Real-time detection system and method for material level of irregular draw shaft of deep well mine

Abstract

The invention relates to a deep well mine irregular draw shaft material level real-time detection system and method, the system comprises a millimeter wave radar, a data filtering processing unit, a field display instrument, a data transmission unit, a data transfer base station, a remote server and a remote operation terminal, the height of the material level can be accurately calculated, errors caused by manual measurement are avoided, and the detection accuracy is improved. In a narrow roadway and frequent blasting environment under a mine well, deployment of wireless network equipment can be reduced to a great extent, equipment maintenance work is reduced, and data measurement errors caused by extension to two sides due to overlong service time of the draw shaft can be filtered out.

Description

Technical Field

[0001] The invention relates to a real-time detection system and method for irregular chute material level in a deep mine, belonging to the technical field of mining automation detection. Background Art

[0002] In the mining process, irregular chutes are the key link in ore transportation. Real-time detection of chute material level is of great significance for improving production efficiency and ensuring safe production. In the prior art, the height of ore and waste rock in the underground chute of the mine is mostly measured by the weight measurement method, which is not only time-consuming and labor-intensive, but also has safety risks. It is easily interfered by human factors, resulting in poor measurement accuracy, slow detection speed, and many equipment failures. It is difficult to work stably for a long time in the harsh underground environment. In addition, as a tunnel for ore to flow from top to bottom, the depth of the chute is often more than tens of meters, and the shape is irregular, which increases the difficulty of material level detection. At the same time, the underground environment is usually accompanied by harsh conditions such as high dust, high humidity, and high concentration of water mist, which puts high requirements on the stability and reliability of material level detection equipment. Although the existing ultrasonic, laser and other ranging technologies can achieve non-contact measurement to a certain extent, when used in the above-mentioned complex and harsh environment, the measurement results are subject to more interference, and it is difficult to ensure the stability and reliability of the measurement. Therefore, it is necessary to improve the prior art. Summary of the invention

[0003] The present invention aims to provide a system and method capable of detecting irregular chute material levels in deep mines in real time, accurately and stably, so as to provide strong support for mine production scheduling and safety management.

[0004] The present invention combines modern sensor technology, microwave narrow-beam ranging technology and computer software analysis and processing technology, which can not only effectively improve the accuracy and stability of material level detection, but also realize an automated and intelligent detection process, bringing significant economic and social benefits to mining.

[0005] The present invention is completed by the following technical scheme: a real-time detection system for irregular chute material level in deep mines, including: millimeter wave radar, data filtering processing unit, on-site display instrument, data transmission unit, data transfer base station, remote server, remote operation terminal; wherein:

[0006] The millimeter wave radar is connected to the data filtering processing unit through the on-site CAN bus, which is used to transmit the material level data collected by the millimeter wave radar to the data filtering processing unit for data filtering processing;

[0007] The data filtering and processing unit is connected to the on-site display instrument through RS485, and is connected to the data transmission unit through RS232, so as to send the filtered data to the on-site display instrument for display and the data transmission unit at the same time;

[0008] The data transmission unit is connected to the data transfer base station via a 433M wireless LORA transmission signal, and is used to transmit the filtered data to the data transfer base station;

[0009] The data transfer base station is connected to the remote server via Ethernet, and the remote server is connected to the remote operation terminal via Ethernet, so as to transmit the filtered data to the remote server for processing and storage, and then transmit it to the remote operation terminal for display, printing and storage.

[0010] The millimeter wave radar is a commercially available 77G medium-range millimeter wave radar sensor with CAN bus output of ranging data and status data;

[0011] The data filtering processing unit is a microcontroller with CAN bus communication, RS485 communication, and RS232 communication;

[0012] The field instrument is a commercially available general display instrument;

[0013] The data transmission unit is a LORA long-distance 433M data transmission module;

[0014] The data transfer base station is a LORA wireless transmission to Ethernet module;

[0015] The remote server is an industrial general server;

[0016] The remote operation terminal is an industrial general PLC host.

[0017] The present invention provides a method for real-time detection of irregular chute material level in a deep mine based on the above-mentioned real-time detection system for irregular chute material level in a deep mine, comprising the following steps:

[0018] Step S1, obtaining the installation offset. After the millimeter wave radar is installed, the offset of the millimeter wave radar installation is measured on site, and the offset is set by the on-site display instrument and transmitted to the data filtering processing unit;

[0019] Step S2, obtaining scanning data, the data filtering processing unit obtains the scanning data of the millimeter wave radar through the field CAN bus;

[0020] Step S3, data filtering processing, the data filtering processing unit performs filtering processing on the acquired scan data, and the specific processing is as follows;

[0021] Assume that the maximum depth of the current chute is H, the maximum width is W, and the installation offset angle is θ;

[0022] 301. Acquire a data frame of a millimeter wave radar, wherein the data frame includes: the number of targets, a rectangular coordinate system established with the center point of the millimeter wave radar as the origin of the coordinates, a coordinate value P(x0, y0) of the measured target, a multipath effect probability Pdho, and a moving stationary state Ps;

[0023] 302. Determine the validity of each data one by one. Determine the validity of each data obtained in step 301 one by one. The data must meet the following requirements:

[0024] Pdho < 75%

[0025] Ps=1(target is stationary)

[0026] 303. Calculate the offset coordinates one by one. Rotate the rectangular coordinate system established in step 301 along the X axis by an angle of θ. Use step 302 to determine the coordinates corresponding to the data that meets the requirements. Assume that the offset coordinates are P'(x0', y0'), we can get:

[0027] x′0=x0*cos(θ)-y0*sin(θ)

[0028] y′0=x0*sin(θ)+y0*cos(θ)

[0029] 304. Determine one by one whether the offset coordinates are within the set value range, where the set value range is the angle between the boundary point scanned by the radar and the Y axis. The boundary point is the point A1' and A2' of the bottom width of the chute in the rectangular coordinate system O. Figure 4 As shown, the angles between O'A1', O'A2' and the Y axis must satisfy:

[0030]

[0031] 305. Sort the distances of all targets to find the maximum value. The target distance to be found is the distance d from the coordinate origin O to the target point P:

[0032]

[0033] 306. Data valid counting: count the single measurement data effectively. If there is any inconsistency, the valid count is reset to zero.

[0034] 307. Valid count judgment: if the valid count is greater than 10 times, output the measurement result; otherwise, repeat steps 301-305;

[0035] Step S4, data on-site display and remote transmission, the data processed by the data filtering processing unit is transmitted to the on-site display instrument via RS485 for on-site data display, and the processed data is transmitted to the data transmission unit via RS232, and then the filtered data is transmitted to the data transfer base station via 433M wireless LORA transmission signal;

[0036] Step S5, data storage and display, the data transfer base station transmits the data to the remote server for storage and processing, and then the remote operation terminal obtains the data of the remote server for real-time display;

[0037] Step S6, determine whether to stop measuring, if not, repeat steps S2-S5.

[0038] The judgment criterion of step 304 is: the ratio of the offset coordinate X value to the Y value calculated in step 303 is less than the ratio of half of the maximum depth and width of the chute.

[0039] The present invention has the following advantages and effects:

[0040] (1) The present invention introduces millimeter wave radar ranging technology, which can achieve reliable ranging in harsh environments such as dusty, humid, and high-concentration water mist. Microwave narrow beam ranging technology can accurately calculate the material level by accurately measuring the reflection time of the beam and combining software analysis and processing, thereby avoiding errors caused by manual measurement.

[0041] (2) The present invention adopts LORA wireless transmission technology, which can greatly reduce the deployment of wireless network equipment and equipment maintenance work in narrow tunnels and frequent blasting environments underground in mines.

[0042] (3) The present invention uses an advanced filtering algorithm to filter out data measurement errors caused by the chute extending to both sides due to long-term use.

[0043] Figures and Description

[0044] Figure 1 It is a composition diagram of the system of the present invention;

[0045] Figure 2 It is the flow chart of material level measurement method;

[0046] Figure 3 It is the data filtering flow chart;

[0047] Figure 4 This is a schematic diagram of the installation offset. DETAILED DESCRIPTION

[0048] The technical solution of the present invention is described in detail, clearly and completely below in conjunction with the embodiments and drawings.

[0049] like Figure 1 As shown, the real-time detection system for irregular chute material level in deep mines provided by the present invention comprises: a millimeter wave radar 1, a data filtering and processing unit 2, a field display instrument 3, a data transmission unit 4, a data transfer base station 5, a remote server 6, and a remote operation terminal 7; wherein:

[0050] The millimeter wave radar 1 is connected to the data filtering processing unit 2 via the field CAN bus, and is used to transmit the material level data collected by the millimeter wave radar 1 to the data filtering processing unit 2 for data filtering processing;

[0051] The data filtering and processing unit 2 is connected to the on-site display instrument 3 via RS485, and is connected to the data transmission unit 4 via RS232, and is used to send the filtered data to the on-site display instrument 3 for display and to the data transmission unit 4 at the same time;

[0052] The data transmission unit 4 is connected to the data transfer base station 5 via a 433M wireless LORA transmission signal, and is used to transmit the filtered data to the data transfer base station 5;

[0053] The data transfer base station 5 is connected to the remote server 6 via Ethernet, and the remote server 6 is connected to the remote operation terminal 7 via Ethernet, so as to transmit the filtered data to the remote server 6 for processing and storage, and then transmit it to the remote operation terminal 7 for display, printing and storage.

[0054] The millimeter wave radar 1 is a commercially available 77G medium-range millimeter wave radar sensor with CAN bus output of ranging data and status data;

[0055] The data filtering processing unit 2 is a microcontroller with CAN bus communication, RS485 communication, and RS232 communication;

[0056] The field instrument 3 is a commercially available general display instrument;

[0057] The data transmission unit 4 is a LORA long-distance 433M data transmission module;

[0058] The data transfer base station 5 is a LORA wireless transmission to Ethernet module;

[0059] The remote server 6 is an industrial general server;

[0060] The remote operation terminal 7 is an industrial general PLC host.

[0061] The present invention provides a method for real-time detection of irregular chute material level in a deep mine based on the above-mentioned real-time detection system for irregular chute material level in a deep mine, comprising the following steps:

[0062] Step S1, obtaining the installation offset. After the installation of the millimeter wave radar 1 is completed, the installation offset of the millimeter wave radar 1 is measured on site, and is set and transmitted to the data filtering processing unit 2 through the on-site display instrument 3;

[0063] Step S2, obtaining scanning data, the data filtering processing unit 2 obtains the scanning data of the millimeter wave radar 1 through the field CAN bus;

[0064] Step S3, data filtering processing, the data filtering processing unit 2 performs filtering processing on the acquired scan data, and the specific processing is as follows;

[0065] Assume that the maximum depth of the current chute is H, the maximum width is W, and the installation offset angle is θ;

[0066] 301. Obtain a data frame of the millimeter wave radar 1, wherein the data frame includes: the number of targets, a rectangular coordinate system established with the center point of the millimeter wave radar as the origin of the coordinates, the coordinate value P(x0, y0) of the measured target, the multipath effect probability Pdho, and the moving stationary state Ps;

[0067] 302. Determine the validity of each data one by one. Determine the validity of each data obtained in step 301 one by one. The data must meet the following requirements:

[0068] Pdho < 75%

[0069] Ps=1(target is stationary)

[0070] 303. Calculate the offset coordinates one by one. Rotate the rectangular coordinate system established in step 301 along the X axis by an angle of θ. Use step 302 to determine the coordinates corresponding to the data that meets the requirements. Assume that the offset coordinates are P'(x0', y0'), we can get:

[0071] x′0=x0*cos(θ)-y0*sin(θ)

[0072] y′0=x0*sin(θ)+y0*cos(θ)

[0073] 304. Determine one by one whether the offset coordinates are within the set value range, where the set value range is the angle between the boundary point scanned by the radar and the Y axis. The boundary point is the point A1' and A2' of the bottom width of the chute in the rectangular coordinate system O. Figure 4 As shown, the angles between O'A1', O'A2' and the Y axis must satisfy:

[0074]

[0075] 305. Sort the distances of all targets to find the maximum value. The target distance to be found is the distance d from the coordinate origin O to the target point P:

[0076]

[0077] 306. Data valid counting: count the single measurement data effectively. If there is any inconsistency, the valid count is reset to zero.

[0078] 307. Valid count judgment: if the valid count is greater than 10 times, output the measurement result; otherwise, repeat steps 301-305;

[0079] Step S4, data on-site display and remote transmission, the data processed by the data filtering processing unit 2 is transmitted to the on-site display instrument 3 via RS485 for on-site data display, and the processed data is transmitted to the data transmission unit 4 via RS232, and then the filtered data is transmitted to the data transfer base station 5 via 433M wireless LORA transmission signal;

[0080] Step S5, data storage and display, the data transfer base station 5 transmits the data to the remote server 6 for storage and processing, and then the remote operation terminal 7 obtains the data of the remote server 6 for real-time display;

[0081] Step S6, determine whether to stop measuring, if not, repeat steps S2-S5.

[0082] The judgment criterion of step 304 is: the ratio of the offset coordinate X value to the Y value calculated in step 303 is less than the ratio of half of the maximum depth and width of the chute.

[0083] Practical application examples

[0084] The present invention is applied to a certain mining enterprise with a maximum chute depth of H=100m, a maximum width of W=5m, and an installation offset angle of θ=3°, through the following steps:

[0085] Step S1, obtaining the installation offset. After the installation of the millimeter wave radar 1 is completed, the installation offset of the millimeter wave radar 1 is measured on site, and is set and transmitted to the data filtering processing unit 2 through the on-site display instrument 3;

[0086] Step S2, obtaining scanning data, the data filtering processing unit 2 obtains the scanning data of the millimeter wave radar 1 through the field CAN bus;

[0087] Step S3, data filtering processing, the data filtering processing unit 2 performs filtering processing on the acquired scan data, and the specific processing is as follows;

[0088] 301, the number of targets obtained is 5 target points P1, P2, P3, P4, and P5 as a calculation demonstration;

[0089] P1: coordinate value P1 (-0.2, 20), multipath effect probability Pldho = 50%, moving stationary state P1s = 1;

[0090] P2: coordinate value P2(1.3,40), multipath effect probability P2dho=80%, moving stationary state P2s=1;

[0091] P3: coordinate value P3 (2.5, 30.6), multipath effect probability P3dho = 50%, moving stationary state P3s = 0;

[0092] P4: coordinate value P4 (0.5, 60), multipath effect probability P4dho = 20%, moving stationary state P4s = 1;

[0093] P5: coordinate value P5 (3.2, 20), multipath effect probability P5dho = 25%, moving stationary state P5s = 0;

[0094] 302, the validity of the data obtained in step 301 is judged one by one, and the results are as follows:

[0095] P1dho<75%, Pls=1, effective

[0096] P2dho>75%, P1s=1, invalid

[0097] P3dho<75%, Pls=0, invalid

[0098] P4dho<75%, Pls=1, effective

[0099] P5dho<75%, Pls=0, invalid

[0100] 303. From step 302, it can be known that the target P1 and P4 data are valid. The offset calculation of P1 and P4 is performed to obtain:

[0101] P1:

[0102] x′1=-0.2×cos(3°)-20×sin(3°)=-0.1182

[0103] y′1=-0.2×sin(3°)+20×cos(3°)=19.9998

[0104] P4:

[0105] x4′=0.5×cos(3°)-60×sin(3°)=0.4454

[0106] y4′=0.5×sin(3°)+60×cos(3°)=60.000455

[0107] 304, determine whether the coordinates of P1 and P4 are within the set value range:

[0108] Settings:

[0109] P1:

[0110] P4:

[0111] From the above calculation, we can know that P1 and P4 are both within the set value range;

[0112] 305. Calculate the distance value and sort and select the maximum value:

[0113] P1:

[0114] P4:

[0115] d4>d1

[0116] From the above calculation, we can know that P4 is the material level of the chute;

[0117] 306. The result of 10 consecutive calculations is that the output chute material level is: d = 60.0021 meters;

[0118] Step S4, data on-site display and remote transmission, the data processed by the data filtering processing unit 2 is transmitted to the on-site display instrument 3 via RS485 for on-site data display, and the processed data is transmitted to the data transmission unit 4 via RS232, and then the filtered data is transmitted to the data transfer base station 5 via 433M wireless LORA transmission signal;

[0119] Step S5, data storage and display, the data transfer base station 5 transmits the data to the remote server 6 for storage and processing, and then the remote operation terminal 7 obtains the data of the remote server 6 for real-time display;

[0120] Step S6, stop measuring.

Claims

1. A real-time detection system for irregular chute material level in deep mines, characterized in that include: Millimeter wave radar, data filtering and processing unit, on-site display instrument, data transmission unit, data transfer base station, remote server, remote operation terminal; Among them: The millimeter wave radar is connected to the data filtering processing unit through the on-site CAN bus, which is used to transmit the material level data collected by the millimeter wave radar to the data filtering processing unit for data filtering processing; The data filtering and processing unit is connected to the on-site display instrument through RS485, and is connected to the data transmission unit through RS232, so as to send the filtered data to the on-site display instrument for display and the data transmission unit at the same time; The data transmission unit is connected to the data transfer base station via a 433M wireless LORA transmission signal, and is used to transmit the filtered data to the data transfer base station; The data transfer base station is connected to the remote server via Ethernet, and the remote server is connected to the remote operation terminal via Ethernet, so as to transmit the filtered data to the remote server for processing and storage, and then transmit it to the remote operation terminal for display, printing and storage.

2. A method for real-time detection of irregular chute material level in deep mines based on the real-time detection system for irregular chute material level in deep mines according to claim 1, characterized in that The following steps are involved: Step S1, obtaining the installation offset. After the millimeter wave radar is installed, the offset of the millimeter wave radar installation is measured on site, and the offset is set by the on-site display instrument and transmitted to the data filtering processing unit; Step S2, obtaining scanning data, the data filtering processing unit obtains the scanning data of the millimeter wave radar through the field CAN bus; Step S3, data filtering processing, the data filtering processing unit performs filtering processing on the acquired scan data, and the specific processing is as follows; Assume that the maximum depth of the current chute is H, the maximum width is W, and the installation offset angle is θ; 301. Acquire a data frame of a millimeter wave radar, wherein the data frame includes: the number of targets, a rectangular coordinate system established with the center point of the millimeter wave radar as the origin of the coordinates, a coordinate value P(x0, y0) of the measured target, a multipath effect probability Pdho, and a moving stationary state Ps; 302. Determine the validity of each data one by one. Determine the validity of each data obtained in step 301 one by one. The data must meet the following requirements: Pdho<75% Ps=1 303. Calculate the offset coordinates one by one. Rotate the rectangular coordinate system established in step 301 along the X axis by an angle of θ. Use step 302 to determine the coordinates corresponding to the data that meets the requirements. Assume that the offset coordinates are P'(x0', y0'), we can get: x′0=x0*cos(θ)-y0*sin(θ) y′0=x0*sin(θ)+y0*cos(θ) 304. Determine whether the offset coordinates are within the set value range one by one. The set value range is the angle between the boundary point scanned by the radar and the Y axis. The boundary point is the point A1' and A2' of the bottom width of the chute in the rectangular coordinate system O, as shown in FIG. 4, that is, the angle between O'A1' and O'A2' and the Y axis, which must satisfy:

305. Sort the distances of all targets to find the maximum value. The target distance to be found is the distance d from the coordinate origin O to the target point P:

306. Data valid counting: count the single measurement data effectively. If there is any inconsistency, the valid count is reset to zero.

307. Valid count judgment: if the valid count is greater than 10 times, output the measurement result; otherwise, repeat steps 301-305; Step S4, data on-site display and remote transmission, the data processed by the data filtering processing unit is transmitted to the on-site display instrument via RS485 for on-site data display, and the processed data is transmitted to the data transmission unit via RS232, and then the filtered data is transmitted to the data transfer base station via 433M wireless LORA transmission signal; Step S5, data storage and display, the data transfer base station transmits the data to the remote server for storage and processing, and then the remote operation terminal obtains the data of the remote server for real-time display; Step S6, determine whether to stop measuring, if not, repeat steps S2-S5.

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