A method, system and device for detecting the position of a coal shearer

Abstract

The present invention discloses a method, system and device for detecting the position of a shearer. Among them, the method includes setting a fixed reflecting surface on the shearer; arranging a plurality of radar devices at different positions in the roadway where the shearer advances, and recording the specific position of each radar device; setting that each radar device and the shearer are in a working synchronization state; controlling each radar device to sequentially drive a transmitter to continuously send a plurality of pulse signals with set frequencies at an interval time, and the pulse signals form a plurality of echo signals after being reflected by the reflecting surface; the receiver in the radar device sequentially receives the plurality of echo signals; sending the plurality of echo signals to a resolution matrix in sequence according to the receiving time sequence to obtain the echo energy of each echo signal, and inputting the echo energy into a processing device to obtain the position of the shearer.

Description

Technical Field

[0001] The present invention relates to the technical field of shearer position detection, specifically to the technology of measuring the distance of a shearer using a radar device, and particularly to a method, system, and device for detecting the position of a shearer under the synchronous control of a radar device and the shearer. Background Art

[0002] Currently, for ranging technologies, mainly laser ranging, radar ranging, and UWB ranging are used. In these three traditional ranging technologies, generally, a complex ranging model needs to be constructed, and a large number of formula operations are involved in the ranging model. Once an error occurs in one link, the corresponding subsequent calculations will also be incorrect. Moreover, the environment in a mine is complex, and various environmental factors in the mine need to be considered for their impact on ranging. Therefore, constructing a ranging model is not the best technical solution.

[0003] In the existing technology, the position of a target can be tracked by analyzing echo signals. This method can reduce a large number of formula operations and only requires analyzing the characteristics of echo signals. For example, in the publication number: "CN110531348A", a radar ranging method is disclosed. The method includes: after initializing the radar channel, transmitting ultrasonic waves and starting an echo monitoring task; using the echo monitoring task to obtain a first echo signal and a second echo signal of the ultrasonic waves; analyzing the first echo signal and the second echo signal to obtain a first echo signal characteristic and a second echo signal characteristic; matching the first echo signal characteristic and the second echo signal characteristic to determine whether the first echo signal is interfered; when it is determined that the first echo signal is not interfered, calculating the distance to an obstacle according to the first echo signal.

[0004] Although the above-disclosed technical features can analyze the echo signals of a target to obtain the position of the target, however, since a mine is a relatively complex environment, the specific position of the target cannot be obtained only through echo signal analysis. However, based on the principle of the above-disclosed technical literature, it can be improved and applied in a mine to detect a target. Based on this, the present application proposes a technology for detecting the position of a shearer in a mine. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a method, system, and device for detecting the position of a shearer under the synchronous control of a radar device and the shearer.

[0006] To achieve the above purpose, on the one hand, the present invention provides the following technical solution: A shearer position detection method, including the following steps:

[0007] Set a fixed reflecting surface on the shearer;

[0008] Arrange multiple radar devices at different positions in the tunnel excavated by the coal mining machine, and record the specific position of each radar device;

[0009] Setting each radar device and the coal mining machine to be in a synchronous working state;

[0010] Control each radar device to drive the transmitter to continuously send multiple pulse signals of set frequency in sequence at intervals, and the pulse signals are reflected by the reflecting surface to form multiple echo signals;

[0011] The receiver in the radar device receives multiple echo signals in sequence;

[0012] Multiple echo signals are sequentially transmitted to the solution matrix according to the receiving timing to obtain the echo energy of each echo signal, and the echo energy is input into the processing device to obtain the position of the coal mining machine.

[0013] Further, the method of inputting the echo energy into a processing device to obtain the position of the coal mining machine is as follows:

[0014] Compare multiple echo energies of the same radar device in the same period, remove abnormal echo energies, obtain an average value of the echo energies, and input the average value into an energy loss estimation model. The energy loss estimation model estimates the energy loss to obtain the first position data of the coal mining machine corresponding to different radar devices;

[0015] The first position data of the coal mining machine corresponding to different radar devices are input into the correction model, and the first position data of the coal mining machine obtained by different radar devices are corrected by the correction model to obtain the first corrected positions of the coal mining machine corresponding to the different radar devices;

[0016] The first corrected positions of the coal mining machine corresponding to different radar devices are input into the synchronous control model, and the first corrected positions of the coal mining machine corresponding to different radar devices are corrected secondary through the synchronous control model to obtain the determined positions of the coal mining machine corresponding to different radar devices.

[0017] Furthermore, the energy loss estimation model is obtained according to the following method:

[0018] Obtaining historical data of echo energies of different radar devices, and inputting the historical data of echo energies of different radar devices into a neural network model for training to obtain a preliminary model for energy loss estimation;

[0019] Different environmental scrambling factors are set, and scrambling intervals of different environmental scrambling factors are constructed to form a scrambling model. The energy loss estimation model is obtained by setting the scrambling weights of different environmental scrambling factors in the scrambling model and configuring them into the preliminary energy loss estimation model.

[0020] Further, the scrambling model sets multiple scrambling values according to at least one environmental scrambling factor to simulate the interference of radar echo energy, so as to obtain the scrambling interval of the scrambling values under different scrambling values;

[0021] An input module is provided in the scrambling model. The input module is configured to set the weights of different environmental scrambling factors according to the judgment of the roadway environment, and set the scrambling value / scrambling value interval of the same environmental scrambling factor according to the judgment of the roadway environment.

[0022] Further, the correction model is used to obtain the difference by comparing the first position data of the shearer corresponding to different radar devices obtained in the T n+1 cycle with the first position data of the shearer corresponding to different radar devices obtained in the T n cycle, and judge whether the difference is within the set range. If the difference is within the set range, directly output the first position data of the shearer corresponding to different radar devices as the first corrected position of the shearer corresponding to different radar devices;

[0023] If the difference is not within the set range, call the first position data of the shearer corresponding to different radar devices obtained in the T n cycle, and call the average value of the historical differences as the revised value, and configure the revised value to the first position data of the shearer corresponding to different radar devices obtained in the T n cycle to be used as the first corrected position of the shearer corresponding to different radar devices in the T n+1 cycle; where n is an integer greater than or equal to 0.

[0024] Further, the synchronization control model corrects the first corrected position of the shearer obtained by the radar device based on the synchronization control of the radar device and the shearer and the tunneling estimation of the shearer within a set cycle.

[0025] On the other hand, the present application also provides a shearer position detection system, including:

[0026] A fixed reflecting surface is provided on the shearer. The reflecting surface is used for reflecting radar pulse signals to form echo signals;

[0027] A communication module is provided on the shearer. The communication module is connected to the upper computer and the control module of the shearer, and is used to control the actions of the shearer based on the control instructions of the upper computer;

[0028] A plurality of radar devices with different positions are arranged in the roadway where the shearer tunnels. The specific positions of each radar device are recorded, and the plurality of radar devices with different positions are networked and connected to the upper computer;

[0029] A synchronization control model is set in the host computer. The synchronization control model is used to control the synchronous startup and shutdown of the radar device and the shearer, and to perform sampling control on the radar device;

[0030] Wherein, a transmitter, a receiver, a resolution matrix, a processing device and a communication unit are provided in each radar device;

[0031] The host computer sends a control signal through the communication unit to control each radar device to drive the transmitter to continuously send a plurality of pulse signals with set frequencies at intervals, and the pulse signals form a plurality of echo signals after being reflected by the reflecting surface;

[0032] The receiver in the radar device sequentially receives a plurality of echo signals;

[0033] The plurality of echo signals are sequentially transported to the resolution matrix according to the reception time sequence to obtain the echo energy of each echo signal, and the echo energy is input into the processing device to obtain the position of the shearer.

[0034] Further, the sampling frequency of each radar device is set to be once every 5 - 15 minutes according to the layout position of the radar device, and the sampling interval time between different radar devices is 50 - 100 ms; the set frequency of the transmitter of each radar device for sending pulse signals is 5 - 10 ms.

[0035] Further, the processing device has an energy loss estimation model, a correction model and a synchronization control model;

[0036] Wherein, the energy loss estimation model is used to compare the echo energies of a plurality of the same radar device in the same period, obtain the average value of the echo energy after excluding abnormal echo energy, and estimate the energy loss with the average value to obtain the first position data of the shearer corresponding to different radar devices;

[0037] The correction model is used to correct the first position data of the shearer obtained by different radar devices to obtain the first corrected position of the shearer corresponding to different radar devices;

[0038] The synchronization control model is used to perform secondary correction on the first corrected position of the shearer corresponding to different radar devices to obtain the determined position of the shearer corresponding to different radar devices.

[0039] Further, the energy loss estimation model has a scrambling model. Among them, the scrambling model sets a plurality of scrambling values according to at least one environmental scrambling factor to simulate the interference of the radar echo energy, so as to obtain the scrambling interval of the scrambling values under different scrambling values;

[0040] In the scrambling model, an input module is provided. The input module is configured to set the weights of different environmental scrambling factors according to the judgment of the roadway environment, and set the scrambling value / range of the same environmental scrambling factor according to the judgment of the roadway environment.

[0041] Further, the correction model includes a recording unit, a storage unit, a judgment unit, and a correction unit;

[0042] The judgment unit is used to compare the first position data of the shearer corresponding to different radar devices obtained in the T n+1 cycle with the first position data of the shearer corresponding to different radar devices stored in the storage unit in the T n cycle to obtain a difference, and judge whether the difference is within a set range;

[0043] The correction unit is used to directly output the first position data of the shearer corresponding to different radar devices as the first corrected position of the shearer corresponding to different radar devices if the difference is within the set range;

[0044] If the difference is not within the set range, call the first position data of the shearer corresponding to different radar devices obtained in the T n cycle, and call the average value of historical differences as a revised value, and configure the revised value to the first position data of the shearer corresponding to different radar devices obtained in the T n cycle to be used as the first corrected position of the shearer corresponding to different radar devices in the T n+1 cycle; where n is an integer greater than or equal to 0;

[0045] The recording unit is used to record the first position data of the shearer corresponding to different radar devices obtained in the T n+1 cycle and the first corrected position of the shearer corresponding to different radar devices in the T n+1 cycle;

[0046] The storage unit stores the first position data of the shearer corresponding to different radar devices obtained in the T n+1 cycle and the first corrected position of the shearer corresponding to different radar devices in the T n+1 cycle in sequence.

[0047] Further, the energy loss estimation model is obtained according to the following method:

[0048] Obtain the historical data of the echo energy of different radar devices, and input the historical data of the echo energy of different radar devices into the neural network model for training to obtain a preliminary energy loss estimation model;

[0049] Set different environmental scrambling factors, construct a scrambling interval for different environmental scrambling factors to form a scrambling model, and configure different environmental scrambling factor scrambling weights in the scrambling model into the preliminary energy loss estimation model to obtain an energy loss estimation model.

[0050] On the other hand, the present application also provides a shearer position detection device, including a shearer position detection system, and the detection device is used to obtain the position information of the shearer under the synchronous control of the radar device and the shearer.

[0051] In the present application, a reflector is installed at the rear end of the shearer. Compared with directly performing echo reflection on the shearer, a stable echo signal can be obtained through the reflector. The preliminary position of the shearer is obtained by estimating the energy loss of the echo signal, and then the preliminary position is corrected successively through a correction model and a synchronous control model to obtain the accurate position of the shearer. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 is a flowchart of the method of the present invention;

[0053] Figure 2 is a flowchart of the method of inputting the echo energy into a processing device to obtain the position of the shearer in the present invention;

[0054] Figure 3 is a flowchart of the method for constructing the energy loss estimation model in the present invention;

[0055] Figure 4 is a schematic diagram of the system framework principle of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0056] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0057] Embodiment 1

[0058] Please refer to Figures 1-3 , the present invention provides a shearer position detection method, including the following steps:

[0059] Set a fixed reflecting surface on the shearer;

[0060] Deploy a plurality of radar devices with different positions in the roadway where the shearer is tunneling, and record the specific position of each radar device;

[0061] Set each radar device and the shearer to be in a working synchronization state;

[0062] Control each radar device to drive the transmitter to continuously send multiple pulse signals of set frequencies at intervals. After the pulse signals are reflected by the reflecting surface, multiple echo signals are formed;

[0063] The receiver in the radar device sequentially receives multiple echo signals;

[0064] Send multiple echo signals to the resolution matrix in sequence according to the receiving time sequence to obtain the echo energy of each echo signal, and input the echo energy into the processing device to obtain the position of the shearer.

[0065] In the above, the reflecting surface is installed at the rear end of the shearer and fixed with a bracket. The reflecting surface is a plane, and the material used for the reflecting surface is different from that of the shearer. For example, the reflecting surface is made of aluminum alloy or copper, so that the dielectric parameters of the reflecting surface are kept stable. At the same time, in order to ensure the stability of the echo signal after transmission, the reflecting surface should occupy 1 / 3 - 2 / 3 of the reflection cross-section of the shearer; the reflecting surface is used for reflecting the radar pulse signal to form an echo signal.

[0066] Since the dielectric parameters of the shaft wall, the reflecting surface, and the shearer (mainly made of steel and iron) are significantly different, and the reflecting surface has a very stable reflection cross-section, therefore, the original echo signal only needs to be simply processed to obtain the echo signal of the reflecting surface. Using the echo signal of the reflecting surface instead of the overall echo signal of the shearer, a very stable echo signal can be obtained, reducing the analysis error of the echo signal.

[0067] In the above, the method of inputting the echo energy into the processing device to obtain the position of the shearer is as follows:

[0068] Compare the multiple echo energies of the same radar device in the same period, obtain the average value of the echo energy after excluding abnormal echo energy, and input the average value into the energy loss estimation model. The energy loss estimation model estimates through energy loss to obtain the first position data of the shearer corresponding to different radar devices;

[0069] Input the first position data of the shearer corresponding to different radar devices into the correction model, and correct the first position data of the shearer obtained by different radar devices through the correction model to obtain the first corrected position of the shearer corresponding to different radar devices;

[0070] Input the first corrected position of the shearer corresponding to different radar devices into the synchronization control model, and perform secondary correction on the first corrected position of the shearer corresponding to different radar devices through the synchronization control model to obtain the determined position of the shearer corresponding to different radar devices.

[0071] In this application, three radar devices (for example: the first radar device, the second radar device, and the third radar device) are arranged in the roadway driven by the coal shearer. The three radar devices have the same spacing. By setting a communication unit on the radar device to form a network and recording the specific position of each radar device, in this way, when measuring the distance, only by knowing the distance measurement of each radar device relative to the coal shearer, the specific position of the coal shearer can be obtained.

[0072] Further, the energy loss estimation model is obtained according to the following method:

[0073] Obtain the historical data of the echo energy of different radar devices, and input the historical data of the echo energy of different radar devices into the neural network model for training to obtain a preliminary energy loss estimation model;

[0074] Set different environmental perturbation factors, construct a perturbation interval for different environmental perturbation factors to form a perturbation model, and configure the perturbation weights of different environmental perturbation factors in the perturbation model into the preliminary energy loss estimation model to obtain the energy loss estimation model.

[0075] Further, the perturbation model is to set multiple perturbation values according to at least one environmental perturbation factor to simulate the interference of the radar echo energy, so as to obtain the perturbation interval of the perturbation values under different perturbation values;

[0076] An input module is provided in the perturbation model. The input module is configured to set the weights of different environmental perturbation factors according to the judgment of the roadway environment, and to set the perturbation value / perturbation value interval of the same environmental perturbation factor according to the judgment of the roadway environment.

[0077] In the above, the environmental perturbation factors include the humidity, temperature in the roadway, the orientation of the roadway, the roadway corners, and different branch openings. By arranging temperature and humidity sensors in the roadway to obtain the humidity and temperature corresponding to each period, and by manually setting descriptions for the orientation of the roadway, the roadway corners, and different branch openings, and recording and storing these environmental perturbation factors and associating them with the historical data of the echo energy of different radar devices in the corresponding period; when constructing the energy loss estimation model, obtain the historical data of the echo energy of different radar devices, such as the echo energy data sets corresponding to the above-mentioned first radar device, second radar device, and third radar device in several periods respectively, and input the echo energy data sets into the first neural network model for training without adding any environmental interference factors to obtain a preliminary energy loss estimation model;

[0078] Then, according to different environmental scrambling factors, the echo energy data sets respectively corresponding to the above-mentioned first radar device, second radar device, and third radar device in a number of cycles are respectively associated and input into the second neural network model for training to obtain an energy loss estimation interference model under a certain environmental scrambling factor;

[0079] By setting a weight for each energy loss estimation interference model, an energy loss estimation model can be obtained.

[0080] Further, the correction model is used to obtain the difference by comparing the first position data of the shearer corresponding to different radar devices obtained in the T n+1 cycle with the first position data of the shearer corresponding to different radar devices obtained in the T n cycle, and determine whether the difference is within a set range. If the difference is within the set range, directly output the first position data of the shearer corresponding to different radar devices as the first corrected position of the shearer corresponding to different radar devices;

[0081] If the difference is not within the set range, call the first position data of the shearer corresponding to different radar devices obtained in the T n cycle, and call the average value of historical differences as the revised value, and configure the revised value to the first position data of the shearer corresponding to different radar devices obtained in the T n cycle to be used as the first corrected position of the shearer corresponding to different radar devices in the T n+1 cycle; where n is an integer greater than or equal to 0.

[0082] Simply put, the above is to compare the first position data obtained in this cycle with the first position data obtained in the previous cycle to determine whether the difference between two adjacent cycles is within the range of the historical average difference. Generally, when the shearer is tunneling in the roadway, its average tunneling speed is relatively stable. Therefore, the moving distance of the shearer is relatively stable within the set sampling cycle and there will be no large changes. When large changes occur, it indicates that the ranging is inaccurate due to the influence of a certain environment at this time.

[0083] To ensure power consumption, the present application adopts a synchronous control method. Synchronous control refers to synchronously controlling the working states of the radar device and the shearer, including synchronous startup and synchronous shutdown. In this way, it can ensure that the sampled data has good usability. When the shearer is not working, the radar device does not need to perform repeated sampling. Among them, the synchronous control model corrects the first corrected position of the shearer obtained by the radar device based on the tunneling estimation of the shearer within a set period under the synchronous control of the radar device and the shearer. The principle of this part is that during the coal mining process of the shearer, within each sampling period, the tunneling distance of the shearer is within a relatively stable range and there will be no sudden advancement situation.

[0084] The principle of the present application is as follows: Combining the above technical solution, when controlling the operation of the shearer, the host computer controls the first transmitter of the first radar device to continuously send fixed 4 GHz pulse signals 5 times at a sampling period of 50 ms in the T 1 period. Correspondingly, the first receiver of the first radar device receives 5 groups of first echo signals in sequence. When the first radar device receives 5 groups of first echo signals, it compares the 5 groups of first echo signals to check whether there are abnormal signals among the 5 groups of first echo signals, and obtains the first average value of the first echo energy of the remaining other groups after removing the abnormal echo energy. Then, the first average value is input into the energy loss estimation model, and the energy loss estimation model estimates the energy loss to obtain the first position of the shearer corresponding to the first radar device; According to the above method, the second position of the shearer corresponding to the second radar device and the third position of the shearer corresponding to the third radar device can be obtained in sequence;

[0085] The first position of the shearer corresponding to the first radar device, the second position of the shearer corresponding to the second radar device, and the third position of the shearer corresponding to the third radar device are input into the correction model for correction in sequence, and after correction, they are input into the synchronous control model for secondary correction. After correction, the accurate position of the shearer can be obtained through the judgment of the three groups of data by the host computer.

[0086] Embodiment 2

[0087] Referring to Figure 4 , the present application also provides a shearer position detection system, including:

[0088] A fixed reflecting surface is provided on the shearer, and the reflecting surface is used for reflecting the radar pulse signal to form an echo signal;

[0089] A communication module is provided on the shearer, and the communication module is connected to the host computer and the control module of the shearer, and is used to control the actions of the shearer based on the control instructions of the host computer;

[0090] Deploy multiple radar devices at different positions in the roadway driven by the coal shearer, record the specific positions of each radar device, network the radar devices at multiple different positions, and connect them to a host computer;

[0091] A synchronous control model is set in the host computer. The synchronous control model is used to control the synchronous startup and shutdown of the radar device and the coal shearer, and to control the sampling of the radar device;

[0092] Among them, a transmitter, a receiver, a resolution matrix, a processing device, and a communication unit are set in each radar device;

[0093] The host computer sends control signals through the communication unit to control each radar device to sequentially drive the transmitter to continuously send multiple pulse signals of set frequencies at intervals. After the pulse signals are reflected by the reflecting surface, multiple echo signals are formed;

[0094] The receiver in the radar device sequentially receives multiple echo signals;

[0095] The multiple echo signals are sequentially transported to the resolution matrix according to the reception timing sequence to obtain the echo energy of each echo signal, and the echo energy is input into the processing device to obtain the position of the coal shearer.

[0096] In the above, the reflecting surface is installed at the rear end of the coal shearer and fixed with a bracket. The reflecting surface is a plane, and the material used for the reflecting surface is different from that of the coal shearer. For example, the reflecting surface is made of aluminum alloy or copper, so that the dielectric parameters of the reflecting surface are kept stable. At the same time, in order to ensure the stability of the echo signal after transmission, the reflecting surface should occupy 1 / 3 - 2 / 3 of the reflection cross-section of the coal shearer; the reflecting surface is used for reflecting the radar pulse signal to form an echo signal.

[0097] Since the dielectric parameters of the shaft wall, the reflecting surface, and the coal shearer (mainly made of steel and iron) are significantly different, and the reflecting surface has a very stable reflection cross-section, therefore, the original echo signal only needs to be simply processed to obtain the echo signal of the reflecting surface. Using the echo signal of the reflecting surface instead of the overall echo signal of the coal shearer, a very stable echo signal can be obtained, reducing the analysis error of the echo signal.

[0098] In the above, the sampling frequency of each radar device is set to 5 - 15 minutes each time according to the layout position of the radar device, and the sampling interval time between different radar devices is 50 - 100 ms; the set frequency of the transmitter of each radar device to send pulse signals is 5 - 10 ms.

[0099] In the above, three radar devices (for example: the first radar device, the second radar device, and the third radar device) are arranged in the roadway driven by the shearer. The distances between the three radar devices are the same. By setting communication units on the radar devices to form a network and recording the specific positions of each radar device, in this way, when measuring the distance, only by knowing the distance measurement of each radar device relative to the shearer can the specific position of the shearer be obtained.

[0100] In the above, the processing device has an energy loss estimation model, a correction model, and a synchronization control model;

[0101] Among them, the energy loss estimation model is used to compare the multiple echo energies of the same radar device in the same cycle, obtain the average value of the echo energy after eliminating abnormal echo energies, and estimate the energy loss with the average value to obtain the first position data of the shearer corresponding to different radar devices;

[0102] The correction model is used to correct the first position data of the shearer obtained by different radar devices to obtain the first corrected position of the shearer corresponding to different radar devices;

[0103] The synchronization control model is used to perform a secondary correction on the first corrected position of the shearer corresponding to different radar devices to obtain the determined position of the shearer corresponding to different radar devices.

[0104] Furthermore, the energy loss estimation model has a scrambling model. Among them, the scrambling model sets multiple scrambling values according to at least one environmental scrambling factor to simulate the interference of radar echo energy, so as to obtain the scrambling interval of the scrambling values under different scrambling values;

[0105] An input module is set in the scrambling model. The input module is configured to set the weights of different environmental scrambling factors according to the judgment of the roadway environment, and set the scrambling value / scrambling value interval of the same environmental scrambling factor according to the judgment of the roadway environment.

[0106] In the above, the environmental interference factors include the humidity, temperature in the roadway, as well as the orientation of the roadway, the roadway corners and different branch openings. By arranging temperature and humidity sensors in the roadway, the humidity and temperature corresponding to each cycle are obtained, and by manually setting descriptions for the orientation of the roadway, the roadway corners and different branch openings, these environmental interference factors are recorded and stored, and associated with the historical data of the echo energy of different radar devices in the corresponding cycle; when constructing the energy loss estimation model, the historical data of the echo energy of different radar devices are obtained, such as the echo energy data sets corresponding to the first radar device, the second radar device, and the third radar device respectively in several cycles, and the echo energy data sets are input into the first neural network model for training without adding any environmental interference factors to obtain a preliminary energy loss estimation model;

[0107] Then, according to different environmental interference factors, the echo energy data sets corresponding to the first radar device, the second radar device, and the third radar device respectively in several cycles are respectively associated and input into the second neural network model for training to obtain an energy loss estimation interference model under a certain environmental interference factor;

[0108] By setting a weight for each energy loss estimation interference model, an energy loss estimation model can be obtained.

[0109] Furthermore, the correction model has a recording unit, a storage unit, a judgment unit, and a correction unit;

[0110] The judgment unit is used to compare the first position data of the shearer corresponding to different radar devices obtained in the T n+1 cycle with the first position data of the shearer corresponding to different radar devices obtained in the T n cycle stored in the storage unit to obtain a difference, and judge whether the difference is within a set range;

[0111] The correction unit is used to directly output the first position data of the shearer corresponding to different radar devices as the first corrected position of the shearer corresponding to different radar devices if the difference is within the set range;

[0112] If the difference is not within the set range, the first position data of the shearer corresponding to different radar devices obtained in the T n cycle is called, and the average value of the historical differences is called as a revised value, and the revised value is configured to the first position data of the shearer corresponding to different radar devices obtained in the T n cycle to be used as the first corrected position of the shearer corresponding to different radar devices in the T n+1 cycle; where n is an integer greater than or equal to 0;

[0113] The recording unit is used to record Tn+1 The first position data of the shearer corresponding to different radar devices obtained in a period and T n+1 The first corrected position of the shearer corresponding to different radar devices in the period;

[0114] The storage unit stores the first position data of the shearer corresponding to different radar devices obtained in the T n+1 period and the first corrected position of the shearer corresponding to different radar devices in the T n+1 period in sequence according to the time sequence.

[0115] Further, the energy loss estimation model is obtained by the following method:

[0116] Obtain the historical data of the echo energy of different radar devices, and input the historical data of the echo energy of different radar devices into the neural network model for training to obtain a preliminary energy loss estimation model;

[0117] Set different environmental perturbation factors, construct a perturbation model in the perturbation intervals of different environmental perturbation factors, and configure the perturbation weights of different environmental perturbation factors in the perturbation model into the preliminary energy loss estimation model to obtain the energy loss estimation model.

[0118] Simply put, the above is to compare the first position data obtained in this period with the first position data obtained in the previous period to determine whether the difference between two adjacent periods is within the range of the historical average difference. Generally, when the shearer is tunneling in the roadway, its average tunneling speed is relatively stable. Therefore, the moving distance of the shearer is relatively stable within the set sampling period and will not change greatly. When a large change occurs, it means that it is affected by a certain environment at this time, resulting in inaccurate ranging.

[0119] To ensure power consumption, the present application adopts a synchronous control method. Synchronous control refers to synchronously controlling the working states of the radar device and the shearer, including synchronous startup and synchronous shutdown. In this way, it can ensure that the sampled data has good usability. When the shearer is not working, the radar device does not need to perform repeated sampling. Among them, the synchronous control model corrects the first corrected position of the shearer obtained by the radar device based on the tunneling estimation of the shearer within a set period under the synchronous control of the radar device and the shearer. The principle of this part is that during the coal mining process of the shearer, within each sampling period, the tunneling distance of the shearer is within a relatively stable range and will not suddenly advance.

[0120] The principle of the present application is as follows: Combining the above technical solutions, when controlling the operation of the shearer, the upper computer controls the first transmitter of the first radar device at T 1During the period, a fixed 4 GHz pulse signal is continuously transmitted 5 times according to a sampling period of 50 ms. Correspondingly, the first receiver of the first radar device receives 5 groups of first echo signals in sequence. When the first radar device receives 5 groups of first echo signals, the 5 groups of first echo signals are compared to check whether there are abnormal signals in these 5 groups of first echo signals. After removing the abnormal echo energy, the first average value of the first echo energy of the remaining other groups is obtained, and the first average value is input into the energy loss estimation model. The energy loss estimation model estimates the energy loss to obtain the first position of the shearer corresponding to the first radar device; according to the above method, the second position of the shearer corresponding to the second radar device and the third position of the shearer corresponding to the third radar device can be obtained in sequence;

[0121] The first position of the shearer corresponding to the first radar device, the second position of the shearer corresponding to the second radar device, and the third position of the shearer corresponding to the third radar device are input into the correction model for correction in sequence. After correction, they are input into the synchronous control model for secondary correction. After correction, the accurate position of the shearer can be obtained through the judgment of the upper computer on the three groups of data.

[0122] In addition, the present application also provides a shearer position detection device, including a shearer position detection system. The detection device is used to obtain the position information of the shearer under the synchronous control of the radar device and the shearer.

[0123] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for detecting the position of a coal mining machine, It is characterized in that The steps include: A fixed reflective surface is provided on the coal mining machine; Arrange multiple radar devices at different positions in the tunnel excavated by the coal mining machine, and record the specific position of each radar device; Setting each radar device and the coal mining machine to be in a synchronous working state; Control each radar device to drive the transmitter to continuously send multiple pulse signals of set frequency in sequence at intervals, and the pulse signals are reflected by the reflecting surface to form multiple echo signals; The receiver in the radar device receives multiple echo signals in sequence; The multiple echo signals are sequentially transmitted to the solution matrix according to the receiving time sequence to obtain the echo energy of each echo signal, and the echo energy is input into the processing device to obtain the position of the coal mining machine; The method of inputting the echo energy into the processing device to obtain the position of the coal mining machine is as follows: multiple echo energies of the same radar device in the same period are compared, and the average value of the echo energy is obtained after eliminating the abnormal echo energy, and the average value is input into the energy loss estimation model, and the energy loss estimation model obtains the first position data of the coal mining machine corresponding to different radar devices through energy loss estimation; The first position data of the coal mining machine corresponding to different radar devices are input into the correction model, and the first position data of the coal mining machine obtained by different radar devices are corrected by the correction model to obtain the first corrected positions of the coal mining machine corresponding to the different radar devices; The first corrected positions of the coal mining machine corresponding to different radar devices are input into the synchronous control model, and the first corrected positions of the coal mining machine corresponding to different radar devices are corrected secondary through the synchronous control model to obtain the determined positions of the coal mining machine corresponding to different radar devices.

2. The method for detecting the position of a coal mining machine according to claim 1, It is characterized in that The energy loss estimation model is obtained according to the following method: historical data of echo energies of different radar devices are obtained, and the historical data of echo energies of different radar devices are input into a neural network model for training to obtain a preliminary energy loss estimation model; Different environmental scrambling factors are set, and scrambling intervals of different environmental scrambling factors are constructed to form a scrambling model. The energy loss estimation model is obtained by setting the scrambling weights of different environmental scrambling factors in the scrambling model and configuring them into the preliminary energy loss estimation model.

3. The method for detecting the position of a coal mining machine according to claim 2, It is characterized in that The scrambling model sets a plurality of scrambling values ​​according to at least one environmental scrambling factor to simulate radar echo energy interference, so as to obtain scrambling intervals of scrambling values ​​under different scrambling values; An input module is provided in the scrambling model, and the input module is configured to set weights of different environmental scrambling factors according to the judgment of the lane environment, and to set a scrambling value / scrambling value interval of the same environmental scrambling factor according to the judgment of the lane environment.

4. The method for detecting the position of a coal mining machine according to claim 1, It is characterized in that The correction model is used to obtain a difference by comparing the first position data of the shearer corresponding to different radar devices obtained in the Tn+1 period with the first position data of the shearer corresponding to different radar devices obtained in the Tn period, and to determine whether the difference is within a set range. If the difference is within the set range, the first position data of the shearer corresponding to different radar devices is directly output as the first corrected position of the shearer corresponding to different radar devices; If the difference is not within the set range, the first position data of the shearer corresponding to different radar devices obtained in the Tn period is called, and the average value of the historical differences is called as a revision value, and the revision value is configured to the first position data of the shearer corresponding to different radar devices obtained in the Tn period to be used as the first corrected position of the shearer corresponding to different radar devices in the Tn+1 period; where n is an integer greater than or equal to 0.

5. The shearer position detection method according to claim 1, characterized in that, The synchronization control model is used to correct the first corrected position of the shearer obtained by the radar device based on the synchronization control of the radar device and the shearer and the tunneling estimation of the shearer within a set period.

6. A shearer position detection system, characterized in that, comprising: A fixed reflecting surface is arranged on the shearer, and the reflecting surface is used for reflecting the radar pulse signal to form an echo signal; A communication module is arranged on the shearer, and the communication module is connected to the upper computer and the control module of the shearer, and is used to control the action of the shearer based on the control instruction of the upper computer; A plurality of radar devices with different positions are arranged in the roadway where the shearer tunnels, the specific position of each radar device is recorded, and the plurality of radar devices with different positions are networked and connected to the upper computer; A synchronization control model is arranged in the upper computer, and the synchronization control model is used to control the synchronization start and stop of the radar device and the shearer, and to control the sampling of the radar device; Wherein, a transmitter, a receiver, a solution matrix, a processing device and a communication unit are arranged in each radar device; The upper computer sends a control signal through the communication unit to control each radar device to sequentially drive the transmitter to continuously send a plurality of pulse signals with set frequencies at intervals, and the pulse signals are reflected by the reflecting surface to form a plurality of echo signals; The receiver in the radar device sequentially receives a plurality of echo signals; The plurality of echo signals are sequentially sent to the solution matrix according to the reception time sequence to obtain the echo energy of each echo signal, and the echo energy is input into the processing device to obtain the position of the shearer; The processing device has an energy loss estimation model, a correction model and a synchronization control model; Wherein, the energy loss estimation model is used to compare the plurality of echo energies of the same radar device in the same period, and obtain the average value of the echo energies after removing abnormal echo energies, and estimate the energy loss with the average value to obtain the first position data of the shearer corresponding to different radar devices; The correction model is used to correct the first position data of the shearer obtained by different radar devices to obtain the first corrected position of the shearer corresponding to different radar devices; The synchronization control model is used to perform secondary correction on the first corrected position of the shearer corresponding to different radar devices to obtain the determined position of the shearer corresponding to different radar devices.

7. The shearer position detection system according to claim 6, characterized in that the sampling frequency of each radar device is set to 5 - 15 minutes each time according to the layout position of the radar device, and the sampling interval time between different radar devices is 50 - 100 ms; the set frequency of the transmitter of each radar device for sending pulse signals is 5 - 10 ms.

8. The shearer position detection system according to claim 6, characterized in that the energy loss estimation model has a scrambling model, wherein the scrambling model is to set multiple scrambling values according to at least one environmental scrambling factor to simulate the interference of radar echo energy, so as to obtain the scrambling interval of the scrambling values under different scrambling values; an input module is provided in the scrambling model, and the input module is configured to set the weights of different environmental scrambling factors according to the judgment of the roadway environment, and to set the scrambling value / scrambling value interval of the same environmental scrambling factor according to the judgment of the roadway environment.

9. The shearer position detection system according to claim 6, characterized in that the correction model has a recording unit, a storage unit, a judgment unit and a correction unit; the judgment unit is used to compare the first position data of the shearer corresponding to different radar devices obtained in the Tn+1 period with the first position data of the shearer corresponding to different radar devices obtained in the Tn period stored in the storage unit to obtain a difference value, and judge whether the difference value is within a set range; the correction unit is used to directly output the first position data of the shearer corresponding to different radar devices as the first corrected position of the shearer corresponding to different radar devices if the difference value is within the set range; if the difference value is not within the set range, call the first position data of the shearer corresponding to different radar devices obtained in the Tn period, and call the average value of the historical difference values as the revision value, and configure the revision value to the first position data of the shearer corresponding to different radar devices obtained in the Tn period as the first corrected position of the shearer corresponding to different radar devices in the Tn+1 period; where n is an integer greater than or equal to 0; the recording unit is used to record the first position data of the shearer corresponding to different radar devices obtained in the Tn+1 period and the first corrected position of the shearer corresponding to different radar devices in the Tn+1 period; the storage unit stores the first position data of the shearer corresponding to different radar devices obtained in the Tn+1 period and the first corrected position of the shearer corresponding to different radar devices in the Tn+1 period corresponding to each other according to the time sequence.

10. The shearer position detection system according to claim 8, characterized in that The energy loss estimation model is obtained by the following method: acquiring historical data of the echo energy of different radar devices, and inputting the historical data of the echo energy of different radar devices into a neural network model for training to obtain a preliminary energy loss estimation model; Setting different environmental scrambling factors, constructing a scrambling model in the scrambling intervals of different environmental scrambling factors, and obtaining an energy loss estimation model by configuring the scrambling weights of different environmental scrambling factors in the scrambling model into the preliminary energy loss estimation model.

11. A position detection device for a shearer Characterized in that It includes the system described in any one of claims 6 to 10, and the detection device is used to obtain the position information of the shearer under the synchronous control of the radar device and the shearer.

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