Method and device for determining distance from methane sensor to driving face

Abstract

The invention provides a method and device for determining the distance from a methane sensor to a driving working face, and the method comprises the steps: obtaining a reference point which is a preset reference position point used for measuring the distance; distance information is obtained, the distance information comprises first distance information and second distance information, the first distance information is the distance between the reference point and the driving working face, and the second distance information is the distance between the reference point and the methane sensor; and calculating the relative distance between the methane sensor and the driving working face at least according to the distance information. According to the scheme, the problem that the accuracy of the measured distance from the mounting position of the methane sensor to the absolute working surface is low in the prior art is solved.

Description

Technical Field

[0001] The present application relates to the technical field of coal mine monitoring and ranging, and in particular, to a method for determining the distance from a methane sensor to an excavation working face, a device for determining the distance from a methane sensor to an excavation working face, a computer program product, and a distance detection system. Background Art

[0002] According to the current regulations in coal mines, methane sensors are installed at the mixed airflow of coal tunnels, semi-coal-rock tunnels and rock tunnels with gas outflow. The distance from the methane sensor to the tunneling face needs to be less than or equal to 5m. Various large equipment moves repeatedly in the tunneling face. As the mining of coal mines continues, it is necessary to measure in real time whether the distance from the methane sensor to the tunneling face meets the requirements.

[0003] However, due to the continuous advancement of the excavation working face, the measured distance from the installation location of the methane sensor to the absolute working face is less accurate. Summary of the invention

[0004] The main purpose of the present application is to provide a method for determining the distance from a methane sensor to a tunneling working face, a device for determining the distance from a methane sensor to a tunneling working face, a computer program product and a distance detection system, so as to at least solve the problem of low accuracy of the distance from the installation position of the methane sensor to the absolute working face measured in the prior art.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a method for determining the distance from a methane sensor to a tunneling working face is provided, comprising: obtaining a reference point, wherein the reference point is a pre-set position point for measuring the distance; obtaining distance information, wherein the distance information comprises first distance information and second distance information, wherein the first distance information is the distance between the reference point and the tunneling working face, and the second distance information is the distance between the reference point and the methane sensor; at least based on the distance information, calculating the relative distance between the methane sensor and the tunneling working face.

[0006] Optionally, obtaining a reference point includes: obtaining a first reference point, wherein the first reference point is a position point of a first end of a measuring device, and the measuring device is a device that uses UWB-AOA technology to measure distance; obtaining a second reference point, wherein the second reference point is a position point of a second end of the measuring device.

[0007] Optionally, calculating the relative distance between the methane sensor and the excavation working face at least according to the distance information includes: calculating the relative distance according to a first formula, wherein the first formula is:

[0008]

[0009] D AB represents the distance between the first reference point and the second reference point, D A represents the distance between the first reference point and the excavation working face, D B represents the distance between the second reference point and the excavation working face, D TA represents the distance between the first reference point and the methane sensor, D TB represents the distance between the second reference point and the methane sensor, D T represents the relative distance between the methane sensor and the excavation working face, T(X T ,0) represents the coordinates of the methane sensor, A(X A ,Y A ) represents the coordinates of the first reference point, B(X B ,Y B ) represents the coordinates of the second reference point.

[0010] Optionally, the relative distance between the methane sensor and the excavation working face is calculated at least based on the distance information, including: obtaining an angle, wherein the angle includes a first angle and a second angle, the first angle is the angle between the measuring device and the center line of the tunnel, and the second angle is the angle between the measuring device and the methane sensor; based on the angle and the distance information, the relative distance between the methane sensor and the excavation working face is calculated.

[0011] Optionally, calculating the relative distance between the methane sensor and the excavation working face according to the angle and the distance information includes: calculating the relative distance according to a second formula, wherein the second formula is:

[0012] D T =D X -D XT sinθ=(D A +D B ) / 2-D XT sin[90°-(α-β)],

[0013] D X =(D A +D B ) / 2,

[0014]

[0015] D T represents the relative distance between the methane sensor and the excavation working face, DXT represents the distance between the center point of the measuring device and the methane sensor, D A represents the distance between the first reference point and the excavation working face, D B represents the distance between the second reference point and the excavation working face, α represents the first angle, β represents the second angle, D AB represents the distance between the first reference point and the second reference point.

[0016] Optionally, after calculating the relative distance between the methane sensor and the excavation working face based at least on the distance information, the method further includes: when the relative distance is less than or equal to a preset distance threshold, recalculating the relative distance at predetermined time intervals; and when the relative distance is greater than the preset distance threshold, generating an alarm message, wherein the alarm message is used to prompt that the installation position of the methane sensor needs to be moved forward.

[0017] Optionally, after calculating the relative distance between the methane sensor and the excavation working face based at least on the distance information, the method further includes: acquiring the relative distances calculated at multiple time points within a target duration, wherein one time point corresponds to one calculated relative distance, and the target duration includes multiple time points; generating a distance image based on multiple relative distances, wherein the distance image is used to represent changes in the relative distance.

[0018] According to another aspect of the present application, a device for determining the distance from a methane sensor to an excavation working face is provided, comprising: a first acquisition unit, used to acquire a reference point, wherein the reference point is a pre-set position point for measuring the distance as a benchmark; a second acquisition unit, used to acquire distance information, wherein the distance information comprises first distance information and second distance information, wherein the first distance information is the distance between the reference point and the excavation working face, and the second distance information is the distance between the reference point and the methane sensor; a first calculation unit, used to calculate the relative distance between the methane sensor and the excavation working face based at least on the distance information.

[0019] According to another aspect of the present application, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements the steps of any one of the methods for determining the distance from the methane sensor to the excavation working face.

[0020] According to another aspect of the present application, a distance detection system is provided, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include a method for executing any one of the methods for determining the distance from the methane sensor to the excavation working face.

[0021] The technical solution of the present application is improved compared to the method of directly measuring the distance from the methane sensor installation position to the absolute working surface in the prior art. By adding a static reference point in the coal mine working face, the distance between the reference point and the excavation working face, and the distance between the reference point and the methane sensor are measured. Since the reference point is static, there will be no problem of being unable to measure due to shaking, rotation and movement. Therefore, the distance information in this solution is accurate, and the accurate distance from the methane sensor installation position to the absolute working surface can be calculated, thereby solving the problem of low accuracy of the distance measured from the methane sensor installation position to the absolute working surface in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0023] Figure 1 A hardware structure block diagram of a mobile terminal for executing a method for determining the distance from a methane sensor to a tunneling working face provided in an embodiment of the present application is shown;

[0024] Figure 2 A schematic flow chart of a method for determining the distance from a methane sensor to a tunneling working face provided in accordance with an embodiment of the present application is shown;

[0025] Figure 3 A schematic diagram showing the principle of measuring the relative distance from the sensor installation position to the excavation working face;

[0026] Figure 4 A schematic diagram showing another principle of measuring the relative distance from the sensor installation position to the excavation working face;

[0027] Figure 5 A schematic diagram of a functional module block of a measuring device is shown;

[0028] Figure 6 A structural block diagram of a device for determining the distance from a methane sensor to a tunneling working face provided in accordance with an embodiment of the present application is shown.

[0029] The above drawings include the following reference numerals:

[0030] 102, processor; 104, memory; 106, transmission device; 108, input and output devices. DETAILED DESCRIPTION

[0031] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0032] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0033] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0034] Specifically, mature measurement methods for measuring distance from a fixed installation location to a fixed / mobile location include lidar, laser ranging, infrared ranging, ultrasonic ranging, etc., and measuring devices are equipped at the installation location, with a measurement accuracy of centimeters or even millimeters. Mature methods for positioning mobile objects include GPS, inertial navigation, mobile cellular networks, WiFi local area networks, RFID, UWB, etc., and measuring devices are equipped on the mobile object to measure independently or in cooperation with external facilities such as base stations, with a measurement accuracy of centimeters or even millimeters.

[0035] However, there are still two obvious problems in the distance measurement between the methane sensor T1 and the excavation working face: ① The coal wall of the excavation working face is constantly excavated and destroyed, exposing a new coal wall, and the position of the entire coal wall continues to move forward, making it inconvenient to install any electronic equipment to assist in distance measurement or positioning by mobile cellular networks, WiFi LANs, inertial navigation, RFID, UWB, etc.; ② The methane sensor T1 is hoisted, which may cause shaking and rotation. The angle between the sensor and the working face is not fixed, and the sensor will move from time to time. Therefore, it is not feasible to use the sensor as a reference point and directly use lidar, laser ranging, infrared ranging, ultrasonic ranging, etc.

[0036] For the convenience of description, some nouns or terms involved in the embodiments of the present application are explained below:

[0037] UWB-AOA technology: UWB (Ultra-Wideband)-AOA (Angle of Arrival) technology is a positioning technology that combines ultra-wideband communication and angle measurement. UWB technology uses ultra-short pulse signals for communication and has the ability to locate with high precision, while AOA technology determines the location of the signal source by measuring the angle at which the radio signal arrives at the receiver. In UWB-AOA systems, multiple antenna arrays are usually used to measure the angle of arrival of the signal, and combined with technologies such as time of flight (TOF) to calculate the precise location of the target object. UWB-AOA technology can provide centimeter-level positioning accuracy and has good anti-multipath interference capabilities in complex environments. This technology is suitable for a variety of indoor positioning scenarios, such as industrial automation, intelligent transportation systems, indoor navigation, etc. Compared with traditional UWB positioning technology, UWB-AOA technology can achieve high-precision positioning through a single base station, thereby reducing the deployment cost and complexity of the system.

[0038] As introduced in the background technology, there is a problem in the prior art that the distance measured from the installation position of the methane sensor to the absolute working surface is of low accuracy. To solve the above problem, an embodiment of the present application provides a method for determining the distance from a methane sensor to the excavation working surface, a device for determining the distance from a methane sensor to the excavation working surface, a computer program product and a distance detection system.

[0039] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0040] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 1 is a hardware structure block diagram of a mobile terminal of a method for determining the distance from a methane sensor to a tunneling working face according to an embodiment of the present invention. Figure 1 As shown, the mobile terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is for illustration only and does not limit the structure of the mobile terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown.

[0041] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the display method of device information in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, the above method is implemented. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The transmission device 106 is used to receive or send data via a network. The above-mentioned specific examples of the network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0042] In this embodiment, a method for determining the distance from a methane sensor running on a mobile terminal, a computer terminal or a similar computing device to an excavation working face is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in an order different from that shown here.

[0043] Figure 2FIG. 1 is a flow chart of a method for determining the distance from a methane sensor to a tunneling working face according to an embodiment of the present application. Figure 2 As shown, the method comprises the following steps:

[0044] Step S201, obtaining a reference point, wherein the reference point is a preset position point used as a benchmark for measuring distance;

[0045] Specifically, in the coal mine, a measuring device is pre-installed, and the point where the measuring device is located is used as the reference point for measuring the distance, which is used as the reference point for subsequent measurement of the distance from the methane sensor to the excavation working face. For example, the reference points are divided into two, A and B, which are the positions of the two UWB ranging modules in the measuring device installed on the top of the tunnel.

[0046] Step S202, obtaining distance information, wherein the distance information includes first distance information and second distance information, wherein the first distance information is the distance between the reference point and the excavation working face, and the second distance information is the distance between the reference point and the methane sensor;

[0047] Specifically, two distance information can be obtained, namely, the distance between the reference point and the excavation working face, and the distance between the reference point and the methane sensor. These two distance information can be measured by a measuring device.

[0048] Step S203, calculating the relative distance between the methane sensor and the excavation working face at least based on the distance information.

[0049] Specifically, the relative distance between the methane sensor and the excavation working face can be calculated by the distance between the reference point and the excavation working face and the distance between the reference point and the methane sensor, which can be calculated by the distance formula between two points.

[0050] Through this embodiment, an improvement is made over the method of directly measuring the distance from the methane sensor installation position to the absolute working surface in the prior art. By adding a static reference point in the coal mine working surface, the distance between the reference point and the excavation working surface, and the distance between the reference point and the methane sensor are measured. Since the reference point is static, there will be no problem of being unable to measure due to shaking, rotation and movement. Therefore, the distance information in this scheme is accurate, and the accurate distance from the methane sensor installation position to the absolute working surface can be calculated, thereby solving the problem of low accuracy of the distance measured from the methane sensor installation position to the absolute working surface in the prior art.

[0051] In the specific implementation process, obtaining the reference point can be achieved through the following steps: obtaining a first reference point, wherein the first reference point is the position point of the first end of the measuring device, and the measuring device is a device that uses UWB-AOA technology to measure distance; obtaining a second reference point, wherein the second reference point is the position point of the second end of the measuring device.

[0052] In this solution, a measuring device is preset in the coal mine. The measuring device can use UWB-AOA technology to measure the distance. Through two reference points, the position information can be obtained from different angles, avoiding the error caused by a single measuring point, and further improving the accuracy of subsequent distance measurements.

[0053] Specifically, compared to the methane sensor T1, which uses laser, infrared, ultrasonic and other technologies to measure distance, and has problems such as sensor shaking, rotation, and movement, which cause inaccurate or even impossible measurement, this solution adds reference points and integrates laser ranging and UWB ranging methods, which are independent of the sensor posture and state, ensuring the accuracy and reliability of measurement. Compared to the problem that inertial navigation technology can only identify its own posture and position, but cannot measure the real-time changes of the excavation working face, this solution uses the conversion of the relative position distance measurement of the moving point to the distance measurement from the moving point to the static point, effectively solving the problem that the movement of the moving points cannot be measured.

[0054] In some embodiments, at least according to the distance information, calculating the relative distance between the methane sensor and the excavation working face can be achieved by the following steps: calculating the relative distance according to a first formula, wherein the first formula is:

[0055]

[0056] D AB represents the distance between the first reference point and the second reference point, D A represents the distance between the first reference point and the excavation working face, D B represents the distance between the second reference point and the excavation working face, D TA represents the distance between the first reference point and the methane sensor, D TB represents the distance between the second reference point and the methane sensor, D T represents the relative distance between the methane sensor and the excavation working face, T(X T ,0) represents the coordinates of the above methane sensor, A(X A ,Y A ) represents the coordinates of the first reference point, B(X B ,Y B ) represents the coordinates of the second reference point mentioned above.

[0057] In this scheme, the distance formula between two points on a plane can be used to directly calculate the distance between the methane sensor and the excavation working face without the need for other complex calculation processes. Since the methane sensor may shake, the distance measurement method using the reference points added in this scheme is independent of the posture of the methane sensor, thus further ensuring that the relative distance between the methane sensor and the excavation working face is more accurate.

[0058] The first formula is the distance formula between two points in a rectangular coordinate system. The distance D 2 =(X B -X A ) 2 +(Y B -Y A ) 2 In addition, the distance from any point on the plane to the Y-axis is equal to the horizontal coordinate of the point.

[0059] Specifically, Figure 3 As shown, a methane sensor T1 is installed on the tunnel wall, and the distance to the excavation working face is D T A measuring device is added at the top of the tunnel. The measuring device has distance measuring modules A and B. The distance measuring modules are respectively equipped with laser distance measuring and UWB distance measuring. They are used as reference points A (i.e., the first reference point) and B (i.e., the second reference point). The distance between the two modules is fixed at D. AB .

[0060] Specifically, a plane rectangular coordinate system is established, the projection point from the methane sensor T1 to the excavation working face is the coordinate origin O(0,0), the tunnel wall is the X-axis, the excavation working face is the Y-axis, and the coordinates of each point are set as the methane sensor T1 point T(X T ,0), the ranging module reference point A(X A ,Y A ), the ranging module reference point B (X B ,Y B The measuring device uses the laser distance measurement in the distance measurement module to measure the distance D between A and B and the excavation working face respectively. A and D B , use the UWB ranging in the measurement module to measure the distance D between A and B and the methane sensor T1 respectively TA and D TB The relationship between the coordinates of each point and the distance is shown in the first formula. The measuring device uses a data processor to calculate the distance D between the methane sensor T1 and the excavation working face using the measurement results and the distance formula between two points on the plane (i.e., the first formula). T .

[0061] During the specific implementation process, at least based on the above-mentioned distance information, the relative distance between the above-mentioned methane sensor and the above-mentioned excavation working face is calculated, which can be achieved through the following steps: obtaining an angle, wherein the above-mentioned angle includes a first angle and a second angle, the above-mentioned first angle is the angle between the above-mentioned measuring device and the center line of the tunnel, and the above-mentioned second angle is the angle between the above-mentioned measuring device and the above-mentioned methane sensor; based on the above-mentioned angle and the above-mentioned distance information, the above-mentioned relative distance between the above-mentioned methane sensor and the above-mentioned excavation working face is calculated.

[0062] In this scheme, the angle can represent the relative direction of the measuring device in the tunnel. By combining the two angles, the above-mentioned relative distance between the methane sensor and the excavation working face can be calculated from different angles, thereby further ensuring that the relative distance between the methane sensor and the excavation working face is more accurate.

[0063] In some embodiments, the relative distance between the methane sensor and the excavation working face is calculated according to the angle and the distance information, which can be achieved by the following steps: the relative distance is calculated according to a second formula, wherein the second formula is:

[0064] D T =D X -D XT sinθ=(D A +D B ) / 2-D XT sin[90°-(α-β)],

[0065] D X =(D A +D B ) / 2,

[0066]

[0067] D T represents the relative distance between the methane sensor and the excavation working face, D XT represents the distance between the center point of the above-mentioned measuring device and the above-mentioned methane sensor, D A represents the distance between the first reference point and the excavation working face, D B represents the distance between the second reference point and the excavation working face, α represents the first angle, β represents the second angle, D AB Represents the distance between the first reference point and the second reference point.

[0068] In this scheme, the distance formula between two points on the plane and the angle information can be used to directly calculate the distance between the methane sensor and the excavation working face without the need for other complex calculation processes. Since the methane sensor may shake, the distance measurement method using the reference points added in this scheme is independent of the posture of the methane sensor, thus further ensuring that the relative distance between the methane sensor and the excavation working face is more accurate.

[0069] The above, D T =D X -D XT sinθ is the basic line segment sum and difference relationship combined with the right triangle side angle relationship, D T =(D A +D B ) / 2 is the median theorem, and the calculation formula of α is the relationship between the sides and angles of a right triangle.

[0070] Specifically, Figure 4 As shown, a reference point X is selected at the top of the center of the tunnel, and a measuring device is fixedly installed. The center point of the measuring device is used as the reference point X. The angle between the measuring device and the center line of the tunnel is α. Laser ranging modules A and B are respectively configured at both ends of the measuring device, and the distance between the two modules is D. AB , and ensure that the laser modules at both ends can effectively measure the distance to the excavation working face; the measuring device uses the laser ranging modules at both ends to measure the distance D between A and the excavation working face respectively A , the distance D between B and the excavation working face B , and calculate the distance D between the reference point X and the excavation working face X The measuring device uses UWB-AOA (Ultra Wide Band-Angle of Arrival) to measure the distance D between the reference point X and the methane sensor T1. XT The measuring device uses a data processor to read the real-time value of the methane sensor through UWB wireless, and on the other hand, uses the measurement results to calculate the distance D between the methane sensor T1 and the excavation working face. T .

[0071] Specifically, the laser distance measurement D at both ends A , D B And the distance D between the two laser modules AB , calculate the angle α between the measuring device and the center line of the tunnel; the distance D between the methane sensor T1 and the excavation working face T It can be further expressed as:

[0072]

[0073] During the specific implementation process, after calculating the relative distance between the methane sensor and the excavation working face based on at least the distance information, the method further includes the following steps: when the relative distance is less than or equal to a preset distance threshold, calculating the relative distance again at predetermined time intervals; when the relative distance is greater than the preset distance threshold, generating an alarm message, wherein the alarm message is used to prompt that the installation position of the methane sensor needs to be moved forward.

[0074] In this scheme, if the relative distance is less than or equal to the preset distance threshold, the distance between the methane sensor and the excavation working face can be recalculated at regular intervals to ensure that the relative distance can be monitored all the time. If the relative distance is greater than the preset distance threshold, an alarm can be sounded to promptly prompt the working face to move forward towards the methane sensor.

[0075] Specifically, the preset distance threshold may be 5 m, or 10 m, 15 m, 30 m, 50 m, etc., and of course, may be any other feasible preset distance threshold.

[0076] Specifically, the measuring device uses the calculation result to determine whether D is satisfied. T ≤5m requirement. If it is met, the above steps are repeated at intervals. If it is not met, the sound and light alarm module sends out an alarm signal, prompting the installation position of methane sensor T1 to move forward. At the same time, the real-time value of the methane sensor is read wirelessly through UWB and uploaded to the coal mine safety monitoring system.

[0077] In some embodiments, after calculating the relative distance between the methane sensor and the excavation working face based on at least the distance information, the method further includes the following steps: obtaining the relative distance calculated at multiple time points within the target duration, wherein one time point corresponds to one calculated relative distance, and the target duration includes multiple time points; generating a distance image based on multiple relative distances, wherein the distance image is used to represent changes in the relative distance.

[0078] In this solution, the distance image generated can have a time point on the horizontal axis and a relative distance on the vertical axis. The distance image can clearly show the change in relative distance, so that the staff can understand the change in relative distance in a timely manner.

[0079] Specifically, the generated distance image can be an image of Euclidean distance, an image of Manhattan distance, or any other feasible image. Of course, it can also be a rectangular graph, a line graph, etc.

[0080] Specifically, this scheme converts the distance measurement of the relative position of the moving point into the distance measurement between the moving point and the static point, adds a reference point at the top of the tunnel as the static point, and fixes the measuring device, such as Figure 5As shown, the measuring device includes ranging modules A and B (including laser and UWB ranging), a data processor, an audible and visual alarm module and a communication interface. The measuring device is installed on the top of the tunnel. The ranging modules A and B respectively measure the distance to the excavation working face by laser, and use UWB to measure the distance to the methane sensor. The data processor calculates the distance from the sensor to the excavation working face based on the results of laser and UWB ranging, and determines whether the installation requirements are met based on the results. If so, the measurement is repeated at intervals. If not, the audible and visual alarm module sends an alarm signal to prompt the sensor installation position to move forward.

[0081] Specifically, the measuring device consists of four parts: a distance measurement module (including laser and UWB distance measurement), a data processor, an audio-visual alarm module, and a communication interface. The two laser modules of the distance measurement module measure the distance to the obstacle in front of them respectively; the two UWB modules of the distance measurement module measure the distance to the sensor; the data processor reads the results of laser distance measurement and UWB distance measurement and the installation distance between the two modules to calculate the distance from the sensor to the excavation working face, and determines whether the installation requirements are met. If they are met, the detection is repeated. If not, the sensor is reminded to move forward through an audio-visual alarm. On the other hand, the real-time data of the methane sensor is read using UWB wireless communication and uploaded to the installation monitoring system platform through the communication interface.

[0082] Of course, this scheme also includes another implementation scheme, which converts the relative position distance measurement of two moving points into the distance measurement between the two moving points and a static point, adds a reference point at the top of the center of the tunnel as the static point, and fixes the measuring device, including a UWB base station board, a laser ranging module, a data processor, an sound and light alarm module and a communication interface. The reference point X is the center point of the measuring device. The laser modules at both ends of the measuring device respectively measure the distance to the excavation working face, calculate the distance between the reference point and the excavation working face and the angle between the measuring device and the center line of the tunnel, and use UWB-AOA to measure the distance and angle between the reference point and the methane sensor; the data processor calculates the distance from the sensor to the excavation working face based on the two distance and angle measurement results, and determines whether the installation requirements are met based on the results. If so, the measurement is repeated at intervals. If the requirements are not met, the sound and light alarm module sends an alarm signal to prompt the sensor installation position to move forward.

[0083] Specifically, the measuring device consists of five parts: UWB base station board, laser ranging module, data processor, sound and light alarm module and communication interface. Among them, the UWB base station board can measure the distance and angle from the UWB positioning card to the base station board within a certain range; the two laser ranging modules can respectively measure the distance from the obstacle in front of the device to the device; the data processor reads the results of the UWB base station board and the laser ranging module to calculate the distance from the sensor to the excavation working face, and judges whether the installation requirements are met. If they are met, the detection is repeated. If not, the sound and light alarm is used to remind the sensor to move forward. On the other hand, the UWB wireless communication is used to read the real-time data of the methane sensor and upload it to the installation monitoring system platform through the communication interface.

[0084] In order to enable those skilled in the art to more clearly understand the technical solution of the present application, the implementation process of the method for determining the distance from the methane sensor to the excavation working face of the present application will be described in detail below in conjunction with specific embodiments.

[0085] This embodiment relates to a specific method for determining the distance from the methane sensor to the tunneling working face, which is described below through two embodiments:

[0086] Embodiment 1:

[0087] The mine laser methane sensor T1 used for methane measurement in the excavation working face has a built-in UWB positioning card and is hoisted on the tunnel wall. The measuring device is fixedly installed on the top of the tunnel. The distance D between the distance measurement modules at both ends of the measuring device AB =500mm, installed directly opposite the excavation working face, the measuring device uses two laser ranging modules to measure the distance D between the excavation working face and the excavation working face respectively A =4800mm, D B =5100mm, the measuring device uses the UWB ranging module to measure the distance D between the methane sensor T1 and TA =3500mm, D TB =4000mm; the data processor calculates the distance D between the methane sensor T1 and the excavation working face based on the measurement results T =2700mm, it is judged that D is satisfied T The requirement of ≤5000mm is met, and the test is repeated after an interval of one minute. On the other hand, the real-time value of the methane sensor 0.05% CH4 is read wirelessly through UWB and uploaded to the security monitoring system platform in real time through the communication interface RS485 bus.

[0088] Embodiment 2:

[0089] The mine laser methane sensor T1 used for methane measurement in the excavation working face has a built-in UWB positioning card and is hoisted on the tunnel wall. The measuring device is fixedly installed on the top of the tunnel center. The angle between the measuring device and the tunnel centerline is α, and the distance between the laser ranging modules at both ends of the measuring device is D AB = 0.5m, installed directly opposite the excavation working face, the measuring device uses two laser ranging modules to measure the distance D between the excavation working face and the excavation working face every minute A =7.95m, D B = 8.05m, the distance from the reference point X to the excavation working face is calculated as D X =8.00m, α=arccos0.2, use UWB-AOA to measure the distance D between the reference point and the methane sensor T1 XT =5m and angle β=37°; the data processor calculates the distance between the methane sensor T1 and the excavation working face based on the measurement results:

[0090]

[0091] Judgment satisfies D T The requirement of ≤5m is met, and the test is repeated after an interval of one minute. On the other hand, the real-time value of the methane sensor 0.05% CH4 is read wirelessly through UWB and uploaded to the security monitoring system platform in real time through the communication interface RS485 bus.

[0092] The embodiment of the present application also provides a device for determining the distance from a methane sensor to a tunneling working face. It should be noted that the device for determining the distance from a methane sensor to a tunneling working face in the embodiment of the present application can be used to execute the method for determining the distance from a methane sensor to a tunneling working face provided in the embodiment of the present application. The device is used to implement the above-mentioned embodiments and preferred implementation modes, and those that have been described will not be repeated here. As used below, the term "module" can implement a combination of software and / or hardware for a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0093] The following introduces the device for determining the distance from the methane sensor to the excavation working face provided in the embodiment of the present application.

[0094] Figure 6 1 is a structural block diagram of a device for determining the distance from a methane sensor to a tunneling working face according to an embodiment of the present application. Figure 6 As shown, the device comprises:

[0095] A first acquisition unit 10 is used to acquire a reference point, wherein the reference point is a preset position point used as a benchmark for measuring distance;

[0096] A second acquisition unit 20 is used to acquire distance information, wherein the distance information includes first distance information and second distance information, wherein the first distance information is the distance between the reference point and the excavation working face, and the second distance information is the distance between the reference point and the methane sensor;

[0097] The first calculation unit 30 is used to calculate the relative distance between the methane sensor and the excavation working face at least based on the distance information.

[0098] Through this embodiment, an improvement is made over the method of directly measuring the distance from the methane sensor installation position to the absolute working surface in the prior art. By adding a static reference point in the coal mine working surface, the distance between the reference point and the excavation working surface, and the distance between the reference point and the methane sensor are measured. Since the reference point is static, there will be no problem of being unable to measure due to shaking, rotation and movement. Therefore, the distance information in this scheme is accurate, and the accurate distance from the methane sensor installation position to the absolute working surface can be calculated, thereby solving the problem of low accuracy of the distance measured from the methane sensor installation position to the absolute working surface in the prior art.

[0099] During the specific implementation process, the first acquisition unit includes a first acquisition module and a second acquisition module. The first acquisition module is used to acquire a first reference point, wherein the first reference point is the position point of the first end of the measuring device, and the measuring device is a device that uses UWB-AOA technology to measure distance; the second acquisition module is used to acquire a second reference point, wherein the second reference point is the position point of the second end of the measuring device.

[0100] In this solution, a measuring device is preset in the coal mine. The measuring device can use UWB-AOA technology to measure the distance. Through two reference points, the position information can be obtained from different angles, avoiding the error caused by a single measuring point, and further improving the accuracy of subsequent distance measurements.

[0101] In some embodiments, the first calculation unit includes a first calculation module, and the first calculation module is used to calculate the relative distance according to a first formula, wherein the first formula is:

[0102]

[0103] D AB represents the distance between the first reference point and the second reference point, D A represents the distance between the first reference point and the excavation working face, D B represents the distance between the second reference point and the excavation working face, D TA represents the distance between the first reference point and the methane sensor, DTB represents the distance between the second reference point and the methane sensor, D T represents the relative distance between the methane sensor and the excavation working face, T(X T ,0) represents the coordinates of the above methane sensor, A(X A ,Y A ) represents the coordinates of the first reference point, B(X B ,Y B ) represents the coordinates of the second reference point mentioned above.

[0104] In this scheme, the distance formula between two points on a plane can be used to directly calculate the distance between the methane sensor and the excavation working face without the need for other complex calculation processes. Since the methane sensor may shake, the distance measurement method using the reference points added in this scheme is independent of the posture of the methane sensor, thus further ensuring that the relative distance between the methane sensor and the excavation working face is more accurate.

[0105] During the specific implementation process, the first calculation unit also includes a third acquisition module and a second calculation module, and the third acquisition module is used to obtain the angle, wherein the above-mentioned angle includes a first angle and a second angle, the above-mentioned first angle is the angle between the above-mentioned measuring device and the center line of the tunnel, and the above-mentioned second angle is the angle between the above-mentioned measuring device and the above-mentioned methane sensor; the second calculation module is used to calculate the above-mentioned relative distance between the above-mentioned methane sensor and the above-mentioned excavation working face according to the above-mentioned angle and the above-mentioned distance information.

[0106] In this scheme, the angle can represent the relative direction of the measuring device in the tunnel. By combining the two angles, the above-mentioned relative distance between the methane sensor and the excavation working face can be calculated from different angles, thereby further ensuring that the relative distance between the methane sensor and the excavation working face is more accurate.

[0107] In some embodiments, the second calculation module further includes a calculation submodule, and the calculation submodule is used to calculate the relative distance according to a second formula, wherein the second formula is:

[0108] D T =D X -D XT sinθ=(D A +D B ) / 2-D XT sin[90°-(α-β)],

[0109] D X =(D A +D B ) / 2,

[0110]

[0111] D T represents the relative distance between the methane sensor and the excavation working face, D XT represents the distance between the center point of the above-mentioned measuring device and the above-mentioned methane sensor, D A represents the distance between the first reference point and the excavation working face, D B represents the distance between the second reference point and the excavation working face, α represents the first angle, β represents the second angle, D AB Represents the distance between the first reference point and the second reference point.

[0112] In this scheme, the distance formula between two points on the plane and the angle information can be used to directly calculate the distance between the methane sensor and the excavation working face without the need for other complex calculation processes. Since the methane sensor may shake, the distance measurement method using the reference points added in this scheme is independent of the posture of the methane sensor, thus further ensuring that the relative distance between the methane sensor and the excavation working face is more accurate.

[0113] During the specific implementation process, the above-mentioned device also includes a second calculation unit and a first generation unit. The second calculation unit is used to calculate the relative distance between the above-mentioned methane sensor and the above-mentioned excavation working face based on at least the above-mentioned distance information, and when the above-mentioned relative distance is less than or equal to the preset distance threshold, calculate the above-mentioned relative distance again at a predetermined time period; the first generation unit is used to generate an alarm message when the above-mentioned relative distance is greater than the preset distance threshold, wherein the above-mentioned alarm message is used to prompt that the installation position of the above-mentioned methane sensor needs to be moved forward.

[0114] In this scheme, if the relative distance is less than or equal to the preset distance threshold, the distance between the methane sensor and the excavation working face can be recalculated at regular intervals to ensure that the relative distance can be monitored all the time. If the relative distance is greater than the preset distance threshold, an alarm can be sounded to promptly prompt the working face to move forward towards the methane sensor.

[0115] In some embodiments, the above-mentioned device also includes a third acquisition unit and a second generation unit, and the third acquisition unit is used to obtain the above-mentioned relative distance calculated at multiple time points within the target time length after calculating the relative distance between the above-mentioned methane sensor and the above-mentioned excavation working face based on at least the above-mentioned distance information, wherein one of the above-mentioned time points corresponds to one of the above-mentioned relative distance calculated, and the above-mentioned target time length includes multiple of the above-mentioned time points; the second generation unit is used to generate a distance image based on multiple of the above-mentioned relative distances, wherein the above-mentioned distance image is used to represent the change of the above-mentioned relative distance.

[0116] In this solution, the distance image generated can have a time point on the horizontal axis and a relative distance on the vertical axis. The distance image can clearly show the change in relative distance, so that the staff can understand the change in relative distance in a timely manner.

[0117] The above-mentioned device for determining the distance from the methane sensor to the excavation working face includes a processor and a memory, and the above-mentioned first acquisition unit, the second acquisition unit and the third acquisition unit are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to realize the corresponding functions. The above-mentioned modules are all located in the same processor; or, the above-mentioned modules are located in different processors in any combination.

[0118] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the problem of low accuracy of the distance from the methane sensor installation position to the absolute working surface measured in the prior art is solved by adjusting the kernel parameters.

[0119] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0120] An embodiment of the present invention provides a computer-readable storage medium, which includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute the method for determining the distance from the methane sensor to the excavation working face.

[0121] Specifically, the method for determining the distance from the methane sensor to the excavation working face includes:

[0122] Step S201, obtaining a reference point, wherein the reference point is a preset position point used as a benchmark for measuring distance;

[0123] Step S202, obtaining distance information, wherein the distance information includes first distance information and second distance information, wherein the first distance information is the distance between the reference point and the excavation working face, and the second distance information is the distance between the reference point and the methane sensor;

[0124] Step S203, calculating the relative distance between the methane sensor and the excavation working face at least based on the distance information.

[0125] An embodiment of the present invention provides a processor, which is used to run a program, wherein when the program is run, a method for determining the distance from the methane sensor to the excavation working face is executed.

[0126] Specifically, the method for determining the distance from the methane sensor to the excavation working face includes:

[0127] Step S201, obtaining a reference point, wherein the reference point is a preset position point used as a benchmark for measuring distance;

[0128] Step S202, obtaining distance information, wherein the distance information includes first distance information and second distance information, wherein the first distance information is the distance between the reference point and the excavation working face, and the second distance information is the distance between the reference point and the methane sensor;

[0129] Step S203, calculating the relative distance between the methane sensor and the excavation working face at least based on the distance information.

[0130] An embodiment of the present invention provides a device, the device comprising a processor, a memory, and a program stored in the memory and executable on the processor, and when the processor executes the program, at least the following steps are implemented:

[0131] Specifically, the method for determining the distance from the methane sensor to the excavation working face includes:

[0132] Step S201, obtaining a reference point, wherein the reference point is a preset position point used as a benchmark for measuring distance;

[0133] Step S202, obtaining distance information, wherein the distance information includes first distance information and second distance information, wherein the first distance information is the distance between the reference point and the excavation working face, and the second distance information is the distance between the reference point and the methane sensor;

[0134] Step S203, calculating the relative distance between the methane sensor and the excavation working face at least based on the distance information.

[0135] The devices in this article can be servers, PCs, PADs, mobile phones, etc.

[0136] A computer program product includes a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method in each embodiment of the present application are implemented.

[0137] Specifically, the method for determining the distance from the methane sensor to the excavation working face includes:

[0138] Step S201, obtaining a reference point, wherein the reference point is a preset position point used as a benchmark for measuring distance;

[0139] Step S202, obtaining distance information, wherein the distance information includes first distance information and second distance information, wherein the first distance information is the distance between the reference point and the excavation working face, and the second distance information is the distance between the reference point and the methane sensor;

[0140] Step S203, calculating the relative distance between the methane sensor and the excavation working face at least based on the distance information.

[0141] An embodiment of the present invention also provides a distance detection system, comprising one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include a method for determining the distance from any one of the above-mentioned methane sensors to the excavation working face.

[0142] Specifically, the method for determining the distance from the methane sensor to the excavation working face includes:

[0143] Step S201, obtaining a reference point, wherein the reference point is a preset position point used as a benchmark for measuring distance;

[0144] Step S202, obtaining distance information, wherein the distance information includes first distance information and second distance information, wherein the first distance information is the distance between the reference point and the excavation working face, and the second distance information is the distance between the reference point and the methane sensor;

[0145] Step S203, calculating the relative distance between the methane sensor and the excavation working face at least based on the distance information.

[0146] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0147] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0148] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0149] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0150] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0151] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0152] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0153] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0154] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0155] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0156] 1) The present invention discloses a method for determining the distance from a methane sensor to an excavation working face. This method is an improvement over the prior art method of directly measuring the distance from the methane sensor installation position to the absolute working face. A static reference point is added to the coal mine working face to measure the distance between the reference point and the excavation working face, as well as the distance between the reference point and the methane sensor. Since the reference point is static, there will be no problem of being unable to measure due to shaking, rotation, and movement. Therefore, the distance information in this solution is accurate, and the accurate distance from the methane sensor installation position to the absolute working face can be calculated, thereby solving the problem of low accuracy of the distance from the methane sensor installation position to the absolute working face measured in the prior art.

[0157] 2) The device for determining the distance from a methane sensor to an excavation working face of the present application is an improvement over the prior art method of directly measuring the distance from the installation position of the methane sensor to the absolute working face. A static reference point is added to the coal mine working face to measure the distance between the reference point and the excavation working face, as well as the distance between the reference point and the methane sensor. Since the reference point is static, there will be no problem of being unable to measure due to shaking, rotation, and movement. Therefore, the distance information in this solution is accurate, and the accurate distance from the installation position of the methane sensor to the absolute working face can be calculated, thereby solving the problem of low accuracy of the distance measured from the installation position of the methane sensor to the absolute working face in the prior art.

[0158] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for determining the distance from a methane sensor to a tunneling working face, characterized in that: include: Acquire a reference point, wherein the reference point is a preset position point used as a benchmark for measuring distance; Acquire distance information, wherein the distance information includes first distance information and second distance information, wherein the first distance information is the distance between the reference point and the excavation working face, and the second distance information is the distance between the reference point and the methane sensor; The relative distance between the methane sensor and the excavation working face is calculated at least based on the distance information.

2. The method according to claim 1, characterized in that Get reference points, including: Acquire a first reference point, wherein the first reference point is a position point of a first end of a measuring device, and the measuring device is a device that uses UWB-AOA technology to measure distance; A second reference point is acquired, wherein the second reference point is a position point of a second end of the measuring device.

3. The method according to claim 2, characterized in that Calculating the relative distance between the methane sensor and the excavation working face at least according to the distance information includes: The relative distance is calculated according to a first formula, wherein the first formula is: D AB represents the distance between the first reference point and the second reference point, D A represents the distance between the first reference point and the excavation working face, D B represents the distance between the second reference point and the excavation working face, D TA represents the distance between the first reference point and the methane sensor, D TB represents the distance between the second reference point and the methane sensor, D T represents the relative distance between the methane sensor and the excavation working face, T(X T ,0) represents the coordinates of the methane sensor, A(X A ,Y A ) represents the coordinates of the first reference point, B(X B ,Y B ) represents the coordinates of the second reference point.

4. The method according to claim 2, characterized in that: Calculating the relative distance between the methane sensor and the excavation working face at least according to the distance information includes: Acquire an angle, wherein the angle includes a first angle and a second angle, the first angle is an angle between the measuring device and a center line of the tunnel, and the second angle is an angle between the measuring device and the methane sensor; The relative distance between the methane sensor and the excavation working face is calculated based on the angle and the distance information.

5. The method according to claim 4, characterized in that Calculating the relative distance between the methane sensor and the excavation working face according to the angle and the distance information includes: The relative distance is calculated according to a second formula, wherein the second formula is: D T =D X -D XT sinθ=(D A +D B ) / 2-D XT sin[90°-(α-β)], D X =(D A +D B ) / 2, D T represents the relative distance between the methane sensor and the excavation working face, D XT represents the distance between the center point of the measuring device and the methane sensor, D A represents the distance between the first reference point and the excavation working face, D B represents the distance between the second reference point and the excavation working face, α represents the first angle, β represents the second angle, and D AB represents the distance between the first reference point and the second reference point.

6. The method according to any one of claims 1 to 5, characterized in that After calculating the relative distance between the methane sensor and the excavation working face at least based on the distance information, the method further includes: When the relative distance is less than or equal to a preset distance threshold, recalculating the relative distance at a predetermined time interval; When the relative distance is greater than a preset distance threshold, an alarm message is generated, wherein the alarm message is used to prompt that the installation position of the methane sensor needs to be moved forward.

7. The method according to any one of claims 1 to 5, characterized in that After calculating the relative distance between the methane sensor and the excavation working face at least based on the distance information, the method further includes: Obtaining the relative distances calculated at multiple time points within a target duration, wherein one time point corresponds to one calculated relative distance, and the target duration includes multiple time points; A distance image is generated according to the plurality of relative distances, wherein the distance image is used to represent changes in the relative distances.

8. A device for determining the distance from a methane sensor to a tunneling working face, characterized in that: include: A first acquisition unit is used to acquire a reference point, wherein the reference point is a preset position point used as a benchmark for measuring distance; A second acquisition unit is used to acquire distance information, wherein the distance information includes first distance information and second distance information, wherein the first distance information is the distance between the reference point and the excavation working face, and the second distance information is the distance between the reference point and the methane sensor; The first calculation unit is used to calculate the relative distance between the methane sensor and the excavation working face at least based on the distance information.

9. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method for determining the distance from the methane sensor to the excavation working face as described in any one of claims 1 to 7 are implemented.

10. A distance detection system, characterized in that: include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include a method for determining the distance from the methane sensor to the excavation working face as described in any one of claims 1 to 7.

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