CN113863983B - Device and method for detecting pushing position of coal face - Google Patents
Device and method for detecting pushing position of coal face Download PDFInfo
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- CN113863983B CN113863983B CN202111150089.6A CN202111150089A CN113863983B CN 113863983 B CN113863983 B CN 113863983B CN 202111150089 A CN202111150089 A CN 202111150089A CN 113863983 B CN113863983 B CN 113863983B
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- 239000003245 coal Substances 0.000 title claims abstract description 61
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000004458 analytical method Methods 0.000 claims abstract description 29
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 230000000007 visual effect Effects 0.000 claims description 15
- 238000004891 communication Methods 0.000 claims description 13
- 238000004364 calculation method Methods 0.000 claims description 8
- 230000001174 ascending effect Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 claims description 3
- 238000005065 mining Methods 0.000 description 10
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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 a pushing position of a coal face. The invention has the advantages that by determining the two optimal values of the number digital cards arranged in the tunnel, namely the optimal value d of the interval between the adjacent number cards and the optimal value N of the number cards shot in the wide angle when the ball machine shoots, the video analysis server is arranged to read shooting information of the center position preferentially, so that the data collected by the main control center system is always the digital information shot by the wide angle center of the ball machine, the positioning error is reduced, and the accurate detection of the two-tunnel propelling position 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 a pushing position of a coal face.
Background
In the coal mining process, the pushing position of the fully-mechanized mining face can well reflect the progress of underground coal mine operation, and meanwhile, the method is favorable for counting the coal mine output and has guiding significance for the establishment of a next coal mining work plan. The actual working surface position in the current coal mining process cannot be effectively detected in time. Because most mines still use manual measurement methods, if a specific working surface pushing position needs to be known, a technician is required to go into the mine, determine the working surface pushing position through field surveying, and feed back the information. Moreover, the actual positions of the working surfaces of two lanes of a general mine are not on the same horizontal plane, so that workers need to survey around the mine in the field for one week, the actual positions of the working surfaces can be clearly known, if the length of the mine lane is too long, huge workload can be brought to the workers, meanwhile, the dangerousness is increased, the instantaneity of information cannot be guaranteed, and the establishment of a next working plan of coal mining is affected.
With the development of information technology, some coal mines have begun to attempt to detect coal mining face by information technology instead of manual field surveys. The prior art scheme mainly adopts a main control computer to calculate the information fed back by an information feedback device in the roadway, and finally determines the actual propelling position of the working face. The invention aims to provide a convenient and quick method for detecting the pushing positions of two lanes of a working surface, which does not need a main control computer to carry out complex information processing and calculation, and can directly reflect the pushing positions of a coal mining machine on the working surface by arranging a number digital board marked with a definite numerical value in the lane, taking a photo by a camera and returning photo information.
Disclosure of Invention
The invention aims to provide a device for detecting the pushing position of a coal face, and another aim of the invention is to provide a method for detecting the pushing position of the coal face.
In order to achieve the above purpose, the present invention may adopt the following technical scheme:
the invention relates to a detection device for a coal face pushing position, which comprises bracket code digital cards, a ball-type camera, a wireless communication base station, a video analysis server and a main control computer;
the number plate is a signboard for recording numbers; a plurality of number digital cards can be arranged according to the requirement, all the number digital cards are arranged in ascending or descending order according to the recorded numbers, and the number digital cards are fixedly arranged along two roadways which are arranged at two ends of a coal face and are parallel to the advancing direction of the coal face according to fixed interval distances and unified heights;
the spherical cameras are 2 in number, are arranged below top beams of the advanced hydraulic supports at two ends of the coal face, and the viewfinder of the spherical cameras is arranged opposite to the number plates arranged in the roadway at the same side and parallel to the number plates; the view finding center of the view finder of the spherical camera is overlapped with the center of the number digital card shot in the wide angle of one shot of the spherical camera;
the wireless communication base station is used for providing wireless network service and positioning service for the spherical camera;
the video analysis server acquires an image shot by the dome camera through the wireless communication base station, and after finding the center position of the image, the video analysis server sends the digital information of the center 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 propelling position of the coal face.
The invention discloses a method for detecting the pushing position of a coal face, which comprises the following steps:
s1, determining the roadway width R, wherein the width is used as the vertical distance from a spherical camera to a number plate;
s2, determining the distance D for the advanced hydraulic support to finish one-time movement or pushing;
s3, determining an included angle alpha between the visual angle boundary line of the spherical camera and the visual angle center line;
s4, determining the width b of the number digital card according to the shooting precision of the spherical camera;
s5, preliminarily determining the number n of repeated number cards in the images shot by the spherical camera twice;
s6, establishing a calculation model, and determining the optimal distance d between adjacent number digital cards and the optimal number N of the number digital cards installed in the wide angle shot by the spherical camera at one time;
s7, manufacturing a number digital board according to the data determined in the steps, and installing and fixing the number digital board along two roadways which are arranged at two ends of a coal face and are 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 a number digital board shot in a wide angle shot by the spherical camera at one time coincides with the view finding center of a view finder of the spherical camera;
s8, installing a spherical camera below the top beams of the advanced hydraulic support at two ends of the coal face; the viewfinder of the spherical camera is arranged opposite to the number plate arranged in the roadway at the same side and is parallel to the number plate; the view finding center of the view finder coincides with the center of the number digital card 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, the advanced hydraulic support finishes one-time movement or pushing, and the spherical camera shoots the number digital card once;
s11, the spherical camera sends the shot number digital card image to the video analysis server;
s12, the video analysis server acquires an image shot by the spherical camera, determines the position of an image center point, and uploads digital information of the position of the image center point to the main control computer;
s13, the main control computer determines the propelling position of the coal face 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 roadway length which can be shot by the spherical camera at one time in a wide angle, namely the shooting range of the spherical camera, according to the included angle alpha between the visual angle boundary line and the visual angle central line of the spherical camera and the width R of the roadway;
s5.2, determining the maximum number of the number digital cards which can be installed in the shooting range of the spherical camera according to the width b of the number digital cards; the maximum number is a positive integer;
s5.3, preliminarily determining the number n of the number digital cards repeatedly shot in the images shot by the spherical camera twice adjacently according to the maximum number; the number n is a positive integer which is more 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 wide-angle center line of the spherical camera coincident with the central point of the number digital card when shooting each time;
s6.2, keeping that the visual angle boundary line of the spherical camera always intersects the outermost sides of the number digital cards at the two ends in the shooting range when shooting each time, and the number of the number digital cards in the shooting range is equal;
s6.3, enabling the optimal distance d between adjacent number digital cards and the optimal number N of the number digital cards which can be installed in the roadway length shot by the spherical camera and the data determined in the steps S1 to S5 to meet the following conditions:
s6.4, calculating to obtain the optimal distance d between adjacent number digital cards and the optimal number N of the number digital cards installed in the wide angle of one-time shooting of the spherical camera;
s6.5, repeatedly adjusting the data in the steps S3 and S5 through a calculation model to enable the optimal number N of the number digital cards which can be installed in the roadway length and are shot by the spherical camera to be a positive integer;
the invention has the advantages that by determining the two optimal values of the number digital cards arranged in the tunnel, namely the optimal value d of the interval between the adjacent number cards and the optimal value N of the number cards shot in the wide angle when the ball machine shoots, the video analysis server is arranged to read shooting information of the center position preferentially, so that the data collected by the main control center system is always the digital information shot by the wide angle center of the ball machine, the positioning error is reduced, and the accurate detection of the two-tunnel propelling position of the working face is realized.
Drawings
FIG. 1 is a schematic plan view of a coal face thrust position detection apparatus according to the present invention.
FIG. 2 is a left side view of a hydraulic bracket of the coal face propulsion position detection device according to the invention.
FIG. 3 is a flow chart of a method for detecting a coal face propulsion position according to the present invention.
FIG. 4 is a schematic diagram of a calculation model of a method for detecting the advance position of a coal face according to the present invention.
Detailed Description
The following description of the technical solutions in the embodiments of the present invention will be clear and complete, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 and 2, the detection device for the pushing position of the coal face comprises a number plate 5, a dome camera 6, a wireless communication base station, a video analysis server and a main control computer;
the number plate 5 is a signboard for recording numbers; a plurality of number cards 5 can be arranged according to the requirement, all the number cards 5 are arranged in ascending or descending order according to the recorded numbers, and the number cards are fixedly arranged 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 fixed interval distance and uniform height;
the spherical cameras 6 are 2 in number, are arranged below top beams of the advanced hydraulic support 2 at two ends of the coal face 4, and the view finder of the spherical cameras 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 finding center of the view finder coincides with the center of the number plate 5 shot in the primary shooting wide angle; the coal mining machine 3 and other hydraulic supports are arranged between the coal mining working 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 an image shot by the dome camera 6 through the wireless communication base station, and after finding the center position of the image, the video analysis server sends the digital information of the center 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 propelling position of the coal face 4.
The working principle of the detection device for the pushing position of the coal face is as follows:
when the advanced hydraulic support 2 finishes moving or pushing for one time, the spherical cameras 6 arranged under the top beams of the advanced hydraulic support 2 at the two ends of the coal face 4 also move forwards along with the advanced hydraulic support, the number plate 5 is shot for one time, and shot images are sent to the video analysis server through the wireless communication base station; the video analysis server processes the acquired image, determines the position of an image center point and sends the digital information of the image center point to the main control computer; and after receiving the digital information sent by the video analysis server, the main control computer determines the propelling position of the coal face 4.
As shown in fig. 3, the method for detecting the pushing position of the coal face according to the present invention specifically includes the following steps:
s1, determining a roadway width R, wherein the width is used as a vertical distance from a spherical camera 6 to a number plate 5;
s2, determining the distance D for the advanced 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 face 4;
s3, determining an included angle alpha between a visual angle boundary line of the spherical camera 6 and a visual angle central line; as shown in fig. 4;
s4, determining the width b of the number digital 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 roadway 1 which can be shot by the spherical camera 6 at one time in a wide angle, namely the shooting range of the spherical camera 6, according to the included angle alpha between the visual angle boundary line and the visual angle central line of the spherical camera 6 and the roadway width R;
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, primarily determining the number n of the number cards 5 repeatedly shot in the images shot by the spherical camera 6 twice adjacently according to the maximum number; the number n is a positive integer which is more 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 the number digital cards 5 installed in the wide angle shot by the spherical camera 6 at one time;
s6.1, keeping the wide-angle center line of the spherical camera 6 coincident with the center point of the number digital card 5 during each shooting, so that the spherical camera 6 can shoot the number digital card 5 at the best angle during each shooting, and the detection error of the pushing positions of the two roadways 1 is reduced;
s6.2, keeping that the visual angle boundary line of the spherical camera 6 always intersects with the outermost sides of the number cards 5 at the two ends in the shooting range when shooting each time, and the number cards 5 in the shooting range are equal in number; as shown in fig. 4;
s6.3, enabling the optimal distance d between adjacent number digital cards 5 and the optimal number N of the number digital cards 5 which can be installed in the roadway length shot by the spherical camera 6 and the data determined in the steps S1 to S5 to meet the following conditions:
s6.4, calculating to obtain the optimal distance d between adjacent number digital cards 5 and the optimal number N of the number digital cards 5 installed in the wide angle shot by the spherical camera 6 at one time;
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 installed in the wide angle is natural number when the spherical camera 6 shoots once;
s7, manufacturing a number digital board 5 according to the data determined in the steps, and installing and fixing two roadways 1 which are arranged at two ends of the coal face 4 and are 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 required to meet the condition that the center of the number plate 5 shot in the wide angle shot by the spherical camera 6 is overlapped with the view finding center of the view finder of the spherical camera 6;
s8, installing spherical cameras 6 below the top beams of the advanced hydraulic support 2 at two ends of the coal face 4; the viewfinder of the spherical camera 6 is arranged opposite to the number plate 5 installed in the roadway 1 on the same side and is parallel to the number plate 5; the view finding center of the view finder coincides 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, the advanced hydraulic support 2 finishes one-time movement or pushing, and the spherical camera 6 shoots the number plate 5 once;
s11, the spherical camera 6 sends the shot number digital card 5 image to a video analysis server;
s12, the video analysis server acquires an image shot by the spherical camera 6, determines the position of an image center point, and sends digital information of the image center point to the main control computer;
s13, after receiving the digital information sent by the video analysis server, the main control computer determines the propelling position of the coal face 4.
Claims (3)
1. A method for detecting the pushing position of a coal face is characterized by comprising the following steps: a method for detecting the coal face propulsion position based on the detection device of the coal face propulsion position;
the detection device for the pushing position of the coal face comprises bracket code digital cards, a ball-type camera, a wireless communication base station, a video analysis server and a main control computer;
the number plate is a signboard for recording numbers; a plurality of number digital cards can be arranged according to the requirement, all the number digital cards are arranged in ascending or descending order according to the recorded numbers, and the number digital cards are fixedly arranged along two roadways which are arranged at two ends of a coal face and are parallel to the advancing direction of the coal face according to fixed interval distances and unified heights;
the spherical cameras are 2 in number, are arranged below top beams of the advanced hydraulic supports at two ends of the coal face, and the viewfinder of the spherical cameras is arranged opposite to the number digital cards arranged in the roadway at the same side and parallel to the number digital cards; the view finding center of the view finder of the dome camera is overlapped with the center of the number digital card shot in the wide angle of one shot of the dome camera;
the wireless communication base station is used for providing wireless network service and positioning service for the spherical camera;
the video analysis server acquires an image shot by the dome camera through the wireless communication base station, and after finding the center position of the image, the video analysis server sends the digital information of the center position of the image to the main control computer;
after receiving the digital information sent by the video analysis server, the main control computer determines the propelling position of the coal face;
the method for detecting the pushing position of the coal face comprises the following steps:
s1, determining the roadway width R, wherein the width is used as the vertical distance from a dome camera to a number plate;
s2, determining the distance D for the advanced hydraulic support to finish one-time movement or pushing;
s3, determining an included angle alpha between the visual angle boundary line of the dome camera and the visual angle center line;
s4, determining the width b of the number digital card according to the shooting precision of the dome camera;
s5, preliminarily determining the number n of repeated number cards in the images shot by the dome camera twice;
s6, establishing a calculation model, and determining the optimal distance d between adjacent number digital cards and the optimal number N of the number digital cards installed in the wide angle shot by the spherical camera at one time;
s7, manufacturing a number digital board according to the data determined in the steps, and installing and fixing the number digital board along two roadways which are arranged at two ends of a coal face and are 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 digital card shot in the wide angle shot by the spherical camera at one time coincides with the view finding center of the view finder of the spherical camera;
s8, installing a spherical camera below the top beams of the advanced hydraulic support at two ends of the coal face; the viewfinder of the dome camera is arranged opposite to the number plate arranged in the roadway at the same side and is parallel to the number plate; the view finding center of the view finder coincides with the center of the number digital card in the shooting range;
s9, connecting the dome camera to a video analysis server and a main control computer through a wireless communication base station;
s10, the advanced hydraulic support finishes one-time movement or pushing, and the ball-type camera shoots the number digital card once;
s11, the dome camera sends the shot number digital card image to the video analysis server;
s12, the video analysis server acquires an image shot by the dome camera, determines the position of an image center point, and uploads digital information of the position of the image center point to the main control computer;
s13, the main control computer determines the propelling position of the coal face according to the digital information sent by the video analysis server.
2. The method for detecting a coal face propulsion position according to claim 1, wherein: s5, the method comprises the following steps:
s5.1, determining the roadway length which can be shot by the spherical camera at one time in a wide angle, namely the shooting range of the spherical camera, according to the included angle alpha between the visual angle boundary line and the visual angle central line of the spherical camera and the width R of the roadway;
s5.2, determining the maximum number of the number digital cards which can be installed in the shooting range of the dome camera according to the width b of the number digital cards; the maximum number is a positive integer;
s5.3, preliminarily determining the number n of the number digital cards repeatedly shot in the images shot by the dome camera twice adjacently according to the maximum number; the number n is a positive integer greater than 0 and less than or equal to 1/2 of the maximum number.
3. The method for detecting a coal face propulsion position according to claim 1, wherein: s6, the method comprises the following steps:
s6.1, keeping the wide-angle center line of the dome camera coincident with the number digital card center point position during each shooting;
s6.2, keeping that the visual angle boundary line of the dome camera always intersects the outermost sides of the number digital cards at the two ends in the shooting range when shooting each time, and the number of the number digital cards in the shooting range is equal;
s6.3, enabling the optimal distance d between adjacent number digital cards and the optimal number N of the number digital cards which can be installed in the roadway length shot by the dome camera and the data determined in the steps S1 to S5 to meet the following conditions:
s6.4, calculating to obtain the optimal distance d between adjacent number digital cards and the optimal number N of the number digital cards installed in the wide angle of one-time shooting of the dome camera;
and S6.5, repeatedly adjusting the data in the steps S3 and S5 through a calculation model, so that the optimal number N of the number digital cards which can be installed in the roadway length shot by the dome camera is a positive integer.
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| CN115977742A (en) * | 2023-01-06 | 2023-04-18 | 北京天玛智控科技股份有限公司 | Method, system and device for measuring pushing progress of fully mechanized coal mining face and electronic equipment |
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| 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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2021
- 2021-09-29 CN CN202111150089.6A patent/CN113863983B/en active Active
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| 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 |
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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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