A coal mine fully mechanized mining face geographic feature acquisition system and method

Abstract

The application discloses a kind of coal mine fully mechanized working face geographic feature acquisition system and method, belong to coal mine information acquisition technical field, feature acquisition system includes the detection device being arranged in working face along line area and the UWB positioning base station being fixed in working face along line area, detection device includes: image acquisition equipment, for collecting the image information of working face along line area;Symmetrically arranged horizontal rotary laser ranging equipment and vertical rotary laser ranging equipment on the two sides of image acquisition equipment.The application adopts the double positioning method based on UWB positioning and gyroscope motion positioning and laser ranging technology, and the geographic features and cutting coal wall features of image are described by detection device, which increases geographic information and three-dimensional distance information on the basis of plane visualization for coal mine safety production, and provides the required monitoring and detection conditions for improving safety production for coal mine working face site unattended production.

Description

Technical Field

[0001] This invention relates to the field of coal mine information acquisition technology, specifically to a system and method for acquiring geographical features of a fully mechanized coal mining face. Background Technology

[0002] Coal mining enterprises are placing great emphasis on unattended production under conditions of automatic environmental sensing in underground mines. Various environmental data sensors, such as temperature sensors, humidity sensors, gas sensors, and dust sensors, are constantly being upgraded, becoming increasingly lightweight and energy-efficient. In recent years, various types of sensors have even been introduced that are continuously powered by batteries and have wireless transmission capabilities. However, the automatic environmental sensing feedback provided by these sensors, which relies on data as a carrier, still falls short of the environmental requirements of unattended production.

[0003] The fully mechanized longwall face is the main production operation site in coal mines. However, due to the special nature of coal mining, it is also a mobile and temporary production operation site located underground. Although coal production enterprises have always attached great importance to production safety, the temporary nature of the work site, the complexity of geological conditions, the confined space, and the adverse effects of coal dust pollution mean that many mature monitoring and detection technologies and equipment cannot be used in fully mechanized longwall faces, ultimately affecting the implementation of safety monitoring measures. Although comprehensive video surveillance coverage has been provided in coal mines, the video presentation is still mainly two-dimensional, lacking a three-dimensional depth assessment of the underground environment. Summary of the Invention

[0004] This invention aims to at least partially solve one of the technical problems in related technologies. To this end, this invention provides a geographic feature acquisition system and method for fully mechanized coal mining faces. It employs a dual positioning method based on UWB positioning and gyroscope motion positioning, along with laser ranging technology. Through a movable detection device, it depicts the geographic features and coal face characteristics of images, adding geographic and three-dimensional distance information to the planar visualization of coal mine safety production. This provides the necessary and comprehensive monitoring and detection conditions for unmanned production at coal mine working faces.

[0005] To achieve the above objectives, in a first aspect, this application provides a geographic feature acquisition system for a fully mechanized coal mining face, including a detection device installed along the working face and several UWB positioning base stations fixed along the working face. The detection device includes:

[0006] Image acquisition equipment, used to acquire image information of the area along the working face;

[0007] The horizontal and vertical rotating laser rangefinders, symmetrically arranged on both sides of the image acquisition device, are used to measure the distance from various points in the image to the detection device within the image information range.

[0008] A gyroscope positioned in the middle of the detection device is used to provide positioning data for the detection device under conditions of continuous operation.

[0009] The UWB positioning devices, symmetrically arranged on both sides of the image acquisition device, are used to provide positioning data for the detection device during the intervals between continuous operation of the detection device.

[0010] Secondly, the present invention provides a method for collecting geographical features of a fully mechanized coal mining face, the feature collection method comprising:

[0011] Place a total station along the working face and establish a coordinate system with the total station as the origin;

[0012] Measure the coordinates P of several UWB positioning base stations relative to the origin. N (X N Y N Z N ), where N is the sequence number of different UWB positioning base stations;

[0013] Calculate the coordinates of the two UWB positioning devices relative to the origin;

[0014] Calculate the attitude data and initial position coordinates of the detection device at the initial position;

[0015] The attitude change data and position change data of the detection device relative to the initial position are determined based on the gyroscope detection.

[0016] The geographic feature images of the area along the working face are captured by the image acquisition device and image information is generated. The image information includes image RGB information, the position coordinates P(X, Y, Z) of the image acquisition device and the attitude θ(α, β, γ) of the gyroscope.

[0017] The coordinates of the coal wall, floor, and roof at different positions are obtained by measuring the distance information between the detection device and the coal wall, roof, and floor at different locations using horizontal and vertical rotating laser ranging equipment.

[0018] Geographic feature images and point cloud models of fully mechanized coal mining faces are generated based on the coordinates of the coal face, floor, and roof in the coordinate system and image information.

[0019] Preferably, the attitude data and initial position coordinates of the detection device at the initial position include calculating the initial position coordinates of the detection device based on the initial position coordinates of the two UWB positioning devices, and using the angle between the line connecting the initial position coordinates of the two UWB positioning devices and each axis of the coordinate system as the attitude data of the detection device at the initial position.

[0020] Preferably, the determination of attitude change data and position change data of the detection device relative to the initial position during continuous operation based on gyroscope detection includes: determining attitude change data of the detection device relative to the initial position during continuous operation based on the roll angle and pitch angle changes of the gyroscope; and determining position change data of the detection device relative to the initial position during continuous operation based on the displacement changes of the gyroscope.

[0021] Preferably, the distance information between the detection device and the coal wall, roof, and floor at different positions measured by the horizontal rotating laser ranging device and the vertical rotating laser ranging device includes: when the detection device moves in the vertical direction, the distance information from the detection device to the coal wall, roof, and floor is measured by the horizontal rotating laser ranging device.

[0022] When the detection device moves horizontally, the distance information from the detection device to the coal wall, roof and floor is measured by a vertically rotating laser ranging device.

[0023] Preferably, the formula for calculating the coordinates of the different positions of the coal wall, floor, and roof in the coordinate system is as follows:

[0024] Where Xp, Yp, and Zp represent the position coordinates of the image acquisition device, and distance S and rotation angle ω represent the distance information and rotation angle between the detection device and the coal wall, roof, and floor calculated by the horizontal or vertical rotating laser ranging device, respectively.

[0025] Preferably, the measurement of the coordinates P of several UWB positioning base stations relative to the coordinate origin is... N (X N Y N Z N This includes measuring the angle θ of each UWB positioning base station relative to each axis of the coordinate system. N (α N ,β N γ N ) and the distance D from each UWB positioning base station to the origin. N Calculate D N COSθ N The coordinates P of the UWB positioning base station with the total station as the origin are obtained. N (X N Y N Z N ).

[0026] Preferably, calculating the coordinates of the two UWB positioning devices relative to the origin includes:

[0027] The distance D between each UWB positioning device on the measurement and detection device and at least three UWB positioning base stations;

[0028] With each participating UWB positioning base station as the center and a sphere with radius D, the intersection of all the spheres is the position of the UWB positioning device on the detection device.

[0029] The distance D from this intersection point to any participating UWB positioning base station and the angle θ (α, β, γ) with the coordinate system are calculated according to the formula P = P N +D·COSθ calculates all possible coordinates of the UWB positioning device in the coordinate system on the detection device, where P represents all possible coordinates of the UWB positioning device in the coordinate system;

[0030] By using the logic of excluding from the wall, the coordinates of the unmined and unexploited areas of the coal mine are excluded, while the coordinates of the UWB positioning device on the detection device are retained in the area along the working face.

[0031] If the coordinate information of each UWB positioning device on the detection device is still not unique in the area along the working surface, the detection device will change its position and reposition until the coordinate information of each UWB positioning device on the detection device is unique in the area along the working surface.

[0032] Preferably, the attitude data and initial position coordinates of the calculation and detection device at the initial position include:

[0033] The angle between the line connecting the initial coordinates of the two UWB positioning devices and the direction of the coordinate system is the attitude data of the motion detection device in the initial state, and the coordinates of the midpoint of the line connecting the two initial coordinates are the initial position coordinates of the motion detection device in the initial state.

[0034] Preferably, the step of generating geographical feature images and point cloud models of the fully mechanized coal mining face based on the coordinates of the different positions of the coal wall, floor, and roof in the coordinate system and image information includes generating geographical feature images and point cloud models of the fully mechanized coal mining face based on panoramic image algorithms and three-dimensional laser point cloud imaging algorithms.

[0035] Compared with the prior art, the beneficial effects of the present invention are:

[0036] The geographical feature acquisition method for fully mechanized coal mining faces provided by this invention adopts a dual positioning method based on UWB positioning and gyroscope motion positioning, as well as laser ranging technology. It uses a movable detection device to depict the geographical features and coal face features of the image, adding geographical information and three-dimensional distance information to the planar visualization of coal mine safety production, and providing the necessary and complete monitoring and detection conditions for unattended production at coal mine working faces.

[0037] Other features and advantages of this application will be set forth in the following description and will be apparent in part from the description, or may be realized by practice of this application. The purpose and other advantages of this application can be realized and obtained by means of the structures particularly pointed out in the written description, claims and drawings. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the structure of a coal mine fully mechanized mining face geographic feature acquisition system according to the present invention;

[0039] Figure 2 This is a flowchart of a method for collecting geographical features of a fully mechanized coal mining face according to the present invention.

[0040] In the diagram: 1. UWB positioning base station; 2. Optical fiber; 3. Detection device; A. Unmined area; C. Area along the working face; D. Area to be mined. Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] like Figure 1 As shown, in the first embodiment of the present invention, in a first aspect, this application provides a geographic feature acquisition system for a fully mechanized coal mining face. The feature acquisition system includes a detection device 3 set in a region C along the working face and a plurality of UWB positioning base stations 1 fixed in the region C along the working face. The region C along the working face is located between an unmined area A and a planned mining area D in the coal mine. The detection device 3 can move within the fully mechanized coal mining face. The plurality of UWB positioning base stations 1 are connected to each other via optical fiber 2. The detection device 3 includes an image acquisition device for acquiring image information of the region C along the working face.

[0043] A horizontally rotating laser rangefinder and a vertically rotating laser rangefinder are symmetrically arranged on both sides of the image acquisition device to measure the distance from various points in the image to the detection device 3 within the image information range;

[0044] The gyroscope, located in the middle of the detection device 3, is used to provide positioning data for the detection device 3 under the condition that the detection device 3 is working continuously.

[0045] The UWB positioning devices symmetrically arranged on both sides of the image acquisition device are used to provide positioning data for the detection device 3 during the intervals of continuous operation of the detection device 3.

[0046] Specifically, the detection device 3 is arranged from left to right in the horizontal direction with a first UWB positioning device, a horizontal rotating laser rangefinder, an image acquisition device, a vertical rotating laser rangefinder, and a second UWB positioning device; and from top to bottom in the vertical direction with a gyroscope and an image acquisition device.

[0047] The coal mine fully mechanized mining face geographic feature acquisition system integrates low-power sensors, lidar, gyroscopes, PTZ cameras, and UWB ultra-wideband indoor positioning technology to realize the three-dimensional geographic features and visualized description of the coal face required for unattended production in fully mechanized mining faces.

[0048] Secondly, the present invention provides a method for collecting geographical features of a fully mechanized coal mining face, the feature collection method comprising:

[0049] S1. Place a total station along the working face and establish a coordinate system with the total station as the origin.

[0050] S2. Measure the coordinates P of several UWB positioning base stations 1 relative to the origin. N (X N Y N Z N ), where N is the sequence number of different UWB positioning base stations 1;

[0051] S3. Calculate the coordinates of the two UWB positioning devices relative to the origin.

[0052] S4. Calculate the attitude data and initial position coordinates of the detection device 3 at the initial position;

[0053] S5. Determine the attitude change data and position change data of the detection device 3 relative to the initial position during continuous operation based on the gyroscope detection.

[0054] S6. Using an image acquisition device, capture images of the geographical features of the area C along the working face and generate image information, the image information including image RGB information, the position coordinates P(X, Y, Z) of the image acquisition device and the attitude θ(α, β, γ) of the gyroscope;

[0055] S7. By measuring the distance information between the detection device 3 and the coal wall, roof and floor at different positions using the horizontal rotating laser ranging device and the vertical rotating laser ranging device, the coordinates of the different positions of the coal wall, floor and roof in the coordinate system are obtained.

[0056] S8. Generate a geographic feature image and point cloud model of the fully mechanized coal mining face based on the coordinates of the different positions of the coal wall, floor, and roof in the coordinate system and image information. Specifically, calculating the attitude data and initial position coordinates of the detection device 3 at its initial position includes calculating the initial position coordinates of the detection device 3 based on the initial position coordinates of the two UWB positioning devices, using the angle between the line connecting the initial position coordinates of the two UWB positioning devices and each axis of the coordinate system as the attitude data of the detection device 3 at its initial position. Determining the attitude change data and position change data of the detection device 3 relative to its initial position during continuous operation based on gyroscope detection includes: determining the attitude change data of the detection device 3 relative to its initial position during continuous operation based on the roll and pitch angle changes of the gyroscope; and determining the position change data of the detection device 3 relative to its initial position during continuous operation based on the displacement changes of the gyroscope. The distance information between the detection device 3 and the coal wall, roof and floor at different positions measured by the horizontal rotating laser ranging device and the vertical rotating laser ranging device includes: when the detection device 3 moves in the vertical direction, the distance information from the detection device 3 to the coal wall, roof and floor is measured by the horizontal rotating laser ranging device.

[0057] When the detection device 3 moves in the horizontal direction, the distance information from the detection device 3 to the coal wall, roof and floor is measured by the vertically rotating laser ranging device.

[0058] Preferably, the formula for calculating the coordinates of the different positions of the coal wall, floor, and roof in the coordinate system is as follows: Where Xp, Yp, and Zp represent the position coordinates of the image acquisition device, and distance S and rotation angle ω represent the distance information and rotation angle between the detection device and the coal wall, roof, and floor calculated by the horizontal or vertical rotating laser ranging device, respectively.

[0059] Preferably, the measurement of the coordinates P of several UWB positioning base stations 1 relative to the coordinate origin is... N (X N Y N Z N This includes measuring the angle θ of each UWB positioning base station relative to each axis of the coordinate system. N (α N ,β N γ N ) and the distance D from each UWB positioning base station 1 to the origin of the coordinate system. N Calculate D N COSθ NThe coordinates P of UWB positioning base station 1 with the total station as the origin are obtained. N (X N Y N Z N ).

[0060] Preferably, calculating the coordinates of the two UWB positioning devices relative to the origin includes: measuring the distance D between each UWB positioning device on the detection device 3 and at least three UWB positioning base stations; drawing a sphere with each participating UWB positioning base station 1 as the center and D as the radius, then the intersection of all the spheres is the position of the UWB positioning device on the detection device 3; the distance D from this intersection to any participating UWB positioning base station 1 and the angle θ (α, β, γ) with the coordinate system are calculated according to the formula P = P N +D·COSθ calculates all possible coordinates of the UWB positioning device on detection device 3 in the coordinate system, where P represents all possible coordinates of the UWB positioning device in the coordinate system; through the logic of wall exclusion, the coordinates in the unmined area A and the area to be mined D of the coal mine are excluded, and the coordinates of the UWB positioning device on detection device 3 in the working face area C are retained; if the coordinate information of each UWB positioning device on detection device 3 in the working face area C is still not unique, then detection device 3 changes position and repositions until the coordinate information of each UWB positioning device on detection device 3 in the working face area C is unique.

[0061] Preferably, the attitude data and initial position coordinates of the calculation detection device 3 at the initial position include: the angle between the line connecting the initial coordinates of the two UWB positioning devices and the direction of the coordinate system is the attitude data of the motion detection device 3 in the initial state, and the coordinates of the midpoint of the line connecting the two initial coordinates are the initial position coordinates of the motion detection device 3 in the initial state.

[0062] Preferably, the step of generating geographical feature images and point cloud models of the fully mechanized coal mining face based on the coordinates of the different positions of the coal wall, floor, and roof in the coordinate system and image information includes generating geographical feature images and point cloud models of the fully mechanized coal mining face based on currently disclosed panoramic image algorithms and three-dimensional laser point cloud imaging algorithms.

[0063] Working principle: The geographical feature acquisition method for fully mechanized coal mining faces provided by this invention adopts a dual positioning method based on UWB positioning and gyroscope motion positioning, as well as laser ranging technology. The movable detection device 3 depicts the geographical features and coal face features of the image, adding geographical information and three-dimensional distance information to the planar visualization of coal mine safety production, and providing the necessary and complete monitoring and detection conditions for unattended production at coal mine working faces.

[0064] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0065] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media containing computer-usable program code. The storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Red-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0066] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

Claims

1. A feature acquisition method for a geographic feature acquisition system for a fully mechanized coal mining face, characterized in that, The feature acquisition method includes: Place a total station along the working face and establish a coordinate system with the total station as the origin; Measure the coordinates P of several UWB positioning base stations relative to the origin. N (X) N Y N Z N ), where N is the sequence number of different UWB positioning base stations; Calculate the coordinates of the two UWB positioning devices relative to the origin; Calculate the attitude data and initial position coordinates of the detection device at the initial position; The attitude change data and position change data of the detection device relative to the initial position are determined based on the gyroscope detection. The geographic feature images of the area along the working face are captured by the image acquisition device and image information is generated. The image information includes image RGB information, the position coordinates P (X, Y, Z) of the image acquisition device and the attitude θ (α, β, γ) of the gyroscope. The coordinates of the coal wall, floor, and roof at different positions are obtained by measuring the distance information between the detection device and the coal wall, roof, and floor at different locations using horizontal and vertical rotating laser ranging equipment. The distance information between the detection device and the coal wall, roof, and floor at different positions measured by the horizontal rotating laser ranging device and the vertical rotating laser ranging device includes: when the detection device moves in the vertical direction, the distance information from the detection device to the coal wall, roof, and floor is measured by the horizontal rotating laser ranging device. When the detection device moves in the horizontal direction, the distance information from the detection device to the coal wall, roof and floor is measured by the vertically rotating laser ranging device; The formulas for calculating the coordinates of the coal wall, floor, and roof at different positions in the coordinate system are as follows: Where Xp, Yp, and Zp represent the position coordinates of the image acquisition device, and the distance S and rotation angle ω represent the distance information and rotation angle between the detection device and the coal wall, roof, and floor calculated by the horizontal or vertical rotating laser ranging device, respectively. Geographic feature images and point cloud models of fully mechanized coal mining faces are generated based on the coordinates of the coal face, floor, and roof in the coordinate system and image information.

2. The method for collecting geographical features of a fully mechanized coal mining face according to claim 1, characterized in that, The calculation of the attitude data and initial position coordinates of the detection device at the initial position includes calculating the initial position coordinates of the detection device based on the initial position coordinates of the two UWB positioning devices, and using the angle between the line connecting the initial position coordinates of the two UWB positioning devices and each axis of the coordinate system as the attitude data of the detection device at the initial position.

3. The method for collecting geographical features of a fully mechanized coal mining face according to claim 2, characterized in that, The determination of attitude change data and position change data of the detection device relative to the initial position during continuous operation based on gyroscope detection includes: determining attitude change data of the detection device relative to the initial position during continuous operation based on the roll angle and pitch angle changes of the gyroscope; and determining position change data of the detection device relative to the initial position during continuous operation based on the displacement changes of the gyroscope.

4. The method for collecting geographical features of a fully mechanized coal mining face according to claim 1, characterized in that, The coordinates P of several UWB positioning base stations relative to the coordinate origin are measured. N (X) N Y N Z N This includes measuring the angles θ (α, β, γ) of each UWB positioning base station relative to each axis of the coordinate system and the distance D from each UWB positioning base station to the origin. N Calculate D N COSθ N The coordinates P of the UWB positioning base station with the total station as the origin are obtained. N (X) N Y N Z N ).

5. The method for collecting geographical features of a fully mechanized coal mining face according to claim 1, characterized in that, The calculation of the coordinates of the two UWB positioning devices relative to the origin includes: The distance D between each UWB positioning device on the measurement and detection device and at least three UWB positioning base stations; With each participating UWB positioning base station as the center and a sphere with radius D, the intersection of all the spheres is the position of the UWB positioning device on the detection device. The distance D from this intersection point to any participating UWB positioning base station and the angle θ (α, β, γ) with the coordinate system are calculated according to the formula COS. Calculate all the coordinates of the UWB positioning device in the coordinate system on the detection device, where P represents all the coordinates of the UWB positioning device in the coordinate system; By using the logic of excluding from the wall, the coordinates of the unmined and unexploited areas of the coal mine are excluded, while the coordinates of the UWB positioning device on the detection device are retained in the area along the working face. If the coordinate information of each UWB positioning device on the detection device is still not unique in the area along the working surface, the detection device will change its position and reposition until the coordinate information of each UWB positioning device on the detection device is unique in the area along the working surface.

6. The method for collecting geographical features of a fully mechanized coal mining face according to claim 1, characterized in that, The attitude data and initial position coordinates of the calculation and detection device at the initial position include: The angle between the line connecting the initial coordinates of the two UWB positioning devices and the direction of the coordinate system is the attitude data of the motion detection device in the initial state, and the coordinates of the midpoint of the line connecting the two initial coordinates are the initial position coordinates of the motion detection device in the initial state.

7. The method for collecting geographical features of a fully mechanized coal mining face according to claim 1, characterized in that, The process of generating geographic feature images and point cloud models of fully mechanized coal mining faces based on the coordinates of the different positions of the coal face, floor, and roof in the coordinate system and image information includes generating geographic feature images and point cloud models of fully mechanized coal mining faces based on panoramic image algorithms and three-dimensional laser point cloud imaging algorithms.

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