CN116295419A - Underground inspection system and underground inspection point identification method - Google Patents
Underground inspection system and underground inspection point identification method Download PDFInfo
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- CN116295419A CN116295419A CN202310267934.0A CN202310267934A CN116295419A CN 116295419 A CN116295419 A CN 116295419A CN 202310267934 A CN202310267934 A CN 202310267934A CN 116295419 A CN116295419 A CN 116295419A
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- 239000000696 magnetic material Substances 0.000 claims description 8
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- G06M1/27—Design features of general application for representing the result of count in the form of electric signals, e.g. by sensing markings on the counter drum
- G06M1/274—Design features of general application for representing the result of count in the form of electric signals, e.g. by sensing markings on the counter drum using magnetic means; using Hall-effect devices
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention provides an underground inspection system and an underground inspection point identification method, wherein the underground inspection system comprises the following components: n position coding modules and inspection robot, wherein: the N position coding modules are arranged in an array in the inspection track; the fixed positions of the different position coding modules are different, and each position coding module has unique magnetic lattice coding; the magnetic induction switch array on the magnetic resistance sensing device is triggered to read the magnetic lattice code of the current position coding module, and whether the current position is a specified inspection point is judged according to the magnetic lattice code. The underground inspection system adopts non-contact and non-electric connection to collect the position signals of the inspection points, is safe and explosion-proof, and can realize the accurate positioning of the underground inspection robot.
Description
Technical Field
The invention relates to the technical field of communication, in particular to an underground inspection system and an underground inspection point identification method.
Background
Along with the transformation of intelligent colliery, the robot of patrolling and examining has had a lot of application in the colliery in the pit, and the robot of patrolling and examining can replace the people to patrol and examine appointed equipment, in time discovers colliery underground equipment's potential safety hazard. The current inspection robot is used for inspecting fixed-point equipment regularly according to instructions of a monitoring platform, the inspection point needs to be accurately positioned in the inspection process, and in order to accurately position the inspection point, the current inspection robot can determine the inspection position of the robot by means of an encoder arranged on the inspection robot or read an RFID (radio frequency identification) code attached to a guide rail through a radio frequency identification (RadioFrequencyIdentification, RFID) to determine current displacement data.
However, due to the fact that the encoder has the wheel slipping, idle running or vibration and the like in the inspection process, the displacement data of the encoder cannot reflect the actual position of the current robot faithfully, so that the problem of deviation of the inspection point exists, the inspection robot cannot be guaranteed to arrive at the designated position to carry out inspection, and therefore the inspection effect is not ideal. Drawbacks for another solution are: because the underground environment is complex, the RFID identification code can be influenced by the environment to be unrecognizable, and therefore the current displacement data can not be determined by reading the RFID identification code attached to the guide rail through the RFID.
Therefore, it is highly desirable to provide a safe and reliable downhole inspection point identification scheme for accurately locating a downhole inspection point.
Disclosure of Invention
The invention aims to provide an underground inspection system and an underground inspection point identification method, which are used for realizing the acquisition of inspection point position signals by adopting non-contact and non-electric connection, so that the underground inspection system is safe and explosion-proof, and can realize the accurate positioning of an underground inspection robot.
In a first aspect, the present invention provides a downhole inspection system comprising: n position coding modules and inspection robot, wherein: the N position coding modules are arranged in an array in the inspection track; the fixed positions of the different position coding modules are different, and each position coding module has unique magnetic lattice coding; the magnetic induction switch array on the magnetic resistance sensing device is triggered to read the magnetic lattice code of the current position coding module, and whether the current position is a specified inspection point is judged according to the magnetic lattice code.
The underground inspection system provided by the invention has the beneficial effects that: the underground inspection robot can accurately position the inspection points by means of magnetic lattice coding on the position coding module, and the acquisition of the position signals of the inspection points can be realized by adopting a magnetic induction technology in the positioning process, namely, adopting non-contact and non-electric connection, and the underground explosion-proof safety requirement can be met.
In a possible embodiment, the method further includes: the magnetic induction switch array on the magnetic resistance sensing device comprises at least two magnetic induction layers, each magnetic induction layer comprises a plurality of magnetic induction switches, and the distance between the two magnetic induction switches is larger than the minimum induction distance between the magnetic induction switches. In this embodiment, the distance between the two magnetic induction switches is larger than the minimum induction distance between the magnetic induction switches, so that the state change of the two magnetic induction switches caused by the magnetic starting piece of one inspection point can be avoided.
In another possible embodiment, the material of each position coding module is a passive magnetic material, each position coding module includes at least two magnetic layers, and the adjacent magnetic layers are isolated by using a magnetic blocking material. The position coding module is composed of a plurality of passive magnetic materials, and is safe and explosion-proof according to the agreed array layout. The position coding module is deployed in a layered and segmented mode to realize unique coding of each inspection point, the acquisition of position signals of the inspection points is realized in a non-contact and non-electric connection mode, the underground inspection robot is safe and explosion-proof, the underground inspection robot can accurately position the points to be inspected, and the layered and segmented mode can avoid the mutual influence among magnetic materials and avoid data errors.
In other possible embodiments, a section of magnetic starting piece is correspondingly arranged at the side of each position coding module, and the distance between the adjacent position coding modules is larger than the minimum induction distance of the magnetic induction switch, so that the mutual influence between magnetic materials can be avoided, and data errors are avoided.
In one possible embodiment, the segment magnetic actuator is not in the same horizontal plane as the magnetic layer. The magnetic interference of the circular passive magnet in the magnetic layer to the segment magnetic starter can be avoided.
In a possible embodiment, when the segment induction switch on the magnetic resistance sensing device detects the segment magnetic starting piece on the inspection track, the segment counter on the magnetic resistance sensing device is also triggered to start counting; the inspection robot is further configured to: when the count value of the segment counter reaches a set value, the count value of the segment counter is cleared, and the set value indicates that the inspection robot finishes reading the magnetic lattice codes of all inspection points in the inspection track.
In a possible embodiment, the induction interval of the magnetic induction switch is in the range of [20mm,40mm ], and the minimum induction interval of the magnetic induction switch is usually 20mm.
In a possible embodiment, a circular passive magnet is provided in the magnetic layer.
In a second aspect, an embodiment of the present invention further provides a method for identifying an underground inspection point, which is applied to an inspection robot, where the method includes: when the inspection robot moves along the inspection track, the control section induction switch detects a section magnetic starting piece on the inspection track; when the segment magnetic starting piece on the inspection track is detected, triggering a magnetic induction switch array on the magnetic resistance sensing device to read the magnetic lattice code of the current position coding module on the inspection track; and judging whether the current position is a specified inspection point according to the magnetic lattice code.
In another possible embodiment, when detecting the segment magnetic start piece on the inspection track, triggering the magnetic induction switch array on the magnetic resistance sensing device to read the magnetic lattice code of the current position coding module includes: when the section induction switches at the front end and the rear end of the inspection robot detect the section magnetic starting piece on the inspection track, the magnetic induction switch array on the magnetic resistance sensing device is triggered to read the magnetic lattice code of the current position coding module.
In other possible embodiments, the method further comprises: when a segment induction switch on the magnetic resistance sensing device detects a segment magnetic starting piece on the inspection track, a segment counter on the magnetic resistance sensing device is triggered to start counting; when the count value of the segment counter reaches a set value, the count value of the segment counter is cleared, and the set value indicates that the inspection robot finishes reading the magnetic lattice codes of all inspection points in the inspection track.
In yet another possible embodiment, triggering the magnetic induction switch array on the magnetic resistance sensing device to read the magnetic lattice code of the current position code module includes: when the segment induction switch senses the segment magnetic starting piece, the magnetic induction switch array on the magnetic resistance sensing device is triggered to work and read the magnetic lattice code of the current position coding module, and when the segment induction switch does not sense the segment magnetic starting piece, the read information after the magnetic induction switch array is shielded. Therefore, when the codes are read, the setting and disappearance of the section induction switch are adopted to start or close the detection of the magnetic induction switch array, the problem that the magnetic induction switches of different planes interfere the non-corresponding detection switches in the inspection moving process is solved, the error of the read data is caused, and the integrity and the correctness of the read codes are ensured.
The underground inspection point identification method provided by the invention has the beneficial effects that: the underground inspection robot can realize accurate positioning of inspection points by means of identification of magnetic lattice codes on the position coding module, and can also meet the underground explosion-proof safety requirement due to the fact that a magnetic induction technology is adopted in the positioning process, namely, non-contact no-electric connection is adopted to realize acquisition of inspection point position signals.
Drawings
FIG. 1 is a schematic diagram of an underground inspection system including a position encoding module and an inspection robot according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a magnetic array of inspection positioning composed of position encoding modules according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of a method for identifying an underground inspection point according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are 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. Unless otherwise defined, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. As used herein, the word "comprising" and the like means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof without precluding other elements or items.
The embodiment of the invention provides an underground inspection system comprising a position coding module and an inspection robot, as shown in fig. 1, N position coding modules 100 are deployed at different inspection points of an inspection track according to a set coding mode, N is a positive integer, and N position coding modules 100 form an inspection position magnetic array. The body of the inspection robot 200 is mounted with a magneto-resistive sensing device comprising a segment inductive switch and a magneto-inductive switch array.
Wherein the material of each position encoding module 100 is a passive magnetic material. Illustratively, the passive magnetic material is a passive magnet. Each position-coding module 100 includes at least two magnetic layers, and the adjacent magnetic layers are isolated by a magnetic-resistant material. For another example, as shown in fig. 1, a circular passive magnet is disposed in each magnetic layer of the position encoding module 100, and the positions of the passive magnets are different, so that each position encoding module has a unique magnetic lattice code. It can be seen that the position coding module 100 is deployed at different positions in a layered and segmented manner to realize unique coding of each inspection point, and the non-contact non-electrical connection realizes collection of the position signals of the inspection points, so that the underground inspection robot is safe and explosion-proof, and can accurately position the points to be inspected.
In addition, as shown in fig. 1, a section of magnetic starting piece is correspondingly disposed beside each position coding module 100, and when the magnetic starting piece is sensed by the section sensing switch of the inspection robot, it is indicated that the inspection robot moves to the vicinity of the position coding module beside the magnetic starting piece. In addition, the distance between adjacent position coding modules is larger than the minimum induction distance of the magnetic induction switch, so that the mutual influence between magnetic materials can be avoided, and data reading errors are avoided.
In a possible embodiment, the magnetic actuators of the segments beside the position-coding module 100 are not in the same level as the magnetic layers in the position-coding module 100. As shown in fig. 1, the segment magnetic actuator 1 is not parallel to any of the magnetic layers of the position-coding module 100 in the horizontal plane. Thus, the magnetic interference of the circular passive magnet in the magnetic layer to the segment magnetic starter can be avoided.
It should be understood that the number of layers of the magnetic layers in the position encoding module is not limited to four layers as shown in fig. 1, but may be two or more, and in addition, one or more points may be set as needed for the magnet distribution points in each layer. As shown in fig. 2, the position encoding module 100 may be further illustrated, and as can be seen from fig. 2, the layout of the circular magnets is performed in a layered and segmented manner, so that only one circular magnet is provided in each layer of each segment, the layers are isolated by using a magnetic blocking material, the distance between adjacent position encoding modules is greater than the minimum inductive distance of the magnetic induction switch, the uniqueness of the encoding of each layer of each segment is ensured, and the magnetic lattice encoding of the four position encoding modules 100 in fig. 2 is different. It should be understood that each position encoder can be manufactured in a factory in advance before being installed on the inspection track, so that the position encoding module is installed on a specified inspection point only according to the requirement under a mine, and the method is simple, convenient and easy to implement.
In this embodiment, when the inspection robot performs an underground inspection task, the inspection robot moves along the inspection track, and since the inspection robot is provided with the segment induction switch, when the inspection robot moves near the position coding module, the segment induction switch on the magneto-resistance sensing device can detect the segment magnetic starting piece beside the position coding module, once the segment induction switch of the inspection robot detects the segment magnetic starting piece, the magnetic induction switch array on the magneto-resistance sensing device is triggered to read the magnetic lattice code of the current position coding module, and whether the current position is a specified inspection point is determined according to the magnetic lattice code. Once the current position is the appointed inspection point, the inspection robot executes the inspection task on the equipment of the inspection point, but if the current position is not the appointed inspection point, the inspection robot continues to advance along the inspection track, and information is collected and judged according to the mode until the appointed inspection point is found.
It is worth noting that the magnetic induction switch array comprises at least two magnetic induction layers, each magnetic induction layer comprises a plurality of magnetic induction switches, wherein the distance between the two magnetic induction switches is larger than the minimum induction distance between the magnetic induction switches. The magnetic induction switch can induce the circular passive magnet in the position coding module, so that the magnetic induction switch array determines the magnetic lattice coding of the current position coding module according to the induction result in each magnetic induction layer. Illustratively, the inductive spacing of the magnetic inductive switch ranges from [20mm,40mm ], with the minimum inductive spacing of the magnetic inductive switch typically being 20mm.
In a possible embodiment, the magnetic resistance sensing device further comprises a counter, and when the segment induction switch on the magnetic resistance sensing device detects the segment magnetic starting piece on the inspection track, the segment counter on the magnetic resistance sensing device is triggered to start counting; when the count value of the segment counter reaches a set value, the inspection robot is stated to finish the reading of the magnetic lattice codes of all inspection points in the inspection track, and the count value of the segment counter is cleared.
Based on the above-mentioned downhole inspection system, the embodiment of the invention further provides a schematic diagram of a method for identifying a downhole inspection point, and the method may be performed by a magneto-resistance sensing device in an inspection robot, as shown in fig. 3, and may include the following steps:
s301, when the inspection robot moves along the inspection track, a section induction switch in the magnetic resistance sensing device detects a section magnetic starting piece on the inspection track.
S302, when the segment magnetic starting piece on the inspection track is detected, the magnetic induction switch array on the magnetic resistance sensing device is triggered to read the magnetic lattice code of the current position coding module.
Specifically, in one possible embodiment, the front end and the rear end of the inspection robot may be respectively provided with a section induction switch, and when the section induction switches at the front end and the rear end of the inspection robot detect section magnetic starting pieces at the front end and the rear end of the position coding module, the magnetic induction switch array on the magnetic resistance sensing device is triggered to read the magnetic lattice code of the current position coding module, so that erroneous judgment caused by inaccurate code reading in the identification process can be avoided.
S303, judging whether the current position is a specified inspection point according to the magnetic lattice code.
Referring to fig. 1, for example, when the inspection robot moves to a position opposite to the first position coding module 100, the segment induction switch induces a segment magnetic starting member beside the first position coding module 100, and the magnetic induction switch induction array is started to work because the magnetic resistance sensing device starts the segment counter in the program to read the current magnetic lattice code, so that the change of appearance and disappearance of the segment magnetic starting member needs to be judged during processing on the program, when the segment magnetic starting member is about to disappear, the read information after the segment magnetic starting member disappears is shielded in the program, and the error position information of the plane is prevented from being read by other magnetic induction switches on the same plane in the moving process of the magnetic resistance sensing device, so that the error data reading error is caused. In addition, when the inspection robot moves to a position opposite to the second position coding module 100, the segment induction switch detects the segment magnetic starting piece, the value of the segment counter is added with 1 and is set to be 2, and meanwhile, the magnetic induction switch array is started to work, so that the magnetic lattice codes of the second position coding module 100 are read. Along with the continuous movement of the inspection robot, the data reading of the inspection positions of all inspection points of the inspection track is completed after the magnetic lattice codes of the last position coding module are read, the count of the section counter is cleared, in the inspection reading process, the code reading information in the reading process is processed and judged in real time in a program, whether the current magnetic lattice codes are designated inspection points or not is judged, if so, inspection is carried out according to the inspection operation instruction, and if not, the walking is continued until the corresponding inspection points are found.
While embodiments of the present invention have been described in detail hereinabove, it will be apparent to those skilled in the art that various modifications and variations can be made to these embodiments. It is to be understood that such modifications and variations are within the scope and spirit of the present invention as set forth in the following claims. Moreover, the invention described herein is capable of other embodiments and of being practiced or of being carried out in various ways.
Claims (10)
1. A downhole inspection system, comprising: n position coding modules and inspection robot, wherein:
the N position coding modules are arranged in an array in the inspection track; the fixed positions of the different position coding modules are different, and each position coding module has unique magnetic lattice coding;
the magnetic induction switch array on the magnetic resistance sensing device is triggered to read the magnetic lattice code of the current position coding module, and whether the current position is a specified inspection point is judged according to the magnetic lattice code.
2. The downhole inspection system of claim 1, wherein the array of magnetic induction switches on the magnetoresistive sensing device comprises at least two magnetic induction layers, each magnetic induction layer comprising a plurality of magnetic induction switches, wherein a spacing of the two magnetic induction switches is greater than a minimum induction spacing of the magnetic induction switches.
3. The downhole inspection system of claim 1, wherein the material of each position encoding module is a passive magnetic material, each position encoding module comprises at least two magnetic layers, and adjacent magnetic layers are isolated by a magnetic blocking material.
4. A downhole inspection system according to claim 3, wherein a magnetic actuator is provided beside each position encoding module, the distance between adjacent position encoding modules being greater than the minimum inductive spacing of the magnetic induction switch.
5. The downhole inspection system of claim 4, wherein the segment magnetic actuator is not in the same horizontal plane as the magnetic layer.
6. The downhole inspection system of any of claims 2-5, wherein when a segment-sensitive switch on the magneto-resistive sensing device detects a segment magnetic actuation on the inspection track, a segment counter actuation count on the magneto-resistive sensing device is also triggered;
the inspection robot is further configured to: when the count value of the segment counter reaches a set value, the count value of the segment counter is cleared, and the set value indicates that the inspection robot finishes reading the magnetic lattice codes of all inspection points in the inspection track.
7. The underground inspection point identification method is applied to an inspection robot and is characterized by comprising the following steps of:
when the inspection robot moves along the inspection track, a section induction switch in the magnetic resistance sensing device detects a section magnetic starting piece on the inspection track;
when the segment magnetic starting piece on the inspection track is detected, triggering a magnetic induction switch array on the magnetic resistance sensing device to read a magnetic lattice code of a current position coding module;
and judging whether the current position is a specified inspection point according to the magnetic lattice code.
8. The method of claim 7, wherein triggering the magnetic induction switch array on the magneto-resistive sensing device to read the magnetic lattice code of the current position-coding module when the segment magnetic actuator on the inspection track is detected, comprises:
when the section induction switches at the front end and the rear end of the inspection robot detect the section magnetic starting piece on the inspection track, the magnetic induction switch array on the magnetic resistance sensing device is triggered to read the magnetic lattice code of the current position coding module.
9. The method as recited in claim 7, further comprising:
when a segment induction switch on the magnetic resistance sensing device detects a segment magnetic starting piece on the inspection track, a segment counter on the magnetic resistance sensing device is triggered to start counting;
when the count value of the segment counter reaches a set value, the count value of the segment counter is cleared, and the set value indicates that the inspection robot finishes reading the magnetic lattice codes of all inspection points in the inspection track.
10. The method according to any one of claims 7 to 9, wherein triggering the magnetic induction switch array on the magneto-resistive sensing device to read the magnetic lattice code of the current position-coding module comprises:
when the segment induction switch senses the segment magnetic starting piece, the magnetic induction switch array on the magnetic resistance sensing device is triggered to work and read the magnetic lattice code of the current position coding module, and when the segment induction switch senses the segment magnetic starting piece, the information read by the magnetic induction switch array is shielded.
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| CN202310267934.0A CN116295419A (en) | 2023-03-16 | 2023-03-16 | Underground inspection system and underground inspection point identification method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116793339A (en) * | 2023-08-29 | 2023-09-22 | 深圳智荟物联技术有限公司 | Vehicle positioning method, device, equipment and storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116793339A (en) * | 2023-08-29 | 2023-09-22 | 深圳智荟物联技术有限公司 | Vehicle positioning method, device, equipment and storage medium |
| CN116793339B (en) * | 2023-08-29 | 2023-11-07 | 深圳智荟物联技术有限公司 | Vehicle positioning method, device, equipment and storage medium |
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