CN110118535A - The monitoring system and monitoring method of coalcutter 3 d pose and running track - Google Patents
The monitoring system and monitoring method of coalcutter 3 d pose and running track Download PDFInfo
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- CN110118535A CN110118535A CN201910400138.3A CN201910400138A CN110118535A CN 110118535 A CN110118535 A CN 110118535A CN 201910400138 A CN201910400138 A CN 201910400138A CN 110118535 A CN110118535 A CN 110118535A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 39
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000012545 processing Methods 0.000 claims abstract description 20
- 230000001419 dependent effect Effects 0.000 claims description 13
- 239000000835 fiber Substances 0.000 claims description 9
- 230000003287 optical effect Effects 0.000 claims description 8
- 239000013307 optical fiber Substances 0.000 claims description 8
- 239000000463 material Substances 0.000 claims description 5
- 238000009826 distribution Methods 0.000 claims description 4
- 239000004744 fabric Substances 0.000 claims description 3
- 230000002787 reinforcement Effects 0.000 claims description 3
- 238000007493 shaping process Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 claims description 2
- 239000010959 steel Substances 0.000 claims description 2
- 238000005065 mining Methods 0.000 abstract description 10
- 239000003245 coal Substances 0.000 abstract description 8
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- BGOFCVIGEYGEOF-UJPOAAIJSA-N helicin Chemical compound O[C@@H]1[C@@H](O)[C@H](O)[C@@H](CO)O[C@H]1OC1=CC=CC=C1C=O BGOFCVIGEYGEOF-UJPOAAIJSA-N 0.000 abstract 1
- 238000001514 detection method Methods 0.000 description 13
- 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
- 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
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 238000010977 unit operation Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
-
- 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
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
- G01B11/18—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge using photoelastic elements
-
- 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
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Mining & Mineral Resources (AREA)
- Radar, Positioning & Navigation (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention relates to the monitoring systems and monitoring method of a kind of coalcutter 3 d pose and running track, monitoring system includes sequentially connected laser signal generating device, cable formula sensor and laser signal reception and processing unit, cable formula sensor is fixed in orbit along the laying of the linear extension direction of coal mining machine rail under natural conditions, cable formula sensor spiral helicine distributed fiberoptic sensor containing at least two groups；Monitoring method is the strain information by any position in the real-time acquisition trajectory of cable formula sensor, laser signal receives the 3 d pose that cable formula sensor is calculated with processing unit, coordinate transform obtains the 3 d pose of coalcutter again, it is in the 3 d pose information of corresponding moment track by extracting the multiple positions passed through in coalcutter operational process and corresponding position, obtains the running track information of coalcutter.The present invention can be realized with lower investment carries out on-line real time monitoring to coalcutter 3 d pose and running track, working face straightness etc., is suitable for automated production.
Description
Technical field
The present invention relates to a kind of system and methods for real-time monitoring coalcutter 3 d pose and running track.
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 the monitoring system and monitoring method of a kind of coalcutter 3 d pose and running track, energy
Realize that 3 d pose and running track to coalcutter, the straightness of working face etc. are supervised in real time online with lower investment
It surveys, and easy to operate, is suitable for automated production mode.
Main technical schemes of the invention have:
A kind of monitoring system of coalcutter 3 d pose and running track, including sequentially connected laser signal fill
It sets, cable formula sensor and laser signal receive and processing unit, opposite coal mining everywhere in the cable formula sensor length range
The track that machine is run is fixedly mounted, and the cable formula sensor is applied along the linear extension direction of the track under natural conditions
If the kernel of the cable formula sensor is at least two groups distributed fiberoptic sensor, every group of distributed fiberoptic sensor is by multiple
Spaced apart fibre optical sensor and the optical fiber for being sequentially connected with them form, and every group of distributed fiberoptic sensor is in spiral shell
Rotation shape is disposed to extend.
The cross-sectional shape of the cable formula sensor can be round, polygon or ellipse.
The distributed fiberoptic sensor is built in the cable formula sensor structure that integral type is formed in a carrier.
The distributed fiberoptic sensor in identical carrier is arranged by multi-head spiral form.
The entity appearance of the carrier can be in solid cylindrical or hollow tubular.
The carrier is the flexible material handled after shaping with reinforcement.
Preferably, there are two groups of distributed fiberoptic sensors in the cable formula sensor, the two rotation direction is identical, phase phase difference 90
Degree.
A kind of monitoring system of coalcutter 3 d pose and running track, using the three-dimensional of coalcutter described in any one of the above
The monitoring system of posture and running track, laser signal is issued from laser signal generating device, by cable formula sensor and connection
After the optical fiber of sensor, is received by laser signal and processing unit is received, handled, in the track progradation, the cable
Formula sensor deforms, the light of Brillouin scattering on the distributed fiberoptic sensor at the place that deforms with the track deformation
Frequency can change, and the signal, which is received, calculates corresponding dependent variable according to the offset of Brillouin's frequency with processing unit
With the position that Brillouin shift occurs, the distributed fiberoptic sensor detection of helical form arrangement is in tri- coordinate-system of X, Y, Z
Three-dimensional space strain, the above-mentioned dependent variable being calculated is the dependent variable in three-dimensional space, i.e., the described track is at this location
3 d pose information.
The track is scratch board conveyor, and the cable formula sensor is preferably the machine for being directly anchored to the scratch board conveyor
With.
The beneficial effects of the present invention are:
The present invention uses the distributed fiberoptic sensor arranged in a spiral form for the cable formula sensor of core, can be very square
Just the three-dimensional deformation of fully-mechanized mining working equipment is detected, and then determines the actual motion of the 3 d pose of relevant device, coalcutter
Track, working 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.
Heretofore described cable formula sensor structure is simple, easy for installation, is able to maintain in coal work environment
High reliability, thus it is less compared to inertial navigation system investment, and maintenance cost is also low, is very suitable for promoting and applying.
Detailed description of the invention
Fig. 1 is that one embodiment of the monitoring system of the invention is arranged in original state fully-mechanized mining working equipment
Schematic top plan view；
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 cable formula sensor.
Specific embodiment
The invention discloses the monitoring systems (referred to as monitoring system) of a kind of coalcutter 3 d pose and running track, such as scheme
1, shown in 2,3, including sequentially connected laser signal generating device, cable formula sensor 3 and laser signal receive and processing unit
4, laser signal is issued from laser signal generating device, after cable formula sensor and optical fiber, is received by laser signal and is handled
Device is received, is 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 have relative motion between the track everywhere.The cable formula sensor can be used for monitoring described
The deformation of any position on track, belongs to the sensor of strain detecting type.The cable formula sensor is along under natural conditions
The linear extension direction of the track is laid, and the direction is also the ideal running track direction of the coalcutter.The cable formula passes
The kernel of sensor is at least two groups distributed fiberoptic sensor 31, and every group of distributed fiberoptic sensor is by multiple spaced apart light
Fiber sensor and the optical fiber for being sequentially connected with them form, and every group of distributed fiberoptic sensor extends cloth in the shape of a spiral
It sets.In general, the track has been subjected to artificial straightening before laying, which is the original state of the track.As long as when laying
Make the fibre optical sensor therein that the target detection position of object is set.Target detection position is more, needs to use
The fibre optical sensor arrived is more, also higher for the detection accuracy of the 3 D deformation of object.
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.Currently, track is usually to be formed by connecting by the identical rigid unitary of more piece, since passage oil cylinder is dynamic
Make 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.
Use above-mentioned monitoring system of the invention can be with lower cost, higher reliable realization to coalcutter three-dimensional appearance
The on-line real time monitoring of state and running track, monitoring obtained data can be used for the control of fully-mechanized mining working straightness and opens
Adopt horizontal control.Since core cable formula sensor also can be carried out the transmission of optical signal while sensing, other classes are compared
The sensor of type can greatly simplify the auxiliary facility or structure of periphery, so that monitoring scheme is simple and easy.
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.
By taking above-described embodiment as an example, 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 cross-sectional shape of the cable formula sensor 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 distributed fiberoptic sensor is built in a carrier 32, forms the cable formula sensor structure of integral type.Only
The carrier is fixed, is equal to fix the distributed fiberoptic sensor.The carrier is to the distribution type fiber-optic
Sensor can play the role of being effectively protected, and it is more convenient to be laid with installation.
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.
The shape of the carrier can be in solid cylindrical (as shown in Figure 3) or hollow tubular.
The distributed fiberoptic sensor in identical carrier is arranged according to multi-head spiral form.
The distributed fiberoptic sensor in identical carrier preferably has two groups, and two groups of rotation directions are identical, and 90 degree of phase phase difference
Arrangement.
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.
The invention also discloses the monitoring method of a kind of coalcutter 3 d pose and running track, this method uses above-mentioned prison
Examining system is monitored, and laser signal is issued from laser signal generating device, by cable formula sensor and the light of connection sensor
After fibre, by laser signal receive and processing unit receive, processing, in the track progradation, the cable formula sensor with
The track deformation and deform, the light frequency of Brillouin scattering can occur on the distributed fiberoptic sensor at the place of deforming
Variation, the signal receives and processing unit calculates corresponding dependent variable according to the offset of Brillouin's frequency and occurs in cloth
The position of deep frequency displacement, what the distributed fiberoptic sensor of helical form arrangement detected is the three-dimensional space in tri- coordinate-system of X, Y, Z
Strain, the above-mentioned dependent variable being calculated is the dependent variable in three-dimensional space, integrate 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 (10)
1. the monitoring system of a kind of coalcutter 3 d pose and running track, it is characterised in that: believe including sequentially connected laser
Number generating device, cable formula sensor and laser signal receive and processing unit, in the cable formula sensor length range everywhere
The track that opposite coalcutter is run is fixedly mounted, linear extension of the cable formula sensor along the track under natural conditions
Direction laying, the kernel of the cable formula sensor is at least two groups distributed fiberoptic sensor, every group of distributed fiberoptic sensor
It is made of multiple spaced apart fibre optical sensors and the optical fiber for being sequentially connected with them, every group of distributing optical fiber sensing
Device is disposed to extend in the shape of a spiral.
2. the monitoring system of coalcutter 3 d pose as described in claim 1 and running track, it is characterised in that: the cable formula
The cross-sectional shape of sensor is round, polygon or ellipse.
3. the monitoring system of coalcutter 3 d pose as claimed in claim 2 and running track, it is characterised in that: the distribution
Formula fibre optical sensor is built in the cable formula sensor structure that integral type is formed in a carrier.
4. the monitoring system of coalcutter 3 d pose as claimed in claim 3 and running track, it is characterised in that: identical carrier
The interior distributed fiberoptic sensor is arranged by multi-head spiral form.
5. the monitoring system of coalcutter 3 d pose as claimed in claim 3 and running track, it is characterised in that: the carrier
Shape be in solid cylindrical or hollow tubular.
6. the monitoring system of coalcutter 3 d pose as claimed in claim 3 and running track, it is characterised in that: the carrier
For the flexible material after shaping with reinforcement processing.
7. the monitoring system of coalcutter 3 d pose as claimed in claim 6 and running track, it is characterised in that: the carrier
Using the rubber material of built-in braided steel wire enhancement layer.
8. the monitoring system of coalcutter 3 d pose and running track as described in claim 1,2,3,4,5,6 or 7, feature
It is: there are two groups of distributed fiberoptic sensors in the cable formula sensor, the two rotation direction is identical, and 90 degree of phase phase difference.
9. a kind of monitoring method of coalcutter 3 d pose and running track, it is characterised in that: using any in claim 1-8
The monitoring system of coalcutter 3 d pose described in one claim and running track, laser signal are filled from laser signal
Sending is set, after the optical fiber of cable formula sensor and connection sensor, is received by laser signal and processing unit is received, handled,
During the track promotes, the cable formula sensor deforms, described point of the place that deforms with the track deformation
The light frequency of Brillouin scattering can change on cloth fibre optical sensor, and the signal receives and processing unit is according to Brillouin
The offset of frequency calculates corresponding dependent variable and the position of Brillouin shift occurs, and the distribution type fiber-optic of helical form arrangement passes
What sensor detected is the three-dimensional space strain in tri- coordinate-system of X, Y, Z, and the above-mentioned dependent variable being calculated is in three-dimensional space
Dependent variable, i.e., the 3 d pose information of the described track at this location.
10. the monitoring system of coalcutter 3 d pose as claimed in claim 9 and running track, it is characterised in that: the rail
Road is scratch board conveyor, and the cable formula sensor is directly anchored on the fuselage of the scratch board conveyor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910400138.3A CN110118535A (en) | 2019-05-14 | 2019-05-14 | The monitoring system and monitoring method of coalcutter 3 d pose and running track |
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| CN201910400138.3A CN110118535A (en) | 2019-05-14 | 2019-05-14 | The monitoring system and monitoring method of coalcutter 3 d pose and running track |
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Cited By (3)
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| CN110779457A (en) * | 2019-12-03 | 2020-02-11 | 中铁科学技术开发有限公司 | Track slab deformation monitoring device and method and online monitoring system |
| CN111208525A (en) * | 2020-01-16 | 2020-05-29 | 清华大学 | Optical fiber sensor and object position and posture monitoring method |
| CN115540912A (en) * | 2022-10-28 | 2022-12-30 | 中煤科工集团上海有限公司 | Coal mining machine inertial navigation precision evaluation system and precision evaluation method thereof |
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Application publication date: 20190813 |