技术领域technical field
本发明涉及一种煤矿综采工作面的检测系统和检测方法，尤其涉及一种近距离定位测距而实现综采工作面的推进度检测的系统及方法。The invention relates to a detection system and a detection method of a coal mine fully mechanized mining face, in particular to a system and a method for realizing the detection of the advance degree of a fully mechanized mining face by short-distance positioning and distance measurement.
背景技术Background technique
在煤矿井下，综采工作面的推进度不仅可以反映工作面推进速度的快慢，也综采队工作成果考核的主要参数。在目前的实际应用中，工作面推进度的检测主要是通过井下工人人工记录的方法，该方法不仅需要耗费人力，方法繁琐，而且通过这种方法确定的推进度不能反映出整个工作面的推进情况，进而使计算结果会与实际情况存在一定偏差。因此采用一种综采工作面推进度检测系统，可以检测整个工作面推进情况，这对于减少井下工人的工作量，提高工作效率，实现井下工作面实时监控具有重要意义。In coal mines, the advance degree of fully mechanized mining face can not only reflect the speed of advance of the working face, but also the main parameter for the assessment of the work results of the fully mechanized mining team. In the current practical application, the detection of the advancing degree of the working face is mainly through the method of manual recording by the underground workers. Circumstances, and then there will be a certain deviation between the calculation results and the actual situation. Therefore, a fully mechanized mining face advancement detection system can be used to detect the advancement of the entire working face, which is of great significance for reducing the workload of underground workers, improving work efficiency, and realizing real-time monitoring of underground working faces.
现有技术中在井下的测距技术或推进度的检测中，通常将传感器布置在采煤机上，但由于起伏等因素，采煤机的上的传感器在一些情况下信号会被遮挡、反射导致误差变大，定位失败，因此上述检测系统稳定性较差，精度不足，距离理想中的自动化检测系统还存在着一定缺陷。In the prior art, in the downhole ranging technology or the detection of thrust, the sensors are usually placed on the shearer, but due to factors such as fluctuations, the signals of the sensors on the shearer will be blocked and reflected in some cases, resulting in The error becomes larger and the positioning fails. Therefore, the above-mentioned detection system has poor stability and insufficient precision, and there are still some defects in the ideal automatic detection system.
发明内容Contents of the invention
本发明为了解决上述缺陷，提出一种通过近距离定位测距而实现综采工作面的推进度检测的系统及方法。In order to solve the above-mentioned defects, the present invention proposes a system and method for detecting the advance degree of a fully mechanized mining face through short-distance positioning and distance measurement.
综采工作面推进度检测系统包括多个定位锚点，固定安装在进风和回风的巷道中，其中多个定位锚点间隔设置，多个定位标签，其中包括安装在支架顶梁上的顶梁定位标签，安装在刮板运输机上的多个刮板运输机定位标签，其中所述刮板运输机定位标签与对应支架上的支架定位标签等距离安装，安装在采煤机上的采煤机定位标签；以及多个定位控制器，每个定位控制器安装在对应支架上的液压缸上；主控系统，主控系统为主控计算机或其它控制设备，设置在进风巷内的监控中心。The advance detection system of the fully mechanized mining face includes multiple positioning anchor points, which are fixedly installed in the air inlet and return air tunnels, where multiple positioning anchor points are set at intervals, and multiple positioning labels, including the one installed on the top beam of the support Top beam positioning label, a plurality of scraper conveyor positioning labels installed on the scraper conveyor, wherein the scraper conveyor positioning label and the bracket positioning label on the corresponding bracket are installed equidistantly, and the shearer positioning label installed on the coal mining machine label; and a plurality of positioning controllers, each positioning controller is installed on the hydraulic cylinder on the corresponding support; the main control system, the main control system is the main control computer or other control equipment, which is set in the monitoring center in the air inlet lane.
定位锚点、所述多个定位标签、定位控制器均设置有测距模块和无线通讯模块，其两两之间可进行测距。定位锚点和定位标签可通过无线通讯模块将定位锚点/定位标签信息以及测距信息发送至定位控制器，定位控制器将上述信息发送至主控系统，主控系统设置有无线通讯模块，接受上述信息以计算和更新工作面各设备的位置，从而获取工作面推进度信息。The positioning anchor points, the plurality of positioning tags, and the positioning controller are all provided with a distance measuring module and a wireless communication module, and distance measurement can be performed between any two of them. The positioning anchor point and positioning tag can send the positioning anchor point/positioning tag information and ranging information to the positioning controller through the wireless communication module. The positioning controller sends the above information to the main control system. The main control system is equipped with a wireless communication module. Accept the above information to calculate and update the position of each equipment on the working face, so as to obtain the information of the advancing degree of the working face.
优选的，测距模块采用无线定位系统(UWB)进行高精度测距方法。Preferably, the ranging module uses a wireless positioning system (UWB) to perform a high-precision ranging method.
优选的，定位标签中还可内置运动传感器，以检测其所处设备处于移动或静止状态，所述传感器可以为测定加速度传感器，如陀螺仪，三轴加速传感器，测定角速度传感器，还可以为地磁传感器等。Preferably, a motion sensor can also be built into the positioning tag to detect whether the device it is in is in a moving or stationary state. The sensor can be a measurement acceleration sensor, such as a gyroscope, a three-axis acceleration sensor, a measurement angular velocity sensor, or a geomagnetic sensor. sensors etc.
优选的，定位标签和定位锚点还设置有启动模块、电源模块。以定位标签为例，其电源模块采用电池供电，采用低功耗设计，平时处于睡眠状态，根据附近定位控制器分配的时间槽，通过定位传感器唤醒其启动模块，其启动模块启动测距模块、运动传感器以及数据通讯功能，并将测定后的融合数据通过定位控制器发送给主控系统。Preferably, the positioning tag and the positioning anchor point are also provided with a starting module and a power supply module. Taking the positioning tag as an example, its power module is powered by a battery and designed with low power consumption. It is usually in a sleep state. According to the time slot allocated by the nearby positioning controller, its startup module is woken up through the positioning sensor, and its startup module starts the ranging module. Motion sensor and data communication function, and send the measured fusion data to the main control system through the positioning controller.
优选的，定位控制器设置有设备时间槽管理模块、信息同步模块、数据存储模块等，定位控制器的功能也可以集成至支架控制模块中，同时具备支架控制功能以及推进度检测功能。Preferably, the positioning controller is provided with a device time slot management module, an information synchronization module, a data storage module, etc., and the function of the positioning controller can also be integrated into the support control module, and has the support control function and the push degree detection function at the same time.
所述检测方法为：Described detection method is:
A计算液压支架初始位置：通过端头液压支架与邻近定位锚点进行测距，对液压支架进行定位A Calculate the initial position of the hydraulic support: measure the distance between the hydraulic support at the end and the adjacent positioning anchor point, and locate the hydraulic support
B计算移动中支架的位置和轨迹：在支架N进行移动时，在支架N邻近的定位锚点、刮板运输机定位标签、顶梁定位标签、定位控制器中选取多个处于固定节点或设备处于静止状态的节点，通过所述多个固定节点计算当前移架支架上的定位控制器的位置；B Calculate the position and trajectory of the support during the movement: when the support N is moving, select multiple fixed nodes or equipment in the positioning anchor point, scraper conveyor positioning label, top beam positioning label, and positioning controller adjacent to the support N. The node in the static state calculates the position of the positioning controller on the current moving frame through the plurality of fixed nodes;
C更新移动后的支架位置，更新相应支架的定位标签和定位控制器的信息并储存；C. Update the position of the bracket after moving, update and store the positioning label and positioning controller information of the corresponding bracket;
D重复步骤B至C，直至一轮采煤动作完成；D repeat steps B to C until one round of coal mining action is completed;
E计算机尾处液压支架的位置，通过机尾处液压支架与邻近定位锚点进行测距，对于机尾处液压支架进行定位E calculates the position of the hydraulic support at the tail, measures the distance between the hydraulic support at the tail and the adjacent positioning anchor point, and locates the hydraulic support at the tail
F更新整个工作面的定位标签坐标并储存。F Update and store the positioning label coordinates of the entire work surface.
在上述推进度检测方法的过程中，任何两节点的测距可以对距离信息和/或角度信息进行测量，优选为三角测量法或多维标度法(MDS)测量待测移动节点的位置信息。In the process of the above-mentioned propulsion detection method, the ranging of any two nodes can measure distance information and/or angle information, preferably triangulation or multi-dimensional scaling (MDS) to measure the position information of the mobile node to be measured.
优选的，通过对于定位标签和定位控制器中内置的运动传感器检测设备移动和静止状态，来选择作为相对位置信息测定的固定节点。Preferably, the fixed node is selected as the relative position information measurement by detecting the moving and static state of the device through the built-in motion sensor in the positioning tag and the positioning controller.
优选的，通过定位控制器中内置运动传感器检测支架是否处于移架状态。Preferably, the built-in motion sensor in the positioning controller detects whether the rack is in the shifting state.
优选的，采用刮板运输机定位标签实现对于刮板运输机的姿态的测定，如对于液压支架N的推移时，通过对于邻近刮板运输机上的定位标签中3个以上的固定节点的测距，得到刮板运输机对应移动节点的当前信息，从而根据刮板运输机上多个定位标签的相对位置信息，通过MDS算法，计算出待测节点的位置信息，从而计算出刮板机的曲线而直观得到当前刮板运输机的姿态，从而得到特定时刻工作面推进的详细信息。Preferably, the positioning tag of the scraper conveyor is used to measure the attitude of the scraper conveyor. For example, when the hydraulic support N is moved, by measuring the distance of more than 3 fixed nodes in the positioning tags on the adjacent scraper conveyor, it is obtained The scraper conveyor corresponds to the current information of the mobile node, so according to the relative position information of multiple positioning tags on the scraper conveyor, the position information of the node to be tested is calculated through the MDS algorithm, and the curve of the scraper conveyor is calculated to intuitively obtain the current The attitude of the scraper conveyor, so as to obtain detailed information on the advancement of the working face at a specific moment.
本发明的优点是，整个开采过程不需要人为干预可以实现自动化，避免了测距点的移动和软件的设置的人工参与。采用统一的测距标签，通过定位控制器上传系统，符合工作面的实际情况。在工作面曲线的测量过程中，通过近距离的标签之间的测距定位，可以实时而精确采集工作面的运行状态，有助于直观的了解观察工作面的工作曲线。通过多个冗余节点的相互测距，可以有效的覆盖整个工作面，并且避免了因信号会被遮挡、反射导致误差变大而导致的定位失败的问题。The advantage of the invention is that the entire mining process can be automated without human intervention, avoiding manual participation in the movement of distance measuring points and software settings. A unified ranging label is adopted and uploaded to the system through the positioning controller, which conforms to the actual situation of the working face. During the measurement process of the working face curve, the running status of the working face can be collected in real time and accurately through the distance measurement and positioning between the tags at a short distance, which is helpful to intuitively understand and observe the working curve of the working face. Through the mutual ranging of multiple redundant nodes, the entire working surface can be effectively covered, and the problem of positioning failure caused by the signal being blocked and reflected and causing the error to increase is avoided.
本系统使用的各设备体积小巧、成本低廉、安装方便并具有较好的防尘防潮性能，可以长期免维护工作。通过本发明的系统和方法而实施推进度的检测，可以有效的减少井下工人的工作量，提高工作效率，实现对井下工作面的实时监控。The equipment used in this system is small in size, low in cost, easy to install and has good dust-proof and moisture-proof performance, and can work without maintenance for a long time. The system and method of the present invention implement the detection of the advancing degree, which can effectively reduce the workload of underground workers, improve work efficiency, and realize real-time monitoring of the underground working face.
附图说明Description of drawings
附图1为本发明的推进度检测系统在综采工作面的安装示意图；Accompanying drawing 1 is the schematic diagram of the installation of the propelling degree detection system of the present invention in fully mechanized mining face;
附图2为本发明中液压支架的定位节点安装示意图；Accompanying drawing 2 is the installation schematic diagram of the positioning node of hydraulic support in the present invention;
附图3为本发明推进度检测方法流程图。Accompanying drawing 3 is the flowchart of the method for detecting the degree of propulsion of the present invention.
附图标记：Reference signs:
1液压支架，2定位锚点，3定位标签，4定位控制器，5主控系统1 hydraulic support, 2 positioning anchor point, 3 positioning label, 4 positioning controller, 5 main control system
1-1顶梁，1-2掩护梁，1-3底座，1-4连杆1-1 top beam, 1-2 cover beam, 1-3 base, 1-4 connecting rod
3-1顶梁定位标签，3-2刮板运输机定位标签，3-3采煤机定位标签3-1 Top beam positioning label, 3-2 Scraper conveyor positioning label, 3-3 Shearer positioning label
具体实施方式Detailed ways
下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清除、完整地描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。The technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present disclosure. Apparently, the described embodiments are only some of the embodiments of the present disclosure, not all of them. Based on the embodiments in the present disclosure, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present disclosure.
本发明公开了一种综采工作面推进度检测系统。The invention discloses a system for detecting the advancing degree of a fully mechanized mining face.
综采工作面中液压支架用以支护，工作面安装刮板运输机和采煤机，工作面两侧具有进风和回风的巷道，以安装采煤运输机及其它井下设备，监控中心位于进风巷道内。其中综采工作面的液压支架由顶梁1-1，掩护梁1-2，底座1-3，连杆1-4构成。The hydraulic support in the fully mechanized mining face is used for support. The scraper conveyor and coal shearer are installed on the working face. There are air inlet and return roadways on both sides of the working face to install the coal shearer conveyor and other underground equipment. The monitoring center is located at the entrance. In the wind lane. Wherein the hydraulic support of the fully mechanized mining face is composed of a top beam 1-1, a shield beam 1-2, a base 1-3, and a connecting rod 1-4.
参见图1，本综采工作面推进度检测系统包括多个定位锚点2，固定安装在进风和回风的巷道中，其中多个定位锚点间隔设置，例如设定固定间隔50米；多个定位标签3，其中包括安装在对应支架顶梁上的多个定位标签3-1，安装在刮板运输机上的多个定位标签3-2，其中多个定位标签3-2与对应支架上的定位标签3-1等距离安装，安装在采煤机上的定位标签3-3；以及多个定位控制器4，每个定位控制器4安装在对应支架上的液压缸上，参见图2；主控系统5，主控系统为主控计算机或其它控制设备，设置在进风巷内的监控中心。Referring to Fig. 1, the advance degree detection system of the fully mechanized mining face includes a plurality of positioning anchor points 2, which are fixedly installed in the roadways of the air inlet and return air, wherein the plurality of positioning anchor points are set at intervals, for example, a fixed interval of 50 meters is set; A plurality of positioning tags 3, including a plurality of positioning tags 3-1 installed on the top beam of the corresponding support, a plurality of positioning tags 3-2 installed on the scraper conveyor, wherein a plurality of positioning tags 3-2 are connected with the corresponding bracket The positioning labels 3-1 on the shearer are installed equidistantly, and the positioning labels 3-3 installed on the shearer; and a plurality of positioning controllers 4, each positioning controller 4 is installed on the hydraulic cylinder on the corresponding support, see Fig. 2 ; The main control system 5, the main control system is the main control computer or other control equipment, which is set in the monitoring center in the air inlet lane.
定位锚点2、定位标签3、定位控制器4均设置有测距模块和无线通讯模块。多个定位锚点2、定位标签3、和定位控制器4两两之间可进行测距。其中定位控制器中上的数据标签具备数据接入电控系统功能。The positioning anchor point 2, the positioning tag 3, and the positioning controller 4 are all provided with a ranging module and a wireless communication module. Distance measurement can be performed between multiple positioning anchor points 2 , positioning tags 3 , and positioning controllers 4 . Among them, the data label on the positioning controller has the function of data access to the electronic control system.
定位锚点和定位标签可通过无线通讯模块将定位锚点/定位标签信息以及测距信息发送至定位控制器4，定位控制器4将上述信息发送至主控系统5，主控系统5设置有无线通讯模块。The positioning anchor point and the positioning tag can send the positioning anchor point/location tag information and the ranging information to the positioning controller 4 through the wireless communication module, and the positioning controller 4 sends the above information to the main control system 5, and the main control system 5 is provided with Wireless communication module.
其测距模块优选采用超宽带无线定位系统(UWB)进行高精度测距方法，也可以在井下采煤环境允许的情况下采用其它测距方法，如超声波测距，红外测距等。Its ranging module preferably adopts ultra-wideband wireless positioning system (UWB) for high-precision ranging method, and can also use other ranging methods, such as ultrasonic ranging, infrared ranging, etc., if the underground coal mining environment permits.
其无线通讯模块采用ZIGBEE，WIFI等适宜井下环境中的通讯方式。Its wireless communication module adopts ZIGBEE, WIFI and other communication methods suitable for underground environments.
每个定位锚点2的相关三维坐标存储在主控系统5中，其坐标信息是推进度计算的参考基准。The relevant three-dimensional coordinates of each positioning anchor point 2 are stored in the main control system 5, and its coordinate information is the reference standard for calculating the propulsion degree.
定位标签3中还可内置运动传感器，以检测其所处设备处于移动或静止状态，所述传感器可以为测定加速度传感器，如陀螺仪，三轴加速传感器，测定角速度传感器，还可以为地磁传感器等。A motion sensor can also be built in the positioning tag 3 to detect whether the device it is in is in a moving or stationary state. The sensor can be a measurement acceleration sensor, such as a gyroscope, a three-axis acceleration sensor, a measurement angular velocity sensor, or a geomagnetic sensor, etc. .
定位标签3和定位锚点2还设置有启动模块、电源模块。以定位标签3为例，其电源模块采用电池供电，采用低功耗设计，平时处于睡眠状态，根据附近定位控制器4分配的时间槽，通过定位传感器唤醒其启动模块，其启动模块启动测距模块、运动传感器以及数据通讯功能，并将测定后的融合数据通过定位控制器4发送给主控系统5。The positioning tag 3 and the positioning anchor point 2 are also provided with a starting module and a power supply module. Taking the positioning tag 3 as an example, its power module is powered by a battery and designed with low power consumption. It is usually in a sleep state. According to the time slot allocated by the nearby positioning controller 4, its startup module is awakened by the positioning sensor, and its startup module starts ranging modules, motion sensors and data communication functions, and send the measured fusion data to the main control system 5 through the positioning controller 4 .
定位控制器4还设置有设备时间槽管理模块、信息同步模块、数据存储模块等，定位控制器4的功能也可以集成至支架控制模块中，同时具备支架控制功能以及推进度检测功能。The positioning controller 4 is also provided with a device time slot management module, an information synchronization module, a data storage module, etc. The functions of the positioning controller 4 can also be integrated into the support control module, and have support control functions and push degree detection functions at the same time.
定位主控计算机运行定位引擎及数据库软件，从而实现工作面推进度实时检测。The positioning master computer runs the positioning engine and database software, so as to realize the real-time detection of the advancing degree of the working face.
在进行推进度检测之前，首先对于各节点进行标号：Before the progress detection, first label each node:
将进风巷和回风巷的定位锚点2进行标号，依次为ANC-1直至ANC-M；Label the positioning anchor point 2 of the air inlet lane and the air return lane, from ANC-1 to ANC-M in turn;
将液压支架顺次标号为支架1直至支架N，安装在每个定位控制器4顺次标号为CONTROL-1直至CONTROL-N；Label the hydraulic supports sequentially as support 1 to support N, and install them on each positioning controller 4 and sequentially label them as CONTROL-1 to CONTROL-N;
将安装在液压支架顶梁上的多个定位标签3-1，顺次标号为TAG-1-1直至TAG-1-N，上述标号与液压支架的定位控制器4标号对应；The multiple positioning tags 3-1 installed on the top beam of the hydraulic support are sequentially labeled as TAG-1-1 to TAG-1-N, and the above labels correspond to the labels of the positioning controller 4 of the hydraulic support;
将安装在刮板运输机上的多个定位标签3-2，顺次标号为TAG-2-1直至TAG-2-N，上述定位标签3-2等距离安装，使得各定位标签3-2与液压支架组的定位标签3-1相对应。A plurality of positioning labels 3-2 installed on the scraper conveyor are sequentially labeled as TAG-2-1 until TAG-2-N, and the above positioning labels 3-2 are installed equidistantly, so that each positioning label 3-2 and The positioning label 3-1 of the hydraulic support group corresponds to.
在一个实施例中，工作面推进度检测步骤如下：In one embodiment, the steps of detecting the advancing degree of the working face are as follows:
1)计算液压支架初始位置1) Calculate the initial position of the hydraulic support
例如，计算端头液压支架2的位置，相应液压支架与定位锚点在垂直于工作面的方向上的相对位置固定，因此预设液压支架N所对应的邻近4个定位锚点ANC-M、ANC-M+1、ANC-M+2中优选3个定位锚点，通过与CONTROL-2的测距结果，进行相应液压支架初始位置并储存。也可以通过多个定位锚点ANC-M与CONTROL-2的测距结果，选取测距结果较近的定位锚点ANC-M’，ANC-M’+1，ANC-M’+2，进行相应液压支架初始位置计算并储存；上述选取3个定位锚点，实际应用中也可选取4至多个定位锚点，通过MDS或其它算法进行计算。For example, to calculate the position of the hydraulic support 2 at the end, the relative positions of the corresponding hydraulic support and the positioning anchor point in the direction perpendicular to the working surface are fixed, so the four adjacent positioning anchor points ANC-M, ANC-M, Three positioning anchor points are selected in ANC-M+1 and ANC-M+2, and the initial position of the corresponding hydraulic support is calculated and stored through the ranging results with CONTROL-2. It is also possible to use the ranging results of multiple positioning anchor points ANC-M and CONTROL-2 to select the positioning anchor points ANC-M', ANC-M'+1, and ANC-M'+2 with closer ranging results to perform The initial position of the corresponding hydraulic support is calculated and stored; 3 positioning anchor points are selected above, and 4 or more positioning anchor points can also be selected in practical applications, and calculated by MDS or other algorithms.
2)计算移动中支架的位置和轨迹：2) Calculate the position and trajectory of the moving support:
支架N进行移架时，选择多个邻近固定节点，例如刮板运输机上的定位标签TAG-2-N+2，在支架N距离端头或端尾较近时选择一个或多个定位锚点ANC-M，安装在邻近液压支架顶梁上的定位标签TAG-1-N+1。通过上述邻近固定节点计算当前前移架支架上的定位控制器CONTROL-2的实时位置和移动轨迹；When the bracket N is moved, select multiple adjacent fixed nodes, such as the positioning label TAG-2-N+2 on the scraper conveyor, and select one or more positioning anchor points when the bracket N is closer to the end or end ANC-M, positioning tag TAG-1-N+1 installed on the top beam adjacent to the hydraulic support. Calculate the real-time position and movement trajectory of the positioning controller CONTROL-2 on the current forward frame bracket through the above-mentioned adjacent fixed nodes;
3)更新移动后的支架位置3) Update the moved bracket position
支架N移架完成后，采用完成后的测定位置更新CONTROL-N，相应支架顶梁上的定位标签TAG-1-N的位置信息并存储；After the bracket N is moved, update CONTROL-N with the measured position after completion, and store the position information of the positioning label TAG-1-N on the top beam of the corresponding bracket;
4)支架N+1移动，重复上述步骤2)-3)，直至工作面的一轮采煤动作完成，将设备定位延伸至整个工作面直至机尾；4) Move the bracket N+1, repeat the above steps 2)-3), until a round of coal mining action on the working face is completed, and extend the positioning of the equipment to the entire working face to the tail;
5)计算机尾处液压支架的位置，通过其机尾处邻近的2个ANC-M、ANC-M+1或多个定位锚点，对于机尾处液压支架进行定位，并更新整个工作面的标签坐标并储存。5) The position of the hydraulic support at the tail of the computer, through the two ANC-M, ANC-M+1 or multiple positioning anchor points adjacent to the tail, locate the hydraulic support at the tail and update the position of the entire working surface Tag coordinates and save.
其中通过上述移动中和更新后支架的定位信息和移动信息，获得该综采工作面推进度数据，整个过程中无需人员参与。The advancement data of the fully-mechanized mining face is obtained through the positioning information and movement information of the above-mentioned moving and updated supports, and no personnel are required to participate in the whole process.
采用类似的方法，对于刮板运输机进行初始定位和工作面移动后的定位后的更新。Using a similar method, the initial positioning of the scraper conveyor and the post-positioning update after the movement of the working face are performed.
在上述推进度检测方法的过程中，任何两节点的测距可以对距离信息和/或角度信息进行测量，其典型算法有接收信号强度法(RSSI，Received Signal StrengthIndicator)、信号传输时间法(TOA，Time of Arrival)、信号到达角法(AOA，Arrival ofAngle)等，获得其角度和距离数据后，采用已知位置信息的3-4个固定节点，采用三边测量法、三角测量法、最大似然估计法、多维标度法(MDS，multidimensional scaling)来计算待测未知移动节点的位置信息。In the process of the above-mentioned propulsion degree detection method, the ranging of any two nodes can measure the distance information and/or angle information, and its typical algorithms include received signal strength method (RSSI, Received Signal Strength Indicator), signal transmission time method (TOA , Time of Arrival), signal angle of arrival method (AOA, Arrival of Angle), etc. After obtaining the angle and distance data, use 3-4 fixed nodes with known position information, use trilateration, triangulation, and maximum The likelihood estimation method and the multidimensional scaling method (MDS, multidimensional scaling) are used to calculate the position information of the unknown mobile node to be tested.
以上实施例中，采取支架顶梁上的定位标签TAG-1-N时，同样可采集支架控制器4上的定位信息；采集刮板运输机中静止的定位标签的信息时，同样可采集临近设备上的定位标签。在端头或端尾附近，则可采用定位锚点作为定位基准。本系统中定位标签设置大量冗余以应对井下复杂煤矿中可能存在的遮挡情况，提高了系统的稳定性，增加了系统的自动化程度。在处理冗余标签所带来的数据处理问题时，优先采用无遮挡的定位标签的数据，在有多个无遮挡的定位标签数据时，可优临近定位标签的数据，也可以用MDS或其它降维方法来计算。In the above embodiment, when the positioning tag TAG-1-N on the support top beam is used, the positioning information on the support controller 4 can also be collected; when collecting the information of the stationary positioning tag in the scraper conveyor, the adjacent equipment can also be collected targeting tab on the . Near the end or end, the positioning anchor point can be used as the positioning reference. In this system, a large amount of redundancy is set for the positioning tags to deal with possible occlusions in underground complex coal mines, which improves the stability of the system and increases the degree of automation of the system. When dealing with the data processing problems caused by redundant tags, the data of unobstructed positioning tags is preferred. When there are multiple unobstructed positioning tag data, the data of adjacent positioning tags can be optimized, and MDS or other methods can also be used. Dimensionality reduction method to calculate.
在另一个实施例中，通过对于定位标签和定位控制器中内置的运动传感器检测设备移动和静止状态，来选择作为相对位置信息测定的固定节点。例如，在支架N移架时，采集邻近刮板运输机上的定位标签TAG-2-N+2，TAG2-N-2，TAG-2-N+3，TAG2-N-3，安装在邻近液压支架顶梁上的定位标签TAG-1-N+1，TAG-1-N-1中的传感器，判断其所在设备所在的状态，从而选取固定节点作为对于待测移动节点的当前测距锚点。In another embodiment, the fixed node is selected as the relative position information measurement by detecting the movement and static state of the device through the built-in motion sensor in the positioning tag and the positioning controller. For example, when the bracket N is moved, the positioning labels TAG-2-N+2, TAG2-N-2, TAG-2-N+3, TAG2-N-3 on the adjacent scraper conveyor are collected and installed on the adjacent hydraulic The positioning label TAG-1-N+1 on the top beam of the bracket, the sensor in TAG-1-N-1, judges the state of the device where it is located, so as to select the fixed node as the current ranging anchor point for the mobile node to be measured .
在另一个实施例中，还可以通过定位控制器中内置运动传感器检测支架是否处于移架状态。In another embodiment, it is also possible to detect whether the rack is in a shifting state through a built-in motion sensor in the positioning controller.
在另一个实施例中，还可以采用刮板运输机上的定位标签3-2实现对于刮板运输机的姿态的测定，如对于液压支架N的推移时，通过TAG-2-N，TAG-2-N+1，TAG-2-N+2等多个节点的测距，利用固定节点得到移动节点的当前位置，从而根据刮板运输机上多个定位标签的相对位置信息。通过多个节点的测距信息，通过MDS算法，计算出待测节点的位置信息，从而计算出刮板机的曲线而直观得到当前刮板运输机的姿态，从而得到特定时刻工作面推进的详细信息。In another embodiment, the positioning label 3-2 on the scraper conveyor can also be used to measure the attitude of the scraper conveyor, such as when the hydraulic support N is moved, through TAG-2-N, TAG-2- For the distance measurement of multiple nodes such as N+1, TAG-2-N+2, the fixed node is used to obtain the current position of the mobile node, and the relative position information of multiple positioning tags on the scraper conveyor is used. Through the distance measurement information of multiple nodes, the position information of the node to be measured is calculated through the MDS algorithm, so as to calculate the curve of the scraper conveyor and intuitively obtain the attitude of the current scraper conveyor, so as to obtain detailed information on the advancement of the working face at a specific moment .
推进度监测系统还可以包括摄像机，摄像机负责定期对推进数据进行校正。The propulsion degree monitoring system may also include a camera, which is responsible for regularly correcting the propulsion data.
以上实施方式仅适于说明本公开，而并非对本公开的限制，有关技术领域的普通技术人员，在不脱离本公开的精神和范围的情况下，还可以做出各种变化和变型，因此所有等同的技术方案也属于本公开的范畴，本公开的专利保护范围应由权利要求限定。The above embodiments are only suitable for illustrating the present disclosure, rather than limiting the present disclosure. Those of ordinary skill in the relevant technical fields can make various changes and modifications without departing from the spirit and scope of the present disclosure. Therefore, all Equivalent technical solutions also belong to the category of the present disclosure, and the patent protection scope of the present disclosure should be defined by the claims.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711010474.4ACN107905846B (en) | 2017-10-24 | 2017-10-24 | Fully mechanized coal mining face pushing progress detection system and method |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711010474.4ACN107905846B (en) | 2017-10-24 | 2017-10-24 | Fully mechanized coal mining face pushing progress detection system and method |
| Publication Number | Publication Date |
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| CN107905846Atrue CN107905846A (en) | 2018-04-13 |
| CN107905846B CN107905846B (en) | 2020-03-20 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711010474.4AActiveCN107905846B (en) | 2017-10-24 | 2017-10-24 | Fully mechanized coal mining face pushing progress detection system and method |
| Country | Link |
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| CN (1) | CN107905846B (en) |
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| CP03 | Change of name, title or address | Address after:No. 27, Linhe Development Zone, Shunyi District, Beijing (Science and technology innovation functional zone) Patentee after:CCTEG Beijing Tianma Intelligent Control Technology Co.,Ltd. Patentee after:BEIJING CCRI-TIANMA AUTOMATION TECHNOLOGY Co.,Ltd. Address before:100013, Beijing, Chaoyang District, Hepingli Youth ditch East Road, building 5, one floor Patentee before:BEIJING TIANDI-MARCO ELECTRO-HYDRAULIC CONTROL SYSTEM Co.,Ltd. Patentee before:BEIJING CCRI-TIANMA AUTOMATION TECHNOLOGY Co.,Ltd. |