A high-precision redundant positioning method for laser scanning in underground coal mines

Abstract

The present invention relates to a high-precision laser scanning redundancy positioning method for coal mines underground. An all-terrain scanning vehicle is provided, and a shock absorption mechanism is arranged at the chassis of the all-terrain scanning vehicle. A scanning mechanism is arranged on the all-terrain scanning vehicle, and the scanning mechanism includes an acoustic ranging instrument and an angle adjustment component. The beneficial effects of the present invention are as follows: by the combined use of a motor, a rotating shaft, and a rack, the angle of the acoustic ranging instrument is adjusted to position each position of the coal mine shaft, greatly enriching the positioning data and making the positioning data more accurate. Through the combined use of a spring, a damping rod, and a level, the acoustic ranging instrument is made more stable. The coal mine shaft is positioned twice. The positioning data of the first time is shared to the cloud for use by operators, and the positioning data of the second time is stored in the database as redundant data. When a failure occurs in the cloud data, the redundant data can be used as a backup, intervene in time, and undertake the work of the failed component, thereby reducing the failure time of the system.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine shaft positioning, and in particular to a high-precision redundant positioning method for laser scanning in coal mines underground. Background Art

[0002] A mine is the general term for the mine shafts, chambers, equipment, surface buildings and structures that form an underground coal mine production system. Sometimes, inclined shafts, vertical shafts, adits, etc. in underground mine development are also called mines. Determining the size of the mine field, the production capacity and the service life of each mine is one of the key issues that must be solved well in the design of the mine itself.

[0003] During the development of coal mine shafts, it is necessary to position the coal mine shafts and measure the diameters of the shaft walls and the depths of the coal mine shafts at various places. Most of the existing coal mine shaft positioning methods only retain one set of positioning data. When a fault occurs in the cloud data, the operators will be unable to view the positioning data, which greatly affects the progress of the project and the efficiency of coal mining. Summary of the Invention

[0004] In view of the above problems existing in the prior art, the main object of the present invention is to provide a high-precision redundant positioning method for laser scanning in coal mines underground.

[0005] The technical solution of the present invention is as follows: A high-precision redundant positioning method for laser scanning in coal mines underground, which sets an all-terrain scanning vehicle. A shock-absorbing mechanism is provided at the chassis of the all-terrain scanning vehicle, and a scanning mechanism is provided on the all-terrain scanning vehicle. The scanning mechanism includes an acoustic rangefinder and an angle adjustment component. Its use steps are as follows:

[0006] S1. During driving, it is continuously judged whether the current speed meets the obstacle avoidance judgment condition. By detecting the pressure on the wheels of the all-terrain scanning vehicle in the traveling state in real time, the instantaneous pressure center position of the vehicle body of the all-terrain scanning vehicle relative to the wheel plane is obtained, and the acoustic rangefinder is made more stable in cooperation with the shock-absorbing mechanism.

[0007] S2. The external operation center controls the scanning angle of the acoustic rangefinder. Through the angle adjustment component, the acoustic rangefinder can rotate 270 degrees. When scanning and positioning in the coal mine shaft, it is necessary to control the all-terrain scanning vehicle to move at the center position of the coal mine shaft. The point data on the ground in the coal mine shaft is extracted through the RANSAC (Random Sample Consensus) algorithm. Specifically: 1 - P = (1 - Wn)^k, where P represents the probability that the RANSAC algorithm produces useful results for underground positioning as P, W represents the probability that a randomly selected point from the collected point cloud dataset each time is an inlier, the collected noisy point cloud is called an outlier, the probability that at least one of the selected n points is an outlier is 1 - Wn, and k represents the number of iterations. The all-terrain scanning vehicle is stationary on the flat ground in the coal mine shaft. Ideally, the height information of all the point clouds on the ground is the same. However, the roll angle and pitch angle of the all-terrain scanning vehicle will affect this height value. It is necessary to find the roll angle and pitch angle through angle compensation methods to minimize the variance of the point clouds on the ground in the coal mine shaft, preferably approaching 0, so as to obtain the roll angle and pitch angle and effectively prevent the all-terrain scanning vehicle from accidentally hitting the shaft wall.

[0008] S3. According to the actual application environment, establish a mixing model of the sound source signal. The mixing model contains background noise components. Configure a clutter filtering program, use the clutter records in big data to filter the collected noise, obtain a clean observed signal, process the signal, estimate the separation matrix of the sound source to be measured. Starting from the separation matrix, use matrix inversion operations to estimate the frequency response matrix of the sound source mixing system. Adopt an overall direction-of-arrival estimation strategy based on peak detection to obtain an accurate estimation of the direction-of-arrival of all sound source signals at one time. Use the relevant knowledge of spatial geometry to perform spatial angle calculations, and finally achieve the spatial positioning of the sound source signal.

[0009] S4. Use the cloud transmission method to synchronize the obtained spatial positioning data to the external operation center.

[0010] S5. Initially establish the positioning data of the coal mine shaft.

[0011] S6. Repeat the steps of S1 - S4 again and synchronize the obtained spatial positioning data to the external operation center.

[0012] S7. The operation center establishes an error detection program to compare the positioning data of the two times, and uses a distributed computing architecture to convert multiple data items included in the obtained first data set and second data set respectively. The distributed computing architecture includes multiple computing terminals, and each computing terminal converts some of the multiple data items included in the obtained first data set and / or second data set respectively, so that the converted data items have a unified data structure, where the unified data structure includes multiple fields; a comparison step, using the distributed computing architecture to compare the multiple data items in the converted first data set and second data set according to a data comparison configuration file, and retaining the positioning data of the two times according to the actual situation.

[0013] S8. The positioning data of the first time is shared to the cloud for operators to use.

[0014] S9. The positioning data of the second time is stored in the database as redundant data. When a failure occurs in the cloud data, the redundant data can be used as a backup, intervene in time and take over the work of the faulty component, thereby reducing the failure time of the system.

[0015] As a preferred implementation, a Bluetooth transmitter is provided outside the all-terrain scanning vehicle, and a Bluetooth receiver is provided in the external operation center. The Bluetooth transmitter and the Bluetooth receiver are connected by Bluetooth 5.3.

[0016] As a preferred implementation, the angle adjustment assembly is composed of a motor, a gear, a rotating shaft and a rack.

[0017] As a preferred implementation, the shock absorption mechanism includes a spring, a damping rod and a spirit level.

[0018] Compared with the prior art, the advantages and positive effects of the present invention are as follows:

[0019] In the present invention, through the setting of Bluetooth 5.3, the data transmission speed is fast and the transmission quality is stable, so that the external operation center can receive the data detected by the acoustic rangefinder in time. Through the coordinated use of the motor, the rotating shaft and the rack, the angle of the acoustic rangefinder can be adjusted so that it can locate each position of the coal mine shaft, greatly enriching the positioning data and making the positioning data more accurate. Through the coordinated use of the spring, the damping rod and the spirit level, the acoustic rangefinder is more stable. The coal mine shaft is positioned twice. The positioning data of the first time is shared to the cloud for operators to use, and the positioning data of the second time is stored in the database as redundant data. When a failure occurs in the cloud data, the redundant data can be used as a backup, intervene in time and take over the work of the faulty component, thereby reducing the failure time of the system, and greatly improving the operation quality and use efficiency compared with the traditional device. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is the usage step diagram of the present invention. Specific embodiments

[0021] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Components of the embodiments of the present invention usually described and illustrated in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0022] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0023] In the description of the present invention, it should also be noted that unless otherwise clearly specified and defined, the terms "set", "installed", "connected", "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0025] Embodiment

[0026] A high-precision laser scanning redundancy positioning method for coal mines underground, a full-terrain scanning vehicle is set, a shock-absorbing mechanism is set at the chassis of the full-terrain scanning vehicle, a scanning mechanism is set on the full-terrain scanning vehicle, the scanning mechanism includes an acoustic rangefinder and an angle adjustment component, and its usage steps are as follows:

[0027] S1. During driving, it is determined in real time whether the current speed meets the obstacle avoidance judgment condition. By detecting the pressure on the wheels of the all-terrain scanning vehicle in a moving state in real time, the instantaneous pressure center position of the vehicle body of the all-terrain scanning vehicle relative to the wheel plane is obtained. In cooperation with the shock absorption mechanism, the acoustic rangefinder is made more stable.

[0028] S2. The external operation center controls the scanning angle of the acoustic rangefinder. Through the angle adjustment component, the acoustic rangefinder can rotate 270 degrees. When scanning and positioning in a coal mine shaft, it is necessary to control the all-terrain scanning vehicle to move at the center position of the coal mine shaft. The point data on the ground in the coal mine shaft is extracted through the RANSAC (Random Sample Consensus) algorithm. Specifically: 1 - P = (1 - Wn)k, where P represents the probability that the RANSAC algorithm produces a useful result for underground positioning, W represents the probability that a randomly selected point from the collected point cloud dataset each time is an inlier, the collected noisy point cloud is called an outlier, the probability that at least one of the selected n points is an outlier is 1 - Wn, and k represents the number of iterations. The all-terrain scanning vehicle is stationary on the flat ground in the coal mine shaft. Ideally, the height information of all the point clouds on the ground is the same. However, the roll angle roll and pitch angle pitch of the all-terrain scanning vehicle will affect this height value. It is necessary to find the roll angle roll and pitch angle pitch through angle compensation methods to minimize the variance of the point cloud on the ground in the coal mine shaft, preferably approaching 0, so as to obtain the roll angle roll and pitch angle pitch, effectively preventing the all-terrain scanning vehicle from accidentally hitting the shaft wall.

[0029] S3. According to the actual application environment, a mixing model of the sound source signal is established. The mixing model contains background noise components. A clutter filtering program is configured. Using the clutter records in big data, the collected noise is filtered to obtain a clean observed signal. The signal is processed to estimate the separation matrix of the measured sound source. Starting from the separation matrix, the frequency response matrix of the sound source mixing system is estimated using matrix inversion operations. A global direction-of-arrival estimation strategy based on peak detection is adopted to obtain an accurate estimation of the direction-of-arrival of all sound source signals at one time. Using the relevant knowledge of spatial geometry, spatial angle calculations are performed, and finally the spatial positioning of the sound source signal is achieved.

[0030] S4. The obtained spatial positioning data is synchronized to the external operation center using cloud transmission.

[0031] S5. The coal mine shaft positioning data is initially established.

[0032] S6. Repeat the steps of S1 - S4 again, and synchronize the obtained spatial positioning data to the external operation center.

[0033] S7. The operation center establishes an error detection program to compare the positioning data of the two times, and uses a distributed computing architecture to transform multiple data items contained in the obtained first data set and second data set respectively. The distributed computing architecture includes multiple computing terminals, and each computing terminal transforms some of the data items in the multiple data items contained in the obtained first data set and / or second data set respectively, so that the transformed data items have a unified data structure, where the unified data structure includes multiple fields; in the comparison step, the distributed computing architecture is used to compare the multiple data items in the transformed first data set and second data set according to the data comparison configuration file, and considering the actual situation, the positioning data of the two times is retained.

[0034] S8. The positioning data of the first time is shared to the cloud for the operators to use.

[0035] S9. The positioning data of the second time is stored in the database as redundant data. When a failure occurs in the cloud data, the redundant data can be used as a backup, intervene in time and take over the work of the faulty component, thereby reducing the system's failure time.

[0036] A Bluetooth transmitter is installed outside the all-terrain scanning vehicle, and a Bluetooth receiver is installed in the external operation center. The Bluetooth transmitter and the Bluetooth receiver are connected via Bluetooth 5.3; the angle adjustment component consists of a motor, gears, a rotating shaft, and a rack; the shock absorption mechanism includes a spring, a damping rod, and a spirit level. By setting Bluetooth 5.3, the data transmission speed is fast and the transmission quality is stable, enabling the external operation center to receive the data detected by the acoustic rangefinder in a timely manner. Through the coordinated use of the motor, rotating shaft, and rack, the angle of the acoustic rangefinder can be adjusted to position various locations in the coal mine shaft, greatly enriching the positioning data and making the positioning data more accurate. Through the coordinated use of the spring, damping rod, and spirit level, the acoustic rangefinder is more stable, preventing the acoustic detector from being unable to receive the returned signal due to the vibration during walking. When positioning the coal mine shaft, the all-terrain scanning vehicle is preferably located in the middle of the shaft wall. By using RANSAC to randomly sample the point data on the ground in the coal mine shaft, the all-terrain scanning vehicle always walks in the middle of the shaft wall. When the acoustic rangefinder is in use, it is often affected by the noise in the coal mine shaft and unable to receive the returned signal. A mixed model of the sound source signal is established, and the mixed model contains background noise components. A filtering program is configured, and using the clutter records in big data, the collected noise is filtered to obtain a clean observed signal. Using the relevant knowledge of spatial geometry, spatial angle calculations are performed, and finally the spatial positioning of the sound source signal is achieved.

[0037] Working principle:

[0038] Such as Figure 1As shown, place the all-terrain scanning vehicle in the middle position of the coal mine shaft to prevent the all-terrain scanning vehicle from hitting the wall and damaging the electronic instruments when walking. By using RANSAC to randomly sample the point data on the ground in the coal mine shaft, the all-terrain scanning vehicle always walks in the middle position of the shaft wall. Through the coordinated use of the motor, rotating shaft, and rack, the angle of the acoustic rangefinder can be adjusted so that it can position various positions of the coal mine shaft, greatly enriching the positioning data and making the positioning data more accurate. Establish a mixing model of the sound source signal, which contains background noise components. Configure a clutter filtering program, use the clutter records in big data to filter the collected noise, and obtain a clean observation signal. Use the relevant knowledge of spatial geometry to calculate the spatial angle, and finally realize the spatial positioning of the sound source signal. After the first positioning is completed, repeat the above steps to scan a new set of data. Synchronize the obtained spatial positioning data to the external operation center, share the first positioning data to the cloud for the operators to use, and store the second positioning data in the database as redundant data. When a failure occurs in the cloud data, the redundant data can be used as a backup, intervene in time, and take over the work of the faulty component, thereby reducing the system failure time and greatly improving the operation quality and usage efficiency compared with the traditional invention.

[0039] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A high-precision laser scanning redundancy positioning method for coal mines underground, characterized in that: The method is as follows: Set up an all-terrain scanning vehicle. A shock-absorbing mechanism is provided at the chassis of the all-terrain scanning vehicle, and a scanning mechanism is provided on the all-terrain scanning vehicle. The scanning mechanism includes a sonic rangefinder and an angle adjustment component. The usage steps are as follows: S1. During driving, continuously determine whether the current speed meets the obstacle avoidance judgment condition. By detecting the pressure on the wheels of the all-terrain scanning vehicle in a moving state in real time, obtain the instantaneous pressure center position of the all-terrain scanning vehicle body relative to the wheel plane, and cooperate with the shock-absorbing mechanism to make the sonic rangefinder more stable; S2. The external operation center controls the scanning angle of the sonic rangefinder. Through the angle adjustment component, the sonic rangefinder rotates 270 degrees. When scanning and positioning in the coal mine shaft, it is necessary to control the all-terrain scanning vehicle to walk at the center position of the coal mine shaft. Extract the point data on the ground in the coal mine shaft through the RANSAC (Random Sample Consensus) algorithm. Specifically: 1 - P = (1 - Wn)k, where P represents the probability that the RANSAC algorithm produces a useful result for underground positioning, W represents the probability that a point randomly selected from the collected point cloud dataset each time is an inlier, the collected noisy point cloud is called an outlier, the probability that at least one of the selected n points is an outlier is 1 - Wn, and k represents the number of iterations; S3. According to the actual application environment, establish a mixing model of the sound source signal. The mixing model contains background noise components. Configure a clutter filtering program, use the clutter records in the big data to filter the collected noise, obtain a clean observed signal, process the signal, estimate the separation matrix of the measured sound source, start from the separation matrix, use matrix inversion operation to estimate the frequency response matrix of the sound source mixing system, adopt an overall direction-of-arrival estimation strategy based on peak detection to obtain an accurate estimation of the direction-of-arrival of all sound source signals at one time, and use the relevant knowledge of spatial geometry to calculate the spatial angle, and finally realize the spatial positioning of the sound source signal; S4. Use the cloud transmission method to synchronize the obtained spatial positioning data to the external operation center; S5. Initially establish the coal mine shaft positioning data; S6. Repeat the steps of S1 - S4 again, and synchronize the obtained spatial positioning data to the external operation center; S7. The operation center establishes an error detection program to compare the two positioning data. Use a distributed computing architecture to transform each of the multiple data items included in the obtained first dataset and second dataset. The distributed computing architecture includes multiple computing terminals, and each computing terminal transforms some of the multiple data items included in the obtained first dataset and / or second dataset so that the transformed data items have a unified data structure, where the unified data structure includes multiple fields; in the comparison step, use the distributed computing architecture to compare the multiple data items in the transformed first dataset and second dataset according to the data comparison configuration file, and comprehensively consider the actual situation to retain the two positioning data; S8. Share the first positioning data to the cloud for the operation personnel to use; The positioning data of the second time is stored in the database and retained as redundant data. When a failure occurs in the cloud data, the redundant data serves as a backup, intervenes in a timely manner, and undertakes the work of the faulty component, thereby reducing the system's failure time; A Bluetooth transmitter is provided outside the all-terrain scanning vehicle, and a Bluetooth receiver is provided in the external operation center. The Bluetooth transmitter and the Bluetooth receiver are connected via Bluetooth 5.3; The angle adjustment component is composed of a motor, a gear, a rotating shaft, and a rack; The shock absorption mechanism includes a spring, a damping rod, and a spirit level.

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