CN105761597A - Interactive tunnel roof separation observation experiment teaching device and control method thereof - Google Patents
Interactive tunnel roof separation observation experiment teaching device and control method thereof Download PDFInfo
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- CN105761597A CN105761597A CN201610302563.5A CN201610302563A CN105761597A CN 105761597 A CN105761597 A CN 105761597A CN 201610302563 A CN201610302563 A CN 201610302563A CN 105761597 A CN105761597 A CN 105761597A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/04—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of buildings
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Abstract
The invention provides an interactive tunnel roof separation observation experiment teaching device and a control method thereof.The experiment teaching device comprises a master control computer, a servo control mechanism, a tunnel model, a roof separation instrument and a machine vision system.The servo control mechanism is connected with the tunnel model, the roof separation instrument is connected to a roof of the tunnel model, the machine vision system and the roof separation instrument are correspondingly installed, an output of the machine vision system is connected with the master control computer, and an output of the master control computer is connected with the servo control mechanism.A student can install the roof separation instrument by himself/herself and control the movement of the roof by himself/herself, and a function of learning, reading and analyzing readings of the roof separation instrument can be achieved.The interactive tunnel roof separation observation experiment teaching device and the control method thereof are obtained by establishing a physical model in which the machine vision system capable of identifying distance change and a physical experiment device controlled by a servo motor are combined, and finally the purpose of improving an experiment teaching effect is achieved.
Description
Technical field
The present invention relates to the experimental teaching unit of a kind of roadway roof absciss layer observation and control method, particularly a kind of interactive roadway roof absciss layer observation experiment instructional device and control method thereof.
Background technology
It is one of most basic teaching means of engineering science along experimental teaching, teaching plays vital effect.According to mining engineering correlated curriculum, student needs the structure to coal mine down-hole tunnel and the change in digging thereof to have to recognize intuitively, and the instruction on classroom is difficult to make student understand thoroughly, and visits on the spot to underground coal mine and be subject to many limitations.Therefore, it is particularly important in the content of courses of laboratory.
According to current teaching practice, the content of courses of mine pressure actual measurement instrument and meter is mainly visited with student, teacher's explanation is illustrated as master, and student's hands-on is not strong.To this, the how teaching method of such a is passive, demonstration explanation property, be changed into a kind of on one's own initiative, the learning method of autonomous operation, improve the teaching efficiency of experimental teaching, be always up the problem that educator particularly pays close attention to.
Summary of the invention
The invention aims to provide a kind of interactive roadway roof absciss layer observation experiment instructional device and control method thereof, solve the actual measurement instrument and meter teaching of current mine pressure, the problem that student's hands-on is not strong.
The object of the present invention is achieved like this: experimental teaching unit includes: main control computer, servo-control mechanism, Roadway model, roof separation indicator and Vision Builder for Automated Inspection；Servo-control mechanism is connected to the top of Roadway model, Roadway model top board is connected to roof separation indicator, Vision Builder for Automated Inspection is corresponding with roof separation indicator installs, and the output of Vision Builder for Automated Inspection is connected with main control computer, and the output of main control computer is connected with servo-control mechanism.
Described servo control mechanism has servomotor, and servomotor is connected with the movable panel of Roadway model, controls the movable panel motion of Roadway model.
Deep top board and two movable panels of superficial part top board are had inside described Roadway model, two mounting of roof plates are on top board moving guide rail, Roadway model is the model of a wooden roadway surrounding rock, Roadway model reduces making by actual ratio, the satisfied indoor that may be installed of its size, and allow personnel can enter internal observation；
Described roof separation indicator has two scales and pointer, is provided with observation monument point on two scales and pointer, it is simple to Vision Builder for Automated Inspection observation identifies.
Described Vision Builder for Automated Inspection has video camera, and video camera, with specific frequency collection image, calculates the reading of roof separation indicator, incoming main control computer by the range data of each index point.
The outfan of described main control computer is connected with the input of servo-control mechanism, and controls servo-control mechanism, and the input of main control computer receives the readings of the real-time update that Vision Builder for Automated Inspection outfan provides.
Control method: when main control computer input top board moves initial, moved with initial velocity by servo-control mechanism controlroof, the roof separation indicator reading returned with reference to Vision Builder for Automated Inspection afterwards, recycling servo-control mechanism adjusts acceleration, top board is made to do uniformly retarded motion within each adjustment cycle, finally accurately complete top board shift action, it is ensured that the reading of roof separation indicator is consistent with the numerical value of input；
Specifically comprise the following steps that
(1) deep top board within scaled wooden Roadway model, two movable top boards of superficial part top board, two movable panels are arranged on top board moving guide rail；Deep top board, two movable top boards of superficial part top board are respectively mounted roof separation indicator；
(2) on two scales of roof separation indicator and pointer, it is provided with observation monument point, it is simple to Vision Builder for Automated Inspection observation identifies；
(3) video camera in Vision Builder for Automated Inspection is by the frequency collection image set, and is calculated the reading of roof separation indicator, incoming main control computer by the range data of each index point of roof separation indicator；
(4) main control computer receives the readings of the real-time update provided by Vision Builder for Automated Inspection, and controls servo control mechanism according to the readings of real-time update, completes top board shift action.
One scale of described roof separation indicator arranges two index points, total range is equally divided into 3 parts, successively scale index point is set to from 0 scale direction a little 1, point 2, the distance of pointer index point with point 1, point 2 is set to L1、L2If total range is 3L, and reading is X；If L1< L and L2< L, then X=L-L1/L；If L1< L and L2< L, then X=L+L1/L；If L1> L and L2< L, then X=2L+L2/L。
Described main control computer receives data, one group of roof separation indicator reading of record per second, including deep basic point and superficial part basic point, calculates top board and also needs to the distance S of movementN, acceleration AN=2SN/N2, do uniformly retarded motion, keep current motion state 1 second, N is reduced 1, it is judged that the value of N, if N > 1, the Vision Builder for Automated Inspection data returned assignment S againN, recalculate and assignment acceleration AN, do uniformly retarded motion, keep current motion state 1 second, N is reduced 1, then judges the value of N；As N=1, top board shift action completes.
Beneficial effect, owing to have employed such scheme, when main control computer input top board moves initial, moved with certain initial velocity by servo-control mechanism controlroof, afterwards with reference to the roof separation indicator reading of the return of Vision Builder for Automated Inspection, recycling servo-control mechanism adjusts acceleration, makes top board do uniformly retarded motion within each adjustment cycle, finally accurately complete top board shift action, it is ensured that the reading of roof separation indicator is consistent with the numerical value of input.Solve the actual measurement instrument and meter teaching of current mine pressure, the problem that student's hands-on is not strong, reach the purpose of the present invention.
Advantage: can realizing student resource and install roof separation indicator, Autonomous Control top board moves, study is read and analyzes the function of roof separation indicator reading.Vision Builder for Automated Inspection and servo-controlled physics facility are combined, obtains instructional device and the control method thereof of a kind of interactive roadway roof absciss layer observation experiment, it is possible to increase experiment teaching effect.
Accompanying drawing illustrates:
Fig. 1 is the structure chart of the present invention.
Fig. 2 is each several part control planning figure of roof delamination observation experiment instructional device.
Fig. 3 is the flow chart of the roof delamination observation experiment instructional device control method of the present invention.
In figure: 1-Roadway model, 2-top board moving guide rail, 3-superficial part top board, 4-deep top board, 5-servo-control mechanism, 6-roof separation indicator, 7-Vision Builder for Automated Inspection, 8-main control computer.
Detailed description of the invention
Experimental teaching unit includes: main control computer 8, servo-control mechanism 5, Roadway model 1, roof separation indicator 6 and Vision Builder for Automated Inspection 7；Servo-control mechanism 5 is connected to the top of Roadway model 1, Roadway model top board is connected to roof separation indicator 6, Vision Builder for Automated Inspection 7 and the corresponding installation of roof separation indicator 6, the output of Vision Builder for Automated Inspection 7 is connected with main control computer 8, and the output of main control computer 8 is connected with servo-control mechanism 5.
Described servo-control mechanism has servomotor, and servomotor is connected with the movable panel of Roadway model, controls the movable panel motion of Roadway model.
Deep top board 4 and 3 two movable panels of superficial part top board are had inside described Roadway model, two mounting of roof plates are on top board moving guide rail 2, Roadway model is the model of a wooden roadway surrounding rock, Roadway model reduces making by actual ratio, the satisfied indoor that may be installed of its size, and allow personnel can enter internal observation；
Described roof separation indicator has two scales and pointer, is provided with observation monument point on two scales and pointer, it is simple to Vision Builder for Automated Inspection observation identifies.
Described Vision Builder for Automated Inspection has video camera, and video camera, with specific frequency collection image, calculates the reading of roof separation indicator, incoming main control computer by the range data of each index point.
The outfan of described main control computer is connected with the input of servo-control mechanism, and controls servo-control mechanism, and the input of main control computer receives the readings of the real-time update that Vision Builder for Automated Inspection outfan provides.
Control method: when main control computer input top board moves initial, moved with initial velocity by servo-control mechanism controlroof, the roof separation indicator reading returned with reference to Vision Builder for Automated Inspection afterwards, recycling servo-control mechanism adjusts acceleration, top board is made to do uniformly retarded motion within each adjustment cycle, finally accurately complete top board shift action, it is ensured that the reading of roof separation indicator is consistent with the numerical value of input；
Specifically comprise the following steps that
(1) deep top board within scaled wooden Roadway model, two movable top boards of superficial part top board, two movable panels are arranged on top board moving guide rail 2；Deep top board, two movable top boards of superficial part top board are respectively mounted roof separation indicator；
(2) on two scales of roof separation indicator and pointer, it is provided with observation monument point, it is simple to Vision Builder for Automated Inspection observation identifies；
(3) video camera in Vision Builder for Automated Inspection is by the frequency collection image set, and is calculated the reading of roof separation indicator, incoming main control computer by the range data of each index point of roof separation indicator；
(4) main control computer receives the readings of the real-time update provided by Vision Builder for Automated Inspection, and controls servo control mechanism according to the readings of real-time update, completes top board shift action.
One scale of described roof separation indicator arranges two index points, total range is equally divided into 3 parts, successively scale index point is set to from 0 scale direction a little 1, point 2, the distance of pointer index point with point 1, point 2 is set to L1、L2If total range is 3L, and reading is X.If L1< L and L2< L, then X=L-L1/L；If L1< L and L2< L, then X=L+L1/L；If L1> L and L2< L, then X=2L+L2/L。
Described main control computer receives data, one group of roof separation indicator reading of record per second, including deep basic point and superficial part basic point, calculates top board and also needs to the distance S of movementN, acceleration AN=2SN/N2, do uniformly retarded motion, keep current motion state 1 second, N is reduced 1, it is judged that the value of N, if N > 1, the Vision Builder for Automated Inspection data returned assignment S againN, recalculate and assignment acceleration AN, do uniformly retarded motion, keep current motion state 1 second, N is reduced 1, then judges the value of N；As N=1, top board shift action completes.Further illustrate in conjunction with an experimental implementation example
Embodiment 1: have two movable top boards deep, shallow inside Roadway model, is overlapped servomotor by two and is controlled by change speed gear box driven gear so that it is can move up and down in the vertical direction.
The mounting of roof plate of Roadway model has roof separation indicator, and its deep basic point anchor and superficial part basic point anchor are respectively inserted in the circular cross section groove of two movable panels deep, shallow.
Two scales of roof separation indicator respectively arrange 2 scale observation monument points, whole ranges are equally divided into three parts, pointer observation monument point is set on the movable pointer of reading, it is simple to Vision Builder for Automated Inspection observation identifies.
Fixing erection video camera, towards monitored tunnel section, probe primary optical axis is perpendicular to tested scale place plane, and is connected with power supply, communication system and main control computer, shows the image of monitored roadway roof absciss layer instrument scale.
Vision Builder for Automated Inspection reads the positional information of each index point, thus obtaining the distance of pointer index point and each scale index point.
Vision Builder for Automated Inspection is drawn the reading of roof separation indicator by the distance size between index point and ratio.
During operation, roof separation indicator is installed in Roadway model by teacher ' s guidance by student, inputs the top board movement value S of setting in main control computerN, set movement time N.
Main control computer controls servo control mechanism, makes top board towards target direction with initial velocity V=2SN/ N, acceleration AN=2SN/N2Start mobile.Translational speed is gradually reduced, until shift action completes.
Student is reading on roof separation indicator, and with the numerical comparatives set, whether reference count is accurate.
Claims (9)
1. an interactive roadway roof absciss layer observation experiment instructional device, is characterized in that: experimental teaching unit includes: main control computer, servo-control mechanism, Roadway model, roof separation indicator and Vision Builder for Automated Inspection；Servo-control mechanism is connected to the top of Roadway model, Roadway model top board is connected to roof separation indicator, Vision Builder for Automated Inspection is corresponding with roof separation indicator installs, and the output of Vision Builder for Automated Inspection is connected with main control computer, and the output of main control computer is connected with servo-control mechanism.
2. the interactive roadway roof absciss layer observation experiment instructional device of one according to claim 1, is characterized in that: described servo control mechanism has servomotor, and servomotor is connected with the movable panel of Roadway model, controls the movable panel motion of Roadway model.
3. the interactive roadway roof absciss layer observation experiment instructional device of one according to claim 1, it is characterized in that: inside described Roadway model, have deep top board and two movable panels of superficial part top board, two mounting of roof plates are on top board moving guide rail, Roadway model is the model of a wooden roadway surrounding rock, Roadway model reduces making by actual ratio, the satisfied indoor that may be installed of its size, and allow personnel can enter internal observation.
4. the interactive roadway roof absciss layer observation experiment instructional device of one according to claim 1, it is characterized in that: described roof separation indicator has two scales and pointer, two scales and pointer are provided with observation monument point, it is simple to Vision Builder for Automated Inspection observation identifies.
5. the interactive roadway roof absciss layer observation experiment instructional device of one according to claim 1, it is characterized in that: described Vision Builder for Automated Inspection has video camera, video camera is with specific frequency collection image, the reading of roof separation indicator, incoming main control computer is calculated by the range data of each index point.
6. the interactive roadway roof absciss layer observation experiment instructional device of one according to claim 1, it is characterized in that: the outfan of described main control computer is connected with the input of servo control mechanism, and controlling servo control mechanism, the input of main control computer receives the readings of the real-time update that Vision Builder for Automated Inspection outfan provides.
7. the control method of a kind of interactive roadway roof absciss layer observation experiment instructional device described in claim 1, it is characterized in that: control method: when main control computer input top board moves initial, moved with initial velocity by servo-control mechanism controlroof, the roof separation indicator reading returned with reference to Vision Builder for Automated Inspection afterwards, recycling servo-control mechanism adjusts acceleration, top board is made to do uniformly retarded motion within each adjustment cycle, finally accurately complete top board shift action, it is ensured that the reading of roof separation indicator is consistent with the numerical value of input；
Specifically comprise the following steps that
(1) deep top board within scaled wooden Roadway model, two movable top boards of superficial part top board, two movable panels are arranged on top board moving guide rail；Deep top board, two movable top boards of superficial part top board are respectively mounted roof separation indicator；
(2) on two scales of roof separation indicator and pointer, it is provided with observation monument point, it is simple to Vision Builder for Automated Inspection observation identifies；
(3) video camera in Vision Builder for Automated Inspection is by the frequency collection image set, and is calculated the reading of roof separation indicator, incoming main control computer by the range data of each index point of roof separation indicator；
(4) main control computer receives the readings of the real-time update provided by Vision Builder for Automated Inspection, and controls servo control mechanism according to the readings of real-time update, completes top board shift action.
8. the control method of a kind of interactive roadway roof absciss layer observation experiment instructional device according to claim 7, it is characterized in that: a scale of described roof separation indicator arranges two index points, total range is equally divided into 3 parts, successively scale index point is set to from 0 scale direction a little 1, point 2, the distance of pointer index point with point 1, point 2 is set to L1、L2If total range is 3L, and reading is X；If L1< L and L2< L, then X=L-L1/L；If L1< L and L2< L, then X=L+L1/L；If L1> L and L2< L, then X=2L+L2/L。
9. the control method of a kind of interactive roadway roof absciss layer observation experiment instructional device according to claim 7, it is characterized in that: described main control computer receives data, one group of roof separation indicator reading of record per second, including deep basic point and superficial part basic point, calculate top board and also need to the distance S of movementN, acceleration AN=2SN/N2, do uniformly retarded motion, keep current motion state 1 second, N is reduced 1, it is judged that the value of N, if N > 1, the Vision Builder for Automated Inspection data returned assignment S againN, recalculate and assignment acceleration AN, do uniformly retarded motion, keep current motion state 1 second, N is reduced 1, then judges the value of N；As N=1, top board shift action completes.
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| CN201610302563.5A CN105761597B (en) | 2016-05-09 | 2016-05-09 | A kind of interactive roadway roof absciss layer observation experiment instructional device and its control method |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0952427A2 (en) * | 1998-04-24 | 1999-10-27 | Inco Limited | Automated guided apparatus |
| CN202441437U (en) * | 2012-02-04 | 2012-09-19 | 黑龙江科技学院 | Pre-warning safety detector of top plate |
| CN103321681A (en) * | 2012-12-31 | 2013-09-25 | 尤洛卡矿业安全工程股份有限公司 | Monitoring and pre-warning method and system for coal mine roadway roof collapse disaster |
| CN103510986A (en) * | 2013-10-25 | 2014-01-15 | 中国矿业大学 | Tunnel roof separation dynamic monitoring system based on fiber bragg grating and early-warning method thereof |
| CN105096722A (en) * | 2015-09-09 | 2015-11-25 | 中国矿业大学 | Teaching device of roof separation observation of tunnel and usage method |
-
2016
- 2016-05-09 CN CN201610302563.5A patent/CN105761597B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0952427A2 (en) * | 1998-04-24 | 1999-10-27 | Inco Limited | Automated guided apparatus |
| CN202441437U (en) * | 2012-02-04 | 2012-09-19 | 黑龙江科技学院 | Pre-warning safety detector of top plate |
| CN103321681A (en) * | 2012-12-31 | 2013-09-25 | 尤洛卡矿业安全工程股份有限公司 | Monitoring and pre-warning method and system for coal mine roadway roof collapse disaster |
| CN103510986A (en) * | 2013-10-25 | 2014-01-15 | 中国矿业大学 | Tunnel roof separation dynamic monitoring system based on fiber bragg grating and early-warning method thereof |
| CN105096722A (en) * | 2015-09-09 | 2015-11-25 | 中国矿业大学 | Teaching device of roof separation observation of tunnel and usage method |
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Inventor after: Xu Jiankun Inventor after: Zhou Rui Inventor after: Xi Danyang Inventor after: Li Zan Inventor before: Zhou Rui Inventor before: Xi Danyang Inventor before: Xu Jiankun Inventor before: Li Zan |
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Granted publication date: 20180413 |