CN111442759A - Combine and adopt unified monitoring system of working face equipment position appearance - Google Patents
Combine and adopt unified monitoring system of working face equipment position appearance Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/18—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
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Abstract
The embodiment of the invention discloses a comprehensive mechanized coal mining face equipment pose unified monitoring system, relates to the technical field of coal mining face monitoring and automation control, and can be used for monitoring comprehensive mechanized coal mining face equipment pose information in a unified mode. The method comprises the following steps: the hydraulic support posture monitoring subsystem monitors posture information of the hydraulic supports and relative positions between adjacent hydraulic supports; the coal mining machine pose monitoring subsystem is used for monitoring the pose information of the coal mining machine and the relative positions of the coal mining machine, the hydraulic support and the scraper conveyor; the system comprises a position and posture monitoring subsystem of the scraper conveyor, a posture monitoring subsystem of the scraper conveyor and a monitoring subsystem of the scraper conveyor, wherein the position and posture monitoring subsystem is used for monitoring the posture information of a single chute of the scraper conveyor and the relative positions between adjacent chutes and between the chute and a hydraulic support; the three-machine integral pose monitoring subsystem is used for monitoring the relative spatial positions of the hydraulic support, the coal mining machine and the scraper conveyor and the coal mining working face in the coal mining process; and the pose calculation module is used for converting the data into a unified coordinate system to be expressed and calculating the spatial poses of the three machines.
Description
Technical Field
The invention relates to the technical field of coal face monitoring and automatic control, in particular to a comprehensive coal face equipment pose unified monitoring system.
Background
The fully mechanized coal mining face is a first production site of coal, main equipment comprises a coal mining machine, a scraper conveyor, a hydraulic support and the like, the equipment has relatively independent functions, and the equipment needs to be matched and coordinated with each other in the coal mining process to jointly complete the coal mining operation. Therefore, it is important to automatically and precisely control the equipment of the fully mechanized mining face.
At present, in some equipment linkage control operations with higher requirements on position accuracy, such as automatic tracking and moving of a hydraulic support, automatic coal flow balance control and the like, because the spatial pose information among all the equipment is local and isolated, unified and integral monitoring cannot be carried out, so that the overall linkage coordination control among all the equipment cannot be realized based on the spatial pose information. To in this kind of complicated control operation, generally accomplish through manual control's mode, production efficiency receives the restriction of certain degree, and the condition is complicated in the pit moreover, and the potential safety hazard also can aggravate along with staff's increase, and manual operation leads to equipment to damage and production accident easily.
Disclosure of Invention
In view of this, the embodiment of the present invention provides a system for uniformly monitoring the device pose information of a fully mechanized coal mining face, which can uniformly and integrally monitor the device pose information of the fully mechanized coal mining face, so as to provide a data basis for automatically controlling coordination between working face devices.
In order to achieve the purpose, the invention adopts the following technical scheme:
the embodiment of the invention provides a fully mechanized coal mining face equipment pose unified monitoring system, which comprises: the hydraulic support posture monitoring subsystem is used for monitoring posture information of the hydraulic supports and relative positions between adjacent hydraulic supports;
the coal mining machine pose monitoring subsystem is used for monitoring pose information of the coal mining machine and relative positions among the coal mining machine, the hydraulic support and the scraper conveyor;
the system comprises a position and posture monitoring subsystem of the scraper conveyor, a posture monitoring subsystem of the scraper conveyor and a monitoring subsystem of the scraper conveyor, wherein the position and posture monitoring subsystem is used for monitoring the posture information of a single chute of the scraper conveyor and the relative positions between adjacent chutes and between the chute and a hydraulic support;
the three-machine integral pose monitoring subsystem is used for monitoring the relative positions of the hydraulic support, the coal mining machine and the scraper conveyor and the fully mechanized coal mining face in the coal mining process;
and the pose calculation module is used for converting the data monitored by the subsystems into a unified coordinate system to be expressed, and calculating the spatial poses of the hydraulic support of the fully mechanized mining face, the coal mining machine and the scraper conveyor according to the data expressed in the unified coordinate system.
Optionally, the hydraulic support pose monitoring subsystem includes: the inclination angle sensor module is used for acquiring the attitude information of the single hydraulic support;
the first vision measuring device is used for monitoring the distribution positions of the hydraulic support groups along the fully mechanized coal mining face;
and the first data processing module is used for receiving the data collected by the first vision measuring device and the tilt angle sensor module, and processing the data to obtain the pose information of the hydraulic support.
Optionally, the shearer pose monitoring subsystem includes: the three-axis acceleration sensor is used for detecting and transmitting the acceleration of each axis in the movement process of the coal mining machine;
the gyroscope is used for measuring and transmitting angular acceleration of each shaft in the movement process of the coal mining machine;
and the second data processing module is used for receiving and processing the data detected by the triaxial acceleration sensor and the gyroscope to obtain the pose information of the coal mining machine.
Optionally, the coal mining machine pose monitoring subsystem is specifically configured to: integrating the acceleration of the coal mining machine acquired by the triaxial acceleration sensor to obtain the speed of the coal mining machine;
integrating the speed data of the coal mining machine to obtain position information of the coal mining machine;
and performing twice integration on the angular acceleration information of the coal mining machine acquired by the gyroscope to obtain the attitude information of the coal mining machine.
Optionally, the coal mining machine pose monitoring subsystem further includes: the infrared transmitting module is used for being matched with the infrared receiving module on the hydraulic support, measuring the position of the current coal mining machine and transmitting the position;
the infrared transmitting module is arranged on the coal mining machine, infrared light is continuously transmitted in the working process of the coal mining machine, and each hydraulic support is provided with an infrared receiving module;
when the infrared receiving module receives an infrared light signal sent by the coal mining machine, calculating to obtain the current position information of the coal mining machine based on the position of the corresponding hydraulic support, and sending the position information to the second data processing module;
after the position information of the coal mining machine is obtained by integrating the speed data of the coal mining machine and the attitude information of the coal mining machine is obtained by performing twice integration on the angular acceleration information of the coal mining machine acquired by the gyroscope, the method also comprises the following steps: the second data processing module is further used for correcting the position information of the coal mining machine obtained through the integration based on the current position information of the coal mining machine, and correcting the pose information of the coal mining machine.
Optionally, the scraper conveyor monitoring subsystem comprises:
the second vision measuring device is used for acquiring a position image of the scraper conveyor in the working process of the working face;
and the third data processing module is used for processing the image acquired by the second vision measuring device and acquiring the position information of each chute of the scraper conveyor in the fully mechanized coal mining face.
Optionally, the hydraulic support pose monitoring subsystem includes: the first laser ranging module is used for measuring and transmitting the distance between the hydraulic support and a chute of the scraper conveyor;
the scraper conveyor monitoring subsystem comprises: the second laser ranging module is used for measuring the distance between the hydraulic support and a chute of the scraper conveyor;
the pose calculation module is specifically used for converting data monitored by each subsystem into a unified coordinate system for representation, and correcting position data of the hydraulic support and/or the scraper conveyor mutually according to data measured by the first laser ranging module and the second laser ranging module.
Optionally, the three-machine overall pose monitoring subsystem includes: the third vision measuring device is used for acquiring image information of the working face equipment and the roadway;
the fourth data processing module is used for processing the image information acquired by the third vision measuring device and determining the position relation between the fully mechanized coal mining face equipment and the roadway; the fully mechanized coal mining face equipment comprises: hydraulic support, coal-winning machine and scraper conveyor.
Optionally, the three-machine overall pose monitoring subsystem further includes: the device comprises a first UWB positioning device and a second UWB positioning device, wherein the first UWB positioning device is arranged on a head end hydraulic support arranged along a working face, the second UWB positioning device is arranged on a tail end hydraulic support arranged along the working face, and the inclination angle of the coal face is determined through the first UWB positioning device and the second UWB positioning device; and the fourth data processing module is also used for correcting the position relation between the fully mechanized coal face equipment and the roadway according to the inclination angle of the coal face.
The invention discloses a fully mechanized coal mining face equipment pose unified monitoring system which comprises a hydraulic support pose monitoring subsystem, a coal mining machine pose monitoring subsystem, a scraper conveyor pose monitoring subsystem, a three-machine integral pose monitoring subsystem and a pose resolving module, wherein the hydraulic support pose monitoring subsystem is used for monitoring the pose information of a hydraulic support and the relative position between adjacent hydraulic supports; monitoring attitude information of the coal mining machine and relative positions of the coal mining machine, the hydraulic support and the scraper conveyor by using a coal mining machine pose monitoring subsystem; monitoring the attitude information of a single chute of the scraper conveyor and the relative positions between adjacent chutes and between the chute and the hydraulic support by using a scraper conveyor attitude and attitude monitoring subsystem; monitoring the spatial positions of the hydraulic support, the coal mining machine and the scraper conveyor which move in the coal mining process by using a three-machine integral pose monitoring subsystem; and converting the data monitored by each subsystem into a unified coordinate system for representation through a pose resolving module, and resolving the spatial poses of the hydraulic support, the coal mining machine and the scraper conveyor of the fully mechanized mining face according to the data represented in the unified coordinate system. The device position and posture information of the fully mechanized coal mining face is monitored integrally and uniformly, and therefore a data basis is provided for automatic control of coordination work among the working face devices.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic block diagram of a unified monitoring system for the position and attitude of fully mechanized coal mining face equipment provided by the invention;
fig. 2 is a schematic view of the installation position of the sensor provided by the invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
FIG. 1 is a schematic block diagram of a unified monitoring system for the position and attitude of fully mechanized coal mining face equipment according to an embodiment of the present invention; referring to fig. 1, the system for monitoring the position and posture of the fully mechanized coal mining face equipment in a unified manner according to the embodiment of the present invention can be applied to position and posture monitoring and automatic control of a fully mechanized coal mining face equipment group, where the fully mechanized coal mining face equipment group mainly includes coal mining machines, hydraulic supports, scraper conveyors, and other equipment; the pose refers to a position and a posture, and the posture is usually described by a physical quantity of an inclination angle.
The system comprises: the system comprises a hydraulic support pose monitoring subsystem 10, a coal mining machine pose monitoring subsystem 20, a scraper conveyor pose monitoring subsystem 30, a three-machine integral pose monitoring subsystem 40 and a pose resolving module 50.
The hydraulic support posture monitoring subsystem 10 is used for monitoring posture information of the hydraulic supports and relative positions between adjacent hydraulic supports.
A coal mining machine pose monitoring subsystem 20 for monitoring pose information of the coal mining machine and relative positions between the coal mining machine and the hydraulic support and scraper conveyor,
and the scraper conveyor position and posture monitoring subsystem 30 is used for monitoring the posture information of a single chute of the scraper conveyor and the relative positions between adjacent chutes and between the chutes and the hydraulic supports.
And the three-machine integral pose monitoring subsystem 40 is used for monitoring the relative positions of the hydraulic support, the coal mining machine and the scraper conveyor and the fully mechanized coal mining face in the coal mining process.
And the pose calculating module 50 is used for converting the data monitored by the subsystems into a unified coordinate system to be expressed, and calculating the spatial poses of the hydraulic support of the fully mechanized mining face, the coal mining machine and the scraper conveyor according to the data expressed in the unified coordinate system.
Each monitoring subsystem can communicate with a pose resolving module 50 in the main controller of the gateway centralized control center through a communication module. The pose data of the equipment acquired by each monitoring subsystem can be converted into a unified coordinate system in a centralized manner in the pose calculating module 50 for integral description, and the spatial poses of three machines (a hydraulic support, a coal mining machine and a scraper conveyor) of the fully mechanized mining face can be accurately and comprehensively calculated according to the spatial poses of the data expressed in the unified coordinate system, so that the equipment pose information of the fully mechanized mining face is monitored integrally in a unified manner.
According to the fully mechanized coal mining face equipment pose unified monitoring system provided by the embodiment of the invention, the posture information of the hydraulic supports and the relative positions of the adjacent hydraulic supports are monitored by the hydraulic support pose monitoring subsystem; monitoring attitude information of the coal mining machine and relative positions of the coal mining machine, the hydraulic support and the scraper conveyor by using a coal mining machine pose monitoring subsystem; monitoring the attitude information of a single chute of the scraper conveyor and the relative positions between adjacent chutes and between the chute and the hydraulic support by using a scraper conveyor attitude and attitude monitoring subsystem; monitoring the spatial positions of the hydraulic support, the coal mining machine and the scraper conveyor which move in the coal mining process by using a three-machine integral pose monitoring subsystem; and converting the data monitored by each subsystem into a unified coordinate system for representation through a pose resolving module, and resolving the spatial poses of the hydraulic support, the coal mining machine and the scraper conveyor of the fully mechanized mining face according to the data represented in the unified coordinate system. The device position and posture information of the fully mechanized coal mining face is monitored integrally and uniformly, and therefore a data basis is provided for automatic control of coordination work among the working face devices.
In addition, the position and the posture of the equipment on the working face are integrally described in the unified coordinate system, so that the relative position information of the equipment and the coal seam can be provided, the relative position information of the equipment and the equipment can also be provided, and the posture information of the equipment under the coordinate system can also be provided, so that the current situation that the information between the equipment on the fully-mechanized working face is relatively isolated and the cooperative control cannot be realized is changed, and the problem that the intelligent control on the fully-mechanized working face lacks a data basis is solved.
It should be noted that, for the equipment, there may be incompatibility problem caused by different manufacturers, there is difficulty in information interaction of each equipment, and it is inconvenient to implement real-time, fast, and accurate coordination operation between the equipments of different manufacturers.
By adopting the monitoring system provided by the embodiment, data can be transmitted to the pose calculation module 50 of the gateway centralized control center, and the pose calculation module 50 of the gateway centralized control center carries out coordinate conversion and unified processing on pose data acquired by each monitoring subsystem and then carries out pose calculation to be used as a real-time pose control basis for three-machine equipment on a working face, so that the real-time, quick and accurate coordinated operation among equipment of different manufacturers is possible, and the situation that the information exchange between the equipment of the current fully-mechanized mining working face is difficult and the cooperative automatic control cannot be realized is changed.
Specifically, the pose calculating module 50 is further configured to modify the data in the unified coordinate system after converting the data monitored by each subsystem into the unified coordinate system to represent the data.
The unified coordinate system may be established by: a roadway bottom plate plane, a reversed loader length direction central symmetry plane and a scraper conveyor central symmetry plane form a reference plane of a unified coordinate system, three intersection points are used as original points, a working face length direction is used as an x-axis positive direction, a working face propelling direction is a Y-axis positive direction, and a vertical upward direction is a z-axis positive direction.
In some embodiments of the present invention, the hydraulic mount pose monitoring subsystem comprises: the inclination angle sensor module 11 is used for acquiring and sending attitude information of the single hydraulic support;
the first vision measuring device 13 is used for monitoring (acquiring) the distribution positions of the hydraulic support groups along the working surface;
and the first data processing module 14 is configured to receive data acquired by the first vision measuring device and the tilt sensor module, and process the data to obtain pose information of the hydraulic support.
Specifically, the hydraulic support pose monitoring subsystem further comprises a first laser ranging module 12, which is used for measuring and sending the distance between the hydraulic support and a chute of the scraper conveyor;
because there is more than one hydraulic support in the fully mechanized mining face, the first processing module 14 may record number information of each hydraulic support, may calculate an x-axis coordinate of each hydraulic support in a unified coordinate system according to the number information and a distance between the hydraulic supports, and may calculate a y-axis coordinate of each hydraulic support according to a y-axis coordinate of the scraper conveyor corresponding to the hydraulic support and a distance measured by the first laser ranging module, where the y-axis coordinate of each hydraulic support is equal to the y-axis coordinate of the scraper conveyor plus the distance.
And determining the z-axis coordinate of each hydraulic support according to the working surface inclination angle obtained from the distribution position of the hydraulic support group along the working surface and the serial number of each hydraulic support. The working face inclination angle substantially refers to the inclination angle of a roadway bottom plate, the roadway bottom plate can be generally considered to be uniformly changed, in some ways of determining the z-axis coordinates of the hydraulic supports, the z-axis coordinates of two ends of the roadway are obtained through a UWB (ultra wideband) positioning device, the z-axis coordinate difference of the two ends is obtained through calculation, and then the z-axis coordinates of each hydraulic support are obtained through calculation according to the coordinate difference and the proportion according to the serial number of the hydraulic support and the distance between adjacent hydraulic supports.
In other embodiments of the invention, the shearer pose monitoring subsystem comprises: the three-axis acceleration sensor 21 is used for detecting and transmitting the acceleration of each axis in the movement process of the coal mining machine; the gyroscope 22 is used for measuring and transmitting angular acceleration of each shaft in the movement process of the coal mining machine; and the second data processing module 24 is configured to receive and process data detected by the triaxial acceleration sensor, the gyroscope and the infrared sending module to obtain pose information of the coal mining machine.
In still other embodiments of the present invention, the coal mining machine pose monitoring subsystem is specifically configured to: integrating the acceleration of the coal mining machine acquired by the triaxial acceleration sensor 21 to obtain the speed of the coal mining machine; integrating the speed data of the coal mining machine to obtain position information of the coal mining machine; and performing twice integration on the angular acceleration information of the coal mining machine acquired by the gyroscope to obtain the attitude information of the coal mining machine.
In this way, the speed of the coal mining machine can be calculated by integrating the acceleration data of the coal mining machine acquired by the triaxial acceleration sensor 21, and the position information of the coal mining machine can be obtained by integrating the speed data of the coal mining machine; the attitude information of the coal mining machine can be obtained by twice integrating the angular acceleration information of the coal mining machine acquired by the gyroscope 22. The coal mining machine pose monitoring subsystem can initialize pose information when the coal mining machine is started, and the spatial pose of the coal mining machine is obtained through real-time calculation according to data collected by the three-axis acceleration sensor 21 and the gyroscope 22 after the coal mining machine starts to work. Furthermore, the data of the position information and the attitude information obtained by calculation can be drawn into a historical curve, and the motion track of the coal mining machine is recorded.
Specifically, the coal mining machine pose monitoring subsystem further comprises: the infrared transmitting module 20 is used for being matched with an infrared receiving module on the hydraulic support, measuring the position of the current coal mining machine and transmitting the position;
the infrared transmitting module 20 is installed on the coal mining machine, continuously transmits infrared light in the working process of the coal mining machine, and each hydraulic support is provided with an infrared receiving module.
When the infrared receiving module receives an infrared light signal sent by the coal mining machine, the current position information of the coal mining machine is obtained through calculation based on the position of the corresponding hydraulic support, and the position information is sent to the second data processing module.
After the position information of the coal mining machine is obtained by integrating the speed data of the coal mining machine and the attitude information of the coal mining machine is obtained by performing twice integration on the angular acceleration information of the coal mining machine acquired by the gyroscope, the method also comprises the following steps: the second data processing module is further used for correcting the position information of the coal mining machine obtained through the integration based on the current position information of the coal mining machine, and re-determining the pose information of the coal mining machine according to the corrected position information.
The correcting the position information of the coal mining machine obtained by integrating the position information of the coal mining machine based on the current position information of the coal mining machine comprises the following steps:
judging whether the current position information of the coal mining machine detected by the infrared receiving module is consistent with the position information of the coal mining machine obtained by the integration;
if the pose information is consistent with the pose information, the pose information of the coal mining machine is not determined again;
if not, continuously judging whether the data of the current position information of the coal mining machine and the position information of the coal mining machine obtained by the integration is within a specified threshold range;
and if so, determining the average value of the two values as the position information of the coal mining machine again, and updating the pose information of the coal mining machine.
The scraper conveyor monitoring subsystem comprises: the second vision measuring device 32 is used for acquiring an inclined space form image in the working process of the scraper conveyor; and the third data processing module 33 is configured to process the image acquired by the second vision measuring device, and acquire position information of each chute of the scraper conveyor in the fully mechanized coal mining face.
The scraper conveyor is composed of a plurality of chutes, each chute corresponds to one hydraulic support, and the length of each chute is known. The coordinates of each chute in the x-axis direction can be determined according to the serial number of the hydraulic support corresponding to each chute, the coordinates of each chute in the y-axis direction can be calculated according to the data collected by the second vision measuring device 32, and the coordinates of each chute in the z-axis direction can be determined according to the acquired inclination angle of the working surface and the serial number of the hydraulic support corresponding to each chute; the same method for determining the coordinates of the hydraulic mount in the z-axis direction can be used as described above, please refer to each other.
The hydraulic support position and posture monitoring subsystem further comprises: and the first laser ranging module 12 is used for measuring and transmitting the distance between the hydraulic support and the chute of the scraper conveyor.
The scraper conveyor monitoring subsystem comprises: and the second laser ranging module 31 is used for measuring and transmitting the distance between the hydraulic support and the chute of the scraper conveyor.
The pose calculating module 50 is further configured to convert data monitored by each subsystem into a unified coordinate system for representation, and perform mutual correction on position data of the hydraulic support and/or the scraper conveyor according to data measured by the first laser ranging module and the second laser ranging module.
The three-machine overall pose monitoring subsystem comprises: the third vision measuring device 41 is used for acquiring image information of the working face equipment and the roadway;
it can be understood that the process of determining the inclination angle of the working face can also be determined by the three-machine overall pose monitoring subsystem based on the acquired image information of the working face equipment and the roadway.
The fourth data processing module 43 is configured to process the image information acquired by the third vision measuring device, and determine a position relationship between the fully mechanized coal mining face equipment and the roadway; the fully mechanized coal mining face equipment comprises: the device comprises a hydraulic support, a coal mining machine and a scraper conveyor, wherein the position relation is mainly the inclination angle of the device and a roadway bottom plate.
The three-machine integral pose monitoring subsystem further comprises: the two UWB positioning devices 42 are respectively called a first UWB positioning device and a second UWB positioning device for the convenience of distinguishing, the first UWB positioning device is arranged on a head-end hydraulic support arranged along a working face, the second UWB positioning device is arranged on a tail-end hydraulic support arranged along the working face, and the coal face inclination angle is determined through the first UWB positioning device and the second UWB positioning device; the UWB positioning technology is the prior art, but the UWB positioning technology is not influenced to be applied to a specific monitoring scene of fully mechanized coal mining face equipment, and the innovation of determining the inclination angle of a working face is located.
The third vision measuring device 41 is respectively installed on the head and the tail of the two hydraulic supports and is connected with the UWB device 42. The third vision measuring device 41 can measure the distance between the side edge of the scraper conveyor and the outer side wall of the roadway and the size of the section of the advanced roadway, so as to determine the position relationship between the scraper conveyor and the roadway and the coal mining machine, and the position relationship between the coal mining machine and the roadway can be determined based on the position relationship between the scraper conveyor and the roadway and the position relationship between the hydraulic support and the scraper conveyor.
Specifically, the UWB devices 42 at the head and the tail are connected, the first UWB positioning device and the second UWB positioning device respectively determine the accurate position coordinate information of the bottom plates at the two ends of the roadway, and the inclination angle of the bottom plate of the roadway, that is, the inclination angle of the coal face, is determined based on the difference of the z-axis.
And the fourth data processing module is also used for correcting the position relation between the fully mechanized coal face equipment and the roadway according to the inclination angle of the coal face.
As shown in fig. 2, a schematic diagram of the installation position of the sensor of the fully mechanized mining face equipment space pose unified monitoring system provided by the invention is shown. The hydraulic support pose monitoring subsystem 10 is installed on each hydraulic support, the coal mining machine pose monitoring subsystem 20 is installed on an electrical control box of a coal mining machine, the scraper conveyor pose monitoring subsystem 30 is installed on a top plate of the hydraulic support, the three-machine integral pose monitoring subsystem 40 is installed on two hydraulic supports at the head and the tail of a coal mining working face, and the pose resolving module 50 is installed in a crossheading centralized control center.
The position and posture monitoring subsystem of the scraper conveyor can be installed one at every five to ten hydraulic supports according to different selected vision acquisition devices. The first visual measurement device in the hydraulic support subsystem and the second visual measurement device in the scraper conveyor can share the same camera and can also be arranged respectively.
According to the monitoring system provided by the embodiment of the invention, the multi-sensor is arranged on the equipment to be detected, so that the attitude and relative position information of the fully mechanized coal mining face equipment can be comprehensively acquired, and the same parameter data acquired by different sensors can be mutually corrected due to skillful arrangement of the sensors.
The monitoring system provided by the embodiment of the invention meets the requirement of coal mine workers on the position and posture information acquisition of the fully mechanized coal mining face equipment, fills the gap of the monitoring system in the market, realizes unified position and posture monitoring of different equipment based on the system, and can change the current situation that the information of the fully mechanized coal mining face equipment is relatively independent and cooperative control is difficult to realize, so that the control of real-time, rapid and accurate linkage and coordination operation among different equipment becomes possible, and the monitoring system has important significance for high-efficiency and safety mining application of coal mines.
It should be noted that, in the present specification, all the embodiments are described in a related manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. Moreover, in this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. The term "comprising", without further limitation, means that the element so defined is not excluded from the group consisting of additional identical elements in the process, method, article, or apparatus that comprises the element.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. The utility model provides a combine and adopt unified monitoring system of working face equipment position appearance which characterized in that includes:
the hydraulic support posture monitoring subsystem is used for monitoring posture information of the hydraulic supports and relative positions between adjacent hydraulic supports;
the coal mining machine pose monitoring subsystem is used for monitoring pose information of the coal mining machine and relative positions among the coal mining machine, the hydraulic support and the scraper conveyor;
the system comprises a position and posture monitoring subsystem of the scraper conveyor, a posture monitoring subsystem of the scraper conveyor and a monitoring subsystem of the scraper conveyor, wherein the position and posture monitoring subsystem is used for monitoring the posture information of a single chute of the scraper conveyor and the relative positions between adjacent chutes and between the chute and a hydraulic support;
the three-machine integral pose monitoring subsystem is used for monitoring the relative positions of the hydraulic support, the coal mining machine and the scraper conveyor and the fully mechanized coal mining face in the coal mining process;
and the pose calculation module is used for converting the data monitored by the subsystems into a unified coordinate system to be expressed, and calculating the spatial poses of the hydraulic support of the fully mechanized mining face, the coal mining machine and the scraper conveyor according to the data expressed in the unified coordinate system.
2. The monitoring system of claim 1, wherein the hydraulic mount pose monitoring subsystem comprises: the inclination angle sensor module is used for acquiring the attitude information of the single hydraulic support;
the first vision measuring device is used for monitoring the distribution positions of the hydraulic support group along the working surface;
and the first data processing module is used for receiving the data collected by the first vision measuring device and the tilt angle sensor module, and processing the data to obtain the pose information of the hydraulic support.
3. The monitoring system of claim 1 or 2, wherein the shearer pose monitoring subsystem comprises: the three-axis acceleration sensor is used for detecting and transmitting the acceleration of each axis in the movement process of the coal mining machine;
the gyroscope is used for measuring and transmitting angular acceleration of each shaft in the movement process of the coal mining machine;
and the second data processing module is used for receiving and processing the data detected by the triaxial acceleration sensor and the gyroscope to obtain the pose information of the coal mining machine.
4. The monitoring system of claim 3, wherein the shearer pose monitoring subsystem is specifically configured to: integrating the acceleration of the coal mining machine acquired by the triaxial acceleration sensor to obtain the speed of the coal mining machine;
integrating the speed data of the coal mining machine to obtain position information of the coal mining machine;
and performing twice integration on the angular acceleration information of the coal mining machine acquired by the gyroscope to obtain the attitude information of the coal mining machine.
5. The monitoring system of claim 4, wherein the shearer pose monitoring subsystem further comprises: the infrared transmitting module is used for being matched with the infrared receiving module on the hydraulic support, measuring the position of the current coal mining machine and transmitting the position;
the infrared transmitting module is arranged on the coal mining machine, infrared light is continuously transmitted in the working process of the coal mining machine, and each hydraulic support is provided with an infrared receiving module;
when the infrared receiving module receives an infrared light signal sent by the coal mining machine, calculating to obtain the current position information of the coal mining machine based on the position of the corresponding hydraulic support, and sending the position information to the second data processing module;
after the position information of the coal mining machine is obtained by integrating the speed data of the coal mining machine and the attitude information of the coal mining machine is obtained by performing twice integration on the angular acceleration information of the coal mining machine acquired by the gyroscope, the method also comprises the following steps: the second data processing module is further used for correcting the position information of the coal mining machine obtained through the integration based on the current position information of the coal mining machine, and correcting the pose information of the coal mining machine.
6. The monitoring system of claim 5, wherein the scraper conveyor monitoring subsystem comprises:
the second vision measuring device is used for acquiring a position image of the scraper conveyor in the working process of the working face;
and the third data processing module is used for processing the image acquired by the second vision measuring device and acquiring the position information of each chute of the scraper conveyor in the fully mechanized coal mining face.
7. The monitoring system of claim 6, wherein the hydraulic mount pose monitoring subsystem comprises: the first laser ranging module is used for measuring and transmitting the distance between the hydraulic support and a chute of the scraper conveyor;
the scraper conveyor monitoring subsystem comprises: the second laser ranging module is used for measuring the distance between the hydraulic support and a chute of the scraper conveyor;
the pose calculation module is specifically used for converting data monitored by each subsystem into a unified coordinate system for representation, and correcting position data of the hydraulic support and/or the scraper conveyor mutually according to data measured by the first laser ranging module and the second laser ranging module.
8. The monitoring system of claim 7, wherein the three-machine overall pose monitoring subsystem comprises: the third vision measuring device is used for acquiring image information of the working face equipment and the roadway;
the fourth data processing module is used for processing the image information acquired by the third vision measuring device and determining the position relation between the fully mechanized coal mining face equipment and the roadway; the fully mechanized coal mining face equipment comprises: hydraulic support, coal-winning machine and scraper conveyor.
9. The monitoring system of claim 8, wherein the three-machine overall pose monitoring subsystem further comprises: the device comprises a first UWB positioning device and a second UWB positioning device, wherein the first UWB positioning device is arranged on a head end hydraulic support arranged along a working face, the second UWB positioning device is arranged on a tail end hydraulic support arranged along the working face, and the inclination angle of the coal face is determined through the first UWB positioning device and the second UWB positioning device;
and the fourth data processing module is also used for correcting the position relation between the fully mechanized coal face equipment and the roadway according to the inclination angle of the coal face.
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| PCT/CN2020/102131 WO2021174744A1 (en) | 2020-03-05 | 2020-07-15 | Unified position and posture monitoring system for fully mechanized coal mining face devices |
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| WO2021174744A1 (en) | 2021-09-10 |
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