CN114199214A - Dynamic geological record data acquisition system and method for fully mechanized coal mining face - Google Patents
Dynamic geological record data acquisition system and method for fully mechanized coal mining face Download PDFInfo
- Publication number
- CN114199214A CN114199214A CN202111496178.6A CN202111496178A CN114199214A CN 114199214 A CN114199214 A CN 114199214A CN 202111496178 A CN202111496178 A CN 202111496178A CN 114199214 A CN114199214 A CN 114199214A
- Authority
- CN
- China
- Prior art keywords
- prism
- measuring
- robot
- inclination angle
- measurement
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
-
- 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
- G01C9/18—Measuring inclination, e.g. by clinometers, by levels by using liquids
- G01C9/24—Measuring inclination, e.g. by clinometers, by levels by using liquids in closed containers partially filled with liquid so as to leave a gas bubble
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
The invention provides a dynamic geological record data acquisition system and method for a fully mechanized coal mining face, which comprises the following steps: measuring robot, probe rod, prism, removal end, server. The measuring robot is installed at a relatively fixed position of the fully mechanized coal mining face, and a probe prism arranged at a measuring point of a coal seam roof or a floor is tracked and measured according to a forward-looking searching angle set or calculated by a moving end, and three-dimensional geodetic coordinates of a release prism are calculated in real time; the mobile terminal subscribes and displays the prism coordinate from the measuring robot; and the mobile terminal calculates or inputs the distance from the prism center to the measuring point, and sends the geological record data to a server for storage. The system can also take pictures through the APP at the movable end by taking the color stripes with the equal intervals of the detection rods as backgrounds to be used as reference bases for the equal-proportion measurement of the interior industry. The invention realizes the automatic calculation of the three-dimensional geodetic coordinates of the geological record points, and the results of the calculation serve for dynamically correcting the contour lines and the three-dimensional geological models of the coal seam floor, thereby laying a foundation for providing the latest coal cutting line for the intelligent fully mechanized coal mining working face of the coal mine.
Description
Technical Field
The invention relates to the technical field of intelligent coal mining, in particular to a system and a method for acquiring dynamic geological record data of a fully mechanized coal mining face.
Background
At present, in the traditional geological record of the fully mechanized mining face, a control point is introduced into the fully mechanized mining face by conducting wire measurement, and three measuring personnel of a rear view point, a site setting point and a front view point are matched. Therefore, at least three persons are required to cooperate to complete the geological record of the fully mechanized coal mining face.
However, the current fully mechanized mining working face has the disadvantages of severe environment, high temperature, high humidity, narrow and small size, large dust, low visibility, difficulty in erecting a total station and low working efficiency, and cannot meet the requirements of less-humanized and unmanned intelligent mining. Meanwhile, in the geological recording process of the fully mechanized mining face, the coal seam gangue or fault is encountered, the on-site written data is obtained in a mobile terminal photographing mode, and the measurement reference proportion is lacked, so that the later-stage accurate measurement of the coal seam gangue and fault layer position and thickness data cannot be realized.
Disclosure of Invention
In view of the above problems, the invention provides a fully mechanized coal mining face dynamic geological record data acquisition system and an acquisition method.
The embodiment of the invention provides a dynamic geological record data acquisition system of a fully mechanized coal mining face, which comprises: the system comprises a measuring robot, a detection rod, a prism, a mobile terminal and a server;
the measuring robot is a measuring platform integrating automatic leveling, automatic target identification, automatic collimation, automatic angle and distance measurement, automatic target tracking, automatic calculation, automatic storage and data release, and issues a prism three-dimensional geodetic coordinate to the moving end through a network, wherein the three-dimensional geodetic coordinate is obtained by automatically tracking and calculating the prism by the measuring robot;
the detection rod is a tool which integrates a detection point, a fixed prism, a distance from the center of the measurement prism to a coal seam top bottom plate, leveling by a leveling bubble and a red and white ruler, is arranged at the position of the detection point and is used for matching with a measuring robot to measure the three-dimensional geodetic coordinate of the detection point;
the prism is arranged on the detection rod and is used as an optical target when the measuring robot automatically tracks;
the moving end is installed on the detection rod, an APP program of a dynamic geological record data acquisition system of the fully mechanized mining face is deployed, the moving end subscribes a three-dimensional geodetic coordinate of the prism from the measuring robot through a network and displays the three-dimensional geodetic coordinate in real time, the distance from the center of the prism to a coal seam roof or a coal seam floor can be calculated or input, geological record data containing the three-dimensional geodetic coordinate are sent to the server, and the geological record data include but are not limited to the three-dimensional geodetic coordinate;
and the server receives and stores the dynamic geological record data through a network.
Optionally, the detection rod is provided with a leveling bubble and scale marks;
the detection rod utilizes the leveling bubble to level, and the leveling bubble is a bidirectional bubble with one side facing the top plate and one side facing the bottom plate;
the distance from the center of the detection prism to the coal seam floor is detected by the rod tip of the detection rod downwards, and leveling is performed through the upwards leveling air bubbles;
the distance from the center of the detection prism to the coal seam roof is detected by the upward rod tip of the detection rod, and leveling is performed through downward leveling bubbles;
the detection rod measures the distance from the center of the prism to the coal seam roof or floor by using the scale marks;
the detection rod can be telescopic, can also be folded in multiple sections, and is easy to carry.
Optionally, the prism is mounted on the top of the detection rod through a connecting piece, and the detection rod can be extended and retracted so as to be capable of detecting the top plate or the bottom plate of the coal seam, not being framed by other equipment, and being capable of being seen through the measuring robot;
or the prism is installed on the side of the detection rod through the plug connector and can move up and down to adjust the height, so that the detection rod can detect the coal seam roof or the bottom plate, is not erected with other equipment, and can be in communication with the measuring robot.
Optionally, the mobile terminal calculates an azimuth angle and an inclination angle from the measuring robot to the prism based on the mining map, and sends the azimuth angle and the inclination angle to the measuring robot, and the measuring robot locks the prism and automatically tracks the prism;
or the azimuth angle and the inclination angle input by the moving end are sent to the measuring robot, and the measuring robot locks the prism and automatically tracks the prism;
or the moving end calculates the azimuth angle and the inclination angle from the measuring robot to the prism based on the three-dimensional geodetic coordinates of the front measuring point, sends the azimuth angle and the inclination angle to the measuring robot, locks the prism by matching with the measuring robot and automatically tracks, and the front measuring point is the measuring point of which the three-dimensional geodetic coordinates are calculated.
Optionally, when the measurement robot tracks that the prism is lost in the continuous measurement process, the measurement robot automatically calculates an azimuth angle and an inclination angle from the measurement robot to the lost prism based on the lost position of the prism at the last time, and locks the prism again according to the azimuth angle and the inclination angle for automatic tracking.
Optionally, when the measuring robot tracks that the prism is lost in the discontinuous measuring process, the measuring robot waits for a new azimuth angle and a new inclination angle which are retransmitted by the mobile terminal at the prism position tracked last time, and locks the prism again according to the new azimuth angle and the new inclination angle for automatic tracking.
Optionally, the detection rod is further provided with a first characteristic mark and a second characteristic mark which are spaced at equal intervals;
and the mobile terminal forms an image by using the first characteristic identifier and the second characteristic identifier and sends the image to the server.
Optionally, the server receives the image, and calculates and obtains horizon and thickness data of the coal seam gangue or fault according to the image.
The embodiment of the invention provides a dynamic geological record data acquisition method for a fully mechanized mining face of a mine, which is applied to any one of the acquisition systems, wherein the acquisition system comprises: the system comprises a measuring robot, a detection rod, a prism, a mobile terminal and a server; the acquisition method comprises the following steps:
the measurement robot finishes station setting and is in a state of waiting for a measurement instruction;
after the detection rod is configured at the position of the measurement point, the mobile end sends a measurement instruction according to the set or calculated azimuth angle and inclination angle from the measurement robot to the prism;
after receiving a measurement instruction, the measurement robot locks and tracks the three-dimensional geodetic coordinates of the measurement prism and issues the three-dimensional geodetic coordinates to the mobile terminal;
the mobile terminal subscribes the three-dimensional geodetic coordinates and displays the three-dimensional geodetic coordinates in real time, and sends geological logging data containing the three-dimensional geodetic coordinates to the server;
and the server receives and stores the dynamic geological record data.
Optionally, before the measuring robot locks the tracking prism according to the set or calculated azimuth angle and inclination angle, the method further includes:
the moving end obtains an azimuth angle and an inclination angle from the measuring robot to the prism based on a preset mode, and sends the azimuth angle and the inclination angle to the measuring robot to start measurement;
the measuring robot searches and locks and tracks the prism according to the azimuth angle and the inclination angle;
if the measuring robot tracks the loss of the prism in the continuous measuring process, automatically calculating the azimuth angle and the inclination angle from the measuring robot to the lost prism based on the lost position of the prism at the last time, and searching again and locking the prism according to the azimuth angle and the inclination angle for automatic tracking;
if the measuring robot tracks the prism and loses the prism in the discontinuous measuring process, waiting for a new azimuth angle and a new inclination angle which are sent again by the moving end at the position of the prism tracked last time, searching again according to the new azimuth angle and the new inclination angle, and locking the prism for automatic tracking;
wherein, the preset mode comprises:
the moving end calculates the azimuth angle and the inclination angle from the measuring robot to the prism based on the mining image and sends the azimuth angle and the inclination angle to the measuring robot;
or the azimuth angle and the inclination angle input by the moving end are sent to the measuring robot;
or the moving end calculates the azimuth angle and the inclination angle from the measuring robot to the prism based on the three-dimensional geodetic coordinates of the front measuring point, and sends the azimuth angle and the inclination angle to the measuring robot, wherein the front measuring point is the measuring point of which the three-dimensional geodetic coordinates are calculated.
The dynamic geological logging data acquisition system for the fully mechanized mining face, provided by the invention, is characterized in that the detection rod is arranged at the position of the measurement point and is matched with the measurement robot to measure the three-dimensional geodetic coordinates of the measurement point. Because the prism and the moving end are both arranged on the detection rod, the prism is used as an optical target when the measuring robot automatically tracks, and the measuring robot can automatically track the prism to calculate the three-dimensional geodetic coordinates of the prism. After the measuring robot obtains the three-dimensional geodetic coordinates, the three-dimensional geodetic coordinates of the prism are sent to the mobile terminal through the network and displayed in real time, and meanwhile, the mobile terminal is matched with the measuring robot to automatically track the prism; the mobile terminal calculates the three-dimensional geodetic coordinates of the measuring points according to the three-dimensional geodetic coordinates of the prism, sends geological logging data containing the coordinates to the server, and the server receives and stores the geological logging data through the network.
By the acquisition system, three persons such as a rear view point, a station point and a front view point are not needed, but only one person is needed to configure the detection rod at each measurement point, and the rest work is automatically completed by the acquisition system, so that the automatic measurement of the three-dimensional geodetic coordinates of the measurement points is realized. The measuring robot is used for tracking the measuring prism to obtain the three-dimensional geodetic coordinates, so that the working efficiency is greatly improved. The three-dimensional geodetic coordinates, the measuring point names, the remark information and the like of the measuring points can be stored in the server, and the professional input is not needed. The image formed by the two characteristic marks of the detection rod is used for the equal proportion reference of the image for the industry, and the positions and the thicknesses of the coal seam gangue inclusion and the fault are accurately detected. The acquisition system of the invention has high practicability.
The dynamic geological logging data acquisition system for the fully mechanized mining face of the mine provided by the invention realizes the automatic calculation of the three-dimensional geodetic coordinates of geological logging points, and the result of the automatic calculation serves to dynamically correct the contour line and the three-dimensional geological model of the coal seam floor, thereby laying a foundation for providing the latest coal cutting line for the intelligent fully mechanized mining face of the coal mine.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a schematic structural diagram of a dynamic geological record data acquisition system of a fully mechanized coal mining face according to an embodiment of the present invention;
FIG. 2(a) is a schematic diagram of the telescopic structure of the detection rod in the embodiment of the present invention;
FIG. 2(b) is a schematic diagram of a folding structure of a probe bar in an embodiment of the present invention;
FIG. 3 is a flow chart of the method for acquiring dynamic geological record data of the fully mechanized coal mining face according to the embodiment of the invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below. It should be understood that the specific embodiments described herein are merely illustrative of the invention, but do not limit the invention to only some, but not all embodiments.
The invention provides a dynamic geological record data acquisition system of a fully mechanized coal mining face, which comprises: measuring robot, probe rod, prism, removal end, server. For a clearer explanation of the acquisition system of the present invention, referring to fig. 1, an architectural diagram of a fully mechanized coal mining face dynamic geological record data acquisition system according to an embodiment of the present invention is exemplarily shown.
Fig. 1 includes: the system comprises a detection rod 10, a measuring robot 20, a server 30, a prism 101, a moving end 102, a first characteristic mark 103 and a second characteristic mark 104. Wherein, at the top position of the detecting rod 10, a scale mark 105 is provided.
In the embodiment of the invention, the detection rod needs to be configured at the position of the measuring point, and generally, the detection rod can be configured at the position of the measuring point by one person, and the detection rod can be matched with a measuring robot to obtain the three-dimensional geodetic coordinate of the measuring point by calculating the three-dimensional geodetic coordinate of the prism. Prism, removal end all install on the probe rod.
Referring to fig. 2(a), a schematic view illustrating a telescopic structure of the detection bar is illustrated, and referring to fig. 2(b), a schematic view illustrating a folding structure of the detection bar is illustrated. For the convenience of carrying, the detecting rod 10 can be folded in multiple sections, or can be extended in multiple sections. The probe rod 10 is also provided with a level bubble 106.
After the detection rod 10 is arranged at the position of a measurement point, leveling is firstly performed by using the leveling bubble 106; the scale 105 can be used to measure the distance from the center of the prism 101 to the top or bottom of a coal seam (not shown in fig. 1 and 2). It should be noted that the detecting rod 10 can sense the distance from the center of the measuring prism 101 to the coal seam roof or floor by using a sensor (not shown in fig. 1 and 2), which requires an additional sensor; the probe 10 may also measure the distance from the center of the prism 101 to the top or bottom of the coal seam manually or automatically using the graduation marks 105.
The prism 101 may be connected to the top of the detection rod 10 through a connector, as shown in the left side view of fig. 2(a) or the left side view of fig. 2(b), or may be connected to the side of the detection rod 10 through a connector and may move up and down to adjust the height, as shown in the right side view of fig. 2(a) or the right side view of fig. 2(b), so that the detection rod 10 may detect the coal seam roof or floor without being framed by other devices and may be seen through the measuring robot 20.
After the probe 10 is leveled, the number of the measuring points or other information indicating the uniqueness of the measuring points can be inputted into the moving end 102, and the distance of the coal seam roof or the bottom relative to the center of the prism 101 and some remark information can be inputted. It should be noted that the mobile terminal 102 may be a device developed professionally, or may be a general smart mobile device, and only the dynamic geological record data acquisition APP needs to be installed in the smart mobile device.
In general, when the first measurement point is measured, since the measurement machine 20 does not obtain any information yet, the prism 101 cannot be locked and automatically tracked, so that the azimuth angle and the inclination angle from the measurement robot to the prism 101 need to be calculated based on the mining map through the moving end 102 and sent to the measurement robot 20, and the measurement robot 20 locks the prism 101 and automatically tracks; or the worker inputs the azimuth angle and the inclination angle in the mobile terminal 102 and sends the azimuth angle and the inclination angle to the measuring robot 20, and the measuring robot 20 locks the prism 101 and automatically tracks the azimuth angle and the inclination angle. If there are previous measurement points, that is, the front side points are measurement points for which the previous three-dimensional geodetic coordinates have been calculated, the mobile terminal 102 calculates the azimuth and inclination angles from the measurement robot 20 to the prism 101 based on the three-dimensional geodetic coordinates of the previous measurement points, and transmits the azimuth and inclination angles to the measurement robot 20, and the measurement robot 20 locks the prism 101 and automatically tracks the azimuth and inclination angles. In the subsequent station measurement process, the measuring robot 20 can automatically lock and track the prism 101 without the moving end 102 calculating and transmitting the azimuth angle and the inclination angle.
Of course, due to the adverse environmental conditions of the fully mechanized mining face, the measurement robot 20 may have a situation that the tracking prism 101 is lost during the continuous measurement, and when the tracking prism 101 is lost, the measurement robot 20 may automatically calculate the azimuth angle and the inclination angle from itself to the lost prism 101 based on the lost position of the last prism 101, and lock the prism 101 for automatic tracking again according to the azimuth angle and the inclination angle. It will be appreciated that if the measuring robot 20 remains unlocked from the prism 101 after a relatively long time, the worker is required to re-lock the measuring robot 20 and automatically track the prism 101 by sending the azimuth and inclination angles to the measuring robot 20 through the mobile terminal 102 in the manner described above.
In addition, since the work of measuring the measurement point using the probe stick 10 is generally intermittent, for example: after a plurality of measuring points are measured continuously, a worker needs to take a rest for a long time, or the measuring work is interrupted for a long time due to other factors, then the measuring point position is a new position when measuring again, and during the discontinuous measuring process of the measuring robot 20, the tracking prism 101 is easy to be lost due to long-time waiting, for example: the measuring robot 20 waits for a long time to enter a standby state, and the like. When the measurement robot 20 loses the tracking prism 101 during the discontinuous measurement, the worker also needs to send the azimuth angle and the inclination angle to the measurement robot 20 through the mobile terminal 102 according to the method, wait for the new azimuth angle and the new inclination angle sent again by the mobile terminal at the prism position tracked last time by the measurement robot 20, and lock the prism again according to the new azimuth angle and the new inclination angle for automatic tracking.
In the embodiment of the present invention, the core component of the measuring robot 20 is a full-automatic total station. The measuring robot 20 is a measuring platform integrating automatic leveling, automatic target identification, automatic collimation, automatic angle and distance measurement, automatic target tracking, automatic calculation, automatic storage and data release. When the measuring robot 20 automatically tracks the prism 101, the three-dimensional geodetic coordinates of the prism 101 are calculated and distributed to the mobile terminal 102 via the network. The prism 101 is installed on the detection rod 10, and the detection rod 10 is a tool which integrates a detection point, a fixed prism, a distance from the center of the measurement prism to the coal seam roof and floor, leveling by level air bubbles and a red and white ruler, is arranged at the position of the detection point and is used for cooperating with a measurement robot to measure the three-dimensional geodetic coordinates of the detection point.
The mobile terminal 102 subscribes the three-dimensional geodetic coordinates of the prism 101 from the measuring robot 20 through the network and displays the three-dimensional geodetic coordinates in real time, so that a worker can know that the three-dimensional geodetic coordinates of the measuring point are measured in time, and can continue to measure the next measuring point. Meanwhile, the mobile terminal 102 calculates the three-dimensional geodetic coordinates of the measuring point from the three-dimensional geodetic coordinates of the prism 101, and transmits geological record data including the coordinates to the server 30, the geological record data including: the three-dimensional geodetic coordinates of the measuring points also include measuring point numbers of the measuring points, the distance from the center of the prism 101 to the coal seam roof or the coal seam floor, remark information and the like.
In the embodiment of the present invention, the detection rod 10 is further provided with a first characteristic mark 103 and a second characteristic mark 104 at equal intervals, as shown in fig. 1 and fig. 2(a), (b); the two signatures need to be equally spaced and significantly different, for example: the characteristic marks can be formed by red and white stripes, black and white stripes and the like.
The mobile terminal 102 further has a photographing function, when the fully mechanized mining face has coal seam gangue or faults, two feature marks at equal intervals of the detection rod 10 are taken as backgrounds, images are photographed through the mobile terminal 102 and then uploaded to the server 30 through the network, and the server 30 calculates the position and thickness data of the coal seam gangue or faults in an equal proportion based on the images. The mobile terminal 102 may capture the actual image of the measurement point and upload the image to the server 30 as memo information for the measurement point.
In the embodiment of the present invention, the server 30 is an industrial computer or a server installed with an operating system. The server 30 may be used for edge computing and directly deployed in a fully mechanized coal mining face, or may be deployed in a ground machine room or a cloud host. The server is used as a data storage server for storing measuring point raw data of the fully mechanized mining face dynamic geological record, wherein the data comprises but is not limited to any one or more of the following: the three-dimensional geodetic coordinates of the measuring points, the measuring point numbers of the measuring points, the distance from the center of the prism 101 to the coal seam roof or the bottom plate, remark information and the like.
Based on the fully mechanized coal mining face dynamic geological record data acquisition system, the embodiment of the invention also provides a fully mechanized coal mining face dynamic geological record data acquisition method, which is applied to any one of the acquisition systems and combined with the flow chart of the fully mechanized coal mining face dynamic geological record data acquisition method shown in fig. 3, and the method comprises the following steps:
firstly, the measuring robot needs to be set to a station to complete the measurement, and the state is in a state of waiting for a measuring instruction. And then manually determining a measuring point, completing the configuration of the detecting rod at the position of the measuring point, leveling by utilizing bubbles of the detecting rod, obtaining the azimuth angle and the inclination angle from the measuring robot to the prism by the moving end based on a preset mode, and issuing a measuring instruction. After receiving the measurement instruction, the measurement robot searches and locks the tracking prism; and the measuring robot calculates to obtain the three-dimensional geodetic coordinates of the prism and issues the three-dimensional geodetic coordinates to the mobile terminal. The preset method includes: the mobile terminal calculates the azimuth angle and the inclination angle from the measuring robot to the prism based on the mining image and sends the azimuth angle and the inclination angle to the measuring robot; or sending the azimuth angle and the inclination angle input by the mobile terminal to the measuring robot; or the moving end calculates the azimuth angle and the inclination angle from the measuring robot to the prism based on the three-dimensional geodetic coordinates of the front measuring point, and sends the azimuth angle and the inclination angle to the measuring robot, wherein the front measuring point is the measuring point of which the three-dimensional geodetic coordinates are calculated.
And the mobile terminal subscribes the three-dimensional geodetic coordinates and displays the three-dimensional geodetic coordinates in real time, calculates the three-dimensional geodetic coordinates of the measuring points according to the three-dimensional geodetic coordinates of the prism and sends geological logging data containing the three-dimensional geodetic coordinates to the server. And the server receives and stores the geological logging data.
If the measuring robot tracks that the prism is lost in the continuous measuring process, automatically calculating the azimuth angle and the inclination angle from the measuring robot to the lost prism based on the lost position of the prism at the last time, searching again according to the azimuth angle and the inclination angle, and locking the prism for automatic tracking; if the measuring robot tracks the prism and loses in the discontinuous measuring process, a new azimuth angle and a new inclination angle which are sent again by the mobile terminal are waited at the position of the prism tracked last time, and then the prism is searched again and locked for automatic tracking according to the new azimuth angle and the new inclination angle.
In conclusion, the acquisition system of the invention does not need three persons, namely a rear view point, a station setting point and a front view point, but only needs one person to configure the detection rod at each measuring point, and the rest work is automatically completed by the acquisition system, thereby realizing the automatic measurement of the three-dimensional geodetic coordinates of the measuring points. The measuring robot is used for tracking the measuring prism to obtain the three-dimensional geodetic coordinates, so that the working efficiency is greatly improved. The three-dimensional geodetic coordinates, the measuring point names, the remark information and the like of the measuring points can be stored in the server, and the professional input is not needed. The image formed by the two characteristic marks of the detection rod is used for the equal proportion reference of the image for the industry, and the positions and the thicknesses of the coal seam gangue inclusion and the fault are accurately detected. The acquisition system of the invention has high practicability.
The dynamic geological logging data acquisition system for the fully mechanized mining face of the mine provided by the invention realizes the automatic calculation of the three-dimensional geodetic coordinates of geological logging points, and the result of the automatic calculation serves to dynamically correct the contour line and the three-dimensional geological model of the coal seam floor, thereby laying a foundation for providing the latest coal cutting line for the intelligent fully mechanized mining face of the coal mine.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, 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 terminal 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 terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A fully mechanized coal mining face geological record data acquisition system is characterized by comprising: the system comprises a measuring robot, a detection rod, a prism, a mobile terminal and a server;
the measuring robot is a measuring platform integrating automatic leveling, automatic target identification, automatic collimation, automatic angle and distance measurement, automatic target tracking, automatic calculation and automatic data storage and release, and issues a prism three-dimensional geodetic coordinate to the moving end through a network, wherein the three-dimensional geodetic coordinate is obtained by automatically tracking and calculating the prism by the measuring robot;
the detection rod is a tool which integrates a detection point, a fixed prism, a distance from the center of the measurement prism to a coal seam top bottom plate, leveling by a leveling bubble and a red and white ruler, is arranged at the position of the detection point and is used for matching with a measuring robot to measure the three-dimensional geodetic coordinate of the detection point;
the prism is arranged on the detection rod and is used as an optical target when the measuring robot automatically tracks;
the moving end is installed on the detection rod, an APP program of a dynamic geological record data acquisition system of the fully mechanized mining face is deployed, the moving end subscribes a three-dimensional geodetic coordinate of the prism from the measuring robot through a network and displays the three-dimensional geodetic coordinate in real time, the distance from the center of the prism to a coal seam roof or a coal seam floor can be calculated or input, geological record data containing the three-dimensional geodetic coordinate are sent to the server, and the geological record data include but are not limited to the three-dimensional geodetic coordinate;
and the server receives and stores the dynamic geological record data through a network.
2. The acquisition system according to claim 1, wherein the probe rod is provided with leveling bubbles and graduation marks;
the detection rod utilizes the leveling bubble to level, and the leveling bubble is a bidirectional leveling bubble;
the rod tip of the detection rod faces downwards to detect the distance from the center of the prism to the coal seam floor;
the rod tip of the detection rod faces upwards to detect the distance from the center of the prism to the coal seam roof;
the detection rod measures the distance from the center of the prism to the coal seam roof or floor by using the scale marks;
the detection rod can be telescopic, can also be folded in multiple sections, and is easy to carry.
3. The acquisition system of claim 1, wherein the prism is mounted on the top of the detection rod through a connecting piece, and the detection rod can be extended and retracted so as to detect the top plate or the bottom plate of the coal seam, not to be framed by other equipment and to be visible to the measuring robot;
or the prism is installed on the side of the detection rod through the plug connector and can move up and down to adjust the height, so that the detection rod can detect the coal seam roof or the bottom plate, is not erected with other equipment, and can be in communication with the measuring robot.
4. The acquisition system according to claim 1, wherein the mobile terminal calculates an azimuth angle and an inclination angle of the measuring robot to the prism based on a mining map and transmits the azimuth angle and the inclination angle to the measuring robot, and the measuring robot locks the prism and automatically tracks the prism;
or the azimuth angle and the inclination angle input by the moving end are sent to the measuring robot, and the measuring robot locks the prism and automatically tracks the prism;
or the moving end calculates the azimuth angle and the inclination angle from the measuring robot to the prism based on the three-dimensional geodetic coordinates of the front measuring point, and sends the azimuth angle and the inclination angle to the measuring robot, the measuring robot locks the prism and automatically tracks, and the front measuring point is the measuring point of which the three-dimensional geodetic coordinates are calculated.
5. The acquisition system according to claim 4, wherein when the measurement robot tracks that the prism is lost during the continuous measurement, the measurement robot automatically calculates the azimuth angle and the inclination angle from itself to the lost prism based on the lost position of the prism at the last time, and locks the prism again for automatic tracking according to the azimuth angle and the inclination angle.
6. The acquisition system of claim 5, wherein when the measurement robot tracks the prism and loses the prism in the discontinuous measurement process, the measurement robot waits for a new azimuth angle and a new inclination angle retransmitted by the mobile terminal at the prism position tracked last time, and locks the prism again for automatic tracking according to the new azimuth angle and the new inclination angle.
7. The acquisition system of claim 1, wherein the detection rod is further provided with a first characteristic mark and a second characteristic mark which are spaced at equal intervals;
and the mobile terminal forms an image by using the first characteristic identifier and the second characteristic identifier and sends the image to the server.
8. The acquisition system of claim 7, wherein the server receives the image and calculates horizon and thickness data of a coal seam gangue or fault according to the image.
9. A method for collecting geological record data of a fully mechanized mining face, which is applied to the collecting system according to any one of claims 1 to 8, wherein the collecting system comprises: the system comprises a measuring robot, a detection rod, a prism, a mobile terminal and a server; the acquisition method comprises the following steps:
the measurement robot finishes station setting and is in a state of waiting for a measurement instruction;
after the detection rod is configured at the position of the measurement point, the mobile end sends a measurement instruction according to the set or calculated azimuth angle and inclination angle from the measurement robot to the prism;
after receiving a measurement instruction, the measurement robot locks and tracks the three-dimensional geodetic coordinates of the measurement prism and issues the three-dimensional geodetic coordinates to the mobile terminal;
the mobile terminal subscribes the three-dimensional geodetic coordinates and displays the three-dimensional geodetic coordinates in real time, and sends geological logging data containing the three-dimensional geodetic coordinates to the server;
and the server receives and stores the dynamic geological record data.
10. The acquisition method according to claim 9, wherein the measurement robot locks and tracks the prism according to the set or calculated azimuth and inclination, further comprising:
the moving end obtains an azimuth angle and an inclination angle from the measuring robot to the prism based on a preset mode, and sends the azimuth angle and the inclination angle to the measuring robot to start measurement;
the measuring robot searches and locks and tracks the prism according to the azimuth angle and the inclination angle;
if the measuring robot tracks the loss of the prism in the continuous measuring process, automatically calculating the azimuth angle and the inclination angle from the measuring robot to the lost prism based on the lost position of the prism at the last time, and searching again and locking the prism according to the azimuth angle and the inclination angle for automatic tracking;
if the measuring robot tracks the prism and loses the prism in the discontinuous measuring process, waiting for a new azimuth angle and a new inclination angle which are sent again by the moving end at the position of the prism tracked last time, searching again according to the new azimuth angle and the new inclination angle, and locking the prism for automatic tracking;
wherein, the preset mode comprises:
the moving end calculates the azimuth angle and the inclination angle from the measuring robot to the prism based on the mining image and sends the azimuth angle and the inclination angle to the measuring robot;
or the azimuth angle and the inclination angle input by the moving end are sent to the measuring robot;
or the moving end calculates the azimuth angle and the inclination angle from the measuring robot to the prism based on the three-dimensional geodetic coordinates of the front measuring point, and sends the azimuth angle and the inclination angle to the measuring robot, wherein the front measuring point is the measuring point of which the three-dimensional geodetic coordinates are calculated.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111496178.6A CN114199214A (en) | 2021-12-08 | 2021-12-08 | Dynamic geological record data acquisition system and method for fully mechanized coal mining face |
| CN202223178787.XU CN219200430U (en) | 2021-12-08 | 2022-11-25 | Dynamic geological cataloging data acquisition system for fully mechanized coal mining face |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111496178.6A CN114199214A (en) | 2021-12-08 | 2021-12-08 | Dynamic geological record data acquisition system and method for fully mechanized coal mining face |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114199214A true CN114199214A (en) | 2022-03-18 |
Family
ID=80651482
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111496178.6A Pending CN114199214A (en) | 2021-12-08 | 2021-12-08 | Dynamic geological record data acquisition system and method for fully mechanized coal mining face |
| CN202223178787.XU Active CN219200430U (en) | 2021-12-08 | 2022-11-25 | Dynamic geological cataloging data acquisition system for fully mechanized coal mining face |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223178787.XU Active CN219200430U (en) | 2021-12-08 | 2022-11-25 | Dynamic geological cataloging data acquisition system for fully mechanized coal mining face |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN114199214A (en) |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1240270A (en) * | 1999-07-02 | 2000-01-05 | 清华大学 | Target space position and attitude laser tracking-measuring system and method |
| CN203893860U (en) * | 2014-02-26 | 2014-10-22 | 辽宁电力勘测设计院 | Electric power measurement sighting marker rod device |
| CN204007537U (en) * | 2014-08-18 | 2014-12-10 | 无锡市政设计研究院有限公司 | A kind of Multifunctional measurement rod |
| CN204854744U (en) * | 2015-07-28 | 2015-12-09 | 广州市城市规划勘测设计研究院 | Interactive prism and measurement system |
| CN105136127A (en) * | 2015-07-28 | 2015-12-09 | 广州市城市规划勘测设计研究院 | Measuring method and system for surface features and terrain |
| CN205537640U (en) * | 2016-01-29 | 2016-08-31 | 成都理工大学 | Total powerstation remote control mapping system |
| US20170353824A1 (en) * | 2016-06-07 | 2017-12-07 | Topcon Positioning System, Inc. | Hybrid positioning system using a real-time location system and robotic total station |
| CN109341673A (en) * | 2018-11-14 | 2019-02-15 | 淮安市水利勘测设计研究院有限公司 | A kind of bi-direction interactive system assisting total station survey and quick mapping |
| CN110241696A (en) * | 2019-04-01 | 2019-09-17 | 中建三局集团有限公司 | Mobile high-acruracy survey robot system and its measurement method |
| CN110595448A (en) * | 2019-09-19 | 2019-12-20 | 四川建筑职业技术学院 | Automatic surveying and mapping robot device and surveying and mapping method thereof |
| US20200011665A1 (en) * | 2014-06-06 | 2020-01-09 | Carlson Software, Inc. | Hybrid Total Station with Electronic Leveling |
| CN111854712A (en) * | 2020-07-29 | 2020-10-30 | 北京龙软科技股份有限公司 | Method for automatically measuring coordinates of target point of fully mechanized coal mining face and measuring robot system |
| CN112378390A (en) * | 2021-01-12 | 2021-02-19 | 北京龙软科技股份有限公司 | Fully-mechanized coal mining face measuring robot device and automatic measuring system |
| CN112414394A (en) * | 2020-11-05 | 2021-02-26 | 中国铁建重工集团股份有限公司 | Real-time positioning system and method for underground roadway driving equipment |
| CN113063403A (en) * | 2021-03-12 | 2021-07-02 | 中国煤炭科工集团太原研究院有限公司 | Total station remote control method for closed long and narrow environment |
-
2021
- 2021-12-08 CN CN202111496178.6A patent/CN114199214A/en active Pending
-
2022
- 2022-11-25 CN CN202223178787.XU patent/CN219200430U/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1240270A (en) * | 1999-07-02 | 2000-01-05 | 清华大学 | Target space position and attitude laser tracking-measuring system and method |
| CN203893860U (en) * | 2014-02-26 | 2014-10-22 | 辽宁电力勘测设计院 | Electric power measurement sighting marker rod device |
| US20200011665A1 (en) * | 2014-06-06 | 2020-01-09 | Carlson Software, Inc. | Hybrid Total Station with Electronic Leveling |
| CN204007537U (en) * | 2014-08-18 | 2014-12-10 | 无锡市政设计研究院有限公司 | A kind of Multifunctional measurement rod |
| CN204854744U (en) * | 2015-07-28 | 2015-12-09 | 广州市城市规划勘测设计研究院 | Interactive prism and measurement system |
| CN105136127A (en) * | 2015-07-28 | 2015-12-09 | 广州市城市规划勘测设计研究院 | Measuring method and system for surface features and terrain |
| CN205537640U (en) * | 2016-01-29 | 2016-08-31 | 成都理工大学 | Total powerstation remote control mapping system |
| US20170353824A1 (en) * | 2016-06-07 | 2017-12-07 | Topcon Positioning System, Inc. | Hybrid positioning system using a real-time location system and robotic total station |
| CN109341673A (en) * | 2018-11-14 | 2019-02-15 | 淮安市水利勘测设计研究院有限公司 | A kind of bi-direction interactive system assisting total station survey and quick mapping |
| CN110241696A (en) * | 2019-04-01 | 2019-09-17 | 中建三局集团有限公司 | Mobile high-acruracy survey robot system and its measurement method |
| CN110595448A (en) * | 2019-09-19 | 2019-12-20 | 四川建筑职业技术学院 | Automatic surveying and mapping robot device and surveying and mapping method thereof |
| CN111854712A (en) * | 2020-07-29 | 2020-10-30 | 北京龙软科技股份有限公司 | Method for automatically measuring coordinates of target point of fully mechanized coal mining face and measuring robot system |
| CN112414394A (en) * | 2020-11-05 | 2021-02-26 | 中国铁建重工集团股份有限公司 | Real-time positioning system and method for underground roadway driving equipment |
| CN112378390A (en) * | 2021-01-12 | 2021-02-19 | 北京龙软科技股份有限公司 | Fully-mechanized coal mining face measuring robot device and automatic measuring system |
| CN113063403A (en) * | 2021-03-12 | 2021-07-02 | 中国煤炭科工集团太原研究院有限公司 | Total station remote control method for closed long and narrow environment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN219200430U (en) | 2023-06-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP1655573B1 (en) | 3-dimensional measurement device and electronic storage medium | |
| US9222771B2 (en) | Acquisition of information for a construction site | |
| Tao | Mobile mapping technology for road network data acquisition | |
| CN104964673B (en) | It is a kind of can positioning and orientation close range photogrammetric system and measuring method | |
| CN108733053A (en) | A kind of Intelligent road detection method based on robot | |
| EP3062066A1 (en) | Determination of object data by template-based UAV control | |
| CN102980510B (en) | A kind of laser light chi image assize device and tree survey method thereof | |
| CN103438864B (en) | Engineering slope real-time digital geological record system | |
| CN103411587B (en) | Positioning and orientation method and system | |
| CN109668543A (en) | Inclination measurement method based on laser radar | |
| CN103453882B (en) | A kind of ceiling of clouds measuring system based on aircraft and ceiling of clouds measuring method | |
| CN104931021B (en) | Crack multi-parameter observation device based on close-range photogrammetry | |
| CN114199214A (en) | Dynamic geological record data acquisition system and method for fully mechanized coal mining face | |
| US11509881B2 (en) | Stereo camera and stereophotogrammetric method | |
| CN114966793B (en) | Three-dimensional measurement system, method and GNSS system | |
| KR102481914B1 (en) | Apparatus for obtaining 3D spatial information of underground facilities using cell phone lidar and photos and method for obtaining 3D spatial information of underground facilities using the same | |
| TW469392B (en) | Computer-aided synchronous measuring method | |
| KR101329564B1 (en) | Input apparatus for facilities information using a smart device, a method thereof, and a record medium where a program for executing the same is recorded | |
| JP3910844B2 (en) | Orientation method and modified mapping method using old and new photographic images | |
| CN113650783A (en) | Fixed wing oblique photography cadastral mapping method, system and equipment | |
| CN108896031A (en) | A kind of facade mapping method | |
| TWI597405B (en) | System and method for monitoring slope with tree displacement | |
| CN204612702U (en) | Crack multi-parameter observation device based on close-range photogrammetry | |
| Kulhavy et al. | Comparing remotely sensed Pictometry® web based slope distance estimates with in situ total station and tape slope distance estimates | |
| CN113720307B (en) | Stope face photography geological recording method and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220318 |