moving target information after identification, carries out the ultrasound wave location Calculation of moving target.
Tool of the present invention has the following advantages:
The present invention, according to coal mine roadway line condition, only needs to arrange anchor point node at each crossover location of tunnel circuit, and is equipped with mobile node respectively for underground coal mine moving target, can realize the accurate location of underground coal mine moving target; Present system investment is little, and positioning precision is far above traditional section positioning system.In addition, the measurement that the inventive method adopts gyroscope, acceleration transducer carries out moving target angular displacement, displacement of the lines, needs to control the error in calculating process, because coal mine down-hole tunnel track section divides, distance is shorter, and mobile node relative displacement data error is less; The absolute location information of moving target adopts ultrasound wave location, because the speed of ultrasonic propagation is much smaller than radio signal or other electric signal, therefore, the inventive method adopts higher based on hyperacoustic TOA moving target Absolutely orientation precision, meets realistic accuracy requirement.
Accompanying drawing explanation
Fig. 1 is the acceleration transducer coordinate system figure of mobile node in the present invention.
Fig. 2 is the schematic diagram of coal mine down-hole tunnel mobile node and anchor point node in the present invention.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the present invention is described in further detail:
For locating a system for underground coal mine moving target, be included in the mobile node that each moving target is installed and the anchor point node arranged at each crossover location of tunnel circuit.Be configured with gyroscope, acceleration transducer, ultrasonic sensor one, central processing unit and the network equipment on the mobile node.Gyroscope is for detecting the angular displacement of described moving target.Acceleration transducer is for detecting the displacement of the lines of described moving target.Central processing unit is used for carrying out data processing.The network equipment for realizing the communication between described mobile node and data service system, and then carries out identity information identification to each moving target of down-hole; Anchor point node is configured with the ultrasonic sensor two mated with described ultrasonic sensor one, and the installation site of ultrasonic sensor two in coal mine down-hole tunnel is determined, this positional information can be used as the foundation of mobile node being carried out to absolute fix.
Preferably, often locating tunnel crossover location installation at least three ultrasonic sensors two, utilizing 3 ultrasound wave TOA localization methods, the accurate location of moving target can be realized.
In addition, the invention allows for a kind of method for locating underground coal mine moving target, adopting above-mentioned a kind of system for locating underground coal mine moving target.The method comprises the steps:
A is based on the relative localization algorithm of gyroscope, acceleration transducer and tunnel circuit
The inner acceleration coordinate system of mobile node as shown in Figure 1.In three coordinate axis of mobile node coordinate system, the angular acceleration of mobile node in three coordinate axis and acceleration is detected by gyroscope, acceleration transducer, and then determine the attitudes vibration of mobile node within the corresponding time period by calculating, and the size and Orientation of mobile node relative displacement within this time period.The attitudes vibration of mobile node and relative displacement be relative to positions of mobile nodes change before acceleration transducer coordinate system calculate, the positional information trying to achieve mobile node reality must determine the positional information of mobile node before being moved.
As shown in Figure 2, when mobile node is in tunnel during setting in motion, the gyroscope that mobile node configures, acceleration transducer cannot judge moving target actual displacement angle in all directions and displacement of the lines; In order to moving target acceleration coordinate system and actual tunnel circuit coordinate system are set up corresponding relation, adopt according to moving target speed, determine the moving displacement (this shift length is greater than twice span length) of moving target in certain hour section, thus determine the corresponding relation of moving displacement on the moving displacement of moving target on acceleration coordinate system direction and tunnel line direction, establish the relation of tunnel circuit coordinate system and moving target acceleration coordinate system, achieve the detection to the relative shift of moving target in the circuit of tunnel.
B is based on the Precision Orientation Algorithm of ultrasonic sensor
When the moving target of installation mobile node moves in coal mine down-hole tunnel circuit, when target to be moved moves to anchor point node, the ultrasonic generator one that mobile node configures sends ultrasound wave, be configured in ultrasonic sensor two seizure on anchor point node, determine the range information of moving target relative to anchor point node based on hyperacoustic TOA method; Because anchor point node coordinate is changeless, carrying out that geometry solving calculates by anchor point node location data information and mobile node relative to the range data of anchor point node can in the hope of the accurate position data of moving target in this position.
As shown in Figure 2, at the anchor point node that the position that underground coal mine well head, tunnel crossover location are all provided with some is determined, therefore, the absolute location information of accurately trying to achieve moving target can both be realized in these positions.It should be noted that, before carrying out absolute position data calculating, mobile node needs the communication by the network equipment and data service system, each mobile object identify information identification under completed well, then according to the moving target information after identification, the ultrasound wave location Calculation of moving target is carried out.
C is based on the underground coal mine location algorithm of Multi-information acquisition
The accurate relative location data obtained by above-mentioned steps a and step b and absolute position data carry out read group total, can obtain the accurate location information of moving target at underground coal mine.
Certainly; more than illustrate and be only preferred embodiment of the present invention; the present invention is not limited to enumerate above-described embodiment; should be noted that; any those of ordinary skill in the art are under the instruction of this instructions; made all equivalently to substitute, obvious form of distortion, within the essential scope all dropping on this instructions, protection of the present invention ought to be subject to.
Claims (6)
1. for locating a system for underground coal mine moving target, it is characterized in that, being included in the mobile node that each moving target is installed and the anchor point node arranged at each crossover location of tunnel circuit; Be configured with gyroscope, acceleration transducer, ultrasonic sensor one, central processing unit and the network equipment on the mobile node; Gyroscope is for detecting the angular displacement of described moving target; Acceleration transducer is for detecting the displacement of the lines of described moving target; Central processing unit is used for carrying out data processing; The network equipment for realizing the communication between described mobile node and data service system, and then carries out identity information identification to each moving target of down-hole; Anchor point node is configured with the ultrasonic sensor two mated with described ultrasonic sensor one.
2. a kind of system for locating underground coal mine moving target according to claim 1, is characterized in that, is at least three at the anchor point number of nodes of each crossover location of tunnel circuit.
3., for locating a method for underground coal mine moving target, adopting a kind of system for locating underground coal mine moving target as claimed in claim 1 or 2, it is characterized in that, comprise the steps:
A obtains angular displacement data and the displacement of the lines data of moving target by gyroscope and acceleration transducer, and in conjunction with the positional information of coal mine down-hole tunnel circuit, by solving the station-keeping data calculating moving target;
B utilizes ultrasonic sensor one and ultrasonic sensor two to obtain the absolute position data of moving target in current location;
C, to above-mentioned station-keeping data and absolute position data read group total, obtains the positional information of moving target at underground coal mine.
4. a kind of method for locating underground coal mine moving target according to claim 3, is characterized in that, in described step a, the station-keeping data solution procedure of moving target is as follows:
Carry out calculating comparison in conjunction with the positional information of coal mine down-hole tunnel circuit, angular displacement data and displacement of the lines data, determine direction of motion information and the displacement information of moving target, thus calculate the station-keeping data of moving target.
5. a kind of method for locating underground coal mine moving target according to claim 3, is characterized in that, in described step b, obtains the absolute position data of moving target in current location based on hyperacoustic TOA method.
6. a kind of method for locating underground coal mine moving target according to claim 3, is characterized in that, in described step b, before carrying out absolute position data calculating,
Mobile node needs to carry out communication by the network equipment and data service system, each mobile object identify information identification under completed well, then according to the moving target information after identification, carries out the ultrasound wave location Calculation of moving target.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510666112.5A CN105353348B (en) | 2015-06-30 | 2015-10-15 | A kind of system and method for being used to position underground coal mine movement target |
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| CN201510386592X | 2015-06-30 | ||
| CN201510386592 | 2015-06-30 | ||
| CN201510666112.5A CN105353348B (en) | 2015-06-30 | 2015-10-15 | A kind of system and method for being used to position underground coal mine movement target |
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| CN105353348B CN105353348B (en) | 2018-02-16 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106323278A (en) * | 2016-08-04 | 2017-01-11 | 河海大学常州校区 | Sensing network anti-failure positioning switching control method and system for rescue |
| CN107911795A (en) * | 2017-11-14 | 2018-04-13 | 四川广旺能源发展（集团）有限责任公司 | A kind of mobile mine security system |
| CN110646762A (en) * | 2018-06-26 | 2020-01-03 | 苏州触达信息技术有限公司 | System, method and computer readable storage medium for monitoring position of person in tunnel |
| CN111536963A (en) * | 2020-06-15 | 2020-08-14 | 长兴云尚科技有限公司 | Underground pipe gallery robot accurate positioning system independent of radio signals |
| CN113931696A (en) * | 2021-09-09 | 2022-01-14 | 上海申传电气股份有限公司 | Underground roadway map integrating sensing and multi-roadway segmentation and quick positioning method of electric locomotive |
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| CN103941231A (en) * | 2014-05-13 | 2014-07-23 | 李建 | Indoor positioning system and positioning method for ultrasound radio frequency signal combined processing |
| CN104244406A (en) * | 2014-09-18 | 2014-12-24 | 中国矿业大学 | Mine movement target positioning system and method under cloud computing data |
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| CN102457807A (en) * | 2010-10-20 | 2012-05-16 | 大唐移动通信设备有限公司 | Method and terminal for determining positional information |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106323278A (en) * | 2016-08-04 | 2017-01-11 | 河海大学常州校区 | Sensing network anti-failure positioning switching control method and system for rescue |
| CN106323278B (en) * | 2016-08-04 | 2019-03-15 | 河海大学常州校区 | A kind of anti-failure positioning method for handover control of sensing network for rescue and system |
| CN107911795A (en) * | 2017-11-14 | 2018-04-13 | 四川广旺能源发展（集团）有限责任公司 | A kind of mobile mine security system |
| CN107911795B (en) * | 2017-11-14 | 2021-03-12 | 四川广旺能源发展（集团）有限责任公司 | Mobile mine safety system |
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| CN110646762B (en) * | 2018-06-26 | 2021-09-10 | 苏州触达信息技术有限公司 | System, method and computer readable storage medium for monitoring position of person in tunnel |
| CN111536963A (en) * | 2020-06-15 | 2020-08-14 | 长兴云尚科技有限公司 | Underground pipe gallery robot accurate positioning system independent of radio signals |
| CN113931696A (en) * | 2021-09-09 | 2022-01-14 | 上海申传电气股份有限公司 | Underground roadway map integrating sensing and multi-roadway segmentation and quick positioning method of electric locomotive |
| CN113931696B (en) * | 2021-09-09 | 2024-01-23 | 上海申传电气股份有限公司 | Underground roadway map integrating sensing multi-roadway segmentation and quick positioning method of electric locomotive |
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| CN105353348B (en) | 2018-02-16 |
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