Device and method for monitoring the up and down movement of a flight on a flight conveyor based on an ultra-wideband radar

Abstract

The application discloses a kind of based on ultra-wideband radar's on the scraper conveyor up and down slide monitoring device and method, belong to coal mine safety state monitoring technical field.The monitoring device includes the electric rotating platform installed on the head of scraper conveyor, linear array antenna pointing to the end face end coal wall is installed on the electric rotating platform, linear array antenna connects ultra-wideband imaging radar signal module;Industrial computer sends instruction to control the receiving and sending of ultra-wideband imaging radar signal module, the rotating movement of electric rotating platform respectively;Linear array antenna installed on the head of scraper conveyor is driven by electric rotating platform, periodically collects the radar image of end face end, then by registration with the image periodically collected before, to deduce the distance that the head of scraper conveyor up and down slide;It has strong robustness to the harsh environmental conditions of end face end coal dust water vapor, and monitoring data is accurate.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of coal mine safety state monitoring, and particularly relates to a device and method for monitoring the upward and downward sliding of a scraper conveyor based on an ultra-wideband radar. BACKGROUND

[0002] Due to the inclination of the working face, the deflection of the push rod during the push and move of the support, the cutting dynamic load of the coal mining machine, and other reasons, the scraper conveyor is subjected to unbalanced stress, and the phenomenon of upward and downward sliding along the working face direction occurs. The upward and downward sliding of the scraper conveyor can cause unreasonable overlap of the scraper conveyor head (5) and the belt conveyor, narrow the personnel access channel at the end of the working face, and cause the support to be squeezed and bitten, etc. In addition, the side sliding of the scraper conveyor can drive the hydraulic support to move along the working face, which can make the roof at the end unsupported, form an "empty roof", and easily cause roof fall accidents. The upward and downward sliding of the scraper conveyor is common in coal mines, and a reliable and accurate monitoring method has been one of the problems to be solved in intelligent working faces.

[0003] In the prior art, a patent with application number CN202010940551.1 designs a monitoring device including a laser scanning assembly, a spraying mechanism, and a dust suction box. This method can play a certain role when the coal dust concentration is low, but as the concentration increases, the dust reduction effect is not satisfactory, and it cannot fundamentally solve the technical defect that the laser is greatly affected by coal dust and other environments. A patent with application number CN111605974B proposes to install an ultrasonic ranging device at the head of the scraper conveyor, and to judge the upward and downward sliding state by comparing the given distance threshold. The ultrasonic ranging method is relatively harsh on the installation position angle of the sensor, and the complex environmental conditions in the coal mine can only identify the upward and downward sliding state, and cannot obtain accurate upward and downward sliding distance data. A patent with application number CN112395661A proposes to use Unity3D to establish a data-driven virtual model of the fully-mechanized working face to realize monitoring of the upward and downward sliding distance in a virtual environment. Due to the inaccuracy of the real-time sensor data collected by the working face, the measurement accuracy of this method is low. A patent with application number CN109869192B proposes to use a two-dimensional radar imaging method in a straight line motion scanning mode to measure the upward and downward sliding distance of the scraper conveyor. However, the radar straight line motion scanning mode is not suitable for the working face end with limited space, and the two-dimensional radar image does not have height resolution, which can easily cause the reflected electromagnetic waves of targets at the same distance from the radar to be mixed. SUMMARY

[0004] The present application aims to overcome the deficiencies in the prior art, and to provide a device and method for monitoring the upward and downward sliding of a scraper conveyor based on an ultra-wideband radar, which can effectively penetrate coal dust air, and has high and accurate detection effect.

[0005] The robustness of the coal dust and water vapor at the working face end is poor, and it is not conducive to installation at the working face end with limited space, etc., the present application adopts an ultra-wideband radar with strong penetration ability of coal dust air medium and high resolution, and proposes an up-and-down sliding monitoring device and method of the scraper conveyor based on the ultra-wideband radar, to realize accurate and practical up-and-down sliding monitoring.

[0006] In order to achieve the above-mentioned purpose, the present application discloses a kind of based on ultra-wideband radar's scraper conveyor up-and-down sliding monitoring device, including the electric rotating platform of installation in the head of scraper conveyor, linear array antenna pointing to coal wall of working face end is installed on electric rotating platform, linear array antenna is composed of multiple transmitting antennas and multiple receiving antennas, linear array antenna is connected with ultra-wideband imaging radar signal module, and signal transmission line is connected between ultra-wideband imaging radar signal module and industrial computer;Industrial computer controls the transceiver of ultra-wideband imaging radar signal module by sending instruction;Electric rotating platform driven linear array antenna is controlled by industrial computer by signal transmission line sending instruction.

[0007] Further, multiple transmitting antennas and multiple receiving antennas in linear array antenna are arranged in straight line.

[0008] A kind of based on ultra-wideband radar's scraper conveyor up-and-down sliding monitoring method, industrial computer controls electric rotating platform driven linear array antenna by signal transmission line sending instruction and carries out periodic rotation and scans working face end, industrial computer controls ultra-wideband imaging radar signal module and receives echo data of working face end, and industrial computer obtains three-dimensional radar point cloud image after noise removal using three-dimensional scene reconstruction method and three-dimensional image denoising method, the three-dimensional image registration based on feature of multiple radar images obtained by periodic scanning of monitoring device is carried out, and the distance of scraper conveyor up-and-down sliding in periodic time is obtained by comparing three-dimensional image and backstepping;

[0009] Specific steps are as follows:

[0010] S1, by industrial computer control electric rotating platform starts rotating movement, while controlling ultra-wideband imaging radar signal module by linear array antenna to working face end sends electromagnetic wave signal, and real-time receives electromagnetic wave signal feedback by working face end;Electric rotating platform completes a working cycle after complete rotation, then, ultra-wideband imaging radar signal module stops working;

[0011] S2, industrial computer obtains three-dimensional radar point cloud image of working face end by three-dimensional scene reconstruction method by feedback electromagnetic wave signal received by ultra-wideband imaging radar signal module, then adopts image denoising method to remove noise of three-dimensional radar point cloud image of working face end;

[0012] S3, reaching the set up and down cycle monitoring time, repeating steps S1 and S2, obtaining a plurality of working face end three-dimensional radar point cloud images with noise removed;

[0013] S4, since the position of the linear array antenna relative to the machine head of the scraper conveyor is fixed, the industrial computer can analyze the up and down distance of the scraper conveyor in the cycle monitoring time by performing feature-based three-dimensional image registration on the plurality of working face end three-dimensional radar point cloud images with noise removed.

[0014] Further, the three-dimensional scene reconstruction method is a new forming mode for linear array antenna rotation imaging, which is established based on existing algorithms such as compressed sensing, self-focusing and deep learning, and combined with the constraint conditions of the special configuration of the working face end.

[0015] Further, the three-dimensional image denoising method is obtained by extending the existing two-dimensional image denoising methods such as anisotropic diffusion filter, guided filter, wavelet denoising and neural network to three dimensions, aiming at the image noise caused by coal dust, water vapor and the like at the working face end.

[0016] Further, the feature-based three-dimensional image registration method refers to an image registration method that fuses point features and surface features of three-dimensional radar images; wherein the point features refer to anchor rod features in the three-dimensional radar point cloud image, and the surface features refer to local image perimeter, area, normal vector and the like under the spatial configuration of the working face end.

[0017] Beneficial effects: The scraper conveyor up and down monitoring device and method based on ultra-wideband radar provided by the application uses an ultra-wideband imaging radar with strong penetration ability and high resolution to obtain three-dimensional image information of the end, which can effectively reduce the influence of harsh environmental conditions on the obtained three-dimensional image information. The linear array antenna is easy to install at the machine head of the scraper conveyor, and the displacement of the linear array antenna on the scraper conveyor can be obtained by comparing the three-dimensional radar images obtained in different monitoring periods. The three-dimensional radar image formed by the device has azimuth, range and height resolution, which can effectively avoid the aliasing phenomenon caused by two-dimensional imaging. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 Fig. 1 is a structural schematic diagram of the scraper conveyor up and down monitoring device based on ultra-wideband radar of the application;

[0019] Figure 2 Fig. 3 is a flow chart of the scraper conveyor up and down monitoring method based on ultra-wideband radar of the application;

[0020] Figure 3 Fig. 4 is a schematic diagram of a fully mechanized coal mining face.

[0021] In the figure: 1-linear array antenna, 2-electric rotating platform, 3-ultra-wideband imaging radar signal module, 4-industrial computer, 5-conveyer head. DETAILED DESCRIPTION

[0022] The application will be further described below in connection with the drawings and examples.

[0023] As Figure 1 shown, the application discloses a kind of based on ultra-wideband radar's conveyer head of scraper up and down slide monitoring device, it includes linear array antenna 1, electric rotating platform 2, ultra-wideband imaging radar signal module 3 and industrial computer 4;Conveyer head 5 of scraper is installed electric rotating platform 2, and linear array antenna 1 is fixed on electric rotating platform 2;Linear array antenna 1 can rotate around the center with electric rotating platform 2;Industrial computer 4 controls the rotation of electric rotating platform 2 by sending instruction;Industrial computer 4 controls the transceiving of ultra-wideband imaging radar signal module 3 by sending instruction, and linear array antenna 1 connected with signal module 3 is as the carrier of sending and receiving electromagnetic wave.Utilize linear array antenna 1 set in conveyer head of scraper periodically collects radar image of fixed position, then by comparing with the image collected in last period, thereby deducing the displacement generated by conveyer head of scraper

[0024] Linear array antenna 1 configuration is linear arrangement structure by transmitting antenna and receiving antenna.

[0025] As Figure 3 shown, a kind of based on ultra-wideband imaging radar's conveyer head of scraper up and down slide monitoring method, scraper is arranged in the rear of coal winning machine, and is set with coal winning machine work matching, and plate conveyor head 5 is located in the position close to roadway at both ends of plate conveyor;Electric rotating platform 2 installed in conveyer head 5 of scraper periodically drives linear array antenna 1 to rotate, and linear array antenna 1 sends and receives working face end head environment echo.Industrial computer 4 processes echo data using three-dimensional scene reconstruction method, three-dimensional image denoising method, obtains three-dimensional radar point cloud image after denoising of working face end head.Obtain the distance of up and down slide of scraper in period time based on the three-dimensional image registration of feature to the multiple radar images periodically scanned by monitoring device.

[0026] As Figure 2 shown, specifically includes the following steps:

[0027] S1, the industrial computer 4 sends instructions to the electric rotating platform 2 and the ultra-wideband imaging radar signal module 3 at the same time, so that the electric rotating platform 2 starts to move and the ultra-wideband imaging radar signal module 3 starts to send electromagnetic wave signals. After the electric rotating platform 2 rotates a complete circle, the industrial computer 4 controls the electric rotating platform 2 to stop rotating and the signal module 3 to stop sending electromagnetic waves respectively. While the signal module 3 sends electromagnetic waves, it also receives the echo signals of the environmental feedback and transmits the echo data to the industrial computer 4.

[0028] S2, the industrial computer 4 receives and stores the echo data of the ultra-wideband imaging radar signal module 3, obtains the three-dimensional radar point cloud image of the working face end head by using a three-dimensional scene reconstruction method, and realizes noise removal by using an image denoising method.

[0029] S3, to the set periodic scanning time, repeat S1, S2, and obtain the denoised three-dimensional radar point cloud image of the working face end head again.

[0030] S4, the industrial computer 4 performs feature-based three-dimensional image registration on the multiple three-dimensional radar images obtained by periodic scanning, and obtains the up-and-down sliding distance of the scraper conveyor in the periodic time.

[0031] The three-dimensional scene reconstruction is realized by using linear array antenna rotation imaging, and the algorithm is realized based on the compression sensing, self-focusing and deep learning algorithm, combined with the constraint conditions of the special configuration of the working face end head;

[0032] The three-dimensional image denoising method is obtained by extending the existing anisotropic diffusion filter, guided filter, wavelet denoising and neural network two-dimensional image denoising method to three dimensions in view of the image noise caused by coal dust and water vapor at the working face end head;

[0033] The feature-based three-dimensional image registration method refers to an image registration method that fuses point features and surface features of three-dimensional radar images; wherein the point features refer to anchor rod features in the three-dimensional radar point cloud image, and the surface features refer to the local image perimeter, area and normal vector under the consideration of the spatial configuration of the working face end head;

[0034] The above algorithm processes are prior art.

[0035] The above only describes the preferred embodiments of the present application, and it should be pointed out that for ordinary skilled persons in the technical field, some improvements and refinements can be made without departing from the principles of the present application, and these improvements and refinements should also be regarded as the protection scope of the present application.

Claims

1. A method for monitoring upward and downward movement of a scraper conveyor based on ultra-wideband radar, characterized in that: The monitoring device used includes an electric rotating platform (2) installed on the head (5) of the scraper conveyor. A linear array antenna (1) pointing towards the coal wall at the end of the working face is installed on the electric rotating platform (2). The linear array antenna (1) consists of multiple transmitting antennas and multiple receiving antennas. The linear array antenna (1) is connected to an ultra-wideband imaging radar signal module (3). The ultra-wideband imaging radar signal module (3) is connected to the industrial control computer (4) through a signal transmission line. The industrial control computer (4) controls the transmission and reception of the ultra-wideband imaging radar signal module (3) by sending commands. The electric rotating platform (2) that drives the linear array antenna (1) to rotate is controlled by the industrial control computer (4) by sending commands through the signal transmission line. The multiple transmitting antennas and multiple receiving antennas in the linear array antenna (1) are arranged in a straight line. The industrial control computer (4) sends instructions through the signal transmission line to control the electric rotating platform (2) to drive the linear array antenna (1) to rotate periodically and scan the end of the working surface. At the same time, the industrial control computer (4) controls the ultra-wideband imaging radar signal module (3) to send electromagnetic waves and receive echo data from the end of the working surface. The industrial control computer (4) uses a three-dimensional scene reconstruction method and a three-dimensional image denoising method to obtain a three-dimensional radar point cloud image after noise removal from the echo data. It performs feature-based three-dimensional image registration on multiple radar images obtained by the periodic scanning of the monitoring device. By comparing the three-dimensional images, it infers the distance of the scraper conveyor going up and down within a period of time. The specific steps are as follows: S1. The electric rotating platform (2) is controlled by the industrial control computer (4) to start rotating. At the same time, the ultra-wideband imaging radar signal module (3) is controlled to send electromagnetic wave signals to the end of the working face through the linear array antenna (1) and receive the electromagnetic wave signals fed back from the end of the working face in real time. After the electric rotating platform (2) completes one full rotation, it completes one working cycle. After that, the ultra-wideband imaging radar signal module (3) stops working. S2, The industrial control computer (4) uses the feedback electromagnetic wave signal received by the ultra-wideband imaging radar signal module (3) to obtain the three-dimensional radar point cloud image of the working face end through the three-dimensional scene reconstruction method, and then uses the three-dimensional image denoising method to remove noise from the three-dimensional radar point cloud image of the working face end. S3. When the set up-and-down cycle monitoring time is reached, repeat steps S1 and S2 to obtain multiple three-dimensional radar point cloud images of the working face end after noise removal. S4. Since the position of the linear array antenna (1) relative to the scraper conveyor head (5) is fixed, the industrial control computer (4) can analyze and obtain the scraper conveyor's upward and downward sliding distance within the periodic monitoring time by performing feature-based three-dimensional image registration on multiple three-dimensional radar point cloud images of the working surface end after noise removal.

2. The method for monitoring upward and downward movement of a scraper conveyor based on ultra-wideband radar according to claim 1, characterized in that: The algorithm for reconstructing three-dimensional scenes is achieved by using a linear array antenna for rotational imaging. It is based on compressed sensing, self-focusing, and deep learning algorithms, combined with the constraints of the special configuration of the working face end.

3. The method for monitoring upward and downward movement of a scraper conveyor based on ultra-wideband radar according to claim 1, characterized in that: To address image noise caused by coal dust and water vapor at the working face end, the three-dimensional image denoising method is an extension of existing anisotropic diffusion filters, guided filters, wavelet denoising, and neural network two-dimensional image denoising methods to three dimensions.

4. The method for monitoring upward and downward movement of a scraper conveyor based on ultra-wideband radar according to claim 1, characterized in that: Feature-based 3D image registration methods refer to image registration methods that integrate point features and surface features of 3D radar images. Point features refer to anchor bolt features in 3D radar point cloud images, while surface features refer to the perimeter, area, and normal vector of local images considering the spatial configuration of the working face end.

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