Underground electromagnetic-wave ultrasound united positioning system and method

Abstract

The invention discloses an underground electromagnetic-wave ultrasound united positioning system and method for a coal mine. The system comprises a ground monitoring terminal on the ground, an underground central station, a plurality of gateway nodes, an optical fiber, a bus, a plurality of anchor nodes, a plurality of mobile nodes and an upper terminal arranged at a far end, wherein the underground equipment is intrinsic safety equipment. The method is a united positioning method, wherein electromagnetic waves are matched with ultrasonic waves; according to the space structure of a roadway and the properties and characteristics of the electromagnetic waves and the ultrasonic waves, the mobile nodes capable of simultaneously emitting two wireless signals of the electromagnetic waves and the ultrasonic waves are adopted; according to a logarithm-normal model, the electromagnetic waves are utilized to measure the distance between the mobile nodes and anchor nodes; and according to the TOF (time of flight) distance measurement principle, the ultrasonic waves are utilized to measure the distances between the mobile nodes and the wall of the roadway and the distances between the mobile nodes and the bottom surface of the roadway. Therefore, a simple algorithm is utilized to directly obtain the position coordinates of the mobile nodes so as to realize the accurate positioning. The underground electromagnetic-wave ultrasound united positioning system and method are high in positioning accuracy, low in cost and less in energy consumption; and the structures of the system equipment are simple.

Description

technical field [0001] The invention relates to the field of target positioning in coal mines, in particular to an electromagnetic wave and ultrasonic joint positioning system and method in coal mines. Background technique [0002] Coal is the main energy source in our country. However, due to the complex geological conditions of our country's coal fields and harsh production conditions, the life safety of underground workers is seriously threatened. Once an accident occurs, the ground personnel need to know the specific location of the underground personnel in time. Therefore, the research on the accurate positioning method and system of coal mine underground targets has important practical significance for ensuring underground safety production and emergency rescue. The improvement of the accuracy of underground target positioning system will greatly promote the improvement of coal mine safety production level. [0003] Due to the relative airtightness of the roadway, it ...

AI Technical Summary

Problems solved by technology

However, the attenuation of ultrasonic waves in the air is large, and it is only suitable for distance measurement within a small distance

[0010] To sum up, electromagnetic waves and ultrasonic waves have their own advantages, and it is difficult to achieve accurate positioning of downhole targets simply by using a wireless medium

Images