A pre-warning system and method for upward channeling and downward sliding of a fully mechanized coal mining face

Abstract

The application provides a kind of prewarning system and prewarning method of up and down sliding of fully mechanized working face, and relates to the technical field of intelligent mining of mine.The head or tail support searches the control point prism of crossheading roadway after pushing and sliding the support, automatically calculates the absolute geodetic coordinates of the head or tail support, and stores them into the database; the nearest N track points of the head or tail support along the strike of fully mechanized working face are connected to form a historical trajectory line; the included angle between the historical trajectory line of the head or tail support and the roadway center line of the crossheading should be within a certain limit range, when the included angle is greater than the limit value, the system automatically generates a prewarning information, and the technician takes relevant measures to prevent the up and down sliding of fully mechanized working face.The quantitative monitoring and specific values when the up and down sliding occurs are realized, the measurement accuracy is extremely high, and the requirements of intelligent mining and fine control are greatly met.

Description

Technical Field

[0001] This invention relates to the field of intelligent mining technology, and in particular to an early warning system and method for slippage on a fully mechanized mining face. Background Technology

[0002] Currently, in intelligent mining operations, scraper conveyors used for transporting coal in fully mechanized mining faces may shift towards either end of the face due to an imbalance between the tensile force and the downward component of gravity along the face's inclination direction. This is commonly referred to in the industry as "upward slippage." Currently, the main methods for monitoring and early warning of upward slippage in fully mechanized mining faces include lidar, infrared ranging, and video AI.

[0003] However, the aforementioned main methods for monitoring and early warning of upward and downward movement in fully mechanized mining faces have the following problems:

[0004] (1) Most methods are based on monitoring and early warning of relative position, without considering the overall spatial relationship of the longwall mining face;

[0005] (2) Most methods cannot provide quantitative monitoring. Although some methods can provide quantitative monitoring, they only provide a rough indication that the fully mechanized mining face has experienced upward or downward movement, but cannot provide the specific value of the upward or downward movement. The measurement accuracy is extremely low and cannot meet the requirements of refined control in intelligent mining. Summary of the Invention

[0006] In view of the above problems, this invention proposes an early warning system and method for slippage on a fully mechanized mining face.

[0007] This invention provides an early warning system for slippage on a fully mechanized mining face. The early warning system includes: at least one measuring robot, multiple supports, and multiple control point markers.

[0008] Multiple control point markers are installed in the roadway, and these multiple control point markers serve as observation points for the measuring robot;

[0009] At least one measuring robot is installed in a relatively fixed position on the head bracket or tail bracket among the multiple brackets. The measuring robot is a measuring platform that integrates automatic leveling, automatic target recognition, automatic aiming, automatic angle and distance measurement, automatic target tracking, automatic calculation, automatic photography, automatic storage, and data publishing.

[0010] The measuring robot is used to accurately measure the absolute geodetic coordinates of multiple supports through multiple control point markers, and then, based on the measured absolute geodetic coordinates of the multiple supports, to determine whether the fully mechanized mining face has experienced upward or downward movement, and to obtain specific values ​​and send early warning information when upward or downward movement is determined to have occurred.

[0011] In the case where two measuring robots are installed, one measuring robot is installed at a relatively fixed position on the head bracket, and the other measuring robot is installed at a relatively fixed position on the tail bracket.

[0012] When two or more measuring robots are installed, one measuring robot is installed in a relatively fixed position on the head bracket, another measuring robot is installed in a relatively fixed position on the tail bracket, and the remaining measuring robots are installed on other brackets at will, and no two or more measuring robots can be installed on one bracket at the same time.

[0013] Optionally, the control point marker is an integrated device that combines a prism and a marker card;

[0014] The prism is an optical device that serves as the observation target of the measuring robot. The prism includes: a regular prism or a 360-degree prism.

[0015] The identification card is a low-power electronic device that serves as the observation target of the ranging base station in the measuring robot.

[0016] The measuring robot uses wireless positioning technology, the ranging base station, and the measuring point markers to identify the point number of the prism and simultaneously acquire or measure the geodetic coordinates of the prism.

[0017] Optionally, the measuring robot accurately measures the absolute geodetic coordinates of multiple supports using multiple control point markers, and then determines whether the fully mechanized mining face has experienced upward or downward movement based on the measured absolute geodetic coordinates of the multiple supports. The specific method includes:

[0018] Taking the first measuring robot installed at a relatively fixed position on the head support as an example:

[0019] The first measuring robot determines whether the push-pull frame of the machine head support is completed;

[0020] After the push-pull frame of the machine head support is completed, the first measuring robot searches for multiple prisms among the multiple control point identifiers, and automatically calculates the absolute geodetic coordinates of the machine head support based on the multiple prisms, and stores the absolute geodetic coordinates as a trajectory point of the machine head support in the database.

[0021] The first measuring robot connects the N most recent trajectory points of the head support along the direction of the fully mechanized mining face to form a historical trajectory line;

[0022] The first measuring robot determines the relationship between the angle between the historical trajectory line and the center line of the roadway and the preset threshold, and determines whether the fully mechanized mining face has experienced upward or downward movement. The ideal state of the historical trajectory line is that the historical trajectory line is parallel to the center line of the roadway.

[0023] Optionally, the first measuring robot determines the relationship between the angle between the historical trajectory line and the center line of the roadway and a preset threshold, and determines whether the fully mechanized mining face has experienced upward or downward movement. This specifically includes:

[0024] If the first measuring robot determines that the angle between the historical trajectory line and the center line of the roadway is not greater than the preset threshold, then it is determined that the fully mechanized mining face has not experienced upward or downward movement.

[0025] If the first measuring robot determines that the angle between the historical trajectory line and the center line of the roadway is greater than the preset threshold, it determines that the fully mechanized mining face has experienced upward and downward movement, and the first measuring robot sends the warning information to the host computer.

[0026] Optionally, after the first measuring robot determines that the fully mechanized mining face has experienced upward or downward movement, it determines the deviation relationship between the historical trajectory line and the center line of the roadway, thereby determining whether the fully mechanized mining face has experienced upward or downward movement.

[0027] If the historical trajectory line deviates towards the fully mechanized mining face and is far from the center line of the roadway, it is determined that the fully mechanized mining face has experienced upward movement.

[0028] If the historical trajectory line deviates from the center line of the roadway and is far away from the fully mechanized mining face, it is determined that the fully mechanized mining face has experienced a slippage.

[0029] Optionally, the method by which the first measuring robot obtains specific values ​​after determining that the fully mechanized mining face has slid upwards or downwards includes:

[0030] The first measuring machine calculates the value of the included angle based on the historical trajectory line and the center line of the tunnel, and the value of the included angle represents the specific value of the upward and downward movement;

[0031] The first measuring machine sends the value of the included angle to the host computer, so that the host computer can receive and display the specific value of the upward movement of the fully mechanized mining face, or the specific value of the downward movement of the fully mechanized mining face.

[0032] This invention also provides an early warning method for slippage on a fully mechanized mining face, the early warning method being applied to a measuring robot, the early warning method comprising:

[0033] Determine whether the push-pull frame of the head support or tail support is completed;

[0034] After the push-pull frame of the nose support or the tail support is completed, the absolute geodetic coordinates of the nose support or the tail support are calculated, and the absolute geodetic coordinates are stored in the database as a trajectory point of the nose support or the tail support.

[0035] The historical trajectory line is formed by connecting the N most recent trajectory points of the head support or the tail support along the direction of the fully mechanized mining face.

[0036] The relationship between the angle between the historical trajectory line and the center line of the roadway is determined and a preset threshold is used to determine whether the fully mechanized mining face has experienced upward or downward movement. When upward or downward movement is determined to have occurred, a specific value is obtained and an early warning message is sent.

[0037] Optionally, the ideal state of the historical trajectory line is that the historical trajectory line is parallel to the center line of the roadway; the relationship between the angle between the historical trajectory line and the center line of the roadway in the same roadway and a preset threshold is determined to determine whether the fully mechanized mining face has experienced upward or downward movement, and an early warning message is sent when upward or downward movement is determined to occur, including:

[0038] If the angle between the historical trajectory line and the center line of the roadway is not greater than the preset threshold, then it is determined that the fully mechanized mining face has not experienced upward or downward movement.

[0039] If the angle between the historical trajectory line and the center line of the roadway is greater than the preset threshold, it is determined that the fully mechanized mining face has experienced upward or downward movement, and the warning information is sent to the host computer.

[0040] Optionally, after determining that the fully mechanized mining face has experienced upward or downward movement, the method further includes:

[0041] Determine the deviation relationship between the historical trajectory line and the center line of the roadway, and then determine whether the fully mechanized mining face has experienced upward or downward movement;

[0042] If the historical trajectory line deviates towards the fully mechanized mining face and is far from the center line of the roadway, it is determined that the fully mechanized mining face has experienced upward movement.

[0043] If the historical trajectory line deviates from the center line of the roadway and is far away from the fully mechanized mining face, it is determined that the fully mechanized mining face has experienced a slippage.

[0044] Optionally, determining the specific value obtained when the upward and downward movement occurs includes:

[0045] The included angle is calculated based on the historical trajectory line and the center line of the tunnel, and the included angle represents the specific value of the upward and downward movement.

[0046] The value of the included angle is sent to the host computer so that the host computer can receive and display the specific value of the upward movement of the fully mechanized mining face, or the specific value of the downward movement of the fully mechanized mining face.

[0047] The invention provides an early warning system for slippage on a fully mechanized mining face. Multiple control point markers are installed in the roadway, and these markers serve as observation points for a measuring robot. At least one measuring robot is installed in a relatively fixed position on the head or tail support of multiple supports. The measuring robot is a measuring platform that integrates automatic leveling, automatic target recognition, automatic aiming, automatic angle and distance measurement, automatic target tracking, automatic calculation, automatic photography, automatic storage, and data publishing.

[0048] The surveying robot is used to accurately measure the absolute geodetic coordinates of multiple supports by using multiple control point markers. Since the robot can obtain its own precise absolute geodetic coordinates through these markers, and because it is mounted on the head or tail support, it effectively obtains the precise absolute geodetic coordinates of that support. Then, based on the measured absolute geodetic coordinates of the multiple supports, it determines whether the longwall face has experienced upward or downward movement, and if such movement is detected, it obtains specific numerical values ​​and sends out early warning information.

[0049] The early warning system of this invention differs from most monitoring and early warning methods. It is based on absolute geodetic coordinates for monitoring and early warning, and is closely linked to the spatial relationship of the fully mechanized mining face. Furthermore, based on the millimeter-level precision of the measuring robot, it achieves quantitative monitoring and obtains specific values ​​when upward or downward movement occurs. The measurement accuracy is extremely high, greatly meeting the requirements of refined control in intelligent mining and demonstrating good practicality. Attached Figure Description

[0050] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0051] Figure 1 This is a preferred application layout diagram of the early warning system for slippage on the fully mechanized mining face according to an embodiment of the present invention;

[0052] Figure 2 This is a flowchart of an early warning method for slippage on a fully mechanized mining face according to an embodiment of the present invention;

[0053] Figure 3 This is an overview flowchart of the early warning system's operation in an embodiment of the present invention. Detailed Implementation

[0054] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention, and are only some, not all, embodiments of the present invention, and are not intended to limit the present invention.

[0055] The early warning system for slippage on a fully mechanized mining face proposed in this invention includes: at least one measuring robot, multiple supports, and multiple control point markers; the multiple control point markers are installed in the roadway and serve as observation points for the measuring robot.

[0056] At least one measuring robot is mounted in a relatively fixed position on either the head or tail support among multiple supports. That is, there can be one or more measuring robots. When there is only one measuring robot, it must be mounted in a relatively fixed position on either the head or tail support, and cannot be mounted on any other support. The measuring robot is a measurement platform integrating automatic leveling, automatic target recognition, automatic aiming, automatic angle and distance measurement, automatic target tracking, automatic calculation, automatic photography, automatic storage, and data publishing.

[0057] The measuring robot is used to accurately measure the absolute geodetic coordinates of multiple supports by using multiple control point markers. Based on the measured absolute geodetic coordinates of the multiple supports, it determines whether the longwall mining face has experienced upward or downward movement. When upward or downward movement is confirmed, it obtains specific values ​​and sends early warning information to the host computer.

[0058] In the case where two measuring robots are installed in the early warning system, one robot is installed at a relatively fixed position on the head support, and the other robot is installed at a relatively fixed position on the tail support. Compared to the case with only one measuring robot, this can further improve the accuracy of early warning of upward and downward movement in the fully mechanized mining face, as well as the accuracy of determining the specific values ​​when upward and downward movement occurs.

[0059] When two or more measuring robots are installed, one measuring robot is installed in a relatively fixed position on the head bracket, another measuring robot is installed in a relatively fixed position on the tail bracket, and the remaining measuring robots are installed on other brackets at will. However, no two or more measuring robots can be installed on one bracket at the same time; that is, one measuring robot corresponds to one bracket.

[0060] In one possible embodiment, the control point marker is an integrated device combining a prism and a marker card; the prism is an optical device that serves as the observation target for the measuring robot, and the prism can be either a standard prism or a 360-degree prism. That is, either type of prism can be applied to the early warning system for slippage on the fully mechanized mining face proposed in this invention.

[0061] An identification card is a low-power electronic device. As the observation target of a ranging base station in a measuring robot, the identification card's distance data includes: the card number, extended data, the slant distance from the measuring robot to the card, and battery level. The extended data includes: the card's location information and its geodetic coordinates. Of course, in actual use, the distance data and extended data may also include other information or data, which will not be listed here.

[0062] During the use of the entire early warning system, the measuring robot uses wireless positioning technology and ranging base stations, combined with measuring point markers, to identify the point number of the prism and simultaneously acquire or measure the geodetic coordinates of the prism.

[0063] The practical application of the aforementioned early warning system in intelligent mines can be referenced. Figure 1 The preferred application layout diagram shown provides a better understanding. The supports are generally located between the goaf and the unmined area. Figure 1 For the sake of simplicity, an example of a measuring robot mounted on a headstock is shown; no support is shown. Figure 1 The central control point is the control point identifier, and there are N such control points.

[0064] Based on the aforementioned early warning system, the measuring robot accurately measures the absolute geodetic coordinates of multiple supports using multiple control point markers. Then, based on the measured absolute geodetic coordinates of the multiple supports, the specific method for determining whether the fully mechanized mining face has experienced upward or downward movement includes the following steps:

[0065] The following steps take the first measuring robot installed in a relatively fixed position on the head bracket as an example. The measuring robots installed on the tail bracket or other brackets can be understood by referring to the same steps.

[0066] Step S1: The first measuring robot determines whether the push-pull frame of the machine head support is complete.

[0067] Under normal circumstances, the support may move up or down after the push-pull frame is pulled. Therefore, it is necessary to first determine whether the push-pull frame of the machine head support has been completed.

[0068] Step S2: After the push-pull frame of the head support is completed, the first measuring robot searches for multiple prisms among multiple control point markers, and automatically calculates the absolute geodetic coordinates of the head support based on the multiple prisms, and stores the absolute geodetic coordinates as a trajectory point of the head support in the database.

[0069] If the push-pull mechanism of the nose support is not completed, the first measuring robot waits until it is. Then, the first measuring robot searches for multiple prisms among the multiple control point markers, and automatically calculates the absolute geodetic coordinates of the nose support based on these prisms. Since the measuring robot can obtain its own precise absolute geodetic coordinates through the multiple control point markers, and because the measuring robot is mounted on the nose support, it effectively obtains the precise absolute geodetic coordinates of the nose support. Finally, these absolute geodetic coordinates are stored as a trajectory point of the nose support in the database.

[0070] Step S3: The first measuring robot connects the N most recent trajectory points of the head support along the direction of the fully mechanized mining face to form a historical trajectory line.

[0071] Since the first measuring robot obtains a trajectory point corresponding to the head support after each push-pull frame operation, the database will store several trajectory points corresponding to the head support after several push-pull frame operations. The first measuring robot can connect the N most recent trajectory points of the head support along the direction of the fully mechanized mining face in the database to form a historical trajectory line.

[0072] Step S4: The first measuring robot determines the relationship between the angle between the historical trajectory line and the center line of the roadway and the preset threshold, and determines whether the fully mechanized mining face has experienced upward or downward movement. The ideal state of the historical trajectory line is that it is parallel to the center line of the roadway.

[0073] After obtaining the historical trajectory line, the first measuring robot determines the relationship between the angle between the historical trajectory line and the center line of the roadway and a preset threshold, thereby determining whether the fully mechanized mining face has experienced upward or downward movement. Ideally, the historical trajectory line should be parallel to the roadway center line. That is, the historical trajectory line corresponding to the headstock should be parallel to the roadway center line; this is the most perfect and ideal state after the headstock pushes and pulls the guide frame. However, in actual work, considering the actual site conditions and machine operating errors, the historical trajectory line is generally not in the ideal state. Therefore, a preset threshold is set, and the relationship between the angle between the historical trajectory line and the center line of the roadway and this preset threshold is determined to ascertain whether the fully mechanized mining face has experienced upward or downward movement. Specifically:

[0074] If the first measuring robot determines that the angle between the historical trajectory line and the center line of the roadway is not greater than a preset threshold, it is determined that the fully mechanized mining face has not experienced upward or downward movement. If the first measuring robot determines that the angle between the historical trajectory line and the center line of the roadway is greater than a preset threshold, that is, the angle between the two is greater than or equal to the preset threshold, it is determined that the fully mechanized mining face has experienced upward or downward movement. When it is determined that the fully mechanized mining face has experienced upward or downward movement, the first measuring robot will send an early warning message to the host computer.

[0075] After the first measuring robot determines that the fully mechanized mining face has experienced upward or downward movement, it determines this by judging the relationship between the historical trajectory line and the center line of the roadway. Specifically, if the historical trajectory line deviates towards the fully mechanized mining face and is far from the center line of the roadway, it is determined that the fully mechanized mining face has moved upward; if the historical trajectory line deviates towards the center line of the roadway and is far from the fully mechanized mining face, it is determined that the fully mechanized mining face has moved downward.

[0076] Simultaneously, the first measuring robot also needs to calculate the specific value of the angle between the two. That is, the first measuring robot calculates the value of the angle based on the historical trajectory line and the center line of the roadway. This value of the angle represents the specific value of the slippage on the fully mechanized mining face.

[0077] The first measuring machine sends the angle value to the host computer, which then receives and displays the specific value indicating either upward or downward movement of the longwall face. Once technicians are aware of any upward or downward movement of the longwall face and its corresponding value, they promptly take appropriate measures to prevent further upward or downward movement.

[0078] It should be noted that if measuring robots are installed on both the head and tail supports, two historical trajectory lines will be obtained: one corresponding to the head support and the other to the tail support. By comparing and calculating these two historical trajectory lines with the roadway centerline, more accurate upward or downward movement values ​​can be obtained, laying a better foundation for refined control in intelligent mining. Similarly, for cases with three or more measuring robots installed, this approach can be applied to further improve the accuracy of early warnings regarding upward or downward movement in the longwall mining face, and further enhance the accuracy of upward or downward movement values.

[0079] Based on the aforementioned early warning system for slippage on a fully mechanized mining face, this embodiment of the invention also proposes an early warning method for slippage on a fully mechanized mining face, referring to... Figure 2 The flowchart shown illustrates a method for early warning of slippage on a fully mechanized mining face. This method is applied to a surveying robot and includes:

[0080] Step 201: Determine whether the push-pull frame of the head support or tail support is complete.

[0081] First, determine whether the push-pull frame of the nose support or tail support is completed. For the specific method of step 201, please refer to the above explanation of the early warning system and the explanation of step S1, which will not be repeated here.

[0082] Step 202: After the push-pull frame of the nose support or tail support is completed, calculate the absolute geodetic coordinates of the nose support or tail support, and store these absolute geodetic coordinates as a trajectory point of the nose support or tail support in the database.

[0083] After the push-pull frame is completed, the trajectory points are obtained and stored in the database. For the specific method of step 202, please refer to the above explanation of the system and the explanation of step S2, which will not be repeated here.

[0084] Step 203: Connect the N most recent trajectory points of the head or tail support along the direction of the longwall mining face to form a historical trajectory line.

[0085] The historical trajectory line is obtained based on the trajectory points in the database. For the specific method of step 203, please refer to the foregoing explanation of the system and the explanation of step S3, which will not be repeated here.

[0086] Step 204: Determine the relationship between the angle between the historical trajectory line and the center line of the roadway and the preset threshold, determine whether the fully mechanized mining face has experienced upward or downward movement, and obtain specific values ​​and send early warning information when upward or downward movement is confirmed.

[0087] The ideal state for the historical trajectory line is: the historical trajectory line is parallel to the center line of the roadway; if the angle between the historical trajectory line and the center line of the roadway is not greater than a preset threshold, it is determined that the fully mechanized mining face has not experienced upward or downward movement; if the angle between the historical trajectory line and the center line of the roadway is greater than a preset threshold, it is determined that the fully mechanized mining face has experienced upward or downward movement, and an early warning message is sent to the host computer.

[0088] After confirming that the fully mechanized mining face has experienced upward or downward movement, the relationship between the historical trajectory line and the center line of the roadway is then determined to confirm whether the fully mechanized mining face has experienced upward or downward movement. Specifically, if the historical trajectory line is biased towards the fully mechanized mining face and away from the center line of the roadway, it is determined that the fully mechanized mining face has experienced upward movement; if the historical trajectory line is biased towards the center line of the roadway and away from the fully mechanized mining face, it is determined that the fully mechanized mining face has experienced downward movement.

[0089] Finally, based on the historical trajectory line and the roadway centerline, the angle between the two lines is calculated. This angle represents the specific value of upward or downward movement of the mining face. The angle value is then sent to the host computer, allowing it to receive and display the specific value of either upward or downward movement of the longwall mining face. The specific method for step 204 can be found in the preceding explanations of the system and step S4, and will not be repeated here.

[0090] The above-mentioned early warning system operation and early warning methods are available. Figure 3 The overview flowchart shown is as follows:

[0091] The early warning system is activated to determine whether the head or tail support has completed the push-pull mechanism. After the push-pull mechanism is completed, the head or tail support measuring robot searches for the control point prism (i.e., the prism in the control point marker) in the roadway, automatically calculates the absolute geodetic coordinates of the head or tail support, and stores them in the database (corresponding to the trajectory points of the absolute geodetic coordinates).

[0092] Based on the trajectory points in the database, the N most recent trajectory points of the head or tail support along the direction of the fully mechanized mining face are connected to form a historical trajectory line. It is then determined whether the angle between the historical trajectory line and the centerline of the roadway in the corresponding roadway is greater than a limit (i.e., a preset threshold). If it is not greater than the limit, the system returns to determine whether the head or tail support has completed the push-pull mechanism process; if it is greater than the limit, an alarm for slippage or slide on the fully mechanized mining face is issued, and specific values ​​are calculated until the entire early warning system ceases operation.

[0093] In summary, the early warning system for slippage on a fully mechanized mining face provided by this invention includes multiple control point markers installed in the roadway, which serve as observation points for a measuring robot. At least one measuring robot is installed in a relatively fixed position on the head or tail support of multiple supports. The measuring robot is a measuring platform that integrates automatic leveling, automatic target recognition, automatic aiming, automatic angle and distance measurement, automatic target tracking, automatic calculation, automatic photography, automatic storage, and data publishing.

[0094] The surveying robot is used to accurately measure the absolute geodetic coordinates of multiple supports by using multiple control point markers. Since the robot can obtain its own precise absolute geodetic coordinates through these markers, and because it is mounted on the head or tail support, it effectively obtains the precise absolute geodetic coordinates of that support. Then, based on the measured absolute geodetic coordinates of the multiple supports, it determines whether the longwall face has experienced upward or downward movement, and if such movement is detected, it obtains specific numerical values ​​and sends out early warning information.

[0095] The early warning system of this invention differs from most monitoring and early warning methods. It is based on absolute geodetic coordinates for monitoring and early warning, and is closely linked to the spatial relationship of the fully mechanized mining face. Furthermore, based on the millimeter-level precision of the measuring robot, it achieves quantitative monitoring and obtains specific values ​​when upward or downward movement occurs. The measurement accuracy is extremely high, greatly meeting the requirements of refined control in intelligent mining and demonstrating good practicality.

[0096] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

[0097] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0098] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. An early warning system for slippage on a fully mechanized mining face, characterized in that, The early warning system includes: at least one measuring robot, multiple supports, and multiple control point markers; Multiple control point markers are installed in the roadway, and these multiple control point markers serve as observation points for the measuring robot; At least one measuring robot is installed in a relatively fixed position on the head bracket or tail bracket among the multiple brackets. The measuring robot is a measuring platform that integrates automatic leveling, automatic target recognition, automatic aiming, automatic angle and distance measurement, automatic target tracking, automatic calculation, automatic photography, automatic storage, and data publishing. The measuring robot is used to accurately measure the absolute geodetic coordinates of multiple supports by using multiple control point markers. Then, based on the measured absolute geodetic coordinates of the multiple supports, the robot connects the N most recent absolute geodetic coordinates of the supports along the direction of the fully mechanized mining face as trajectory points to form a historical trajectory line. By judging the relationship between the angle between the historical trajectory line and the center line of the roadway in the same roadway and a preset threshold, the robot determines whether the fully mechanized mining face has experienced upward or downward movement. When upward or downward movement is determined to have occurred, the robot obtains specific values ​​and sends early warning information. In the case where two measuring robots are installed, one measuring robot is installed at a relatively fixed position on the head bracket, and the other measuring robot is installed at a relatively fixed position on the tail bracket. When more than two measuring robots are installed, one measuring robot is installed in a relatively fixed position on the head bracket, another measuring robot is installed in a relatively fixed position on the tail bracket, and the remaining measuring robots are installed on other brackets at will, and no two or more measuring robots can be installed on one bracket at the same time.

2. The early warning system according to claim 1, characterized in that, The control point marker is an integrated device that combines a prism and a marker card. The prism is an optical device that serves as the observation target of the measuring robot. The prism includes: a regular prism or a 360-degree prism. The identification card is a low-power electronic device that serves as the observation target of the ranging base station in the measuring robot. The measuring robot uses wireless positioning technology, the ranging base station, and the control point marker to identify the point number of the prism, and simultaneously acquires or measures the geodetic coordinates of the prism.

3. The early warning system according to claim 2, characterized in that, The measuring robot accurately measures the absolute geodetic coordinates of multiple supports using multiple control point markers. Then, based on the measured absolute geodetic coordinates of the supports, it connects the N most recent absolute geodetic coordinates of each support along the longwall mining face as trajectory points to form a historical trajectory line. The specific method for determining whether the longwall mining face has experienced upward or downward movement is as follows: Taking the first measuring robot installed at a relatively fixed position on the head support as an example: The first measuring robot determines whether the push-pull frame of the machine head support is completed; After the push-pull frame of the machine head support is completed, the first measuring robot searches for multiple prisms among the multiple control point identifiers, and automatically calculates the absolute geodetic coordinates of the machine head support based on the multiple prisms, and stores the absolute geodetic coordinates as a trajectory point of the machine head support in the database. The first measuring robot connects the N most recent trajectory points of the head support along the direction of the fully mechanized mining face to form a historical trajectory line; The first measuring robot determines the relationship between the angle between the historical trajectory line and the center line of the roadway and the preset threshold, and determines whether the fully mechanized mining face has experienced upward or downward movement. The ideal state of the historical trajectory line is that the historical trajectory line is parallel to the center line of the roadway.

4. The early warning system according to claim 3, characterized in that, The first measuring robot determines the relationship between the angle between the historical trajectory line and the center line of the roadway and a preset threshold, and determines whether the fully mechanized mining face has experienced upward or downward movement. This specifically includes: If the first measuring robot determines that the angle between the historical trajectory line and the center line of the roadway is not greater than the preset threshold, then it is determined that the fully mechanized mining face has not experienced upward or downward movement. If the first measuring robot determines that the angle between the historical trajectory line and the center line of the roadway is greater than the preset threshold, it determines that the fully mechanized mining face has experienced upward and downward movement, and the first measuring robot sends the warning information to the host computer.

5. The early warning system according to claim 4, characterized in that, After the first measuring robot determines that the fully mechanized mining face has experienced upward or downward movement, it determines the deviation relationship between the historical trajectory line and the center line of the roadway, thereby determining whether the fully mechanized mining face has experienced upward or downward movement. If the historical trajectory line deviates towards the fully mechanized mining face and is far from the center line of the roadway, it is determined that the fully mechanized mining face has experienced upward movement. If the historical trajectory line deviates from the center line of the roadway and is far away from the fully mechanized mining face, it is determined that the fully mechanized mining face has experienced a slippage.

6. The early warning system according to claim 5, characterized in that, The method by which the first measuring robot obtains specific values ​​after determining that the fully mechanized mining face has experienced upward or downward movement includes: The first measuring machine calculates the value of the included angle based on the historical trajectory line and the center line of the tunnel, and the value of the included angle represents the specific value of the upward and downward movement; The first measuring machine sends the value of the included angle to the host computer, so that the host computer can receive and display the specific value of the upward movement of the fully mechanized mining face, or the specific value of the downward movement of the fully mechanized mining face.

7. A method for early warning of slippage on a fully mechanized mining face, characterized in that, The early warning method is applied to the measuring robot in the early warning system of claim 6, and the early warning method includes: Determine whether the push-pull frame of the head support or tail support is completed; After the push-pull frame of the nose support or the tail support is completed, the absolute geodetic coordinates of the nose support or the tail support are calculated, and the absolute geodetic coordinates are stored in the database as a trajectory point of the nose support or the tail support. The historical trajectory line is formed by connecting the N most recent absolute geodetic coordinates of the head support or the tail support along the direction of the fully mechanized mining face. By determining the relationship between the angle between the historical trajectory line and the center line of the roadway and a preset threshold, it is determined whether the fully mechanized mining face has experienced upward or downward movement. When upward or downward movement is determined to have occurred, a specific value is obtained and an early warning message is sent.

8. The early warning method according to claim 7, characterized in that, The ideal state of the historical trajectory line is that it is parallel to the center line of the roadway. The relationship between the angle between the historical trajectory line and the center line of the roadway and a preset threshold is determined to identify whether the fully mechanized mining face has experienced upward or downward movement. Upon confirmation of upward or downward movement, an early warning message is sent, including: If the angle between the historical trajectory line and the center line of the roadway is not greater than the preset threshold, then it is determined that the fully mechanized mining face has not experienced upward or downward movement. If the angle between the historical trajectory line and the center line of the roadway is greater than the preset threshold, it is determined that the fully mechanized mining face has experienced upward and downward movement, and the warning information is sent to the host computer.

9. The early warning method according to claim 8, characterized in that, After determining that the fully mechanized mining face has experienced upward and downward movement, the process also includes: Determine the deviation relationship between the historical trajectory line and the center line of the roadway, and then determine whether the fully mechanized mining face has experienced upward or downward movement; If the historical trajectory line deviates towards the fully mechanized mining face and is far from the center line of the roadway, it is determined that the fully mechanized mining face has experienced upward movement. If the historical trajectory line deviates from the center line of the roadway and is far away from the fully mechanized mining face, it is determined that the fully mechanized mining face has experienced a slippage.

10. The early warning method according to claim 9, characterized in that, Determining the specific values ​​obtained when the aforementioned upward and downward movements occur includes: The included angle is calculated based on the historical trajectory line and the center line of the tunnel, and the included angle represents the specific value of the upward and downward movement. The value of the included angle is sent to the host computer so that the host computer can receive and display the specific value of the upward movement of the fully mechanized mining face, or the specific value of the downward movement of the fully mechanized mining face.

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