Underground coal mine vehicle positioning monitoring method and system based on ranging radar

Abstract

The present invention relates to the field of radio wave ranging technology, and in particular to an underground coal mine vehicle positioning monitoring method and system based on ranging radar. The method comprises the following steps: after determining the position of the mine car by triangulation and the position of the positioning reference point, using the inverse tangent function to obtain the azimuth of the mine car and the positioning reference point at each time point; constructing a time window of the time point with the time point as the end, determining the degree of azimuth deviation at the time point, wherein the degree of azimuth deviation is used to characterize whether the mine car is in a complex road condition; using the number of target positioning reference points at the time point as the initial number of positioning reference points, repeating the above steps to determine the degree of azimuth deviation at the time point, until the degree of azimuth deviation at the time point is less than a preset threshold; obtaining the position of the mine car based on the number of target positioning reference points at the time point, so as to realize the positioning monitoring of the underground coal mine vehicle, so as to effectively improve the accuracy of the position monitoring result of the mine car.

Description

Technical Field

[0001] The invention relates to the technical field of radio wave ranging, and in particular to an underground coal mine vehicle positioning monitoring method and system based on ranging radar. Background Art

[0002] In the complex environment of coal mining, underground operations face many challenges, among which the positioning and monitoring of mine cars is particularly critical. This link is of great significance for improving operational efficiency, ensuring personnel safety and optimizing production processes.

[0003] At present, the positioning and monitoring of mine cars are mostly achieved by installing radio frequency components on the mobile mine cars underground and analyzing the changes in their radio signals. For example, the patent application document with publication number CN220137380U discloses a positioning device system for mobile mine cars underground in a coal mine. The system includes a positioning unit for positioning the mobile mine car underground, and an information processing center located above ground. The information processing center is used to receive and process data information sent by the positioning unit; the positioning unit includes a first optical terminal device, a number of underground detection substations, and a number of radio frequency components. The radio frequency components are fixed on the mobile mine car underground and wirelessly connected to the underground detection substations. The underground detection substations are evenly distributed underground in the coal mine and are used to detect and identify the radio frequency components, thereby ultimately realizing real-time collection of the mine car location information.

[0004] The above existing solutions mainly focus on how to collect the location information of the mine car in real time, which is beneficial to the safety of underground operations to a certain extent. However, the actual operating environment of the mine car in the mine is relatively complex, and the driving direction and speed of the vehicle will change, affecting the accuracy of its actual location.

[0005] Based on this, how to accurately obtain the positioning monitoring results of underground coal mine vehicles is a technical problem that needs to be solved urgently by technical personnel in this field. Summary of the invention

[0006] In order to solve the technical problem of how to accurately obtain the positioning and monitoring results of underground coal mine vehicles, the present invention provides an underground coal mine vehicle positioning and monitoring method and system based on a ranging radar.

[0007] In a first aspect, the present invention provides an underground coal mine vehicle positioning monitoring method based on a ranging radar, which adopts the following technical solution:

[0008] The underground coal mine vehicle positioning monitoring method based on ranging radar comprises the following steps:

[0009] The initial number of positioning reference points is preset. After the position of the mine car is determined by the triangulation method and the position of the positioning reference points, the azimuth of the mine car and the positioning reference points at each time point is obtained by using the inverse tangent function; the size of the time window is preset, and the time window of the time point is constructed with the time point as the end. The azimuth difference between each time point in the time window and the previous time point is used as the first difference to determine the azimuth deviation degree of the time point, wherein the azimuth deviation degree is used to characterize whether the mine car is in a complex road condition; the number of target positioning reference points at the time point is calculated:

[0010] ; In the formula, Indicates The number of target positioning reference points at each time point, Indicates the number of initial positioning reference points, Indicates The degree of azimuth deviation at a time point, Indicates the symbol for rounding up; the initial number of positioning reference points at the time point is adjusted to the number of target positioning reference points, and the above steps are repeated to determine the degree of azimuth deviation at the time point, until the difference in the degree of azimuth deviation at the time points before and after the adjustment is less than a preset threshold value to obtain the number of target positioning reference points at the time point; the number of target positioning reference points at the time point is used in the triangulation positioning method to obtain the position of the mine car, so as to realize the positioning monitoring of underground coal mine vehicles.

[0011] The present invention takes into account that in the triangulation positioning method, the number of positioning reference points has a great influence on the positioning result. Therefore, by analyzing the degree of azimuth deviation of the mine car obtained under the initial number of positioning reference points, the current road condition of the mine car can be accurately obtained, and based on the current road condition of the mine car, the initial number of positioning reference points is adjusted to obtain the target number of positioning reference points required at that time point, so as to more finely capture and describe the changing trend of the vehicle's driving direction, thereby accurately obtaining the position monitoring results of the mine car at each time.

[0012] According to the underground coal mine vehicle positioning and monitoring method based on ranging radar provided by the present invention, the position of the mine car is determined by the triangulation positioning method and the position of the positioning reference point, including: obtaining the position of each of the positioning reference points; obtaining the distance between the mine car and each positioning reference point by the ranging radar, and constructing the Euclidean distance formula by the distance between the mine car and each positioning reference point and the position of the positioning reference point to obtain the position of the mine car at each time point; wherein, the position includes a horizontal coordinate and a vertical coordinate.

[0013] The present invention takes into account that GPS signals may be blocked underground, resulting in positioning errors of the mine car. Therefore, a ranging radar is deployed to obtain the echo signal of the positioning reference point. The measurement results of multiple ranging radars are used to calculate the precise position of the mine car in the underground space using the triangulation positioning method.

[0014] According to the underground coal mine vehicle positioning monitoring method based on ranging radar provided by the present invention, the use of the inverse tangent function to obtain the azimuth of the mine car and the positioning reference point at each time point includes: calculating the initial azimuth of the mine car and the positioning reference point at the time point:

[0015] ;

[0016] In the formula, Indicates The initial azimuth between the mine car and the i-th positioning reference point at the time point, represents the ordinate of the i-th positioning reference point, represents the horizontal coordinate of the i-th positioning reference point, Represents the vertical coordinate of the minecart, represents the horizontal coordinate of the minecart, represents an inverse tangent function; and the average of the initial azimuths of the mine car and each positioning reference point at the time point is taken as the azimuth of the mine car and the positioning reference point at the time point.

[0017] According to the underground coal mine vehicle positioning monitoring method based on ranging radar provided by the present invention, the degree of azimuth deviation at the time point satisfies the relationship:

[0018] ;

[0019] In the formula, Indicates The degree of azimuth deviation at a time point, Indicates The azimuth of the first time point in the time window of time points, Indicates the time window The azimuth at a time point, Indicates the time window The azimuth at a time point, Indicates the number of time points in the time window, represents the variance function, represents the maximum first difference in the time window, represents the minimum first difference in the time window, Represents an exponential function with base e.

[0020] According to the underground coal mine vehicle positioning and monitoring method based on ranging radar provided by the present invention, the position of the mine car is obtained by using the number of target positioning reference points at the time point in the triangulation positioning method, including: taking the average of the initial azimuths of the positioning reference points of the mine car and the number of target positioning reference points at the time point as the target azimuth at the time point, wherein the target azimuth is used to characterize the running direction of the mine car at the time point; dividing the Euclidean distance between the position of the mine car at the time point and the previous time point by the time interval to obtain the mine car speed at the time point, combining the time interval between the time point and the next time point to obtain the position increment of the mine car at the next time point, and then combining the target azimuth to assign the position increment to the horizontal coordinate and the vertical coordinate respectively, and finally obtaining the position of the mine car at the next time point, wherein the position increment is used to characterize the running distance of the mine car along the target azimuth direction.

[0021] The present invention takes into account that although the target azimuth angle can reflect the running direction of the mine car, the specific running distance cannot be determined. Based on this, the present invention also obtains the position increment of the mine car through the position distance and time interval between time points, and distributes the position increment through the target azimuth angle, so as to accurately obtain the position of the mine car.

[0022] According to the underground coal mine vehicle positioning and monitoring method based on ranging radar provided by the present invention, the position of the mine car is obtained by using the number of target positioning reference points at the time point in the triangulation positioning method to realize the positioning and monitoring of underground coal mine vehicles, including: transmitting the position information of the mine car to a data processing center in real time, the data processing center generates monitoring information based on the position of the mine car and stores it in a database, and displays the monitoring information externally through a visual interface.

[0023] The present invention takes into account that the running route of the underground mine car is relatively tortuous, and the position change of the mine car cannot be intuitively reflected only by data, so the details are displayed to the user through a visual interface.

[0024] According to the underground coal mine vehicle positioning and monitoring method based on ranging radar provided by the present invention, the positioning and monitoring of underground coal mine vehicles is realized, and then it also includes: setting an early warning threshold, and issuing an early warning message if the position of the mine vehicle deviates from the predetermined route.

[0025] The present invention takes into account that there may be a greater safety hazard if the position of the mine car deviates from the predetermined route, and therefore issues an early warning to remind the staff to handle it in time.

[0026] In a second aspect, the present invention provides an underground coal mine vehicle positioning monitoring system based on a ranging radar, which adopts the following technical solutions:

[0027] The underground coal mine vehicle positioning and monitoring system based on ranging radar comprises: a processor and a memory, wherein the memory stores computer program instructions, and when the computer program instructions are executed by the processor, the underground coal mine vehicle positioning and monitoring method based on ranging radar is implemented.

[0028] By adopting the above technical solution, the above-mentioned underground coal mine vehicle positioning and monitoring method based on ranging radar is generated into a computer program and stored in a memory to be loaded and executed by a processor, so that a terminal device is made according to the memory and the processor for easy use.

[0029] The present invention has the following technical effects:

[0030] Based on the above technical scheme, the present invention can accurately obtain the current road condition of the mine car by analyzing the degree of azimuth deviation of the mine car obtained under the initial number of positioning reference points, and adjust the initial number of positioning reference points based on the current road condition of the mine car to obtain the target number of positioning reference points required at that time point, so as to more finely capture and describe the changing trend of the vehicle's driving direction, thereby effectively improving the accuracy of the obtained mine car position monitoring results. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] By reading the detailed description below with reference to the accompanying drawings, the above and other purposes, features and advantages of the exemplary embodiments of the present invention will become readily understood. In the accompanying drawings, several embodiments of the present invention are shown in an exemplary and non-restrictive manner, and the same or corresponding reference numerals represent the same or corresponding parts.

[0032] Figure 1 A schematic flow chart of a method for positioning and monitoring underground coal mine vehicles based on ranging radar is provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0034] It should be understood that when the terms "first", "second", etc. are used in the claims, descriptions, and drawings of the present invention, they are only used to distinguish different objects, rather than to describe a specific order. The terms "include" and "comprise" used in the description and claims of the present invention indicate the presence of the described features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their collections.

[0035] It should be noted that in complex environments such as underground coal mines, due to limited underground space, narrow tunnels and many bends, the risk of collision between vehicles is high, so their positions need to be monitored. However, in traditional GPS positioning systems, GPS signals are severely blocked and attenuated underground and cannot work effectively, resulting in low accuracy of the actual position of the mine car, and the direction and speed of the vehicle will change. Knowing only the location of the vehicle but not its direction of travel cannot effectively avoid potential conflicts, posing a major safety hazard.

[0036] Based on this, the embodiment of the present invention discloses a method for positioning and monitoring underground coal mine vehicles based on ranging radar, see Figure 1 As shown, Figure 1 A schematic flow chart of a method for underground coal mine vehicle positioning and monitoring based on a ranging radar provided by an embodiment of the present invention, the method comprising the following steps S1 to S5:

[0037] S1: Preset the initial number of positioning reference points, determine the position of the mine car through triangulation and the position of the positioning reference points, and use the inverse tangent function to obtain the azimuth between the mine car and the positioning reference points at each time point.

[0038] It should be noted that the traditional triangulation positioning method can obtain the position of the mine car by analyzing the distance between the positioning reference point and the mine car. However, the actual operating environment of the mine car underground is relatively complex. When the mine car drives to a bend or irregular road section, the driving direction and speed of the mine car will change. The traditional triangulation positioning method can only provide instantaneous position information and cannot accurately reflect the true position of the mine car.

[0039] Based on this, the embodiment of the present invention dynamically calculates the azimuth of the vehicle by analyzing the real-time distance between the mine car and the initial number of positioning reference points and the position of the positioning reference points, and introduces a real-time evaluation mechanism for the degree of azimuth deviation. The number of positioning reference points involved in the positioning of the mine car is dynamically adjusted according to the degree of azimuth deviation, so that the position of the mine car can be accurately obtained.

[0040] For example, in an embodiment of the present invention, when the position of the mine car is determined by the triangulation method and the position of the positioning reference point, the position of each positioning reference point can be obtained; the distance between the mine car and each positioning reference point is obtained by the ranging radar, and the Euclidean distance formula is constructed by the distance between the mine car and each positioning reference point and the position of the positioning reference point to obtain the position of the mine car at each time point.

[0041] The positions of the mine car and the positioning reference point include abscissa and ordinate.

[0042] Specifically, high-precision reflectors are laid out in underground tunnels, intersections and important nodes as positioning reference points, and the specific layout information is recorded, where the layout information may include the position and model of the reflector, which can be set according to actual needs; a ranging radar is laid out on the body of the mine car, which can continuously send out signals and receive echo signals from the positioning reference points, thereby obtaining the precise distance between the mine car and each positioning reference point in real time.

[0043] The frequency of collecting echo signals by the ranging radar can be set to once per second, which can be set specifically according to actual needs; each collection is regarded as a time point, and the collected echo signal is transmitted to the data processing center.

[0044] After solving the equation by constructing the Euclidean distance formula through the distance between the mine car and each positioning reference point and the position of the positioning reference point, the position of the mine car can be obtained; the specific steps of determining the position of the mine car through the triangulation positioning method and the position of the positioning reference point can be achieved through existing technology and will not be repeated here.

[0045] It can be understood that the triangulation positioning method requires at least two positioning reference points with known positions to determine the position of the mine car, so the initial number of positioning reference points can be set to 2; in order to obtain the position of the mine car more accurately, when selecting the positioning reference point, the positioning reference point can be obtained at the position closest to the mine car.

[0046] Specifically, the distance between the mine car and each positioning reference point is obtained by using a ranging radar, all distances are traversed, and the positioning reference point closest to the mine car at the current time point is taken as the target to participate in the positioning of the mine car at the current time point.

[0047] Based on the above steps, a position data sequence of the mine car can be obtained. The position data sequence includes multiple time points, and each time point corresponds to a position data.

[0048] It should be noted that the direction and speed of the vehicle will change. Knowing only the position of the vehicle but not its running direction may pose a great safety hazard. Based on this, the azimuth between the mine car and the positioning reference point can be calculated and used to represent the running direction of the mine car.

[0049] For example, in an embodiment of the present invention, when the inverse tangent function is used to obtain the azimuth of the mine car and the positioning reference point at each time point, the initial azimuth of the mine car and the positioning reference point at each time point can be calculated, and the average of the initial azimuths of the mine car and each positioning reference point at that time point is used as the azimuth of the mine car and the positioning reference point at that time point.

[0050] Specifically, get the position of the minecart and the position of the i-th positioning reference point , determine the The initial azimuth of the mine car and the i-th positioning reference point at a time point can be found in the following relationship:

[0051] ;

[0052] In the formula, Indicates The initial azimuth between the mine car and the i-th positioning reference point at the time point, represents the ordinate of the i-th positioning reference point, represents the horizontal coordinate of the i-th positioning reference point, Represents the vertical coordinate of the minecart, represents the horizontal coordinate of the minecart, Represents the inverse tangent function.

[0053] In the above formula, The function can be used to process the azimuth between two points on a two-dimensional plane. is an radian, which is the angle between the line from the minecart position to the i-th positioning reference point and the positive direction of the x-axis. The range of the angle is arrive .

[0054] Based on the above formula, the initial azimuth of the mine car and each positioning reference point can be obtained. It is understandable that the underground environment is complex and changeable, the movement state of the mine car may change rapidly, and a single positioning reference point may have measurement errors and occlusions, resulting in low accuracy of the azimuth obtained by a single positioning reference point, making it difficult to fully reflect the true movement direction of the mine car. Based on this, the average of the initial azimuths of each positioning reference point can be used as the azimuth at the current time point, thereby accurately reflecting the movement direction of the mine car.

[0055] After obtaining the azimuth of the mine car and the positioning reference point at each time point based on the above steps, you can continue to perform the following steps.

[0056] S2: Preset the size of the time window, construct a time window of the time point with the time point as the end, take the azimuth difference between each time point in the time window and the previous time point as the first difference, and determine the azimuth deviation degree of the time point.

[0057] It should be noted that the azimuth between the mine car and the positioning reference point can be obtained based on the above steps, but when the mine car travels to a bend or an irregular road section, the azimuth will change significantly, and the azimuth obtained based on the mean value may not fully reflect this change. Based on this, the embodiment of the present invention determines the degree of azimuth deviation within a period of time by combining historical data, and uses the degree of azimuth deviation to characterize whether the mine car is in a complex road condition.

[0058] The size of the time window can be preset to 60, and the size of the time window is the number of time points included in the time window; the size of the time window can be set according to actual needs.

[0059] Specifically, in the embodiment of the present invention, to determine the degree of azimuth deviation at a time point, the azimuth difference between each time point in the time window and the previous time point may be used as the first difference. After obtaining the maximum first difference and the minimum first difference in the time window, the degree of azimuth deviation at the time point is calculated. The following relationship may be referred to:

[0060] ;

[0061] In the formula, Indicates The degree of azimuth deviation at a time point, Indicates The azimuth of the first time point in the time window of time points, Indicates the time window The azimuth at a time point, Indicates the time window The azimuth at a time point, Indicates the number of time points in the time window, represents the variance function, represents the maximum first difference in the time window, represents the minimum first difference in the time window, Represents an exponential function with base e.

[0062] In the above formula, Indicates The azimuth variance in the time window at each time point is relatively stable when the mine car is traveling in a straight line, but it changes rapidly when turning. Therefore, the azimuth variance is large, indicating that the azimuth difference in the time window is large and changes dramatically, and the azimuth is close to the first time point. In the recent period of time, the mine car may be making continuous turns or driving in complex road conditions, causing the running direction of the mine car to change rapidly.

[0063] Generally speaking, when the mine car is traveling in a straight line, the difference in azimuth between adjacent time points is small, but when turning, the difference in azimuth between adjacent time points will increase significantly. Based on this, the difference between the maximum first difference and the minimum first difference in the time window can be obtained The larger the value is, the more significant the change in the azimuth angle in the time window is. The mine car may be turning during the time period corresponding to the time window.

[0064] In summary, if the variance in the time window is large and the difference between the maximum first difference and the minimum first difference is large, it means that the mine car may be turning and the azimuth deviation in the time window is large.

[0065] After obtaining the azimuth deviation degree of the mine car at each time point based on the above steps, continue to perform the following steps.

[0066] S3: Calculate the number of target positioning reference points at a given time point.

[0067] It should be noted that if the azimuth deviation of the mine car at the current time point is large, it means that the mine car may be on a turning section, resulting in a large change in azimuth. In such cases, a small number of positioning reference points may not be able to fully reflect this change. It is necessary to increase the number of positioning reference points and increase the sampling density of the data to more accurately capture the changing trend of the vehicle's driving direction; conversely, if the azimuth deviation of the mine car at any time point is small, it means that the current mine car is driving relatively smoothly, and the number of positioning reference points can be appropriately increased to evaluate the azimuth.

[0068] Based on this, the number of target positioning reference points required at each time point can be obtained by analyzing the degree of azimuth deviation of the mine car at each time point.

[0069] For example, in the embodiment of the present invention, the number of target positioning reference points at a time point is determined, and the specific relationship can be as follows:

[0070] ;

[0071] In the formula, Indicates The number of target positioning reference points at each time point, Indicates the number of initial positioning reference points, Indicates The degree of azimuth deviation at a time point, Indicates the round-up symbol.

[0072] In the above formula, Indicates The value of the number of positioning reference points after correction at a time point, if the The greater the azimuth deviation at a time point, the greater the If the azimuth angle at a certain time point changes significantly, it may be that the vehicle is experiencing a significant turn or path change (such as turning, changing lanes, etc.). In this case, the number of positioning reference points initially selected may not be sufficient to accurately reflect the current movement status and direction. Therefore, the number of positioning reference points needs to be increased to better adapt to this change. The bigger it is, will increase significantly; when The more hours, Will increase slowly.

[0073] In this way, the embodiment of the present invention dynamically adjusts the number of positioning reference points required at each time point according to the degree of azimuth deviation of the mining vehicle at that time point, and can more precisely capture and describe the changing trend of the vehicle's driving direction.

[0074] S4: Adjust the initial number of positioning reference points at the time point to the number of target positioning reference points, repeat the above steps to determine the degree of azimuth deviation at the time point, until the difference in the degree of azimuth deviation between the time points before and after the adjustment is less than a preset threshold, and obtain the number of target positioning reference points at the time point.

[0075] It should be noted that by correcting the initial number of positioning reference points based on the above steps, the number of target positioning reference points of the mine car at each time point can be obtained. In order to ensure that the number of target positioning reference points obtained based on the above steps can accurately describe the operating status of the mine car, the number of target positioning reference points obtained based on the above steps can be re-substituted into the above steps to obtain the degree of azimuth deviation for verification.

[0076] The preset threshold may be 0.01, which may be set according to actual needs.

[0077] If the absolute difference between the azimuth deviation degree obtained based on the initial number of positioning reference points and the azimuth deviation degree obtained based on the target positioning reference points is greater than or equal to the preset threshold, it means that the number of target positioning reference points obtained based on the above steps is inaccurate and cannot accurately describe the current operating status and change trend of the mine car, and it is necessary to continue the analysis based on the above steps.

[0078] If the absolute difference between the azimuth deviation degree obtained based on the initial number of positioning reference points and the azimuth deviation degree obtained based on the target number of positioning reference points is less than the preset threshold, it means that the target number of positioning reference points can capture the current operating status and change trend of the mine car. The number of target positioning reference points obtained after adjustment is the number of positioning reference points required for the mine car positioning at that time point.

[0079] After obtaining the number of target positioning reference points at each time point based on the above steps, the position of the mine car at each time point can be obtained based on the number of target positioning reference points at the time point.

[0080] S5: The position of the mine vehicle is obtained by using the number of target positioning reference points at the time point in the triangulation positioning method to realize the positioning monitoring of underground coal mine vehicles.

[0081] It should be noted that after obtaining the number of target positioning reference points at each time point based on the above steps, the positioning reference point closest to the mine car can be selected based on the number of target positioning reference points at the time point to obtain the initial azimuth of the mine car and each positioning reference point at each time point to determine the running direction of the mine car. However, knowing the running direction of the mine car alone cannot accurately obtain the running trend of the mine car, and the specific running distance of the mine car needs to be determined.

[0082] By way of example, in an embodiment of the present invention, the position of a mine car is obtained by using the number of target positioning reference points at a time point in a triangulation positioning method, including: taking the average of the initial azimuths of the positioning reference points of the mine car and the number of target positioning reference points at the time point as the target azimuth at the time point, wherein the target azimuth is used to characterize the running direction of the mine car at the time point; dividing the Euclidean distance between the position of the mine car at the time point and the previous time point by the time interval to obtain the speed of the mine car at the time point, combining the time interval between the time point and the next time point to obtain the position increment of the mine car at the next time point, and then combining the target azimuth to assign the position increment to the horizontal coordinate and the vertical coordinate respectively, and finally obtaining the position of the mine car at the next time point, wherein the position increment is used to characterize the running distance of the mine car along the direction of the target azimuth.

[0083] It should be further explained that if the speed of the mine car at the current time point is determined, then in the time interval from the current time point to the next time point, the mine car is more likely to move at the mine car speed and running direction at the current time point. Based on this, the position increment of the mine car at the next time point can be obtained by multiplying the mine car speed and the time interval between the time point and the next time point. However, the obtained position increment is a scalar, which can only represent the distance moved by the mine car, and cannot determine the specific position of the mine car. Therefore, it is necessary to allocate the position increment to the horizontal coordinate and the vertical coordinate respectively, so as to obtain the increment of the mine car moving in different directions.

[0084] Specifically, the number of target positioning reference points at a time point is used in the triangulation positioning method to obtain the The position of the minecart at a certain point in time, and through the The position of the minecart at a certain time point determines the The position of the minecart at a certain point in time can be found in the following relationship:

[0085] ;

[0086] In the formula, Indicates The position of the minecart at a certain point in time. Indicates The position of the minecart at a certain point in time. Indicates that the minecart is in The time point and The Euclidean distance between the positions of the time points, Indicates The time point and The time interval between time points, Indicates The time point and The time interval between time points, Indicates The target azimuth at a time point is Indicates the target azimuth is x The projected length in the axial direction, Indicates the target azimuth is y The projection length in the axial direction, i and j represent x Axis and y The unit vector of the axis.

[0087] In the above formula, Indicates The direction vector of the minecart's movement at a point in time, Indicates The speed of the minecart at a given time.

[0088] It can be understood that since the acquisition frequency is the same, the time intervals between adjacent time points are equal, that is, can be simplified to , which indicates that along the The distance of the target azimuth at a time point, that is, the distance of the mine car at the Time point to The position increment at each time point is assigned to the horizontal and vertical coordinates of the mine car position, and the mine car is obtained at x Moving distance in the axis direction , and minecarts in y Moving distance in the axis direction .

[0089] In this way, the embodiment of the present invention obtains the position of the mine car at the current time point and the speed of the mine car at the current time point, obtains the position increment of the mine car at the next time point by multiplying the speed of the mine car at the current time point and the time interval between the time points, and distributes it according to the target azimuth to obtain the position increment of the mine car at the next time point. x Axis and y The moving distance in the axis direction finally gets the position of the minecart at the next time point.

[0090] After obtaining the position of the mine car based on the above steps, corresponding processing can be performed based on the position information of the mine car.

[0091] For example, in an embodiment of the present invention, the position of the mine car is obtained by using the number of target positioning reference points at a time point in the triangulation positioning method to realize the positioning monitoring of underground coal mine vehicles, including: transmitting the position information of the mine car to the data processing center in real time, the data processing center generates monitoring information based on the position of the mine car and stores it in a database, and displays the monitoring information externally through a visual interface.

[0092] Among them, the monitoring information may include the location, speed, running trajectory, whether it deviates from the predetermined route, etc. of the mining car, which can be set according to actual needs.

[0093] Specifically, Web technology can be used to design the front end of a visualization interface to display the real-time location, running trajectory and other information of the mine car.

[0094] For example, in an embodiment of the present invention, positioning monitoring of underground coal mine vehicles is implemented, and then it also includes: setting an early warning threshold, and issuing an early warning message if the position of the mine vehicle deviates from the predetermined route.

[0095] The warning threshold can be set according to actual needs, and the embodiment of the present invention does not impose too many restrictions on this.

[0096] It is understandable that if the mine car deviates from the planned route, there will be a greater safety hazard. In order to facilitate timely processing by the staff, an early warning can be issued to remind the staff, thereby effectively reducing the safety hazard.

[0097] It can be seen that in the embodiment of the present invention, when obtaining the underground coal mine vehicle positioning monitoring result based on the ranging radar, the initial number of positioning reference points can be preset, and after the position of the mine car is determined by the triangulation positioning method and the position of the positioning reference point, the inverse tangent function is used to obtain the azimuth of the mine car and the positioning reference point at each time point; the size of the time window is preset, and the time window of the time point is constructed with the time point as the end, and the azimuth difference between each time point in the time window and the previous time point is used as the first difference to determine the azimuth deviation degree of the time point, wherein the azimuth deviation degree is used to characterize whether the mine car is in a complex road condition; the number of target positioning reference points at the time point is calculated; the initial number of positioning reference points at the time point is adjusted to the number of target positioning reference points, and the above steps are repeated to determine the azimuth deviation degree of the time point until the difference in the azimuth deviation degree of the time points before and after the adjustment is less than the preset threshold value, and the number of target positioning reference points at the time point is obtained; the position of the mine car is obtained by using the number of target positioning reference points at the time point in the triangulation positioning method to realize the positioning monitoring of underground coal mine vehicles.

[0098] In this way, the embodiment of the present invention can accurately obtain the current road condition of the mine car by analyzing the degree of azimuth deviation of the mine car obtained under the initial number of positioning reference points. Based on the current road condition of the mine car, the initial number of positioning reference points is adjusted to obtain the target number of positioning reference points required at that time point, which can more finely capture and describe the changing trend of the vehicle's driving direction, thereby accurately obtaining the position monitoring results of the mine car at each time point.

[0099] An embodiment of the present invention also discloses an underground coal mine vehicle positioning and monitoring system based on ranging radar, including a processor and a memory, wherein the memory stores computer program instructions, and when the computer program instructions are executed by the processor, an underground coal mine vehicle positioning and monitoring method based on ranging radar according to the present invention is implemented.

[0100] The above system also includes other components well known to those skilled in the art, such as a communication bus and a communication interface, and their configuration and functions are known in the art, so they will not be described in detail here.

[0101] In the present invention, the aforementioned memory may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, apparatus, or device. For example, a computer-readable storage medium may be any suitable magnetic storage medium or magneto-optical storage medium, such as a resistive random access memory RRAM, a dynamic random access memory DRAM, a static random access memory SRAM, an enhanced dynamic random access memory EDRAM, a high bandwidth memory HBM, a hybrid memory cube HMC, etc., or any other medium that can be used to store the required information and can be accessed by an application, a module, or both. Any such computer storage medium may be part of a device or accessible or connectable to a device.

[0102] Although this specification has shown and described a number of embodiments of the present invention, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Those skilled in the art will conceive of many modifications, changes and alternatives without departing from the ideas and spirit of the present invention. It should be understood that in the practice of the present invention, various alternatives to the embodiments of the present invention described herein may be employed.

[0103] The above are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An underground coal mine vehicle positioning and monitoring method based on ranging radar, characterized in that: include: The initial number of positioning reference points is preset, and after the position of the mine car is determined by the triangulation positioning method and the position of the positioning reference points, the azimuth of the mine car and the positioning reference points at each time point is obtained by using the inverse tangent function; the size of the time window is preset, and the time window of the time point is constructed with the time point as the end, and the azimuth difference between each time point in the time window and the previous time point is taken as the first difference, and the degree of azimuth deviation of the time point is determined to satisfy the relationship: ; In the formula, Indicates The degree of azimuth deviation at a time point, Indicates The azimuth of the first time point in the time window of time points, Indicates the time window The azimuth at a time point, Indicates the time window The azimuth at a time point, Represents the number of time points in the time window, represents the variance function, represents the maximum first difference in the time window, represents the minimum first difference in the time window, represents an exponential function with e as the base; the degree of azimuth deviation is used to characterize whether the mine car is in a complex road condition; Calculate the number of target positioning reference points at the time point: ; In the formula, Indicates The number of target positioning reference points at each time point, Indicates the number of initial positioning reference points, represents a rounding symbol; adjusting the initial number of positioning reference points at the time point to the number of target positioning reference points, repeating the above steps to determine the degree of azimuth deviation at the time point, until the difference in the degree of azimuth deviation at the time point before and after the adjustment is less than a preset threshold, and obtaining the number of target positioning reference points at the time point; The position of the mine vehicle is obtained by using the number of target positioning reference points at the time point in the triangulation positioning method, so as to realize the positioning monitoring of underground coal mine vehicles.

2. The underground coal mine vehicle positioning monitoring method based on ranging radar according to claim 1 is characterized in that: The method of determining the position of the mine car by triangulation and the position of the positioning reference point comprises: Obtaining the position of each positioning reference point; The distance between the mine car and each positioning reference point is obtained by a ranging radar, and a Euclidean distance formula is constructed by the distance between the mine car and each positioning reference point and the position of the positioning reference point to obtain the position of the mine car at each time point; wherein the position includes a horizontal coordinate and a vertical coordinate.

3. The underground coal mine vehicle positioning monitoring method based on ranging radar according to claim 2 is characterized in that: The method of using the inverse tangent function to obtain the azimuth of the mine car and the positioning reference point at each time point includes: Calculate the initial azimuth between the mine car and the positioning reference point at the time point: ； In the formula, Indicates The initial azimuth between the mine car and the i-th positioning reference point at the time point, represents the ordinate of the i-th positioning reference point, represents the horizontal coordinate of the i-th positioning reference point, Represents the vertical coordinate of the minecart, represents the horizontal coordinate of the minecart, represents the inverse tangent function; The average of the initial azimuths of the mine car and each positioning reference point at the time point is used as the azimuth of the mine car and the positioning reference point at the time point.

4. The underground coal mine vehicle positioning monitoring method based on ranging radar according to claim 3 is characterized in that: The method of obtaining the position of the mining vehicle by using the number of target positioning reference points at the time point in the triangulation positioning method includes: The average of the initial azimuths of the positioning reference points of the mine car and the target positioning reference points at the time point is taken as the target azimuth at the time point, wherein the target azimuth is used to characterize the running direction of the mine car at the time point; the Euclidean distance between the position of the mine car at the time point and the previous time point is divided by the time interval to obtain the mine car speed at the time point, and the position increment of the mine car at the next time point is obtained in combination with the time interval between the time point and the next time point, and then the position increment is respectively allocated to the horizontal coordinate and the vertical coordinate in combination with the target azimuth, and finally the position of the mine car at the next time point is obtained, wherein the position increment is used to characterize the running distance of the mine car along the target azimuth direction.

5. The underground coal mine vehicle positioning monitoring method based on ranging radar according to claim 1 is characterized in that: The method of using the number of target positioning reference points at the time point in the triangulation positioning method to obtain the position of the mine vehicle to realize the positioning monitoring of underground coal mine vehicles includes: The location information of the mine car is transmitted to a data processing center in real time. The data processing center generates monitoring information based on the location of the mine car and stores it in a database, and displays the monitoring information externally through a visual interface.

6. The underground coal mine vehicle positioning monitoring method based on ranging radar according to claim 1 is characterized in that: The method for realizing the positioning monitoring of underground coal mine vehicles further includes: Set the warning threshold and send out a warning message if the position of the mine car deviates from the planned route.

7. The underground coal mine vehicle positioning monitoring system based on ranging radar is characterized by: include: A processor and a memory, wherein the memory stores computer program instructions, and when the computer program instructions are executed by the processor, the underground coal mine vehicle positioning and monitoring method based on ranging radar according to any one of claims 1-6 is implemented.

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