CN111003577A - Inertial navigation system integrating shaft encoder positioning and infrared sensor positioning - Google Patents
Inertial navigation system integrating shaft encoder positioning and infrared sensor positioning Download PDFInfo
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- CN111003577A CN111003577A CN201911165039.8A CN201911165039A CN111003577A CN 111003577 A CN111003577 A CN 111003577A CN 201911165039 A CN201911165039 A CN 201911165039A CN 111003577 A CN111003577 A CN 111003577A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H51/00—Forwarding filamentary material
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Conveyors (AREA)
Abstract
本发明公开了一种融合轴编码器定位和红外传感器定位的惯性导航系统，包括地面层、线缆轨道层和工作面层；所述地面层包括监控主机、监控平台、参数化平台、三维监控平台、工作面视频监控平台、第一数据库服务器、第二数据库服务器和视频解码服务器；所述线缆轨道层包括线缆控制器和与其相连的人机交互界面；所述工作面层包括输送机传感子系统、液压支架传感子系统、输送机控制液压阀组、支架控制液压阀组、输送机机载控制器和支架控制器。本发明的融合轴编码器定位和红外传感器定位的惯性导航系统，将轴编码器定位和红外传感器定位融合使用，增加定位的可靠性与稳定性，节约成本，减少返工，线缆敷设时，减少设备停车次数，更重要是确保安装进行时的安全，提高了项目管理工作的质量以及安全性。
The invention discloses an inertial navigation system integrating shaft encoder positioning and infrared sensor positioning, comprising a ground layer, a cable track layer and a working surface layer; the ground layer includes a monitoring host, a monitoring platform, a parameterization platform, and a three-dimensional monitoring platform, working face video monitoring platform, first database server, second database server and video decoding server; the cable track layer includes a cable controller and a human-machine interface connected to it; the working face layer includes a conveyor Sensing Subsystem, Hydraulic Rack Sensing Subsystem, Conveyor Control Hydraulic Valve Group, Rack Control Hydraulic Valve Group, Conveyor On-Board Controller and Rack Controller. The inertial navigation system that integrates the positioning of the shaft encoder and the positioning of the infrared sensor of the present invention integrates the positioning of the shaft encoder and the positioning of the infrared sensor to increase the reliability and stability of the positioning, save the cost, reduce the rework, and reduce the cable laying time. The number of equipment stops, and more importantly, to ensure the safety of the installation, improve the quality and safety of the project management work.
Description
Technical Field
The invention relates to an inertial navigation system integrating shaft encoder positioning and infrared sensor positioning.
Background
The cable laying in the tunnel is an important component in power grid construction, and how to improve the cable laying efficiency and improve the laying quality through scientific and technological innovation is a main task of current research.
Referring to fig. 1, in laying a cable in a tunnel, a cable drum 11 on which the cable 1 is wound is disposed on a ground 10, a conveyor 2 is disposed above a cable track 21, which is an advancing track of the cable, and a hydraulic bracket is disposed behind the conveyor 2. After the hydraulic support is supported, enough working space and safety protection can be provided for a conveyor and operators. Since the overall dimensions of the conveyor 2, the cable track 21 and the hydraulic support need to be closely matched, they need to cooperate during the cable laying process. The conveyor 2 moves horizontally along the work surface 20, and since the conveyor 2 is located on the cable track 21, the conveyor 2 pulls the cable 1 to move. From the above description, it can be seen that the whole conveying process, the conveyor is the core equipment of the system, and the operation condition of the conveyor determines the action of the support and the effect of cable laying.
At present, an inertial measurement module is not installed on a conveyor in cable laying research at home and abroad. The inertial measurement sensor can acquire absolute position information of a mounting point of the conveyor body, the absolute position information comprises acceleration, speed and displacement of a certain point of the conveyor body relative to an inertial coordinate system of a fully mechanized mining face, and angular speed and angular displacement (which are functions of time) of the body relative to three space coordinate axes of the coordinate system of the conveyor body, and then motion parameter information of any point of the body can be acquired according to a rigid body kinematics model of the conveyor, so that the absolute position information can be positioned during working.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an inertial navigation system integrating shaft encoder positioning and infrared sensor positioning, which integrates shaft encoder positioning and infrared sensor positioning for use, has high stability, saves cost, reduces rework, reduces accompanying equipment during cable laying, more importantly ensures safety during installation and improves quality and safety of project management work.
The technical scheme for realizing the purpose is as follows: the utility model provides an inertia navigation who fuses axle encoder location and infrared sensor location, includes ground layer, cable track layer and working face layer, wherein:
the ground layer comprises a monitoring host, a monitoring platform, a parameterized platform, a three-dimensional monitoring platform, a working face video monitoring platform, a first database server, a second database server and a video decoding server, wherein the first database server is communicated with the monitoring platform, the parameterized platform and the three-dimensional monitoring platform are respectively communicated with the second database server, and the working face video monitoring platform is communicated with the video decoding server; the first database server, the second database server and the video decoding server are respectively arranged in the monitoring host;
the cable track layer comprises a cable controller and a human-computer interaction interface connected with the cable controller, and is responsible for transmission, storage and network communication of sensing data;
the working surface layer comprises a conveyor sensing subsystem, a hydraulic support sensing subsystem, a conveyor control hydraulic valve group, a support control hydraulic valve group, a conveyor onboard controller and a support controller, wherein the conveyor sensing subsystem is communicated with the conveyor onboard controller through a conveyor input and output module, and the conveyor control hydraulic valve group is connected with the conveyor input and output module; the hydraulic support sensing subsystem is communicated with the support controller through a support input and output module, and the support control hydraulic valve bank is connected with the support input and output module;
the system comprises a conveyor sensing subsystem and a hydraulic support sensing subsystem, wherein the conveyor sensing subsystem and the hydraulic support sensing subsystem jointly form a physical sensing system, the conveyor sensing subsystem comprises an infrared emitter arranged on a conveyor and a shaft encoder arranged at a traction part of the conveyor, the hydraulic support sensing subsystem comprises an infrared receiving sensor arranged on a hydraulic support, and the infrared emitter and the infrared receiving sensor form a fusion interface;
the monitoring host is respectively communicated with the cable controller, the bracket controller and the conveyor onboard controller.
The inertial navigation system integrating shaft encoder positioning and infrared sensor positioning is characterized in that a sensor for sensing the working state information of the conveyor is mounted on the body of the conveyor, and the working state information of the conveyor comprises kinematic parameters and traction cutting load parameters in the operation process of the conveyor; the kinematic parameters comprise acceleration, speed and displacement during the operation of the conveyor; the load parameters of the traction cutting comprise traction cutting current and traction cutting motor temperature.
When the conveyor moves horizontally along a cable track, an infrared emitter on the conveyor emits an infrared signal, infrared receiving sensors on more than one hydraulic support in the infrared signal range receive the infrared signal, the hydraulic support with the strongest received infrared signal is used as the hydraulic support opposite to the conveyor, and at the moment, a support controller of the hydraulic support uploads an acquired support number to the monitoring host through a bus network; meanwhile, the conveyor onboard controller uploads the sensing data of the conveyor inertial navigation computing system and the shaft encoder to the monitoring host through a communication network under the tunnel, and the monitoring host fuses the support number and the sensing data to finally determine the position of the conveyor.
The inertial navigation system integrating shaft encoder positioning and infrared sensor positioning is characterized in that the sensing data necessary for determining the position of the conveyor comprise the acceleration of a mounting point of the conveyor along a coordinate system of the conveyor body, the rotating angular speed of the conveyor coordinate system around a platform system, the walking speed of the conveyor recorded by a shaft encoder of a traction part of the conveyor and the signal intensity of an infrared sensor on the conveyor.
According to the inertial navigation system integrating shaft encoder positioning and infrared sensor positioning, when the position of the conveyor is determined, only sensing data necessary for positioning are selected, and the rest sensing data are used for monitoring the running state of the conveyor and do not participate in positioning calculation.
In the inertial navigation system combining shaft encoder positioning and infrared sensor positioning, the conveyor receives a command from the on-board controller of the conveyor according to the change of the traction force, so that the traveling speed of the conveyor and the working position of the traction part are changed.
The inertial navigation system integrating shaft encoder positioning and infrared sensor positioning is characterized in that the monitoring host sends out a control command to adjust the running state of the conveyor;
determining abnormal state data points of the conveyor according to different abnormal states of the conveyor, and setting the level of the abnormal state of the conveyor as an alarm level and a shutdown level according to different feedback strengths of the inertial navigation system on the abnormal state of the conveyor;
when the conveyor is in an abnormal state, the monitoring host sends a control command to the conveyor onboard controller, and the conveyor onboard controller sends a corresponding command to the conveyor for regulation.
The inertial navigation system fusing shaft encoder positioning and infrared sensor positioning is used by fusing shaft encoder positioning and infrared sensor positioning, and the processing mode can increase the reliability and stability of positioning and overcome the problem of unreliable positioning by singly using one positioning mode. Compared with the prior art, the invention has the following advantages:
(1) the stability is high: aiming at the limitation of the existing conveyor positioning method, the invention adds a conveyor positioning means based on inertial navigation on the basis of the existing method, establishes a model for fusing several positioning technologies together, and enhances the accuracy, reliability and stability of the system.
(2) The management quality and the safety are improved: reduce and do over again, during the cable laying, reduce and accompany and stop equipment, more importantly guarantees the safety when the installation goes on, has improved the quality and the security of project management work.
(3) The cost is saved: the reliable application of the system not only saves the personnel cost, but also improves the labor productivity
Drawings
FIG. 1 is a diagrammatic illustration of the operation of a conveyor during cable laying in a tunnel;
FIG. 2 is a block diagram of an inertial navigation system incorporating shaft encoder positioning and infrared sensor positioning in accordance with the present invention.
Detailed Description
In order that those skilled in the art will better understand the technical solution of the present invention, the following detailed description is given with reference to the accompanying drawings:
referring to fig. 1 and 2, in a preferred embodiment of the present invention, an inertial navigation system with integrated shaft encoder positioning and infrared sensor positioning includes a ground layer 100, a cable track layer 200, and a working layer 300.
The ground layer 100 comprises a monitoring host 101, a monitoring platform 102, a parameterization platform 103, a three-dimensional monitoring platform 104, a working face video monitoring platform 105, a first database server 106, a second database server 107 and a video decoding server 108, wherein the first database server 106 is communicated with the monitoring platform 2, the parameterization platform 103 and the three-dimensional monitoring platform 104 are respectively communicated with the second database server 107, and the working face video monitoring platform 5 is communicated with the video decoding server 108; the first database server 106, the second database server 107 and the video decoding server 108 are respectively installed in the monitoring host 101.
The cable track layer 200 comprises a cable controller 201 and a human-computer interaction interface 202 connected with the cable controller, and the cable track layer 200 is responsible for transmission, storage and network communication of sensing data.
The working face layer 300 includes a conveyor sensing subsystem 301, a hydraulic support sensing subsystem 302, a conveyor control hydraulic valve block 303, a support control hydraulic valve block 304, a conveyor onboard controller 305, and a support controller 306. The conveyor sensing subsystem 1 is communicated with a conveyor on-board controller 5 through a conveyor input and output module 7, and a conveyor control hydraulic valve bank 303 is connected with a conveyor input and output module 307; the hydraulic support sensing subsystem 302 communicates with the support controller 306 via the support input output module 8, and the support control hydraulic valve bank 304 is connected to the support input output module 8.
The conveyor sensing subsystem 301 and the hydraulic support sensing subsystem 302 jointly form a physical sensing system, each subsystem is composed of a plurality of physical sensing units, and the physical sensing units are matched with each other to jointly provide sensing data for the system. The conveyor sensing subsystem 301 comprises an infrared emitter arranged on the conveyor and a shaft encoder arranged at the traction part of the conveyor, the hydraulic support sensing subsystem comprises a plurality of infrared receiving sensors arranged on a plurality of hydraulic supports, and each hydraulic support is provided with one infrared receiving sensor. The infrared emitter and the infrared receiving sensor form a fusion interface;
the monitoring host 101 communicates with the cable controller 201, the rack controller 306, and the conveyor onboard controller 305, respectively.
A sensor for sensing the working state information of the conveyor 2 is arranged on the body of the conveyor, and the working state information of the conveyor comprises kinematic parameters and traction cutting load parameters in the running process of the conveyor; kinematic parameters include acceleration, velocity and displacement during operation of the conveyor; the traction cutting load parameters comprise traction cutting current and traction cutting motor temperature. These sensory data are generally considered normal, accurate and undistorted.
According to the inertial navigation system integrating shaft encoder positioning and infrared sensor positioning, the two positioning modes are integrated, the sensing data acquired from the two sensing systems are fused, the acquired sensing data are processed on the monitoring host computer in a centralized mode, and in order to complete the fusion of the sensing information, the working state data information of each key device must be acquired in real time. Therefore, physical sensing systems of key devices need to be established. The physical sensing system is divided into a conveyor sensing subsystem and a hydraulic support sensing subsystem, each subsystem is composed of a plurality of physical sensing units, and the physical sensing units are matched with each other to provide sensing data for the system.
A conveyor sensing subsystem 301 and a hydraulic support sensing subsystem 302 are fused, and fused interfaces are an infrared emitter installed on a conveyor and an infrared receiving sensor installed on a hydraulic support respectively. Referring to fig. 1, when the conveyor 2 moves horizontally along the cable track 21, the infrared emitter located on the conveyor 2 emits an infrared signal (emits a signal at a certain scattering angle), the infrared receiving sensor on more than one hydraulic support receives the infrared signal within the infrared signal range, the hydraulic support with the strongest received infrared signal is used as the hydraulic support opposite to the conveyor, and at this time, the support controller of the hydraulic support uploads the acquired support number to the monitoring host 101 through the bus network; meanwhile, the conveyor onboard controller 305 uploads the sensing data of the conveyor inertial navigation computing system and the shaft encoder to the monitoring host 101 through a communication network under the tunnel, and the monitoring host 101 fuses the support number and the sensing data to finally determine the position of the conveyor. The sensing data necessary to determine the position of the conveyor includes the acceleration of the mounting point of the body along the coordinate system of the body of the conveyor, the rotational angular velocity of the coordinate system of the body about the platform system, the walking speed of the conveyor recorded by the shaft encoder of the tractor part of the conveyor, and the signal strength of the infrared sensor on the conveyor.
When the position of the conveyor is determined, only the sensing data necessary for positioning are selected, and the rest sensing data are used for monitoring the running state of the conveyor and do not participate in positioning calculation.
The inertial navigation system integrating shaft encoder positioning and infrared sensor positioning of the present invention changes its own traveling speed and the operating position of the traction part by receiving a command from the on-conveyor controller 305 of the conveyor 2 according to the change of traction force. The monitoring host 101 sends out a control command to adjust the running state of the conveyor 2; determining abnormal state data points of the conveyor according to different abnormal states of the conveyor, and setting the level of the abnormal state of the conveyor as an alarm level and a shutdown level according to different feedback strengths of the inertial navigation system on the abnormal state of the conveyor; when the conveyor is in an abnormal state, the monitoring host sends a control command to the on-board conveyor controller 305, and the on-board conveyor controller 305 sends a corresponding command to the conveyor 2 for adjustment.
According to the inertial navigation system integrating shaft encoder positioning and infrared sensor positioning, as the working environment of the conveyor is quite severe, the vibration and impact of the conveyor body can cause distortion of sensing data, and if the error information is directly recorded, the automatic control effect of the conveyor can be adversely affected. This requires an effective mechanism to be established that can automatically identify which sensor data is normal and reject the distorted sensor data. The standard negative selection algorithm is composed of three main steps, which are respectively: data encoding, detector generation, and abnormal data detection. The data is encoded by binary coding or real number coding. The detector generation process is generally a process of randomly generating a series of candidate detectors and then generating a mature detector, which is a negative selection process that eliminates all detectors that have undergone an immune self-reaction. And finally, abnormal data detection is carried out, the fitness between the new sample data and the elements of the set of the maturity detector is calculated by the algorithm by utilizing a fitness matching function, and the abnormal data is rejected by the inertial navigation system if the fitness meets the requirement.
According to the inertial navigation system integrating shaft encoder positioning and infrared sensor positioning, the system can read, store and transmit data of each sensor at regular intervals. In the previous research, due to the limitation of objective conditions such as storage space and transmission rate of equipment, the acquisition frequency is set to be as low as possible, so that many conventional data are lost, the navigation and positioning precision of the conveyor is difficult to ensure (an inertial navigation subsystem needs higher sampling precision to ensure the navigation and calculation precision), meanwhile, the real-time monitoring of the running state of the conveyor cannot be really realized, and some key data information can be lost. Therefore, the invention stores the normal state point data with higher sampling frequency.
In summary, the inertial navigation system fusing shaft encoder positioning and infrared sensor positioning uses the shaft encoder positioning and the infrared sensor positioning in a fusing manner, and the processing mode can increase the reliability and stability of positioning and overcome the problem of unreliable positioning by using one positioning mode alone. Stability is high, practices thrift the cost, reduces and reworks, and during cable laying, the reduction accompanies and stops equipment, and more important is the safety when guaranteeing the installation and going on, has improved the quality and the security of project management work.
It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that changes and modifications to the above described embodiments are within the scope of the claims of the present invention as long as they are within the spirit and scope of the present invention.
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Effective date of registration: 20201217 Address after: 200122, 1122 deep road, Pudong New Area, Shanghai Applicant after: STATE GRID SHANGHAI MUNICIPAL ELECTRIC POWER Co. Applicant after: Construction Consulting Branch of China Online Shanghai Electric Power Co. Applicant after: SHANGHAI JIANGJUN INFORMATION CONSULTATION Co.,Ltd. Applicant after: Shanghai Lianti Information Technology Co.,Ltd. Address before: 200122, 1122 deep road, Pudong New Area, Shanghai Applicant before: STATE GRID SHANGHAI MUNICIPAL ELECTRIC POWER Co. Applicant before: Construction Consulting Branch of China Online Shanghai Electric Power Co. Applicant before: SHANGHAI ELECTRIC POWER CABLE ENGINEERING Co.,Ltd. Applicant before: SHANGHAI JIANGJUN INFORMATION CONSULTATION Co.,Ltd. Applicant before: Shanghai Lianti Information Technology Co.,Ltd. |
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200414 |