Distributed type transparent working face whole roadway monitoring system and method

Abstract

The invention provides a distributed type transparent working face whole roadway monitoring system and method. The monitoring system comprises a central computer unit and multiple monitoring probes, wherein data transmission between the central computer unit and the monitoring probes is realized through the ethernet network; the central computer unit comprises a first power supply unit, a high-performance industrial personal computer, an SSD (solid state drive), an anti-explosion touch pad keyboard, a display screen and a multichannel ethernet network board card; and each monitoring probe comprises a second power supply unit, a three-dimensional laser radar, a depth camera, an embedded industrial control panel, a rotary pan-tilt and an ethernet network isolation module, and is applied to calibration and integration of the three-dimensional laser radar and the depth camera, acquisition and processing and isolated output of point cloud data. With adoption of a working mode of integrationof the three-dimensional laser radar and the depth camera, fine description of a working face whole roadway coal mining scene and digital working condition dynamic mapping of a complete set of coal mining equipment are realized; and under assistance of image information of a monitoring camera, true color real ground display of the transparent working face whole roadway and accurate positioning and pose following of a coal mining machine can be realized.

Description

technical field [0001] The invention belongs to the field of monitoring instruments for fully mechanized mining working faces in coalfields, and in particular relates to a distributed transparent working face full-tunnel monitoring system and method. Background technique [0002] After decades of development, underground coal mining operations have achieved a leap from mechanization and automation to intelligent and unmanned development. Intelligent and unmanned mining in coal mines is an inevitable trend for the high-quality development of the coal industry. However, in the actual mining process of coal mines, the geological body of the fully mechanized mining face, the actual production scene and the roadway where the main coal mining equipment are located are narrow, the working conditions are harsh, and there are many unsafe factors for people or things, which cannot be intuitively understood. actual production status. Therefore, it is the key and effective way to reali...

AI Technical Summary

Problems solved by technology

At present, the main monitoring methods of underground coal mine roadways include: (1) Video monitoring system, which is difficult to obtain clear images under the influence of dim lights, dust and water mist, and cannot accurately judge the operating status and status of fully mechanized mining equipment. Accurate positioning; (2) Realize deformation monitoring of roadway surrounding rock based on laser radar and camera. This method is based on the design scheme of rollers and trolleys, and the movement of the roadway in fully mechanized mining face with complex working conditions is blocked; (3) Comprehensive mining face based on laser radar Offset monitoring of the complete set of equipment in the mining face. This method is aimed at monitoring the displacement and offset of relatively fixed coal mining equipment and cannot realize the monitoring of the entire roadway.

In the field of monitoring instruments for coalfield fully mechanized mining face, there is no related report on a distributed transparent working face full roadway monitoring system

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