TOF-Based Roadway Wind Speed Detection Method, Detection System and Computer Equipment

Abstract

The present invention relates to the technical field of mine ventilation detection, and particularly to a roadway wind speed detection method based on TOF, which includes the following steps: S1: An ultrasonic anemometer is installed on the rock wall in the roadway. The ultrasonic anemometer includes four ultrasonic transducers. Among the four ultrasonic transducers, two pairs of ultrasonic transducers that are 180 degrees apart are in the same horizontal plane, and the vertical distances between the two pairs of ultrasonic transducers and the ground are equal; S2: The forward and reverse wind times of each pair of ultrasonic transducers are calculated respectively by the double cross-correlation filtering method; S3: Based on the ultrasonic time difference method, the wind speed component of the roadway is calculated. The present invention provides a roadway wind speed detection method based on TOF, which can accurately calculate the ultrasonic TOF value with low computational complexity under low signal-to-noise ratio conditions, realize the detection of the wind speed of the roadway, has high measurement accuracy and good reliability, and ensures the safe operation production of the underground and the work safety of the staff.

Description

Technical Field

[0001] The present invention relates to the technical field of mine ventilation detection, and particularly to a roadway wind speed detection method, a detection system and a computer device based on TOF. Background Art

[0002] The mine ventilation system is a complex dynamic non-linear fluid network system. Affected by many factors such as ground and underground air pressure, temperature and humidity changes, progress of mining engineering, and roadway deformation, the structure of the mine ventilation network, the wind resistance of the roadway, and the density of underground air will change, thereby leading to changes in the mine ventilation state. In particular, the reduction of the air volume in the mining face at key locations in the mine may lead to the occurrence of gas accidents. At present, differential pressure type wind speed sensors are used in the field of coal mine ventilation to detect the wind speed of roadways, but high-precision measurement at the low-range end cannot be achieved.

[0003] With the emergence and application of new materials and new process technologies, in order to improve the accuracy and reliability of monitoring, wind speed sensors are gradually inclined to designs based on the principle of ultrasonic time difference method. The principle of the ultrasonic time difference method for mine use utilizes the transmitted ultrasonic pulse, and calculates the wind speed of the roadway through the transit time (TOF value, also known as flight time) measurement algorithm. Usually, the transit time measurement algorithms include the double-threshold ultrasonic echo detection method, the TOF detection method based on wavelet transform, and the correlation method:

[0004] (1) The double-threshold ultrasonic echo detection method, which detects by measuring the fixed threshold of the signal amplitude, has high precision, but when the signal amplitude changes greatly, the measurement error is large.

[0005] (2) The TOF detection method based on wavelet transform can improve the detection accuracy under low signal-to-noise ratio conditions, but requires a high sampling rate and computing power, and a stronger processor ability is needed.

[0006] (3) The correlation method generally performs a correlation operation on the received ultrasonic signal and the transmitted ultrasonic signal, and estimates the arrival time of the ultrasonic wave according to the maximum value of the correlation function to achieve the estimation of the transit time. Since the ultrasonic signal is greatly affected by temperature, reflection, humidity and receiving angle, the position of the maximum value of the correlation function after the correlation operation is not fixed, resulting in a large estimation error of the transit time.

[0007] Due to the special environment of the mine, the energy of the ultrasonic signal is restricted in "GB / T 3836.1-2021 Explosive atmospheres - Part 1: Equipment - General requirements", so that the signal is severely attenuated after propagation. The TOF value cannot be accurately calculated by the existing transit time measurement algorithms, and the measurement time is long, and the reliable measurement of the wind speed cannot be guaranteed, thereby affecting the production of underground operations and the life safety of workers. Summary of the Invention

[0008] The technical problem to be solved by the present invention is: to solve the technical problem that in a low signal-to-noise ratio environment, the prior art cannot accurately calculate the TOF value, and the measurement time is long, which cannot ensure the reliable measurement of the wind speed, thus affecting the production of underground operations and the safety of the lives of workers. The present invention provides a TOF-based roadway wind speed detection method, which can accurately calculate the ultrasonic TOF value with low computational complexity under low signal-to-noise ratio conditions, realize the detection of the wind speed in the roadway, has high measurement accuracy and good reliability, and ensures the safe production of underground operations and the work safety of workers.

[0009] The technical solution adopted by the present invention to solve its technical problems is: a TOF-based roadway wind speed detection method, including the following steps:

[0010] S1: An ultrasonic anemometer is installed on the rock wall in the roadway. The ultrasonic anemometer includes four ultrasonic transducers. Among the four ultrasonic transducers, two pairs of ultrasonic transducers that are 180 degrees apart are on the same horizontal plane, and the vertical distances between the two pairs of ultrasonic transducers and the ground are equal. One pair of ultrasonic transducers are ultrasonic transducer A1 and ultrasonic transducer A2 respectively, and the other pair of ultrasonic transducers are ultrasonic transducer B1 and ultrasonic transducer B2 respectively;

[0011] S2: Calculate the downwind and upwind times of each pair of ultrasonic transducers respectively by the double cross-correlation filtering method;

[0012] S3: Calculate the wind speed component of the roadway based on the ultrasonic time difference method.

[0013] Further, specifically, the step S2 includes the following steps:

[0014] S21: The ultrasonic transducer A1 sends an ultrasonic signal, and the ultrasonic transducer A2 receives the ultrasonic signal;

[0015] S22: Establish an echo signal model of the ultrasonic transducer;

[0016] S23: Perform cross-correlation calculation on the echo signal model and the received ultrasonic signal to obtain the characteristic index data of the received ultrasonic signal;

[0017] S24: Obtain the main peak model of the echo signal model, perform cross-correlation calculation on the main peak model of the echo signal model and the characteristic index data of the received ultrasonic signal again, and fit the calculated data to calculate the downwind time TA1;

[0018] S25: The ultrasonic transducer A2 transmits an ultrasonic signal, and the ultrasonic transducer A1 receives the ultrasonic signal. Repeat steps S22 - S24 to calculate the upwind time TA2;

[0019] S26: Use the same steps as S21 - S25 to calculate the downwind times TB1 and upwind time TB2 of the ultrasonic transducers B1 and B2.

[0020] Further, specifically, the following steps are included in step S3:

[0021] S31: Take the difference between the downwind time TA1 of the ultrasonic transducer A1 and the upwind time TA2 of the ultrasonic transducer A2. This difference is the first flight time T1;

[0022] Take the difference between the downwind time TB1 of the ultrasonic transducer B1 and the upwind time TB2 of the ultrasonic transducer B2. This difference is the second flight time T2;

[0023] S32: Let the distance between the ultrasonic transducer A1 and the ultrasonic transducer A2 be D1, and let the distance between the ultrasonic transducer B1 and the ultrasonic transducer B2 be D2. Then:

[0024] The calculation formula for the wind speed component in the east - west direction is: V1 = D1 * T1 / (TA1 * TA2);

[0025] The calculation formula for the wind speed component in the north - south direction is: V2 = D2 * T2 / (TB1 * TB2);

[0026] The calculation formula for the wind speed component in the roadway is:

[0027] Further, specifically, let the echo signal model be x(t) and the ultrasonic signal be y(t). Both the echo signal model and the ultrasonic signal contain a driving signal s(t). Then:

[0028] x(t) = k1s(t - t1) (0 ≤ t ≤ T);

[0029] y(t) = k2s(t - t2) (0 ≤ t ≤ T);

[0030] Where k1 and k2 are attenuation factors, and t1 and t2 are delay times;

[0031] The cross - correlation calculation formula is:

[0032] Further, specifically, the characteristic index data of both the echo signal model and the ultrasonic signal are sine waves;

[0033] In the step S24, after performing the cross-correlation calculation on the main peak model of the echo signal model and the characteristic index data of the ultrasonic signal, the main peak characteristics of the ultrasonic signal close to the main peak model of the echo signal model are obtained.

[0034] A detection system adopting the above-described TOF-based roadway wind speed detection method includes: an ultrasonic anemometer installed on the rock wall in the roadway. The ultrasonic anemometer includes four ultrasonic transducers and a data processing module. Among the four ultrasonic transducers, two pairs of ultrasonic transducers that are opposite to each other at an angle of 180 degrees are on the same horizontal plane, and the vertical distances between the two pairs of ultrasonic transducers and the ground are equal. One pair of ultrasonic transducers are ultrasonic transducer A1 and ultrasonic transducer A2 respectively, and the other pair of ultrasonic transducers are ultrasonic transducer B1 and ultrasonic transducer B2 respectively;

[0035] The data processing module includes a data processor, and each ultrasonic transducer is connected to the data processor;

[0036] The ultrasonic transducer is used to send ultrasonic signals and receive ultrasonic signals sent by another ultrasonic transducer. The ultrasonic transducer transmits the received ultrasonic signals to the data processor, and the data processor calculates the downwind and upwind times of each pair of ultrasonic transducers respectively through a double cross-correlation filtering method, and calculates the wind speed component of the roadway based on the ultrasonic time difference method.

[0037] Further, specifically, the data processor includes:

[0038] An acquisition unit, each ultrasonic transducer is connected to the acquisition unit, and is used to acquire the acquired ultrasonic signals transmitted by the ultrasonic transducer;

[0039] A modeling unit, which establishes an echo signal model of the ultrasonic transducer;

[0040] A first cross-correlation calculation unit, both the acquisition unit and the modeling unit are connected to the first cross-correlation calculation unit, and perform cross-correlation calculation on the echo signal model and the received ultrasonic signal to obtain the characteristic index data of the received ultrasonic signal;

[0041] A second cross-correlation calculation unit, which is connected to the first cross-correlation calculation unit, obtains the main peak model of the echo signal model, performs cross-correlation calculation on the main peak model of the echo signal model and the characteristic index data of the received ultrasonic signal again, and fits the calculated data;

[0042] The wind speed component calculation unit is connected to the second cross-correlation calculation unit, obtains the flight time value according to the fitted data, and calculates the wind speed component of the roadway.

[0043] Furthermore, specifically, the data processing module further includes a power supply module, the power supply module is connected to the data processor, and the power supply module is powered by an intrinsically safe power supply.

[0044] A computer device includes: one or more non-volatile computer-readable storage media containing computer-executable instructions, and one or more processors. When the computer-executable instructions stored in the computer-readable storage media are executed by the one or more processors, the processors execute the TOF-based roadway wind speed detection method as described above.

[0045] The beneficial effect of the present invention is that the TOF-based roadway wind speed detection method of the present invention can accurately calculate the ultrasonic TOF value with low computational complexity through the double cross-correlation filtering method under low signal-to-noise ratio conditions, realize the detection of the wind speed of the roadway, has high measurement accuracy, good reliability, fast detection efficiency, and ensures the safe operation production underground and the work safety of the staff. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The present invention will be further described below with reference to the drawings and embodiments.

[0047] Figure 1 is a schematic flow chart of the detection method in Embodiment 1 of the present invention.

[0048] Figure 2 is a schematic flow chart of the headwind and tailwind time processing in Embodiment 1 of the present invention.

[0049] Figure 3 is a schematic flow chart of the wind speed processing of the roadway in Embodiment 1 of the present invention.

[0050] Figure 4 is a schematic diagram of the echo signal model in Embodiment 1 of the present invention.

[0051] Figure 5 is the effect diagram after the first cross-correlation filtering in a specific embodiment of Embodiment 1 of the present invention.

[0052] Figure 6 is the effect diagram after the second cross-correlation filtering in a specific embodiment of Embodiment 1 of the present invention.

[0053] Figure 7 is a schematic diagram of the installation of the ultrasonic transducer in a specific embodiment of Embodiment 1 of the present invention

[0054] Figure 8 is a schematic structural diagram of Embodiment 2 of the present invention.

[0055] Figure 9 It is a schematic structural diagram of the data processor in Embodiment 2 of the present invention.

[0056] In the figure, 500 is the data processing module; 510 is the data processor; 520 is the power module; 511 is the acquisition unit; 512 is the modeling unit; 513 is the first cross-correlation calculation unit; 514 is the second cross-correlation calculation unit; 515 is the wind speed component calculation unit. Detailed implementation manners

[0057] Now, the present invention will be further described in detail with reference to the accompanying drawings. These drawings are all simplified schematic diagrams, only illustrating the basic structure of the present invention in a schematic manner, so they only show the components related to the present invention.

[0058] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It 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, so it cannot be understood as a limitation to the present invention. In addition, the features defined as "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise stated, the meaning of "a plurality" is two or more.

[0059] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "installation", "connection", and "connection" 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 situations.

[0060] Embodiment 1

[0061] As Figure 1 shown, it is Embodiment 1 of the present invention, a TOF-based roadway wind speed detection method, including the following steps:

[0062] S1: An ultrasonic anemometer is installed on the rock wall in the roadway. The ultrasonic anemometer has four ultrasonic transducers. Among the four ultrasonic transducers, two pairs of ultrasonic transducers that are 180 degrees apart are on the same horizontal plane, and the vertical distances between the two pairs of ultrasonic transducers and the ground are equal. One pair of ultrasonic transducers are ultrasonic transducer A1 and ultrasonic transducer A2 respectively, and the other pair of ultrasonic transducers are ultrasonic transducer B1 and ultrasonic transducer B2 respectively;

[0063] When ultrasonic transducer A1, ultrasonic transducer A2, ultrasonic transducer B1, and ultrasonic transducer B2 are in use, since two pairs of ultrasonic transducers that are 180 degrees apart are on the same horizontal plane and the vertical distances between the two pairs of ultrasonic transducers and the ground are equal, the ultrasonic signals emitted by the ultrasonic transducers can be received by another ultrasonic transducer, improving the measurement accuracy.

[0064] S2: Calculate the downwind and upwind times of each pair of ultrasonic transducers respectively through the double cross-correlation filtering method;

[0065] As Figure 2 shown, step S2 specifically includes the following steps:

[0066] S21: Ultrasonic transducer A1 sends an ultrasonic signal, and ultrasonic transducer A2 receives the ultrasonic signal;

[0067] S22: Establish an echo signal model of the ultrasonic transducer;

[0068] The echo signal model is the ultrasonic signal collected by the ultrasonic transducer under the condition of no wind and good measurement environment, and the echo signal model is established based on this ultrasonic signal. The echo signal model is as Figure 4 shown.

[0069] S23: Perform cross-correlation calculation on the echo signal model and the received ultrasonic signal to obtain the characteristic index data of the received ultrasonic signal;

[0070] It should be noted that both the characteristic index data of the echo signal model and the ultrasonic signal are sine waves. The characteristic index data of the ultrasonic signal is obtained by finding the ultrasonic signal index range corresponding to the data with the largest correlation degree. As Figure 5 shown, it is the effect diagram after cross-correlation filtering in a specific embodiment. When the number of collected points is in the range [600, 800], the correlation degree is the largest, and the data in this interval is the characteristic index data of the ultrasonic signal. Through cross-correlation calculation, false features such as poor-quality and dry signals are filtered out, which can avoid false main peaks in the ultrasonic signal in subsequent steps and improve the measurement accuracy;

[0071] S24: Obtain the main peak model of the echo signal model, perform cross-correlation calculation again on the main peak model of the echo signal model and the characteristic index data of the received ultrasonic signal, and fit the calculated data to calculate the downwind time TA1;

[0072] Specifically, from Figure 4 It can be seen that the echo signal model is composed of an odd number of sine waves, and the overall amplitude shows "low-high-low". Take the three sine waves composed of the main peak data and the left and right two data adjacent to the main peak data as the main peak model of the echo signal model. After performing cross-correlation calculation on the main peak model of the echo signal model and the characteristic index data of the ultrasonic signal, obtain the main peak characteristics of the ultrasonic signal close to the main peak model of the echo signal model, obtain the indexes of multiple points on both sides of the zero-crossing value near the main peak characteristics, and perform multi-point polynomial fitting in combination with the monotonicity at the zero-crossing of the main peak characteristics of the ultrasonic signal. The multi-point polynomial fitting formula is:

[0073] f(x) = a3x 3 + a2x 2 + a1x 1 + a0;

[0074] Among them, a3, a2, a1, and a0 are coefficients. When f(x n ) = 0, calculate the downwind time TA1. In a specific embodiment of the present invention, as Figure 6 shown, select four points on the main peak characteristics for curve fitting to obtain the coefficients of the multi-point polynomial.

[0075] S25: The ultrasonic transducer A2 sends an ultrasonic signal, and the ultrasonic transducer A1 receives the ultrasonic signal. Repeat steps S22 - S24 to calculate the upwind time TA2;

[0076] S26: Use the same steps as S21 - S25 to calculate the downwind time TB1 and upwind time TB2 of the ultrasonic transducers B1 and B2.

[0077] In the implementation of the present invention, the main peak model of the echo signal model is selected to be composed of three sine waves, which is convenient for reducing the calculation workload during cross-correlation calculation. Compared with the method of calculating the upwind and downwind times by signal amplitude in the prior art, the embodiment of the present invention uses the ultrasonic signal waveform as the characteristic data, is not affected by external noise, and has high measurement accuracy.

[0078] By performing a secondary cross-correlation operation between the received ultrasonic signal and the echo signal model, this dual cross-correlation filtering method avoids the increase in calculation amount caused by the excessive length of data in the traditional correlation method. At the same time, it also avoids the problem of data jumping caused by misjudgment due to the short data length and low model confidence in the single-cycle cross-correlation method, thereby improving the measurement accuracy and reliability. Further, it reduces the calculation workload and improves the detection efficiency.

[0079] S3: Calculate the wind speed components in the tunnel based on the ultrasonic time difference method.

[0080] like Figure 3 As shown, step S3 includes the following steps:

[0081] S31: Subtract the downwind time TA1 of the ultrasonic transducer A1 from the headwind time TA2 of the ultrasonic transducer A2, and the difference is the first flight time T1;

[0082] The difference between the downwind time TB1 of the ultrasonic transducer B1 and the upwind time TB2 of the ultrasonic transducer B2 is calculated, and the difference is the second flight time T2;

[0083] S32: Assume that the distance between ultrasonic transducer A1 and ultrasonic transducer A2 is D1, and the distance between ultrasonic transducer B1 and ultrasonic transducer B2 is D2, then:

[0084] The calculation formula for the wind speed component in the east-west direction is: V1 = D1*T1 / (TA1*TA2);

[0085] The calculation formula for the wind speed component in the north-south direction is: V2 = D2*T2 / (TB1*TB2);

[0086] The calculation formula of the wind speed component in the roadway is:

[0087] In the embodiment, in step S2, assuming that the echo signal model is x(t), the ultrasonic signal is y(t), and both the echo signal model and the ultrasonic signal include a driving signal s(t), then:

[0088] x(t)=k1s(t-t1)(0≤t≤T);

[0089] y(t)=k2s(t-t2)(0≤t≤T);

[0090] Among them, k1 and k2 are attenuation factors, and t1 and t2 are delay times;

[0091] The cross-correlation calculation formula is:

[0092] It should be noted that the calculation formula of the driving signal s(t) is:

[0093] s(t) = ((b1 * t ∧ 2 + b0 * t) * sin(2π * f0 * t)), 0 ≤ t ≤ T;

[0094] Wherein, T is the period of the entire echo signal or the received ultrasonic signal, f0 is the frequency of the echo signal or the received ultrasonic signal, and b1, b0 are the amplitude coefficients of the echo signal or the received ultrasonic signal.

[0095] The TOF-based roadway wind speed detection method of the present invention can accurately calculate the ultrasonic TOF value with low computational complexity through the double cross-correlation filtering method under low signal-to-noise ratio conditions, realize the detection of the wind speed in the roadway, has high measurement accuracy, good reliability, fast detection efficiency, and ensures the safe operation production in the mine and the work safety of the staff.

[0096] Embodiment 2

[0097] Based on the same inventive concept as the single-point authentication and authorization method for user access in the foregoing Embodiment 1, the present invention also provides a detection system adopting the TOF-based roadway wind speed detection method as described above.

[0098] As Figure 8 shown, the detection system includes: an ultrasonic anemometer installed on the rock wall in the roadway. The ultrasonic anemometer includes four ultrasonic transducers and a data processing module 500. Among the four ultrasonic transducers, two pairs of ultrasonic transducers that are 180 degrees apart are on the same horizontal plane, and the vertical distances between the two pairs of ultrasonic transducers and the ground are equal. One pair of ultrasonic transducers are ultrasonic transducer A1 and ultrasonic transducer A2 respectively, and the other pair of ultrasonic transducers are ultrasonic transducer B1 and ultrasonic transducer B2 respectively; the data processing module 500 includes a data processor 510, and each ultrasonic transducer is connected to the data processor 510; the ultrasonic transducers are used to send ultrasonic signals and receive the ultrasonic signals sent by another ultrasonic transducer. The ultrasonic transducers transmit the received ultrasonic signals to the data processor 510, and the data processor 510 calculates the headwind and tailwind times of each pair of ultrasonic transducers respectively through the double cross-correlation filtering method, and calculates the wind speed component of the roadway based on the ultrasonic time difference method.

[0099] In the embodiment, as Figure 9 shown, the data processor 510 includes:

[0100] An acquisition unit 511, each ultrasonic transducer is connected to the acquisition unit 511, and is used to acquire the acquired ultrasonic signal transmitted by the ultrasonic transducer;

[0101] A modeling unit 512, which establishes an echo signal model of the ultrasonic transducer;

[0102] The first cross - correlation calculation unit 513, the acquisition unit 511 and the modeling unit 512 are all connected to the first cross - correlation calculation unit 513. It performs cross - correlation calculation on the echo signal model and the received ultrasonic signal to obtain the characteristic index data of the received ultrasonic signal.

[0103] The second cross - correlation calculation unit 514, which is connected to the first cross - correlation calculation unit 513, obtains the main peak model of the echo signal model, performs cross - correlation calculation again on the main peak model of the echo signal model and the characteristic index data of the received ultrasonic signal, and fits the calculated data.

[0104] The wind speed component calculation unit 515, which is connected to the second cross - correlation calculation unit 514, obtains the time - of - flight value according to the fitted data and calculates the wind speed component of the roadway.

[0105] In the embodiment, the data processing module 500 further includes a power supply module 520. The power supply module 520 is connected to the data processor 510, and the power supply module 520 is powered by an intrinsically safe power supply.

[0106] It should be noted that in a specific embodiment, the four ultrasonic transducers and the data processing module 500 form an integrated structure, which is convenient for quickly installing the ultrasonic anemometer during use. During use, there is no need to use special equipment to calibrate and install the four ultrasonic transducers, improving the use efficiency, with a simple structure and good practicability.

[0107] The foregoing Figure 1 All the various change methods and specific examples of the TOF - based roadway wind speed detection method in Embodiment 1 are equally applicable to the TOF - based roadway wind speed detection system in this embodiment. Through the foregoing detailed description of the TOF - based roadway wind speed detection method, those skilled in the art can clearly know the implementation method of the TOF - based roadway wind speed detection system in this embodiment. Therefore, for the sake of brevity of the specification, it will not be elaborated here.

[0108] Embodiment 3

[0109] A computer device includes: one or more non - volatile computer - readable storage media containing computer - executable instructions, and one or more processors. When the computer - executable instructions stored in the computer - readable storage media are executed by one or more processors, the processors execute the TOF - based roadway wind speed detection method as described above.

[0110] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media including, but not limited to, disk memory, CD-ROM, optical memory, etc., which contain computer-usable program code.

[0111] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatus systems, and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0112] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means that implement the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0113] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are performed on the computer or other programmable device to generate a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0114] Inspired by the above-described ideal embodiments of the present invention, through the above description, relevant workers can make various changes and modifications completely within the scope of the technical idea of this invention without deviation. The technical scope of this invention is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A TOF-based roadway wind speed detection method, characterized in that, It includes the following steps: S1: An ultrasonic anemometer is installed on the rock wall in the roadway. The ultrasonic anemometer includes four ultrasonic transducers. Among the four ultrasonic transducers, two pairs of ultrasonic transducers with an angle of 180 degrees relative to each other are on the same horizontal plane, and the vertical distances between the two pairs of ultrasonic transducers and the ground are equal. One pair of ultrasonic transducers are ultrasonic transducer A1 and ultrasonic transducer A2 respectively, and the other pair of ultrasonic transducers are ultrasonic transducer B1 and ultrasonic transducer B2 respectively. S2: Calculate the downwind and upwind times of each pair of ultrasonic transducers respectively through the double cross-correlation filtering method. Specifically, it includes: S21: The ultrasonic transducer A1 sends an ultrasonic signal, and the ultrasonic transducer A2 receives the ultrasonic signal. S22: Establish an echo signal model of the ultrasonic transducer. S23: Perform cross-correlation calculation on the echo signal model and the received ultrasonic signal to obtain the characteristic index data of the received ultrasonic signal; both the echo signal model and the characteristic index data of the ultrasonic signal are sine waves. S24: Obtain the main peak model of the echo signal model. The main peak model of the echo signal model is composed of three sine waves, namely the main peak data and the left and right two data adjacent to the main peak data; perform cross-correlation calculation on the main peak model of the echo signal model and the characteristic index data of the received ultrasonic signal again, and fit the calculated data to calculate the downwind time TA1. S25: The ultrasonic transducer A2 sends an ultrasonic signal, and the ultrasonic transducer A1 receives the ultrasonic signal. Repeat steps S22 - S24 to calculate the upwind time TA2. S26: Use the same steps as S21 - S25 to calculate the downwind times TB1 and upwind times TB2 of the ultrasonic transducers B1 and B2. In step S24, after performing the cross-correlation calculation on the main peak model of the echo signal model and the characteristic index data of the ultrasonic signal, obtain the main peak characteristics of the ultrasonic signal close to the main peak model of the echo signal model. S3: Calculate the wind speed component of the roadway based on the ultrasonic time difference method.

2. The TOF-based roadway wind speed detection method according to claim 1, wherein In step S3, it includes the following steps: S31: Take the difference between the downwind time TA1 of the ultrasonic transducer A1 and the upwind time TA2 of the ultrasonic transducer A2. This difference is the first flight time T1. Take the difference between the downwind time TB1 of the ultrasonic transducer B1 and the upwind time TB2 of the ultrasonic transducer B2. This difference is the second flight time T2. S32: Assume the distance between the ultrasonic transducer A1 and the ultrasonic transducer A2 is D1, and assume the distance between the ultrasonic transducer B1 and the ultrasonic transducer B2 is D2. Then: The calculation formula for the wind speed component in the east-west direction is: V 1 = D1 * T1 / (TA1 * TA2); The calculation formula for the wind speed component in the north-south direction is as follows: V 2 = D2 * T2 / (TB1 * TB2); The calculation formula for the wind speed component in the roadway is as follows: .

3. The TOF-based roadway air velocity detection method according to claim 1, characterized in that Let the echo signal model be x ( t ), and the ultrasonic signal be y ( t ). Both the echo signal model and the ultrasonic signal contain a drive signal s ( t ). Then: ； ； Among them, , are attenuation factors, , are delay times; The cross-correlation calculation formula is as follows: .

4. A detection system adopting the TOF-based roadway wind speed detection method described in any one of claims 1 to 3, characterized in that, It includes: An ultrasonic anemometer installed on the rock wall in a roadway. The ultrasonic anemometer includes four ultrasonic transducers and a data processing module (500). Among the four ultrasonic transducers, two pairs of ultrasonic transducers that are 180 degrees apart are in the same horizontal plane, and the vertical distances between the two pairs of ultrasonic transducers and the ground are equal. One pair of ultrasonic transducers are ultrasonic transducer A1 and ultrasonic transducer A2 respectively, and the other pair of ultrasonic transducers are ultrasonic transducer B1 and ultrasonic transducer B2 respectively; The data processing module (500) includes a data processor (510), and each ultrasonic transducer is connected to the data processor (510); The ultrasonic transducers are used to send ultrasonic signals and receive ultrasonic signals sent by another ultrasonic transducer. The ultrasonic transducers transmit the received ultrasonic signals to the data processor (510). The data processor (510) calculates the downwind and upwind times of each pair of ultrasonic transducers respectively through a double cross-correlation filtering method based on the received ultrasonic signals, and calculates the wind speed component of the roadway based on the ultrasonic time difference method.

5. The TOF-based roadway wind speed detection system according to claim 4, wherein The data processor (510) includes: An acquisition unit (511), and each ultrasonic transducer is connected to the acquisition unit (511) for acquiring the acquired ultrasonic signals transmitted by the ultrasonic transducers; A modeling unit (512) for establishing an echo signal model of the ultrasonic transducer; A first cross-correlation calculation unit (513), the acquisition unit (511) and the modeling unit (512) are both connected to the first cross-correlation calculation unit (513), and perform cross-correlation calculation on the echo signal model and the received ultrasonic signals to obtain the characteristic index data of the received ultrasonic signals; A second cross-correlation calculation unit (514), connected to the first cross-correlation calculation unit (513), obtains the main peak model of the echo signal model, performs cross-correlation calculation on the main peak model of the echo signal model and the characteristic index data of the received ultrasonic signals again, and fits the calculated data; A wind speed component calculation unit (515), connected to the second cross-correlation calculation unit (514), obtains the flight time value according to the fitted data, and calculates the wind speed component of the roadway.

6. The TOF-based roadway air velocity detection system according to claim 4, wherein The data processing module (500) further includes a power supply module (520). The power supply module (520) is connected to the data processor (510), and the power supply module (520) is powered by an intrinsically safe power supply.

7. A computer device, characterized in that, Including: One or more non-volatile computer-readable storage media containing computer-executable instructions, and one or more processors. When the computer-executable instructions stored in the computer-readable storage media are executed by the one or more processors, the processors execute the TOF-based roadway wind speed detection method according to any one of claims 1 to 3.

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