CN108999633A - A kind of underground delivery system having navigation feature and control method - Google Patents
A kind of underground delivery system having navigation feature and control method Download PDFInfo
- Publication number
- CN108999633A CN108999633A CN201810939825.8A CN201810939825A CN108999633A CN 108999633 A CN108999633 A CN 108999633A CN 201810939825 A CN201810939825 A CN 201810939825A CN 108999633 A CN108999633 A CN 108999633A
- Authority
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- China
- Prior art keywords
- locomotive body
- mine locomotive
- mine
- delivery system
- navigation feature
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F13/00—Transport specially adapted to underground conditions
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Abstract
The present invention provides a kind of underground delivery system for having navigation feature and control method.This underground delivery system for having navigation feature and control method can realize to its it is long-range control, bring electronic interferences when avoiding mine machine operation；Mine machine is helped to realize positioning by a variety of wireless location technologies, since a variety of location technologies combine, system is no longer dependent on single equipment and technology, the precision and reliability of the positioning of mine machine can be greatly improved, the accurate positioning in this kind of underground environment of coal mine also ensures the personal safety of mine worker, simultaneously, the present invention can be not only used for coal mine positioning, also can operate with the auxiliary positioning under indoor or other complex environments, have good Generalization Ability.
Description
Technical field
The invention belongs to mining technique fields, and in particular to a kind of underground delivery system for having navigation feature and controlling party
Method.
Background technique
More common localization method is located using Global Navigation Satellite System in the prior art, and worldwide navigation is fixed
Position system is global position and time to measure system, it includes satellite constellation, ground monitor system and subscriber terminal equipment,
Round-the-clock, real-time, high accuracy three-dimensional position can be provided for earth surface, user near the ground and earth outer space anywhere
It sets, the temporal information of speed and precision.GPS system, Galilea system and GLONASS system belong to global navigational satellite
The scope of system.But global navigation satellite system can typically be only used to target navigation under the unobstructed environment in ground and fixed
Position, in the case where blocking, the quality of navigation signal can deteriorate rapidly, so as to cause positioning is unable to complete.Especially for
Coal mine is nearly impossible since navigation signal can not pass through earth's surface using navigation satellite signal.In addition, underground coal
Mine mine is with a varied topography, electromagnetic signal reflects, multi-path jamming situation is serious, and more problems is brought to locating effect.
Policy support with country to intelligent large equipment manufacturing, it is unmanned in conjunction with underground mines future production scene
Therefore demand realizes that underground mines equipment is unmanned on the basis of developing high-precision location technique and equipment, to guarantee underground
The supply of mine safety in production and guarantee country to underground mineral resources wilderness demand, has reality and strategic importance.
Summary of the invention
The object of the present invention is to provide a kind of realization mine machines remotely to control online, to realize to mine machine in automated job
The monitoring of process avoids the occurrence of the appearance of unexpected situation, avoids the disturbance of electronic signal because generating in its operation process, influences
The underground delivery system for having navigation feature for using and avoiding machine mine machine to be damaged by collision of other electronic device terminals
And control method.
Above-mentioned technical purpose of the invention has the technical scheme that
A kind of underground delivery system having navigation feature, including intelligent terminal and mine locomotive body,
The intelligent terminal controls page parameter for generating accordingly, and when the control in the control page is triggered
When, corresponding control command is sent to server；
The mine locomotive body includes:
Wireless communication module carries out network configuration to the intelligent terminal and the mine locomotive body, and with multiple wireless sections
Point carries out wireless communication, and each node records respective wireless connection information respectively；
Locating module connects the wireless communication module, for determining present bit according to the link information of first kind radio node
Confidence breath, verifies current location information according to the link information of the second class radio node；
Control module connects the locating module, for a coordinate to be converted into the control system of specific instruction；
Map and position measuring module connect the locating module, establish map for scanning ambient enviroment.
The above-mentioned underground delivery system for having navigation feature, the mine locomotive body further include the mine locomotive body include can
The transmitter of emission detection signal and the receiver and controller for receiving detectable signal reflection signal；Described in the controller detection
The case where transmitter emission detection signal and reflector reflection signal, when meeting the first preset condition, control the mine
Railcar body executes speed-down action；When meeting the second preset condition, controls the mine locomotive body and execute go to action.
The above-mentioned underground delivery system for having navigation feature, the radio node include:
Link block establishes corresponding wireless connection for transmitting/receiving wireless signal；
Communication module connects the link block, for wireless connection information to be transferred to server.
The above-mentioned underground delivery system for having navigation feature, the locating module according to the difference of measurement parameter, including
The school is carried out using based on received signal strength, based on angle of arrival and based at least one of signal time mode is received
It tests.
Technical problem solved by the invention can be realized using following technical scheme: a kind of well having navigation feature
The control method of lower delivery system, according to the underground delivery system of any description above, comprising the following steps:
Step A, intelligent terminal and mine locomotive body carry out network configuration by the wireless communication module, to be connected to service
Device obtains cartographic information and radio node information, and sends server after wireless node location and the cartographic information are combined,
With the server sync；
Step B is communicated wirelessly with multiple radio nodes, and each node records respective wireless telecommunications link information respectively；
Step C determines current location information according to the link information of first kind radio node, according to the company of the second class radio node
Information is connect to verify current location information；
Step D, by after verification location information and Current Scan result combine after with server sync, the intelligent terminal
Corresponding control command is sent to the pick-up service device；
The control command is sent to the mine locomotive body by step E, the server；
Step F, the mine locomotive body make respective handling according to the control command.
The control method of the above-mentioned underground delivery system for having navigation feature, the step A include:
Step A1, intelligent terminal and mine locomotive body carry out network configuration by the wireless communication module, to be connected to clothes
Business device；
Step A2, the server carry out product certification to the mine locomotive body respectively, and to the intelligent terminal identity
It is identified and is confirmed with permission；
Step A3, what the intelligent terminal received that the server issues authenticate successfully and the notice of identity and permission confirmation
Afterwards, the mine locomotive body equipment state list is updated, and generates the corresponding control parameter page.
The control method of the above-mentioned underground delivery system for having navigation feature, the step E include:
Step E1, the detectable signal of emission detection barrier and receives the reflected reflection signal of the barrier；
Step E2, the case where detecting the emission detection signal and receive reflection signal；
Step E3, when meeting the first preset condition, the mine locomotive body executes speed-down action；
Step E4, when meeting the second preset condition, the mine locomotive body executes go to action.
The intensity of the control method of the above-mentioned underground delivery system for having navigation feature, the reflection signal is greater than second
It includes that the mine locomotive body is turned to that car body, which executes go to action, when preset value, until the reflected signal strength detected is less than
Third preset value；Or the mine locomotive body between the barrier detected at a distance from less than four preset values when car body execute steering
Movement includes that the mine locomotive body is turned to, until being greater than the 5th preset value, the third at a distance between the barrier
Preset value is identical as first preset value.
The control method of the above-mentioned underground delivery system for having navigation feature, first preset condition include the mine
Railcar body between barrier at a distance from less than the first preset value, second preset condition includes the mine locomotive body and barrier
Between distance less than the second preset value, first preset value is greater than second preset value.
The control method of the above-mentioned underground delivery system for having navigation feature, between the mine locomotive body and barrier away from
It includes that the mine locomotive body is moved when turning to that the mine locomotive body, which executes the movement turned to, when from less than the second preset value, up to
The mine locomotive body between barrier at a distance from be greater than third preset value.
In conclusion the invention has the following advantages: this underground delivery system for having navigation feature and control
Method can realize to its it is long-range control, bring electronic interferences when avoiding mine machine operation；It is helped by a variety of wireless location technologies
Mine machine realizes positioning, and since a variety of location technologies combine, system is no longer dependent on single equipment and technology, can greatly improve
The precision and reliability of mine machine positioning, the accurate positioning in this kind of underground environment of coal mine also ensure the people of mine worker
Body safety, meanwhile, the present invention can be not only used for coal mine positioning, also can operate with the auxiliary under indoor or other complex environments
Positioning has good Generalization Ability.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram for the underground delivery system for having navigation feature of the present invention；
Fig. 2 is a kind of structural schematic diagram of the control method for the underground delivery system for having navigation feature of the present invention.
Specific embodiment
Below in conjunction with attached drawing, invention is further described in detail.
Refering to fig. 1, the present invention provides a kind of underground delivery system for having navigation feature, including 2 He of intelligent terminal
Mine locomotive body 1,
The intelligent terminal 2 controls page parameter for generating accordingly, and when the control in the control page is triggered
When, corresponding control command is sent to server；
The mine locomotive body 1 includes:
Wireless communication module 3 carries out network configuration to the intelligent terminal 2 and the mine locomotive body 1, and with it is multiple wireless
Node 7 carries out wireless communication, and each node records respective wireless connection information respectively；
Locating module 4 connects the wireless communication module 3, current for being determined according to the link information of first kind radio node
Location information verifies current location information according to the link information of the second class radio node；
Control module 5 connects the locating module 4, for a coordinate to be converted into the control system of specific instruction；
Map and position measuring module 6, connect the locating module 4, establish map for scanning ambient enviroment.
Wherein, intelligent terminal 2 can for the smart phone of built-in WiFi module, plate electric energy, intelligent TV set or
Computer etc..Mine locomotive body 1 itself has the mine locomotive body 1 of WiFi module.
The UDP message packet broadcast rock feeder car body 1 that wireless communication module 2 is also used to receive, so that mine locomotive body 1 is logical
Built-in WiFi module is crossed, carries out networked deployment after being filled into WiFi information.
Further, in a kind of preferred embodiment for the underground delivery system for having navigation feature of the present invention, the mine
Railcar body 1 further includes can the transmitter 11 of emission detection signal and the receiver 12 and controller of reception detectable signal reflection signal
13；The controller 13 detects the case where 11 emission detection signal of transmitter and reflector reflection signal, works as satisfaction
When the first preset condition, controls the mine locomotive body 1 and execute speed-down action；When meeting the second preset condition, the mine is controlled
Railcar body 1 executes go to action.
When transmitter 11 and receiver 12 are arranged in parallel, reflect the intensity of signal with apart from linearly proportional, can be more
The farther away barrier of detection range well.
The case where controller 13 receives reflection signal according to 11 emission detection signal of transmitter and receiver 12 controls mine machine
Car body 1 carries out corresponding actions, when controller detects that the 11 emission detection signal of transmitter of mine locomotive body 1 and receiver 12 receive
When the case where reflecting signal meets the first preset condition, control mine locomotive body 1 executes speed-down action, when controller 13 detects mine machine
When the case where 11 emission detection signal of transmitter and receiver 12 reception reflection signal of car body 1, meets the second preset condition, control
Mine locomotive body 1 processed executes go to action.
First preset condition includes that the intensity of the reflection signal is greater than the first preset value, second preset condition
Intensity including the reflection signal is greater than the second preset value or second preset condition includes the mine locomotive body and detection
For distance between the barrier arrived less than the 4th preset value, first preset value is less than second preset value.
Further, in a kind of preferred embodiment for the underground delivery system for having navigation feature of the present invention, the nothing
Line node 7 includes:
Link block 71 establishes corresponding wireless connection for transmitting/receiving wireless signal；
Communication module 72 connects the link block 71, for wireless connection information to be transferred to server.
The present invention at least uses two kinds of wireless technologys to carry out positioning and position verification respectively, therefore in multiple radio nodes at least
Including two classes, two class radio nodes preferably use positioning method, precision or cost different, such as low with precision, at low cost
First positioning is configured and realized extensively, with precision height, carry out emphasis configuration at high cost and realizes secondary verification.
Further, described fixed in a kind of preferred embodiment for the underground delivery system for having navigation feature of the present invention
Position module 4 according to the difference of measurement parameter, including using based on received signal strength, based on angle of arrival and based on receiving signal
At least one of time mode carries out the verification.
Server generally comprises: processing unit, storage unit, control unit and communication unit；Processing unit is used for first
Beginning cartographic information carries out map rectification, completes denoising and optimization according to actual scene, is matched with being formed with indoor actual scene
Indoor map；Storage unit is used for the positional relationship information for storing cartographic information and receiving；Control unit is used for mine machine
Car body 1 and/or radio node 7 carry out control operation；Communication unit is used to carry out data letter with mine locomotive body 1 and radio node 7
Breath communication.Wherein, the calculating of location information can by either side in mine locomotive body 1, radio node 7 and server or in many ways into
Row, it is contemplated that server itself has corresponding calculating and processing capacity, preferably carries out in server end, but the preferred embodiment is not
It is interpreted as the limitation to the specific embodiment of the invention, i.e., above-mentioned locating module 4 may be provided at mine locomotive body 1, radio node 7
And/or in server.
Referring to Fig.2, a kind of control method for the underground delivery system for having navigation feature, according to the well of any description above
Lower delivery system, comprising the following steps:
Step A, intelligent terminal and mine locomotive body carry out network configuration by the wireless communication module, to be connected to service
Device obtains cartographic information and radio node information, and sends server after wireless node location and the cartographic information are combined,
With the server sync；
Step B is communicated wirelessly with multiple radio nodes, and each node records respective wireless telecommunications link information respectively；
Step C determines current location information according to the link information of first kind radio node, according to the company of the second class radio node
Information is connect to verify current location information；
Step D, by after verification location information and Current Scan result combine after with server sync, the intelligent terminal
Corresponding control command is sent to the pick-up service device；
The control command is sent to the mine locomotive body by step E, the server；
Step F, the mine locomotive body make respective handling according to the control command.
Wherein in step A, the position of multiple nodes is fixed and it is known that each node location and current location information use unification
The coordinate of coordinate system is indicated and is marked.
Further, a kind of preferred embodiment of the control method for the underground delivery system for having navigation feature of the present invention
In, the step A includes:
Step A1, intelligent terminal and mine locomotive body carry out network configuration by the wireless communication module, to be connected to clothes
Business device；
Step A2, the server carry out product certification to the mine locomotive body respectively, and to the intelligent terminal identity
It is identified and is confirmed with permission；
Step A3, what the intelligent terminal received that the server issues authenticate successfully and the notice of identity and permission confirmation
Afterwards, the mine locomotive body equipment state list is updated, and generates the corresponding control parameter page.
Further, a kind of preferred embodiment of the control method for the underground delivery system for having navigation feature of the present invention
In, the step E includes:
Step E1, the detectable signal of emission detection barrier and receives the reflected reflection signal of the barrier；
Step E2, the case where detecting the emission detection signal and receive reflection signal；
Step E3, when meeting the first preset condition, the mine locomotive body executes speed-down action；
Step E4, when meeting the second preset condition, the mine locomotive body executes go to action.
Further, a kind of preferred embodiment of the control method for the underground delivery system for having navigation feature of the present invention
In, it includes that the mine locomotive body is turned that car body, which executes go to action, when the intensity of the reflection signal is greater than the second preset value
To until the reflected signal strength detected is less than third preset value；Or between the mine locomotive body and the barrier detected
It includes that the mine locomotive body is turned to that car body, which executes go to action, when distance is less than four preset values, until with the barrier
Between distance be greater than the 5th preset value, the third preset value is identical as first preset value.
When the intensity that mine locomotive physical examination measures reflection signal is greater than the first preset value, with negative acceleration operation, i.e., constantly
Ground reduces the speed of service, wherein can be with a fixed acceleration operation or with the acceleration operation of a variation.It needs
It is bright, when mine locomotive physical examination measure its between barrier at a distance from less than the first preset value when, operated to a negative acceleration
Preferable embodiment, so as to so that mine locomotive running body is turned to the position that reflected signal strength is greater than the second preset value
To when have the lower speed of service.
Mine locomotive body executes speed-down action when the intensity of the reflection signal received is greater than the first preset value, is receiving
Reflection signal intensity be greater than the second preset value when execute go to action.Or mine locomotive body is in the reflection received
The intensity of signal executes speed-down action when being greater than the first preset value, executes when at a distance between barrier less than four preset values
Go to action.
When the movement that mine locomotive body is turned to when detecting at a distance between barrier less than four preset values includes
Mine locomotive body carry out turn to until its between barrier at a distance from be greater than the 5th preset value.The setting of 5th preset value can refer to mine
Railcar body reflected signal strength be the first preset value when between barrier at a distance from be configured.
Further, a kind of preferred embodiment of the control method for the underground delivery system for having navigation feature of the present invention
In, first preset condition include the mine locomotive body between barrier at a distance from less than the first preset value, described second is pre-
If condition include the mine locomotive body between barrier at a distance from less than the second preset value, first preset value is greater than described the
Two preset values.
Further, a kind of preferred embodiment of the control method for the underground delivery system for having navigation feature of the present invention
In, the mine locomotive body between barrier at a distance from less than the second preset value when the mine locomotive body execute the movement turned to and include
The mine locomotive body move when turning to, until the mine locomotive body between barrier at a distance from greater than third preset value.
When mine locomotive physical examination is measured at a distance between barrier less than the first preset value, with negative acceleration operation, i.e., not
The speed of service is reduced disconnectedly, it can be with a fixed acceleration operation or with the acceleration operation of a variation.It needs to illustrate
, when mine locomotive physical examination measure its between barrier at a distance from less than the first preset value when, with a negative acceleration operate to compared with
Good embodiment.
This underground delivery system for having navigation feature of the present invention and control method can be realized to its long-range control, be avoided
Bring electronic interferences when mine machine operation；Mine machine is helped to realize positioning by a variety of wireless location technologies, due to a variety of positioning skills
Art combines, and system is no longer dependent on single equipment and technology, the precision and reliability of the positioning of mine machine can be greatly improved, in coal
Accurate positioning in this kind of underground environment of mine mine also ensures the personal safety of mine worker, meanwhile, the present invention can be not only used for coal
The positioning of mine mine, also can operate with the auxiliary positioning under indoor or other complex environments, have good Generalization Ability.
The present embodiment is only explanation of the invention, is not limitation of the present invention, and those skilled in the art exist
It can according to need the modification that not creative contribution is made to the present embodiment after reading this specification, but as long as in the present invention
Scope of the claims in all by the protection of Patent Law.
Claims (10)
1. a kind of underground delivery system for having navigation feature, including intelligent terminal (2) and mine locomotive body (1), feature
It is:
The intelligent terminal (2) controls page parameter for generating accordingly, and when the control in the control page is touched
When hair, corresponding control command is sent to server；
The mine locomotive body (1) includes:
Wireless communication module (3) carries out network configuration to the intelligent terminal (2) and the mine locomotive body (1), and with it is more
A radio node (7) carries out wireless communication, and each node records respective wireless connection information respectively；
Locating module (4) connects the wireless communication module (3), for being determined according to the link information of first kind radio node
Current location information verifies current location information according to the link information of the second class radio node；
Control module (5) connects the locating module (4), for a coordinate to be converted into the control system of specific instruction；
Map and position measuring module (6), connect the locating module (4), establish map for scanning ambient enviroment.
2. a kind of underground delivery system for having navigation feature as described in claim 1, it is characterised in that: the mine locomotive body
(1) further including can the transmitter (11) of emission detection signal and the receiver (12) and controller of reception detectable signal reflection signal
(13)；The controller (13) detects the case where transmitter (11) the emission detection signal and reflector reflection signal,
When meeting the first preset condition, controls the mine locomotive body (1) and execute speed-down action；When meeting the second preset condition, control
It makes the mine locomotive body (1) and executes go to action.
3. a kind of underground delivery system for having navigation feature as described in claim 1, it is characterised in that: the radio node
(7) include:
Link block (71) establishes corresponding wireless connection for transmitting/receiving wireless signal；
Communication module (72) connects the link block (71), for wireless connection information to be transferred to server.
4. a kind of underground delivery system for having navigation feature as described in claim 1, it is characterised in that: the locating module
(4) it according to the difference of measurement parameter, including uses based on received signal strength, based on angle of arrival and based on reception signal time
At least one of mode carry out the verification.
5. a kind of control method for the underground delivery system for having navigation feature, it is characterised in that: wanted according to any of the above right
Seek the underground delivery system, comprising the following steps:
Step A, intelligent terminal and mine locomotive body carry out network configuration by the wireless communication module, to be connected to service
Device obtains cartographic information and radio node information, and sends server after wireless node location and the cartographic information are combined,
With the server sync；
Step B is communicated wirelessly with multiple radio nodes, and each node records respective wireless telecommunications link information respectively；
Step C determines current location information according to the link information of first kind radio node, according to the company of the second class radio node
Information is connect to verify current location information；
Step D, by after verification location information and Current Scan result combine after with server sync, the intelligent terminal
Corresponding control command is sent to the pick-up service device；
The control command is sent to the mine locomotive body by step E, the server；
Step F, the mine locomotive body make respective handling according to the control command.
6. a kind of control method for the underground delivery system for having navigation feature as claimed in claim 5, it is characterised in that: institute
Stating step A includes:
Step A1, intelligent terminal and mine locomotive body carry out network configuration by the wireless communication module, to be connected to fortune
Send server；
Step A2, the server carry out product certification to the mine locomotive body respectively, and to the intelligent terminal identity
It is identified and is confirmed with permission；
Step A3, what the intelligent terminal received that the server issues authenticate successfully and the notice of identity and permission confirmation
Afterwards, the mine locomotive body equipment state list is updated, and generates the corresponding control parameter page.
7. a kind of control method for the underground delivery system for having navigation feature as claimed in claim 5, it is characterised in that: institute
Stating step E includes:
Step E1, the detectable signal of emission detection barrier and receives the reflected reflection signal of the barrier；
Step E2, the case where detecting the emission detection signal and receive reflection signal；
Step E3, when meeting the first preset condition, the mine locomotive body executes speed-down action；
Step E4, when meeting the second preset condition, the mine locomotive body executes go to action.
8. a kind of control method for the underground delivery system for having navigation feature as claimed in claim 7, it is characterised in that: institute
It includes that the mine locomotive body is turned to that car body, which executes go to action, when stating the intensity of reflection signal greater than the second preset value, until
The reflected signal strength detected is less than third preset value；Or the mine locomotive body between the barrier detected at a distance from be less than
It includes that the mine locomotive body is turned to that car body, which executes go to action, when four preset values, until at a distance between the barrier
Greater than the 5th preset value, the third preset value is identical as first preset value.
9. a kind of control method for the underground delivery system for having navigation feature as claimed in claim 7, it is characterised in that: institute
State the first preset condition include the mine locomotive body between barrier at a distance from less than the first preset value, second preset condition
Including the mine locomotive body between barrier at a distance from less than the second preset value, it is default that first preset value is greater than described second
Value.
10. a kind of control method for the underground delivery system for having navigation feature as claimed in claim 9, it is characterised in that:
The mine locomotive body between barrier at a distance from less than the second preset value when the mine locomotive body to execute the movement turned to include institute
Mine locomotive body is stated move when turning to, until the mine locomotive body between barrier at a distance from greater than third preset value.
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| CN110985127A (en) * | 2019-12-24 | 2020-04-10 | 江苏徐工工程机械研究院有限公司 | Mobile terminal working method and system of surface mine unmanned transportation system |
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