A UWB-based position detection method for a coal mining machine in a fully-mechanized coal mining face

Abstract

This invention provides a method for detecting the position of a coal mining machine in a fully mechanized longwall mining face based on UWB, belonging to the field of coal mining machine position detection technology. It solves the problem of inaccurate coal mining machine position detection currently available, which is easily affected by environmental factors. A UWB coal mining machine ranging sensor is installed on the coal mining machine body, with two antennas mounted on the sensor. A UWB ranging base station is installed on the electro-hydraulic controller of every X hydraulic supports. The method includes the following steps: the UWB coal mining machine ranging sensor broadcasts a call to the UWB ranging base station; the UWB coal mining machine ranging sensor records the base station number n that responds to the UWB ranging base station; the UWB coal mining machine ranging sensor measures at least 5 sets of ranging information with the UWB ranging base station n as the center; the UWB coal mining machine ranging sensor filters all valid data from the measured data, selecting the set with the smallest distance value and sending it to the corresponding support controller; the support controller calculates the coal mining machine position based on the received data. This invention is applied to coal mining machine position detection.

Description

Technical Field

[0001] This invention provides a method for detecting the position of a coal mining machine in a fully mechanized mining face based on UWB, belonging to the field of coal mining machine position detection technology. Background Technology

[0002] Automation of fully mechanized mining faces is fundamental to achieving high-yield and high-efficiency mines, and one of its key technologies is the automation of hydraulic supports following the mining machine. To achieve this automation, the position of the coal mining machine must be detected. Based on the position information of the coal mining machine, the hydraulic support controller issues corresponding control commands to achieve linkage between the supports and the coal mining machine. Currently used detection methods mainly include infrared coal mining machine position detection and encoder-based coal mining machine position detection. However, infrared detection and encoder detection are easily affected by the on-site environment in underground mines, such as dust scattering, coal slurry obstruction, longitudinal tilt of the working face, and cable trough obstruction, resulting in inaccurate or even impossible detection of the coal mining machine's position, or a high failure rate in encoder-based detection of the coal mining machine's position.

[0003] Currently, some existing technologies also employ UWB technology for coal mining machine position detection. For example, patent application number 201410749250.5 describes a method and device for precise calibration of the absolute position of a coal mining machine based on UWB. This includes a coal mining machine body, a coal mining machine positioning device, an explosion-proof housing for the positioning device, a host computer, four ultra-wideband wireless communication UWB sensors, and a PoE switch. The explosion-proof housing for the positioning device is fixed to the coal mining machine body. The positioning device itself is located inside the explosion-proof housing. The positioning device includes a UWB positioning tag. The ultra-wideband wireless communication UWB sensors are fixed at equal intervals on hydraulic supports at the ends. The ultra-wideband wireless communication UWB sensors are connected to the host computer via the PoE switch. However, the position calibration method used in the above technical solution is complex and has limited accuracy. Summary of the Invention

[0004] To address the problem of inaccurate position detection of existing coal mining machines, which is easily affected by the environment, this invention proposes a UWB-based method for detecting the position of coal mining machines in fully mechanized mining faces.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: a UWB-based method for detecting the position of a coal mining machine in a fully mechanized mining face. A UWB coal mining machine ranging sensor is installed on the coal mining machine body. The UWB coal mining machine ranging sensor has two antennas, namely antenna 1 and antenna 2. A UWB ranging base station is installed on the electro-hydraulic controller of every X hydraulic supports. The detection method includes the following steps:

[0006] S1: Antenna 1 of the UWB coal mining machine ranging sensor broadcasts a call to the UWB ranging base station until a response is received;

[0007] S2: The UWB coal mining machine ranging sensor records the base station number n of the UWB ranging base station in response;

[0008] S3: The UWB coal mining machine ranging sensor takes the UWB ranging base station n as the center, and antennas 1 and 2 respectively measure at least 5 sets of ranging information;

[0009] S4: The UWB coal mining machine ranging sensor filters out all valid data from the measured data. It then selects the set of data with the smallest distance value from the valid data and records the base station number m of the UWB ranging base station corresponding to the set of data with the smallest distance value. Antenna 1 sends the set of data with the smallest distance value and the base station number m to the corresponding UWB ranging base station m. The UWB ranging base station m then sends the data to the corresponding support controller.

[0010] S5: The support controller calculates the coal mining machine position based on the received data and uploads the data to the host computer;

[0011] S6: The host computer verifies or recalculates the coal mining machine position based on the received data.

[0012] In step S4, the UWB coal mine ranging sensor sends the most recent set of data to the UWB ranging base station m through antenna 1. Then, the UWB coal mine ranging sensor enters sleep mode until the UWB ranging base station m responded to by the UWB coal mine ranging sensor is consistent with the base station number n of the UWB ranging base station in step S2. Then, steps S3 and S4 are repeated.

[0013] Let a, b, and m be the set of data filtered in step S4, where a is the distance between antenna 1 and UWB ranging base station n, b is the distance between antenna 2 and UWB ranging base station n, m is the number of the UWB ranging base station corresponding to a and b with the smallest ranging value in the valid data, and c is the distance between antenna 1 and antenna 2. Then the position of the coal mining machine is determined based on the angle e between b and c.

[0014] The process of determining the coal mining machine position based on the included angle e between b and c is as follows:

[0015] When e < 90° and b*cos(e) > c: determine the position corresponding to the midpoint of the coal mining machine and map it to a distance of m frame + d, where d = b*cos(e) - c;

[0016] When e < 90° and b*cos(e) ≤ c: determine the position corresponding to the midpoint of the coal mining machine and map it to the distance m-d from the frame, where d = cb*cos(e);

[0017] When e≥90°: Determine the position corresponding to the midpoint of the coal mining machine and map it to the distance m-d from the frame, where d=b*cos(2π-e)+c.

[0018] The beneficial effects of this invention compared to the prior art are as follows: the coal mining machine position detection method based on UWB provided by this invention can complete the coal mining machine position detection task as long as there is one set of valid data in each set of data for calculating the coal mining machine position, and it is not easily affected by the underground environment. Attached Figure Description

[0019] The present invention will be further described below with reference to the accompanying drawings:

[0020] Figure 1 This is a flowchart of the detection method of the present invention;

[0021] Figure 2 This is a schematic diagram of the structure of the UWB coal mining machine ranging sensor in embodiment 1 of the present invention;

[0022] Figure 3 This is a schematic diagram of the structure of the UWB coal mining machine ranging sensor in embodiment 2 of the present invention;

[0023] Figure 4 This is a schematic diagram of the structure of the UWB coal mining machine ranging sensor in embodiment 3 of the present invention. Detailed Implementation

[0024] like Figures 1 to 4 As shown, this invention provides a method for detecting the position of a coal mining machine in a fully mechanized mining face based on UWB. A UWB coal mining machine ranging sensor is installed on the coal mining machine body. The UWB coal mining machine ranging sensor has two antennas, antenna 1 and antenna 2. A UWB ranging base station is installed on the electro-hydraulic controller of each X hydraulic support. The detection method includes the following steps:

[0025] S1: Antenna 1 of the UWB coal mining machine ranging sensor broadcasts a call to the UWB ranging base station until a response is received;

[0026] S2: The UWB coal mining machine ranging sensor records the base station number n of the UWB ranging base station in response;

[0027] S3: The UWB coal mining machine ranging sensor takes the UWB ranging base station n as the center, and antennas 1 and 2 respectively measure at least 5 sets of ranging information;

[0028] S4: The UWB coal mining machine ranging sensor filters out all valid data from the measured data. It then selects the set of data with the smallest distance value from the valid data and records the base station number m of the UWB ranging base station corresponding to the set of data with the smallest distance value. Antenna 1 sends the set of data with the smallest distance value and the base station number m to the corresponding UWB ranging base station m. The UWB ranging base station m then sends the data to the corresponding support controller.

[0029] S5: The support controller calculates the coal mining machine position based on the received data and uploads the data to the host computer;

[0030] S6: The host computer verifies or recalculates the coal mining machine position based on the received data.

[0031] In step S4, the UWB coal mine ranging sensor sends the most recent set of data to the UWB ranging base station m through antenna 1. Then, the UWB coal mine ranging sensor enters sleep mode until the UWB ranging base station m responded to by the UWB coal mine ranging sensor is consistent with the base station number n of the UWB ranging base station in step S2. Then, steps S3 and S4 are repeated.

[0032] Let a, b, and m be the set of data filtered in step S4, where a is the distance between antenna 1 and UWB ranging base station n, b is the distance between antenna 2 and UWB ranging base station n, m is the number of the UWB ranging base station corresponding to a and b with the smallest ranging value in the valid data, and c is the distance between antenna 1 and antenna 2. Then the position of the coal mining machine is determined based on the angle e between b and c.

[0033] The process of determining the coal mining machine position based on the included angle e between b and c is as follows:

[0034] When e < 90° and b*cos(e) > c: determine the position corresponding to the midpoint of the coal mining machine and map it to a distance of m frame + d, where d = b*cos(e) - c;

[0035] When e < 90° and b*cos(e) ≤ c: determine the position corresponding to the midpoint of the coal mining machine and map it to the distance m-d from the frame, where d = cb*cos(e);

[0036] When e≥90°: Determine the position corresponding to the midpoint of the coal mining machine and map it to the distance m-d from the frame, where d=b*cos(2π-e)+c.

[0037] The implementation of the detection method of this invention requires first designing and installing a UWB coal mining machine distance sensor (fixed distance dual UWB module) on the coal mining machine body, and installing a UWB ranging base station on the electro-hydraulic controller of the hydraulic support. The density of UWB ranging base stations can be selected according to the power (ranging range) of the UWB ranging base station and the distance sensor.

[0038] The principle of coal mining machine position detection in this invention is as follows:

[0039] 1. When the UWB coal mining machine ranging sensor is powered on for the first time or has no historical valid ranging information: it broadcasts a call to the UWB base station via antenna 1.

[0040] 2. The UWB ranging base station (assuming frame number n) near the UWB coal mining machine ranging sensor responds to the UWB coal mining machine ranging sensor (the response includes the UWB ranging base station deployment information X (X frames represent one UWB base station)).

[0041] 3. After receiving the response from the UWB ranging base station, the UWB coal mining machine ranging sensor begins fixed-point ranging:

[0042] UWB coal mining machine ranging sensor antenna 1 measures the distance a1 between the UWB ranging base station (frame number n);

[0043] UWB coal mining machine ranging sensor antenna 2 measures the distance b1 between the UWB ranging base station (frame number n);

[0044] UWB coal mining machine ranging sensor antenna 1 measures the distance a2 between the UWB ranging base station (frame number nx);

[0045] UWB coal mining machine ranging sensor antenna 2 measures the distance b2 between the UWB ranging base station (frame number nx);

[0046] UWB coal mining machine ranging sensor antenna 1 measures the distance a3 between the UWB ranging base station (frame number n-2x);

[0047] UWB coal mining machine ranging sensor antenna 2 measures the distance b3 between the UWB ranging base station (frame number n-2x);

[0048] UWB coal mining machine ranging sensor antenna 1 measures the distance a4 between the UWB ranging base station (frame number n+x);

[0049] UWB coal mining machine ranging sensor antenna 2 measures the distance b4 between the UWB ranging base station (frame number n+x);

[0050] UWB coal mining machine ranging sensor antenna 1 measures the distance a5 between the UWB ranging base station (frame number n+2x);

[0051] UWB coal mining machine ranging sensor antenna 2 measures the distance b5 between the UWB ranging base station (frame number n+2x);

[0052] Note: X is set according to the distance configured for the ranging base station.

[0053] 4. The UWB coal mining machine ranging sensor compares 5 sets of ranging data, selects the set of data that is valid in both a1-a5 and b1-b5 and has the smallest distance, defines it as a and b, and sends it to the corresponding UWB ranging base station (assuming frame m).

[0054] 5. UWB coal mining machine ranging sensor sleep (sleep time is calculated based on the coal mining machine position detection sampling rate set according to the coal mining machine speed).

[0055] 6. The UWB coal mining machine ranging sensor repeats step 3 and starts ranging from the previous UWB ranging base station (m) as the center.

[0056] The UWB ranging base station (frame number m) transmits frame number m and distances a and b to the support controller. The support controller can calculate the position of the coal mining machine by itself or by uploading data to the host computer using the following formula.

[0057] It is known that UWB coal mining machine sensor antenna 1 is installed at the midpoint of the coal mining machine (if it is not at the midpoint, it can be offset and corrected at the end). The distance between antenna 2 and antenna 1 is c, where c can be set according to the fixed value set by the sensor or the value measured on site. The distance between antenna 1 and UWB ranging base station a is the distance between antenna 1 and UWB ranging base station b.

[0058] First, calculate the angle e using the law of cosines. Then, determine which UWB ranging base station the coal mining machine is located at based on the value of angle e, and perform the calculation accordingly.

[0059]

[0060] Time: Determine the distance from the coal mining machine (midpoint position) to the support at a distance of n+2 supports + d;

[0061] d = b * cos(e) - c;

[0062] Coal mining machine location: (n+2+d / support distance) frames.

[0063] Scenario 2: such as Figure 3 As shown, When angle e < 90° (π / 2) and b*cos(e) <= c: determine that the coal mining machine (the position corresponding to the midpoint) is mapped to a distance of n+3 supports - d.

[0064] d = cb * cos(e);

[0065] Coal mining machine location: (n+3-d / support distance) frames.

[0066] Scenario 3: such as Figure 4 As shown, When angle e >= 90° (π / 2): determine the distance from the coal mining machine (midpoint position) to the support n+4 - d;

[0067] d = b * cos(2π - e) + c;

[0068] Coal mining machine location: (n+4-d / support distance) frames.

[0069] Regarding the specific structure of this invention, it should be noted that the connection relationships between the various component modules used in this invention are definite and achievable. Except as specifically described in the embodiments, their specific connection relationships can bring about corresponding technical effects and solve the technical problems proposed by this invention without relying on the execution of corresponding software programs. The models of the components, modules, and specific components appearing in this invention, the connection methods between them, and the conventional usage methods and expected technical effects brought about by the above technical features, unless specifically described, are all publicly disclosed content in patents, journal articles, technical manuals, technical dictionaries, and textbooks that can be obtained by those skilled in the art before the application date, or belong to conventional technology, common knowledge, and other existing technologies in this field. There is no need to elaborate, which makes the technical solution provided in this case clear, complete, and achievable, and can reproduce or obtain corresponding physical products based on this technical means.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for detecting the position of a coal mining machine in a fully mechanized longwall mining face based on UWB, characterized in that: A UWB coal mining machine ranging sensor is installed on the body of the coal mining machine. The UWB ranging sensor has two antennas, antenna 1 and antenna 2. A UWB ranging base station is installed on the electro-hydraulic controller of every X hydraulic supports. The detection method includes the following steps: S1: Antenna 1 of the UWB coal mining machine ranging sensor broadcasts a call to the UWB ranging base station until a response is received; S2: The UWB coal mining machine ranging sensor records the base station number n of the UWB ranging base station in response; S3: The UWB coal mining machine ranging sensor takes the UWB ranging base station n as the center, and antennas 1 and 2 respectively measure at least 5 sets of ranging information; S4: The UWB coal mining machine ranging sensor filters out all valid data from the measured data. It then selects the set of data with the smallest distance value from the valid data and records the base station number m of the UWB ranging base station corresponding to the set of data with the smallest distance value. Antenna 1 sends the set of data with the smallest distance value and the base station number m to the corresponding UWB ranging base station m. The UWB ranging base station m then sends the data to the corresponding support controller. Let a, b, and m be the set of data selected in step S4, where a is the distance between antenna 1 and UWB ranging base station m, b is the distance between antenna 2 and UWB ranging base station m, m is the number of the UWB ranging base station corresponding to the smallest ranging value a and b in the valid data, and c is the distance between antenna 1 and antenna 2. Then, the process of determining the position of the coal mining machine based on the angle e between b and c is as follows: When e < 90° and b*cos(e) > c: determine the position corresponding to the midpoint of the coal mining machine and map it to the distance m+d, where d = b*cos(e) - c; When e < 90° and b*cos(e) ≤ c: determine the position corresponding to the midpoint of the coal mining machine and map it to the distance m-d from the frame, where d = cb*cos(e); When e≥90°: Determine the position of the midpoint of the coal mining machine corresponding to the distance m-d from the frame, where d=b*cos(2π-e)+c; S5: The support controller calculates the coal mining machine position based on the received data and uploads the data to the host computer; S6: The host computer verifies or recalculates the coal mining machine position based on the received data.

2. The method for detecting the position of a coal mining machine in a fully mechanized longwall mining face based on UWB, as described in claim 1, is characterized in that: In step S4, the UWB coal mine ranging sensor sends the most recent set of data to the UWB ranging base station m through antenna 1. Then, the UWB coal mine ranging sensor enters sleep mode until the UWB ranging base station m responded to by the UWB coal mine ranging sensor is consistent with the base station number n of the UWB ranging base station in step S2. Then, steps S3 and S4 are repeated.

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