Mining ultrasonic positioning and speed measuring system

Abstract

The invention provides a mining ultrasonic positioning and speed measuring system which comprises a vehicle-mounted ultrasonic device, an ultrasonic base station, a wireless communication base station, a communication network, a management server and a monitoring terminal. The vehicle-mounted ultrasonic equipment is carried by mining mobile equipment and is used for transmitting monitoring and detecting ultrasonic waves, the ultrasonic base station is used for receiving the detecting ultrasonic waves, processing the detecting ultrasonic waves and obtaining the distance between the vehicle-mounted ultrasonic equipment and the ultrasonic base station and the vehicle speed, and the system combines the ultrasonic speed measurement technology, the distance measurement technology and the communication technology to obtain the distance between the vehicle-mounted ultrasonic equipment and the ultrasonic base station. The precision and speed detection problem of an existing underground positioning system is solved, and the method can be widely applied to the field of underground closed space positioning and the like.

Description

Technical Field

[0001] This invention relates to a mining ultrasonic positioning and velocity measurement system, which involves the fields of sensors, data processing, and positioning technology. Background Technology

[0002] Coal is my country's primary energy source, mainly mined underground. The complex environment of mines makes them prone to various disasters and accidents, seriously affecting the safety of underground workers. Reducing the number of underground workers is one of the effective measures to lower the casualty rate. Therefore, coal mines are continuously strengthening the construction of intelligent underground mining to gradually achieve less-manned and unmanned underground coal mining. Underground vehicles and various robots and other mobile equipment are important equipment in underground production. To achieve fully automated driving of vehicles and autonomous navigation of robots throughout the mine, precise positioning is essential. Currently, the positioning of personnel and vehicles in coal mines mainly uses UWB positioning technology, with an ideal positioning accuracy of 0.3 meters. However, UWB positioning cannot meet the further requirements of monitoring vehicles and other mobile equipment. Existing personnel and vehicle positioning systems in underground roadways are limited by transmission frequency, communication process, and data processing mechanism, with a theoretical positioning accuracy limit of 0.1 meters, which cannot be further improved. Moreover, UWB positioning systems are based on the principle of ranging and cannot directly measure the speed of moving targets. The speed value needs to be calculated twice, and the speed value is not real-time data. Due to the limitation of communication frequency, the dynamic error is large, making it difficult to meet the needs of real-time monitoring of underground vehicles.

[0003] Therefore, in order to achieve less manpower and unmanned operation in coal mining, new underground precision positioning methods and systems are needed, which can improve positioning accuracy to within 0.1m and enable real-time speed monitoring. Summary of the Invention

[0004] The purpose of this invention is to provide a mining ultrasonic positioning and velocity measurement system that solves the accuracy and speed detection problems of existing underground positioning systems by combining ultrasonic velocity measurement, ranging technology, and communication technology. The system includes a vehicle-mounted ultrasonic device, an ultrasonic base station, a wireless communication base station, a communication network, a management server, and a monitoring terminal. The vehicle-mounted ultrasonic device is carried by a mining mobile device and is used to emit monitoring and detection ultrasonic waves. Above the road where the mining mobile device travels, at intervals L... B An ultrasonic base station is installed; the ultrasonic base station is used to receive and process the detected ultrasonic waves to obtain the distance between the vehicle-mounted ultrasonic equipment and the ultrasonic base station, as well as the moving speed of the vehicle-mounted ultrasonic equipment; the vehicle-mounted ultrasonic equipment accesses the communication network through a wireless communication base station and communicates with the ultrasonic base station and the management server through the communication network; the management server is used to manage and store the location and speed data of the mining mobile equipment; the system's positioning and speed measurement process includes:

[0005] (1) The vehicle-mounted ultrasonic equipment sends a positioning request to the ultrasonic base station through the communication network.

[0006] (2) The ultrasonic base station replies to the vehicle-mounted ultrasonic equipment with a location permission request through the communication network and records the current time t. S ;

[0007] (3) After receiving the reply allowing the location request, the vehicle-mounted ultrasonic device sends a frequency of f. S Detection of ultrasonic waves;

[0008] (4) The ultrasonic base station receives the probe ultrasonic waves and records the current time t. T According to t S t T and the speed of ultrasonic wave propagation v S Calculate the distance L between the vehicle-mounted ultrasonic equipment and the ultrasonic base station. T And based on the received detection ultrasonic frequency f T The moving speed v of the mining mobile device carrying the vehicle-mounted ultrasonic equipment was calculated. C ;

[0009] (5) The ultrasonic base station, based on its own position coordinates and the L obtained in step (5), T The position coordinates of the mining mobile device carrying the vehicle-mounted ultrasonic equipment were calculated.

[0010] (6) The ultrasonic base station sends the location coordinates and speed of the mining mobile device carrying the vehicle-mounted ultrasonic equipment to the management server and the vehicle-mounted ultrasonic equipment.

[0011] 2. The positioning and speed measurement system further includes: the vehicle-mounted ultrasonic equipment includes a processor, a signal amplifier, and two ultrasonic transducers, which are installed facing outwards at an angle of 180 degrees.

[0012] 3. The positioning and speed measurement system further includes: the ultrasonic base station includes a processor, a temperature sensor, two signal processing modules, and two ultrasonic receiving transducers, with the two ultrasonic receiving transducers installed facing outwards at an angle of 180 degrees.

[0013] 4. The positioning and speed measurement system further includes: when the ultrasonic base station receives positioning requests from multiple vehicle-mounted ultrasonic devices, it replies with permission requests according to the order in which the requests are received, with a reply interval greater than [time value missing]. In the formula T C This represents the communication delay coefficient.

[0014] 5. The positioning and speed measurement system further includes: in step (5) of the positioning and speed measurement process, L T =v S ×(t T -tS +T C ), where T C This represents the communication delay coefficient.

[0015] 6. The positioning and speed measurement system further includes: in step (5) of the positioning and speed measurement process,

[0016] In the formula, θ is the angle between the vehicle-mounted ultrasonic equipment and the ultrasonic base station in the horizontal direction. In the formula, H is the installation height of the positioning base station in the alley.

[0017] 7. The positioning and speed measurement system further includes: the v S =331.4 + 0.6 × M S = 346.4 m / s, where M S The ambient temperature was collected for the positioning base station.

[0018] The beneficial effects achieved by this invention are as follows: This invention combines ultrasonic velocity and distance measurement technology with communication technology. It utilizes a positioning and distance measurement system where moving targets such as vehicles emit ultrasonic waves, and an ultrasonic base station receives these waves. This system accurately locates the target while simultaneously measuring its speed, solving the accuracy and speed detection problems of existing downhole positioning systems. The system has a simple structure and is easy to implement. Besides its application in downhole precision positioning, it has broad application and promotion potential. Attached Figure Description

[0019] Figure 1 A schematic diagram of a mining ultrasonic positioning and velocity measurement system.

[0020] Figure 2 Schematic diagram of the functional structure of vehicle-mounted ultrasonic equipment.

[0021] Figure 3 Schematic diagram of the functional structure of an ultrasonic base station.

[0022] Figure 4 A schematic diagram of the workflow of the positioning and speed measurement system. Detailed Implementation

[0023] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0024] The navigation system of the downhole precision positioning method based on optical beacons is as follows: Figure 1 As shown, the system includes:

[0025] 1. Vehicle-mounted ultrasonic equipment (101): The vehicle-mounted ultrasonic equipment is carried by the mining mobile equipment and is used to transmit monitoring and detection ultrasonic waves. It includes a processor, a signal amplifier, a wireless communication module, and two ultrasonic transducers. The two ultrasonic transducers are installed facing outwards at an angle of 180 degrees.

[0026] 2. Ultrasonic Base Station (102): Ultrasonic base stations are installed at regular intervals above the road where mining mobile equipment travels. The ultrasonic base station receives and processes the detected ultrasonic waves to obtain the distance between the vehicle-mounted ultrasonic equipment and the ultrasonic base station, as well as the speed of the vehicle-mounted ultrasonic equipment. The ultrasonic base station includes a processor, a temperature sensor, two signal processing modules, and two ultrasonic receiving transducers. The two ultrasonic receiving transducers are installed facing outwards at an angle of 180 degrees. The ultrasonic base station communicates with a wireless base station via a communication cable.

[0027] 3. Wireless communication base station (103): responsible for connecting the vehicle-mounted ultrasonic equipment to the communication network via wireless communication, and responsible for connecting the ultrasonic base station to the communication network via wired communication.

[0028] 4. Management Server (104): Used to manage and store the location and speed data of mining mobile equipment, deployed on the surface, and connected to the communication network for communication.

[0029] 5. Monitoring terminal (105): Used to monitor mining mobile equipment, and can manage information of mining mobile equipment, ultrasonic base station, vehicle-mounted ultrasonic equipment and wireless base station.

[0030] 6. Switch (106: The switch is the core device for device management in a communication network, responsible for the data exchange of all devices connected to the communication network.)

[0031] The functional structure of the vehicle-mounted ultrasonic device is as follows: Figure 2 As shown, it includes:

[0032] 1. The processor (201) adopts the 51 series STC89C52RC microcontroller, sends pulse signals to the signal amplifier (205), and communicates with the ultrasonic base station (102) through the wireless communication module (206).

[0033] 2. Power supply unit (202), responsible for supplying power to components such as the processor.

[0034] 3. The front transducer (203) is responsible for converting the pulse signal amplified by the signal amplifier (205) into an ultrasonic signal and transmitting it from the front end of the mining equipment.

[0035] 4. The rear transducer (204) is responsible for converting the pulse signal amplified by the signal amplifier (205) into an ultrasonic signal and transmitting it from the rear end of the mining mobile equipment.

[0036] 5. Signal amplifier (205) is responsible for amplifying the pulse signal sent by the data processing unit (201) and driving the front transducer (203) and the rear transducer (204) to emit ultrasonic signals. CD4069 can be used.

[0037] 6. Wireless communication module (206) is responsible for direct wireless communication with wireless communication base station (103) and access to the communication network, thereby realizing mutual communication with ultrasonic base station (102), management server (104) and monitoring terminal (105). The wireless communication module adopts a wireless communication module that conforms to LoRa, Zigbee, 5G or Wifi6 and intrinsically safe explosion-proof standards for underground mining.

[0038] The functional structure of the ultrasonic base station is as follows: Figure 3 Schematic diagram, including:

[0039] 1. Processor (301), which can be an MSP430 series microcontroller. This model is a 16-bit RISC architecture with 32k Flash and 1k RAM; it also has 5 low-power modes and can operate at a low voltage of 1.8 to 3.6V. The system uses a 3.3V operating voltage.

[0040] 2. Power supply (302): The power supply chip is an 1117 power chip, which is responsible for supplying power to the processor and other components.

[0041] 3. The front transducer (303) is responsible for receiving the ultrasonic signal sent by the vehicle-mounted ultrasonic equipment (101) and converting the signal into an electrical signal to be transmitted to the front signal processing module (304).

[0042] 4. The front signal processing module (304) amplifies and filters the signal received by the front transducer (303) and transmits it to the processor (301) for processing. CX20106A can be used.

[0043] 3. The rear transducer (305) is responsible for receiving the ultrasonic signal sent by the vehicle-mounted ultrasonic equipment (101), converting the signal into an electrical signal and transmitting it to the rear signal processing module (304).

[0044] 6. The post-signal processing module (306) amplifies and filters the signal received by the post transducer (305) and transmits it to the processor (301) for processing. CX20106A can be used.

[0045] 7. Communication module (307) is responsible for communication between the ultrasound base station and the communication network. It adopts wired communication, asynchronous serial communication with the processor (301), and is connected to the communication network through a communication cable.

[0046] The workflow of the positioning and speed measurement system is as follows: Figure 4 As shown:

[0047] 1. (401): The vehicle-mounted ultrasonic device (101) sends a positioning request to the ultrasonic base station (102) through the communication network accessed by the wireless communication base station (103).

[0048] 2. (402): The ultrasonic base station (102) replies to the vehicle-mounted ultrasonic equipment (101) with a permission to locate via the communication network and records the current time t. S .

[0049] 3.(403): After receiving the reply allowing the location request, the vehicle-mounted ultrasonic device (101) sends a frequency of f S Detection ultrasonic waves.

[0050] 4. (404): The ultrasonic base station (102) receives the probe ultrasound and records the current time t. T .

[0051] 5.(405): Ultrasonic base station (102) according to t S t T and the speed of ultrasonic wave propagation v S Calculate the distance L between the vehicle-mounted ultrasonic equipment and the ultrasonic base station. T .

[0052] 6.(406): The ultrasonic base station (102) detects the frequency f of the received ultrasonic wave. T The moving speed v of the mining mobile device carrying the vehicle-mounted ultrasonic equipment was calculated. C .

[0053] 7.(407): The ultrasonic base station (102) determines its position coordinates and L based on its own position coordinates. T The position coordinates of the mining mobile device carrying the vehicle-mounted ultrasonic equipment were calculated.

[0054] 8.(408): The ultrasonic base station sends the location coordinates and speed of the mining mobile device carrying the vehicle-mounted ultrasonic equipment to the management server and the vehicle-mounted ultrasonic equipment.

Claims

1. A mining ultrasonic positioning and velocity measurement system, characterized in that: The system includes vehicle-mounted ultrasonic equipment, ultrasonic base stations, wireless communication base stations, a communication network, a management server, and a monitoring terminal; the vehicle-mounted ultrasonic equipment is carried by the mining mobile equipment and is used to emit monitoring and detection ultrasonic waves; above the road where the mining mobile equipment travels, at intervals L... B An ultrasonic base station is installed; the ultrasonic base station is used to receive and process the detected ultrasonic waves to obtain the distance between the vehicle-mounted ultrasonic equipment and the ultrasonic base station, as well as the moving speed of the vehicle-mounted ultrasonic equipment; the vehicle-mounted ultrasonic equipment accesses the communication network through a wireless communication base station and communicates with the ultrasonic base station and the management server through the communication network; the management server is used to manage and store the location and speed data of the mining mobile equipment; the system's positioning and speed measurement process includes: (1) The vehicle-mounted ultrasonic equipment sends a positioning request to the ultrasonic base station through the communication network. (2) The ultrasonic base station replies to the vehicle-mounted ultrasonic equipment with a location permission request through the communication network and records the current time t. S ; (3) After receiving the reply allowing the location request, the vehicle-mounted ultrasonic device sends a frequency of f. S Detection of ultrasonic waves; (4) The ultrasonic base station receives the probe ultrasonic waves and records the current time t. T According to t S t T and the speed of ultrasonic wave propagation v S Calculate the distance L between the vehicle-mounted ultrasonic equipment and the ultrasonic base station. T And based on the received detection ultrasonic frequency f T The moving speed v of the mining mobile device carrying the vehicle-mounted ultrasonic equipment was calculated. C ; (5) The ultrasonic base station, based on its own position coordinates and the L obtained in step (5), T The position coordinates of the mining mobile device carrying the vehicle-mounted ultrasonic equipment were calculated. (6) The ultrasonic base station sends the location coordinates and speed of the mining mobile device carrying the vehicle-mounted ultrasonic equipment to the management server and the vehicle-mounted ultrasonic equipment.

2. The positioning and speed measurement system as described in claim 1, characterized in that: The vehicle-mounted ultrasonic equipment includes a processor, a signal amplifier, and two ultrasonic transducers, which are installed facing outwards at an angle of 180 degrees.

3. The positioning and speed measurement system as described in claim 1, characterized in that: The ultrasonic base station includes a processor, a temperature sensor, two signal processing modules, and two ultrasonic receiving transducers. The two ultrasonic receiving transducers are installed facing outwards at an angle of 180 degrees.

4. The positioning and speed measurement system as described in claim 1, characterized in that: When the ultrasonic base station receives multiple location requests from vehicle-mounted ultrasonic devices, it replies with permission requests according to the order in which they are received, with a reply interval greater than [time value missing]. In the formula T C This represents the communication delay coefficient.

5. The positioning and speed measurement system as described in claim 1, characterized in that: In step (5) of the positioning and speed measurement process, L T =v S ×(t T -t S +T C ), where T C This represents the communication delay coefficient.

6. The positioning and speed measurement system as described in claim 1, characterized in that: In step (5) of the positioning and speed measurement process, In the formula, θ is the angle between the vehicle-mounted ultrasonic equipment and the ultrasonic base station in the horizontal direction. In the formula, H is the installation height of the positioning base station in the alley.

7. The positioning and speed measurement system as described in claim 1, characterized in that: The v S =331.4 + 0.6 × M S = 346.4 m / s, where M S The ambient temperature was collected for the positioning base station.

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