CN112849229A - Mining electric locomotive measurement and control system based on composite positioning technology - Google Patents
Mining electric locomotive measurement and control system based on composite positioning technology Download PDFInfo
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- CN112849229A CN112849229A CN202110250704.4A CN202110250704A CN112849229A CN 112849229 A CN112849229 A CN 112849229A CN 202110250704 A CN202110250704 A CN 202110250704A CN 112849229 A CN112849229 A CN 112849229A
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- 238000005065 mining Methods 0.000 title claims abstract description 84
- 230000003137 locomotive effect Effects 0.000 title claims abstract description 81
- 238000005516 engineering process Methods 0.000 title claims abstract description 52
- 239000002131 composite material Substances 0.000 title claims abstract description 35
- 238000005259 measurement Methods 0.000 title claims abstract description 32
- 238000012544 monitoring process Methods 0.000 claims abstract description 76
- 230000007613 environmental effect Effects 0.000 claims abstract description 35
- 238000004891 communication Methods 0.000 claims abstract description 27
- 238000000034 method Methods 0.000 claims description 5
- 150000001875 compounds Chemical class 0.000 claims description 3
- 238000010835 comparative analysis Methods 0.000 claims 1
- 239000007789 gas Substances 0.000 description 18
- 239000003245 coal Substances 0.000 description 10
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- QGZKDVFQNNGYKY-UHFFFAOYSA-N Ammonia Chemical compound N QGZKDVFQNNGYKY-UHFFFAOYSA-N 0.000 description 1
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
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- 230000009286 beneficial effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
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Abstract
The invention relates to a mining electric locomotive measurement and control system based on a composite positioning technology, which consists of a ZigBee positioning module, an inertial positioning module, a temperature and humidity sensor, a gas sensor, an infrared distance measuring sensor, a laser radar distance measuring sensor, a camera video monitoring module, an environmental data monitoring module microprocessor, a vehicle-mounted wireless terminal communication module, a motor driving control module, a power supply module and an upper computer monitoring control center. The system utilizes an environmental data monitoring module microprocessor to send environmental information acquired by each data monitoring module to an upper computer monitoring control center through a vehicle-mounted wireless terminal communication module, and the environmental information is analyzed by the upper computer monitoring control center to generate related instructions, so that a motor driving control module of the mining electric locomotive is driven to perform related operations. The system realizes the monitoring of the surrounding environment of the mining electric locomotive and the automatic completion of the operations of start-stop, obstacle avoidance, speed regulation and the like, and ensures the safety of the underground mining electric locomotive transportation environment.
Description
Technical Field
The invention relates to the technical field of Internet of things, in particular to the application field of mining electric locomotives, and particularly relates to a mining electric locomotive measurement and control system based on a composite positioning technology.
Background
Coal is one of the most important energy sources in China, and in order to enable the coal industry to meet the requirements of sustainable development, China takes the current scientific and technical production level as a standard and provides a target for establishing a measurement and control system for the underground coal mine transportation environment. The mining electric locomotive has the characteristics of large transportation amount, long running distance, frequent running and the like, becomes an important component of mine production and transportation, and plays a very important role in the development of the whole mining area. However, the underground conditions of the coal mine are complex, the light is dim, the environment is severe, and safety accidents such as rear-end collision, collision and the like of the mining electric locomotive are easily caused. And the existing underground coal mine communication system is relatively backward, and the ground monitoring center and the underground cannot ensure the smoothness of real-time contact, so that the monitoring center is difficult to acquire the position information and the surrounding environment information of the mining electric locomotive, the underground coal transportation efficiency is low, the position can not be locked for rescue in time after an accident occurs, and the safety production of a mining area is seriously influenced. Therefore, the design of a set of real-time measurement and control system for the mining electric locomotive has very important practical significance.
In recent years, with the continuous research on positioning technologies, more and more positioning technologies have been developed, mainly including ZigBee positioning technology, Wi-Fi positioning technology, RFID radio frequency identification positioning technology, UWB ultra wide band positioning technology, inertial positioning technology, and the like. However, each positioning technology has its absolute advantages and inevitable defects compared with other positioning technologies, so that in future practical use, a composite positioning technology that comprehensively uses two or more positioning technologies must be used to achieve complementary effects, and further improve positioning accuracy to the maximum extent.
The ZigBee positioning technology has the advantages of high communication efficiency, low power consumption and low cost, but the positioning precision is not very high, and the positioning effect is easily interfered by the environment. The positioning result of the inertial positioning technology is not easily influenced by the external environment, the position information can be provided in real time, and the inertial positioning technology has complete autonomy, high positioning precision in a short time and low communication efficiency. Therefore, the two are combined to form a composite positioning technology, which has the advantages of bidirectionality, high reliability, low power consumption, high communication efficiency, strong anti-interference capability, high positioning accuracy and the like, and is very suitable for being used underground in a coal mine. Therefore, the composite positioning technology is used for positioning the mining electric locomotive, and has remarkable significance for safe production and underground transportation of a coal mine.
Therefore, the invention provides a mining electric locomotive measurement and control system based on a composite positioning technology to solve the problems.
Disclosure of Invention
The invention aims to provide a mining electric locomotive measurement and control system based on a composite positioning technology, which is used for completing real-time positioning and real-time control of a mining electric locomotive and real-time monitoring of the environment where the mining electric locomotive is located (the monitored environment mainly comprises temperature and humidity of the underground coal mine, content of harmful gas such as carbon monoxide, ammonia gas, gas and the like, and obstacles around the mining electric locomotive), so that safe and stable operation of the mining electric locomotive is guaranteed, safety of coal mine transportation is improved, and the purposes of positioning, autonomous obstacle avoidance, real-time monitoring and control of the mining electric locomotive are achieved.
In order to achieve the purpose, the invention adopts the following technical scheme:
a mining electric locomotive measurement and control system based on a composite positioning technology is composed of a ZigBee positioning module, an inertial positioning module, a temperature and humidity sensor, a gas sensor, an infrared distance measuring sensor, a laser radar distance measuring sensor, a camera video monitoring module, an environmental data monitoring module microprocessor, a vehicle-mounted wireless terminal communication module, a motor driving control module, a power supply module and an upper computer monitoring control center.
The utility model provides a mining electric locomotive system of observing and controling based on compound location technique, wherein environmental data monitoring module comprises zigBee orientation module, inertia orientation module, temperature and humidity sensor, gas sensor, infrared distance measuring sensor, laser radar range finding sensor, camera video monitoring module and environmental data monitoring module microprocessor.
The invention provides a mining electric locomotive measurement and control system based on a composite positioning technology, which is characterized in that real-time position information of a mining electric locomotive is acquired through a ZigBee positioning module and an inertial positioning module in an environmental data monitoring module; acquiring temperature and humidity information of the position of the mining electric locomotive through a temperature and humidity sensor in an environmental data monitoring module; acquiring gas information in the surrounding environment of the position where the mining electric locomotive is located through a gas sensor in an environmental data monitoring module; acquiring position information of obstacles on two sides of the mining electric locomotive through an infrared ranging sensor in an environmental data monitoring module; acquiring the position information of front and rear obstacles of the mining motor vehicle through a laser radar ranging module in the environmental data monitoring module; and acquiring real-time monitoring picture information around the advancing direction of the mining electric locomotive through a camera video monitoring module in the environmental data monitoring module.
The invention provides a mining electric locomotive measurement and control system based on a composite positioning technology, an environmental data monitoring module microprocessor sends mining electric locomotive position information acquired by a ZigBee positioning module and an inertial positioning module, temperature and humidity information acquired by a temperature and humidity sensor, gas information acquired by a gas sensor, obstacle position information acquired by an infrared distance measuring sensor and a laser radar distance measuring sensor and a monitoring picture monitored by a camera video to an upper computer monitoring control center through a vehicle-mounted wireless terminal communication module via an industrial Ethernet, and the upper computer monitoring control center classifies, analyzes and processes the sent data in real time, generating related control instructions, sending the related control instructions to the vehicle-mounted wireless terminal communication module through the industrial Ethernet, and then a motor driving control module of the mining electric locomotive is driven to carry out operations such as starting, stopping, obstacle avoidance, variable frequency speed regulation and the like.
Preferably, the mining electric locomotive measurement and control system based on the composite positioning technology provided by the invention is characterized in that a ZigBee positioning module, an inertial positioning module, a temperature and humidity sensor, a gas sensor, an infrared distance measuring sensor, a laser radar distance measuring sensor, a camera video monitoring module, a vehicle-mounted wireless terminal communication module, a motor driving control module and a power supply module are connected with an I/O pin of an environmental data monitoring module microprocessor. The power supply module provides working electric energy for the ZigBee positioning module, the inertia positioning module, the temperature and humidity sensor, the gas sensor, the infrared distance measuring sensor, the laser radar distance measuring sensor, the camera video monitoring module, the vehicle-mounted wireless terminal communication module, the motor driving control module and the environmental data monitoring module microprocessor through wires respectively.
Preferably, the mining electric locomotive measurement and control system based on the composite positioning technology provided by the invention has the advantages of being bidirectional, high in reliability, low in power consumption, high in communication efficiency, strong in anti-interference capability and the like.
Preferably, the mining electric locomotive measurement and control system based on the composite positioning technology provided by the invention has the advantages that the combination of the infrared distance measuring sensor and the laser radar distance measuring sensor is adopted for obstacle detection, and the combination of the infrared distance measuring sensor and the laser radar distance measuring sensor can be more suitable for the complex environment of an underground roadway, and is more favorable for detecting obstacles around the mining electric locomotive.
Preferably, the mining electric locomotive measurement and control system based on the composite positioning technology is additionally provided with a camera video monitoring module for monitoring the surrounding environment information of the mining electric locomotive in real time, so that the function of assisting and supplementing the obstacle detection link can be achieved, unnecessary parking of the mining electric locomotive caused by misjudgment of workers or other underground auxiliary instruments as obstacles can be effectively avoided, and the transportation efficiency of the mining electric locomotive is improved.
Preferably, the mining electric locomotive measurement and control system based on the composite positioning technology is provided by the invention, wherein the environment detection adopts a temperature and humidity sensor and a gas sensor, and is used for detecting abnormal temperature and humidity and colorless and tasteless toxic gas in the environment near the underground mining electric locomotive, and the temperature and humidity sensor and the gas sensor have the advantages of high sensitivity, easiness in placement and the like.
Preferably, the mining electric locomotive measurement and control system based on the composite positioning technology, provided by the invention, has the characteristics of high integration level, low energy consumption and good real-time performance, wherein the environmental data monitoring module microprocessor adopts an STM32 series embedded microprocessor.
The invention has the beneficial effects that: according to the mining electric locomotive measurement and control system based on the composite positioning technology, the environmental information of the position where the mining electric locomotive is located can be sensed in real time through the environmental data monitoring module, and then the corresponding control instruction is generated through the upper computer monitoring control center, so that the motion states of the mining electric locomotive, including different motion states such as start-stop, obstacle avoidance and speed regulation, can be controlled in real time. The system is particularly additionally provided with the camera video monitoring module, so that the condition that a certain device transmits wrong instructions due to information misinformation can be effectively avoided, and double safety guarantee is provided for the system. Meanwhile, the system can monitor the surrounding environment of the position of the mining electric locomotive in real time, greatly simplifies underground inspection personnel, reduces the labor cost, enables the mining electric locomotive to run safely and stably, and ensures the safety of an underground transportation system.
Compared with the prior art, the underground positioning device has the advantages that the composite positioning technology combining the ZigBee positioning technology and the inertial positioning technology is adopted, the underground adaptability of the positioning device is improved, and meanwhile the underground positioning precision is improved.
The invention further discloses a mining electric locomotive measurement and control system based on a composite positioning technology, which is described in the following by combining the attached drawings.
Drawings
Fig. 1 is a structural diagram of a mining electric locomotive measurement and control system based on a composite positioning technology.
Fig. 2 is a schematic spatial arrangement diagram of a mining electric locomotive measurement and control system based on a composite positioning technology.
In the figure, 1-an environmental data monitoring module microprocessor, 2-a power supply module, 3-a ZigBee locating module, 4-an inertial locating module, 5-an infrared distance measuring sensor, 6-a laser radar distance measuring sensor, 7-a temperature and humidity sensor, 8-a gas sensor, 9-a camera video monitoring module, 10-a vehicle-mounted wireless terminal communication module and 11-a motor driving control module.
Detailed Description
The invention is further illustrated by the following specific examples.
As shown in fig. 2, the mining electric locomotive measurement and control system based on the composite positioning technology provided by the invention comprises an environmental data monitoring module microprocessor 1, a power supply module 2, a ZigBee positioning module 3, an inertial positioning module 4, an infrared ranging sensor 5, a laser radar ranging sensor 6, a temperature and humidity sensor 7, a gas sensor 8, a camera video monitoring module 9, a vehicle-mounted wireless terminal communication module 10, a motor drive control module 11 and an upper computer monitoring control center.
The invention provides a mining electric locomotive measurement and control system based on a composite positioning technology, which comprises the following specific implementation processes:
the power module 2 supplies power to the environmental data monitoring module microprocessor 1, the ZigBee locating module 3, the inertial locating module 4, the infrared distance measuring sensor 5, the laser radar distance measuring sensor 6, the temperature and humidity sensor 7, the gas sensor 8, the camera video monitoring module 9, the vehicle-mounted wireless terminal communication module 10 and the motor drive control module 11 through a lead.
After the environmental data monitoring module microprocessor 1 is powered on and initialized, the ZigBee positioning module 3 and the inertial positioning module 4 are respectively controlled to position the mining electric locomotive in real time, and the position information of the mining electric locomotive is collected in real time; controlling an infrared ranging sensor 5 and a laser radar ranging sensor 6 to detect obstacles around the mining electric locomotive in real time, and acquiring the position information of the obstacles around the mining electric locomotive in real time; controlling a temperature and humidity sensor 7 and a gas sensor 8 to acquire temperature and humidity information and contained gas information in the surrounding environment of the position where the mining electric locomotive is located in real time; the control camera video monitoring module 9 monitors the periphery of the mining electric locomotive in real time and collects video image information of the periphery of the mining electric locomotive in real time.
The environmental data monitoring module microprocessor 1 sends environmental data information of the positions of the mining electric locomotive, which is acquired by the ZigBee positioning module 3, the inertial positioning module 4, the infrared distance measuring sensor 5, the laser radar distance measuring sensor 6, the temperature and humidity sensor 7, the gas sensor 8 and the camera video monitoring module 9 in real time, to an upper computer monitoring control center through the vehicle-mounted wireless terminal communication module 10 by using an industrial Ethernet.
After receiving the real-time environment data information sent by the vehicle-mounted wireless terminal communication module 10, the upper computer monitoring control center immediately performs contrastive analysis on the received real-time environment data information in combination with the real-time video monitoring sent by the camera video monitoring module 9, further generates different control instructions according to different environment information, and sends the control instructions to the vehicle-mounted wireless terminal communication module 10 through the industrial Ethernet.
After receiving a control instruction sent from an upper computer monitoring control center through the vehicle-mounted wireless terminal communication module 10, the environmental data monitoring module microprocessor 1 immediately controls the motor driving control module 11 to drive the motor of the mining electric locomotive to start and stop, avoid obstacles or change speed.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and changes may be made without inventive changes based on the technical strategy of the present invention.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. The utility model provides a mining electric locomotive system of observing and controling based on compound location technique, a mining electric locomotive system of observing and controling based on compound location technique which characterized in that, an environmental data monitoring module microprocessor (1), power module (2), zigBee orientation module (3), inertial positioning module (4), infrared ranging sensor (5), laser radar range finding sensor (6), temperature and humidity sensor (7), gas sensor (8), camera video monitoring module (9), on-vehicle wireless terminal communication module (10), motor drive control module (11) and host computer monitoring control center.
2. The mining electric locomotive measurement and control system based on the composite positioning technology is characterized in that a power supply module (2), a ZigBee positioning module (3), an inertial positioning module (4), an infrared ranging sensor (5), a laser radar ranging sensor (6), a temperature and humidity sensor (7), a gas sensor (8), a camera video monitoring module (9), a vehicle-mounted wireless terminal communication module (10) and a motor driving control module (11) are connected with an I/O pin of an environmental data monitoring module microprocessor (1).
3. The mining electric locomotive measurement and control system based on the composite positioning technology as claimed in claim 1, characterized in that the power module (2) supplies power to the environmental data monitoring module microprocessor (1), the ZigBee positioning module (3), the inertial positioning module (4), the infrared ranging sensor (5), the laser radar ranging sensor (6), the temperature and humidity sensor (7), the gas sensor (8), the camera video monitoring module (9), the vehicle-mounted wireless terminal communication module (10) and the motor drive control module (11) through wires.
4. The mining electric locomotive measurement and control system based on the composite positioning technology is characterized in that after the environmental data monitoring module microprocessor (1) is powered on and initialized, the ZigBee positioning module (3) and the inertial positioning module (4) are respectively controlled to position the mining electric locomotive in real time, and the position information of the mining electric locomotive is collected in real time; controlling an infrared distance measuring sensor (5) and a laser radar distance measuring sensor (6) to detect obstacles around the mining electric locomotive in real time, and acquiring the position information of the obstacles around the mining electric locomotive in real time; temperature and humidity information and contained gas information in the surrounding environment of the position where the mining electric locomotive is located are collected in real time by controlling the temperature and humidity sensor (7) and the gas sensor (8); the control camera video monitoring module (9) monitors the periphery of the mining electric locomotive in real time and collects video image information of the periphery of the mining electric locomotive in real time.
5. The mining electric locomotive measurement and control system based on the composite positioning technology according to claim 1, characterized in that the environmental data monitoring module microprocessor (1) sends environmental data information of the position of the mining electric locomotive, which is collected in real time by the ZigBee positioning module (3), the inertial positioning module (4), the infrared distance measuring sensor (5), the laser radar distance measuring sensor (6), the temperature and humidity sensor (7), the gas sensor (8) and the camera video monitoring module (9), to the upper computer monitoring control center through the vehicle-mounted wireless terminal communication module (10) by using the industrial Ethernet.
6. The mining electric locomotive measurement and control system based on the composite positioning technology according to claim 1, characterized in that after receiving the real-time environment data information sent by the vehicle-mounted wireless terminal communication module (10), the upper computer monitoring control center immediately combines the received real-time environment data information with the real-time video monitoring sent by the camera video monitoring module (9) for comparative analysis, and further generates different control instructions according to different environment information, and the upper computer monitoring control center sends the control instructions to the vehicle-mounted wireless terminal communication module (10) through the industrial ethernet.
7. The mining electric locomotive measurement and control system based on the composite positioning technology as claimed in claim 1, characterized in that after the environmental data monitoring module microprocessor (1) receives a control instruction sent from the upper computer monitoring control center through the vehicle-mounted wireless terminal communication module (10), the motor driving control module (11) is immediately controlled to drive the motor of the mining electric locomotive to start and stop, avoid obstacles or change speed.
8. The mining electric locomotive measurement and control system based on the composite positioning technology as claimed in claim 1, characterized in that the composite positioning technology combining the ZigBee positioning technology and the inertial positioning technology is adopted.
9. The mining electric locomotive measurement and control system based on the composite positioning technology as claimed in claim 1, characterized in that the environmental data monitoring module microprocessor (1) and the upper computer monitoring control center communicate with each other by means of industrial ethernet through a vehicle-mounted wireless terminal communication module (10).
10. The mining electric locomotive measurement and control system based on the composite positioning technology according to claim 1, characterized in that an STM32 series embedded microprocessor is adopted as the environmental data monitoring module microprocessor (1).
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Cited By (1)
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| CN113586156A (en) * | 2021-09-01 | 2021-11-02 | 四川川煤华荣能源有限责任公司大宝顶煤矿 | Control center for intelligent coal mining |
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Application publication date: 20210528 |