A mine tunneling footage monitoring system and method based on UWB

Abstract

The application discloses a kind of based on UWB's mine mining footage monitoring system and monitoring method, it is related to coal mine intelligent mining technical field.Wire point is arranged on the roof of upper and lower crossheading in advance, and its geodetic coordinate is measured and stored to server;Base station and card reader are installed in the fixed position near working face cutting surface, positioning card is installed near wire point;Or positioning card is installed in the fixed position near working face cutting surface, base station and card reader are installed near wire point;Card reader real-time measurement is inclined distance to positioning card, and is uploaded to server;Server data acquisition processing program real-time acquisition is inclined distance between card reader and positioning card and storage, combined with wire point coordinate sequence and equipment arrangement space parameter, calculate current mining footage and mining location coordinate, and issue and store footage and mining location coordinate data.According to the real-time and historical data of system, the application system can show mining location and statistical analysis shift, day, month footage data based on a map in real time.

Description

TECHNICAL FIELD

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

[0002] The excavation speed of the excavation face has a direct impact on the underground production operation, and the slow excavation speed affects the excavation replacement and delays production, and the fast excavation speed causes the stress and gas in front of the working face to be unable to release in time, which easily induces production accidents. Therefore, accurate measurement of the excavation footage, real-time absolute positioning of the excavation face, and reasonable control of the excavation speed are important guarantees for safe and efficient production of coal mines.

[0003] At present, there is no method for measuring the excavation footage and real-time absolute positioning of the working face in the coal mine. The traditional mileage combined manual tape measure footage data calculation method has non-continuous and poor timeliness of the measured footage data. The laser range finder method of excavation footage data online monitoring requires a clear view, is easily affected by obstacles, dust, and water mist, and has poor stability. The ultrasonic excavation footage monitoring is a non-contact detection method with high measurement accuracy, but the ultrasonic wave propagation speed is easily affected by temperature, air pressure, wind, and other factors, resulting in poor reliability. SUMMARY

[0004] In view of the above problems, the present application provides a mine excavation footage monitoring system based on UWB and a mine excavation footage monitoring method based on UWB.

[0005] The present application provides a mine excavation footage monitoring system based on UWB, which is applied to a stoping 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 guide points are arranged on the roof of the upper and lower crossheading respectively, and the plurality of guide points serve as the reference for navigation positioning underground, and the geodetic coordinates of each guide point are measured by the guide line measurement method and stored in the server.

[0007] The base station is installed at a fixed position of the end of the stoping face, and is used to collect distance data in the card reader, and to aggregate and analyze the distance data and upload the distance data to the server.

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

[0009] At least one positioning card is installed near the guide line point on the top plate of the upper crossheading, and at least one positioning card is installed near the guide line point on the top plate of the lower crossheading, the positioning card is used for periodically sending an uplink UWB positioning pulse signal to the card reader, so that the card reader obtains the distance data, and distance measurement is realized.

[0010] The server transmits the distance data to the base station through a network, the server is internally provided with a distance data acquisition and processing program, the distance data is obtained in real time and stored, and the current mining footage and mining position coordinates are calculated by combining the guide line point coordinate sequences of the upper crossheading and the lower crossheading and the device arrangement space parameters, and the mining footage and mining position coordinate data are published and stored.

[0011] Optionally, a plurality of guide line points are arranged on the top plates of the upper crossheading and the lower crossheading of the back mining working face, a plurality of guide line points are arranged at a preset distance according to the respective undulations and visibility of the upper crossheading and the lower crossheading, and good identification is made.

[0012] Optionally, the card reader has a plurality of card readers, and one base station interacts with a plurality of card readers.

[0013] The base station and the card reader are both installed at respective fixed positions of the upper end and the lower end of the back mining working face, and are accessed to power supply and a network nearby.

[0014] The respective fixed positions of the upper end and the lower end of the back mining working face refer to the top beams of the hydraulic supports at the upper end and the lower end of the back mining working face.

[0015] If the card reader has the function of the base station, the card reader is used for collecting distance data between the card reader and each positioning card in real time, and the distance data is uploaded to the server after being summarized and analyzed.

[0016] The server is deployed on the back mining working face or on a ground server room.

[0017] Optionally, at least one positioning card is installed on the roadway top plate or the two sides near the guide line point of the upper crossheading, and at least one positioning card is installed on the roadway top plate or the two sides near the guide line point of the lower crossheading.

[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 application provides a mine mining footage monitoring system based on UWB, which is applied to a mining working face and comprises a plurality of guide line points, a base station, a card reader, at least one positioning card and a server.

[0020] A plurality of said traverse points are arranged on the roof of the tunneling roadway, and the plurality of said traverse points serve as a reference for navigation positioning underground. The geodetic coordinates of each said traverse point are measured by means of traverse measurement and stored in the server;

[0021] The base station is installed at a fixed position of the tunneling face, and the base station is used to collect distance data in the card reader, and the distance data is aggregated, analyzed, and uploaded to the server;

[0022] The card reader is installed at a fixed position of the tunneling face, and the card reader is a UWB wireless distance measurement device, which is used to collect distance data between itself and each positioning card in real time, and the distance data is aggregated, analyzed, and uploaded to the base station;

[0023] At least one said positioning card is installed near the traverse point on the roof of the tunneling roadway, 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 through a network, and the server has a distance data collection and processing program built-in, which obtains the distance data in real time and stores them, and calculates the current tunneling footage and the tunneling position coordinates in combination with the traverse point coordinate sequence on the roof of the tunneling roadway and the device arrangement space parameters, and publishes and stores the tunneling footage and the tunneling position coordinate data.

[0025] Optionally, a plurality of said traverse points are arranged on the roof of the tunneling roadway at a preset distance according to the undulation and visibility of the tunneling roadway, and are well marked.

[0026] Optionally, the card reader has a plurality of said base stations, and one said base station interacts with a plurality of said card readers;

[0027] The base station and the card reader are both installed at a fixed position of the tunneling face and access power supply and network nearby;

[0028] The fixed position of the tunneling face refers to a relatively fixed position near the tunneling equipment of the tunneling face.

[0029] If the card reader has the function of the base station, the card reader is used to collect distance data between itself and each positioning card in real time, and the distance data is aggregated, analyzed, and uploaded to the server.

[0030] Optionally, at least one said positioning card is installed on the roof or two sides of the roadway near the traverse point of the tunneling roadway;

[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 adopts additional normal power supply, and the additional normal power supply includes:

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

[0034] The embodiment of the present application provides a mine excavation footage monitoring method based on UWB, which utilizes any of the above mine excavation footage monitoring systems to complete the excavation footage monitoring of the mining working face or the excavation footage monitoring of the tunneling working face; the mine excavation footage monitoring method comprises the following steps:

[0035] The card reader and the positioning card perform real-time data interaction;

[0036] According to the distance data between the real-time interactive card reader and the positioning card, and in combination with the device arrangement space parameters, the distance from the working face cutting surface position to the associated guide point is calculated;

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

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

[0039] All valid distance data obtained in a preset time period is filtered to remove 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 working face, the final distance data will only become smaller and smaller, and the value of the final distance data that becomes larger and larger is discarded; for the tunneling working face, the final distance data will only become larger and larger, and the value of the final distance data that becomes smaller and smaller is discarded;

[0041] If the card reader or the positioning card is installed for the first time or changes position, then according to the initial footage mileage data of the mine excavation footage monitoring system after installation of the device arrangement space parameters, in combination with the change value of the valid final distance data, the footage mileage data is accumulated and calculated;

[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 effective final distance data is combined with the change value to accumulate and calculate the footage mileage data;

[0043] According to the roadway center line coordinate sequence data of the equipment arrangement space parameters, the xyz three-dimensional geodetic coordinates of the working face cutting surface position are calculated in combination with the change value of the effective final distance data, and the accumulated calculation 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 arrangement space parameters include distance data of the card reader deviating from the working face cutting surface or the line point before and after.

[0045] The distance data value of the card reader between the line point and the working face cutting surface is positive, otherwise the distance data value is negative.

[0046] The distance data of the positioning card deviating from the working face cutting surface or the line point before and after.

[0047] The distance data value of the positioning card between the working face and the line point is positive, otherwise the distance data value is negative.

[0048] The type of the roadway where the card reader and the positioning card are installed, and the type of the roadway includes excavation roadway or recovery roadway.

[0049] The installation position of the card reader, and the installation position includes the working face cutting surface, between the working face cutting surface and the line point, and the line point.

[0050] The xyz three-dimensional geodetic coordinates of the line point or the number of the line point.

[0051] The coordinate sequence data of the roadway center line.

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

[0053] Optionally, when the card reader is installed between the working face cutting surface and the line point, one positioning card is installed at the working face cutting surface position and the line point position respectively, and the distance from the card reader to the two positioning cards is the distance from the working face cutting surface position to the associated line point in combination with the distance of each positioning card deviating from the line point or the working face cutting surface.

[0054] The application discloses a UWB-based mine mining footage monitoring system.

[0055] Taking the mining face as an example, a plurality of guide points are arranged on the roof of the upper and lower crossheading respectively, and the plurality of guide points serve as the reference for underground navigation positioning, and the staff can measure the geodetic coordinates of each guide point by means of guide measurement and store the geodetic coordinates into the server.

[0056] The base station is installed at a fixed position of the face end, and the base station is used for collecting distance data in the card reader, and the distance data is summarized, analyzed and uploaded to the server; the card reader is installed at a fixed position of the face end, and the card reader is a UWB wireless distance measuring device, which is used for collecting distance data between the card reader and each positioning card in real time, and the distance data is summarized, analyzed and uploaded to the base station.

[0057] At least one positioning card is installed near the guide point on the roof of the upper crossheading, and the positioning card is used for periodically sending 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 a network, the server is internally provided with a distance data collection and processing program, distance data is obtained and stored in real time, and the current mining footage and mining position coordinates are calculated in combination with the guide point coordinate sequence of the upper and lower crossheading and the device arrangement space parameters, and the mining footage and mining position coordinate data are published and stored.

[0059] The UWB-based mine mining footage monitoring system is different from the traditional mileage-based manual tape measuring footage data calculation mode, the mining footage data is reliable, continuous and high in timeliness, and due to the continuous and high timeliness of the footage data acquisition mode, if there is a water accumulation area in front in the mining process, real-time early warning can be realized. It is not easy to be affected by obstacles, dust and water mist, and has high stability. It is not easy to be affected by temperature, air pressure, wind and other factors, and has good reliability. The xyz three-dimensional geodetic coordinates of the working face cutting plane position can be calculated in real time. The mining position can be displayed in real time based on a map management platform, and the mining footage data can be statistically analyzed. The positioning card near the guide point or the card reader only needs to be moved periodically, and the underground staff maintenance is simple. The equipment is normally powered, does not need to be charged or can be used for several days after one-time charging, and the normal operation of the system is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0060] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments with reference made to the accompanying drawings. The drawings are for purposes of illustration only and are not intended to be limiting in any respect. Further, like reference numerals are used throughout the drawings and textual to designate identical or like components. In the drawings:

[0061] Figure 1 is a more preferred architecture diagram of a mine excavation footage monitoring system applied to a mining working face in embodiments of the present application;

[0062] Figure 2 is a more preferred architecture diagram of a mine excavation footage monitoring system applied to a mining working face in embodiments of the present application. DETAILED DESCRIPTION

[0063] In order to make the above objectives, characteristics and advantages of the present application more apparent and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, are only a part of the embodiments of the present application, and are not used to limit the present application.

[0064] A mine excavation footage monitoring system based on UWB of the present application can be applied to a mining working face or an excavation working face, and comprises a plurality of guide points, a base station, a card reader, at least one positioning card and a server.

[0065] Taking the mining working face as an example, the plurality of guide points are arranged on the roof of the upper and lower crossheading respectively, and the plurality of guide points are used as the reference for navigation positioning underground. The staff can measure the geodetic coordinates of each guide point by the guide measurement method and store them to the server.

[0066] The base station is installed at a fixed position of the working face end, and is used to collect the distance data in the card reader, and to aggregate and analyze the distance data and upload them to the server. The card reader is installed at a fixed position of the working face end, and is a UWB (Ultra Wide Band) wireless distance measurement device, which is used to collect the distance data between itself and each positioning card in real time, and to aggregate and analyze the distance data and upload them to the base station.

[0067] At least one positioning card is installed near the guide point on the roof of the upper crossheading, 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.

[0068] The server transmits distance data with the base station through the network. The server is built-in with a distance data collection and processing program, which can obtain distance data in real time and store them. In combination with the wire point coordinate sequences of the upper and lower gateways and the device layout space parameters, the current mining footage and mining position coordinates can be calculated and published and stored.

[0069] A preferred arrangement of multiple wire points is that multiple wire points are arranged on the roof of the upper and lower gateways of the recovery working face at a predetermined distance according to the respective undulations and visibility of the upper and lower gateways, and are well marked. These wire points can serve as a reference for navigation and positioning underground. The staff can measure the geodetic coordinates of these wire points by wire measurement and store them in the server.

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

[0071] One is 127V direct power supply; the other is to connect a large-capacity long-endurance battery.

[0072] The fixed positions of the upper and lower ends of the recovery working face refer to the top beams of the hydraulic supports at the upper and lower ends of the recovery working face.

[0073] In addition, considering the increasing richness of the functions of the card reader, if the card reader has the function of the base station, the card reader and the base station can be considered as an integrated device, which is used to collect distance data between itself and each positioning card in real time, and upload the distance data to the server after summarizing and analyzing.

[0074] For the server, the preferred deployment method is to deploy it in the recovery working face or in the ground server room.

[0075] For the positioning card, the preferred installation method is to install at least one positioning card on the roof or two sides of the roadway near the wire point of the upper gateway, and at the same time, at least one positioning card can be installed on the roof or two sides of the roadway near the wire point of the lower gateway.

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

[0077] In order to better understand the above-mentioned mine mining footage monitoring system applied to the recovery working face, refer toFigure 1 Fig. 1 shows a preferred architecture of a mine excavation footage monitoring system applied to a mining face. Figure 1 Fig. 2 shows a coal mining machine and a mining area. The base station and the card reader are installed at fixed positions of the upper and lower crossheading respectively. Figure 1 Fig. 3 shows the upper crossheading base station and card reader, the lower crossheading base station and card reader. Fig. 4 shows the upper crossheading guide points 1, 2, 3…N, the lower crossheading guide points 1, 2, 3…N. Fig. 5 shows multiple positioning cards, two of which are installed near the upper crossheading guide point 1, i.e. positioning card 1 and positioning card 2, and two of which are installed near the lower crossheading guide point 1, i.e. positioning card 1 and positioning card 2.

[0078] Fig. 6 shows an excavation face. The equipment used in the mine excavation footage monitoring system applied to the excavation face is the same as that used in the mine excavation footage monitoring system applied to the mining face, except that the arrangement and installation positions of the equipment are slightly different. The mine excavation footage monitoring system applied to the excavation face also includes multiple guide points, a base station, a card reader, at least one positioning card, and a server.

[0079] The multiple guide points are arranged along the roof of the excavation roadway, and serve as the reference for navigation positioning underground. The staff can measure the geodetic coordinates of each guide point by means of guide measurement and store them in the server.

[0080] The base station is installed at a fixed position of the excavation face, and is used to collect distance data in the card reader, aggregate and analyze the distance data, and upload them to the server. The card reader is installed at a fixed position of the excavation face, and is a UWB wireless distance measuring device, which is used to collect distance data between itself and each positioning card in real time, aggregate and analyze the distance data, and upload them to the base station.

[0081] At least one positioning card is installed near each guide point on the roof of the excavation roadway, and is used to periodically send uplink UWB positioning pulse signals to the card reader, so that the card reader obtains distance data and realizes distance measurement.

[0082] The server transmits distance data to the base station through a network. The server has a distance data collection and processing program built-in, which obtains distance data in real time and stores them, and calculates the current excavation footage and excavation position coordinates in combination with the guide point coordinate sequence on the roof of the excavation roadway and the device arrangement spatial parameters, and publishes and stores the excavation footage and excavation position coordinate data.

[0083] Preferably, the arrangement of the plurality of guide points is that: the plurality of guide points are arranged on the roof of the tunneling roadway, and the plurality of guide points are arranged at a preset distance according to the ups and downs and the visibility of the tunneling roadway, and are well marked. These guide points can be used as a reference for navigation and positioning in the underground, and the staff can measure the geodetic coordinates of these guide points by means of guide measurement and store them in the server.

[0084] Preferably, the card reader can have multiple, and a base station can interact with multiple card readers Distance data; the base station and the card reader are installed in the fixed position of the tunneling face, and are accessed to the power supply and network nearby; wherein the card reader uses additional constant power supply, and the specific way of the additional constant power supply has been described above, and will not be repeated here.

[0085] The fixed position of the tunneling face refers to the relatively fixed position near the tail of the tunneling equipment of the tunneling face.

[0086] Similarly, if the card reader has the function of the base station, the card reader is used to collect the distance data between itself and each positioning card in real time, and upload the distance data to the server after summarizing and analyzing the distance data.

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

[0088] In order to better understand the above-mentioned mine tunneling progress monitoring system applied to the tunneling face, refer to Figure 2 The architecture diagram of a preferred mine tunneling progress monitoring system applied to the tunneling face is shown. Figure 2 The tunneling machine and the roof and floor of the tunneling roadway are exemplarily shown. The roof guide points 1, …, N arranged on the roof of the tunneling roadway are exemplarily shown. The base station and the card reader installed in the relatively fixed position of the tail of the tunneling machine are exemplarily shown in Figure 2 The base station and the card reader of the tunneling machine). A plurality of positioning cards are exemplarily shown, wherein two positioning cards: positioning card 1 and positioning card 2 are installed near the position of the roof guide point 1.

[0089] Based on the above mine mining footage monitoring system, the application also proposes a kind of mine mining footage monitoring method based on UWB, which can utilize any of the above-mentioned mine mining footage monitoring system to complete the mining footage monitoring of the mining face, or the mine mining footage monitoring method can utilize any of the above-mentioned mine mining footage monitoring system to complete the mining footage monitoring of the mining face.The mine mining footage monitoring method comprises:

[0090] Step S1: real-time data interaction between card reader and positioning card.

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

[0092] Step S2: according to the distance data between the real-time interaction card reader and positioning card, combined with the device layout space parameters, the distance from the working face cutting surface position to the associated guide line point is calculated.

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

[0094] Among them, the device layout space parameters include: the distance data of the card reader deviating from the working face cutting surface before and after. The distance data of the card reader between the guide line point and the working face cutting surface is positive, otherwise the distance data is negative.

[0095] The distance data of the positioning card deviating from the working face cutting surface or the guide line point before and after. The distance data of the positioning card between the working face and the guide line point is positive, otherwise the distance data is negative.

[0096] The type of roadway where the card reader and the positioning card are installed, the type of roadway includes: mining roadway or mining roadway.The installation position of the card reader, the installation position includes: working face cutting surface, between working face cutting surface and guide line point, guide line point.The xyz three-dimensional geodetic coordinates of the guide line point or the number of the guide line point;Coordinate sequence data of the roadway center line;Initial footage mileage data after installation of the mine mining footage monitoring system.

[0097] The distance data combined with the above various device layout space parameters can calculate the distance from the working face cutting surface position to the associated guide line point.

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

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

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

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

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

[0103] Step S5: All valid distance data obtained within a preset time period is filtered to remove noise point distance data with large changes, and the average of the filtered valid distance data is taken as the final distance data.

[0104] In addition to the effective distance data, in order to ensure the accuracy of the subsequent footage mileage, it is also necessary to filter out the noise point distance data. Therefore, for all effective distance data obtained within a predetermined time period, such as 3 minutes, the noise point distance data with large changes is filtered out, 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, wherein slopeDist represents the distance between the card reader and the positioning card; offset_face represents the front and rear distance of the card reader or the positioning card along the roadway direction from the cutting surface of the working face; and offset_tp represents the front and rear distance of the card reader or the positioning card along the roadway direction from the roadway roof traverse point.

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

[0106] For the already installed mine tunneling footage monitoring system, if the card reader or the positioning card does not change position, then for the working face, the final distance data will only become smaller and smaller, and the values of the final distance data that become larger and larger are discarded; for the tunneling working face, the final distance data will only become larger and larger, and the values of the final distance data that become smaller and smaller are discarded.

[0107] Step S7: If the card reader or the positioning card is installed for the first time or changes position, then the initial footage mileage data after installation of the mine tunneling footage monitoring system according to the device layout space parameters is accumulated and calculated in combination with the change value of the effective final distance data.

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

[0109] For the already installed mine tunneling footage monitoring system, if the card reader or the positioning card is installed for the first time or changes position after installation, then the initial footage mileage data after installation of the mine tunneling footage monitoring system according to the device layout space parameters is accumulated and calculated in combination with the change value of the effective final distance data.

[0110] For the case where the card reader and the positioning card data have been collected using the mine tunneling footage monitoring system, the latest footage mileage data is directly obtained from the mine tunneling footage monitoring system in combination with the change value of the effective final distance data.

[0111] Step S9: According to the tunnel center line coordinate sequence data of the device arrangement space parameter, the change value of the effective final distance data is combined to calculate the xyz three-dimensional geodetic coordinates of the working face cutting surface position, and the cumulative calculation footage mileage data and the xyz three-dimensional geodetic coordinates of the working face cutting surface position are stored in the library and published.

[0112] After the footage mileage data is calculated, according to the tunnel center line coordinate sequence data in the device arrangement space parameter, the change value of the effective final distance data is combined to calculate the xyz three-dimensional geodetic coordinates of the working face cutting surface position, and the cumulative calculation footage mileage data and the xyz three-dimensional geodetic coordinates of the working face cutting surface position are stored in the library and published. Through the above monitoring method, reliable, continuous and high timeliness mining footage data can be obtained.

[0113] In summary, the mine mining footage monitoring system based on UWB can be applied to the mining working face and the driving working face, and comprises a plurality of guide points, a base station, a card reader, at least one positioning card and a server.

[0114] Taking the mining working face as an example: a plurality of guide points are arranged on the roof of the upper and lower crossheading respectively, and the plurality of guide points are used as the reference for navigation positioning underground, and the staff can measure the geodetic coordinates of each guide point by the guide measurement method and store them to the server.

[0115] The base station is installed at a fixed position of the working face end, and the base station is used for collecting distance data in the card reader, and the distance data is summarized, analyzed and uploaded to the server; the card reader is installed at a fixed position of the working face end, and the card reader is a UWB wireless distance measuring device, which is used for collecting distance data between itself and each positioning card in real time, and the distance data is summarized, analyzed and uploaded to the base station.

[0116] At least one positioning card is installed near the guide point on the roof of the upper crossheading, and the positioning card is used for periodically sending 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 a network, the server is built-in distance data acquisition and processing program, real-time distance data is obtained and stored, and the guide point coordinate sequence of the upper and lower crossheading and the device arrangement space parameter are combined to calculate the current mining footage and mining position coordinates, and the mining footage and mining position coordinate data are published and stored.

[0118] Taking the tunneling working face as an example: a plurality of guide points are arranged on the roof of the tunneling roadway, the plurality of guide points serve as a reference for navigation positioning underground, and a staff member can measure the geodetic coordinates of each guide point by means of guide line measurement and store the geodetic coordinates into a server;

[0119] The base station is installed at a fixed position of the tunneling working face, the base station is used for collecting distance data in the card reader, and the distance data is summarized, analyzed and uploaded to the server; the card reader is installed at a fixed position of the tunneling working face, the card reader is a UWB wireless distance measuring device, and is used for collecting distance data between the card reader and each positioning card in real time, and the distance data is summarized, analyzed and uploaded to the base station.

[0120] At least one positioning card is installed near the guide point on the roof of the tunneling roadway, the positioning card is used for periodically sending 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 a network, the server is internally provided with a distance data collection and processing program, distance data is obtained and stored in real time, and the current tunneling footage and the tunneling position coordinates are calculated by combining the guide point coordinate sequence on the roof of the tunneling roadway and the device arrangement space parameters, and the tunneling footage and the tunneling position coordinate data are published and stored.

[0122] The UWB-based mine tunneling footage monitoring system provided in the application is different from the conventional footage data calculation mode of combining a manual pull tape, the tunneling footage data is reliable, continuous and high in timeliness, and due to the continuous and high timeliness of the footage data acquisition mode, if there is a water accumulation area in front during the tunneling process, real-time early warning can be realized. The system is not easily affected by obstacles, dust and water mist, and has high stability. The system is not easily affected by factors such as temperature, air pressure and wind power, and has good reliability. The xyz three-dimensional geodetic coordinates of the working face cutting plane position can be calculated in real time. The tunneling position can be displayed in real time based on a map management and control platform, and the tunneling footage data can be statistically analyzed. The positioning card near the guide point or the card reader only needs to be moved periodically, and the underground staff member can maintain the system simply. The devices are normally powered, do not need to be charged or can be used for several days after one-time charging, and the normal operation of the system is ensured.

[0123] Although the preferred embodiments of the embodiments of the application have been described, those skilled in the art can make additional changes and modifications to the embodiments once they know the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the embodiments of the application.

[0124] Finally, it needs to be explained that in this text, relational terms such as first and second and the like can merely be used to distinguish one entity or action from another, without necessarily requiring or implying any actual such relationship or order between or among the entities or actions. Also, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "comprises a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the recited element.

[0125] The above describes the embodiments of the present application in connection with the drawings, but the present application is not limited to the above-described specific embodiments, and the above-described specific embodiments are merely illustrative, not restrictive, and a person of ordinary skill in the art can make many forms under the inspiration of the present application without departing from the purpose of the present application and the scope protected by the claims, which all belong to the protection of the present application.

Claims

1. A UWB-based mine excavation footage monitoring system, characterized in that, The mine excavation footage monitoring system is applied to a recovery working face, comprising: multiple guide line points, a base station, a card reader, at least one positioning card, a server; Multiple guide line points are arranged on the roof of the upper and lower crossheading respectively, and the multiple guide line points serve as the reference for underground navigation positioning, and the geodetic coordinates of each guide line point are measured by means of guide line measurement and stored in the server; The base station is installed at a fixed position of the end of the recovery working face, and is used to collect distance data in the card reader, and to aggregate and analyze the distance data and upload the distance data to the server; The card reader is installed at a fixed position of the end of the working face, and is a UWB wireless distance measurement device, which is used to collect distance data between itself and each positioning card in real time, and to aggregate and analyze the distance data and upload the distance data to the base station; At least one positioning card is installed near the guide line point on the roof of the upper crossheading, and at least one positioning card is installed near the guide line point on the roof of the lower crossheading, and the positioning card is used to periodically send uplink UWB positioning pulse signals 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 a network, and the server is built-in with a distance data collection and processing program to obtain and store the distance data in real time, and combines the guide line point coordinate sequence of the upper and lower crossheading and the device arrangement space parameters to calculate the current mining footage and mining position coordinates, and publishes and stores the mining footage and mining position coordinate data.

2. The mine footage monitoring system of claim 1, wherein, Multiple guide line points are arranged on the roof of the upper and lower crossheading of the recovery working face, and multiple guide line points are arranged at a preset distance according to the respective undulation and visibility of the upper and lower crossheading, and are well marked.

3. The mine footage monitoring system of claim 1, wherein, The card reader has multiple, and one base station and multiple card readers interact the distance data; The base station and the card reader are installed at a fixed position of the upper and lower end of the recovery working face respectively, and are connected to power supply and network nearby; The fixed position of the upper and lower end of the recovery working face refers to the top beam of the hydraulic support at the upper end of the recovery working face and the top beam of the hydraulic support at the lower end of the recovery working face. If the card reader has the function of the base station, the card reader is used to collect distance data between itself and each positioning card in real time, and to aggregate and analyze the distance data and upload the distance data to the server; The server is deployed at the recovery working face or on the ground server room.

4. The mine footage monitoring system of claim 1, wherein, At least one positioning card is installed on the roof or two sides of the roadway near the guide line point of the upper crossheading, and at least one positioning card is installed on the roof or two sides of the roadway near the guide line point of the lower crossheading. The installation position of the positioning card is interchangeable with the installation position of the base station and the card reader.

5. The mine footage monitoring system of claim 1, wherein, The card reader uses additional constant power supply, which includes: 127V direct power supply or external large-capacity long-endurance battery.

6. A UWB-based mine excavation footage monitoring system, characterized in that, The mine mining footage monitoring system is applied to an excavation working face and comprises multiple guide line points, a base station, a card reader, at least one positioning card and a server. The multiple guide line points are arranged on the roof of the excavation roadway and serve as the reference for the underground navigation positioning. The geodetic coordinates of each guide line point are measured by the guide line measurement mode 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 in the card reader, aggregate and analyze the distance data and upload the distance data to the server. The card reader is installed at a fixed position of the excavation working face and is a UWB wireless distance measurement device. The card reader is used to collect distance data between itself and each positioning card in real time, aggregate and analyze the distance data and upload the distance data to the base station. At least one positioning card is installed near the guide line point on the roof of the excavation roadway. 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 a network. The server is internally provided with a distance data collection and processing program. The distance data is obtained and stored in real time. The current mining footage and mining position coordinates are calculated in combination with the guide line point coordinate sequence on the roof of the excavation roadway and the device arrangement space parameters. The mining footage and mining position coordinate data are published and stored.

7. A mine extraction footage monitoring system according to claim 6, characterised in that, The multiple guide line points are arranged on the roof of the excavation roadway at a preset distance according to the fluctuation and visibility of the excavation roadway and are well marked.

8. The mine footage monitoring system of claim 6, wherein, The card reader has multiple base stations and multiple card readers. The distance data is exchanged between the base station and the card reader. The base station and the card reader are installed at a fixed position of 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 has the function of the base station, the card reader is used to collect distance data between itself and each positioning card in real time, aggregate and analyze the distance data and upload the distance data to the server.

9. The mine footage monitoring system of claim 6, wherein, At least one positioning card is installed on the roof or two sides of the roadway near the guide line point of the excavation roadway. The installation position of the positioning card is interchangeable with the installation position of the base station and the card reader.

10. The mine footage monitoring system of claim 6, wherein, The card reader is additionally powered by constant power. The additional constant power includes: 127V direct power supply or external large-capacity long-endurance battery.

11. A method for monitoring the mining footage in a mine based on UWB, characterized in that, The mine mining footage monitoring method uses the mine mining footage monitoring system of any one of claims 1-5 to complete mining footage monitoring of the excavation working face or uses the mine mining footage monitoring system of any one of claims 6-10 to complete mining footage monitoring of the excavation working face. The mine mining footage monitoring method comprises: The card reader and the positioning card exchange data in real time. According to the distance data between the real-time interactive card reader and the positioning card, and in combination with the device layout space parameters, the distance from the working face cutting plane position to the associated guide point is calculated; If the difference between the value of the distance data obtained by the same card reader at the current time and the value of the valid distance data obtained by the card reader at the last time exceeds a preset value within N seconds, the distance data obtained at the current time is interference jump data, and the distance data obtained at the current time is discarded; If the difference between the value of the distance data obtained by the same card reader at the current time and the value of the valid distance data obtained by the card reader at the last time does not exceed a preset value within N seconds, the distance data obtained at the current time is retained and stored as the valid distance data value; All valid distance data obtained within a preset time period is filtered to remove 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 has not been replaced, then for the stoping working face, the final distance data will only become smaller and smaller, and the value of the final distance data that becomes larger and larger is discarded; for the driving working face, the final distance data will only become larger and larger, and the value of the final distance data that becomes smaller and smaller is discarded; If the card reader or the positioning card is installed for the first time or is replaced, then according to the initial footage mileage data of the mine excavation footage monitoring system after installation of the device layout space parameters, in combination with the change value of the valid final distance data, the footage mileage data is cumulatively calculated; If the card reader and the positioning card data have been collected using the mine excavation footage monitoring system, then the latest footage mileage data is obtained from the mine excavation footage monitoring system, in combination with the change value of the valid final distance data, the footage mileage data is cumulatively calculated; According to the roadway center line coordinate sequence data of the device layout space parameters, in combination with the change value of the valid final distance data, the xyz three-dimensional geodetic coordinates of the working face cutting plane position are calculated, and the cumulatively calculated footage mileage data and the xyz three-dimensional geodetic coordinates of the working face cutting plane position are stored in the database and published.

12. The mine footage monitoring method of claim 11, wherein, The device layout space parameters include: distance data before and after the card reader deviates from the working face cutting plane or the guide point along the roadway direction; The value of the distance data of the card reader between the guide point and the working face cutting plane is positive, otherwise the value of the distance data is negative; The distance data of the positioning card before and after the positioning card deviates from the working face cutting plane or the guide point along the roadway direction; The value of the distance data of the positioning card between the working face and the guide point is positive, otherwise the value of the distance data is negative; The type of the roadway where the card reader and the positioning card are installed, the type of the roadway including: driving roadway or stoping roadway; The installation position of the card reader, the installation position including: working face cutting plane, between working face cutting plane and guide point, 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 roadway center line; The initial footage mileage data of the mine excavation footage monitoring system after installation.

13. The mine extraction footage monitoring method of claim 12, wherein, When the card reader is installed between the working face cutting face and the guide line point, the working face cutting face position and the guide line point position are respectively installed with a positioning card, and the distance from the card reader to the two positioning cards is accumulated according to the distance of the respective positioning card from the guide line point or the working face cutting face, so as to obtain the distance from the working face cutting face position to the associated guide line point.

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