CN105651280A

CN105651280A - Integrated positioning method for unmanned haulage motor in mine

Info

Publication number: CN105651280A
Application number: CN201610026625.4A
Authority: CN
Inventors: 王中华; 李猛; 王冬雪; 李荣伟
Original assignee: University of Jinan
Current assignee: University of Jinan
Priority date: 2016-01-17
Filing date: 2016-01-17
Publication date: 2016-06-08

Abstract

The invention discloses an integrated positioning method for an unmanned haulage motor in a mine. An RFID, optical-electricity encoders and an inertia measurement unit conduct positional detection on the haulage motor, then positional information fusion is conducted through a federated filter algorithm, and the optimal estimation value of positioning of the unmanned haulage motor is obtained. An RFID reader is installed on a motor body of the haulage motor, RFID beacons are arranged along a track, and the reader obtains the advancing position of the haulage motor by reading ID numbers of the beacons. The inertia measurement unit senses running of the haulage motor in real time and measures the running acceleration and angular rate of the haulage motor, integral operation is conducted, and then speed information and displacement information of the haulage motor are obtained. The optical-electricity encoders are coaxially installed on wheels of the haulage motor, advance along with the haulage motor and output pulse signals, and after frequency counting and conversion are conducted, the advancing speed and position of the haulage motor are obtained. Federated filtering is adopted for measurement data of three sensors, and positional information fusion is conducted. The RFID is taken as a public reference system, the optical-electricity encoders and the signals output by the IMU are adopted for constructing subfilters, and the optimal estimation position of the haulage motor is obtained.

Description

A kind of unmanned electric locomotive combined positioning method of mine

Technical field

The invention belongs to the unmanned rail travel technical field in mine, the localization method of the unmanned rail electric locomotive used in a kind of mine laneway specifically.

Background technology

Ore Transportation is one of key project of underground mining winning system. Along with the increase of mining difficulty, Ore Transportation ability, efficiency and safety are had higher requirement, the developing direction representing Mine haul technology unmanned, intelligent. The unmanned rail mounted transport system in mine is just being towards the important step that this target strides forward, and locomotive location is one of key technology realizing the unmanned operation of locomotive. The connotation of locomotive location is in locomotive operation process, is obtained the accurate location of locomotive operation by alignment sensor in real time, and sends locomotive control computer to.

Radio RF recognition technology, is called for short RFID, is made up of reader and beacon. RFID reader radiation signal can cover certain region, can produce a record when RFID tag being detected. The basic functional principle of RFID technique: after beacon enters the magnetic field of reader, receive the radiofrequency signal that reader sends, the energy obtained by faradic current sends out storage information (passive tag) in the chips, or actively sends the signal (active beacon) of a certain frequency. Reader is delivered to computer and is carried out relevant data process after reading information and decoding.

Inertial measurement component, is called for short IMU, be a kind of do not rely on external information, also not to the autonomous type displacement measurement system of outside emittance. Its working environment not only includes in the air, ground, it is also possible under water. The basic functional principle of inertia measurement is based on Newton mechanics law, by measuring the carrier acceleration at inertial reference system, time is integrated by it, and it is transformed in navigational coordinate system, it becomes possible to obtain the information such as the speed in navigational coordinate system, angles and positions.

Traditional manned locomotive is absent from orientation problem, or the location of the fixed position of locomotive is realized at the key position employing device such as magnetic induction sensor, photoswitc, but there is the shortcomings such as poor anti jamming capability, environmental suitability is low, automaticity is low in these technology, it is impossible to meets the technical need that Mine haul is unmanned. Controlling and reliability service therefore to realize the unmanned of electric locomotive, it is a task in the urgent need to address that the location technology of unmanned electric locomotive is conducted a research.

Summary of the invention

It is an object of the invention to a kind of unmanned electric locomotive localization method suitable in mine laneway transport of design.The locomotive combined positioning method positioned based on RFID, inertia measurement positions, photoelectric encoder detection combines is proposed. Beacon signal, inertial measurement component and photoelectric encoder detection signal that RFID reader detects all deliver to vehicle-mounted control computer, after data process, Federated Filtering is used to carry out the fusion of many source location information, produce the optimal estimation position of locomotive, then through communication network, positional information is delivered to the monitoring calculation machine on ground.

Electric locomotive car body installs RFID reader, RFID beacon is arranged along track according to certain distance interval, each beacon has different ID values, when locomotive driving is by different beacon position, vehicle-mounted RFID reader sends radiofrequency signal, excites RFID beacon to work and obtains beacon ID, and then delivering to car-mounted computer by this No. ID, according to the beacon ID data base prestored, it is thus achieved that locomotive advanced positions.

Inertial measurement component is fixing with electric locomotive to be connected, and the accelerometer internal by it and angular rate gyroscope measure acceleration of motion and the angular speed of electric locomotive, after integral operation, can obtain speed and the displacement information of electric locomotive. What IMU obtained is relative displacement information, it is necessary to carries out initial position and angle calibration, and carries out position correction in running.

Being co-axially mounted incremental optical-electricity encoder on electric locomotive wheel, encoder, with motor supply shop and then output pulse signal, after frequency counting with position conversion, obtains locomotive gait of march and displacement.

The displacement of positional information that RFID reader detects, inertial measurement component detection, photoelectric encoder location information all deliver to vehicle-mounted control computer, adopt Federated Filtering, carry out positional information fusion. Using RFID as the common reference system of Federated Filters, building two subfilters with photoelectric encoder and inertial measurement component signal respectively, subfilter and common reference system export senior filter, obtain the optimal estimation position of locomotive, then through communication network, positional information is uploaded.

The combined positioning method of the present invention is a kind of triplex redundance localization method, it is possible to is prevented effectively from the defect of single localization method, improves positioning precision and reliability. Photoelectric encoder has advantages such as positioning precision height, good reliability, but when electric locomotive occurs sliding or during the situation such as wheel spin, photoelectric encoder can not produce correct output; The advantages such as inertial measurement component has positioning precision height, and capacity of resisting disturbance is strong, but there is the deficiency such as null offset, cumulative error; Above two sensor is increment type displacement measurement, is required for the absolute position being provided electric locomotive to advance by RFID by phased manner, to carry out position correction. RFID reads the absolute position that can obtain electric locomotive by beacon, but the measurement of RFID is discrete, positional information can only be obtained at beacon position place, need the location information that other localization method carries out all the other sections to supplement, and this supplementing just can be provided by inertial measurement component and photoelectric encoder. At the interval of RFID beacon, adopt inertial measurement component and photoelectric encoder to measure locomotive displacement, carry out the measuring and calculating of position, in conjunction with the location information of RFID, it is achieved the locomotive of system-wide section is accurately positioned.

When RFID signal mistake or loss, inertial measurement component and photoelectric encoder can calculate according to the RFID position before lossing signal, draw current position coordinates.

When inertial measurement component lost efficacy, photoelectric encoder and RFID still are able to constitute two remaining integrated positioning systems, it is provided that the exact position of electric locomotive.

When photoelectric encoder lost efficacy, inertial measurement component and RFID still are able to constitute two remaining integrated positioning systems, it is provided that the exact position of electric locomotive.

As IMU and photoelectric encoder simultaneous faults, RFID system is yet by measuring the absolute location coordinates that RFID beacon provides the noncontinuity of locomotive position, and warns locomotive control, carries out emergency processing.

Accompanying drawing illustrates:

Fig. 1: RFID localization method schematic diagram

Fig. 2: based on the Federated Filtering block diagram of RFID/IMU/ encoder

In Fig. 1

1. car-mounted computer 2.RFID reader 3.WiFi terminal 4.WiFi base station 5.RFID beacon

In Fig. 2

Detailed description of the invention:

1, RFID location

Electric locomotive is adopted to carry reader in the present invention.

Preferably, RFID reader being installed on bottom locomotive, beacon is arranged along track.

Locomotive traveling process reads different labels by RFID reader and judges that locomotive arrives where. RFID provides discrete, absolute positional information, obtains the absolute position of electric locomotive at each RFID beacon layout points place.

The layout of RFID beacon, in fork in the road, road, draw-point, unloads the key road segments such as ore deposit point, can arrange comparatively dense beacon, to improve the frequency reading beacon, thus improving positioning precision. In long straight tunnel, road conditions are relatively single, can suitably reduce beacon and arrange density, to reduce cost.

2, inertial navigation measuring cell location

Electric locomotive car body fixedly mounts inertial measurement component, detects locomotive operation acceleration, speed, displacement information. Inertial measurement component is speed and the displacement that continuous print measures electric locomotive, it is necessary to it is initially directed at, and this absolute location information is provided by RFID. Locomotive, through a RFID beacon, is once accurately positioned, the speed of service then measured according to inertial measurement component, calculates displacement information such that it is able to further determine that the locomotive position in beacon interval region. The cumulative error of inertial measurement component can be modified by the location of RFID simultaneously.

3, based on the position measurement of photoelectric encoder

Being co-axially mounted incremental optical-electricity encoder on the wheel of electric locomotive, encoder, with motor supply shop and then output pulse signal, after frequency counting with position conversion, obtains locomotive gait of march and position.

Incremental optical-electricity encoder has A, B, Z three-pass DINSAR signal to export, wherein, and the phase 90 degree of A phase and B phase signals, can improve four times by the certainty of measurement of photoelectric encoder by quadruplicated frequency circuit. Electric locomotive displacement is represented by:

Wherein, n is the counting number after quadruple, and N is photoelectric encoder line number, and R is electric locomotive radius of wheel, and L is the displacement of electric locomotive.

What same photoelectric encoder provided is also continuous print speed and displacement information, it is necessary to it is initially directed at, and the positional information that this process is provided by RFID realizes.

4, the RFID of federated filter, IMU, photoelectric encoder positional information is adopted to merge

Federated filter is the information fusion algorithm of the estimation of a kind of piecemeal, two-layer configuration. As in figure 2 it is shown, in the present invention, using RFID as the common reference system of Federated Filters, photoelectric encoder and inertial measurement component signal build two subfilters. The output of RFID reference system is directly given to senior filter on the one hand, is given to two subfilters as common condition variable on the other hand. The output of two subsystems that common reference system RFID is constituted with inertial measurement component, photoelectric encoder is given corresponding subfilter respectively and is carried out time renewal and measure renewal, obtain the partial estimation of two subfilters, the partial estimation parameter of subfilter sends into senior filter, senior filter carries out time renewal on the one hand, on the other hand with the output result row global filtering of each subfilter, the global optimum obtaining locomotive position estimates.

Each subfilter concurrent operation of Federated Filters and not interfereing with each other, when a certain subfilter breaks down, it is easy to realize fault diagnosis and treatment, it is possible to improve fault-tolerance and the reliability of alignment system.

Claims

1. one kind adopts the unmanned electric locomotive combined positioning method that RFID technique, incremental optical-electricity encoder, inertial navigation element three combine; It is characterized in that:

1) electric locomotive car body installs RFID reader, RFID beacon is arranged according to certain distance interval along track, each beacon has different ID values, when locomotive driving is by different beacon position, vehicle-mounted RFID reader sends radiofrequency signal, excites RFID beacon to work and obtains beacon ID, and then delivering to car-mounted computer by this No. ID, according to the beacon ID data base prestored, it is thus achieved that locomotive advanced positions;

2) Inertial Navigation Unit (IMU) installed by electric locomotive, by IMU real time sensitive motor sport information, measures acceleration and the angular speed of locomotive operation, and obtains locomotive speed and displacement information after carrying out integral operation;

3) being co-axially mounted incremental optical-electricity encoder on electric locomotive wheel, encoder, with motor supply shop and then output pulse signal, after frequency counting with position conversion, obtains locomotive gait of march and position;

4) displacement of RFID reader detects positional information, IMU detection, photoelectric encoder location information all deliver to vehicle-mounted control computer, adopt Federated Filtering, carry out positional information fusion; Using RFID as the common reference system of Federated Filters, exporting signal with photoelectric encoder and IMU respectively and build two subfilters, subfilter and common reference system export global filtering device, obtain the optimal estimation position of locomotive.