CN203673062U - Device for achieving high-precision tracking and positioning through underground scanning satellites - Google Patents
Device for achieving high-precision tracking and positioning through underground scanning satellites Download PDFInfo
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- CN203673062U CN203673062U CN201420021870.2U CN201420021870U CN203673062U CN 203673062 U CN203673062 U CN 203673062U CN 201420021870 U CN201420021870 U CN 201420021870U CN 203673062 U CN203673062 U CN 203673062U
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Abstract
The utility model discloses a device for achieving high-precision tracking and positioning through underground scanning satellites, which is suitable for high-precision tracking and positioning through underground scanning satellites. The device comprises a laser transmitter, a beam splitter, a total reflection prism, a rotary table, an angle encoder, a motor, a time synchronizing signal transmitter, a positioning device explosion-proof enclosure, a laser signal receiver and an industrial personal computer. Based on the GPS positioning conception and the laser scanning technology, each underground scanning satellite emits two laser scanning surfaces carrying angle information to a surrounding 360-degree space at every moment, receivers arranged on one or more mobile devices in an underground environment receive laser signals, and space angle information of the receivers is transmitted to the industrial personal computer. The specific position of a moving device or human body is determined, and the running speed of the underground mobile devices is worked out. The scanning precision of the device can reach the millimeter level within hundreds of meters, and the requirement for achieving high-precision tracking and positioning of mining equipment for 'underground unmanned mining' can be well met.
Description
Technical field
The utility model relates to a kind of method for tracking and positioning and device, particularly a kind of underground scanning satellite high-precision tracing positioning apparatus.
Background technology
Along with China's coal-mine mining depth increases with digging condition more and more badly gradually, make miner's security threat also more and more large at present.Therefore, development " underground unmanned extraction technique " is basic solution, is also the common cutting edge technology of pursuing of domestic and international coal industry.The key scientific problems urgently to be resolved hurrily that underground unmanned digging faces and how to improve digging equipment track positioning accuracy in digging operation space.
Track and localization technology is mainly aimed at the position and attitude of one or more space objects and measures in real time.Track and localization technology for moving target under the coal mine without gps signal has also obtained certain attention in recent years, and its localization method mainly can be divided into two large classes according to the difference of used sensing station: (l) localization method based on external sensor (wireless location technology, infrared ray location technology, ultrasound wave location technology, computer vision location technology etc.); (2) localization method based on self-contained sensor (accelerometer, gyroscope, odometer, magnetic compass etc.).
Wireless location technology is to measure by some parameters to radiowave, judges the position of testee according to specific algorithm.The application of wireless location technology, mainly comprises: radio-frequency (RF) identification, bluetooth, ultra broadband, Wi-Fi and Zigbee etc.1. radio-frequency (RF) identification (RFID) technology is to utilize RF-wise to carry out contactless bidirectional communication data exchange to reach identification and the location of target.Be generally several meters but its operating distance is short; Positioning precision is the 20cm order of magnitude.2. ultra broadband (UWB) technology it does not need to use the carrier wave in traditional communication system, but transmit data by the ultra-narrow pulse that sending and receiving has a nanosecond, thereby there is the bandwidth of GHz magnitude.The positioning precision of ultra broadband is the 15cm order of magnitude, and orientation distance is limited to 20m left and right conventionally.3. Bluetooth technology is a kind of Radio Transmission Technology of short distance low-power consumption, but for the space environment of underground complexity, the less stable of Bluetooth system, is disturbed by noise signal large.4. Wi-Fi transceiver all can only cover tens meters with interior space, the place one's entire reliance upon deployment scenario of Wi-Fi network of positioning precision, in the time that Wi-Fi signal is intensive, precision can reach 1 meter, and Wi-Fi signal is easy to be subject to the interference of other signals, thereby affect its positioning precision.5. ZigBee technology is emerging in recent years short distance, the radio network technique of low rate, and its performance, also can be for underground location between radio-frequency (RF) identification and bluetooth.At present, wireless location technology employed both at home and abroad is only having application report aspect personnel in the pit location and tracking, say and be only a kind of attendance record system or only rest in the aspect of coarse localization from technological essence, complete approximate location and determine, but not real, accurate track and localization.
The principle of infrared ray location technology is the infrared-ray through ovennodulation by infrared ray IR transmitting, then receives these infrared-rays by optical sensor, realizes the location to target.But infrared ray location technology positioning precision is not high, it is very poor that transmission range causes locating effect in underground environment compared with short-range missile, and easily disturbed by fluorescent light and underground other light, accurately on location, having certain limitation.
Ultrasound wave location technology adopts reflective telemetry, launches ultrasound wave and receives the echo that produced by measured object, calculates testing distance according to the mistiming of echo and transmitted wave.Because ultrasound wave is subject to the impact of multipath effect and down-hole complex environment, thereby limit its continuation development under coal mine.
Computer vision location technology refers to video camera and computer replacement human eye target is identified, followed the tracks of and gathers, processes to obtain position and the attitude data of measured target by the picture to collection or video.Although vision location technology has relatively high positioning precision, the distance of location is short.These have limited the development of computer vision location technology under coal mine.
Except said method, also have scholar to utilize the methods such as graphical analysis, magnetic field and beacon location to study.
Localization method based on self-contained sensor mainly contains accelerometer, gyroscope, odometer, magnetic compass etc.
Gyroscope and accelerometer are directly to measure angular velocity and the linear acceleration of measured target in direction of motion, by acceleration and angular velocity are carried out to integral operation, obtain position and the attitude data of measured target.Odometer is to utilize the principle of gear counting to obtain the revolution of measured target walking gear, and the girth that revolution is multiplied by walking gear obtains the distance of equipment walking, thereby determines the position of equipment at workplace.Magnetic compass is made according to compass principle, utilizes the spatial attitude angle of the intrinsic directivity measurement target in terrestrial magnetic field, obtains the attitude data of target.
From existing achievement in research, about the research of above-mentioned aspect, still there are the following problems:
(1) radio tracking location technology is the popular direction of Recent study, but because the restriction of radiowave self-characteristic causes the precision of its track and localization not high, cannot meet " underground unmanned digging " requirement (reaching inferior centimeter order) to digging equipment high precision tracking location.
(2) infrared ray location survey distance is too near, ultrasound wave is subject to multipath effect and the impact of down-hole complex environment, the orientation distance of computer vision is short and be subject to illumination effect, and they also cannot meet " underground unmanned digging " requirement to digging equipment high precision tracking location in addition.
Impact makes its error constantly increase (can reach meter level), causes it cannot meet " underground unmanned digging " requirement to digging equipment high precision tracking location.In addition, the absolute value in the relative value of digging that what they obtained is only equipment position and attitude and not three dimensions, can not serve as the foundation that digging equipment is controlled automatically.
Although said method can be realized the track and localization to underground moving target from the above analysis, but the precision of its track and localization in digging operation space is not high (tens centimetres even several meters), cannot meet " underground unmanned digging " requirement to digging equipment high precision tracking location.
Utility model content
The purpose of this utility model is the weak point overcoming in prior art, provide a kind of simple in structure, easy to use, precision is high, the underground scanning satellite high-precision tracing positioning apparatus that is difficult for being disturbed.
For achieving the above object, underground scanning satellite high-precision tracing positioning apparatus of the present utility model, comprises underground scanning satellite, ground control system, laser signal receiver, wireless exchange board; Laser signal receiver is arranged on mobile device or human body; Underground scanning satellite is multiple, and interval is arranged on the top of underground activities face hydraulic support, is 360 degree Emission Lasers signals when work; Wireless exchange board is located in the ground in work space wall crossheading, and the output terminal of underground scanning satellite is connected with the input end of ground control system by optical cable transmission network, and laser intelligence receiver is connected by wireless exchange board with ground control system.
Described underground scanning satellite comprises total reflection prism, generating laser, beam splitter, angular encoder, motor, turntable and ground control system; Generating laser is positioned at the top of beam splitter, is connected with total reflection prism in the bottom of beam splitter, and total reflection prism is arranged on turntable, and turntable shaft is connected with the axle of motor, between turntable and motor, is connected with angular encoder.
Beneficial effect: owing to having adopted such scheme, the underground scanning satellite of the utility model utilizes underground scanning satellite to carry out implement accurate tracking is located in underground activities space.Underground scanning satellite work, 360 degree Emission Lasers signals, the receiver being arranged on device or personnel receives laser signal, space angle information is sent to the wireless exchange board that is arranged on wall by the wireless exchange board being arranged on device.Utilize finite element network, aboveground control center receives useful signal.By being preset in the quick Tracking and Orientation Arithmetic of self-adaptation in industrial computer, calculate device or personnel's locus.On device, multiple laser signal receivers are installed, can be utilized algorithm to calculate the operating angle of device.Supvr can be at any time watches downhole hardware on computer or personnel's active situation in aboveground control center.Taking precision measurement engineering as basic dynamic measuring tech, there is high speed, high precision, high resolving power and round-the-clock feature, its scanning accuracy can reach grade within the scope of hundred meters.Underground scanning satellite system said method has higher positioning precision, meets " underground unmanned digging " requirement to digging equipment track positioning accuracy.Device is practical, safe and reliable, easy to operate.
Brief description of the drawings
The pinpoint ultimate principle figure of the underground scanning satellite system of Fig. 1.
The underground scanning satellite structure of Fig. 2 sketch.
In figure: 1, underground scanning satellite; 2, ground control system; 3, total reflection prism; 4, generating laser; 5, beam splitter; 6, angular encoder; 7, motor; 8, turntable; 9, laser signal receiver; 10, wireless exchange board; 11, hydraulic support; 12, crossheading; 13, coalcutter; 14, optical cable transmission network.
Embodiment
Structure accompanying drawing is further described an embodiment of the present utility model below:
As shown in Figure 1, underground scanning satellite high-precision tracing positioning apparatus of the present utility model, is mainly made up of underground scanning satellite 1, ground control system 2, laser signal receiver 9, wireless exchange board 10; Laser signal receiver 9 be arranged on mobile device or human body with, shown in figure for being arranged on coalcutter 13; Underground scanning satellite 1 is multiple, and interval is arranged on the top of underground activities face hydraulic support 11, is 360 degree Emission Lasers signals when work; Wireless exchange board 10 is located in the ground in work space wall crossheading 12, the output terminal of underground scanning satellite 1 is connected with the input end of ground control system 2 by optical cable transmission network 14, and it is that 2 all wireless exchange boards 10 of crossing are connected that laser intelligence receiver 9 is controlled with ground.Based on GPS the fixed position of the design principle and laser scanner technique, each underground scanning satellite moment is launched the laser scanning face of two fans with angle information in 360 degree spaces towards periphery, the receiver of the equipment equipment of the one or more movements in underground environment receives laser signal, and the space angle information of receiver is transmitted in to industrial computer.
As shown in Figure 2, described underground scanning satellite 1 comprises total reflection prism 3, generating laser 4, beam splitter 5, angular encoder 6, motor 7, turntable 8 and ground control system 2; Generating laser 4 is positioned at the top of beam splitter 5, is connected with total reflection prism 3 in the bottom of beam splitter 5, and total reflection prism 3 is arranged on turntable 8, and turntable 8 axles are connected with the axle of motor 7, between turntable 8 and motor 7, is connected with angular encoder 6.
When work, underground scanning satellite rotates with specific angular velocity, and in 360 degree spaces, launches laser scanning face and the time synchronizing signal of two fans with angle information towards periphery.When measured target (laser signal receiver 9) receives after laser scanning signal, under base area, scan the angle of satellite 1 laser scanning face and angular velocity, laser pulse time of arrival poor, stroboscopic signal and the information such as laser signal mistiming determine the space angle information between measured target and underground scanning satellite 1.
Claims (2)
1. a underground scanning satellite high-precision tracing positioning apparatus, is characterized in that: it comprises underground scanning satellite (1), ground control system (2), laser signal receiver (9), wireless exchange board (10); Laser signal receiver (9) is arranged on mobile device or human body; Underground scanning satellite (1) is multiple, and interval is arranged on the top of underground activities face hydraulic support (11), is 360 degree Emission Lasers signals when work; Wireless exchange board (10) is located in the ground in work space wall crossheading (12), the output terminal of underground scanning satellite (1) is connected with the input end of ground control system (2) by optical cable transmission network (14), and laser intelligence receiver (9) is controlled all wireless exchange boards (10) of crossing of system (2) with ground and is connected.
2. underground scanning satellite high-precision tracing positioning apparatus according to claim 1, is characterized in that: described underground scanning satellite (1) comprises total reflection prism (3), generating laser (4), beam splitter (5), angular encoder (6), motor (7), turntable (8) and ground control system (2); Generating laser (4) is positioned at the top of beam splitter (5), be connected with total reflection prism (3) in the bottom of beam splitter (5), total reflection prism (3) is arranged on turntable (8), turntable (8) axle is connected with the axle of motor (7), between turntable (8) and motor (7), is connected with angular encoder (6).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420021870.2U CN203673062U (en) | 2014-01-14 | 2014-01-14 | Device for achieving high-precision tracking and positioning through underground scanning satellites |
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| CN201420021870.2U CN203673062U (en) | 2014-01-14 | 2014-01-14 | Device for achieving high-precision tracking and positioning through underground scanning satellites |
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| CN203673062U true CN203673062U (en) | 2014-06-25 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103760517A (en) * | 2014-01-14 | 2014-04-30 | 中国矿业大学 | Method and device for achieving high-precision tracking and positioning through underground scanning satellites |
| CN106168139A (en) * | 2016-08-24 | 2016-11-30 | 天津华宁电子有限公司 | A kind of hydraulic support Wireless movement detects and automatically looks for straight system and method |
| CN110632927A (en) * | 2019-09-24 | 2019-12-31 | 李宏达 | Low-cost high accuracy three-dimensional positioning AGV navigation head based on laser positioning |
-
2014
- 2014-01-14 CN CN201420021870.2U patent/CN203673062U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103760517A (en) * | 2014-01-14 | 2014-04-30 | 中国矿业大学 | Method and device for achieving high-precision tracking and positioning through underground scanning satellites |
| CN106168139A (en) * | 2016-08-24 | 2016-11-30 | 天津华宁电子有限公司 | A kind of hydraulic support Wireless movement detects and automatically looks for straight system and method |
| CN106168139B (en) * | 2016-08-24 | 2018-05-22 | 天津华宁电子有限公司 | A kind of hydraulic support Wireless movement detects and looks for straight system and method automatically |
| CN110632927A (en) * | 2019-09-24 | 2019-12-31 | 李宏达 | Low-cost high accuracy three-dimensional positioning AGV navigation head based on laser positioning |
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| AV01 | Patent right actively abandoned |
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