Mechanical antenna-based mine-used drift node relocation method

Abstract

The application discloses a mine drift node relocation method based on a mechanical antenna, comprising the following steps: acquiring node position information of original positioning nodes in a mine, and adding low-frequency transmitting nodes and vibration sensors to the original positioning nodes; after the mine collapses, a measurement network is constructed above the mine field based on a drone carrying a measurement base station, the low-frequency transmitting nodes are started and transmit positioning signals, the low-frequency signals of the low-frequency transmitting nodes are received by the measurement base station, and the position information of the relocated nodes after the accident is obtained; the node position changes of the original positioning nodes and the position information of the relocated nodes after the accident are compared by modeling, and the situation change of the mine is sensed in real time. The application provides a more rapid and accurate drift node relocation scheme, and rescue can be realized more rapidly.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of emergency communication, and particularly relates to a mine-used drift node relocation method based on a mechanical antenna. BACKGROUND

[0002] In the rescue of mine accidents, rescue personnel must master important issues related to position, such as where the accident occurs, which lanes are affected, and where the trapped personnel are. Once a coal mine accident occurs, the original nodes may be passively deviated from the original position due to the influence of the accident, that is, node drift occurs. Node drift will cause the coordinate position of the node itself to become an unknown quantity, and on the other hand, it will also cause the nodes positioned based on it to fail to obtain the reference position and fail to position. Therefore, how to relocate the drift node is a basic problem that must be solved in the implementation of targeted accident rescue. Although there are sporadic relocation research results at present, these methods cannot solve the special problems faced by the coal mine underground, especially in the post-disaster rescue scene of the mine. SUMMARY

[0003] To solve the above problems, the present application provides the following scheme: a mine-used drift node relocation method based on a mechanical antenna, comprising:

[0004] obtaining node position information of original positioning nodes inside the mine, and adding low-frequency transmitting nodes and vibration sensors to the original positioning nodes;

[0005] constructing a measurement network above the mine site based on a drone carrying a measurement base station, after the mine collapses, the vibration sensor senses the vibration and transmits a start signal to the control board, starts the low-frequency transmitting node and transmits a positioning signal, the low-frequency signal of the low-frequency transmitting node is received by the measurement base station, and the position information of the relocated nodes after the accident is obtained;

[0006] comparing the node position information of the original positioning nodes and the node position information of the relocated nodes after the accident to model the change of the node position information, and sensing the change of the mine situation in real time.

[0007] Preferably, the process of obtaining the node position information of the original positioning nodes inside the mine comprises,

[0008] According to the distribution information of the electromagnetic field in space, the magnetic induction intensity or the magnetic field intensity of the original positioning nodes inside the mine is measured by the measurement base station, and the node position information of the original positioning nodes is calculated and obtained based on the magnetic induction intensity or the magnetic field intensity.

[0009] Preferably, the process of obtaining the distribution information of the electromagnetic field in space comprises,

[0010] By rotating the permanent magnet of the permanent magnet mechanical antenna counterclockwise around the origin O1 in the y1o1z1 plane, and assuming that the entire positioning range is near-field communication due to the extremely low frequency, the magnetic field distribution expression is as follows:

[0011]

[0012] Where, μ0=4π×10 -7 N·A -2 Let m be the permeability in vacuum, m0 be the magnetic dipole moment, and j be the imaginary unit. Let be the wave number, r be the straight-line distance between a point in space and the origin, and θ be the angle between the straight-line distance and the z-axis in the three-dimensional coordinate system. Let be the angle between the projection of the straight-line distance onto the oxy-plane and the x-axis. These are three mutually orthogonal direction vectors. The direction is along the direction of r. Draw a circle representing the distance from a point in space to the z-axis, where the direction of the tangent to the circle is defined by the right-hand rule along the z-axis. Direction is The direction.

[0013] Preferably, the process of measuring the magnetic induction intensity or magnetic field intensity of the existing positioning nodes inside the mine using a measuring base station includes,

[0014] Using a coordinate system o1x1y1z1 with the source as the origin and a coordinate system o2x2y2z2 with the base station as the origin, in polar coordinates, based on the second magnetic field distribution formula, and utilizing coordinate system transformation, the polar coordinate system... The magnetic induction vectors in the three directions Derivation of the Cartesian coordinate system The magnetic induction vectors in the three directions (B) x1 B y1 B z1 ).

[0015] Preferably, the rectangular coordinate system The magnetic induction vectors in the three directions (B) x1 B y1 B z1 The expression is:

[0016]

[0017] Preferably, the process of obtaining the relocation node location information after an accident by receiving the low-frequency signal from the low-frequency transmitting node through the measurement base station includes:

[0018] The magnetic flux density of a dynamic magnetic field is measured using a fluxgate meter to obtain fluxgate meter measurement data. and the fluxgate magnetometer effective measurement data

[0019] according to the fluxgate magnetometer measurement data and the fluxgate magnetometer effective measurement data The position parameters of the drift nodes are calculated based on a particle swarm optimization algorithm.

[0020] Preferably, the fluxgate magnetometer effective measurement data The calculation expression is:

[0021]

[0022] wherein, is the inductance intensity along the x-axis direction measured by the fluxgate magnetometer, is the inductance intensity along the y-axis direction measured by the fluxgate magnetometer, is the inductance intensity along the z-axis direction measured by the fluxgate magnetometer, and V is the volume of the rotating permanent magnet.

[0023] Preferably, according to the fluxgate magnetometer measurement data and the fluxgate magnetometer effective measurement data The process of calculating the position parameters of the drift nodes based on a particle swarm optimization algorithm includes,

[0024] Random particles are initialized based on the particle swarm optimization algorithm, and the optimal estimation solution is obtained by iteratively updating the speed and position of the particles. In each iteration process, the particles are updated by the first optimal estimation solution found by themselves and the second optimal estimation solution of the current entire particle swarm.

[0025] Preferably, the process of updating the particles by the first optimal estimation solution found by themselves and the second optimal estimation solution of the current entire particle swarm includes,

[0026] Based on a search space of D dimensions and a colony consisting of n particles, each particle is represented as a D-dimensional vector x i =(x i1 , x i2 , … x iD ), i = 1, 2, … n, wherein i = 1, 2, … n, and each particle corresponds to a D-dimensional velocity vector v i =(v i1 , v i2 , … v iD ), i = 1, 2, … n.

[0027] The current optimal estimation solution of the particle i is P best =(P i1 , P i2 , … P iD), i = 1, 2, … n, the optimal estimation solution currently found by the whole particle group is g best = (P g1 , P g2 , … P gD );

[0028] Preferably, the expression when updating the velocity and position of the particle is:

[0029]

[0030]

[0031] Wherein, c1 and c2 are learning factors, the learning factors determine the influence of the particle itself and other particles on the particle; w is an inertia factor, r1 and r2 are random numbers in the range of (0, 1), is the velocity of the particle at the k (k = 1, 2, … m)th update or iteration;

[0032] The PSO-X model based on the compression factor φ balances the relationship between global search and local search, and the expression is:

[0033]

[0034]

[0035] Wherein, c1 + c2 > 4, c1 = 3 and c2 = 3.

[0036] Compared with the prior art, the present application has the following advantages and technical effects:

[0037] The present application can provide a new scheme for downhole situation awareness, and through the direct through-the-earth communication characteristics of the rotating permanent magnetic antenna, the original sensing node can be relocated when the original communication network in the downhole is not restored, the downhole situation is perceived, and strong support is provided for rescue work. BRIEF DESCRIPTION OF DRAWINGS

[0038] The drawings constituting a part of the present application are used to provide further understanding of the present application, the illustrative embodiments of the present application and the description thereof are used to explain the present application, and do not constitute improper limitation on the present application. In the drawings:

[0039] Figure 1 It is a schematic diagram of a mine structure before collapse of the embodiment of the present application;

[0040] Figure 2 It is a schematic diagram of a mine structure after collapse of the embodiment of the present application;

[0041] Figure 3 It is a rotating direction diagram of the rotating permanent magnetic antenna of the embodiment of the present application;

[0042] Figure 4 A schematic diagram of a three-dimensional spatial positioning coordinate system of an embodiment of the present application;

[0043] Figure 5 A detailed location map of a positioning origin of an embodiment of the present application. DETAILED DESCRIPTION

[0044] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0045] It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a group of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described herein can be executed in an order different from that shown herein.

[0046] The mine drift node relocation method based on a mechanical antenna provided by the present application mainly solves the problem that the original node cannot be positioned and the underground situation cannot be explored after the mine collapses. Specifically, the method comprises the following steps,

[0047] As shown in Figure 1 , the node position information of the original positioning node inside the mine is obtained, and a low-frequency transmitting node and a vibration sensor are added to the original positioning node.

[0048] As shown in Figure 2 , a measurement network is constructed above the mine site based on a drone carrying a measurement base station. After the mine collapses, the vibration sensor senses the vibration and transmits a start signal to the control panel, starts the low-frequency transmitting node and transmits a positioning signal. The low-frequency signal of the low-frequency transmitting node is received by the measurement base station to obtain the position information of the relocated node after the accident.

[0049] The node position change of the node position information of the original positioning node and the position information of the relocated node after the accident is compared by modeling, and the change of the mine situation is sensed in real time.

[0050] Further, a humidity sensor and an optical sensor are also assembled on the original positioning node, and the environment in which the positioning node is located is sensed. After the sensing is completed, the information is encoded and transmitted to the receiving node to assist in establishing the mine environment situation.

[0051] Further optimization scheme, the process of obtaining the node position information of the original positioning node inside the mine includes,

[0052] According to distribution information of electromagnetic field in space, the magnetic induction intensity or the magnetic field intensity of the original positioning node in the mine is measured by a measurement base station, and node position information of the original positioning node is obtained based on the magnetic induction intensity or the magnetic field intensity.

[0053] Further optimization scheme, the process of obtaining the distribution information of electromagnetic field in space includes,

[0054] As shown in the formula (1), the first magnetic field distribution formula is obtained by rotating the permanent magnet of the permanent magnet mechanical antenna counterclockwise in the y1o1z1 plane around the origin O1. Figure 3

[0055]

[0056] Wherein, B0 is the residual magnetization, j is the imaginary unit, is the wave number, r is the straight line distance from a point in space to the origin, θ is the included angle between the straight line distance and the z axis in the three-dimensional coordinate system of space, is the included angle between the projection of the straight line distance in the oxy plane and the x axis, is three mutually orthogonal direction vectors, the direction is along the direction of r, is the distance from a point in space to the z axis as a circle, wherein the tangent direction of the circle is the direction of r, and the direction is defined according to the right-hand rule along the z axis,

[0057] Further optimization scheme, since the frequency is extremely low, it is considered that the positioning range is all near field communication, the first magnetic field distribution formula is simplified to obtain the second magnetic field distribution formula:

[0058]

[0059] Wherein, μ0=4π×10 -7 N·A -2 is the magnetic permeability in vacuum, and m0 is the magnetic dipole moment.

[0060] Further optimization scheme, the process of measuring the magnetic induction intensity or the magnetic field intensity of the original positioning node in the mine by the measurement base station includes,

[0061] As shown in the formula (2), based on the second magnetic field distribution formula, the three direction magnetic induction intensity vectors of the polar coordinate system Figure 4 are used to derive the rectangular coordinate system by coordinate system transformation under the representation of the polar coordinate system. ​​​​the magnetic induction intensity vector (B x1 , B y1 , B z1 ) of the three directions, the following expression is obtained:

[0062]

[0063] Further optimization scheme, the process of obtaining the position information of the relocated node after the accident by measuring the low-frequency signal of the low-frequency transmitting node by the base station,

[0064] When measuring the magnetic induction intensity of the dynamic magnetic field by the fluxgate, the fluxgate measurement data and the effective fluxgate measurement data

[0065] According to the fluxgate measurement data and the effective fluxgate measurement data The position parameters of the drift node can be obtained by solving the following equation based on the particle swarm optimization algorithm.

[0066]

[0067] Further optimization scheme, the calculation expression of the effective fluxgate measurement data is as follows:

[0068]

[0069] Wherein, is the induction intensity along the x-axis direction measured by the fluxgate, is the induction intensity along the y-axis direction measured by the fluxgate, is the induction intensity along the z-axis direction measured by the fluxgate, and V is the volume of the rotating permanent magnet.

[0070] Further optimization scheme, according to the fluxgate measurement data and the effective fluxgate measurement data The process of obtaining the position parameters of the drift node based on the particle swarm optimization algorithm includes,

[0071] Based on the particle swarm optimization algorithm, the random particles are initialized, and the optimal estimation solution is obtained by updating the speed and position of the particles in each iteration. In each iteration process, the particle is updated by the first optimal estimation solution found by itself and the second optimal estimation solution of the whole particle swarm.

[0072] In this embodiment, a D-dimensional search space is composed of a colony of n particles. Each particle is represented as a D-dimensional vector x i =(x i1 , xi2 ... x iD ), i = 1, 2,... n. In addition, each particle also has a corresponding D-dimensional velocity vector v i = (v i1 , v i2 ,... v iD ), i = 1, 2,... n. The current optimal estimation solution of particle i is P best = (P i1 , P i2 ,... P iD ), i = 1, 2,... n, and the optimal estimation solution currently found by the entire particle group is g best = (P g1 , P g2 ,... P gD ). When updating the velocity and position of the particle, the following formula is used:

[0073]

[0074]

[0075] where c1and c2are learning factors, which determine the influence of the particle itself and other particles on the particle; w is an inertia factor, r1and r2are random numbers in the range of (0, 1), is the velocity of the particle at the k (k = 1, 2,... m)th update or iteration.

[0076] The parameters of the PSO algorithm used in the embodiment are as follows:

[0077] n = 40, c1= 3, c2= 3, w = 0.01, m = 500,

[0078] The pseudo code of the algorithm is listed as shown in Table 1 for more clear representation:

[0079] Table 1

[0080]

[0081] The setting of the learning factor has a decisive influence on the search behavior and convergence speed of the estimation solution. If c1is set to be larger, the estimation solution will search in a local range, and if c2is set to be larger, the estimation solution will converge too early. In order to balance the relationship between global search and local search, the PSO-X model introducing a compression factor φ is used in the embodiment to achieve a more flexible and controllable estimation solution search and algorithm convergence effect. Through appropriate parameter selection, this method can ensure that the PSO algorithm can converge within a reasonable time.

[0082]

[0083]

[0084] Wherein, c1+c2>4, c1=3 and c2=3.

[0085] Further optimization scheme, mine collapse after the positioning method is as follows:

[0086] (1) according to the probe placement position, in position 1, position 2, position 3, position 4 and measure the distance and magnetic induction intensity can be placed probe. Figure 2

[0087] (2) the origin of the positioning coordinates for the measurement base station position of position 1, the measurement base station of the precise coordinate origin as shown in Figure 5 , the coordinate position of the rotating permanent magnet type mechanical antenna is its rotation center.

[0088] (3) after recording the data, the data is imported into the above algorithm, and the repositioned drift node coordinates can be obtained. After obtaining the repositioned node position, the ground signaling node transmits the position information into the modeling, compares the node position change before and after the accident, senses the current mine situation, and provides information to enable the rescue to be faster.

[0089] The above is only the preferred specific implementation of the present application, but the protection scope of the present application is not limited to this, any person skilled in the art in the technical range disclosed in the present application can easily think of changes or replacements, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.​

Claims

1. A method for relocating a mine-used drift node based on a mechanical antenna, characterized in that, include: Obtain the node location information of the original positioning nodes inside the mine, and install low-frequency transmitting nodes and vibration sensors on the original positioning nodes; Based on the drone carrying the measurement base station, a measurement network is built above the mine. After the mine collapses, the vibration sensor detects the vibration and transmits a start signal to the control board, which starts the low-frequency transmitting node and transmits a positioning signal. The measurement base station receives the low-frequency signal from the low-frequency transmitting node and obtains the repositioning node location information after the accident. Modeling and comparing the node position information of the original positioning node with the node position information of the repositioned node after the accident to perceive changes in the mine situation in real time. The process of obtaining the node location information of the original positioning nodes inside the mine includes, Based on the spatial distribution information of the electromagnetic field, the magnetic induction intensity or magnetic field intensity of the original positioning node inside the mine is measured by the measurement base station, and the node position information of the original positioning node is calculated based on the magnetic induction intensity or magnetic field intensity. The process of obtaining information about the spatial distribution of electromagnetic fields includes, By rotating the permanent magnet of the permanent magnet mechanical antenna counterclockwise around the origin O1 in the y1 o1 z1 plane, and assuming that the entire positioning range is near-field communication due to the extremely low frequency, the magnetic field distribution expression is as follows: wherein μ0=4π×10 -7 N·A -2 is the magnetic permeability in vacuum, m0 is the magnetic dipole moment, j is the imaginary unit, is the wave number, r is the straight line distance from a point in space to the origin, θ is the included angle between the straight line distance and the z-axis in a three-dimensional coordinate system in space, is the included angle between the projection of the straight line distance in the oxy plane and the x-axis, are three mutually orthogonal direction vectors, is the direction along the direction of r, is the circle made by the distance of a point in space to the z-axis, wherein the tangent direction of the circle is the direction, and the direction is defined according to the right-hand rule along the z-axis, is the direction of the direction of The process of obtaining the location information of the relocation node after an accident by receiving low-frequency signals from the low-frequency transmitting node through the measurement base station includes the following steps: The magnetic induction intensity of the dynamic magnetic field is measured by using the fluxgate meter to obtain the fluxgate meter measurement data and the effective measurement data of the fluxgate meter According to the fluxgate meter measurement data And the fluxgate meter effective measurement data The position parameters of the drift nodes are calculated based on a particle swarm optimization algorithm.

2. The mechanical antenna based mine drift node relocation method of claim 1, wherein, The process of measuring the magnetic induction intensity or magnetic field intensity of existing positioning nodes inside the mine using a measuring base station includes, By taking the coordinate system o1x1y1z1 with the signal source as the origin and the coordinate system o2x2y2z2 with the measuring base station as the origin, the magnetic induction intensity vectors of three directions of the rectangular coordinate system o2x2y2z2 are derived based on the second magnetic field distribution formula by using the coordinate system transformation from the polar coordinate system o1x1y1z1 to the rectangular coordinate system o2x2y2z2. x1 y1 z1 ) of the rectangular coordinate system o2x2y2z2.​​​​​ 3. The mechanical antenna based mine drift node relocation method of claim 2, wherein, The rectangular coordinate system The magnetic induction intensity vectors (B x1 , B y1 , B z1 ) of the three directions are expressed as:

4. The mechanical antenna based mine drift node relocation method of claim 1, wherein, The fluxgate magnetometer effective measurement data The calculation expression is: wherein, is the induced intensity in the x-axis direction measured by a fluxgate meter, is the induced intensity in the y-axis direction measured by a fluxgate meter, is the induced intensity in the z-axis direction measured by a fluxgate meter, and V is the volume of the rotating permanent magnet.

5. The mechanical antenna based mine drift node relocation method of claim 1, wherein, According to the fluxgate meter measurement data and the fluxgate meter effective measurement data The process of calculating the position parameters of the drift nodes based on the particle swarm optimization algorithm includes, Random particles are initialized based on the particle swarm optimization algorithm. The optimal estimated solution is obtained by iteratively updating the particle's velocity and position. In each iteration, the particle updates itself using its first optimal estimated solution and the current second optimal estimated solution of the entire particle swarm.

6. The mechanical antenna based mine drift node relocation method of claim 5, wherein, The process by which a particle updates its estimate using its own first optimal estimate and the current second optimal estimate of the entire particle swarm includes the following steps: Based on a search space of D dimensions and a colony consisting of n particles, each particle is represented as a D-dimensional vector x i = (x i1 , x i2 ,... x iD ), i = 1, 2,... n, where i = 1, 2,... n, each particle corresponds to a D-dimensional velocity vector v i = (v i1 , v i2 ,... v iD ), i = 1, 2,... n; The current optimal estimation solution of particle i is P besti = (P i1 , P i2 ,... P iD ), i = 1, 2,..., n, and the optimal estimation solution currently found by the entire particle group is g best = (P g1 , P g2 ,... P gD ).

7. The mechanical antenna based mine drift node relocation method of claim 6, wherein, The expressions for updating the particle's velocity and position are: wherein c1 and c2 are learning factors that determine the influence of the particle itself and other particles on the particle; w is an inertia factor; and r1 and r2 are random numbers in the range of (0, 1), is the velocity of the particle at the kth (k = 1, 2, … m) update or iteration. The PSO-X model, based on the compressibility factor φ, balances the relationship between the global search and the local search, and its expression is: Where c1+c2>4, c1=3 and c2=3.

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