CN110017774A - 3 d pose detection cable formula sensor - Google Patents
3 d pose detection cable formula sensor Download PDFInfo
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- CN110017774A CN110017774A CN201910400139.8A CN201910400139A CN110017774A CN 110017774 A CN110017774 A CN 110017774A CN 201910400139 A CN201910400139 A CN 201910400139A CN 110017774 A CN110017774 A CN 110017774A
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- sensor
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- cable formula
- pose detection
- formula sensor
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- 238000001514 detection method Methods 0.000 title claims abstract description 30
- 230000003287 optical effect Effects 0.000 claims abstract description 12
- 239000000835 fiber Substances 0.000 claims abstract description 11
- 239000013307 optical fiber Substances 0.000 claims abstract description 7
- 238000012545 processing Methods 0.000 claims description 12
- 239000000463 material Substances 0.000 claims description 6
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 238000007493 shaping process Methods 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 239000004744 fabric Substances 0.000 claims description 2
- 238000009954 braiding Methods 0.000 claims 1
- 230000003014 reinforcing effect Effects 0.000 claims 1
- 238000012544 monitoring process Methods 0.000 abstract description 13
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 239000007787 solid Substances 0.000 abstract description 3
- 238000000691 measurement method Methods 0.000 abstract 1
- 238000005065 mining Methods 0.000 description 10
- 239000003245 coal Substances 0.000 description 8
- 230000001419 dependent effect Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- 239000000178 monomer Substances 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 238000012360 testing method Methods 0.000 description 3
- 238000005520 cutting process Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 230000002787 reinforcement Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 239000011343 solid material Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 238000010977 unit operation Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
Abstract
The present invention relates to a kind of 3 d pose detection cable formula sensors, carrier and the built-in and relatively fixed at least two groups distributed fiberoptic sensor in the carrier including cable form, every group of distributed fiberoptic sensor is made of multiple spaced apart fibre optical sensors and the optical fiber for being sequentially connected with them, every group of distributed fiberoptic sensor is disposed to extend in the shape of a spiral, the distributed fiberoptic sensor in identical carrier is arranged that the shape of the carrier is in solid cylindrical or hollow tubular by multi-head spiral form.On-line real time monitoring can be carried out to coalcutter 3 d pose and running track, working face straightness etc. using the present invention, it is more economical compared with other measurement methods, and be suitable for automated production.
Description
Technical field
The present invention relates to a kind of sensors that can detecte three-dimensional pose, are used especially for real-time monitoring coalcutter three-dimensional appearance
State and running track automate coal mining demand to meet.
Background technique
With the development of mine automation intellectualized technology, fully-mechanized mining working realizes substantially is with coalcutter memory coal cutting
The working face equipment automated production mode that main, hydraulic support is automatically controlled with machine.Under this kind of production model, working face straight line
The cutting along coal seam is the important guarantee continuously normally produced automatically for the automatic control of degree and coalcutter.And the three-dimensional of working face equipment
Posture and running track detection are 3 d pose detection and the working face straight line of the basis for realizing above-mentioned function, especially coalcutter
Degree detection.
Existing working face Linearity surveying method has the working face straight line of view-based access control model, encoder, tension sensor etc.
Degree detection and bearing calibration, but it is all practical without putting into.In the 3 d pose detection of coalcutter and working face Linearity surveying side
It is the detection method based on inertial navigation system that face is really practical, but this method implementation cost is very high, limits its popularization
Using.
Summary of the invention
The object of the present invention is to provide a kind of 3 d pose detection cable formula sensor, can be realized with lower investment to adopting
The 3 d pose and running track of coal machine, the straightness of working face etc. carry out on-line real time monitoring, and easy to operate, are suitable for automatic
Change production model.
Main technical schemes of the invention have:
A kind of 3 d pose detection cable formula sensor, carrier including cable form and built-in and relatively fixed described
At least two groups distributed fiberoptic sensor in carrier, every group of distributed fiberoptic sensor is by multiple spaced apart Fibre Optical Sensors
Device and the optical fiber for being sequentially connected with them form, and every group of distributed fiberoptic sensor is disposed to extend in the shape of a spiral.
The shape of the carrier can be in solid cylindrical or hollow tubular.
The cross section exterior contour of the cable formula sensor can be round, polygon or ellipse.
The carrier is the flexible material handled after shaping with reinforcement.
The carrier can be further made of the rubber material of built-in braided steel wire enhancement layer.
The surface of the carrier is through flexible armoring.
The distributed fiberoptic sensor in identical carrier is arranged by multi-head spiral form.
The distributed fiberoptic sensor in identical carrier preferably has two groups, their rotation directions are identical, and 90 degree of phase phase difference.
The beneficial effects of the present invention are:
Cable formula sensor is made using the distributed fiberoptic sensor of spiral form arrangement in the present invention, can easily examine
The three-dimensional deformation of fully-mechanized mining working equipment is surveyed, and then determines the 3 d pose of relevant device, the actual motion track of coalcutter, work
Make face straightness etc..
Automatic, the real-time monitoring of index of correlation can be achieved in the present invention, is particularly suitable for automated production mode.
Due to the cable formula sensor of the integral structure using built-in distributed fiberoptic sensor, the not only installation of sensor
Fixed simpler convenience, and detection process is by external environment influence, therefore detect reliable, testing result is with a high credibility.
The configuration of the present invention is simple, it is easy for installation, it is able to maintain high reliability in coal work environment, therefore compare
Inertial navigation system investment is less, and maintenance cost is also low, is very suitable for promoting and applying.
Detailed description of the invention
Fig. 1 is the schematic top plan view of present invention mounting arrangements in original state fully-mechanized mining working equipment；
Fig. 2 is the fully-mechanized mining working equipment of embodiment illustrated in fig. 1 in the deformed status diagram of scratch board conveyor；
Fig. 3 is the partial structural diagram of one embodiment of the present of invention.
Specific embodiment
The invention discloses a kind of 3 d pose detections with cable formula sensor (referred to as cable formula sensor), as shown in figure 3,
Carrier 32 and the built-in and relatively fixed at least two groups distributed fiberoptic sensor 31 in the carrier including cable form,
Every group of distributed fiberoptic sensor is by multiple spaced apart fibre optical sensors and the optical fiber group for being sequentially connected with them
At every group of distributed fiberoptic sensor is disposed to extend in the shape of a spiral.The solid material of the carrier passes each group distribution type fiber-optic
Sensor is wrapped in wherein, is made to be securely fixed in everywhere in the carrier on distributed fiberoptic sensor, is formed integral type
Cable formula sensor structure is equal to secure the distributed fiberoptic sensor, therefore the cable as long as securing the carrier
The fixed simpler convenience of the installation of formula sensor.The cable formula sensor belongs to the sensor of strain detecting type, and described point
Cloth fibre optical sensor is synchronized and is deformed with the deformation of carrier.Since carrier can play effectively distributed fiberoptic sensor
Protective effect, therefore the detection process of distributed fiberoptic sensor can not be by external environment influence, therefore detects reliable, inspection
It is high to survey result credibility.
The shape of the carrier can be in solid cylindrical (as shown in Figure 3) or hollow tubular.
The cross section outer contoured shape of the carrier is unlimited, can be round, polygon (such as rectangle) or ellipse,
Or other various shapes.For the purpose for facilitating manufacture, preferably circular or rectangle.
The carrier uses flexible material, and handles after shaping with reinforcement, can be with effective protection distributing optical fiber sensing
Device.Further, the carrier can use the rubber material of built-in braided steel wire enhancement layer.
Flexible armoring is preferably passed through on the surface of the carrier, prevents the carrier and distributed fiberoptic sensor from passing in cable formula
It is damaged in the transport and installation process of sensor.
The distributed fiberoptic sensor in identical carrier is arranged according to multi-head spiral form.
As preferred embodiment, as shown in figure 3, the distributed fiberoptic sensor in identical carrier has two groups, it
Rotation direction it is identical, 90 degree of phase phase difference.
The following are the cable formula sensor coalcutter 3 d pose and running track context of detection an applicating example.
Fig. 1, be shown in 2 monitor system by the coalcutter 3 d pose and running track of core of cable formula sensor of the invention, including
Sequentially connected laser signal generating device, cable formula sensor 3 and laser signal receive with processing unit 4, laser signal is from swashing
Optical signal generating apparatus issues, and after cable formula sensor and optical fiber, is received by laser signal and processing unit is received, handled.
It is fixedly mounted everywhere with respect to the track that coalcutter is run in the cable formula sensor length range, i.e. cable formula sensor overall length
Cannot there be relative motion between the track everywhere.The cable formula sensor can be used for monitoring any position on the track
The deformation at place.For the cable formula sensor along the laying of the linear extension direction of the track under natural conditions, the direction is also institute
State the ideal running track direction of coalcutter.In general, the track has been subjected to artificial straightening before laying, which is the rail
The original state in road.As long as making the fibre optical sensor therein that the target detection position of object be arranged in when laying.
Target detection position is more, and the fibre optical sensor for needing to use is more, for the detection accuracy of the 3 D deformation of object
It is higher.
Since spiral such a simple, regular space structure, target is arranged in distributed fiberoptic sensor
When geometric distortion occurs for object, distributed fiberoptic sensor also can be all deformed in the dimension of three, space, therefore can be direct
It realizes the detection of 3 D deformation, and makes still data processing and operation compared to other space structures either hardware is arranged to
It is all relatively easy.It, can be using any one group of distributed fiberoptic sensor as with reference to group, phase in multiple groups distributed fiberoptic sensor
When in providing the reference of Metric Transformation, other groups are different from reference to phase between group, it is possible thereby to determine each target detection position
The size and Orientation of the 3 D deformation of some opposite benchmark.
Coalcutter 1 moves reciprocatingly on track 2, each moment is place's specific position in orbit.Only
It is to be understood that coalcutter is at a time located at which position of track, so that it may be calculated according to the 3 d pose of track at the position
The 3 d pose of coalcutter out.And the 3 d pose of whole track, that is, the running track of coalcutter.
During coal mining, with going deep into for exploitation, every the preceding paragraph time just need using passage oil cylinder by the track to
Coal wall elapses a distance.Existing track is mainly to be formed by connecting by the identical rigid unitary of more piece, due to passage oil cylinder
Act at where not in place or track that bottom plate is uneven, two adjacent sections monomer connection is easy to happen curved during passage
Song causes whole track to generate the attitudes vibration in complicated three-dimensional deformation or perhaps three-dimensional space.Since the cable formula passes
It is fixedly mounted on the track in sensor length range, therefore the cable formula sensor also can in two section monomer connections
Corresponding deformation occurs therewith.For above-mentioned track structure, when laying, is correspondingly provided with every two sections monomer connection all
The fibre optical sensor.Strain information of the cable formula sensor in every two sections monomer connection actually just reflects described
Three-dimensional deformation of the track when corresponding position is relative to original state.
Due to coalcutter orbiting, the 3 d pose of track can be converted to coalcutter by coordinate translation transformation
3 d pose.The three-dimensional deformation of track decomposes the straightness that can be obtained by track in a certain plane in the plane, thus
The real-time monitoring to fully-mechanized mining working straightness may be implemented.The 3 d pose of track both can be used for working face Linearity surveying
And adjustment, and can be used for the mining level control of working face.
During coalcutter orbiting, the location information, right for each position that coalcutter is arrived can be extracted
Time point information and corresponding track three-dimensional deformation information are answered, the above- mentioned information on multiple positions are integrated can be also
Original goes out the actual motion track of coalcutter.As it can be seen that the 3 d pose monitoring of track is the base to a series of monitoring projects of coalcutter
Plinth and core.
Using can be real with lower cost, higher reliability by the above-mentioned monitoring system of core of the cable formula sensor
Now to the on-line real time monitoring of coalcutter 3 d pose and running track, monitoring obtained data can be used for fully-mechanized mining working
Straightness control and mining level control.Since core cable formula sensor also can be carried out optical signal while sensing
Other kinds of sensor is compared in transmission, can greatly simplify the auxiliary facility or structure of periphery, so that monitoring scheme is simply easy
Row.
The laser signal receives the output signal with processing unit according to the cable formula sensor, by processing, operation
It can show that the cable formula sensor occurs in tri- space X, Y, Z dimensions relative to the deflection of original state and deformation
Position.The strain information of comprehensive each position, so that it may synthesize the 3 d pose of whole cable formula sensor.Since cable formula senses
There is no relative motion between device and track, macroscopically, location information in cable formula sensor length range everywhere and corresponding
Strain information can reflect be equipped with the cable formula sensor track correspond to the cable formula sensor length range section three
Tie up posture.
Specific testing principle is as follows:
The position that all two adjacent sections monomers are connected using on track is as test point, when shape occurs for the cable formula sensor
When change, the light frequency of Brillouin scattering can change on the distributed fiberoptic sensor that deformation occurs locates, the laser signal
Reception and processing unit can calculate corresponding dependent variable according to the offset of Brillouin's frequency and Brillouin shift occur
Position.
The distributed fiberoptic sensor of helical form arrangement can detecte the strain of the three-dimensional space in tri- coordinate-system of X, Y, Z,
The above-mentioned dependent variable being calculated is the dependent variable in three-dimensional space, that is, the 3 d pose of track at this location.
The position of all distributed fiberoptic sensors of the cable formula sensor internal and dependent variable informix are got up,
Just obtain the 3 d pose of whole cable formula sensor, that is, the 3 d pose of entire track.
The length of the cable formula sensor is not less than the length of the track, whole along track laying.
The laser signal receives and processing unit includes the Data Computation Unit of photoelectric converter and two-way communication link
And memory, the memory is for storing the position being related on distributed fiberoptic sensor everywhere that the cable formula sensor is sent
Set and different location corresponding to strain information, it can also be used to the distribution type fiber-optic that storage is obtained by Data Computation Unit operation
The 3 d pose information of sensor.The Data Computation Unit is core, is responsible for the information sensed to cable formula sensor and carries out
Calculation processing.The laser signal receives and processing unit can be set in the centralized control center of coal mine, carries out remotely connecing for signal
It receives and handles.
It is monitored using above-mentioned monitoring system, laser signal is issued from laser signal generating device, is sensed by cable formula
After the optical fiber of device and connection sensor, is received by laser signal and processing unit is received, handled, in the coalcutter along the rail
During road mobile working, the cable formula sensor is deformed with the track deformation, the distributed light at the place that deforms
The light frequency of Brillouin scattering can change on fiber sensor, and the signal receives and processing unit is according to Brillouin's frequency
Offset calculates corresponding dependent variable and the position of Brillouin shift occurs, and the fibre optical sensor detection of helical form arrangement is
X, the three-dimensional space strain in tri- coordinate-system of Y, Z, the above-mentioned dependent variable being calculated is the dependent variable in three-dimensional space, comprehensive
Get up be exactly the track 3 d pose information.
The track run due to generalling use scratch board conveyor as coalcutter, the cable formula sensor is preferably straight at this time
It connects and is fixed on the fuselage of the scratch board conveyor, what the strain of the cable formula sensor was reflected is the scraper plate transport
The 3 D deformation situation of machine.Certainly, the fuselage of the scratch board conveyor should be at nature linear extension state when fixed installation.
Claims (9)
1. a kind of 3 d pose detection cable formula sensor, it is characterised in that: carrier including cable form and built-in and opposite
At least two groups distributed fiberoptic sensor being fixed in the carrier, every group of distributed fiberoptic sensor is by multiple arranged for interval
Fibre optical sensor and the optical fiber that is sequentially connected with them form, every group of distributed fiberoptic sensor extends in the shape of a spiral
Arrangement.
2. 3 d pose detection cable formula sensor as described in claim 1, it is characterised in that: the shape of the carrier is in real
Stem shape or hollow tubular.
3. 3 d pose detection cable formula sensor as described in claim 1, it is characterised in that: outside the cross section of the carrier
Contouring is round, polygon or ellipse.
4. 3 d pose detection cable formula sensor as described in claim 1, it is characterised in that: the shape of the carrier is in real
Stem shape or hollow tubular, the cross section exterior contour of the carrier are round, polygon or ellipse.
5. 3 d pose detection cable formula sensor as described in claim 1, it is characterised in that: the carrier is after shaping
With the flexible material for reinforcing processing.
6. 3 d pose detection cable formula sensor as claimed in claim 5, it is characterised in that: the carrier uses built-in steel
The rubber material of silk braiding enhancement layer.
7. the 3 d pose detection cable formula sensor as described in claim 1,2,3,4,5 or 6, it is characterised in that: the load
The surface flexible armouring of body.
8. the 3 d pose detection cable formula sensor as described in claim 1,2,3,4,5,6 or 7, it is characterised in that: same
The intracorporal distributed fiberoptic sensor is carried to arrange by multi-head spiral form.
9. 3 d pose detection cable formula sensor as claimed in claim 8, it is characterised in that: described point in identical carrier
Cloth fibre optical sensor has two groups, their rotation directions are identical, and 90 degree of phase phase difference.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910400139.8A CN110017774A (en) | 2019-05-14 | 2019-05-14 | 3 d pose detection cable formula sensor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910400139.8A CN110017774A (en) | 2019-05-14 | 2019-05-14 | 3 d pose detection cable formula sensor |
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| CN110017774A true CN110017774A (en) | 2019-07-16 |
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| CN201910400139.8A Pending CN110017774A (en) | 2019-05-14 | 2019-05-14 | 3 d pose detection cable formula sensor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11927097B2 (en) | 2021-06-17 | 2024-03-12 | Caterpillar Inc. | Cable handling system for longwall mining machines |
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