Intelligent positioning method and system for underground coal mines

Abstract

The present invention discloses an intelligent positioning method and system for underground coal mines, the method comprising: obtaining relative coordinate data of multiple tags to be positioned in the fully mechanized working face through tunnel base stations respectively arranged at the chute positions on both sides of the working face tunnel; wherein the absolute coordinate data of the tunnel base stations are pre-stored in the tunnel base stations; the absolute coordinate data of the tags to be positioned are calculated and uploaded to the host computer, combined with the three-dimensional geological model, to generate a three-dimensional working condition model. Thus, the relative coordinate data of the tags to be positioned on the working face are converted into absolute coordinate data in real time, and combined with the three-dimensional geological model to obtain a three-dimensional working condition model, which provides parameter information for autonomous coal cutting, guides the production of the working face, and improves safety and reliability.

Description

Technical Field

[0001] The present disclosure relates to the technical field of intelligent control of coal mine production, and in particular to an intelligent positioning method and system for underground coal mines. Background Art

[0002] At present, the intelligent mining system of the fully mechanized working face in coal mines mainly presents the operation information of the working face equipment and the mining process flow through schematic diagrams or animations. However, this method lacks the information of the spatial position relationship of the working face equipment or personnel based on the ground coordinate system, and the information provided is limited in the intelligent mining process of coal mines. Summary of the invention

[0003] The present disclosure aims to solve one of the technical problems in the related art at least to some extent.

[0004] To this end, the present invention proposes an intelligent positioning method and system for underground coal mines, which converts the relative coordinate data of multiple tags to be positioned on the working face into absolute coordinate data in real time, and combines it with the three-dimensional geological model to obtain a three-dimensional working condition model, providing parameter information for autonomous coal cutting, guiding working face production, and improving safety and reliability.

[0005] In the first aspect, an intelligent positioning method for underground coal mines is proposed, the method comprising: obtaining relative coordinate data of multiple tags to be positioned in the comprehensive mining working face through tunnel base stations respectively arranged at the drift positions on both sides of the working face tunnel; wherein the absolute coordinate data of the tunnel base station is pre-stored in the tunnel base station; the absolute coordinate data of the tag to be positioned is obtained according to the absolute coordinate data of the tunnel base station and the relative coordinate data of the tag to be positioned; the absolute coordinate data of the tag to be positioned is uploaded to the host computer, combined with the three-dimensional geological model, to generate a three-dimensional working condition model.

[0006] In a second aspect of the present disclosure, an intelligent positioning system for underground coal mines is proposed, the system comprising: a data acquisition unit, for acquiring relative coordinate data of a plurality of tags to be positioned in the comprehensive mining working face through tunnel base stations respectively arranged at the drift positions on both sides of the working face tunnel; wherein the absolute coordinate data of the tunnel base station is pre-stored in the tunnel base station; a data processing unit, for obtaining the absolute coordinate data of the tag to be positioned according to the absolute coordinate data of the tunnel base station and the relative coordinate data of the tag to be positioned; a model generation unit, for uploading the absolute coordinate data of the tag to be positioned to a host computer, and combining it with a three-dimensional geological model to generate a three-dimensional working condition model.

[0007] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects:

[0008] The relative coordinate data of multiple tags to be located in the fully mechanized mining working face are obtained by setting up the tunnel base stations at the slots on both sides of the working face tunnel respectively; the absolute coordinate data of the tunnel base station is pre-stored in the tunnel base station; the absolute coordinate data of the tag to be located is obtained according to the absolute coordinate data of the tunnel base station and the relative coordinate data of the tag to be located; the absolute coordinate data of the tag to be located is uploaded to the host computer and combined with the three-dimensional geological model to generate a three-dimensional working condition model. Thus, the relative coordinate data of multiple tags to be located in the working face are converted into absolute coordinate data in real time, and the absolute position data is combined with the three-dimensional geological model to obtain a three-dimensional working condition model, which provides parameter information for autonomous coal cutting, guides the production of the working face, and improves safety and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the background technology, the drawings required for use in the embodiments of the present application or the background technology will be described below.

[0010] Figure 1 A structural diagram of a system applicable to an underground coal mine intelligent positioning method provided by an embodiment of the present disclosure;

[0011] Figure 2 A flow chart of an intelligent positioning method for underground coal mines provided by an embodiment of the present disclosure;

[0012] Figure 3 A flowchart of sub-step S1 of the coal mine underground intelligent positioning method provided by the embodiment of the present disclosure;

[0013] Figure 4 A flowchart of sub-step S11 of the coal mine underground intelligent positioning method provided by an embodiment of the present disclosure;

[0014] Figure 5 A structural diagram of a measurement coordinate data system provided by an embodiment of the present disclosure;

[0015] Figure 6 A structural diagram of an underground intelligent positioning system for a coal mine provided by an embodiment of the present disclosure;

[0016] Figure 7 A structural diagram of another underground coal mine intelligent positioning system provided by an embodiment of the present disclosure;

[0017] Figure 8 A structural diagram of another underground coal mine intelligent positioning system provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0018] Embodiments of the present disclosure are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present disclosure, and should not be construed as limiting the present disclosure.

[0019] The following describes the coal mine underground intelligent positioning method and system according to the embodiments of the present disclosure with reference to the accompanying drawings.

[0020] Before introducing the coal mine underground intelligent positioning method and system provided by the embodiments of the present disclosure, the system to which the coal mine underground intelligent positioning method is applicable is first described.

[0021] Figure 1 A structural diagram of a system applicable to an intelligent underground coal mine positioning method provided in an embodiment of the present disclosure.

[0022] like Figure 1 As shown, in the comprehensive mining working face, multiple tunnel base stations are respectively set in the drift parts on both sides of the working face tunnel. Two adjacent tunnel base stations are spaced a certain distance apart and are evenly distributed in the drift parts of the working face tunnel. The coal mining machine moves along the advancing direction to mine coal. Multiple working face base stations are set relative to the coal mining machine. Two adjacent working face base stations are spaced a preset distance apart. The working face base stations can be set on hydraulic supports.

[0023] In the disclosed embodiment, when the coal mining machine moves along the propulsion direction, the hydraulic support will also move along the propulsion direction of the coal mining machine, and the movement of the hydraulic support will drive the working face base station to move.

[0024] It is understandable that as the working face base station moves, the distance between the working face base station and the tunnel base station will change, and may exceed the signal reception and transmission distance limit of the tunnel base station or the working face base station. Based on this, in the embodiment of the present disclosure, multiple tunnel base stations spaced a certain distance apart are set in the moving direction of the working face base station. Before the signal reception and transmission between a certain tunnel base station and the working face base station is about to reach the limit, the next tunnel base station is switched to exchange information with the working face base station, thereby ensuring the stability of information interaction between the working face base station and the tunnel base station.

[0025] Based on the above system provided by the embodiment of the present disclosure, the embodiment of the present disclosure provides an intelligent positioning method for underground coal mines.

[0026] Figure 2 The present invention provides a flowchart of an intelligent positioning method for underground coal mines provided in an embodiment of the present invention.

[0027] like Figure 2 As shown, the coal mine underground intelligent positioning method provided by the embodiment of the present disclosure includes but is not limited to the following steps:

[0028] S1: Obtain the relative coordinate data of multiple tags to be positioned in the comprehensive mining working face through tunnel base stations respectively set up at the drift positions on both sides of the working face tunnel; wherein the absolute coordinate data of the tunnel base station is pre-stored in the tunnel base station.

[0029] In the disclosed embodiment, each of the multiple hydraulic supports is provided with a support tag, the coal mining machine is provided with a coal mining machine tag, the user carries the user tag when working, and the tunnel base station is a UWB (Ultra Wide Band) positioning base station.

[0030] Based on this, in the embodiment of the present disclosure, the tunnel base station can measure the positioning tags of the hydraulic support, the coal mining machine and the user, and obtain the relative coordinate data of the hydraulic support, the coal mining machine and the user.

[0031] Among them, the absolute coordinate data of the tunnel base station is pre-stored in the tunnel base station. In the embodiment of the present disclosure, the absolute coordinate data of the tunnel base station can be set in the host computer through personnel control and sent to the tunnel base station for storage, so as to provide a reference for the tunnel base station to subsequently calculate the relative coordinate data of the hydraulic support, coal mining machine and user into absolute coordinate data.

[0032] It can be understood that the relative coordinate data is the relative coordinate determined by the coordinate system established by the tunnel base station, and the absolute coordinate data is the coordinate data relative to the ground, and the absolute coordinate data can be longitude and latitude.

[0033] S2: Obtain the absolute coordinate data of the tag to be located according to the absolute coordinate data of the lane base station and the relative coordinate data of the tag to be located.

[0034] In the embodiment of the present disclosure, on the premise that the absolute coordinate data of the tunnel base station is known, the relative coordinate data of multiple hydraulic supports, coal mining machines and at least one user are obtained, that is, the relative coordinates of multiple hydraulic supports, coal mining machines and at least one user in the coordinate system established by the tunnel base station are obtained, and a series of data processing is performed to calculate the absolute coordinate data of multiple hydraulic supports, coal mining machines and at least one user.

[0035] S3: Upload the absolute coordinate data of the tag to be positioned to the host computer, combine it with the three-dimensional geological model, and generate a three-dimensional working condition model.

[0036] In the disclosed embodiment, after the tunnel base station obtains the absolute coordinate data of multiple hydraulic supports, coal mining machines and at least one user, it uploads it to the host computer.

[0037] Among them, a three-dimensional geological model is pre-stored in the upper computer, which can display the three-dimensional geological information of the coal seam. In the embodiment of the present disclosure, the absolute coordinate data of multiple hydraulic supports, coal mining machines and at least one user are combined with the three-dimensional geological model. It can be understood that the absolute coordinate data of multiple hydraulic supports, coal mining machines and at least one user are two-dimensional data of the plane. The two-dimensional plane data of the absolute coordinate data of multiple hydraulic supports, coal mining machines and at least one user are combined with the bottom plane of the three-dimensional geological model to obtain a three-dimensional working condition model.

[0038] Among them, the three-dimensional working condition model can intuitively view the positions of hydraulic supports, coal mining machines and users, thereby providing parameter information for autonomous coal cutting in underground coal mines and assisting in working face mining production.

[0039] It should be noted that the tunnel base station obtains the relative coordinate data of multiple hydraulic supports, coal mining machines and at least one user in the comprehensive mining face in real time, and can then obtain the absolute coordinate data of multiple hydraulic supports, coal mining machines and at least one user in real time, and upload them to the host computer in real time, and display the positions of multiple hydraulic supports, coal mining machines and at least one user in real time in the three-dimensional working condition model of the host computer.

[0040] By implementing the disclosed embodiment, the relative coordinate data of multiple tags to be located in the fully mechanized mining working face are obtained through the tunnel base stations respectively set at the slots on both sides of the working face tunnel; wherein the absolute coordinate data of the tunnel base station is pre-stored in the tunnel base station; the absolute coordinate data of the tag to be located is obtained according to the absolute coordinate data of the tunnel base station and the relative coordinate data of the tag to be located; the absolute coordinate data of the tag to be located is uploaded to the host computer, combined with the three-dimensional geological model, and a three-dimensional working condition model is generated. Thus, the relative coordinate data of multiple hydraulic supports, coal mining machines and at least one user in the working face are converted into absolute coordinate data in real time, and the absolute position data is combined with the three-dimensional geological model to obtain a three-dimensional working condition model, which provides parameter information for autonomous coal cutting, guides the production of the working face, and improves safety and reliability.

[0041] like Figure 3 As shown, in some embodiments, in the embodiments of the present disclosure, the above S1 includes but is not limited to the following sub-steps:

[0042] S11: Obtain a first set of relative coordinate data of multiple tags to be positioned in the fully mechanized mining working face through a first tunnel base station set at the drift position on one side of the working face tunnel.

[0043] S12: Obtain a second set of relative coordinate data of multiple tags to be positioned in the fully mechanized mining working face through a second tunnel base station set at the drift position on the other side of the working face tunnel.

[0044] In the disclosed embodiment, the tunnel base stations arranged on both sides of the working face tunnel can respectively obtain the relative coordinate data of multiple hydraulic supports, coal mining machines and at least one user in the comprehensive mining working face.

[0045] like Figure 4 As shown, in some embodiments, in the embodiments of the present disclosure, the tags to be located include: a support tag set on a hydraulic support, a coal mining machine tag set on a coal mining machine, and a user tag carried by a user; the above S11 includes but is not limited to the following sub-steps:

[0046] S111: Obtain relative coordinate data of multiple support tags through the first working surface base station closest to the first lane base station, and send them to the first lane base station; wherein, multiple working surface base stations spaced at preset distances are respectively arranged on the hydraulic support.

[0047] In the disclosed embodiment, the working surface base stations are connected via a network cable and can exchange information. The relative coordinate data of the plurality of hydraulic supports are obtained through the first working surface base station closest to the first lane base station and sent to the first lane base station.

[0048] Among them, multiple working surface base stations with preset distances are respectively arranged on the hydraulic supports. It can be understood that different hydraulic supports are spaced at preset distances, and each hydraulic support is provided with a working surface base station. Alternatively, no working surface base station is arranged on some hydraulic supports, and multiple preset distances include at least one hydraulic support.

[0049] In the embodiment of the present disclosure, the preset interval distance can be 6 meters, 5 meters, etc., which can meet the measurement range of multiple working face base stations and cover the hydraulic supports, coal mining machines and working users in the entire comprehensive mining working face.

[0050] In order to better understand the relative coordinate data of the hydraulic support, the coal mining machine and the user obtained by the working face base station in the embodiment of the present disclosure, the present disclosure embodiment is based on Figure 5 Provide explanation.

[0051] Figure 5 This is a structural diagram of a measurement coordinate data system provided in an embodiment of the present disclosure.

[0052] like Figure 5 As shown, the first working face base station obtains the relative coordinate data of multiple hydraulic supports and sends it to the first tunnel data.

[0053] It should be noted that the first working face base station obtains the relative coordinate data of multiple hydraulic supports. The first working face base station can obtain the relative coordinate data of the hydraulic supports by measuring the support labels on the hydraulic supports. However, the working face base station measures the distance of the support labels by wire. The comprehensive mining working face includes multiple hydraulic supports. The first working face base station may not be able to measure the support labels of all hydraulic supports in the comprehensive mining working face.

[0054] Based on this, in the embodiment of the present disclosure, multiple working face base stations are set at preset distances, and the working face base stations are set on the hydraulic support. The relative coordinate data of a part of the hydraulic support are obtained respectively through the working face base stations set on the hydraulic support, and finally summarized to the first working face base station through the network cable, so that the first working face base station obtains the relative coordinate data of all hydraulic supports in the comprehensive mining working face.

[0055] It can be understood that the coordinate information of the working face base station itself can be updated in real time by interacting with the tunnel base station, and then the relative coordinate information of the hydraulic support, coal mining machine and user can be obtained based on its own coordinate information.

[0056] In some embodiments, S111: acquiring relative coordinate data of multiple hydraulic supports through a first working surface base station closest to the first lane base station, including:

[0057] Through the i-1th working face base station adjacent to the i-th working face base station, measure the support label of the hydraulic support where the i-th working face base station which is farthest from the first lane base station is located, obtain the relative coordinate data of the hydraulic support where the i-th working face base station is located, and send it to the i-2th working face base station; where i is greater than or equal to 4.

[0058] The i-2th working surface base station measures the support tag of the hydraulic support where the i-1th working surface base station is located, obtains the relative coordinate data of the hydraulic support where the i-1th working surface base station is located, receives the relative coordinate data of the hydraulic support where the i-th working surface base station is located sent by the i-1th working surface base station, and sends it to the i-3th working surface base station.

[0059] And so on, until the first working surface base station, the relative coordinate data of multiple hydraulic supports on the side of the first working surface base station away from the first tunnel base station are obtained.

[0060] In the exemplary embodiment, i is 8, that is, the fully mechanized mining working face includes 8 hydraulic supports, each of which is provided with a working face base station, and the method for obtaining the relative coordinate data of multiple hydraulic supports through the first working face base station closest to the first lane base station includes:

[0061] Through the 7th working face base station adjacent to the 8th working face base station, measure the support label of the hydraulic support where the 8th working face base station, which is farthest from the first lane base station, obtain the relative coordinate data of the hydraulic support where the 8th working face base station is located, and send it to the 6th working face base station.

[0062] The support tag of the hydraulic support where the 7th working surface base station is located is measured by the 6th working surface base station, the relative coordinate data of the hydraulic support where the 7th working surface base station is located is obtained, and the relative coordinate data of the hydraulic support where the 8th working surface base station is located sent by the 7th working surface base station is received. The 6th working surface base station includes the relative coordinate data of the 7th working surface base station and the 8th working surface base station, and then sends it to the 5th working surface base station.

[0063] And so on, until the first working surface base station, the relative coordinate data of multiple hydraulic supports on the side of the first working surface base station away from the first tunnel base station are obtained.

[0064] In some embodiments, when there is at least one hydraulic support between two adjacent working surface base stations, the support tags of the hydraulic support between the two adjacent working surface base stations are measured through the working surface base station close to the first lane base station among the two adjacent working surface base stations, and the relative coordinate data of the hydraulic support between the two adjacent working surface base stations are obtained and sent to another adjacent working surface base station close to the first lane base station.

[0065] It can be understood that multiple working surface base stations spaced at preset distances are respectively arranged on the hydraulic supports. A working surface base station may be arranged on each hydraulic support, or a working surface base station may not be arranged on some hydraulic supports. At least one hydraulic support is included in the preset distances, that is, at least one hydraulic support is included between two adjacent working surfaces.

[0066] In the exemplary embodiment, the comprehensive mining working face includes 11 hydraulic supports, and the 1st, 3rd, 5th, 7th, 9th and 11th hydraulic supports are provided with working face base stations, while the 2nd, 4th, 6th, 8th and 10th hydraulic supports are not provided with hydraulic supports.

[0067] Based on this, in the embodiment of the present disclosure, the support label of the 11th hydraulic support where the 6th working face base station farthest from the first lane base station is located is measured through the 5th working face base station adjacent to the 6th working face base station on the 11 hydraulic supports, as well as the support label of the 10th hydraulic support between the 6th working face base station and the 5th working face base station, to obtain the relative coordinate data of the 10th and 11th hydraulic supports and send them to the 4th working face base station.

[0068] The support tag of the 9th hydraulic support where the 5th working face base station is located and the support tag of the 8th hydraulic support between the 5th working face base station and the 4th working face base station are measured by the 4th working face base station to obtain the relative coordinate data of the 8th and 9th hydraulic supports, receive the relative coordinate data of the 10th and 11th hydraulic supports sent by the 5th working face base station, and then send the relative coordinate data of the 8th, 9th, 10th and 11th hydraulic supports to the 3rd working face base station.

[0069] And so on, until the first working surface base station, the relative coordinate data of multiple hydraulic supports on the side of the first working surface base station away from the first tunnel base station are obtained.

[0070] In some embodiments, the coal mine underground intelligent positioning method provided by the embodiments of the present disclosure further includes:

[0071] The support tag of the hydraulic support where the first working surface base station is located is measured by the first tunnel base station, and the updated relative coordinate data of the first working surface base station is obtained and sent to the first working surface base station; the updated relative coordinate data of the first working surface base station sent by the first tunnel base station is received, and the first working surface base station updates its position; the support tag of the hydraulic support where the second working surface base station adjacent to the first tunnel base station is located is measured by the first working surface base station, and the updated relative coordinate data of the second working surface base station is obtained and sent to the second working surface base station; the updated relative coordinate data of the second working surface base station sent by the first working surface base station is received, and the second working surface base station updates its position, and so on, until the i-th working surface base station updates its position.

[0072] In the exemplary embodiment, i is 8, that is, the comprehensive mining working face includes 8 working face base stations, and the working face base stations are arranged on hydraulic supports, that is, the comprehensive mining working face includes at least 8 hydraulic supports.

[0073] In the disclosed embodiment, the support tag of the hydraulic support where the first working surface base station is located is measured by the first tunnel base station, and the updated relative coordinate data of the first working surface base station is obtained and sent to the first working surface base station; the updated relative coordinate data of the first working surface base station sent by the first tunnel base station is received, and the first working surface base station updates its position; the support tag of the hydraulic support where the second working surface base station adjacent to the first tunnel base station is located is measured by the first working surface base station, and the updated relative coordinate data of the second working surface base station is obtained and sent to the second working surface base station; the updated relative coordinate data of the second working surface base station sent by the first working surface base station is received, and the second working surface base station updates its position, and so on, until the eighth working surface base station updates its position.

[0074] Please continue to see Figure 4 , S112: Measure the coal mining machine tag set on the coal mining machine through two adjacent working face base stations to obtain the relative coordinate data of the coal mining machine.

[0075] In the disclosed embodiment, the coal mining machine tag set on the coal mining machine can be measured by two adjacent working face base stations to obtain the relative coordinate data of the coal mining machine.

[0076] Among them, the working face base station is set under the top beam of the hydraulic support, and the working face base station arranges two antennas vertically to calculate the angle of the coal mining machine tag. For example, Figure 5 As shown, the relative coordinate data of the coal mining machine tag can be obtained through the preset distance A1 between two adjacent working face base stations, the coal mining machine distance A2 measured by one of the two adjacent working face base stations, and the coal mining machine distance A3 measured by the other working face base station.

[0077] S113: Measure the user tag through two adjacent working face base stations and / or the coal mining machine base station arranged on the coal mining machine to obtain the relative coordinate data of the user.

[0078] In the disclosed embodiment, the user tag can be measured by two adjacent working face base stations to obtain the user's relative coordinate data, or the user tag can be measured by two adjacent working face base stations and a coal mining machine base station on the coal mining machine to obtain the user's relative coordinate data.

[0079] like Figure 5 As shown, when the vertical distance between the straight line formed by the coal mining machine and the hydraulic support is far, the measurement range of the coal mining machine base station on the coal mining machine may not cover the hydraulic support, or the measurement range is far away from the hydraulic support, and the user is between the hydraulic support and the coal mining machine, and the user tag may not be measured through the coal mining machine.

[0080] Based on this, in the embodiment of the present disclosure, when the vertical distance between the straight line formed by the coal mining machine and the hydraulic support is relatively far, the user tag carried by the user can be measured through two adjacent working face base stations according to A1, A4 and A5 to obtain the user's relative coordinate data. When the vertical distance between the straight line formed by the coal mining machine and the hydraulic support is relatively close, the user tag carried by the user can be measured through two adjacent working face base stations and the coal mining machine base station set on the coal mining machine according to A1, A4, A5 and A6 to obtain the user's relative coordinate data, thereby further improving the accuracy of measuring the relative coordinate data of the user tag.

[0081] It should be noted that the above example illustrates that the first tunnel base station obtains the first set of relative coordinate data of multiple hydraulic supports, coal mining machines and at least one user in the comprehensive mining working face. In the embodiment of the present disclosure, the second tunnel base station obtains the second set of relative coordinate data of multiple hydraulic supports, coal mining machines and at least one user in the comprehensive mining working face in the same way as the first tunnel base station obtains the first set of relative coordinate data of multiple hydraulic supports, coal mining machines and at least one user in the comprehensive mining working face. It can be understood that due to the different settings of the first tunnel base station and the second tunnel base station, the first working face base station closest to the second tunnel base station is different from the first working face base station closest to the first tunnel base station.

[0082] Please continue to see Figure 1 In some embodiments, the coal mine underground intelligent positioning method provided by the embodiment of the present disclosure further includes:

[0083] Multiple tunnel base stations are respectively set up in the headings on both sides of the working face tunnel. The relative coordinate data of multiple tags to be positioned in the comprehensive mining working face are obtained by setting a tunnel base station on one side of the working face tunnel and whose distance to the nearest hydraulic support meets the first preset condition, and setting a tunnel base station on the other side of the working face tunnel and whose distance to the nearest hydraulic support meets the second preset condition.

[0084] It should be noted that, for the tunnel base station that is arranged in the chute position on one side of the working face tunnel and whose distance to the nearest hydraulic support meets the first preset condition, and for the tunnel base station that is arranged in the chute position on the other side of the working face tunnel and whose distance to the nearest hydraulic support meets the second preset condition, the first preset condition and the second preset condition may be the same or different, and the embodiments of the present disclosure do not impose specific restrictions on this.

[0085] In order to implement the above embodiments, the present disclosure also proposes an intelligent positioning system for underground coal mines.

[0086] Figure 6 This is a structural diagram of an underground coal mine intelligent positioning system 1 provided in an embodiment of the present disclosure.

[0087] Specifically, Figure 6 As shown, the coal mine underground intelligent positioning system 1 provided by the embodiment of the present disclosure includes:

[0088] The data acquisition unit 11 is used to obtain the relative coordinate data of multiple tags to be positioned in the comprehensive mining working face through tunnel base stations respectively set at the drift positions on both sides of the working face tunnel; wherein the absolute coordinate data of the tunnel base station is pre-stored in the tunnel base station.

[0089] The data processing unit 12 is used to obtain the absolute coordinate data of the tag to be located according to the absolute coordinate data of the lane base station and the relative coordinate data of the tag to be located.

[0090] The model generation unit 13 is used to upload the absolute coordinate data of the tag to be located to the host computer, and combine it with the three-dimensional geological model to generate a three-dimensional working condition model.

[0091] By implementing the disclosed embodiment, the data acquisition unit 11 obtains the relative coordinate data of multiple tags to be located in the comprehensive mining working face through the tunnel base stations respectively set at the chute positions on both sides of the working face tunnel; wherein the absolute coordinate data of the tunnel base station is pre-stored in the tunnel base station; the data processing unit 12 obtains the absolute coordinate data of the tag to be located based on the absolute coordinate data of the tunnel base station and the relative coordinate data of the tag to be located; the model generation unit 13 uploads the absolute coordinate data of the tag to be located to the host computer, combines it with the three-dimensional geological model, and generates a three-dimensional working condition model. Thus, the relative coordinate data of multiple tags to be located on the working face are converted into absolute coordinate data in real time, and the absolute position data is combined with the three-dimensional geological model to obtain a three-dimensional working condition model, which provides parameter information for autonomous coal cutting, guides the production of the working face, and improves safety and reliability.

[0092] like Figure 7 As shown, in some embodiments, the data acquisition unit 11 includes:

[0093] The first data acquisition module 111 is used to acquire a first set of relative coordinate data of multiple tags to be positioned in the fully mechanized mining working face through a first tunnel base station arranged in the drift position on one side of the working face tunnel.

[0094] The second data acquisition module 112 is used to obtain a second set of relative coordinate data of multiple tags to be positioned in the fully mechanized mining working face through a second tunnel base station arranged in the drift portion on the other side of the working face tunnel.

[0095] like Figure 8 As shown, in some embodiments, the tags to be located include: a support tag set on a hydraulic support, a coal mining machine tag set on a coal mining machine, and a user tag carried by a user; the first data acquisition module 111 includes:

[0096] The support data acquisition submodule 1111 is used to obtain the relative coordinate data of multiple support tags through the first working surface base station closest to the first lane base station, and send it to the first lane base station; wherein, multiple working surface base stations spaced at preset distances are respectively arranged on the hydraulic support.

[0097] The coal mining machine data acquisition submodule 1112 is used to measure the coal mining machine tag through two adjacent working face base stations to obtain the relative coordinate data of the coal mining machine.

[0098] The user data acquisition submodule 1113 is used to measure the user tag through two adjacent working face base stations and / or a coal mining machine base station arranged on the coal mining machine to obtain the relative coordinate data of the user.

[0099] Regarding the coal mine underground intelligent positioning system 1 in the above embodiment, the specific methods of each device therein have been described in detail in the embodiment of the coal mine underground intelligent positioning method, and will not be repeated here.

[0100] The beneficial effects achieved by the coal mine underground intelligent positioning system 1 provided by the embodiment of the present disclosure and the coal mine underground intelligent positioning method are the same, which will not be described in detail here.

[0101] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this application can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution disclosed in this disclosure can be achieved, and this document is not limited here.

[0102] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

[0103] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "exemplary embodiment" and the like means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0104] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present disclosure, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0105] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present disclosure includes additional implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present disclosure belong.

[0106] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute the instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0107] It should be understood that the various parts of the present disclosure can be implemented in hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0108] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0109] In addition, each functional unit in each embodiment of the present disclosure may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0110] The storage medium mentioned above may be a read-only memory, a disk or an optical disk, etc. Although the embodiments of the present disclosure have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present disclosure. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present disclosure.

Claims

1. An intelligent positioning method for underground coal mines, characterized in that: The method comprises: The relative coordinate data of multiple tags to be positioned in the fully mechanized mining working face are obtained by respectively setting up the tunnel base stations at the drift positions on both sides of the working face tunnel; wherein the absolute coordinate data of the tunnel base station is pre-stored in the tunnel base station; Obtaining the absolute coordinate data of the tag to be located according to the absolute coordinate data of the lane base station and the relative coordinate data of the tag to be located; The absolute coordinate data of the tag to be positioned is uploaded to the host computer and combined with the three-dimensional geological model to generate a three-dimensional working condition model; The relative coordinate data of multiple tags to be positioned in the fully mechanized mining working face are obtained by respectively setting up the tunnel base stations at the drift positions on both sides of the working face tunnel, including: A first set of relative coordinate data of a plurality of tags to be located in the fully mechanized mining working face is obtained by a first tunnel base station arranged at a drift position on one side of the working face tunnel, wherein the tags to be located include: a support tag arranged on a hydraulic support, a coal mining machine tag arranged on a coal mining machine, and a user tag carried by a user; The method of obtaining a first set of relative coordinate data of a plurality of tags to be positioned in the fully mechanized mining working face by means of a first tunnel base station arranged at a chute position on one side of the working face tunnel comprises: obtaining relative coordinate data of a plurality of bracket tags by means of a first working face base station closest to the first tunnel base station, and sending the data to the first tunnel base station; wherein a plurality of working face base stations spaced at preset distances are respectively arranged on hydraulic supports; The coal mining machine tag is measured by two adjacent working face base stations to obtain the relative coordinate data of the coal mining machine; The user tag is measured by two adjacent working face base stations and / or a coal mining machine base station arranged on the coal mining machine to obtain relative coordinate data of the user; The step of obtaining relative coordinate data of a plurality of bracket tags through a first working surface base station closest to the first lane base station includes: Through the i-1th working surface base station adjacent to the i-th working surface base station, measure the support tag of the hydraulic support where the i-th working surface base station is located, which is farthest from the first lane base station, obtain the relative coordinate data of the hydraulic support where the i-th working surface base station is located, and send it to the i-2th working surface base station; wherein i is greater than or equal to 4; Measure the support tag of the hydraulic support where the i-1th working surface base station is located through the i-2th working surface base station, obtain the relative coordinate data of the hydraulic support where the i-1th working surface base station is located, receive the relative coordinate data of the hydraulic support where the i-th working surface base station is located sent by the i-1th working surface base station, and send it to the i-3th working surface base station; And so on, until the first working surface base station, the relative coordinate data of multiple hydraulic supports on the side of the first working surface base station away from the first lane base station are obtained.

2. The method according to claim 1, characterized in that The method of obtaining relative coordinate data of a plurality of tags to be positioned in the fully mechanized mining working face by means of the tunnel base stations respectively arranged at the drift positions on both sides of the working face tunnel also includes: A second set of relative coordinate data of multiple tags to be positioned in the fully mechanized mining working face is obtained by setting up a second tunnel base station at the drift position on the other side of the working face tunnel.

3. The method according to claim 1, characterized in that The method further comprises: In the case where there is at least one hydraulic support between two adjacent working surface base stations, the support tags of the hydraulic supports between the two adjacent working surface base stations are measured through the working surface base station close to the first lane base station among the two adjacent working surface base stations, and the relative coordinate data of the hydraulic supports between the two adjacent working surface base stations are obtained and sent to another adjacent working surface base station close to the first lane base station.

4. The method according to claim 1, characterized in that: The method further comprises: Measuring the support tag of the hydraulic support where the first working surface base station is located through the first lane base station, obtaining updated relative coordinate data of the first working surface base station, and sending it to the first working surface base station; receiving updated relative coordinate data of the first working surface base station sent by the first lane base station, and the first working surface base station updates its position; The support tag of the hydraulic support where the adjacent second working surface base station located away from the first lane base station is located is measured by the first working surface base station, and the updated relative coordinate data of the second working surface base station is obtained and sent to the second working surface base station; The updated relative coordinate data of the second working surface base station sent by the first working surface base station is received, and the second working surface base station updates its position, and so on, until the i-th working surface base station updates its position.

5. The method according to claim 1, characterized in that The method further comprises: Multiple tunnel base stations are respectively set up in the headings on both sides of the working face tunnel. The relative coordinate data of multiple tags to be positioned in the comprehensive mining working face are obtained by setting a tunnel base station on one side of the working face tunnel and whose distance to the nearest hydraulic support meets the first preset condition, and setting a tunnel base station on the other side of the working face tunnel and whose distance to the nearest hydraulic support meets the second preset condition.

6. An intelligent positioning system for underground coal mines, characterized in that: The system comprises: The data acquisition unit is used to acquire the relative coordinate data of multiple tags to be positioned in the fully mechanized mining working face through the tunnel base stations respectively arranged at the drift positions on both sides of the working face tunnel; wherein the absolute coordinate data of the tunnel base station is pre-stored in the tunnel base station; A data processing unit, used to obtain the absolute coordinate data of the tag to be located according to the absolute coordinate data of the lane base station and the relative coordinate data of the tag to be located; A model generation unit is used to upload the absolute coordinate data of the tag to be located to the host computer, combine it with the three-dimensional geological model, and generate a three-dimensional working condition model; The data acquisition unit comprises: The first data acquisition module is used to acquire a first set of relative coordinate data of a plurality of tags to be located in the fully mechanized mining working face through a first tunnel base station arranged at a drift position on one side of the working face tunnel, wherein the tags to be located include: a support tag arranged on a hydraulic support, a coal mining machine tag arranged on a coal mining machine, and a user tag carried by a user; The first data acquisition module includes: The support data acquisition submodule is used to acquire the relative coordinate data of multiple support tags through the first working surface base station closest to the first lane base station, and send the data to the first lane base station; wherein the multiple working surface base stations spaced at preset distances are respectively arranged on the hydraulic support; A coal mining machine data acquisition submodule is used to measure the coal mining machine tag through two adjacent working face base stations to obtain the relative coordinate data of the coal mining machine; A user data acquisition submodule is used to measure the user tag through two adjacent working face base stations and / or a coal mining machine base station arranged on the coal mining machine to obtain the relative coordinate data of the user; The support data acquisition submodule is further used to measure the support label of the hydraulic support where the i-th working surface base station is located, which is farthest from the first lane base station, through the i-1th working surface base station adjacent to the i-th working surface base station, to obtain the relative coordinate data of the hydraulic support where the i-th working surface base station is located, and send it to the i-2th working surface base station; wherein i is greater than or equal to 4; Measure the support tag of the hydraulic support where the i-1th working surface base station is located through the i-2th working surface base station, obtain the relative coordinate data of the hydraulic support where the i-1th working surface base station is located, receive the relative coordinate data of the hydraulic support where the i-th working surface base station is located sent by the i-1th working surface base station, and send it to the i-3th working surface base station; And so on, until the first working surface base station, the relative coordinate data of multiple hydraulic supports on the side of the first working surface base station away from the first lane base station are obtained.

7. The system according to claim 6, characterized in that The data acquisition unit further includes: The second data acquisition module is used to obtain a second set of relative coordinate data of multiple tags to be positioned in the comprehensive mining working face through a second tunnel base station set at the drift position on the other side of the working face tunnel.

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