Mine mining footage monitoring system and monitoring method based on UWB

Abstract

The invention discloses a UWB-based mine excavation footage monitoring system and monitoring method, and relates to the technical field of intelligent mining of coal mines. The lead points are pre-arranged on top plates of upper and lower crossheads, and geodetic coordinates of the lead points are measured and stored in the server; the base station and the card reader are mounted at fixed positions near a cutting surface of a working surface, and the positioning card is mounted near a lead point; or the positioning card is arranged at a fixed position near the cutting surface of the working surface, and the base station and the card reader are arranged near the wire point; the card reader measures the slope distance from the card reader to the positioning card in real time and uploads the slope distance to the server; the server data acquisition processing program acquires and stores the slant distance between the card reader and the positioning card in real time, calculates the current mining footage and mining position coordinates in combination with the conductor point coordinate sequence and the equipment arrangement space parameters, and issues and stores footage and mining position coordinate data. According to the real-time and historical data of the system, the application system can display the mining position and statistically analyze class, day and month footage data in real time based on one graph.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent coal mining, and in particular to a UWB-based mine excavation footage monitoring system and a UWB-based mine excavation footage monitoring method. Background Art

[0002] The excavation speed of the mining face has a direct impact on underground production operations. If the excavation speed is too slow, it will affect the mining and excavation succession and delay production; if the excavation speed is too fast, the stress and gas in front of the working face will not be released in time, which may easily induce production accidents. Therefore, accurate measurement of excavation footage, real-time absolute positioning of the mining face, and reasonable control of the excavation speed are important guarantees for safe and efficient production in coal mines.

[0003] Currently, there is no method for measuring the mining progress and real-time absolute positioning of underground working faces in coal mines. The traditional method of calculating the mining progress data by manually pulling a tape measure combined with mileage results in discontinuous and poor timeliness of the measured data. Online monitoring of mining progress data using a laser rangefinder requires navigational visibility, is easily affected by obstacles, dust, and water mist, and has poor stability. Ultrasonic mining progress monitoring is a non-contact detection method with high measurement accuracy, but the propagation speed of ultrasonic waves is easily affected by factors such as temperature, air pressure, and wind, resulting in poor reliability. Summary of the invention

[0004] In view of the above problems, the present invention proposes a UWB-based mine excavation footage monitoring system and a UWB-based mine excavation footage monitoring method.

[0005] The embodiment of the present invention provides a UWB-based mine excavation footage monitoring system, which is applied to a mining face and includes: a plurality of guide points, a base station, a card reader, at least one positioning card, and a server;

[0006] The plurality of conductor points are arranged along the top plates of the upper and lower chute, and the plurality of conductor points are used as references for navigation and positioning in the well. The geodetic coordinates of each conductor point are measured by conductor measurement and stored in the server.

[0007] The base station is installed at a fixed position at the end of the mining face, and is used to collect distance data from the card reader, and summarize and analyze the distance data and upload it to the server;

[0008] The card reader is installed at a fixed position at the end of the working surface. The card reader is a UWB wireless distance measuring device, which is used to collect the distance data between itself and each positioning card in real time, and summarize and analyze the distance data and upload it to the base station;

[0009] At least one positioning card is installed near the conductor point on the top plate of the upper chute, and at least one positioning card is installed near the conductor point on the top plate of the lower chute. The positioning card is used to periodically send an uplink UWB positioning pulse signal to the card reader, so that the card reader obtains the distance data and realizes distance measurement;

[0010] The server and the base station transmit the distance data through the network. The server has a built-in distance data acquisition and processing program to obtain and store the distance data in real time, and calculate the current mining footage and mining position coordinates in combination with the respective conductor point coordinate sequences of the upper and lower chute and the equipment layout space parameters, and publish and store the mining footage and mining position coordinate data.

[0011] Optionally, multiple conductor points are arranged at preset distances on the upper and lower drift roofs of the mining face according to the ups and downs and visibility of the upper and lower drifts, and are marked.

[0012] Optionally, there are multiple card readers, and one base station exchanges the distance data with multiple card readers;

[0013] The base station and the card reader are both installed at fixed positions at the upper and lower ends of the mining working face, and are connected to power supply and network nearby;

[0014] Wherein, the fixed positions of the upper end and the lower end of the mining working surface respectively refer to: the top beam of the hydraulic support of the upper end of the mining working surface and the top beam of the hydraulic support of the lower end of the mining working surface;

[0015] If the card reader also has the function of a base station, the card reader is used to collect the distance data between itself and each positioning card in real time, and summarize and analyze the distance data and upload it to the server;

[0016] The server is deployed at the mining face or in a ground server room.

[0017] Optionally, at least one positioning card is installed on the top plate or two sides of the tunnel near the conductor point of the upper chute; at least one positioning card is installed on the top plate or two sides of the tunnel near the conductor point of the lower chute;

[0018] The installation position of the positioning card is interchangeable with the installation positions of the base station and the card reader.

[0019] The embodiment of the present invention provides a UWB-based mine excavation footage monitoring system, which is applied to an excavation working face and includes: a plurality of guide points, a base station, a card reader, at least one positioning card, and a server;

[0020] The plurality of wire points are arranged along the top plate of the tunneling tunnel, and the plurality of wire points serve as references for navigation and positioning in the well. The geodetic coordinates of each wire point are measured by wire measurement and stored in the server;

[0021] The base station is installed at a fixed position of the excavation working face, and is used to collect distance data from the card reader, and summarize and analyze the distance data and upload it to the server;

[0022] The card reader is installed at a fixed position on the excavation working face. The card reader is a UWB wireless distance measuring device, which is used to collect the distance data between itself and each positioning card in real time, and summarize and analyze the distance data and upload it to the base station;

[0023] At least one positioning card is installed near the conductor point on the top plate of the tunneling tunnel, and the positioning card is used to periodically send an uplink UWB positioning pulse signal to the card reader, so that the card reader obtains the distance data and realizes distance measurement;

[0024] The server and the base station transmit the distance data via the network. The server has a built-in distance data acquisition and processing program to obtain and store the distance data in real time, and calculate the current mining progress and mining position coordinates in combination with the conductor point coordinate sequence on the top plate of the tunnel and the equipment layout space parameters, and publish and store the mining progress and mining position coordinate data.

[0025] Optionally, multiple conductor points are arranged on the top plate of the tunneling tunnel at preset intervals according to the ups and downs of the tunneling tunnel and visibility conditions, and are marked.

[0026] Optionally, there are multiple card readers, and one base station exchanges the distance data with multiple card readers;

[0027] The base station and the card reader are both installed at fixed positions on the excavation working face and are connected to power supply and network nearby;

[0028] The fixed position of the excavation working face refers to: a relatively fixed position near the excavation equipment of the excavation working face;

[0029] If the card reader also has the function of a base station, the card reader is used to collect the distance data between itself and each positioning card in real time, and summarize and analyze the distance data and upload it to the server.

[0030] Optionally, at least one positioning card is installed on the tunnel roof or two sides near the wire point of the excavation tunnel;

[0031] The installation position of the positioning card is interchangeable with the installation positions of the base station and the card reader.

[0032] Optionally, the card reader is powered by an additional normal power supply, and the additional normal power supply includes:

[0033] 127V direct power supply, or external large-capacity long-life battery.

[0034] The embodiment of the present invention provides a UWB-based mine excavation footage monitoring method, wherein the mine excavation footage monitoring method uses any of the above-mentioned mine excavation footage monitoring systems to complete the excavation footage monitoring of the mining working face, or the mine excavation footage monitoring method uses any of the above-mentioned mine excavation footage monitoring systems to complete the excavation footage monitoring of the excavation working face; the mine excavation footage monitoring method includes:

[0035] The card reader and the positioning card perform data exchange in real time;

[0036] Based on the distance data between the real-time interactive card reader and the positioning card, combined with the equipment layout space parameters, the distance from the cutting surface position of the working face to the associated wire point is calculated;

[0037] If within N seconds, the difference between the value of the distance data currently obtained by the same card reader and the value of the valid distance data obtained last time by the card reader exceeds a preset value, the distance data currently obtained is interference jump data, and the distance data currently obtained is discarded;

[0038] If within N seconds, the difference between the distance data value currently obtained by the same card reader and the value of the valid distance data obtained last time by the same card reader does not exceed the preset value, the distance data obtained currently is retained and stored as the valid distance value;

[0039] All valid distance data obtained in a preset time period are filtered out of the noise point distance data with large changes, and the average of the filtered valid distance data is taken as the final distance data.

[0040] If the card reader or the positioning card does not change position, then: for the mining face, the final distance data will only become smaller and smaller, and the larger values ​​of the final distance data will be discarded; for the excavation face, the final distance data will only become larger and larger, and the smaller values ​​of the final distance data will be discarded;

[0041] If the card reader or the positioning card is installed for the first time or the position is changed, the initial footage mileage data after the installation of the mine excavation footage monitoring system according to the equipment layout space parameters is combined with the change value of the effective final distance data to cumulatively calculate the footage mileage data;

[0042] If the card reader and the positioning card data have been collected using the mine excavation footage monitoring system, the latest footage mileage data is obtained from the mine excavation footage monitoring system, and the footage mileage data is cumulatively calculated in combination with the change value of the effective final distance data;

[0043] According to the tunnel centerline coordinate sequence data of the equipment layout space parameters, combined with the change value of the effective final distance data, the xyz three-dimensional geodetic coordinates of the working face cutting surface position are calculated, and the accumulated footage mileage data and the xyz three-dimensional geodetic coordinates of the working face cutting surface position are stored in the database and published.

[0044] Optionally, the equipment layout space parameters include: distance data of the card reader deviating from the working face cutting surface or the guide wire point along the lane direction;

[0045] If the card reader is between the wire point and the cutting surface of the working surface, the value of the distance data is positive, otherwise the value of the distance data is negative;

[0046] The distance that the positioning card deviates from the cutting surface of the working face or the guide point in the direction of the roadway;

[0047] If the positioning card is between the working surface and the conductor point, the value of the distance data is positive, otherwise the value of the distance data is negative;

[0048] The type of tunnel in which the card reader and the positioning card are installed, the tunnel type including: an excavation tunnel or a mining tunnel;

[0049] The installation position of the card reader includes: the cutting surface of the working surface, between the cutting surface of the working surface and the guide point, and the guide point;

[0050] The xyz three-dimensional geodetic coordinates of the guide point or the number of the guide point;

[0051] Coordinate sequence data of the lane centerline;

[0052] The initial footage mileage data of the mine excavation footage monitoring system after installation.

[0053] Optionally, when the card reader is installed between the working surface cutting surface and the conductor point, a positioning card is installed at the working surface cutting surface position and the conductor point position respectively. Combined with the distance of each positioning card from the conductor point or the working surface cutting surface, the accumulated distance from the card reader to the two positioning cards is the distance from the working surface cutting surface position to the associated conductor point.

[0054] The UWB-based mine excavation progress monitoring system of the present invention can be applied to a mining face or an excavation face, and comprises: a plurality of guide points, a base station, a card reader, at least one positioning card, and a server.

[0055] Take the mining face as an example: multiple guide points are arranged along the top plates of the upper and lower drifts, and multiple guide points serve as the reference for navigation and positioning underground. The staff can measure the geodetic coordinates of each guide point through guide measurement and store them on the server.

[0056] The base station is installed at a fixed position at the end of the work surface. The base station is used to collect distance data from the card reader, and summarize and analyze the distance data and upload it to the server; the card reader is installed at a fixed position at the end of the work surface. The card reader is a UWB wireless distance measurement device, which is used to collect the distance data between itself and each positioning card in real time, and summarize and analyze the distance data and upload it to the base station.

[0057] At least one positioning card is installed near the conductor point on the top plate of the upper trough. The positioning card is used to periodically send an uplink UWB positioning pulse signal to the card reader so that the card reader obtains distance data and realizes distance measurement.

[0058] The server and the base station transmit distance data through the network. The server has a built-in distance data acquisition and processing program to obtain and store distance data in real time. It also calculates the current mining footage and mining position coordinates based on the coordinate sequence of the conductor points of the upper and lower drifts and the equipment layout space parameters, and publishes and stores the mining footage and mining position coordinate data.

[0059] The UWB-based mine excavation footage monitoring system proposed in the present invention is different from the traditional footage data calculation method of manually pulling a tape measure combined with mileage. Its excavation footage data is reliable, continuous, and highly timely. In addition, due to this continuous and highly timely footage data acquisition method, if there is a water accumulation area ahead during the excavation process, a real-time warning can be issued. It is not easily affected by obstacles, dust, and water mist, and has high stability. It is also not easily affected by factors such as temperature, air pressure, and wind, and has good reliability. It can calculate the xyz three-dimensional geodetic coordinates of the cutting surface position of the working face in real time. The excavation position can be displayed in real time based on a map control platform, and the excavation footage data can be statistically analyzed. It only needs to regularly move the positioning card or card reader near the wire point, and the underground staff can maintain it simply. The equipment is all powered by normal power, and there is no need to charge it in the well or it can last for several days on a single charge, ensuring the normal operation of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0061] Figure 1 This is a structural diagram of a mine excavation footage monitoring system preferably applied to a mining working face in an embodiment of the present invention;

[0062] Figure 2 It is an architectural diagram of a mine excavation progress monitoring system preferably applied to an excavation working face in an embodiment of the present invention. DETAILED DESCRIPTION

[0063] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, are only part of the embodiments of the present invention, not all of the embodiments, and are not used to limit the present invention.

[0064] The UWB-based mine excavation progress monitoring system of the present invention can be applied to a mining face or an excavation face, and comprises: a plurality of guide points, a base station, a card reader, at least one positioning card, and a server.

[0065] Take the mining face as an example: multiple guide points are arranged along the top plates of the upper and lower drifts, and multiple guide points serve as the reference for navigation and positioning underground. The staff can measure the geodetic coordinates of each guide point through guide measurement and store them on the server.

[0066] The base station is installed at a fixed position at the end of the work surface. The base station is used to collect distance data from the card reader, and summarize and analyze the distance data and upload it to the server; the card reader is installed at a fixed position at the end of the work surface. The card reader is a UWB (UltraWide Band, wireless carrier communication technology) wireless distance measurement device, which is used to collect the distance data between itself and each positioning card in real time, and summarize and analyze the distance data and upload it to the base station.

[0067] At least one positioning card is installed near the conductor point on the top plate of the upper trough. The positioning card is used to periodically send an uplink UWB positioning pulse signal to the card reader so that the card reader obtains distance data and realizes distance measurement.

[0068] The server and the base station transmit distance data through the network. The server has a built-in distance data acquisition and processing program to obtain and store distance data in real time. It also calculates the current mining footage and mining position coordinates based on the coordinate sequence of the conductor points of the upper and lower drifts and the equipment layout space parameters, and publishes and stores the mining footage and mining position coordinate data.

[0069] A better arrangement of multiple guide points is: on the upper and lower chute roofs of the mining face, according to the ups and downs and visibility of the upper and lower chute, arrange multiple guide points at preset intervals and mark them. These guide points can be used as the reference for navigation and positioning in the well. The staff measures the geodetic coordinates of these guide points through guide measurement and stores them in the server.

[0070] Preferably, there can be multiple card readers, and one base station can exchange distance data with multiple card readers; the card reader is powered by constant power. The constant power supply is used to ensure the normal maintenance-free operation of the entire system. The card reader uses an additional constant power supply instead of the traditional built-in battery regular charging method. There are two ways to provide additional constant power supply:

[0071] One is 127V direct power supply; the other is an external large-capacity long-life battery.

[0072] The fixed positions of the upper end and the lower end of the mining working face refer to: the top beam of the hydraulic support at the upper end of the mining working face and the top beam of the hydraulic support at the lower end of the mining working face.

[0073] In addition, considering the increasing functions of card readers, if the card reader also has the function of a base station, the card reader and the base station can be regarded as an integrated device, which is used to collect the distance data between itself and each positioning card in real time, and summarize and analyze the distance data and upload it to the server.

[0074] For servers, the optimal deployment method is: deployment at the mining face, or deployment in the ground server room.

[0075] For the positioning card, the preferred installation method is: at least one positioning card is installed on the tunnel roof or both sides near the upper chute conductor point, and at least one positioning card can also be installed on the tunnel roof or both sides near the lower chute conductor point.

[0076] Among them, the positions of the positioning card, the base station and the card reader can be exchanged, that is: the installation position of at least one positioning card is interchangeable with the installation position of the base station and the card reader; when there are multiple positioning cards, the installation positions of these positioning cards are interchangeable with the installation positions of the base station and the card reader.

[0077] In order to better understand the above-mentioned mine excavation footage monitoring system applied to the mining face, refer to Figure 1 The figure shows an architecture diagram of a better mine excavation progress monitoring system applied to a mining face. Figure 1 The coal mining machine and the mining area are shown as examples. The base station and the card reader are installed at the fixed positions of the upper and lower chute. Figure 1 The upper chute base station and card reader, the lower chute base station and card reader are shown in the figure. The upper chute conductor points 1, 2, 3 ... N, and the lower chute conductor points 1, 2, 3 ... N are shown as examples. Multiple positioning cards are shown as examples, wherein two positioning cards are installed near the upper chute conductor point 1: positioning card 1 and positioning card 2; and two positioning cards are also installed near the lower chute conductor point 1: positioning card 1 and positioning card 2.

[0078] Take the excavation face as an example: the equipment used in the mine excavation footage monitoring system applied to the mining face is the same, except that the layout and installation location of each device are slightly different. The mine excavation footage monitoring system is applied to the excavation face, and it also includes: multiple guide points, base stations, card readers, at least one positioning card, and a server.

[0079] Multiple guide points are arranged along the top plate of the excavation tunnel. Multiple guide points serve as the reference for navigation and positioning underground. Workers can measure the geodetic coordinates of each guide point through guide measurement and store them in the server.

[0080] The base station is installed at a fixed position on the excavation working face. The base station is used to collect distance data from the card reader, and summarize and analyze the distance data and upload it to the server; the card reader is installed at a fixed position on the excavation working face. The card reader is a UWB wireless distance measurement device, which is used to collect the distance data between itself and each positioning card in real time, and summarize and analyze the distance data and upload it to the base station.

[0081] At least one positioning card is installed near the conductor point on the top plate of the tunneling tunnel. The positioning card is used to periodically send an uplink UWB positioning pulse signal to the card reader, so that the card reader obtains distance data and realizes distance measurement.

[0082] The server and the base station transmit distance data through the network. The server has a built-in distance data acquisition and processing program to obtain and store distance data in real time. It also calculates the current mining progress and mining position coordinates based on the coordinate sequence of the conductor points on the top plate of the tunnel and the equipment layout space parameters, and publishes and stores the mining progress and mining position coordinate data.

[0083] Preferably, the arrangement of multiple guide points is as follows: multiple guide points are arranged on the roof of the tunnel, and according to the ups and downs of the tunnel and the visibility, multiple guide points are arranged at preset intervals and marked. These guide points can be used as the reference for underground navigation and positioning. The staff measures the geodetic coordinates of these guide points by guide measurement and stores them in the server.

[0084] Preferably, there can be multiple card readers, and one base station can exchange distance data with multiple card readers; the base station and the card reader are both installed at fixed positions on the excavation working face and connected to the power supply and network nearby; among them, the card reader uses additional normal power supply, and the specific method of the additional normal power supply has been described above and will not be repeated here.

[0085] The fixed position of the excavation working face refers to: a relatively fixed position near the tail of the excavation equipment of the excavation working face.

[0086] Similarly, if the card reader also has the function of a base station, the card reader is used to collect the distance data between itself and each positioning card in real time, and summarize and analyze the distance data and upload it to the server.

[0087] For the positioning card, the preferred installation method is: at least one positioning card is installed on the tunnel roof or two sides near the wire point of the excavation tunnel. Since the position of the positioning card can be exchanged with the position of the base station and the card reader, the installation position of at least one positioning card is interchangeable with the installation position of the base station and the card reader; when there are multiple positioning cards, the installation positions of these positioning cards are interchangeable with the installation positions of the base station and the card reader.

[0088] In order to better understand the above-mentioned mine excavation progress monitoring system applied to the excavation working face, refer to Figure 2 The figure shows an architecture diagram of a better mine excavation progress monitoring system applied to the excavation working face. Figure 2 The figure shows an example of a tunnel boring machine and a tunnel top plate and bottom plate. The figure shows an example of a top plate conductor point 1, ... N arranged on the tunnel top plate. The figure shows an example of a base station and a card reader ( Figure 2 A plurality of positioning cards are shown as an example, wherein two positioning cards are installed near the top plate conductor point 1: positioning card 1 and positioning card 2.

[0089] Based on the above-mentioned mine excavation footage monitoring system, the present invention also proposes a mine excavation footage monitoring method based on UWB, which can use any of the above-mentioned mine excavation footage monitoring systems to complete the excavation footage monitoring of the mining face, or the mine excavation footage monitoring method can use any of the above-mentioned mine excavation footage monitoring systems to complete the excavation footage monitoring of the excavation face. The mine excavation footage monitoring method includes:

[0090] Step S1: Data is exchanged between the card reader and the positioning card in real time.

[0091] After all equipment of the mine excavation footage monitoring system is deployed, the card reader can start data interaction with the positioning card, so that the card reader can obtain real-time distance data.

[0092] Step S2: Calculate the distance from the cutting surface position of the working surface to the associated guide wire point based on the distance data between the real-time interactive card reader and the positioning card and the equipment layout space parameters.

[0093] After obtaining the distance data, the distance from the cutting surface position of the working face to the associated guide point can be calculated based on the distance data between the real-time interactive card reader and the positioning card, combined with the equipment layout space parameters.

[0094] Among them, the equipment layout space parameters include: the distance data before and after the card reader deviates from the working face cutting surface along the roadway direction. If the card reader is between the guide point and the working face cutting surface, the value of the distance data is positive, otherwise the value of the distance data is negative.

[0095] The distance that the positioning card deviates from the cutting surface of the working face or the guide point along the roadway direction. If the positioning card is between the working face and the guide point, the distance data value is positive, otherwise the distance data value is negative.

[0096] The type of tunnel where the card reader and positioning card are installed. The tunnel types include: excavation tunnel or mining tunnel. The installation location of the card reader includes: the cutting surface of the working face, between the cutting surface of the working face and the guide point, and the guide point. The xyz three-dimensional geodetic coordinates of the guide point or the number of the guide point; the coordinate sequence data of the center line of the tunnel; the initial footage mileage data after the mine excavation footage monitoring system is installed.

[0097] The distance data is combined with the above-mentioned equipment layout space parameters to calculate the distance from the working face cutting surface position to the associated wire point.

[0098] The card reader can be installed on the cutting surface of the working face, or between the cutting surface of the working face and the guide point, or at the guide point. When the card reader is installed between the cutting surface of the working face and the guide point, a positioning card is installed at the cutting surface of the working face and the guide point respectively. Combined with the distance of each positioning card from the guide point or the cutting surface of the working face, the distance from the card reader to the two positioning cards is the distance from the cutting surface of the working face to the associated guide point.

[0099] Step S3: If within N seconds, the difference between the distance data currently obtained by the same card reader and the valid distance data obtained last time exceeds a preset value, the distance data currently obtained is interference jump data, and the distance data currently obtained is discarded.

[0100] For distance data, considering that due to various factors, not every distance data obtained may be valid data, if within N seconds, for example: within 10 seconds, the difference between the value of the distance data currently obtained by the same card reader and the value of the valid distance data obtained last time by the card reader exceeds the preset value, then the distance data currently obtained is interference jump data, and the distance data currently obtained is discarded. For example: within 10 seconds, if the difference between the value of the distance data currently obtained by the same card reader, slopeDist, and the value of the valid distance data last obtained by the card reader, slopeDist_last, exceeds the preset value slopeDist_err, then the value of the distance data currently obtained, slopeDist, is interference jump data, and the distance data currently obtained, slopeDist, is discarded.

[0101] Step S4: If within N seconds, the difference between the distance data value currently obtained by the same card reader and the effective distance data value last obtained by the same card reader does not exceed the preset value, the distance data currently obtained is retained and stored as the effective distance value.

[0102] Naturally, if within N seconds, for example within 10 seconds, the difference between the value slopeDist of the distance data currently obtained by the same card reader and the value slopeDist_last of the valid distance data obtained last time by the card reader does not exceed the preset value slopeDist_err, then the distance data slopeDist currently obtained is retained and stored as the valid distance value.

[0103] Step S5: Filter out the noise point distance data with large changes from all the valid distance data obtained in the preset time period, and take the average of the filtered valid distance data as the final distance data.

[0104] In addition to the effective distance data, in order to ensure the accuracy of subsequent footage mileage, it is also necessary to filter out the noise point distance data. Therefore, for a preset time period, for example: all effective distance data obtained within 3 minutes are filtered out of the noise point distance data with large changes, and the average of the filtered effective distance data is taken as the final distance data. The final distance data face2traversepointDist = slopeDist + offset_face + offset_tp, where slopeDist represents the distance between the card reader and the positioning card; offset_face represents the front and rear distance of the cutting face of the card reader or positioning card deviating from the working face along the roadway direction; offset_tp represents the front and rear distance of the card reader or positioning card deviating from the roadway roof guide point along the roadway direction.

[0105] Step S6: If the card reader or positioning card does not change position, then: for the mining working face, the final distance data will only become smaller and smaller, and the larger and larger values ​​of the final distance data will be discarded; for the excavation working face, the final distance data will only become larger and larger, and the smaller and smaller values ​​of the final distance data will be discarded.

[0106] For an installed mine excavation progress monitoring system, if the card reader or positioning card has never changed position, then: for the mining working face, the final distance data will only become smaller and smaller, and the larger values ​​of the final distance data will be discarded; for the excavation working face, the final distance data will only become larger and larger, and the smaller values ​​of the final distance data will be discarded.

[0107] Step S7: If the card reader or positioning card is installed for the first time or the position is changed, the initial footage mileage data after installation of the mine excavation footage monitoring system based on the equipment layout space parameters is combined with the change value of the effective final distance data to accumulate the footage mileage data.

[0108] Step S8: If the card reader and positioning card data have been collected using the mine excavation footage monitoring system, the latest footage mileage data is obtained from the mine excavation footage monitoring system, and the footage mileage data is cumulatively calculated in combination with the change value of the effective final distance data.

[0109] For an already installed mine excavation footage monitoring system, if the card reader or positioning card is installed for the first time or has been relocated after installation, it is necessary to calculate the footage mileage data based on the initial footage mileage data after installation of the mine excavation footage monitoring system according to the equipment layout space parameters, combined with the change value of the effective final distance data.

[0110] In the case where the card reader and positioning card data have been collected using the mine excavation footage monitoring system, the latest footage mileage data can be directly obtained from the mine excavation footage monitoring system, combined with the change value of the effective final distance data, to accumulate the footage mileage data.

[0111] Step S9: Calculate the xyz three-dimensional geodetic coordinates of the working face cutting surface position based on the tunnel centerline coordinate sequence data of the equipment layout space parameters and the change value of the effective final distance data, and store the accumulated footage mileage data and the xyz three-dimensional geodetic coordinates of the working face cutting surface position into the database and publish them.

[0112] After the footage mileage data is calculated, the xyz three-dimensional geodetic coordinates of the cutting surface of the working face are calculated according to the lane centerline coordinate sequence data in the equipment layout space parameters, combined with the change value of the effective final distance data, and the accumulated footage mileage data and the xyz three-dimensional geodetic coordinates of the cutting surface of the working face are stored in the database and published. Through the above monitoring method, reliable, continuous and timely mining footage data can be obtained.

[0113] In summary, the UWB-based mine excavation progress monitoring system proposed in the present invention can be applied to mining working faces or excavation working faces, and includes: multiple guide points, a base station, a card reader, at least one positioning card, and a server.

[0114] Take the mining face as an example: multiple guide points are arranged along the top plates of the upper and lower drifts, and multiple guide points serve as the reference for navigation and positioning underground. The staff can measure the geodetic coordinates of each guide point through guide measurement and store them on the server.

[0115] The base station is installed at a fixed position at the end of the work surface. The base station is used to collect distance data from the card reader, and summarize and analyze the distance data and upload it to the server; the card reader is installed at a fixed position at the end of the work surface. The card reader is a UWB wireless distance measurement device, which is used to collect the distance data between itself and each positioning card in real time, and summarize and analyze the distance data and upload it to the base station.

[0116] At least one positioning card is installed near the conductor point on the top plate of the upper trough. The positioning card is used to periodically send an uplink UWB positioning pulse signal to the card reader so that the card reader obtains the distance data and realizes distance measurement.

[0117] The server and the base station transmit distance data through the network. The server has a built-in distance data acquisition and processing program to obtain and store distance data in real time. It also calculates the current mining footage and mining position coordinates based on the coordinate sequence of the conductor points of the upper and lower drifts and the equipment layout space parameters, and publishes and stores the mining footage and mining position coordinate data.

[0118] Take the excavation working face as an example: multiple guide points are arranged along the top plate of the excavation tunnel. Multiple guide points serve as the reference for navigation and positioning underground. Workers can measure the geodetic coordinates of each guide point through guide measurement and store them in the server.

[0119] The base station is installed at a fixed position on the excavation working face. The base station is used to collect distance data from the card reader, and summarize and analyze the distance data and upload it to the server; the card reader is installed at a fixed position on the excavation working face. The card reader is a UWB wireless distance measurement device, which is used to collect the distance data between itself and each positioning card in real time, and summarize and analyze the distance data and upload it to the base station.

[0120] At least one positioning card is installed near the conductor point on the top plate of the tunneling tunnel. The positioning card is used to periodically send an uplink UWB positioning pulse signal to the card reader, so that the card reader obtains distance data and realizes distance measurement.

[0121] The server and the base station transmit distance data through the network. The server has a built-in distance data acquisition and processing program to obtain and store distance data in real time. It also calculates the current mining progress and mining position coordinates based on the coordinate sequence of the conductor points on the top plate of the tunnel and the equipment layout space parameters, and publishes and stores the mining progress and mining position coordinate data.

[0122] The UWB-based mine excavation footage monitoring system proposed in the present invention is different from the traditional footage data calculation method of manually pulling a tape measure combined with mileage. Its excavation footage data is reliable, continuous, and highly timely. In addition, due to this continuous and highly timely footage data acquisition method, if there is a water accumulation area ahead during the excavation process, a real-time warning can be issued. It is not easily affected by obstacles, dust, and water mist, and has high stability. It is also not easily affected by factors such as temperature, air pressure, and wind, and has good reliability. It can calculate the xyz three-dimensional geodetic coordinates of the cutting surface position of the working face in real time. The excavation position can be displayed in real time based on a map control platform, and the excavation footage data can be statistically analyzed. It only needs to regularly move the positioning card or card reader near the wire point, and the underground staff can maintain it simply. The equipment is all powered by normal power, and there is no need to charge it in the well or it can last for several days on a single charge, ensuring the normal operation of the system.

[0123] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0124] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal 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, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0125] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation modes, which are merely illustrative rather than restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. A UWB-based mine excavation footage monitoring system, characterized in that: The mine excavation footage monitoring system is applied to the mining face, and includes: a plurality of guide points, a base station, a card reader, at least one positioning card, and a server; The plurality of conductor points are arranged along the top plates of the upper and lower chute, and the plurality of conductor points are used as references for navigation and positioning in the well. The geodetic coordinates of each conductor point are measured by conductor measurement and stored in the server. The base station is installed at a fixed position at the end of the mining face, and is used to collect distance data from the card reader, and summarize and analyze the distance data and upload it to the server; The card reader is installed at a fixed position at the end of the working surface. The card reader is a UWB wireless distance measuring device, which is used to collect the distance data between itself and each positioning card in real time, and summarize and analyze the distance data and upload it to the base station; At least one positioning card is installed near the conductor point on the top plate of the upper chute, and at least one positioning card is installed near the conductor point on the top plate of the lower chute. The positioning card is used to periodically send an uplink UWB positioning pulse signal to the card reader, so that the card reader obtains the distance data and realizes distance measurement; The server and the base station transmit the distance data through the network. The server has a built-in distance data acquisition and processing program to obtain and store the distance data in real time, and calculate the current mining footage and mining position coordinates in combination with the respective conductor point coordinate sequences of the upper and lower chute and the equipment layout space parameters, and publish and store the mining footage and mining position coordinate data.

2. The mine excavation footage monitoring system according to claim 1 is characterized in that: The plurality of conductor points are arranged at preset distances on the upper and lower drift roofs of the mining face according to the ups and downs and visibility of the upper and lower drifts, and are marked.

3. The mine excavation footage monitoring system according to claim 1, characterized in that: There are multiple card readers, and one base station exchanges distance data with multiple card readers; The base station and the card reader are both installed at fixed positions at the upper and lower ends of the mining working face, and are connected to power supply and network nearby; Wherein, the fixed positions of the upper end and the lower end of the mining working surface respectively refer to: the top beam of the hydraulic support of the upper end of the mining working surface and the top beam of the hydraulic support of the lower end of the mining working surface; If the card reader also has the function of a base station, the card reader is used to collect the distance data between itself and each positioning card in real time, and summarize and analyze the distance data and upload it to the server; The server is deployed at the mining face or in a ground server room.

4. The mine excavation footage monitoring system according to claim 1, characterized in that: At least one positioning card is installed on the top plate or two sides of the tunnel near the conductor point of the upper chute; at least one positioning card is installed on the top plate or two sides of the tunnel near the conductor point of the lower chute; The installation position of the positioning card is interchangeable with the installation positions of the base station and the card reader.

5. A UWB-based mine excavation footage monitoring system, characterized in that: The mine excavation progress monitoring system is applied to the excavation working face, and includes: a plurality of guide points, a base station, a card reader, at least one positioning card, and a server; The plurality of wire points are arranged along the top plate of the tunneling tunnel, and the plurality of wire points serve as references for navigation and positioning in the well. The geodetic coordinates of each wire point are measured by wire measurement and stored in the server; The base station is installed at a fixed position of the excavation working face, and is used to collect distance data from the card reader, and summarize and analyze the distance data and upload it to the server; The card reader is installed at a fixed position on the excavation working face. The card reader is a UWB wireless distance measuring device, which is used to collect the distance data between itself and each positioning card in real time, and summarize and analyze the distance data and upload it to the base station; At least one positioning card is installed near the conductor point on the top plate of the tunneling tunnel, and the positioning card is used to periodically send an uplink UWB positioning pulse signal to the card reader, so that the card reader obtains the distance data and realizes distance measurement; The server and the base station transmit the distance data via the network. The server has a built-in distance data acquisition and processing program to obtain and store the distance data in real time, and calculate the current mining progress and mining position coordinates in combination with the conductor point coordinate sequence on the top plate of the tunnel and the equipment layout space parameters, and publish and store the mining progress and mining position coordinate data.

6. The mine excavation footage monitoring system according to claim 5, characterized in that: The plurality of conductor points are arranged on the top plate of the tunneling tunnel at preset intervals according to the ups and downs of the tunneling tunnel and the visibility conditions, and are marked.

7. The mine excavation footage monitoring system according to claim 5, characterized in that: There are multiple card readers, and one base station exchanges distance data with multiple card readers; The base station and the card reader are both installed at fixed positions on the excavation working face and are connected to power supply and network nearby; The fixed position of the excavation working face refers to: a relatively fixed position near the excavation equipment of the excavation working face; If the card reader also has the function of a base station, the card reader is used to collect the distance data between itself and each positioning card in real time, and summarize and analyze the distance data and upload it to the server.

8. The mine excavation footage monitoring system according to claim 5, characterized in that: At least one positioning card is installed on the tunnel roof or two sides near the wire point of the excavation tunnel; The installation position of the positioning card is interchangeable with the installation positions of the base station and the card reader.

9. The mine excavation footage monitoring system according to any one of claims 1 or 5, characterized in that: The card reader is powered by an additional normal power supply, and the additional normal power supply includes: 127V direct power supply, or external large-capacity long-life battery.

10. A method for monitoring mining progress based on UWB, characterized in that: The mine excavation footage monitoring method uses the mine excavation footage monitoring system described in any one of claims 1-4 to complete the mining footage monitoring of the mining working face, or the mine excavation footage monitoring method uses the mine excavation footage monitoring system described in any one of claims 5-8 to complete the mining footage monitoring of the excavation working face; The mine excavation footage monitoring method comprises: The card reader and the positioning card perform data exchange in real time; Based on the distance data between the real-time interactive card reader and the positioning card, combined with the equipment layout space parameters, the distance from the cutting surface position of the working face to the associated wire point is calculated; If within N seconds, the difference between the value of the distance data currently obtained by the same card reader and the value of the valid distance data obtained last time by the card reader exceeds a preset value, the distance data currently obtained is interference jump data, and the distance data currently obtained is discarded; If within N seconds, the difference between the distance data value currently obtained by the same card reader and the value of the valid distance data obtained last time by the same card reader does not exceed the preset value, the distance data obtained currently is retained and stored as the valid distance value; All valid distance data obtained in a preset time period are filtered out of the noise point distance data with large changes, and the average of the filtered valid distance data is taken as the final distance data. If the card reader or the positioning card does not change position, then: for the mining face, the final distance data will only become smaller and smaller, and the larger values ​​of the final distance data will be discarded; for the excavation face, the final distance data will only become larger and larger, and the smaller values ​​of the final distance data will be discarded; If the card reader or the positioning card is installed for the first time or the position is changed, the initial footage mileage data after the installation of the mine excavation footage monitoring system according to the equipment layout space parameters is combined with the change value of the effective final distance data to cumulatively calculate the footage mileage data; If the card reader and the positioning card data have been collected using the mine excavation footage monitoring system, the latest footage mileage data is obtained from the mine excavation footage monitoring system, and the footage mileage data is cumulatively calculated in combination with the change value of the effective final distance data; According to the tunnel centerline coordinate sequence data of the equipment layout space parameters, combined with the change value of the effective final distance data, the xyz three-dimensional geodetic coordinates of the working face cutting surface position are calculated, and the accumulated footage mileage data and the xyz three-dimensional geodetic coordinates of the working face cutting surface position are stored in the database and published.

11. The method for monitoring mining progress according to claim 10, characterized in that: The equipment layout space parameters include: the distance data of the card reader deviating from the working face cutting surface or the guide wire point in the tunnel direction; If the card reader is between the wire point and the cutting surface of the working surface, the value of the distance data is positive, otherwise the value of the distance data is negative; The distance that the positioning card deviates from the cutting surface of the working face or the guide point in the direction of the roadway; If the positioning card is between the working surface and the conductor point, the value of the distance data is positive, otherwise the value of the distance data is negative; The type of tunnel in which the card reader and the positioning card are installed, the tunnel type including: an excavation tunnel or a mining tunnel; The installation position of the card reader includes: the cutting surface of the working surface, between the cutting surface of the working surface and the guide point, and the guide point; The xyz three-dimensional geodetic coordinates of the guide point or the number of the guide point; Coordinate sequence data of the lane centerline; The initial footage mileage data of the mine excavation footage monitoring system after installation.

12. The method for monitoring mining progress according to claim 11, characterized in that: When the card reader is installed between the working surface cutting surface and the conductor point, a positioning card is installed at the working surface cutting surface position and the conductor point position respectively. Combined with the distance of each positioning card from the conductor point or the working surface cutting surface, the accumulated distance from the card reader to the two positioning cards is the distance from the working surface cutting surface position to the associated conductor point.

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