CN113863983A - Device and method for detecting coal face propulsion position - Google Patents
Device and method for detecting coal face propulsion position Download PDFInfo
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- CN113863983A CN113863983A CN202111150089.6A CN202111150089A CN113863983A CN 113863983 A CN113863983 A CN 113863983A CN 202111150089 A CN202111150089 A CN 202111150089A CN 113863983 A CN113863983 A CN 113863983A
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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Abstract
The invention discloses a device and a method for detecting the advancing position of a coal face. The method has the advantages that two optimal values of the number digital cards arranged in the roadway, namely the optimal value d of the distance between the adjacent number cards and the optimal value N of the number cards shot in a wide angle during shooting of the dome camera are determined, and the video analysis server is set to preferentially read the shooting information of the central position, so that the data collected by the main control center system are always the digital information shot by the wide-angle dome camera, the positioning error is reduced, and the accurate detection of the two roadway propulsion positions of the working face is realized.
Description
Technical Field
The invention relates to the technical field of coal mining, in particular to a device and a method for detecting the advancing position of a coal face.
Background
In the coal mining process, the advancing position of the fully mechanized coal mining face can well reflect the progress of underground coal mining operation, meanwhile, the coal mining face is favorable for counting the output of coal mines, and the method has guiding significance for making the next coal mining work plan. The actual working face position in the coal mining process can not be timely and effectively detected at present. Since most mines also adopt a manual measurement method, if the specific working face advancing position needs to be known, a technician is required to descend into the mine, judge the working face advancing position through field surveying, and feed back the information. Moreover, the actual positions of the working faces of two roadways of a common mine are not on the same horizontal plane, so that workers need to survey around the mine field for one circle to clearly know the actual working face positions, if the length of the roadway of the mine is too long, huge workload can be brought to the workers, meanwhile, the danger is increased, the real-time performance of information cannot be guaranteed, and the formulation of the next working plan of coal mining is influenced.
With the development of information technology, some coal mines have begun to attempt to detect coal mining faces by information technology instead of manual site surveys. The technical scheme in the prior art is mainly that a main control computer is adopted to calculate information fed back by an information feedback device in a roadway, and finally the actual propulsion position of a working face is determined. The invention aims to provide a convenient and quick detection method for the two-lane propulsion position of a working face, a main control computer is not needed for carrying out complex information processing and calculation, a number plate with definite numerical values is arranged in a lane, and a camera takes pictures to return picture information, so that the propulsion position of a coal mining machine on the working face can be directly reflected.
Disclosure of Invention
The invention aims to provide a device for detecting the advancing position of a coal face, and the invention also aims to provide a method for detecting the advancing position of the coal face.
In order to achieve the purpose, the invention can adopt the following technical scheme:
the invention relates to a detection device for the advancing position of a coal face, which comprises a digital plate with bracket codes, a spherical camera, a wireless communication base station, a video analysis server and a main control computer;
the number digital card is a signboard recording numbers; a plurality of number digital boards can be arranged according to the requirement, all the number digital boards are arranged according to the ascending order or the descending order of the recorded numbers, and are fixedly installed along two roadways which are arranged at two ends of the coal face and are parallel to the advancing direction of the coal face according to the fixed spacing distance and the uniform height;
the number of the spherical cameras is 2, the spherical cameras are arranged below top beams of the advance hydraulic supports at two ends of the coal face, and the spherical camera viewfinders are arranged opposite to number cards arranged in the roadway on the same side and are parallel to the number cards; the view finding center of the viewfinder of the spherical camera is superposed with the center of the number plate shot by the spherical camera in a wide angle of one-time shooting;
the wireless communication base station is used for providing wireless network service and positioning service for the spherical camera;
the video analysis server acquires images shot by the dome camera through the wireless communication base station, and sends digital information of the image center position to the main control computer after finding the image center position;
and after receiving the digital information sent by the video analysis server, the main control computer determines the pushing position of the coal face.
The invention relates to a method for detecting the advancing position of a coal face, which comprises the following steps:
s1, determining the width R of the roadway, wherein the width is used as the vertical distance from the spherical camera to the number digital card;
s2, determining the distance D for the advance hydraulic support to finish one-time movement or pushing;
s3, determining an included angle alpha between the spherical camera view angle boundary line and a view angle central line;
s4, determining the width b of the number card according to the shooting precision of the spherical camera;
s5, preliminarily determining the number n of the number cards shot repeatedly in the images shot by the spherical camera twice;
s6, establishing a calculation model, and determining the optimal distance d between adjacent number cards and the optimal number N of number cards installed in a wide angle of one-time shooting by a spherical camera;
s7, manufacturing number cards according to the data determined in the steps, and installing and fixing the number cards along two roadways which are arranged at two ends of the coal face and parallel to the advancing direction of the coal face according to the optimal distance d, the optimal number N and the uniform height; the height is required to meet the condition that the center of the number plate shot in the wide angle by the spherical camera at one time is superposed with the view finding center of the spherical camera view finder;
s8, mounting spherical cameras below the top beams of the advanced hydraulic supports at the two ends of the coal face; the viewfinder of the spherical camera is arranged opposite to the number plate installed in the roadway on the same side and is parallel to the number plate; the view center of the view finder is superposed with the center of the number tablet in the shooting range;
s9, connecting the spherical camera to a video analysis server and a main control computer through a wireless communication base station;
s10, advancing the hydraulic support to finish one-time movement or pushing sliding, and shooting the number card once by the spherical camera;
s11, the spherical camera sends the shot number card image to the video analysis server;
s12, the video analysis server obtains the image shot by the spherical camera, determines the position of the central point of the image, and uploads the digital information of the position of the central point of the image to the main control computer;
and S13, determining the pushing position of the coal face by the main control computer according to the digital information sent by the video analysis server.
Further, in step S5, the method includes the following steps:
s5.1, determining the length of a roadway which can be shot by the spherical camera at a wide angle of shooting at one time, namely the shooting range of the spherical camera according to the included angle alpha between the boundary line of the angle of view of the spherical camera and the center line of the angle of view and the width R of the roadway;
s5.2, determining the maximum number of the number cards which can be installed in the shooting range of the spherical camera according to the width b of the number cards; the maximum number is a positive integer;
s5.3, according to the maximum number, primarily determining the number n of the number cards shot repeatedly in the images shot by the spherical camera twice; the number n is a positive integer which is greater than 0 and less than or equal to 1/2 maximum number;
further, in step S6, the method includes the following steps:
s6.1, keeping the position of the wide-angle center line of the spherical camera to be superposed with the center point of the number plate during each shooting;
s6.2, keeping that the visual angle boundary line of the spherical camera always intersects with the outermost side of the number cards at the two ends in the shooting range during each shooting, and keeping the number of the number cards in the shooting range equal;
s6.3, enabling the optimal distance d between the adjacent number cards and the optimal number N of the number cards which can be installed in the length of the roadway shot by the spherical camera and the data determined in the steps from S1 to S5 to meet the following conditions:
s6.4, calculating the optimal distance d between the adjacent number digital cards and the optimal number N of the number digital cards installed in a wide angle of one-time shooting of the spherical camera;
s6.5, repeatedly adjusting the data of the steps S3 and S5 through a calculation model, so that the optimal number N of the number cards which can be installed in the length of the roadway shot by the spherical camera is a positive integer;
the method has the advantages that two optimal values of the number digital cards arranged in the roadway, namely the optimal value d of the distance between the adjacent number cards and the optimal value N of the number cards shot in a wide angle during shooting of the dome camera are determined, and the video analysis server is set to preferentially read the shooting information of the central position, so that the data collected by the main control center system are always the digital information shot by the wide-angle dome camera, the positioning error is reduced, and the accurate detection of the two roadway propulsion positions of the working face is realized.
Drawings
Fig. 1 is a schematic plan view of a coal face advance position detection device according to the invention.
Fig. 2 is a left side view of a hydraulic support of the coal face advancing position detecting device.
Fig. 3 is a flow chart of a method for detecting the advancing position of the coal face.
FIG. 4 is a schematic diagram of a calculation model of a coal face propulsion position detection method according to the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely below, and it is obvious that the described embodiments are only a part of the embodiments of the present 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.
As shown in fig. 1 and 2, the coal face advancing position detection device of the present invention includes a digital plate 5 with bracket codes, a dome camera 6, a wireless communication base station, a video analysis server and a main control computer;
the number and number plate 5 is a signboard for recording numbers; a plurality of number boards 5 can be arranged according to the requirement, all number boards 5 are arranged according to the ascending order or the descending order of the recorded numbers, and are fixedly installed along two roadways 1 which are arranged at two ends of a coal face 4 and are parallel to the advancing direction of the coal face 4 according to the fixed spacing distance and the uniform height;
the number of the spherical cameras 6 is 2, the spherical cameras are arranged below top beams of the advanced hydraulic supports 2 at two ends of the coal face 4, and viewfinders of the spherical cameras are arranged opposite to number cards 5 arranged in the roadway 1 on the same side and are parallel to the number cards 5; the view center of the view finder is superposed with the center of the number plate 5 shot in a wide angle of one-time shooting; a coal mining machine 3 and other hydraulic supports are arranged between the coal face 4 and the advanced hydraulic support 2;
the wireless communication base station is used for providing wireless network service and positioning service for the spherical camera 6;
the video analysis server acquires images shot by the spherical camera 6 through the wireless communication base station, and sends digital information of the image center position to the main control computer after finding the image center position;
and after receiving the digital information sent by the video analysis server, the main control computer determines the pushing position of the coal face 4.
The working principle of the detection device for the coal face advancing position is as follows:
when the advance hydraulic support 2 finishes moving or pushing away for one time, the spherical camera 6 arranged below the top beam of the advance hydraulic support 2 at the two ends of the coal face 4 moves forwards along with the advance hydraulic support 2, shoots the number digital plate 5 for one time, and sends the shot image to the video analysis server through the wireless communication base station; the video analysis server processes the acquired image, determines the position of the central point of the image, and sends the digital information of the central position of the image to the main control computer; and after receiving the digital information sent by the video analysis server, the main control computer determines the pushing position of the coal face 4.
As shown in fig. 3, the method for detecting the coal face advancing position specifically includes the following steps:
s1, determining the width R of the roadway, wherein the width is used as the vertical distance from the spherical camera 6 to the number card 5;
s2, determining the distance D for the advance hydraulic support 2 to finish one-time movement or pushing; the distance D is obtained through displacement sensors 7 arranged on bases of the advanced hydraulic supports 2 at two ends of the coal mining working face 4;
s3, determining an included angle alpha between a view angle boundary line of the spherical camera 6 and a view angle central line; as shown in fig. 4;
s4, determining the width b of the number card 5 according to the shooting precision of the spherical camera 6;
s5, preliminarily determining the number n of the number cards 5 repeatedly shot in the images shot by the spherical camera 6 twice; as shown in fig. 4;
s5.1, determining the length of the lane 1 which can be shot by the spherical camera 6 at a wide angle according to an included angle alpha between a boundary line of the angle of view of the spherical camera 6 and a center line of the angle of view and the lane width R, namely the shooting range of the spherical camera 6;
s5.2, determining the maximum number of the number cards 5 which can be installed in the shooting range of the spherical camera 6 according to the width b of the number cards 5; the maximum number is a positive integer;
s5.3, preliminarily determining the number n of the number cards 5 which are shot repeatedly in the images shot by the spherical camera 6 twice in the adjacent mode according to the maximum number; the number n is a positive integer which is greater than 0 and less than or equal to 1/2 maximum number;
s6, establishing a calculation model, and determining the optimal distance d between adjacent number digital cards 5 and the optimal number N of number digital cards 5 installed in a wide angle of one-time shooting by the spherical camera 6;
s6.1, keeping the position of the wide-angle center line of the spherical camera 6 coincident with the center point of the number plate 5 during each shooting, ensuring that the spherical camera 6 can shoot the number plate 5 at the best angle during each shooting, and reducing the detection error of the propulsion positions of the two roadways 1;
s6.2, keeping that the visual angle boundary line of the spherical camera 6 always intersects with the outermost side of the number cards 5 at the two ends in the shooting range during each shooting, and keeping the number of the number cards 5 in the shooting range equal; as shown in fig. 4;
s6.3, enabling the optimal distance d between the adjacent number cards 5 and the optimal number N of the number cards 5 which can be installed in the length of the roadway shot by the spherical camera 6 and the data determined in the steps from S1 to S5 to meet the following conditions:
s6.4, calculating to obtain the optimal distance d between adjacent number cards 5 and the optimal number N of number cards 5 arranged in a wide angle of one-time shooting of the spherical camera 6;
s6.5, repeatedly adjusting the data of the steps S3 and S5 through a calculation model, so that the optimal number N of the number cards 5 arranged in a wide-angle shot by the spherical camera 6 at one time is a natural number;
s7, manufacturing number cards 5 according to the data determined in the steps, and installing and fixing the number cards along two roadways 1 at two ends of a coal face 4 and parallel to the advancing direction of the coal face 4 according to the optimal distance d, the optimal number N and the uniform height; the height is such that the center of the number plate 5 shot in a wide angle by the spherical camera 6 at one time is superposed with the view finding center of the viewfinder of the spherical camera 6;
s8, mounting spherical cameras 6 below top beams of the advanced hydraulic supports 2 at two ends of the coal face 4; the viewfinder of the spherical camera 6 is arranged opposite to the number plate 5 arranged in the roadway 1 at the same side and is parallel to the number plate 5; the view center of the view finder is superposed with the center of the number plate 5 in the shooting range;
s9, connecting the spherical camera 6 to a video analysis server and a main control computer through a wireless communication base station;
s10, advancing the hydraulic support 2 to finish one-time movement or pushing sliding, and shooting the number card 5 once by the spherical camera 6;
s11, the spherical camera 6 sends the shot number and number card 5 image to a video analysis server;
s12, the video analysis server acquires the image shot by the spherical camera 6, determines the position of the central point of the image, and sends the digital information of the central position of the image to the main control computer;
and S13, after receiving the digital information sent by the video analysis server, the main control computer determines the pushing position of the coal face 4.
Claims (4)
1. The utility model provides a detection device of coal face advancing position which characterized in that: the system comprises a digital plate with bracket codes, a spherical camera, a wireless communication base station, a video analysis server and a main control computer;
the number digital card is a signboard recording numbers; a plurality of number digital boards can be arranged according to the requirement, all the number digital boards are arranged according to the ascending order or the descending order of the recorded numbers, and are fixedly installed along two roadways which are arranged at two ends of the coal face and are parallel to the advancing direction of the coal face according to the fixed spacing distance and the uniform height;
the number of the spherical cameras is 2, the spherical cameras are arranged below top beams of the advance hydraulic supports at two ends of the coal face, and the spherical camera viewfinders are arranged opposite to number cards arranged in the roadway on the same side and are parallel to the number cards; the view finding center of the viewfinder of the spherical camera is superposed with the center of the number plate shot by the spherical camera in a wide angle of one-time shooting;
the wireless communication base station is used for providing wireless network service and positioning service for the spherical camera;
the video analysis server acquires images shot by the dome camera through the wireless communication base station, and sends digital information of the image center position to the main control computer after finding the image center position;
and after receiving the digital information sent by the video analysis server, the main control computer determines the pushing position of the coal face.
2. A coal face propulsion position detection method is characterized in that: the method comprises the following steps:
s1, determining the width R of the roadway, wherein the width is used as the vertical distance from the spherical camera to the number digital card;
s2, determining the distance D for the advance hydraulic support to finish one-time movement or pushing;
s3, determining an included angle alpha between the spherical camera view angle boundary line and a view angle central line;
s4, determining the width b of the number card according to the shooting precision of the spherical camera;
s5, preliminarily determining the number n of the number cards shot repeatedly in the images shot by the spherical camera twice;
s6, establishing a calculation model, and determining the optimal distance d between adjacent number cards and the optimal number N of number cards installed in a wide angle of one-time shooting by a spherical camera;
s7, manufacturing number cards according to the data determined in the steps, and installing and fixing the number cards along two roadways which are arranged at two ends of the coal face and parallel to the advancing direction of the coal face according to the optimal distance d, the optimal number N and the uniform height; the height is required to meet the condition that the center of the number plate shot in the wide angle by the spherical camera at one time is superposed with the view finding center of the spherical camera view finder;
s8, mounting spherical cameras below the top beams of the advanced hydraulic supports at the two ends of the coal face; the viewfinder of the spherical camera is arranged opposite to the number plate installed in the roadway on the same side and is parallel to the number plate; the view center of the view finder is superposed with the center of the number tablet in the shooting range;
s9, connecting the spherical camera to a video analysis server and a main control computer through a wireless communication base station;
s10, advancing the hydraulic support to finish one-time movement or pushing sliding, and shooting the number card once by the spherical camera;
s11, the spherical camera sends the shot number card image to the video analysis server;
s12, the video analysis server obtains the image shot by the spherical camera, determines the position of the central point of the image, and uploads the digital information of the position of the central point of the image to the main control computer;
and S13, determining the pushing position of the coal face by the main control computer according to the digital information sent by the video analysis server.
3. A method of detecting a coal face approach position according to claim 2, characterized by: in the step S5, the method includes the following steps:
s5.1, determining the length of a roadway which can be shot by the spherical camera at a wide angle of shooting at one time, namely the shooting range of the spherical camera according to the included angle alpha between the boundary line of the angle of view of the spherical camera and the center line of the angle of view and the width R of the roadway;
s5.2, determining the maximum number of the number cards which can be installed in the shooting range of the spherical camera according to the width b of the number cards; the maximum number is a positive integer;
s5.3, according to the maximum number, primarily determining the number n of the number cards shot repeatedly in the images shot by the spherical camera twice; the number n is a positive integer greater than 0 and equal to or less than 1/2.
4. A method of detecting a coal face approach position according to claim 2, characterized by: in the step S6, the method includes the following steps:
s6.1, keeping the position of the wide-angle center line of the spherical camera to be superposed with the center point of the number plate during each shooting;
s6.2, keeping that the visual angle boundary line of the spherical camera always intersects with the outermost side of the number cards at the two ends in the shooting range during each shooting, and keeping the number of the number cards in the shooting range equal;
s6.3, enabling the optimal distance d between the adjacent number cards and the optimal number N of the number cards which can be installed in the length of the roadway shot by the spherical camera and the data determined in the steps from S1 to S5 to meet the following conditions:
s6.4, calculating the optimal distance d between the adjacent number digital cards and the optimal number N of the number digital cards installed in a wide angle of one-time shooting of the spherical camera;
and S6.5, repeatedly adjusting the data of the steps S3 and S5 through a calculation model, so that the optimal number N of the number cards which can be installed in the length of the roadway shot by the spherical camera is a positive integer.
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4323280A (en) * | 1976-11-30 | 1982-04-06 | Coalex, Inc. | Remote controlled high wall coal mining system |
| CN103334753A (en) * | 2013-03-04 | 2013-10-02 | 中国矿业大学 | System and method for remote and visual coal mining flow supervision of coal mine underground working face |
| KR101529107B1 (en) * | 2014-09-26 | 2015-06-29 | 한국건설기술연구원 | Describing Method of Face Mapping Drawing for Tunnel |
| CN205638558U (en) * | 2016-01-04 | 2016-10-12 | 中国矿业大学(北京) | Floods alarm system in pit based on image with gush water yield monitoring |
| CN107905846A (en) * | 2017-10-24 | 2018-04-13 | 北京天地玛珂电液控制系统有限公司 | A kind of fully-mechanized mining working advance rate detecting system and method |
-
2021
- 2021-09-29 CN CN202111150089.6A patent/CN113863983B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4323280A (en) * | 1976-11-30 | 1982-04-06 | Coalex, Inc. | Remote controlled high wall coal mining system |
| CN103334753A (en) * | 2013-03-04 | 2013-10-02 | 中国矿业大学 | System and method for remote and visual coal mining flow supervision of coal mine underground working face |
| KR101529107B1 (en) * | 2014-09-26 | 2015-06-29 | 한국건설기술연구원 | Describing Method of Face Mapping Drawing for Tunnel |
| CN205638558U (en) * | 2016-01-04 | 2016-10-12 | 中国矿业大学(北京) | Floods alarm system in pit based on image with gush water yield monitoring |
| CN107905846A (en) * | 2017-10-24 | 2018-04-13 | 北京天地玛珂电液控制系统有限公司 | A kind of fully-mechanized mining working advance rate detecting system and method |
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Effective date of registration: 20220712 Address after: 014300 bulawan community, Shiba Getu village, Zhaojun Town, Dalat banner, Ordos City, Inner Mongolia Autonomous Region Applicant after: ORDOS HAOHUA HONGQINGLIANG MINING INDUSTRY Co.,Ltd. Applicant after: HYDRAULIC & ELECTRIC CONTROL EQUIPMENT CO LTD ZHENGZHOU COAL MINING MACHINERY GROUP Co.,Ltd. Address before: 014300 bulawan community, Shiba Getu village, Zhaojun Town, Dalat banner, Ordos City, Inner Mongolia Autonomous Region Applicant before: ORDOS HAOHUA HONGQINGLIANG MINING INDUSTRY Co.,Ltd. Applicant before: HYDRAULIC & ELECTRIC CONTROL EQUIPMENT CO LTD ZHENGZHOU COAL MINING MACHINERY GROUP Co.,Ltd. Applicant before: ZHENGZHOU COAL MINING MACHINERY GROUP Co.,Ltd. |
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Address after: 014300 bulawan community, Shiba Getu village, Zhaojun Town, Dalat banner, Ordos City, Inner Mongolia Autonomous Region Applicant after: ORDOS HAOHUA HONGQINGLIANG MINING INDUSTRY Co.,Ltd. Applicant after: Zhengzhou Hengda Intelligent Control Technology Co.,Ltd. Address before: 014300 bulawan community, Shiba Getu village, Zhaojun Town, Dalat banner, Ordos City, Inner Mongolia Autonomous Region Applicant before: ORDOS HAOHUA HONGQINGLIANG MINING INDUSTRY Co.,Ltd. Applicant before: HYDRAULIC & ELECTRIC CONTROL EQUIPMENT CO LTD ZHENGZHOU COAL MINING MACHINERY GROUP Co.,Ltd. |
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