A system and method for detecting straightness of fully mechanized mining face based on inertial navigation

Abstract

The present invention discloses a system and method for detecting the straightness of a fully mechanized mining face based on inertial navigation. The three groups of inertial navigation units included are installed on the supporting top plate, supporting side plate and multi-section chute of the scraper conveyor of the fully mechanized mining face, and are all wirelessly connected to the straightness detection unit through the wireless communication unit of the fully mechanized mining face; the straightness detected by the three groups of inertial navigation units is integrated to detect and judge the overall straightness of the fully mechanized mining face. The present invention adopts three groups of inertial navigation units to detect three straightnesses respectively, and the comprehensive processing of the three straightnesses reflects whether the step-forward position of the fully mechanized mining face of the coal mining machine is accurate; the straightness detection unit evaluates the accuracy of the step displacement based on the calculation of the center line straightness formed by the multiple detection points after the change, and automatically realizes the quantitative detection of the straightness of the fully mechanized mining face.

Description

Technical Field

[0001] The invention relates to the technical field of straightness detection of a fully mechanized mining face, and in particular to a fully mechanized mining face straightness detection system and method based on inertial navigation. Background Art

[0002] The fully mechanized mining face of a coal mine is composed of a coal mining machine, a hydraulic support and a scraper conveyor.

[0003] The following are the basic working steps of the fully mechanized mining face:

[0004] Working face preparation and tunnel excavation: according to geological conditions and coal mining plan, excavate transport tunnels, return air tunnels, cutting eyes and other tunnels.

[0005] Equipment installation: Install coal mining machines, hydraulic supports, conveyors and other equipment on the working face.

[0006] Coal cutting during the coal mining process: the coal mining machine cuts coal along the advancing direction of the working face and carries out coal loading operations at the same time.

[0007] Shifting the support: After coal cutting, move the hydraulic support in time to maintain the stability of the roof.

[0008] Pushing and sliding: Push the conveyor to keep it at an appropriate distance from the coal mining machine.

[0009] Initial support of roof management: After the hydraulic support is moved into place, raise the column in time to ensure the initial support force.

[0010] Support the coal wall to prevent it from spalling.

[0011] Control the roof: Control the sinking and breaking of the roof by adjusting the support parameters of the hydraulic support.

[0012] Transport of coal at working face: Coal is transported to the transfer machine via the working face conveyor.

[0013] Tunnel transportation: Coal is transported to belt conveyors through transfer machines, crushers and other equipment, and finally transported to the ground.

[0014] Studying the position and posture information of the coal mining machine can improve the intelligence level of the fully mechanized mining face. The accuracy of the straightness of the fully mechanized mining face composed of the coal mining machine, hydraulic support and scraper conveyor in the entire fully mechanized mining face directly affects the equipment safety and engineering quality underground in the coal mine.

[0015] However, due to the particularity of the coal industry, the fully mechanized mining working faces are generally long and narrow measurement objects, and a large number of coal mining equipment are distributed in the fully mechanized mining working faces. Due to the undulation of the coal seam and the influence of coal dust on the working face during the cutting of the coal mining machine, the conventional ground laser positioning technology and longitude and latitude measurement technology cannot be used to measure the straightness of the fully mechanized mining working face.

[0016] The straightness of the fully mechanized mining working face usually refers to the straightness of the center line formed in the middle of the side wall support after the hydraulic support supports and the straightness of the center line after the scraper conveyor moves;

[0017] At present, there are mainly the following methods for measuring the straightness of fully mechanized mining working face:

[0018] 1. Use manual pull rope or infrared ray to measure the straightness of hydraulic support and scraper conveyor;

[0019] 2. Use semiconductor lasers and single-mode optical fiber collimated laser beams as the measurement reference axis, and use photoelectric devices as position sensors. After the data is processed by the single-chip microcomputer, the measured straightness can be displayed more accurately. The measurement range can only reach 10m, but the working face length is generally as long as 200m-300m. In addition, due to the undulation of the coal seam and the influence of coal dust on the measurement during coal mining machine cutting, the conventional ground laser positioning technology cannot be used to measure the straightness of the comprehensive mining working face.

[0020] Therefore, the prior art lacks an efficient and convenient system and method for detecting the straightness of a fully mechanized mining face, which is not affected by coal dust on the working face when the coal mining machine is cutting. Summary of the invention

[0021] In order to solve the above-mentioned technical problem of straightness detection of comprehensive mining working face, the present invention provides a comprehensive mining working face straightness detection system and method based on inertial navigation, which can efficiently and conveniently detect the straightness of the comprehensive mining working face and is not affected by coal dust on the working face during cutting by the coal mining machine.

[0022] The present invention adopts the following technical solution:

[0023] 1. A fully mechanized mining face straightness detection system based on inertial navigation:

[0024] It includes three sets of inertial navigation units, a wireless communication unit for the fully-mechanized mining face and a chip-based straightness detection unit; the three sets of inertial navigation units are respectively installed on the supporting top plate, supporting side plate and multi-section chute of the scraper conveyor of the fully-mechanized mining face, and the three sets of inertial navigation units are wirelessly connected with the straightness detection unit through the wireless communication unit for the fully-mechanized mining face.

[0025] The three groups of inertial navigation units include a first group of inertial navigation units, a second group of inertial navigation units and a third group of inertial navigation units. The multiple inertial navigation modules of the first group of inertial navigation units are respectively installed on the inner side surfaces of the center points of the multiple supporting top plates.

[0026] The multiple inertial navigation modules of the second group of inertial navigation units are respectively installed on the inner side surfaces of the center points of multiple supporting side plates, and the inertial navigation modules of the third group of inertial navigation units are respectively installed on the bottom surfaces of the front, middle and rear of the multi-section chute of the scraper conveyor.

[0027] The first group of inertial navigation units, the second group of inertial navigation units and the third group of inertial navigation units are wirelessly connected to the straightness detection unit through the comprehensive mining working face wireless communication unit.

[0028] By adopting the above technical solution, three groups of inertial navigation units composed of multiple inertial navigation modules are used to respectively detect the straightness of the center line formed by the center points of multiple supporting top plates after each step-by-step moving, detect the straightness of the center line formed by the center points of multiple supporting side plates after each step-by-step moving, and detect the straightness of the center line formed by the front, middle and rear center points of each section of the scraper conveyor after the chute is stepped forward;

[0029] The above three straightness tests can reflect whether the support roof, support side plate and chute move accurately after the coal mining machine steps into the coal mining process, thus ensuring the stability of the hydraulic support and scraper conveyor in the next coal mining process, thereby ensuring the stable and efficient operation of the fully mechanized mining face.

[0030] The inertial navigation module contains an accelerometer and a gyroscope to monitor the movement of moving objects, and can output position parameters based on the coordinate system. The measurement of its position is not affected by the coal dust of the fully mechanized mining face, nor does it involve optical detection methods. The detected data can be combined with the fully mechanized mining face wireless communication unit to wirelessly transmit the output position parameter data to the straightness detection unit. Specifically, the real-time detection of the positions of multiple detection points is realized based on inertial navigation. When the support top plate, support side plate or chute has a step displacement, the position changes of multiple detection points are detected. The chip of the straightness detection unit can evaluate the accuracy of the step displacement based on the calculation of the center line straightness formed by the multiple detection points after the change.

[0031] This can automatically realize the quantitative detection of the straightness of the fully-mechanized mining face and provide effective data for the evaluation of the operating status of the fully-mechanized mining face equipment.

[0032] Optionally, the wireless communication unit of the fully mechanized mining face includes a plurality of base relay communication modules and a plurality of tunnel relay communication base stations, the plurality of base relay communication modules are respectively installed in the hydraulic support base, the plurality of tunnel relay communication base stations are respectively arranged at equal intervals in the tunnel behind the coal mining machine, and the plurality of base relay communication modules are wirelessly networked based on the plurality of tunnel relay communication base stations and wirelessly connected with the straightness detection unit;

[0033] The data input ends of the multiple base relay communication modules are wirelessly connected to the three groups of inertial navigation units based on the Bluetooth communication mode, and the data output ends of the multiple base relay communication modules are wirelessly connected to the straightness detection units through multiple lane relay communication base stations in turn.

[0034] Optionally, the straightness detection unit includes a detection end wireless communication module, a memory and a processor, and the detection end wireless communication module and the processor are both communicatively connected to the memory;

[0035] The wireless communication module at the detection end receives inertial navigation position data collected from three groups of inertial navigation units from the tunnel relay communication base station and sends it to the memory for storage. The processor extracts and analyzes the inertial navigation position data from the memory, and further calculates the straightness of the center lines of the supporting top plate, supporting side plate and multiple sections of the scraper conveyor chute of the comprehensive mining working face based on the inertial navigation position data, and then comprehensively judges to obtain the straightness detection result.

[0036] By adopting the above technical solution, the wireless communication module at the detection end can realize wireless data collection, the collected data is stored in the memory, and the processor can calculate the straightness based on the collected data.

[0037] The straightness detection unit calculates the straightness of the center line formed by the center points of multiple supporting top plates after each step-by-step movement, calculates the straightness of the center line formed by the center points of multiple supporting side plates after each step-by-step movement, and calculates the straightness of the center line formed by the front, middle and rear center points of each section of the scraper conveyor after the chute steps forward.

[0038] The hydraulic support is connected to the scraper conveyor through a push jack. The hydraulic support pushes the scraper conveyor forward along the working face through the push jack. The coal mining machine is located above the scraper conveyor and moves along the length of the working face using its trough as a track.

[0039] Optionally, the straightness detection unit further includes a plurality of straightness warning modules, and the plurality of straightness warning modules are respectively installed on one side of each inertial navigation module of the three groups of inertial navigation units;

[0040] When the processor determines that the straightness exceeds the straightness threshold, it determines the number of the inertial navigation module corresponding to the straightness threshold, and controls the straightness warning module on the corresponding inertial navigation module side to alarm based on the wireless communication unit of the comprehensive mining working face.

[0041] 2. A method for detecting straightness of fully mechanized mining face based on inertial navigation:

[0042] The straightness detection system for fully mechanized mining working face is used to detect the straightness of the fully mechanized mining working face, and the method comprises the following steps:

[0043] Step 1: Inertial navigation position data collected in real time by multiple inertial navigation modules of three groups of inertial navigation units respectively arranged at the supporting top plate, supporting side plate and multi-stage chute of the scraper conveyor of the fully-mechanized mining working face are wirelessly sent to the straightness detection unit through the wireless communication unit of the fully-mechanized mining working face according to the set time sequence unit;

[0044] Step 2, the straightness detection unit analyzes the inertial navigation position data in real time to obtain the current real-time positions of the inertial navigation modules in the three groups of inertial navigation units;

[0045] When there is displacement in the current real-time position of the inertial navigation module, the inertial navigation modules in the three groups of inertial navigation units with displacement are detected, and the displacement amount is obtained by using the current real-time position change of the inertial navigation module with displacement in the same group of inertial navigation units, and then the straightness of the group of inertial navigation units is obtained by further processing according to the displacement amount;

[0046] Step 3: Comprehensively measure the straightness of the three groups of inertial navigation units to detect and judge the overall straightness of the comprehensive mining working face.

[0047] After each stepping frame movement, the straightness of the center line formed by the center points of the plurality of support top plates after each stepping frame movement is calculated based on the inertial navigation position data collected by the inertial navigation module of the first group of inertial navigation units;

[0048] After each stepping frame movement, the straightness of the center line formed by the center points of the plurality of support side plates after each stepping frame movement is calculated based on the inertial navigation position data collected by the inertial navigation module of the second group of inertial navigation units;

[0049] After each section of the chute moves forward in steps, the straightness of the center line formed by the front, middle and rear center points of each section of the scraper conveyor chute moves forward in steps is calculated based on the inertial navigation position data collected by the inertial navigation module of the third group of inertial navigation units.

[0050] In step 3,

[0051] In the same group of inertial navigation units, the current real-time positions of multiple consecutive inertial navigation modules with displacement are recorded as PINSTCa, PINSTCa+1, ..., PINSCa+b, respectively, where a is the starting number of the multiple consecutive inertial navigation modules with displacement, and a+b represents the total number of the multiple consecutive inertial navigation modules with displacement;

[0052] According to the current real-time position and the initial position, the displacement S of each inertial navigation module that has been displaced is calculated, and recorded as Sa, Sa+1, ..., Sa+b respectively:

[0053] The displacement deviation value Ya of the displacement S of each inertial navigation module is calculated according to the following formula:

[0054] M=(Sa+(Sa+1) +……+(Sa+b)) / (a+b)

[0055] Ya=(Sa-M) / M

[0056] The maximum displacement deviation value is taken as the straightness of the inertial navigation unit group.

[0057] In step 4, a straightness threshold is preset. When the processor determines that the straightness exceeds the straightness threshold, the straightness warning module corresponding to the inertial navigation module whose straightness exceeds the straightness threshold is controlled based on the wireless communication unit of the fully mechanized mining face to give an alarm:

[0058] Specifically, the straightness of the center line formed by the center points of the multiple supporting top plates after each step-by-step moving frame is used as the first straightness St1, the straightness of the center line formed by the center points of the multiple supporting side plates after each step-by-step moving frame is used as the second straightness St2, and the straightness of the center line formed by the center points of the front, middle and rear of each section of the scraper conveyor chute after the step-by-step forward movement is used as the third straightness St3;

[0059] First, the first straightness St1, the second straightness St2 and the third straightness St3 are compared with the preset straightness thresholds respectively:

[0060] When the first straightness St1 is greater than a preset straightness threshold, the straightness warning module on one side of the inertial navigation module of the first group of inertial navigation units gives an alarm;

[0061] When the second straightness St2 is greater than the preset straightness threshold, the straightness warning module on one side of the inertial navigation module of the second group of inertial navigation units will alarm;

[0062] When the third straightness St3 is greater than the preset straightness threshold, the straightness warning module on one side of the inertial navigation module of the third group of inertial navigation units will alarm;

[0063] When the first straightness St1, the second straightness St2 and the third straightness St3 do not exceed the straightness threshold, further calculate the first absolute deviation DSt1 between the first straightness St1 and the second straightness St2, the second absolute deviation DSt2 between the first straightness St1 and the third straightness St3, and the third absolute deviation DSt3 between the second straightness St2 and the third straightness St3, and pre-set the deviation absolute value threshold DSt max , continue to compare the first deviation absolute value DSt1, the second deviation absolute value DSt2, and the third deviation absolute value DSt3 with the deviation absolute value threshold DSt max Size judgment:

[0064] If the first deviation absolute value DSt1 is greater than the deviation absolute value threshold DSt max , if the top support plate and the side support plate move out of sync or a plate jam occurs, the control alarm will be triggered;

[0065] If the second deviation absolute value DSt2 or the third deviation absolute value DSt3 is greater than the deviation absolute value threshold DSt max , then there is a problem with the synchronous movement of the scraper conveyor chute, and the second central alarm is controlled to alarm.

[0066] The present invention adopts three groups of inertial navigation units to detect three straightnesses respectively, and reflects whether the step-forward position of the coal mining machine's step-by-step coal mining face is accurate through comprehensive processing of the three straightnesses; wherein the inertial navigation module outputs position parameters, and its position measurement is not affected by the coal dust of the comprehensive mining face, and the detected data is wirelessly transmitted to the straightness detection unit in conjunction with the wireless communication unit of the comprehensive mining face; the chip of the straightness detection unit evaluates the accuracy of the step-by-step displacement based on the calculation of the straightness of the center line formed by multiple detection points after the change, and automatically realizes the quantitative detection of the straightness of the comprehensive mining face.

[0067] The innovation of the present invention lies in that inertial navigation modules are respectively arranged at three specific different positions of the supporting top plate, supporting side plate and 6-section chute of the scraper conveyor of the comprehensive mining working face to collect inertial navigation data, and the inertial navigation data of the three positions are integrated to perform straightness detection of the comprehensive mining working face. It can more accurately detect the step-forward position of the comprehensive mining working face after the coal mining machine steps into coal mining, and ensure the stability of the comprehensive mining working face in the next coal mining process, thereby ensuring stable and efficient work.

[0068] In summary, the present invention includes at least one of the following beneficial technical effects:

[0069] The present invention can provide a system and method for detecting the straightness of a fully mechanized mining face based on inertial navigation, which uses three groups of inertial navigation units composed of multiple inertial navigation modules to respectively detect the straightness of a center line formed by the center points of multiple supporting top plates after each step-by-step frame shifting, detect the straightness of a center line formed by the center points of multiple supporting side plates after each step-by-step frame shifting, and detect the straightness of a center line formed by the center points of the front, middle and rear of each section of a scraper conveyor after the chute steps forward.

[0070] The above three straightness tests can reflect whether the step-forward position of the fully-mechanized mining face is accurate after the coal mining machine has stepped into the coal mining process, thus ensuring the stability of the fully-mechanized mining face in the next step of the coal mining process, thereby ensuring the stable and efficient operation of the fully-mechanized mining face;

[0071] The inertial navigation module outputs position parameters based on the coordinate system. The measurement of its position is not affected by the coal dust of the fully mechanized mining face. The detected data can be wirelessly transmitted to the straightness detection unit in conjunction with the wireless communication unit of the fully mechanized mining face. The chip of the straightness detection unit can evaluate the accuracy of the step displacement based on the calculation of the straightness of the center line formed by the multiple detection points after the change.

[0072] This can automatically realize the quantitative detection of the straightness of the fully-mechanized mining face and provide effective data for the evaluation of the operating status of the fully-mechanized mining face equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] Figure 1 It is a schematic diagram of the connection principle of the electrical components of the comprehensive mining working face straightness detection system of the present invention.

[0074] Figure 2 It is a schematic diagram of the layout of coal mining machines, hydraulic supports and scraper conveyors in the fully mechanized mining face.

[0075] Explanation of the reference numerals: 1. The first group of inertial navigation units; 2. The second group of inertial navigation units; 3. The third group of inertial navigation units; 4. Straightness detection unit; 41. Wireless communication module of the detection end; 42. Memory; 43. Processor; 44. Straightness warning module; 45. Display; 46. First central alarm; 47. Second central alarm; 5. Wireless communication unit of the comprehensive mining face; 51. Base relay communication module; 52. Tunnel relay communication base station; 6. Scraper conveyor; 7. Hydraulic support; 71. Support top plate; 72. Support side plate; 8. Coal mining machine. DETAILED DESCRIPTION

[0076] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0077] like Figure 1 As shown, the specifically implemented system includes three groups of inertial navigation units, namely, a first group of inertial navigation units 1, a second group of inertial navigation units 2, and a third group of inertial navigation units 3, a comprehensive mining face wireless communication unit 5, and a chip-based straightness detection unit 4; the three groups of inertial navigation units are respectively installed on the supporting top plate 71, the supporting side plate 72, and the multi-section chute of the scraper conveyor 6 of the comprehensive mining face, and the three groups of inertial navigation units are wirelessly connected with the straightness detection unit 4 through the comprehensive mining face wireless communication unit 5.

[0078] like Figure 2As shown, the fully mechanized mining face includes a coal mining machine 8, a hydraulic support 7, and a scraper conveyor 6. The scraper conveyor 6 is located below the coal mining machine 8. The hydraulic support 7 is arranged at the rear side of the coal mining machine 8 and extends to the upper front side of the coal mining machine 8. The hydraulic support 7 includes a support top plate 71 and a support side plate 72. The support top plate and the support side plate are part of the hydraulic support 7 in the fully mechanized mining face. The hydraulic support refers to the so-called hydraulic support, which is a whole including a hydraulic drive component, a support top plate 71 and a support side plate 72.

[0079] The three groups of inertial navigation units include a first group of inertial navigation units 1, a second group of inertial navigation units 2 and a third group of inertial navigation units 3. The multiple inertial navigation modules of the first group of inertial navigation units 1 are respectively installed on the inner side surfaces of the center points of the multiple supporting top plates 71. The number of inertial navigation modules of the first group of inertial navigation units 1 is the same as the number of supporting top plates 71.

[0080] The multiple inertial navigation modules of the second group of inertial navigation units 2 are respectively installed on the inner sides of the center points of the multiple supporting side plates 72, and the number of inertial navigation modules of the second group of inertial navigation units 2 is the same as the number of supporting side plates 72; the multiple inertial navigation modules of the third group of inertial navigation units 3 are respectively installed on the bottom surfaces of the front, middle and rear parts of the multiple sections of the scraper conveyor 6, and the number of inertial navigation modules of the third group of inertial navigation units 3 is the same as a multiple of the number of chutes of the scraper conveyor 6.

[0081] The first group of inertial navigation units 1 , the second group of inertial navigation units 2 , and the third group of inertial navigation units 3 are wirelessly connected to the straightness detection unit 4 through the comprehensive mining working face wireless communication unit 5 , respectively.

[0082] Each inertial navigation unit includes a plurality of inertial navigation modules, and the inertial navigation modules specifically include accelerometers and gyroscopes.

[0083] like Figure 1 As shown, the wireless communication unit 5 of the fully mechanized mining face includes a plurality of base relay communication modules 51 and a plurality of tunnel relay communication base stations 52. The plurality of base relay communication modules 51 are respectively installed in the base of the hydraulic support 7, and the plurality of tunnel relay communication base stations 52 are respectively arranged at equal intervals in the tunnel behind the coal mining machine 8. The plurality of base relay communication modules 51 are wirelessly networked based on the plurality of tunnel relay communication base stations 52 and wirelessly connected with the straightness detection unit 4 of the external control center.

[0084] The straightness detection unit 4 is arranged on the ground, and the wireless communication unit 5 of the fully mechanized mining face is arranged under the rain shaft.

[0085] The data input ends of the multiple base relay communication modules 51 are wirelessly connected to the three groups of inertial navigation units, namely the first group of inertial navigation units 1, the second group of inertial navigation units 2, and the third group of inertial navigation units 3, based on the Bluetooth communication mode, and the data output ends of the multiple base relay communication modules 51 are wirelessly connected to the straightness detection unit 4 through multiple lane relay communication base stations 52 in turn.

[0086] By adopting the above-mentioned technical scheme, the wireless communication unit 5 of the comprehensive mining working face realizes wireless networking communication based on the base relay communication module 51 in the base of the hydraulic support 7 and multiple tunnel relay communication base stations 52 in the tunnel behind the coal mining machine 8, wherein the base relay communication module 51 is wirelessly connected with the first group of inertial navigation units 1, the second group of inertial navigation units 2, and the third group of inertial navigation units 3 based on the Bluetooth communication mode. Bluetooth communication can realize reliable wireless communication over short distances. On the basis of good physical protection, wireless communication can be realized under the coal dust conditions of the comprehensive mining working face.

[0087] The straightness detection unit 4 includes a detection end wireless communication module 41, a memory 42 and a processor 43, and the detection end wireless communication module 41 and the processor 43 are both in communication connection with the memory 42;

[0088] The wireless communication module 41 at the detection end receives the inertial navigation position data collected by the inertial navigation modules in the three groups of inertial navigation units from the tunnel relay communication base station 52 and sends it to the memory 42 for storage. The processor 43 extracts and analyzes the inertial navigation position data from the memory 42, and further calculates the straightness of the center line of the supporting top plate, supporting side plate and multiple sections of the scraper conveyor 6 of the comprehensive mining working face based on the inertial navigation position data, and then comprehensively judges to obtain the straightness detection result.

[0089] The straightness detection unit 4 calculates the straightness of the center line formed by the center points of the multiple supporting top plates 71 after each step-by-step movement, calculates the straightness of the center line formed by the center points of the multiple supporting side plates 72 after each step-by-step movement, and calculates the straightness of the center line formed by the front, middle and rear center points of each section of the scraper conveyor 6 after the chute steps forward.

[0090] Three groups of inertial navigation units consisting of multiple inertial navigation modules are used to respectively detect the straightness of the center line formed by the center points of multiple supporting top plates 71 after each step-by-step frame shifting, detect the straightness of the center line formed by the center points of multiple supporting side plates 72 after each step-by-step frame shifting, and detect the straightness of the center line formed by the front, middle and rear center points of each section of the scraper conveyor 6 after the chute steps forward;

[0091] The above three straightness tests can reflect whether the support top plate 71, the support side plate 72 and the chute move accurately after the coal mining machine 8 steps into the coal mining process, thereby ensuring the stability of the hydraulic support 7 and the scraper conveyor 6 in the next step of coal mining, thereby ensuring the stable and efficient operation of the fully mechanized mining face;

[0092] The accelerometer and gyroscope of the inertial navigation module monitor the movement of the moving object and can output position parameters based on the coordinate system. The measurement of its position is not affected by the coal dust of the fully-mechanized mining face, nor does it involve optical detection means. The detected data can be wirelessly transmitted to the straightness detection unit 4 in conjunction with the fully-mechanized mining face wireless communication unit 5. Specifically, the real-time detection of the positions of multiple detection points is realized based on inertial navigation. When the support top plate 71, the support side plate 72 or the chute has a step displacement, the change of the position of multiple detection points is detected. The chip of the straightness detection unit 4 can evaluate the accuracy of the step displacement based on the calculation of the straightness of the center line formed by the multiple detection points after the change.

[0093] This can automatically realize the quantitative detection of the straightness of the fully-mechanized mining face and provide effective data for the evaluation of the operating status of the fully-mechanized mining face equipment.

[0094] The straightness detection unit 4 further includes a plurality of straightness warning modules 44, and the plurality of straightness warning modules 44 are respectively installed on one side of each inertial navigation module installation position of the three inertial navigation units of the first inertial navigation unit 1, the second inertial navigation unit 2, and the third inertial navigation unit 3;

[0095] The straightness threshold of the center line of the supporting top plate 71, the straightness threshold of the center line of the supporting side plate 72 and the straightness threshold of the center line of the scraper conveyor 6 chute are set respectively.

[0096] When the processor 43 determines that the straightness exceeds the straightness threshold, it determines the number of the inertial navigation module corresponding to the straightness threshold, and controls the straightness warning module 44 on the corresponding inertial navigation module side to alarm based on the wireless communication unit 5 of the comprehensive mining working face.

[0097] In a specific implementation, the straightness warning module 44 is an audible and visual alarm based on Bluetooth communication.

[0098] By adopting the above technical solution, the sound and light alarm based on Bluetooth communication can quickly calibrate the inertial navigation module corresponding to the exceeded straightness, and the staff can quickly determine the location and make inspection judgments.

[0099] In a specific implementation, the straightness detection unit 4 also includes a display 45, which is in communication with the processor 43. The display 45 receives the straightness detection result sent by the processor 43, displays a simulated fully mechanized mining three-dimensional picture, and performs visual simulation display based on the straightness detection result. By adopting the above technical solution, the visual display of the straightness detection result can be realized based on technical means such as three-dimensional simulation or digital simulation.

[0100] The straightness detection system of the fully mechanized mining working face of the present invention detects the straightness of the fully mechanized mining working face in the following process:

[0101] Step 1, the inertial navigation position data packets collected in real time by multiple inertial navigation modules of three groups of inertial navigation units, namely, the first group of inertial navigation units 1, the second group of inertial navigation units 2 and the third group of inertial navigation units 3, which are respectively arranged at the supporting top plate, the supporting side plate and the multi-section chute of the scraper conveyor 6 of the fully mechanized mining working face, are wirelessly sent to the straightness detection unit 4 through the fully mechanized mining working face wireless communication unit 5 according to the set time sequence unit;

[0102] In a specific implementation, the multiple inertial navigation modules of the first group of inertial navigation units 1 are numbered as INST1, INST2, ..., INSTn, where n represents the number of the supporting top plates 71;

[0103] The multiple inertial navigation modules of the second group of inertial navigation units 2 are numbered INSS1, INSS2, ..., INSSm, where m represents the number of the supporting side plates 72;

[0104] The multiple inertial navigation modules of the third group of inertial navigation units 3 are numbered INSC1, INSC2, ..., INSCw, wherein w represents the total number of the front, middle and rear parts of the multi-section chute.

[0105] Step 2, the straightness detection unit 4 analyzes the inertial navigation position data packet in real time to obtain the current real-time position of the inertial navigation modules in the three groups of inertial navigation units, namely, the first group of inertial navigation units 1, the second group of inertial navigation units 2 and the third group of inertial navigation units 3;

[0106] Assume that the initial positions of the inertial navigation modules INST1, INST2, ..., INSTn of the first group of inertial navigation units 1 are PINST1, PINST2, ..., PINSTn; assume that the initial positions of the inertial navigation modules INSS1, INSS2, ..., INSSm of the second group of inertial navigation units 2 are PINSS1, PINSS2, ..., PINSSm; assume that the initial positions of the inertial navigation modules INSC1, INSC2, ..., INSCw of the third group of inertial navigation units 3 are PINSC1, PINSC2, ..., PINSCw.

[0107] When there is displacement in the current real-time position of the inertial navigation module, generally, the displacement is considered to exist when the current real-time position is greater than a preset moving distance threshold, and multiple inertial navigation modules in the three groups of inertial navigation units with displacement are detected, specifically, multiple continuous inertial navigation modules with displacement corresponding to each group of inertial navigation units before and after the stepping frame shifting are judged based on the time and position change of the stepping frame shifting, and the displacement amount is obtained by using the current real-time position change of the inertial navigation module with displacement in the same group of inertial navigation units before and after the moment, and then the straightness of the group of inertial navigation units is obtained according to the displacement amount.

[0108] In the specific implementation of step 2, specifically, in the same group of inertial navigation units, for example, the current real-time positions of multiple consecutive inertial navigation modules that have been displaced in the first group of inertial navigation units 1 are recorded as PINSTCa, PINSTCa+1, ..., PINSCa+b, respectively, where PINSCa represents the current real-time position of the ath inertial navigation module that has been displaced, wherein a is the starting number of the multiple consecutive inertial navigation modules that have been displaced, and a+b represents the total number of the multiple consecutive inertial navigation modules that have been displaced.

[0109] According to the current real-time position and the initial position, the displacement S of each inertial navigation module that has been displaced is calculated respectively, and is recorded as Sa, Sa+1, ..., Sa+b respectively, where Sa represents the displacement of the ath inertial navigation module that has been displaced:

[0110] For example, the displacement Sa of the ath inertial navigation module in the first group of inertial navigation units 1 is calculated according to the formula: Sa=PINSTCa-PINSTa, where PINSTa represents the initial position of the first inertial navigation module INST1 in the first group of inertial navigation units 1.

[0111] The displacement deviation value Ya of the displacement S of each inertial navigation module is calculated according to the following formula:

[0112] M=(Sa+(Sa+1) +……+(Sa+b)) / (a+b)

[0113] Ya=(Sa-M) / M

[0114] Among them, the displacement deviation value of Sa is Ya, and the displacement deviation values ​​of each inertial navigation module are calculated and recorded as Ya, Ya+1,..., Ya+b respectively.

[0115] The maximum displacement deviation value is used as the straightness of the first group of inertial navigation units 1, and the number of the inertial navigation module corresponding to the maximum displacement deviation value is output. Based on the maximum displacement deviation value to reflect the straightness, the inertial navigation module corresponding to the maximum displacement can be quickly located, thereby locating the detection point.

[0116] Then, the same method is used to calculate the displacement S and straightness of a plurality of continuous inertial navigation modules corresponding to the second group of inertial navigation units 2 and the third group of inertial navigation units 3 .

[0117] Step 3, comprehensively measure the straightness of the three groups of inertial navigation units to detect and judge the overall straightness of the comprehensive mining working face and issue an alarm.

[0118] In a specific implementation, after each stepping frame movement, the straightness of the center line formed by the center points of the plurality of support top plates 71 after each stepping frame movement is calculated based on the inertial navigation position data collected by the inertial navigation module of the first group of inertial navigation units 1 as the first straightness;

[0119] After each stepping frame movement, the straightness of the center line formed by the center points of the plurality of support side plates 72 after each stepping frame movement is calculated based on the inertial navigation position data collected by the inertial navigation module of the second group of inertial navigation units 2 as the second straightness;

[0120] After each section of the chute moves forward in steps, the straightness of the center line formed by the front, middle and rear center points of each section of the scraper conveyor 6 is calculated as the third straightness based on the inertial navigation position data collected by the inertial navigation module of the third group of inertial navigation units 3.

[0121] In the specific implementation of step 3, a straightness threshold is preset. When the processor 43 determines that the straightness exceeds the straightness threshold, the straightness warning module 44 on the corresponding inertial navigation module side is controlled to alarm based on the wireless communication unit 5 of the fully mechanized working face according to the number of the inertial navigation module corresponding to the straightness exceeding the straightness threshold:

[0122] Specifically, the straightness of the center line formed by the center points of the multiple supporting top plates 71 after each step-by-step movement is taken as the first straightness St1, the straightness of the center line formed by the center points of the multiple supporting side plates 72 after each step-by-step movement is taken as the second straightness St2, and the straightness of the center line formed by the center points of the front, middle and rear parts of each section of the scraper conveyor 6 after the chute steps forward is taken as the third straightness St3.

[0123] First, the first straightness St1, the second straightness St2 and the third straightness St3 are compared with the preset straightness thresholds respectively:

[0124] When the first straightness St1 is greater than the preset straightness threshold, the processor 43 controls the straightness warning module 44 on one side of the inertial navigation module of the first group of inertial navigation units 1 to give an alarm;

[0125] When the second straightness St2 is greater than the preset straightness threshold, the processor 43 controls the straightness warning module 44 on one side of the inertial navigation module of the second group of inertial navigation units 2 to sound an alarm;

[0126] When the third straightness St3 is greater than a preset straightness threshold, the processor 43 controls the straightness warning module 44 on one side of the inertial navigation module of the third group of inertial navigation units 3 to give an alarm.

[0127] When the first straightness St1, the second straightness St2 and the third straightness St3 do not exceed the straightness threshold, further calculate the first absolute deviation DSt1 between the first straightness St1 and the second straightness St2, the second absolute deviation DSt2 between the first straightness St1 and the third straightness St3, and the third absolute deviation DSt3 between the second straightness St2 and the third straightness St3, and pre-set the deviation absolute value threshold DSt max , continue to compare the first deviation absolute value DSt1, the second deviation absolute value DSt2, and the third deviation absolute value DSt3 with the deviation absolute value threshold DSt max Size judgment:

[0128] If the first deviation absolute value DSt1 is greater than the deviation absolute value threshold DSt max , the support top plate 71 and the support side plate 72 move out of sync or get stuck, at which time the processor 43 controls the first central alarm 46 installed in the central dispatching room to alarm, and the staff should go to the site for repair in time;

[0129] If the second deviation absolute value DSt2 or the third deviation absolute value DSt3 is greater than the deviation absolute value threshold DSt max , then there is a problem with the synchronous movement of the scraper conveyor 6 chute. At this time, the processor 43 controls the second central alarm 47 installed in the central dispatching room to alarm, which can remind the staff to carry out targeted maintenance.

[0130] The two central alarms correspond to different threshold violations.

[0131] The above are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for detecting straightness of a fully mechanized mining face based on inertial navigation, characterized in that: The method adopts a fully mechanized mining face straightness detection system to detect the straightness of the fully mechanized mining face, the system comprising three sets of inertial navigation units, a fully mechanized mining face wireless communication unit (5) and a chip-based straightness detection unit (4); the three sets of inertial navigation units are respectively installed on the supporting top plate (71), the supporting side plate (72) and the multi-section chute of the scraper conveyor (6) of the fully mechanized mining face, and the three sets of inertial navigation units are wirelessly connected to the straightness detection unit (4) through the fully mechanized mining face wireless communication unit (5); The three groups of inertial navigation units include a first group of inertial navigation units (1), a second group of inertial navigation units (2) and a third group of inertial navigation units (3); a plurality of inertial navigation modules of the first group of inertial navigation units (1) are respectively mounted on the inner side surfaces of the center points of a plurality of supporting top plates (71); a plurality of inertial navigation modules of the second group of inertial navigation units (2) are respectively mounted on the inner side surfaces of the center points of a plurality of supporting side plates (72); and an inertial navigation module of the third group of inertial navigation units (3) is respectively mounted on the bottom surfaces of the front, middle and rear parts of the multi-section chute of the scraper conveyor (6); the first group of inertial navigation units (1), the second group of inertial navigation units (2) and the third group of inertial navigation units (3) are wirelessly connected to the straightness detection unit (4) via a wireless communication unit (5) of a fully mechanized mining face; The method comprises the following steps: Step 1, inertial navigation position data collected in real time by multiple inertial navigation modules of three groups of inertial navigation units respectively arranged at the supporting top plate, supporting side plate and multi-stage chute of the scraper conveyor (6) of the fully mechanized mining working face are wirelessly sent to the straightness detection unit (4) through the fully mechanized mining working face wireless communication unit (5) according to the set time sequence unit; Step 2, the straightness detection unit (4) analyzes the inertial navigation position data in real time to obtain the current real-time positions of the inertial navigation modules in the three groups of inertial navigation units; When there is displacement in the current real-time position of the inertial navigation module, the inertial navigation modules in the three groups of inertial navigation units with displacement are detected, and the displacement amount is obtained by using the current real-time position change of the inertial navigation module with displacement in the same group of inertial navigation units, and then the straightness of the group of inertial navigation units is obtained by further processing according to the displacement amount; Step 3, the straightness of the three groups of inertial navigation units is integrated to detect and judge the overall straightness of the fully mechanized mining working face; In the step 3, in the same group of inertial navigation units, the current real-time positions of the multiple consecutive inertial navigation modules that have been displaced are recorded as PINSTCa, PINSTCa+1, ..., PINSCa+b, respectively, where a is the starting number of the multiple consecutive inertial navigation modules that have been displaced, and a+b represents the total number of the multiple consecutive inertial navigation modules that have been displaced; According to the current real-time position and the initial position, the displacement S of each inertial navigation module that has been displaced is calculated, and recorded as Sa, Sa+1, ..., Sa+b respectively: The displacement deviation value Ya of the displacement S of each inertial navigation module is calculated according to the following formula: M=(Sa+(Sa+1) +……+(Sa+b)) / (a+b) Ya=(Sa-M) / M The maximum displacement deviation value is taken as the straightness of the inertial navigation unit group.

2. According to claim 1, a method for detecting straightness of a fully mechanized mining face based on inertial navigation is characterized in that: After each stepping frame movement, the straightness of the center line formed by the center points of the plurality of support top plates (71) after each stepping frame movement is calculated based on the inertial navigation position data collected by the inertial navigation module of the first group of inertial navigation units (1); After each stepping frame movement, the straightness of the center line formed by the center points of the plurality of support side plates (72) after each stepping frame movement is calculated based on the inertial navigation position data collected by the inertial navigation module of the second group of inertial navigation units (2); After each section of the chute is stepped forward, the straightness of the center line formed by the front, middle and rear center points of each section of the scraper conveyor (6) is calculated based on the inertial navigation position data collected by the inertial navigation module of the third group of inertial navigation units (3).

3. The method for detecting straightness of a fully mechanized mining face based on inertial navigation according to claim 1 is characterized in that: A straightness threshold is preset, and when the processor (43) determines that the straightness exceeds the straightness threshold, the straightness warning module (44) on the side of the corresponding inertial navigation module is controlled based on the wireless communication unit (5) of the fully mechanized mining working face to give an alarm according to the inertial navigation module corresponding to the straightness exceeding the straightness threshold: Specifically, the straightness of the center line formed by the center points of the plurality of support top plates (71) after each step-by-step frame movement is used as the first straightness St1, the straightness of the center line formed by the center points of the plurality of support side plates (72) after each step-by-step frame movement is used as the second straightness St2, and the straightness of the center line formed by the center points of the front, middle and rear of each section of the scraper conveyor (6) after the chute is stepped forward is used as the third straightness St3; First, the first straightness St1, the second straightness St2 and the third straightness St3 are compared with the preset straightness thresholds respectively: When the first straightness St1 is greater than a preset straightness threshold, a straightness warning module (44) on one side of the inertial navigation module of the first group of inertial navigation units (1) issues an alarm; When the second straightness St2 is greater than a preset straightness threshold, a straightness warning module (44) on one side of the inertial navigation module of the second group of inertial navigation units (2) issues an alarm; When the third straightness St3 is greater than a preset straightness threshold, a straightness warning module (44) on one side of the inertial navigation module of the third group of inertial navigation units (3) sounds an alarm; When the first straightness St1, the second straightness St2 and the third straightness St3 do not exceed the straightness threshold, further calculate the first absolute deviation DSt1 between the first straightness St1 and the second straightness St2, the second absolute deviation DSt2 between the first straightness St1 and the third straightness St3, and the third absolute deviation DSt3 between the second straightness St2 and the third straightness St3, and pre-set the deviation absolute value threshold DSt max , continue to compare the first deviation absolute value DSt1, the second deviation absolute value DSt2, and the third deviation absolute value DSt3 with the deviation absolute value threshold DSt max Size judgment: If the first deviation absolute value DSt1 is greater than the deviation absolute value threshold DSt max , the supporting top plate (71) and the supporting side plate (72) move out of sync or a jam occurs, and a control alarm is issued; If the second deviation absolute value DSt2 or the third deviation absolute value DSt3 is greater than the deviation absolute value threshold DSt max , then there is a problem with the synchronous movement of the scraper conveyor (6) chute, and the second central alarm (47) is controlled to sound an alarm.

4. The method for detecting straightness of a fully mechanized mining face based on inertial navigation according to claim 1 is characterized in that: The wireless communication unit (5) of the fully mechanized mining face comprises a plurality of base relay communication modules (51) and a plurality of tunnel relay communication base stations (52), wherein the plurality of base relay communication modules (51) are respectively installed in the base of the hydraulic support (7), and the plurality of tunnel relay communication base stations (52) are respectively arranged at equal intervals in the tunnel behind the coal mining machine (8), and the plurality of base relay communication modules (51) are wirelessly networked based on the plurality of tunnel relay communication base stations (52) and wirelessly connected to the straightness detection unit (4); The data input ends of the multiple base relay communication modules (51) are wirelessly connected to the three groups of inertial navigation units based on the Bluetooth communication mode, and the data output ends of the multiple base relay communication modules (51) are wirelessly connected to the straightness detection unit (4) in turn through the multiple lane relay communication base stations (52).

5. The method for detecting straightness of a fully mechanized mining face based on inertial navigation according to claim 4 is characterized in that: The straightness detection unit (4) comprises a detection end wireless communication module (41), a memory (42) and a processor (43), wherein the detection end wireless communication module (41) and the processor (43) are both communicatively connected to the memory (42); The detection end wireless communication module (41) receives inertial navigation position data collected from three groups of inertial navigation units from the tunnel relay communication base station (52) and sends the data to be stored in the memory (42); the processor (43) extracts and analyzes the inertial navigation position data from the memory (42), further calculates the straightness of the center line of the supporting top plate, supporting side plate and multiple sections of the scraper conveyor (6) of the comprehensive mining working face based on the inertial navigation position data, and then comprehensively judges and obtains the straightness detection result.

6. The method for detecting straightness of a fully mechanized mining face based on inertial navigation according to claim 5 is characterized in that: The straightness detection unit (4) calculates the straightness of a center line formed by the center points of the plurality of support top plates (71) after each step-by-step frame shift, calculates the straightness of a center line formed by the center points of the plurality of support side plates (72) after each step-by-step frame shift, and calculates the straightness of a center line formed by the center points of the front, middle and rear of each section of the scraper conveyor (6) after the chute is stepped forward.

7. The method for detecting straightness of a fully mechanized mining face based on inertial navigation according to claim 6 is characterized in that: The straightness detection unit (4) further comprises a plurality of straightness warning modules (44), wherein the plurality of straightness warning modules (44) are respectively installed on one side of each inertial navigation module of the three groups of inertial navigation units; when the processor (43) determines that the straightness exceeds a straightness threshold, the number of the inertial navigation module corresponding to the straightness exceeding the straightness threshold is determined, and based on the wireless communication unit (5) of the fully mechanized mining working face, the straightness warning module (44) on the corresponding side of the inertial navigation module is controlled to sound an alarm.

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