RU2783644C1 - Robotic device for measuring complex-mechanized stope and automatic measuring system - Google Patents

Abstract

FIELD: coal deposits intellectual development.

SUBSTANCE: inventions group relates to the field of intellectual development of coal deposits. A robotic device for measuring a complex-mechanized stope includes a hanging cage, a total station, a prism and an industrial personal computer. The suspended cage, which has an automatic leveling function, is suspended and fixed on the top beam of the hydraulic support. A total station and an industrial personal computer are installed in the suspended cage. The prism equipped with the appropriate connector is connected to the total station base. In accordance with the lifting and lowering of the complex-mechanized working face of the mine, several measuring robots are sequentially located along the surface of the working face, so that adjacent measuring robots are in each other's field of view; as a result, an automatic measuring system of a complex-mechanized stope is formed, covering the mine area. With the help of the mentioned robotic device for measuring the complex-mechanized working face and the automatic measuring system, measurements of the geodetic coordinates of stationary and moving targets of the working face of the mine are carried out.

EFFECT: reducing the duration of determining the direction of the north with a gyroscopic total station and improving the quality of measurements in a stope.

4 cl, 3 dwg

Description

Technical field

This invention relates to the field of intellectual development of coal deposits, namely to robotic devices for measuring a complex mechanized stope and an automatic measuring system.

Prior Art

As the level of intellectualization of mine equipment increases, the state is stepping up measures to stimulate work with minimal or no participation of people in hazardous working areas of underground complex-mechanized stopes. The fewer people are involved in the production of work in the complex-mechanized longwall of the mine, the safer the entire working environment becomes as a whole, i.e. it is necessary to ensure the transparency of the stope. In turn, the transparency of the so-called complex-mechanized working face is based on the creation of a single spatial coordinate system of the working face.

The development of a complex-mechanized stope is a process of dynamic advancement. Based on this, in the process of dynamic advancement in the stope, the fundamental factors are the deployment of a mine stope control network and the rapid automatic deployment of spatial links within a high-precision unified coordinate system of a complex mechanized stope. The unfavorable conditions of the underground environment in mines cause limited space, the presence of powerful magnetic fields and other difficulties that do not have effective solutions; The GPS systems and BeiDou positioning systems used on the surface of the earth are also not effective here. To date, in the field of measuring instruments for complex-mechanized stopes, there are the following problems:

(1) Periodic measurement of target points by traditional wire method (for example, once a week or every half a month, measurements during the period of inspection and repair). Periodic advancement of the surface of the working face leads to the destruction of the entire system of spatial relationships; there is no possibility to satisfy the requests for intelligent positioning of the complex-mechanized working face in real time.

(2) The method of measuring the target points of a complex-mechanized stope of a mine using a gyroscopic total station can be based on the dynamic creation of a single spatial coordinate system. However, to apply this method, it is necessary that both the main control measuring robots and conventional measuring robots be equipped with gyroscopic total stations, but within the framework of this application, the gyroscopic total station is used only on the main control measuring robots in the case when only one control is visible in the drift point, while the rest of the conventional measuring robots use total stations without a continuous northing gyroscope. The reason for this is that the time duration of the search for the north by the gyroscopic total station becomes longer each time after the advancement of the stope (the higher the accuracy of the gyroscope orientation to the north, the greater the time spent). In addition, gyroscopic total stations have a high cost and low adaptability to adverse operating environments (high temperatures, high humidity, high vibration).

(3) Based on the method of resection of the distance to the target points of the complex-mechanized stope of the mine, it is possible to dynamically create a single spatial coordinate system. However, with the exception of the head and tail master control total stations, whose geodetic coordinates can be calculated using the distance resection method, it is practically impossible to calculate the coordinates of intermediate total stations using this method, since their stations and pairs of distance resection control points are located almost on the same line, and the angle at the highest point, which is the standing point of the total station, is practically equal to zero, which leads to the creation of a large error in the calculation of coordinates.

Known in the prior art is the information source CN201610095277.6, E21F17/18, published on 11/16/2016, which proposes a downhole equipment system that provides accurate location of equipment and personnel during coal mining. The system consists of a hydraulic support, a coal mining machine, an anchor point and a server to determine the location of the coal mining machine, its direction of movement and speed.

Source of information CN 201610095277 .6 does not solve the above technical problem, since it only helps to avoid shutdown and reduce the wear of the coal mining machine, in addition, the system does not provide the transparency of the working face, which is based on the creation of a single spatial coordinate system of the working face.

The essence of the invention

Considering the above problems, a robotic device for measuring a complex-mechanized stope and an automatic measuring system are presented, which are measuring robots consisting of a hanging cage, a total station, a prism and an industrial personal computer. By replacing the gyroscopic total station with a measuring robot, the disadvantages associated with the long duration of determining the direction of the north by the gyroscopic total station, its high cost and poor adaptability to adverse environmental conditions are eliminated.

Based on one aspect of the present invention, it is a robotic device for measuring a complex mechanized stope, the structure of the measuring robot includes a hanging cage, a total station, a prism, and an industrial personal computer, including:

The suspended cage is installed on the top beam of the powered support of the complex-mechanized working face of the mine and is used to mount the total station, industrial personal computer and prism; the suspended cage has an automatic leveling function that ensures that the total station inside the cage remains horizontal; the hanging cage is a waterproof, dustproof and explosion-proof sealed space, while in accordance with the close to linear characteristics of the front and rear measurement perspectives of the stope, there are transparent viewing windows in front and behind the said hanging cage, enabling the total station to carry out the corresponding measurements;

The total station is a versatile measurement platform that combines the functions of automatic target identification, automatic target assertion, automatic angle measurement, automatic target tracking, automatic calculation and automatic data storage; the tacheometer is mounted in the center of the hanging cage chamber;

A prism is an optical processing device for targets measured by a total station, which includes a simple optical prism and a 360° prism; the prism is installed in the lower part of the hanging cage so that the vertical axial line of the prism and the centering axis of the total station are located on a common plumb line; the geodetic X and Y coordinates of the prism coincide with the X and Y coordinates of the total station station;

An industrial personal computer is an industrial computer that is installed inside a hanging cage; on an industrial personal computer, a program for automatic control of a measuring robotic device is deployed, which is used to control a measuring robotic device on which an industrial personal computer is installed, as well as to schedule the joint operation of several measuring robots;

Depending on the installation position and specific purpose, the measuring robots are divided into main control measuring robots and conventional measuring robots; the main control measuring robot is equipped with a total station, which is a conventional total station or a gyro total station with a continuous north gyroscope; the conventional measuring robot is equipped with a total station, which is a conventional total station without a gyroscope;

Each conventional measuring robot, equipped with a conventional total station, performs spatial orientation with the help of a prism of the measuring robot observed from behind with already known coordinates of the standing point, observes the prism of the measuring robot located in front with unknown coordinates of the standing point, and by measuring the angle of incidence and slant range obtains the coordinates of the point standing in front of said measuring robot.

Optionally, the main control measuring robot can be a measuring robot installed and fixed on the top beam of the powered support at the beginning or end of the complex-mechanized working face of the mine; a conventional measuring robot may be a measuring robot installed and fixed on the intermediate top beams of a powered support in a complex-mechanized working face of a mine.

Optionally, the method of determining the coordinates of the standing point of the said main control measuring robot may include the following:

(1) The main control measuring robot behind it observes the prisms of the two control points on the side walls of the roadway, and controls the slant range and the angle of incidence of the standing point of the main control robot with respect to the two control points on the side walls of the roadway, due to which, by resection of the distance by two points, the coordinates of the standing point of the main control measuring robot are calculated;

(2) The total station located on the main control measuring robot is a gyroscopic total station that has a north-search function; the gyroscopic total station performs an automatic search for the north, determines the position of the main control measuring robot's standing point relative to the prism of one of the control points on the side walls of the working, and using the angle of incidence and slant range measured by the total station relative to the control point, calculates the coordinates of the main control measuring robot's standing point.

Optionally, the method of calculating the branch line can be used to determine the coordinates of the standing point of a conventional measuring robot.

Based on another aspect of this application, an automated measuring system is presented, which includes robots for measuring complex-mechanized stope presented in the first aspect of this application, said measuring robots include the main control measuring robots, including the layout of the equipment of the automatic measuring system includes:

Prisms of control points, located on the walls of the development of one-sided drifts at the beginning or end of the complex-mechanized stope of the mine, the geodetic coordinates of the mentioned control points of the prisms are determined in advance; control points are used as control points viewed from behind by the main control measuring robot;

The main control measuring robot is installed and mounted on the top beam of the powered support at the beginning or end of the complex-mechanized working face of the mine;

In accordance with the raising and lowering of the complex mechanized working face of the mine, on the top beams of the powered support of the complex mechanical working face, conventional measuring robots are installed and fixed so as to ensure mutual visibility between two adjacent measuring robots, including the main control measuring robots, thereby realizing full coverage of the entire production face with a monitoring and control network.

Optionally, the workflow of the automatic measuring system may include the following:

(1) Putting the automatic measuring system into operation;

(2) Calculate and obtain the coordinates of the position points of the main control measuring robots using the control points on the walls of the working, observing the prism of the neighboring measuring robot located in front to obtain the coordinates of its position point; at the same time, the geodetic coordinates of stationary and moving targets are measured;

(3) Each conventional measuring robot performs spatial orientation with the help of a prism of the measuring robot observed from behind with already known station coordinates, observes the prism of the measuring robot located in front with unknown station coordinates, and by measuring the angle of incidence and slant range obtains the coordinates of the station point of this observed in front of the measuring robot; at the same time, the geodetic coordinates of stationary and moving targets are measured;

(4) Through this method, the measurement of geodetic coordinates of stationary and moving targets is realized within the boundaries of the entire complex mechanized stope of the mine;

(5) Stopping the operation of the system after completing the measurement of geodetic coordinates of stationary and moving targets within the boundaries of the entire complex mechanized stope of the mine.

Technical result

A robotic device for measuring a complex mechanized stope, including the composition of the measuring robot design includes a hanging cage, a total station, a prism and an industrial personal computer. The hanging cage, which has the function of automatic leveling, is suspended and fixed on the top beam of the hydraulic support, then a total station and an industrial personal computer are installed in the hanging cage; at the end, the prism equipped with the appropriate connector is connected to the base of the total station; as a result, a measuring robotic device is formed. In accordance with the lifting and lowering of the complex-mechanized working face of the mine, along the surface of the working face, several measuring robots are sequentially arranged so that adjacent measuring robots are in each other's field of vision. When only one control point is visible in the roadway, it is necessary that the gyroscopic total station is installed only on one main control measuring robot, the remaining conventional measuring robots can use a total station without a continuous northing gyroscope. Each conventional measuring robot performs spatial orientation using the prism of the measuring robot observed from behind with already known coordinates of the standing point, observes the prism of the measuring robot located in front with unknown coordinates of the standing point and, by measuring the angle of incidence and slant range, obtains the coordinates of the standing point of this measuring robot observed in front robot; at the same time, the geodetic coordinates of stationary and moving targets are measured.

In other words, when only one control point is visible in the roadway of the complex-mechanized stope, it is enough that the gyroscopic total station is installed on only one main control measuring robot, the rest of the conventional measuring robots can use conventional total stations. When at least two control points are visible in the drift, then all measuring robots can use conventional total stations to measure the geodetic coordinates of stationary and moving targets within the boundaries of the entire complex-mechanized stope, since measuring robots using a conventional total station need only a few seconds to measure the geodetic coordinates of stationary and moving targets, and the use of such robotic devices can not only save costs, but also significantly reduce the measurement time and eliminate the disadvantages associated with the long duration of determining the direction of the north by a gyroscopic total station, its high cost and poor adaptability to adverse conditions environment.

Description of drawings

The following detailed description of the most illustrative embodiments of the invention will help ordinary technical personnel in this field to more clearly understand the various other advantages and beneficial effects of this invention. The accompanying images are presented solely for the purpose of demonstrating the most illustrative examples of the implementation of this invention and do not impose any restrictions on this invention. All of the attached images use a set of reference conventions to refer to the same parts. Attached images include:

On FIG. 1 shows a layout diagram of the equipment of an automatic measuring system of a complex-mechanized stope according to example implementation 1 of this invention;

On FIG. 2 shows a diagram of the design of a robotic device for measuring a complex-mechanized stope according to implementation example 1 of this invention;

On FIG. 3 shows a diagram of the working process of an automatic measuring system of a complex-mechanized stope according to example implementation 1 of this invention;

Specific embodiments of the invention

Below, according to the attached images, a more detailed description of exemplary embodiments of the present invention is presented. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention may be embodied in various forms and is not limited to the embodiments set forth herein. On the contrary, these examples of implementation are presented for a more complete understanding and to enable technical personnel in this field to fully convey the scope of this invention.

Taking into account the application of related technologies, after the advancement of the complex-mechanized stope, the gyroscopic total station each time needs a rather long time to find the north (and the higher the accuracy of the gyroscope's orientation to the north, the greater the time cost). In addition, gyroscopic total stations have a high cost and low adaptability to an unfavorable operating environment (high temperatures, high humidity, vibration), which even more clearly reveals the imperfection of the prior art and causes a request to find solutions for its modernization and refinement. At the same time, the following two problems arise in the process of modernization:

First, based on the method of resection of the distance to the target points of the complex-mechanized stope of the mine, it is possible to dynamically create a single spatial coordinate system. However, with the exception of the head and tail main control total stations, the geodetic coordinates of which can be calculated using the distance resection method, it is almost impossible to calculate the coordinates of intermediate total stations using this method, since their standing points and pairs of distance resection control points are located almost on the same line, and the angle at the highest point, which is the standing point of the total station, is practically equal to zero, which leads to the creation of a large error in the calculation of coordinates. In addition, the production of underground works is accompanied by difficult environmental conditions, and the complex-mechanized stope is in the process of dynamic advancement, therefore, improving the accuracy of calculating coordinates is a relatively complex permanent problem of the professional sphere.

Secondly, the long duration of determining the direction of the north with a gyroscopic total station, its high cost and low adaptability to an unfavorable operating environment. At the same time, in the field of underground work, it is necessary not only to reduce the cost of equipment, but also to improve the accuracy of measurements in order to ensure the safety of work at a higher level, which is an extremely difficult task.

Based on the above problems, in the course of numerous tests and comparative studies, the base of control and measuring equipment was updated and the methods for calculating coordinates were improved, as a result of which the following technical concept was presented:

Realization of spatial orientation by using a conventional total station without a gyroscope instead of a gyroscopic total station using a prism of a measuring robot observed from behind with known station coordinates, determining the direction of true north, observing the prism of said measuring robot located in front with unknown station coordinates and by measuring the angle of incidence and slant range obtaining the coordinate of the standing point of this observed in front of the mentioned measuring robot.

In this embodiment, the invention represents a robotic device for measuring a complex mechanized stope, including the composition of the measuring robotic device design includes a hanging cage, a total station, a prism and an industrial personal computer. The hanging cage, which has the function of automatic leveling, is suspended and fixed on the top beam of the hydraulic support, then a total station and an industrial personal computer are installed in the hanging cage; at the end, the prism equipped with the appropriate connector is connected to the base of the total station; as a result, a measuring robotic device is formed. In accordance with the lifting and lowering of the complex-mechanized working face of the mine, along the surface of the working face, several measuring robots are sequentially arranged so that adjacent measuring robots are in each other's field of vision. When only one control point is visible in the roadway, it is necessary that the gyroscopic total station is installed only on one main control measuring robot, the remaining conventional measuring robots can use a total station without a continuous northing gyroscope. Each conventional measuring robot performs spatial orientation using the prism of the measuring robot observed from behind with already known coordinates of the standing point, observes the prism of the measuring robot located in front with unknown coordinates of the standing point and, by measuring the angle of incidence and slant range, obtains the coordinates of the standing point of this measuring robot observed in front robot; at the same time, the geodetic coordinates of stationary and moving targets are measured. In other words, when only one control point is visible in the drift of a complex-mechanized stope, it is enough that the gyroscopic total station is installed on only one main control measuring robot, the rest of the conventional measuring robots can use conventional total stations. When at least two control points are visible in the drift, then all measuring robots can use conventional total stations to measure the geodetic coordinates of stationary and moving targets within the boundaries of the entire complex-mechanized stope, and measuring robots using a conventional total station need only a few seconds , to measure the geodetic coordinates of stationary and moving targets, while the gyroscopic total station takes 15 minutes each time to determine the direction. Thus, the use of such robotic devices allows not only saving costs, but also significantly reducing the measurement time and eliminating the disadvantages associated with the long duration of determining the direction of the north by a gyroscopic total station, its high cost and poor adaptability to adverse environmental conditions.

Implementation example 1

On FIG. 2 shows a diagram of the design of a robotic device for measuring a complex mechanized stope according to this application. As shown in FIG. 2, a robotic device for measuring complex mechanized stope, the composition of the measuring robot structure includes a hanging cage, a total station, a prism and an industrial personal computer, including:

The suspended cage is installed on the top beam of the powered support of the complex-mechanized working face of the mine and is used to mount the total station, industrial personal computer and prism;

The hanging cage has an automatic leveling function that ensures that the total station inside the cage remains horizontal;

The hanging cage is a waterproof, dustproof and explosion-proof sealed space, while in accordance with the near-linear characteristics of the front and rear measurement perspectives of the stope, there are transparent viewing windows in front and behind the said hanging cage, enabling the total station to carry out the corresponding measurements;

The total station is a versatile measurement platform that combines the functions of automatic target identification, automatic target assertion, automatic angle measurement, automatic target tracking, automatic calculation and automatic data storage; the tacheometer is mounted in the center of the hanging cage chamber;

A prism is an optical processing device for targets measured by a total station, which includes a simple optical prism and a 360° prism; the prism is installed in the lower part of the hanging cage so that the vertical axial line of the prism and the centering axis of the total station are located on a common plumb line; the geodetic X and Y coordinates of the prism coincide with the X and Y coordinates of the total station station;

An industrial personal computer is an industrial computer that is installed inside a hanging cage; on an industrial personal computer, a program for automatic control of a measuring robotic device is deployed, which is used to control a measuring robotic device on which an industrial personal computer is installed, as well as to schedule the joint operation of several measuring robots;

Depending on the installation position and specific purpose, the measuring robots are divided into main control measuring robots and conventional measuring robots; the main control measuring robot is equipped with a total station, which is a conventional total station or a gyro total station with a continuous north gyroscope; the conventional measuring robot is equipped with a total station, which is a conventional total station without a gyroscope;

Each conventional measuring robot, equipped with a conventional total station, performs spatial orientation with the help of a prism of the measuring robot observed from behind with already known coordinates of the standing point, observes the prism of the measuring robot located in front with unknown coordinates of the standing point, and by measuring the angle of incidence and slant range obtains the coordinates of the point standing in front of said measuring robot.

According to an example implementation of this invention, the composition of the design of the measuring robot includes a suspended cage, a total station, a prism and an industrial personal computer. The hanging cage, which has the function of automatic leveling, is suspended and fixed on the top beam of the hydraulic support, then a total station and an industrial personal computer are installed in the hanging cage; at the end, the prism equipped with the appropriate connector is connected to the base of the total station; as a result, a measuring robotic device is formed. In accordance with the lifting and lowering of the complex-mechanized working face of the mine, along the surface of the working face, several measuring robots are sequentially arranged so that adjacent measuring robots are in each other's field of vision. When only one control point is visible in the roadway, it is necessary that the gyroscopic total station is installed only on one of several measuring robots (this measuring robot can be the main control measuring robot), other conventional measuring robots can use a total station without a gyroscope of continuous orientation to north. Each conventional measuring robot performs spatial orientation using the prism of the measuring robot observed from behind with already known coordinates of the standing point, observes the prism of the measuring robot located in front with unknown coordinates of the standing point and, by measuring the angle of incidence and slant range, obtains the coordinates of the standing point of this measuring robot observed in front robot; at the same time, the geodetic coordinates of stationary and moving targets are measured.

In other words, when only one control point is visible in the roadway of the complex-mechanized stope, it is enough that the gyroscopic total station is installed on only one main control measuring robot, the rest of the conventional measuring robots can use conventional total stations. When at least two control points are available for visibility in the drift, then all measuring robots can use conventional total stations to measure the geodetic coordinates of stationary and moving targets within the boundaries of the entire complex-mechanized stope. Measuring robots using a conventional total station take several seconds to measure the geodetic coordinates of stationary and moving targets, while a gyroscopic total station takes 15 minutes each time to determine the direction. The use of such robotic devices allows not only saving costs, but also significantly reducing the measurement time and eliminating the disadvantages associated with the long duration of determining the direction of the north by a gyroscopic total station, its high cost and poor adaptability to adverse environmental conditions.

Based on the mentioned robotic device for measuring complex mechanized stope, the present invention presents several specific examples of implementation listed below. Based on the prerequisites of the absence of mutual contradictions, any combination of the presented examples of implementation can lead to the creation of a new robotic device for measuring complex mechanized stope. It should be understood that any new robotic device for measuring complex-mechanized stope created by any combination of embodiments of the present invention falls within the scope of the present invention.

According to the embodiment of the present invention, the main control measuring robot may be a measuring robot installed and fixed on the top beam of a powered roof support at the beginning or end of a complex mechanized working face of a mine; a conventional measuring robot may be a measuring robot installed and fixed on the intermediate top beams of a powered support in a complex-mechanized working face of a mine.

The main control measuring robot is used to control the coordinated operation of all measuring robots. Through such coordinated work, measurements of the geodetic coordinates of stationary and moving targets are carried out within the boundaries of the entire complex-mechanized stope and the shortcomings associated with the destruction of the entire system of spatial relationships due to the periodic advancement of the surface of the stope and the inability to satisfy the requests for intelligent positioning of the complex-mechanized stope are eliminated. in real time.

In this implementation example, the determination of the coordinates of the standing point of the said main control measuring robot is determined by the following two methods:

(1) The main control measuring robot behind it observes the prisms of the two control points on the side walls of the roadway, and controls the slant range and the angle of incidence of the standing point of the main control robot with respect to the two control points on the side walls of the roadway, due to which, by resection of the distance by two points, the coordinates of the standing point of the main control measuring robot are calculated. Thus, a measuring robot without a gyroscopic total station can be used as the main control measuring robot. This allows not only to save costs, but also to significantly reduce the measurement time and eliminate the disadvantages associated with the long duration of determining the direction of the north by a gyroscopic total station, its high cost and poor adaptability to adverse environmental conditions.

(2) The total station located on the main control measuring robot is a gyroscopic total station that has a north-search function; the gyroscopic total station performs an automatic search for the north, determines the position of the main control measuring robot's standing point relative to the prism of one of the control points on the side walls of the working, and using the angle of incidence and slant range measured by the total station relative to the control point, calculates the coordinates of the main control measuring robot's standing point. The underground environment in mines is characterized by difficult conditions and limited space. When only one control point is visible in the mine, it is impossible to calculate the coordinates of the standing point of the main control measuring robot using the two-point resection method. Therefore, it is necessary that a gyroscopic total station be used on the main control measuring robot. The gyroscopic total station automatically finds the north and determines the direction from the standing point of the main operating measuring robot to the control point, and calculates the coordinates of the standing point of the main operating measuring robot using the single-point resection method. The use of such a set of equipment makes it possible to eliminate the problems associated with the impossibility of calculating the coordinates of the standing point of the main control measuring robot by the method of resection of the distance by two points, when only one control point is visible in the mine.

In this implementation example, a branch line calculation method can be used to determine the coordinates of the standing point of a conventional measuring robot. The branch line calculation method eliminates the disadvantages associated with the impossibility of using the distance resection method for calculating geodetic coordinates, since the standing points of intermediate total stations and a pair of distance resection control points are located almost on the same line, and the angle at the highest point, which is the standing point of the total station , is practically equal to zero, which leads to the creation of a large error in the calculation of coordinates.

Implementation example 2

On FIG. 1 shows a layout diagram of the equipment for an automatic measuring system of a complex mechanized stope according to this application. As shown in FIG. 1, the automated measuring system includes the measuring robotic device represented by the implementation example 1 of this application, including:

Prisms of control points located on the walls of the working in the same direction as the beginning or end of the complex-mechanized stope of the mine; in FIG. 1 on both sides, the walls of the working are marked with a black frame. The geodetic coordinates of the mentioned control points of the prisms are determined in advance; control points are used as control points viewed from behind by the main control measuring robot;

The main control measuring robot is installed and mounted on the top beam of the powered support at the beginning or end of the complex-mechanized working face of the mine;

In accordance with the lifting and lowering of the complex mechanized stope, on the top beams of the powered support of the complex mechanized stope, the measuring robots are installed and fastened so as to ensure mutual visibility between two adjacent measuring robots, including the main control measuring robots, due to which complete coverage is realized of the entire production face with a monitoring and control network.

According to the example of the implementation of the present invention, in accordance with the lifting and lowering of the complex-mechanized working face of the mine along the surface of the working face, several measuring robots are sequentially arranged so that adjacent measuring robots are in each other's field of view; as a result, an automatic measuring system of a complex-mechanized stope is formed, covering the mine area. With the help of the mentioned robotic device for measuring the complex-mechanized working face and the automatic measuring system, measurements of the geodetic coordinates of stationary and moving targets of the working face of the mine are carried out.

According to the embodiment of the present invention in FIG. 3 shows a diagram of the working process of an automatic measuring system of a complex mechanized stope according to this application. As shown in FIG. 3, the working workflow of the automatic measuring system includes the following:

(1) Putting the automatic measuring system into operation.

(2) Calculate and obtain the coordinates of the position points of the main control measuring robots using the control points on the walls of the working, observing the prism of the neighboring measuring robot located in front to obtain the coordinates of its position point; at the same time, the geodetic coordinates of stationary and moving targets are measured.

(3) Each conventional measuring robot performs spatial orientation with the help of a prism of the measuring robot observed from behind with already known station coordinates, observes the prism of the measuring robot located in front with unknown station coordinates, and by measuring the angle of incidence and slant range obtains the coordinates of the station point of this observed in front of the measuring robot; at the same time, the geodetic coordinates of stationary and moving targets are measured.

(4) In FIG. 3 ellipsis means step (3) is repeated by every conventional measuring robot. By repeatedly repeating steps (1)-(3), the geodetic coordinates of stationary and moving targets are measured within the boundaries of the entire complex mechanized stope of the mine.

(5) Stopping the operation of the system after completing the measurement of geodetic coordinates of stationary and moving targets within the boundaries of the entire complex mechanized stope of the mine.

It should be understood that, in this description of the invention presents a description of only the most illustrative examples of implementation of the examples of implementation of the present invention. However, technical personnel in this field, having understood the basic inventive concept, may make other changes and modifications to these examples of implementation. Therefore, the interpretation of the appended claims is to include all exemplary embodiments of the present invention, as well as all changes and modifications that fall within the scope of the embodiments of the present invention.

In conclusion, it should be noted that linking terms such as "first" or "second" are used in this document solely to separate any object or operation from another object or operation, and not to explicitly or implicitly assign to these objects or operations any connections or sequences. In addition, the terms "comprises", "comprises" and any other variations thereof are used here to describe the scope of non-exclusive content, so it should be understood that processes, methods, items or end devices that include a number of constituent elements are not limited to content only the listed elements, but also include other elements not listed in the listing, or include elements inherent in these processes, methods, objects or end devices. In the absence of any additional restrictions, an element defined by the phrase "including ..." does not preclude the existence of other identical elements in the process, method, subject or end device of the said elements that include this element.

The above is a detailed description of the robotic device for measuring complex-mechanized stope and automatic measuring system presented in this invention. In order to describe the principles of the present invention and methods for its implementation, several separate specific examples are provided herein, which are presented solely to make the method and the main idea of the present invention more understandable. At the same time, generally speaking, the contents of this description should not be taken as any limitation for ordinary technical personnel in this field, who, based on the idea of this invention, may, within the specific examples of implementation and scope of this invention, make any changes or modifications.

Claims (9)

1. A robotic device for measuring a complex-mechanized stope, characterized in that the design includes a hanging cage, a tacheometer, a prism and an industrial personal computer, moreover, said hanging cage is installed on the top beam of the powered support of the complex-mechanized stope of the mine and is used for attaching said total station, said industrial personal computer and said prism; said hanging cage is a waterproof, dustproof and explosion-proof hermetic space, while in accordance with the characteristics of the front and rear perspective measurements of the stope, close to linear, in front and behind said hanging cage there are transparent viewing windows, enabling the said total station to carry out the corresponding measurements; said total station is a universal measuring platform that combines the functions of automatic target identification, automatic target approval, automatic angle measurement, automatic target tracking, automatic calculations and automatic data storage, wherein said total station is mounted in the center of the chamber of said hanging cage; said prism is an optical device for processing targets measured by said total station, which includes an optical prism and a 360° prism, wherein said prism is installed in the lower part of said hanging cage so that the vertical axial line of said prism and the centering axis of said total station are located on a common plumb line; the geodetic coordinates X and Y of said prism coincide with the X and Y coordinates of the standing point of said total station; said industrial personal computer is an industrial computer that is installed inside said hanging cage, on said industrial personal computer an automatic control program for measuring robotic device is deployed, which is used to control said measuring robotic device itself, on which said industrial personal computer is installed, as well as for scheduling the joint work of several mentioned robotic devices; depending on the installation position and the specific purpose, said robotic devices are divided into main control robotic devices and robotic devices, said main control robotic device is equipped with a total station, which is a total station or a gyroscopic total station with a gyroscope of continuous north orientation, said robotic device is equipped with a total station without a gyroscope ; each mentioned robotic device for measuring a complex-mechanized stope is equipped with a total station, performs spatial orientation using a prism of the robotic device observed from behind with already known coordinates of the standing point, observes the prism of the robotic device located in front with unknown coordinates of the standing point and by measuring the angle of incidence and oblique range receives the coordinates of the standing point of the said robotic device observed in front, and the said main control robotic device for measuring the complex-mechanized stope is installed and fixed on the top beam of the powered support at the beginning or end of the complex-mechanized stope of the mine; said robotic device for measuring the complex-mechanized stope is installed and fixed on the intermediate top beams of the powered support in the complex-mechanized stope of the mine; the mentioned main control robotic device for measuring the complex-mechanized stope behind itself observes the prisms of two control points on the side walls of the working and controls the slant range and the angle of incidence of the standing point of the mentioned main control robotic device relative to the two mentioned control points on the side walls of the working, due to whereby the method of resection of the distance by two points calculates the coordinates of the standing point of the said main control robotic device; the total station located on the mentioned main robotic control device is a gyroscopic total station that has a north search function, the mentioned gyroscopic total station performs an automatic north search to determine the position of the standing point of the mentioned main robotic control device relative to the prism of one of the mentioned control points on the side walls of the working and using the angle of incidence and slant range measured by said total station relative to said control point, calculates the coordinates of the standing point of said main control robotic device. 2. Robotic device according to claim. 1, characterized in that the method of calculating the branch line is used to determine the coordinates of the standing point of the said robotic device. 3. Automatic measuring system, characterized in that it includes robotic devices according to any one of paragraphs. 1, 2, and the mentioned robotic devices include the main control robotic devices, including the layout of the equipment of the automatic measuring system includes: prisms of control points located on the walls of the working in the same direction as the beginning or end of the complex mechanized clearing mine face, the geodetic coordinates of said control points of said prisms are determined in advance; said control points are used as control points viewed from behind by said main control robotic device; said main control robotic device is installed and mounted on the top beam of the powered support at the beginning or end of the mentioned complex-mechanized stope of the mine; in accordance with the lifting and lowering of the mentioned complex-mechanized working face of the mine, on the top beams of the powered support of the said complex-mechanized working face, the robotic devices are installed and fastened so as to ensure mutual visibility between two adjacent robotic devices (i.e. when the robotic devices can see each other), including the aforementioned main control robotic devices, due to which the complete coverage of the entire production face with a monitoring and control network is realized. 4. Automatic measuring system according to claim 3, characterized in that it is configured to: (1) putting said automatic measuring system into operation; (2) calculating and obtaining the coordinates of the position points of the said main control robotic devices using the mentioned control points on the walls of the working, observing the prism located in front of the adjacent mentioned robotic device to obtain the coordinates of the point of its position; performing at the same time the measurement of geodetic coordinates of stationary and moving targets; (3) each said robotic device is configured to perform spatial orientation using the prism of said robotic device observed from behind with already known standing point coordinates, observing the prism of the robotic device located in front with unknown standing point coordinates, and by measuring the angle of incidence and slant range, obtaining the coordinates of the standing point of this observed in front of the mentioned robotic device; performing at the same time the measurement of geodetic coordinates of stationary and moving targets; (4) measuring the geodetic coordinates of said stationary and moving targets within the boundaries of the entire complex mechanized stope of the mine by repeatedly repeating steps (1) - (3); (5) stopping the operation of the system after completing the measurement of the geodetic coordinates of the mentioned stationary and moving targets within the boundaries of the entire complex mechanized stope of the mine.

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