WO2016091020A1 - 一种基于uwb采煤机绝对位置精确校准方法及装置 - Google Patents

一种基于uwb采煤机绝对位置精确校准方法及装置 Download PDF

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WO2016091020A1
WO2016091020A1 PCT/CN2015/092936 CN2015092936W WO2016091020A1 WO 2016091020 A1 WO2016091020 A1 WO 2016091020A1 CN 2015092936 W CN2015092936 W CN 2015092936W WO 2016091020 A1 WO2016091020 A1 WO 2016091020A1
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uwb
wireless communication
shearer
ultra
sensor
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PCT/CN2015/092936
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English (en)
French (fr)
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刘万里
刘一鸣
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中国矿业大学
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Priority to AU2015388821A priority Critical patent/AU2015388821B2/en
Publication of WO2016091020A1 publication Critical patent/WO2016091020A1/zh
Priority to ZA2016/05789A priority patent/ZA201605789B/en

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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E21C35/08—Guiding the machine

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  • the invention relates to a method and a device for accurately calibrating the absolute position of a shearer, in particular to a method and a device for accurately calibrating the absolute position of a shearer based on UWB.
  • Coal resources are the main energy source in China.
  • the rational exploitation and utilization of coal resources is the prerequisite for the healthy development of the current mining industry.
  • the shearer is one of the important equipment for underground operations.
  • the linkage between the shearer, the scraper conveyor and the hydraulic support is still manually operated in many cases, but in order to automate the entire process, it must be realized.
  • Three-machine linkage automation of shearer, scraper conveyor and hydraulic support At the same time, due to the complicated geological conditions of coal fields in China, the harsh mining environment and the difficult production conditions, this has raised a higher level of requirements for the operation and operation of shearers.
  • Ultra-wideband (UWB) technology also known as Impulse Radio technology
  • UWB Ultra-wideband
  • Impulse Radio technology is a relatively advanced wireless communication technology. It realizes ultra-wideband and high-speed data transmission in a short distance.
  • the modulation method of UWB technology and the multiple access technology adopted make it have wider bandwidth, high-speed data transmission and lower than other wireless communication technologies.
  • the characteristics of power consumption and high security performance have attracted people's attention.
  • UWB technology has gradually become a hotspot in the research and development of wireless communications, and is regarded as a key technology for next-generation wireless communications.
  • Bluetooth, wireless, bigbee and other methods because the infrared must be measured in the visible range, Bluetooth technology is relatively completely mature, and the communication speed is low, wireless and bigbee mainly serve as short-distance communication and low reliability. , unstable, so often the accuracy does not meet the demand.
  • UWB technology has the advantage of high precision compared to these methods.
  • the coal mining machine positioning methods generally used in coal mines mainly include gear counting method, infrared beam shooting method, ultrasonic reflection method, wireless sensor network shearer positioning method and pure inertial navigation method.
  • the shearer gear counting and positioning method is to count the number of turns of the running gear, and locate the position of the shearer according to the hydraulic support.
  • the infrared radiation positioning method is to install an infrared emitting device in the shearer body, and an infrared receiving device is fixed in the hydraulic support. During the operation of the shearer, the receiving device analyzes the strength of the received signal, thereby judging the shearer Specific location.
  • the disadvantage of adopting this method is that the position of the shearer cannot be continuously detected, and the transmission and reception of the infrared signal must be at the same level, otherwise it is difficult to receive signals effectively, so in the actual downhole environment, due to numerous interference factors, Nor can it be accurately positioned.
  • the pure inertial positioning method uses the accelerometer and the gyroscope to obtain the shaft acceleration and the shaft angular velocity of the shearer, and then determines the position of the shearer by an algorithm.
  • the disadvantage of this method is that due to the drift of the gyroscope and the accelerometer, the shearer has a strong vibration during the working process, so the accuracy is difficult to guarantee, and the absolute positioning of the shearer cannot be achieved.
  • the present invention provides a method and apparatus for accurately calibrating the absolute position of a shearer based on UWB to achieve precise positioning of the shearer.
  • An absolute position accurate calibration device based on UWB shearer including shearer fuselage 1, shearer positioning device 2, positioning device explosion-proof casing 3, host computer 5, several ultra-wideband wireless communication UWB sensors 6 and POE switches 10; fixedly connecting the positioning device explosion-proof casing 3 on the shearer body 1; the positioning device explosion-proof casing 3 is connected to the shearer positioning device 2; the shearer positioning device 2 includes a UWB positioning tag 4;
  • the ultra-wideband wireless communication UWB sensor 6 is equally spaced on the hydraulic support at the end of the shearer operation; all the ultra-wideband wireless communication UWB sensor 6 is connected to the upper computer 5 through the POE switch 10.
  • ultra-wideband wireless communication UWB sensor 6 and the POE switch 10 are connected by a shielded wire.
  • a method of using an absolute position accurate calibration device based on a UWB shearer includes the following steps:
  • UWB wireless communication UWB sensors 6 are arranged on the hydraulic support at the end of the shearer operation; UWB positioning tags are placed in the shearer positioning device 2 Deriving the signal transceiving area of each ultra-wideband wireless communication UWB sensor 6 along the mining area; measuring the absolute coordinates of each ultra-wideband wireless communication UWB sensor 6 by a laser range finder;
  • Ultra-wideband wireless communication UWB sensor 6 adopts Ethernet power supply mode; establishes Ethernet, specifically: arranges POE switch 10 and upper computer 5, and each ultra-wideband wireless communication UWB sensor 6 passes POE switch 10 and upper computer 5 Connected, and each UWB wireless communication UWB sensor 6 is connected by a ring connection;
  • the host computer 5 receives the transmission signal of each UWB wireless communication UWB sensor 6, and sets the noise threshold according to the maximum value of the waveform of the transmission signal; according to the absolute coordinates of each UWB wireless communication UWB sensor 6 in the upper computer 5 Establish an accurate calibration model for the absolute position of the shearer;
  • the UWB positioning tag 4 is placed at a point in the arbitrarily selected signal receiving and receiving area; the UWB positioning tag 4 is positioned by using a positioning algorithm combined with AOA and TDOA, specifically:
  • the coal mining machine performs the mining operation, and the ultra-wideband wireless communication UWB sensor 6 transmits the collected UWB positioning tag 4 data information in the positioning device 2 to the upper computer 5, which is accurately calibrated in the absolute position of the shearer.
  • the data processing system depicts the absolute position information of the UWB positioning tag 4 in the shearer positioning device 2, i.e., the precise location at which the shearer is located.
  • the ultra-wideband wireless communication UWB sensor 6 is equally spaced at the same height position on the same side of the hydraulic support at the end end of the shearer operation, and the arrangement height is greater than the step 4)
  • the UWB positioning tag 4 arranged in the middle is more than 1 m in height; each UWB sensor 6 of the UWB wireless communication is tilted downward by 25 degrees based on the plumb line, and the UWB sensor 6 is used to ensure the UWB sensor 6 on the back of each UWB sensor 6 of the UWB sensor. End level.
  • the number of the ultra-wideband wireless communication UWB sensors 6 is four.
  • the present invention Since the above technical solution is adopted, the present invention has the following advantages compared with the prior art:
  • UWB is used to achieve accurate calibration of the absolute position of the shearer through the combination of AOA and TDOA.
  • the AOA refers to the azimuth positioning measurement based on the received signal angle method, which is the angle of the transmitted signal from the UWB positioning tag to the UWB sensor of the UWB wireless sensor, and the process of transmitting from the UWB positioning tag to the ultra-wideband wireless communication UWB sensor.
  • the radial line in the middle may be referred to as a direction line, and the angular relationship between the UWB positioning tag and the UWB sensor of the ultra-wideband wireless communication is determined according to the direction line.
  • the method of arrival time difference is to measure the time difference between the positioning signals of different UWB sensors received by the UWB sensor in different UWB wireless sensors, and calculate the distance difference between the UWB positioning tag and the UWB sensor of different UWB wireless communication, generally adopting a hyperbolic curve.
  • the positioning algorithm performs positioning.
  • UWB ultra-wideband wireless communication system is selected to accurately calibrate the absolute position of the shearer, which takes advantage of UWB itself. Its high bandwidth, low power consumption, strong anti-interference ability, high transmission rate, high spectrum utilization, large system capacity and many The high resolution of the path ensures the accuracy of the positioning, reduces the positioning error, and gives an accurate calibration of the absolute position of the shearer.
  • the invention accurately calibrates the absolute position of the shearer, avoids the dangerous situation in the production process in advance, and has important reference value and practical significance.
  • the method of the invention is safe, reliable, and convenient to install and operate.
  • FIG. 1 is a schematic diagram showing the arrangement of an ultra-wideband wireless communication UWB sensor and a UWB positioning tag according to the present invention
  • Figure 2 is a schematic view of the absolute position accurate calibration device of the shearer of the present invention.
  • FIG. 3 is a schematic diagram of a UWB sensor wiring method of the ultra-wideband wireless communication of the present invention.
  • FIG. 4 is a schematic diagram showing the working mode of the ultra-wideband wireless communication UWB sensor of the present invention.
  • FIG. 5 is a schematic diagram of mutual positioning of UWB sensors of ultra-wideband wireless communication according to the present invention.
  • Figure 6 is a block diagram showing the principle of accurate position calibration of the shearer of the present invention.
  • UWB signal when transmitting, spreads the weak radio pulse signal in a wide frequency band, and the output power is even lower than that generated by ordinary equipment. The signal energy is restored during reception, and a spread gain is generated during the despreading process.
  • High transmission rate The data rate of UWB can reach several tens of megabits per second to several hundred megabits per second, and the rate is greatly improved compared to other methods.
  • the bandwidth is extremely wide: UWB uses a bandwidth of more than 1 GHz, up to several GHz, and can work simultaneously with the current narrow-band communication system without interfering with each other. This is today in the increasingly tense of frequency resources. A new time domain radio resource has been opened up.
  • FIG. 1 is a schematic diagram showing the arrangement of a UWB sensor and a positioning tag according to the present invention
  • UWB shearer absolute position accurate calibration device including shearer fuselage 1, shearer positioning device 2, positioning device explosion-proof casing 3, host computer 5, several ultra-wideband wireless communication UWB sensor 6 and POE switch 10; Fixing the explosion-proof housing 3 of the positioning device on the shearer body 1; connecting the shearer positioning device 2 to the explosion-proof housing 3 of the positioning device; the shearer positioning device 2 includes a UWB positioning tag 4;
  • the broadband wireless communication UWB sensor 6 is equally spaced on the hydraulic support at the end of the shearer operation; all of the ultra-wideband wireless communication UWB sensor 6 is connected to the upper computer 5 via the POE switch 10.
  • ultra-wideband wireless communication UWB sensor 6 and the POE switch 10 are connected by a shielded wire.
  • ultra-wideband wireless communication UWB sensors 6 are arranged on the hydraulic support at the end of the shearer operation; UWB positioning tags are placed in the shearer positioning device 2 Arbitrarily select one ultra-wideband wireless communication UWB sensor 6 as the main sensor of the shearer operation, and the other three ultra-wideband wireless communication UWB sensors 6 as the slave sensor; delineate the signal transmission and reception of each ultra-wideband wireless communication UWB sensor 6 along the mining area Area; measuring the absolute coordinates of each UWB wireless communication UWB sensor 6 by a laser range finder;
  • Ultra-wideband wireless communication UWB sensor 6 adopts Ethernet power supply mode; establishes Ethernet, specifically: arranges POE switch 10 and upper computer 5, and each ultra-wideband wireless communication UWB sensor 6 passes POE switch 10 and upper computer 5 Connected, the Ethernet provides the IP address through the DHCP server in the host computer 5; the UWB sensors 6 of each ultra-wideband wireless communication are connected by a ring connection;
  • the ring connection is connected to the UWB sensor 6 of the ultra-wideband wireless communication.
  • the time signal is output from any port of the main sensor, and is sequentially input to the port at the upper right corner of the next slave sensor.
  • the other interface of the slave sensor is an output interface.
  • the host computer 5 collects the positioning signal transmitted by the UWB sensor 6 of the ultra-wideband wireless communication, and all the positioning signals are displayed in the upper computer 5 to determine the normal operation of the Ethernet network; the upper computer 5 receives the UWB of each ultra-wideband wireless communication The transmitting signal of the sensor 6 sets the noise threshold according to the maximum value of the waveform of the transmitted signal; The absolute coordinates of the ultra-wideband wireless communication UWB sensor 6 establish an accurate position calibration model of the shearer in the upper computer 5;
  • the UWB positioning tag 4 is placed at a point in the arbitrarily selected signal receiving and receiving area; the UWB positioning tag 4 is positioned by using a positioning algorithm combined with AOA and TDOA, specifically:
  • AOA refers to the angle of the transmitted signal from the UWB positioning tag 4 to the ultra-wideband wireless communication UWB sensor 6 based on the received signal angle method, wherein the UWB positioning tag 4 is transmitted to the ultra-wideband wireless communication UWB sensor 6
  • the radial line may be referred to as a direction line, and the angular relationship between the UWB positioning tag 4 and the UWB sensor UWB sensor 6 is determined according to the direction line;
  • the TDOA refers to the time difference of arrival method, which is to measure the UWB position of the UWB sensor 6 received by different UWB wireless communication.
  • the time difference of the positioning signal of the tag 4, and thus the distance difference between the UWB positioning tag 4 and the different ultra-wideband wireless communication UWB sensor 6 is calculated, and the hyperbolic positioning algorithm is generally used for positioning.
  • the UWB positioning tag 4 position can be calculated by any two pieces of information, such as a TDOA and AOA or two AOAs, thus ensuring that the UWB positioning tag 4 can be at least two UWB wireless communication UWB sensors. 6 accepted at the same time.
  • the UWB sensor 6 is calibrated by the TDOA and AOA amount location algorithms.
  • the coal mining machine performs the mining operation, and the ultra-wideband wireless communication UWB sensor 6 transmits the collected UWB positioning tag 4 data information in the positioning device 2 to the upper computer 5, which is accurately calibrated in the absolute position of the shearer.
  • the data processing system depicts the absolute position information of the UWB positioning tag 4 in the shearer positioning device 2, i.e., the precise location at which the shearer is located.
  • the ultra-wideband wireless communication UWB sensor 6 is equally spaced at the same height position on the same side of the hydraulic support at the end end of the shearer operation, and the arrangement height is greater than the step 4)
  • the UWB positioning tag 4 arranged in the middle is more than 1 m in height; each UWB sensor UWB sensor 6 is based on a plumb line Tilt down 25 degrees, use the level on the back of each UWB sensor UWB sensor 6 to ensure the upper end of the ultra-wideband wireless communication UWB sensor 6.
  • FIG. 3 shows the connection mode of the ultra-wideband wireless communication UWB sensor 6, which is connected by a ring connection; the time signal is output from any port of the main sensor, and must be sequentially input to the port at the upper right corner of the next slave sensor, and the other interfaces of the sensor are
  • the output interface is a shielded network cable, and the main sensor serves as a time source to ensure time synchronization.
  • each UWB sensor 6 of the UWB wireless communication is connected to the POE switch 10 through a network cable to establish an Ethernet network.
  • the POE switch is connected to the host computer through a network cable and provides an IP address through a DHCP server.
  • FIG. 4 is a basic principle of UWB sensor 6 positioning of ultra-wideband wireless communication, that is, positioning of UWB positioning tag 4 by AOA and TDOA.
  • A1 and a2 are azimuth angles, that is, the angles to be measured by the AOA positioning method.
  • FIG. 5 shows that during the mining of the shearer, four ultra-wideband wireless communication UWB sensors 6 are placed on the hydraulic support at the end and move with the movement of the hydraulic support, which is placed at the end of the shearer.
  • the ultra-wideband wireless communication UWB sensor at the head position serves as a fixed base station.
  • Each time the shearer is mined one of the ultra-wideband wireless communication UWB sensors 6 moves with the hydraulic support in which it is placed, so three UWB sensors with no moving ultra-wideband wireless communication are used after each movement.
  • the absolute coordinates of the UWB sensor 6 after the movement of the ultra-wideband wireless communication are determined by the three unmoved ultra-wideband wireless communication UWB sensors 6.
  • FIG. 6 is a block diagram showing the principle of accurate position calibration of the shearer of the present invention. That is to say, the ultra-wideband wireless communication UWB sensor 6 is selected as the basis of the system. Firstly, the ultra-wideband wireless communication UWB sensor 6 is arranged underground, and the ultra-wideband wireless communication UWB sensor 6 is realized by establishing the absolute position accurate calibration model of the shearer in the upper computer 5. Management, in the shearer mining process, UWB sensor UWB sensor 6 accepts UWB positioning tag signal to transmit data to the host computer, the host computer 5 pairs signal management and data processing, and finally obtain the absolute position of the shearer.

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Abstract

一种基于UWB采煤机绝对位置精确校准装置，包括采煤机机身（1）、采煤机定位装置（2）、定位装置防爆外壳（3）、上位机（5）、四个超宽带无线通讯UWB传感器（6）和POE交换机（10）；在采煤机机身（1）上固定定位装置防爆外壳（3）；定位装置防爆外壳（3）内有接采煤机定位装置（2）；采煤机定位装置（2）中包括UWB定位标签（4）；超宽带无线通讯UWB传感器（6）等间距固定在端头处的液压支架上；超宽带无线通讯UWB传感器（6）通过POE交换机（10）与上位机（5）连接。还公开了一种基于UWB采煤机绝对位置精确校准方法。该装置利用超宽带无线通讯UWB进行精确校准抗干扰能力强，传输速率高，具有更高的带宽、更低的功耗并能提供井下采煤机的精确定位，安全可靠且易于安装、操作方便。

Description

一种基于UWB采煤机绝对位置精确校准方法及装置 技术领域
本发明涉及一种采煤机绝对位置精确校准的方法及装置，特别是一种基于UWB对采煤机绝对位置进行精确校准的方法及装置。
背景技术
煤炭资源是我国的主要能源，对煤炭资源的合理开采和利用是当前采矿业健康发展的前提。在煤炭资源的开采过程中，采煤机是井下作业重要的设备之一。当前，在综采工作面进行正常的采煤作业时，采煤机、刮板输送机和液压支架的联动在很多情况下依旧采用人工方式进行操作，但若要实现整个过程的自动化，必须实现采煤机、刮板运输机和液压支架的三机联动自动化。同时，由于我国煤田地质条件复杂，井下开采环境恶劣，生产条件艰苦等问题突出，这对于采煤机操作和运行提出了更高层次的要求。而无论是三机联动自动化还是采煤机开采过程，对采煤机绝对位置的精确校准是完成采煤作业的重要基础。由于是井下作业，一些我们常用的校准方式往往无法满足当前精确校准的需求，随着现代化科技的发展，超宽带无线定位系统(UWB)研究的逐步加深，使得对采煤机绝对位置的精确校准成为可能。
超宽带(UWB)技术，又称冲击无线电(Impulse Radio)技术，是目前比较先进的无线通讯技术。它实现了短距离内超宽带、高速的数据传输，同时UWB技术的调制方式以及采用的多址技术等特点使它相比于其他无线通信技术具有更宽的带宽、高速的数据传输、低的功耗、安全性能高等特点，因此引起了人们的重视。UWB技术逐渐成为无线通信领域研究开发的一个热点，并被视为下一代无线通信的关键技术。对于红外、蓝牙、无线、bigbee等方法，由于红外必须在可视范围内测量，蓝牙技术相对而言并没有完全成熟，并且通讯速率低，无线和bigbee主要作为短距离内的通讯且可靠性低，不稳定，因此往往造成精度达不到需求。UWB技术相对于这些方式，具有精度高的优点。
在采煤机的传统校准方式中，往往不能够实现精确校准，存在固有误差。这是由于矿井下环境恶劣，测量的精度往往会受到井下各种条件的限制，不能实现精确校准的要求。当前，煤矿井下一般采用的采煤机定位方式主要有齿轮计数法、红外对射法、超声波反射法、无线传感网络采煤机定位法及纯惯性导航法。其中，采煤机齿轮计数定位法是通过对行走部齿轮转动的圈数进行计数，并依据液压支架来定位出采煤机的位置。这种方法比较简单，成本低，但由于采煤机在作业过程中是沿着工作面横向及纵向运动， 而齿轮计数法只能确定采煤机行走路程，因此造成定位不精确，产生很大误差。红外对射定位法则是在采煤机机身安装红外发射装置，在液压支架固定有红外接收装置，在采煤机作业过程中，通过接收装置对接收信号强弱的分析，从而判断采煤机具体位置。采用这个方法的缺点是不能连续的检测采煤机的位置，同时红外信号的发射和接收必须处于同一水平面，否则很难有效的接收信号，因此在实际的井下环境中，由于干扰因素众多，往往也不能精确定位。纯惯性定位法是利用加速度计和陀螺仪得出采煤机的轴加速度及轴角速度，然后通过算法来确定采煤机的位置。这种方法缺点是由于陀螺仪和加速度计存在漂移，采煤机在工作过程中有很强烈的震动，因此精度很难保证，也无法实现对采煤机的绝对定位。
发明内容
发明目的：为了克服现有技术中存在的不足，本发明提供一种基于UWB对采煤机绝对位置进行精确校准的方法及装置，实现对采煤机的精确定位。
技术方案：为实现上述目的，本发明采用的技术方案为：(因在附图说明之前，所有序号不应出现！)
一种基于UWB采煤机绝对位置精确校准装置，包括采煤机机身1、采煤机定位装置2、定位装置防爆外壳3、上位机5、若干个超宽带无线通讯UWB传感器6和POE交换机10；在采煤机机身1上固定连接定位装置防爆外壳3；所述定位装置防爆外壳3内连接采煤机定位装置2；所述采煤机定位装置2中包括UWB定位标签4；所述超宽带无线通讯UWB传感器6等间距固定在采煤机运行的端头处的液压支架上；所有超宽带无线通讯UWB传感器6均通过POE交换机10与上位机5连接。
进一步的，超宽带无线通讯UWB传感器6与POE交换机10采用屏蔽线连接。
使用基于UWB采煤机绝对位置精确校准装置的方法，包括如下步骤：
1)、根据矿井下巷道分布及采煤环境，在采煤机运行的端头处的液压支架上布置若干个超宽带无线通讯UWB传感器6；在采煤机定位装置2中放置UWB定位标签4；沿开采区域划定各个超宽带无线通讯UWB传感器6的信号收发区域；通过激光测距仪测量各个超宽带无线通讯UWB传感器6的绝对坐标；
2)、超宽带无线通讯UWB传感器6采用以太网供电方式；建立以太网，具体为：布置POE交换机10和上位机5，每个超宽带无线通讯UWB传感器6均通过POE交换机10与上位机5连接，且各个超宽带无线通讯UWB传感器6之间采用环形连接方式连接；
3)、所述上位机5接收到各个超宽带无线通讯UWB传感器6的发射信号，根据发射信号的波形最大值设定噪音阈值；根据各个超宽带无线通讯UWB传感器6的绝对坐标在上位机5中建立采煤机绝对位置精确校准模型；
4)、任意选取信号收发区域中一个点放置UWB定位标签4；采用AOA及TDOA结合的定位算法对UWB定位标签4定位，具体为：
41)由AOA方法得到UWB定位标签(4)和各个超宽带无线通讯UWB传感器(6)的角度关系；由TDOA定位方法测量UWB定位标签(4)接收到任意两个超宽带无线通讯UWB传感器(6)发射的定位信号的时间差；
42)根据步骤41)得到的所有时间差，采用双曲线定位算法计算出UWB定位标签4的位置；得到UWB定位标签4的位置后可测得该UWB定位标签4的高度以及该UWB定位标签4与各个超宽带无线通讯UWB传感器6之间的距离，将得到的距离和高度输送到采煤机绝对位置精确校准模型中，检测各个超宽带无线通讯UWB传感器6的位置与角度是否有偏差，进行校准；
5)、采煤机进行开采作业，超宽带无线通讯UWB传感器6将收集到的关于定位装置2中的UWB定位标签4数据信息传送给上位机5，由采煤机绝对位置精确校准模型中的数据处理系统描绘采煤机定位装置2中的UWB定位标签4的绝对位置信息，即得到采煤机所处的精确位置。
6)、采煤机运行一次结束后，再次进行校准，重复步骤4)～步骤5)。
进一步的，所述步骤1)中：各个超宽带无线通讯UWB传感器6等间距的布置在采煤机运行的端头端头处的液压支架上同一侧同一高度位置，且布置高度大于步骤4)中布置的UWB定位标签4高度1m以上；各个超宽带无线通讯UWB传感器6基于铅垂线向下倾斜25度，在各个超宽带无线通讯UWB传感器6背面使用水平仪保证超宽带无线通讯UWB传感器6上端面水平。
进一步的，所述超宽带无线通讯UWB传感器6的数量为4个。
有益效果：由于采用了上述技术方案，本发明与现有技术相比具有如下优点：
(1)采用超宽带无线定位系统(UWB)，通过AOA与TDOA结合的方式最终实现对采煤机绝对位置进行精确校准。其中AOA指基于接收信号角度法，方位角定位测量，是测量信号从UWB定位标签发出到达超宽带无线通讯UWB传感器的发射波的角度，其中从UWB定位标签发射到超宽带无线通讯UWB传感器的过程中的径向线可以称为方向线，根据方向线来确定UWB定位标签和超宽带无线通讯UWB传感器角度关系。TDOA 指到达时间差法，是测量不同超宽带无线通讯UWB传感器接收到同一UWB定位标签的定位信号的时间差，并由此计算出UWB定位标签到不同超宽带无线通讯UWB传感器的距离差，一般采用双曲线定位算法进行定位。
(2)如齿轮计数法、红外对射法、超声波反射法等传统的定位方式，由于是井下作业，受到矿井下各种恶劣、复杂的生产条件限制，同时受到井下地质环境的影响，往往不能够实现对采煤机精确定位，存在很大的误差，一些井上常用的定位方式也无法采用。选取UWB超宽带无线通讯系统对采煤机绝对位置精确校准，利用了UWB本身的优势，其高带宽、低功耗、抗干扰能力强、传输速率高、频谱利用率高、系统容量大、多径分辨率高等特点，保证了定位的精度，减少定位误差，给出采煤机绝对位置精确校准。本发明对采煤机绝对位置进行精确校准，提前规避了在生产过程中产生危险的情形，具有重要的参考价值和实际意义。本发明方法使用，安全可靠，安装和操作方便。
附图说明
图1是本发明超宽带无线通讯UWB传感器及UWB定位标签布置示意图；
图2是本发明采煤机绝对位置精确校准装置示意图；
图3是本发明超宽带无线通讯UWB传感器接线方式示意图；
图4是本发明超宽带无线通讯UWB传感器工作方式示意图；
图5是本发明超宽带无线通讯UWB传感器相互定位示意图；
图6是本发明采煤机绝对位置精确校准原理框图。
图中：1、采煤机机身；2、采煤机定位装置；3、定位装置防爆外壳；4、UWB定位标签；5、上位机；6、超宽带无线通讯UWB传感器，其中6-1为主传感器，6-2、6-3、6-4为从传感器；7、液压支架；8、刮板运输机；9、采空区；10、POE交换机。
具体实施方式
下面结合附图对本发明的一个实施例作进一步的说明：
UWB技术有以下几个重要的优点：
(1)、抗干扰性能强：UWB信号，在发射时将微弱的无线电脉冲信号分散在宽阔的频带中，输出功率甚至低于普通设备产生的噪声。接收时将信号能量还原出来，在解扩过程中产生扩频增益。(2)、传输速率高：UWB的数据速率可以达到几十兆比特每秒到几百兆比特每秒，速率相比于其他方式有了极大的提高。(3)、带宽极宽：UWB使用的带宽在1GHz以上，高达几GHz，并且可以和目前的窄带通信系统同时工作而互不干扰。这在频率资源日益紧张的今天。开辟了一种新的时域无线电资源。(4)、频谱利用率高，系统容量大：因为不需要产生正弦载波信号，直接发射冲激序列，因而UWB系统具有 很宽的频谱和很低的平均功率，有利于与其他系统共存，从而提高频谱利用率。(5)、发射功率低：在短距离的通信应用中，超宽带发射机的发射功率通常可做到低于1mW。这样有助于超宽带与现有窄带通信之间的良好共存，对于提高无线频谱的利用率具有很大的意义，更好的缓解日益紧张的无线频谱资源问题。(6)、多径分辨率极高：因为其采用的是持续时间极短的窄脉冲，所以其时间上和空间上的分辨率都是极强的，方便测距、定位、跟踪等活动的开展。
如图1为本发明UWB传感器及定位标签布置示意图；
基于UWB采煤机绝对位置精确校准装置，包括采煤机机身1、采煤机定位装置2、定位装置防爆外壳3、上位机5、若干个超宽带无线通讯UWB传感器6和POE交换机10；在采煤机机身1上固定连接定位装置防爆外壳3；所述定位装置防爆外壳3内连接采煤机定位装置2；所述采煤机定位装置2中包括UWB定位标签4；所述超宽带无线通讯UWB传感器6等间距固定在采煤机运行的端头处的液压支架上；所有超宽带无线通讯UWB传感器6均通过POE交换机10与上位机5连接。
进一步的，超宽带无线通讯UWB传感器6与POE交换机10采用屏蔽线连接。
进一步的，包括如下步骤：
1)、根据矿井下巷道分布及采煤环境，在采煤机运行的端头处的液压支架上布置四个超宽带无线通讯UWB传感器6；在采煤机定位装置2中放置UWB定位标签4；任意选取一个超宽带无线通讯UWB传感器6作为采煤机运行的主传感器，其余三个超宽带无线通讯UWB传感器6作为从传感器；沿开采区域划定各个超宽带无线通讯UWB传感器6的信号收发区域；通过激光测距仪测量各个超宽带无线通讯UWB传感器6的绝对坐标；
2)、超宽带无线通讯UWB传感器6采用以太网供电方式；建立以太网，具体为：布置POE交换机10和上位机5，每个超宽带无线通讯UWB传感器6均通过POE交换机10与上位机5连接，以太网通过上位机5中的DHCP服务器，提供IP地址；各个超宽带无线通讯UWB传感器6之间采用环形连接方式连接；
环形连接方式连接超宽带无线通讯UWB传感器6，时间信号从主传感器任意端口输出，顺序输入到下一个从传感器的右上角端口处，该从传感器的其他接口为输出接口。
3)、上位机5收集超宽带无线通讯UWB传感器6发射的定位信号，上位机5中显示所有的定位信号，则确定以太网网络正常运行；所述上位机5接收到各个超宽带无线通讯UWB传感器6的发射信号，根据发射信号的波形最大值设定噪音阈值；根据各个 超宽带无线通讯UWB传感器6的绝对坐标在上位机5中建立采煤机绝对位置精确校准模型；
4)、任意选取信号收发区域中一个点放置UWB定位标签4；采用AOA及TDOA结合的定位算法对UWB定位标签4定位，具体为：
41)由AOA方法得到UWB定位标签(4)和各个超宽带无线通讯UWB传感器(6)的角度关系；由TDOA定位方法测量UWB定位标签(4)接收到任意两个超宽带无线通讯UWB传感器(6)发射的定位信号的时间差；
42)根据步骤41)得到的所有时间差，采用双曲线定位算法计算出UWB定位标签4的位置；得到UWB定位标签4的位置后可测得该UWB定位标签4的高度以及该UWB定位标签4与各个超宽带无线通讯UWB传感器6之间的距离，将得到的距离和高度输送到采煤机绝对位置精确校准模型中，检测各个超宽带无线通讯UWB传感器6的位置与角度是否有偏差，进行校准；
AOA是指基于接收信号角度法，是测量信号从UWB定位标签4发出到超宽带无线通讯UWB传感器6的发射波的角度，其中从UWB定位标签4发射到超宽带无线通讯UWB传感器6的过程中的径向线可以称为方向线，根据方向线来确定UWB定位标签4和超宽带无线通讯UWB传感器6角度关系；TDOA指到达时间差法，是测量不同超宽带无线通讯UWB传感器6接收到UWB定位标签4的定位信号的时间差，并由此计算出UWB定位标签4到不同超宽带无线通讯UWB传感器6的距离差，一般采用双曲线定位算法进行定位。采用AOA及TDOA结合的方式，UWB定位标签4位置能被任意两个信息计算出来，比如一个TDOA和AOA或者是两个AOA，因此保证UWB定位标签4至少可以被两个超宽带无线通讯UWB传感器6同时接受到。通过TDOA和AOA额定位算法对超宽带无线通讯UWB传感器6进行校准。
5)、采煤机进行开采作业，超宽带无线通讯UWB传感器6将收集到的关于定位装置2中的UWB定位标签4数据信息传送给上位机5，由采煤机绝对位置精确校准模型中的数据处理系统描绘采煤机定位装置2中的UWB定位标签4的绝对位置信息，即得到采煤机所处的精确位置。
6)、采煤机运行一次结束后，再次进行校准，重复步骤4)～步骤5)。
进一步的，所述步骤1)中：各个超宽带无线通讯UWB传感器6等间距的布置在采煤机运行的端头端头处的液压支架上同一侧同一高度位置，且布置高度大于步骤4)中布置的UWB定位标签4高度1m以上；各个超宽带无线通讯UWB传感器6基于铅垂线 向下倾斜25度，在各个超宽带无线通讯UWB传感器6背面使用水平仪保证超宽带无线通讯UWB传感器6上端面水平。
图3是超宽带无线通讯UWB传感器6的连线方式，采用环形连接方式连接；时间信号从主传感器任意端口输出，必须顺序输入到下一个从传感器的右上角端口处，从传感器的其他接口为输出接口，其连接线为带屏蔽的网线，主传感器作为时间源保证时间同步。选用以太网供电方式，每个超宽带无线通讯UWB传感器6通过网线与POE交换机10接口连接，建立以太网。POE交换机通过网线与上位机相连，通过DHCP服务器，提供IP地址。
图4为超宽带无线通讯UWB传感器6定位的基本原理，即通过AOA及TDOA方式对UWB定位标签4进行定位。a1、a2为方位角，即AOA定位方式所要测量的角度。T1、T2为UWB定位标签4到达两个超宽带无线通讯UWB传感器6的时间，T＝T1-T2为到达时间差，即TDOA方式所要测量的到达时间差。
图5是在采煤机开采过程中，四个超宽带无线通讯UWB传感器6由于布置在端头处的液压支架上，并且会随着液压支架的移动而移动，设置在采煤机运行的端头位置处超宽带无线通讯UWB传感器作为固定基站。在采煤机开采过程中每回采一次，其中的一个超宽带无线通讯UWB传感器6会随着其布置所在的液压支架移动，因此每次移动后都用3个没有移动的超宽带无线通讯UWB传感器6去确定移动后的超宽带无线通讯UWB传感器6的坐标；所以用3个未移动的超宽带无线通讯UWB传感器6确定移动后的超宽带无线通讯UWB传感器6的绝对坐标。
图6是本发明采煤机绝对位置精确校准原理框图。即选取超宽带无线通讯UWB传感器6作为系统的基础，首先是在井下布置超宽带无线通讯UWB传感器6，通过在上位机5建立采煤机绝对位置精确校准模型实现对超宽带无线通讯UWB传感器6的管理，在采煤机回采过程中，超宽带无线通讯UWB传感器6接受UWB定位标签信号将数据传输给上位机，由上位机5对信号管理及数据处理，最终得到采煤机绝对位置。
以上所述仅是本发明的优选实施方式，应当指出：对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。

Claims (5)

  1. 一种基于UWB采煤机绝对位置精确校准装置，其特征在于：包括采煤机机身(1)、采煤机定位装置(2)、定位装置防爆外壳(3)、上位机(5)、若干个超宽带无线通讯UWB传感器(6)和POE交换机(10)；在采煤机机身(1)上固定连接定位装置防爆外壳(3)；所述定位装置防爆外壳(3)内连接采煤机定位装置(2)；所述采煤机定位装置(2)中包括UWB定位标签(4)；所述超宽带无线通讯UWB传感器(6)等间距固定在采煤机运行的端头处的液压支架上；所有超宽带无线通讯UWB传感器(6)均通过POE交换机(10)与上位机(5)连接。
  2. 根据权利要求1所述的一种基于UWB采煤机绝对位置精确校准装置，其特征在于：超宽带无线通讯UWB传感器(6)与POE交换机(10)采用屏蔽线连接。
  3. 一种使用权利要求1所述装置的基于UWB采煤机绝对位置精确校准方法，其特征在于包括如下步骤：
    1)、根据矿井下巷道分布及采煤环境，在采煤机运行的端头处的液压支架上布置若干个超宽带无线通讯UWB传感器(6)；在采煤机定位装置(2)中放置UWB定位标签(4)；沿开采区域划定各个超宽带无线通讯UWB传感器(6)的信号收发区域；通过激光测距仪测量各个超宽带无线通讯UWB传感器(6)的绝对坐标；
    2)、超宽带无线通讯UWB传感器(6)采用以太网供电方式；建立以太网，具体为：布置POE交换机(10)和上位机(5)，每个超宽带无线通讯UWB传感器(6)均通过POE交换机(10)与上位机(5)连接，且各个超宽带无线通讯UWB传感器(6)之间采用环形连接方式连接；
    3)、所述上位机(5)接收到各个超宽带无线通讯UWB传感器(6)的发射信号，根据发射信号的波形最大值设定噪音阈值；根据各个超宽带无线通讯UWB传感器(6)的绝对坐标在上位机(5)中建立采煤机绝对位置精确校准模型；
    4)、任意选取信号收发区域中一个点放置UWB定位标签(4)；采用AOA及TDOA结合的定位算法对UWB定位标签(4)定位，具体为：
    41)由AOA方法得到UWB定位标签(4)和各个超宽带无线通讯UWB传感器(6)的角度关系；由TDOA定位方法测量UWB定位标签(4)接收到任意两个超宽带无线通讯UWB传感器(6)发射的定位信号的时间差；
    42)根据步骤41)得到的所有时间差，采用双曲线定位算法计算出UWB定位标签(4)的位置；得到UWB定位标签(4)的位置后可测得该UWB定位标签(4)的高度以 及该UWB定位标签(4)与各个超宽带无线通讯UWB传感器(6)之间的距离，将得到的距离和高度输送到采煤机绝对位置精确校准模型中，检测各个超宽带无线通讯UWB传感器(6)的位置与角度是否有偏差，进行校准；
    5)、采煤机进行开采作业，超宽带无线通讯UWB传感器(6)将收集到的关于定位装置(2)中的UWB定位标签(4)数据信息传送给上位机(5)，由采煤机绝对位置精确校准模型中的数据处理系统描绘采煤机定位装置(2)中的UWB定位标签(4)的绝对位置信息，即得到采煤机所处的精确位置。
    6)、采煤机运行一次结束后，再次进行校准，重复步骤4)～步骤5)。
  4. 根据权利要求3所述的一种基于UWB采煤机绝对位置精确校准方法，其特征在于：所述步骤1)中：各个超宽带无线通讯UWB传感器(6)等间距的布置在采煤机运行的端头端头处的液压支架上同一侧同一高度位置，且布置高度大于步骤4)中布置的UWB定位标签(4)高度1m以上；各个超宽带无线通讯UWB传感器(6)基于铅垂线向下倾斜25度，在各个超宽带无线通讯UWB传感器(6)背面使用水平仪保证超宽带无线通讯UWB传感器(6)上端面水平。
  5. 根据权利要求1所述的一种基于UWB采煤机绝对位置精确校准方法，其特征在于：所述超宽带无线通讯UWB传感器(6)的数量为4个。
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