Mine sensing device based on device installation position attitude dynamic identification and implementation method

Abstract

The application relates to a mine-used sensing device based on dynamic identification of a device installation position attitude and an implementation method, and belongs to the technical field of mine-used sensing. The device comprises an inertial chip, which is used for identifying the attitude and motion state of the mine-used sensing device; an ultrasonic distance measuring module, which is used for measuring the distance between the mine-used sensing device and a roof in real time; a communication interface, which is used for transmitting the measurement and state data of the mine-used sensing device in real time; and a control unit, which is used for identifying the free-fall attitude change of the mine-used sensing device according to the data of the inertial chip and the ultrasonic distance measuring module, and transmitting the identification result through the communication interface. The application can more accurately identify the free-fall attitude change state of the mine-used sensing device by assisting in measuring the real-time distance between the mine-used sensing device and the roof.

Description

Technical Field

[0001] This invention belongs to the field of mining sensing technology, and relates to a mining sensing device and its implementation method based on dynamic recognition of equipment installation position and attitude. Background Technology

[0002] The hoisting of mine sensing devices onto the mine roof is crucial for monitoring mine safety. However, during hoisting, these devices may encounter slippage, movement, or roof collapse, leading to collisions or falls. These changes in attitude pose a serious threat to mine safety. Existing technologies typically equip mine sensing devices with attitude detection modules, such as accelerometers, to detect the device's acceleration in three directions, thereby identifying changes in its fall (free fall) attitude. Analyzing these attitude changes can provide direct alarm signals for roof collapse accidents and verify the validity of the sensing device data, which is of great significance in practical applications.

[0003] However, existing methods for identifying fall attitude changes in mining sensing devices based on accelerometers have significant limitations. First, when the sensing device tilts or flips during free fall, existing methods cannot accurately determine the device's true operational status. Second, due to a lack of other auxiliary means, existing technologies cannot analyze the specific causes of fall attitude changes in mining sensing devices, such as roof collapses or other coal mine disasters, which limits their application in accident prevention and analysis.

[0004] Therefore, there is an urgent need for a new technical solution to address the shortcomings of existing mining sensing devices in recognizing changes in fall posture, and to improve the accuracy and reliability of mine safety monitoring. Summary of the Invention

[0005] In view of this, the purpose of this invention is to provide a mining sensing device and its implementation method based on dynamic recognition of the device's installation position and attitude. When the mining sensing device is hoisted onto the roof, it identifies the changes in the free-fall attitude during roof collapse and transmits the results in real time, thereby improving the stability and intelligence level of the mining sensing device's data acquisition equipment in the field.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A mining sensing device based on dynamic recognition of equipment installation position and attitude, comprising:

[0008] Inertial chips are used to identify the attitude and motion state of mining sensing devices.

[0009] Ultrasonic ranging module, used to measure the distance between the mine sensing device and the roof in real time;

[0010] The communication interface is used to send real-time measurement data from the mining sensing device and its own status data.

[0011] The control unit is used to identify the free-fall attitude changes of the mining sensing device based on data from the inertial chip and the ultrasonic ranging module, and to transmit the identification results through the communication interface.

[0012] Furthermore, the inertial chip includes:

[0013] A three-axis gyroscope is used to identify the real-time attitude of mining sensing devices.

[0014] Furthermore, the ultrasonic ranging module calculates the distance between the mine sensing device and the roof by transmitting and receiving ultrasonic signals;

[0015] The control unit identifies the changes in the free-fall attitude of the mining sensing device based on its posture, motion state, and distance from the roof.

[0016] The control unit determines whether the mining sensing device has undergone tilting or flipping changes by comparing its real-time attitude with its initial hoisting attitude.

[0017] The control unit determines whether the mining sensing device has undergone a free fall attitude change by comparing the real-time motion state of the mining sensing device with the characteristics of free fall attitude change.

[0018] The control unit determines whether the mine sensing device has undergone a free-fall attitude change by comparing the distance change between the mine sensing device and the roof.

[0019] Furthermore, the communication interface is one or more of RS485, CAN, or wireless communication interfaces.

[0020] The implementation method of the mining sensing device includes a sensing method for the change of free fall posture under the condition of the mining sensing device slipping and a sensing method for the change of free fall posture under the condition of roof collapse.

[0021] The method for sensing changes in the free-fall attitude of a mining sensing device under slip conditions specifically includes the following steps:

[0022] S11: Determine the initial static state of the mine sensing device. The three-axis gyroscope determines that the top plate is directly above, i.e., the positive direction of the Z-axis. In the three-axis acceleration, the acceleration in the X and Y directions is 0, and the acceleration in the negative Z-axis direction is g. The ultrasonic ranging obtains the initial distance d0 between the mine sensing device and the top plate.

[0023] S12: A free fall attitude change event occurs. The three-axis gyroscope data remains unchanged or the angle deviation does not exceed the angle threshold Δθ. In the three-axis acceleration, the acceleration in the X and Y axes does not exceed 0.1g, and the negative acceleration in the Z axis does not exceed 0.1g. The distance d(t) between the mine sensing device and the roof obtained by ultrasonic ranging gradually increases, where g is the gravitational acceleration.

[0024] S13: Given a free-fall attitude change event lasting for time t, with constant data from the three-axis gyroscope and the three-axis acceleration, calculate the distance d(t) between the sensor and the top plate:

[0025]

[0026] Where Δd is the distance threshold between the mine sensing device and the roof;

[0027] Within the range of the above formula, identify the free-fall attitude change state of the mining sensing device;

[0028] S14: Transmit the free-fall attitude change status of the mining sensing device in real time through the communication interface;

[0029] The method for sensing changes in free-fall attitude during roof collapse specifically includes the following steps:

[0030] S21: Determine the initial static state of the mine sensing device. The three-axis gyroscope determines that the top plate is directly above, i.e., the positive direction of the Z-axis. In the three-axis acceleration, the acceleration in the X and Y directions is 0, and the acceleration in the negative Z-axis direction is g. The ultrasonic ranging method obtains the initial distance d0 between the mine sensing device and the top plate.

[0031] S22: A free fall attitude change event occurs, the three-axis gyroscope data remains unchanged or the angle deviation does not exceed the angle threshold Δθ, the acceleration in the X and Y axes of the three-axis acceleration does not exceed 0.1g, the negative acceleration in the Z axis does not exceed 0.1g, and the distance d(t) between the mine sensing device and the roof obtained by ultrasonic ranging remains unchanged or decreases.

[0032] S23: Given a free-fall attitude change event lasting for time t, with constant data from the three-axis gyroscope and the three-axis acceleration, calculate the distance d(t) between the sensor and the top plate.

[0033]

[0034] Within the range of the above formula, it is identified as the free fall attitude change state under the case of roof collapse of the mine sensing device;

[0035] S24: Transmit the free-fall attitude change status of the mine sensing device in the event of roof collapse in real time through the communication interface.

[0036] Furthermore, in step S22, the distance d(t) between the mine sensing device and the roof is calculated by transmitting and receiving ultrasonic signals reflected from the roof through the ultrasonic ranging module.

[0037]

[0038] Among them, c 超 It is the speed of ultrasonic wave propagation, t 发 It is the time t it takes for the emitted ultrasonic wave to travel from the mine sensing device to the roof. 发 It is the time it takes for the ultrasonic waves to be reflected back from the roof and transmitted to the mine sensing device.

[0039] The beneficial effects of this invention are as follows:

[0040] (1) The method of the present invention can identify the free fall posture change state under the condition of roof collapse, and can provide a direct alarm signal for roof accidents.

[0041] (2) The present invention combines the attitude recognition of the free fall attitude change state with the attitude recognition device of the mining sensing device, which is more comprehensive and accurate.

[0042] (3) By assisting in measuring the real-time distance between the mining sensing device and the roof, the present invention can more accurately identify the free fall attitude change state of the mining sensing device.

[0043] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0044] To make the objectives, technical solutions, and advantages of the present invention clearer, the preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, wherein:

[0045] Figure 1 This is a schematic diagram of the initial installation of a mining sensing device.

[0046] Figure 2 A schematic diagram of the free-fall attitude change of a mining sensing device;

[0047] Figure 3 This is a schematic diagram showing the free-fall attitude change of a mining sensing device in the event of roof collapse. Detailed Implementation

[0048] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0049] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual pictures, and should not be construed as limiting the invention. To better illustrate the embodiments of the invention, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0050] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," "front," and "rear" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present invention. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0051] Please see Figures 1-3 This invention designs a mining sensing device and its implementation method based on dynamic recognition of equipment installation position and attitude, such as... Figure 1 As shown, the mine sensing device is internally equipped with a six-axis inertial chip (or module), an ultrasonic ranging module, and a communication interface. The six-axis inertial chip (or module) uses a three-axis accelerometer to measure the motion state of the mine sensing device in real time, a three-axis gyroscope to measure the attitude of the mine sensing device in real time, the ultrasonic ranging module to measure the distance between the mine sensing device and the roof in real time, and the communication interface to transmit the measurement and self-state data of the mine sensing device in real time. Here, we mainly identify the free-fall attitude change of the mine sensing device under two conditions: the first is the free-fall attitude change when the mine sensing device slides down; the second is the free-fall attitude change when the roof collapses.

[0052] The first type of mining sensing device measures the change in free-fall attitude during a slippage event. The specific measurement method is as follows: Figure 2 As shown, it can be completed in the following 5 steps:

[0053] 1) Determine the initial static state of the mine sensing device, use a three-axis gyroscope to determine that the top plate is directly above (positive Z-axis), and in the three-axis acceleration, the acceleration in the X and Y axes is 0 and the acceleration in the negative Z-axis is g. Use ultrasonic ranging to obtain the initial distance d0 between the mine sensing device and the top plate.

[0054] 2) When a free fall attitude change event occurs, the three-axis gyroscope data remains unchanged (or the angle deviation does not exceed the angle threshold Δθ), the acceleration in the X and Y axes of the three-axis acceleration is close to 0 (not exceeding 0.1g), the negative acceleration in the Z axis is close to 0 (not exceeding 0.1g), and the distance d(t) between the mine sensing device and the roof obtained by ultrasonic ranging gradually increases.

[0055] 3) Calculate the distance d(t) between the sensor and the top plate, assuming the free-fall attitude change event lasts for time t, with the three-axis gyroscope data and three-axis acceleration data remaining unchanged:

[0056]

[0057] Within the range of the above formula, it is identified as the free fall attitude change state of the mining sensing device.

[0058] 4) The free-fall attitude change status of the mining sensing device is transmitted in real time through the communication interface.

[0059] The second type of mine sensing device measures the change in free-fall attitude during roof collapse. The specific measurement method is as follows: Figure 3 As shown, it can be completed in the following 5 steps:

[0060] 1) Determine the initial static state of the mine sensing device, use a three-axis gyroscope to determine that the top plate is directly above (positive Z-axis), and in the three-axis acceleration, the acceleration in the X and Y axes is 0 and the acceleration in the negative Z-axis is g. Use ultrasonic ranging to obtain the initial distance d0 between the mine sensing device and the top plate.

[0061] 2) When a free fall attitude change event occurs, the three-axis gyroscope data remains unchanged (or the angle deviation does not exceed the angle threshold Δθ), the acceleration in the X and Y axes of the three-axis acceleration is close to 0 (not exceeding 0.1g), the negative acceleration in the Z axis is close to 0 (not exceeding 0.1g), and the distance d(t) between the mine sensing device and the roof obtained by ultrasonic ranging remains almost unchanged or decreases.

[0062] 3) Calculate the distance d(t) between the sensor and the top plate, assuming the free-fall attitude change event lasts for time t, with the three-axis gyroscope data and three-axis acceleration data remaining unchanged:

[0063]

[0064] Within the range of the above formula, it is identified as the free fall attitude change state under the condition of roof collapse of the mine sensing device.

[0065] 4) The free-fall attitude change status of the mine sensing device in the event of roof collapse is transmitted in real time through the communication interface.

[0066] Example:

[0067] The mine-use laser methane sensing device is hoisted onto the roof, with a distance d0 = 50mm between the device and the roof (the bottom of the sensing device is 260mm from the roof). Figure 1 As shown, the mine sensing device is internally equipped with a six-axis inertial chip, an ultrasonic ranging module, and an RS485 communication interface. The six-axis inertial chip uses a three-axis accelerometer to measure the motion state of the sensing device in real time, a three-axis gyroscope to measure its attitude in real time, the ultrasonic ranging module to measure the distance between the sensing device and the roof in real time, and the RS485 communication interface to transmit the sensing device's approach data to the roof and its own status in real time. Here, the main focus is on identifying the changes in the sensing device's free-fall attitude during slippage and during roof collapse. Specific measurement methods are as follows... Figure 2 As shown, this can be completed through the following steps:

[0068] 1) Determine the initial static state of the laser methane mining sensing device, use a three-axis gyroscope to determine that the top plate is directly above (positive Z-axis), and in the three-axis acceleration, the acceleration in the X and Y axes is 0 and the acceleration in the negative Z-axis is g. Use ultrasonic ranging to obtain the initial distance d0 = 50mm between the mining sensing device and the top plate.

[0069] 2) During a freefall attitude change event, the three-axis gyroscope data remains unchanged (or the angle deviation does not exceed the angle threshold Δθ = 3). 0 In the three-axis acceleration, the acceleration in the X and Y directions is close to 0 (not exceeding 0.1g), and the negative acceleration in the Z axis is close to 0 (not exceeding 0.1g). The distance d(t) between the mine sensing device and the roof obtained by ultrasonic ranging gradually increases.

[0070] 3) When the free fall attitude change event lasts for t = 0.5s (Δd = 0.5m), the three-axis gyroscope data remains unchanged, the three-axis acceleration data remains unchanged, calculate the distance d(t) between the sensor and the top plate:

[0071]

[0072] Within the range of the above formula (1), it is identified as the free fall attitude change state of the mining sensing device; within the range of the above formula (2), it is identified as the free fall attitude change state of the mining sensing device under the condition of roof collapse.

[0073] 4) The motion status of the mining sensing device is transmitted in real time through the communication interface.

[0074] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A mine sensing device based on dynamic identification of device installation position attitude, characterized in that: The application relates to a mine sensing device, which comprises the following parts: a six-axis inertial chip for identifying the posture and motion state of the mine sensing device; an ultrasonic distance measuring module for measuring the distance between the mine sensing device and a roof in real time; a communication interface for transmitting the measurement and state data of the mine sensing device in real time; and a control unit for identifying the free-fall posture change of the mine sensing device according to the data of the inertial chip and the ultrasonic distance measuring module and transmitting the measurement and state data of the mine sensing device in real time through the communication interface, wherein the control unit identifies the free-fall posture change of the mine sensing device in two cases, and the free-fall posture change of the mine sensing device in the first case is achieved through the following steps: identifying the free-fall posture change of the mine sensing device within the above range; and transmitting the free-fall posture change of the mine sensing device in real time through the communication interface; and the free-fall posture change of the mine sensing device in the second case is achieved through the following steps: identifying the free-fall posture change of the mine sensing device in the roof falling case within the above range; and transmitting the free-fall posture change of the mine sensing device in the roof falling case in real time through the communication interface. The inertial chip comprises a three-axis gyroscope for identifying the real-time posture of the mine sensing device. The ultrasonic distance measuring module calculates the distance between the mine sensing device and the roof by transmitting and receiving ultrasonic signals. The control unit identifies the free-fall posture change of the mine sensing device according to the posture, motion state and distance of the mine sensing device. The control unit judges whether the posture change of the mine sensing device is tilting or overturning by comparing the real-time posture of the mine sensing device with the initial hoisting posture. The control unit judges whether the posture change of the mine sensing device is free-falling by comparing the real-time motion state of the mine sensing device with the free-fall posture change characteristics. Determine the initial static state of the mine sensing device, the three-axis gyroscope determines that the roof is the positive direction of the Z axis, the accelerations in the X and Y directions of the three-axis acceleration are 0, and the acceleration in the negative direction of the Z axis is ; the initial distance between the mine sensing device and the roof is obtained by ultrasonic ranging ; In the event of a freefall attitude change, the three-axis gyroscope data remains unchanged or the angle deviation does not exceed the angle threshold. In the triaxial acceleration, the acceleration in the X and Y directions does not exceed The negative acceleration along the Z-axis does not exceed Ultrasonic ranging measures the distance between the mine sensing device and the roof. Gradually getting bigger; Free fall attitude change event duration Time, three-axis gyro data unchanged, three-axis acceleration data unchanged, calculate the distance between the sensor and the top plate : The control unit judges whether the posture change of the mine sensing device is free-falling by comparing the distance change between the mine sensing device and the roof. The communication interface is one or more of an RS485, CAN or wireless communication interface. The method comprises a sensing method for the free-fall posture change of the mine sensing device in the sliding case and a sensing method for the free-fall posture change of the mine sensing device in the roof falling case. Determine the initial static state of the mine sensing device, the three-axis gyroscope determines that the roof is the positive direction of the Z axis, the X and Y axis directions of the three-axis acceleration are both 0, and the negative direction of the Z axis is , the initial distance between the mine sensing device and the roof is obtained by ultrasonic ranging ; The free-fall posture change event occurs, the three-axis gyroscope data is unchanged or the angle deviation does not exceed the angle threshold , the X and Y axis direction accelerations in the three-axis acceleration do not exceed , the Z axis negative acceleration does not exceed , the distance between the mine sensing device and the roof obtained by ultrasonic ranging is almost unchanged or decreases ; Free fall attitude change event duration Time, three-axis gyro data unchanged, three-axis acceleration data unchanged, calculate the distance between the sensor and the top plate : The sensing method for the free-fall posture change of the mine sensing device in the sliding case comprises the following steps: identifying the free-fall posture change of the mine sensing device within the above range; and transmitting the free-fall posture change of the mine sensing device in real time through the communication interface. The sensing method for the free-fall posture change of the mine sensing device in the roof falling case comprises the following steps: identifying the free-fall posture change of the mine sensing device in the roof falling case within the above range; and transmitting the free-fall posture change of the mine sensing device in the roof falling case in real time through the communication interface.

2. The mine sensing device based on the dynamic identification of the installation position attitude of the equipment, according to claim 1, characterized in that: ​ ​ 3. The mine sensing device based on the dynamic identification of the installation position attitude of the equipment according to claim 1, characterized in that: ​ ​ ​ ​ ​ 4. The mine sensing device based on dynamic identification of the installation position attitude of the equipment according to claim 1, characterized in that: ​ 5. The method for implementing the mine sensing device according to any one of claims 1-4, characterized in that: ​ ​ S11: Determine the initial static state of the mine perception device, the three-axis gyroscope determines that the roof is directly above, that is, the Z-axis positive direction, the three-axis acceleration sensor measurement value is that the X and Y-axis direction accelerations are both 0, and the Z-axis negative acceleration is g, and the ultrasonic ranging obtains the initial distance between the mine perception device and the roof ; S12: a free fall posture change event occurs, the three-axis gyroscope data is unchanged or the angle deviation does not exceed an angle threshold , the X and Y axis direction accelerations in the three-axis acceleration sensor measurement value are all less than 0.1g, the Z axis negative acceleration is less than 0.1g, and the distance between the mine perception device and the roof obtained by ultrasonic ranging gradually increases, g being the gravitational acceleration . S13: free fall attitude change event continues Time, three-axis gyro data unchanged, three-axis acceleration data unchanged, calculate the distance between the sensor and the top plate : wherein, is a distance threshold between the mine sensing device and the roof; ​ ​ ​ S21: determine the initial static state of the mine perception device, the three-axis gyroscope determines that the roof is directly above, that is, the Z-axis positive direction, the three-axis acceleration sensor measurement value is that the X and Y-axis direction accelerations are both 0 and the Z-axis negative acceleration is g, and the ultrasonic ranging obtains the initial distance between the mine perception device and the roof ; S22: A free-fall attitude change event occurs, and the three-axis gyroscope data remains unchanged or the angle deviation does not exceed the angle threshold. In the triaxial accelerometer measurements, the acceleration in the X and Y axes does not exceed 0.1g, and the negative acceleration in the Z axis does not exceed 0.1g. Ultrasonic ranging is used to determine the distance between the mine sensing device and the roof. It remains unchanged or decreases; S23: free fall attitude change event continues Time, three-axis gyro data unchanged, three-axis acceleration data unchanged, calculate the distance between the sensor and the top plate : ​ ​ 6. The implementation method of claim 5, wherein: In the S22, the ultrasonic ranging module transmits and receives the roof-reflected ultrasonic signal to calculate the distance between the mine sensing device and the roof ; wherein, is the speed of propagation of the ultrasound waves, is the time taken for the transmitted ultrasound waves to propagate from the mining awareness device to the roof, is the time taken for the received ultrasound waves to be reflected from the roof back to the mining awareness device.

Images