Navigation method for side slope coal mining equipment based on fluorescence marking of directional long boreholes

Abstract

The present application proposes a navigation method for side coal mining equipment based on fluorescence marking of directional long boreholes. The method includes: using a directional drilling rig to drill in the side coal pressure area to the stop line of coal mining, and filling the long borehole with a fluorescent filling body; obtaining a coordinate reference point at any position of the mining equipment in the mining chamber, determining the current intersection point of the fluorescent filling body and the coal wall, as well as the global coordinates and carrier coordinates of the newly generated intersection points after multiple rounds of cutting; determining the transformation relationship between the global coordinate system and the carrier coordinate system according to the coordinates of each intersection point, and determining the positioning information of the mining equipment according to the transformation relationship; controlling the mining equipment to move to the next position according to the positioning information, and repeating the cutting of the next position and the calculation of coordinate information and attitude information until the stop line is reached. This method locates and guides the mining equipment through the fluorescence marking in the long borehole, improves the accuracy of the navigation of the mining equipment, and avoids large deviations.

Description

Technical Field

[0001] The present application relates to the technical field of side slope coal mining, and particularly relates to a navigation method for side slope coal mining equipment based on fluorescence marking of directional long boreholes. Background Art

[0002] During the open-pit mining process, due to the inconsistency between the surface boundary and the deep boundary of the mining area, a large amount of coal resources will be overlaid by the side slopes between adjacent mining areas. If not mined in time, these coals will eventually be buried again by the internal dump, resulting in resource losses. Therefore, side slope coal mining is required.

[0003] Among them, side slope coal mining is a technology that directly arranges special recovery equipment on the exposed coal seams on the side slopes of the open-pit mining area and mines raw coal by excavating a series of parallel mining tunnels. To ensure the safety of the open-pit mine slope, a certain width of coal pillars needs to be reserved between the mining tunnels to support the overlying strata. If the width of the coal pillars is set too large, the recovery rate will decrease; if the width of the coal pillars is set too small, the slope safety cannot be guaranteed. Therefore, it is necessary to reasonably design the width of the coal pillars and ensure accurate construction during the construction process. Among them, the navigation technology of side slope coal mining equipment is the key to ensuring the width of the coal pillars. If the equipment navigation is inaccurate, serious accidents may occur.

[0004] In the related technology, inertial navigation technology is usually used during the tunneling of side slope coal mining tunnels. However, in actual applications, the inertial navigation technology in the related technology is not applicable to the working mode and working environment of side slope coal mining equipment, the navigation data may have deviations, and the accuracy of the navigation system is low. Summary of the Invention

[0005] The present application aims to solve at least one of the technical problems in the related technology to some extent.

[0006] To this end, the first object of the present application is to propose a navigation method for side slope coal mining equipment based on fluorescence marking of directional long boreholes. This method locates and guides the mining equipment through the fluorescence marking in the long borehole, improves the accuracy of the mining equipment navigation, and avoids large deviations.

[0007] The second object of the present application is to propose a navigation system for side slope coal mining equipment based on fluorescence marking of directional long boreholes.

[0008] The third object of the present application is to propose a non-temporary computer-readable storage medium.

[0009] To achieve the above object, the first aspect of the present application is to propose a navigation method for side slope coal mining equipment based on fluorescence marking of directional long boreholes, including the following steps:

[0010] Use a directional drilling rig to drill in the coal - pressed area of the side slope until the stop - mining line to obtain a long borehole, determine the three - dimensional trajectory of the long borehole in the global coordinate system, and fill the fluorescent filling body in the long borehole;

[0011] When the side - slope coal mining equipment is at any position in the mining drift, obtain the coordinate reference point of the mining equipment in the carrier coordinate system, determine the global coordinates of the current intersection point between the fluorescent filling body and the coal wall based on the three - dimensional trajectory, and determine the carrier coordinates of the current intersection point in the carrier coordinate system;

[0012] Based on the deviation from the three - dimensional trajectory, on the premise that the coordinate reference point in the carrier coordinate system remains stationary, control the mining equipment to cut forward by no less than 2 cutting depths, and when each cutting depth is completed, obtain the global coordinates and carrier coordinates of the newly generated intersection point between the fluorescent filling body and the coal wall;

[0013] According to the two - coordinate information of each intersection point, determine the transformation relationship between the global coordinate system and the carrier coordinate system, and determine the positioning information of the mining equipment at the any position according to the transformation relationship, where the positioning information includes the global coordinates of the coordinate reference point and the attitude of the mining equipment;

[0014] Control the mining equipment to move to the next position according to the positioning information at the any position, and use the positioning information at the any position to repeat the cutting at the next position and the calculation of coordinate information and attitude information until the stop - mining line is reached.

[0015] Optionally, in an embodiment of the present application, the coal - pressed area of the side slope includes multiple mining strips. The step of using a directional drilling rig to drill in the coal - pressed area of the side slope until the stop - mining line includes: controlling the directional drilling rig to drill along the center line in the width direction of the mining strip on the horizontal plane, and controlling the directional drilling rig to drill in a wavy shape on the vertical plane, where the wavy trajectory of the long borehole is between the floor and the roof of the coal - pressed area of the side slope; analyze the coal seam thickness of the coal - pressed area of the side slope according to the wavy trajectory.

[0016] Optionally, in an embodiment of the present application, the mining equipment includes: an ultraviolet light source, a laser rangefinder, and a binocular camera. The mining equipment is connected to a conveyor belt. The step of determining the global coordinates of the current intersection point between the fluorescent filling body and the coal wall based on the three - dimensional trajectory includes: measuring the first distance between itself and the coal wall through the laser rangefinder, measuring the second distance of the conveyor belt in the mining drift, and the third distance between the connection point of the conveyor belt and the mining equipment and the laser rangefinder; calculate the current mining length of the mining drift according to the first distance, the second distance, and the third distance, and determine the global coordinates of the current intersection point according to the current mining length and the three - dimensional trajectory.

[0017] Optionally, in an embodiment of the present application, determining the carrier coordinates of the current intersection point in the carrier coordinate system includes: irradiating the coal wall with the ultraviolet light source so that the fluorescent filler at the current intersection point emits visible light; photographing the coal wall with the binocular camera, identifying the current intersection point in the obtained image, and obtaining the carrier coordinates of the current intersection point in the carrier coordinate system through a three-dimensional positioning algorithm.

[0018] Optionally, in an embodiment of the present application, after determining the carrier coordinates of the current intersection point in the carrier coordinate system, it includes: acquiring video images of the mining equipment at different positions collected by the binocular camera, and analyzing the change of the intersection point of the fluorescent filler and the coal wall in the video images at different positions; when the intersection point of the fluorescent filler and the coal wall is lost in the video image, performing a navigation deviation protection measure.

[0019] Optionally, in an embodiment of the present application, when the laser rangefinder is located outside the adit, calculating the current mining length of the adit further includes: measuring the fourth distance between the laser rangefinder and the exposed surface of the coal seam; calculating the difference between the first distance and the fourth distance, and taking the difference as the current mining length of the adit.

[0020] Optionally, in an embodiment of the present application, obtaining the global coordinates of the newly generated intersection point of the fluorescent filler and the coal wall includes: measuring the real-time distance between the laser rangefinder itself and the coal wall generated after cutting, and updating the first distance to the real-time distance; calculating the real-time mining length of the adit after cutting according to the updated first distance, the second distance, and the third distance.

[0021] To achieve the above object, a second aspect of the present application further provides a navigation system for a side coal mining device based on directional long borehole fluorescence marking, including the following modules:

[0022] A drilling module, configured to drill to the stop line in the side coal pressure area by using a directional drill to obtain a long borehole, determine the three-dimensional trajectory of the long borehole in the global coordinate system, and fill the long borehole with a fluorescent filler;

[0023] A determination module, configured to, when the side coal mining device is at any position in the adit, obtain a coordinate reference point of the mining device in the carrier coordinate system, determine the global coordinates of the current intersection point of the fluorescent filler and the coal wall based on the three-dimensional trajectory, and determine the carrier coordinates of the current intersection point in the carrier coordinate system;

[0024] The cutting module is used to control the mining equipment to cut forward by no less than 2 cutting depths on the premise that the coordinate reference point of the carrier coordinate system remains stationary based on the deviation from the three-dimensional trajectory, and obtain the global coordinates and carrier coordinates of the newly generated intersection point between the fluorescent filling body and the coal wall every time a cutting depth is completed;

[0025] The positioning module is used to determine the transformation relationship between the global coordinate system and the carrier coordinate system according to the two coordinate information of each intersection point, and determine the positioning information of the mining equipment at any position according to the transformation relationship, where the positioning information includes the global coordinates of the coordinate reference point and the attitude of the mining equipment;

[0026] The loop module is used to control the mining equipment to move to the next position according to the positioning information at any position, and use the positioning information at any position to repeat the cutting at the next position and the calculation of coordinate information and attitude information until the stop mining line is reached.

[0027] To implement the above embodiments, a third aspect embodiment of the present application also proposes a non-temporary computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the navigation method for the side coal mining equipment based on the fluorescence marking of the directional long borehole in the first aspect above.

[0028] The technical solutions provided by the embodiments of the present application at least bring the following beneficial effects: Before mining, the present application pre-constructs a long borehole through a directional drilling rig. Based on the well-developed directional long borehole construction technology, the three-dimensional trajectory of the generated long borehole can be accurately obtained, thereby providing positioning guidance for the subsequent mining process of the mining equipment. The navigation operation of the side coal mining equipment is carried out by using the fluorescence marking in the directional long borehole. The global coordinates and attitude of the mining equipment at each position are calculated separately and do not depend on the previously measured data and calculated results, which can avoid the accumulation of errors caused by the increase of the tunneling distance and time, thereby reducing the deviation in the navigation data and ensuring the positioning accuracy of the equipment. In addition, the present application also realizes the verification function of large navigation deviations, and targeted countermeasures can be taken in time before the deviation further expands and causes an accident, preventing the occurrence of the accident, and overcoming the drawback that a large deviation can only be perceived until an accident occurs. Moreover, the directional long borehole trajectory constructed by the present application before the mining equipment is wavy between the roof and the floor, which plays a role in detecting the coal seam thickness, can enrich and improve the existing geological data, and provide guidance and a basis for subsequent side coal mining. Therefore, the present application improves the accuracy and reliability of the navigation of the side coal mining equipment.

[0029] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. Brief Description of the Drawings

[0030] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description of embodiments in conjunction with the accompanying drawings, where:

[0031] Figure 1 It is a flowchart of a method for navigating a side slope coal mining device based on directional long borehole fluorescence marking proposed in an embodiment of the present application;

[0032] Figure 2 It is a schematic plan view of long borehole construction proposed in an embodiment of the present application;

[0033] Figure 3 It is a schematic cross-sectional view of a long borehole trajectory proposed in an embodiment of the present application;

[0034] Figure 4 It is a schematic plan view of the process of driving a mining drift proposed in an embodiment of the present application;

[0035] Figure 5 It is a schematic cross-sectional view of the process of driving a mining drift proposed in an embodiment of the present application;

[0036] Figure 6 It is a schematic structural view of a navigation system for a side slope coal mining device based on directional long borehole fluorescence marking proposed in an embodiment of the present application. Detailed Description of the Embodiments

[0037] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present invention, and should not be construed as limiting the present invention.

[0038] It should be noted that when conducting side slope coal mining in related embodiments, generally, a continuous miner is remotely controlled to cut into the coal body to form a mining drift, and the coal is transported out by a quick-connection belt connected one by one at the rear of the continuous miner, and then the coal is transported to a coal pile through a mobile discharging unit. This solution is based on remote control technology. The operator operates the tunneling device at a position outside the mining drift and away from the slope to drive the mining drift in the side slope to extract coal. After the mining drift is driven to the stop line, the quick-connection belts are removed one by one, and the continuous miner retreats until it exits the mining drift.

[0039] Since remote control technology is used in side slope coal mining and the operator does not enter the mining drift, the laser guidance technology used in traditional coal mine mining is no longer applicable. Currently, inertial navigation technology is generally used for driving the mining drift. However, the inertial navigation solution mainly has the following three problems in side slope coal mining:

[0040] First, in inertial navigation technology, new position information is calculated based on previously calculated position information and measured acceleration and angular velocity. Position monitoring is achieved through double integration of acceleration and is generally applied to high-speed, short-duration, and long-distance aircraft navigation and positioning. However, side coal mining equipment generally operates in a low-speed, long-duration, and short-distance mode. Therefore, there will be position deviations and angle deviations during navigation, and both the position deviation and the angle deviation will accumulate errors over time, with the position deviation being more significant and having a larger deviation range.

[0041] Second, the large deviations caused by the above-mentioned error accumulation cannot be detected in a timely manner, and there is a lack of calibration and verification functions, which may lead to irreparable accidents such as large-scale cutting of coal pillars and coal pillar instability.

[0042] Third, the vibration excitation caused by the operation of the mining equipment will seriously affect the accuracy of the navigation system, and severe vibration may even damage the precision inertial components inside the inertial navigation system. The inertial navigation system has poor adaptability to the operating environment of side coal mining equipment, and the navigation accuracy cannot meet the control requirements of side coal mining equipment.

[0043] Therefore, this application proposes a navigation method for side coal mining equipment based on fluorescent markers in directional long boreholes. This method locates and guides the mining equipment through the fluorescent markers in the pre-constructed long boreholes, improving the accuracy of the mining equipment navigation and avoiding large deviations.

[0044] The following describes a navigation method and system for side coal mining equipment based on fluorescent markers in directional long boreholes proposed in the embodiments of this application with reference to the accompanying drawings.

[0045] Figure 1 The flowchart of a navigation method for side coal mining equipment based on fluorescent markers in directional long boreholes proposed in the embodiments of this application is shown as Figure 1 and includes the following steps:

[0046] Step S101: Use a directional drilling rig to drill in the side coal pressure area until the stop line of coal mining to obtain a long borehole, determine the three-dimensional trajectory of the long borehole in the global coordinate system, and fill the long borehole with a fluorescent filling body.

[0047] Specifically, before the side coal pressure area is mined by the mining equipment, this application first constructs a long borehole in the side coal pressure area to be mined through directional long borehole technology and fills the long borehole with fluorescent substances, so as to use the fluorescent markers in the directional long borehole to navigate the mining equipment in the subsequent process. During the specific construction, the long borehole construction can be carried out according to the existing side coal mining design plan.

[0048] As a possible implementation, as Figure 2As shown in the figure, the coal-pressed area 1 on the side slope can be divided into several mining strips 2 according to the design of the side slope coal mining, and drilling is carried out for each mining strip 2 in turn. Among them, in this application, one mining strip 2 is taken as an example for illustration. A directional drilling rig 3 is used to drill along the mining strip 2 to obtain a long borehole 4 until the stop line 5 of the coal-pressed area 1 on the side slope is reached. The stop lines 5 of each mining strip 2 are the same, and the initial mining position of the mining strip 2 is the outcrop surface 12 of the coal seam.

[0049] In an embodiment of the present application, using a directional drilling rig to drill to the stop line in the coal-pressed area on the side slope includes: controlling the directional drilling rig to drill along the center line in the width direction of the mining strip on the horizontal plane, and controlling the directional drilling rig to drill in a wavy shape on the vertical plane, wherein the wavy trajectory of the long borehole is between the floor and the roof of the coal-pressed area on the side slope; analyzing the coal seam thickness of the coal-pressed area on the side slope according to the wavy trajectory.

[0050] Specifically, in this embodiment, as Figure 2 and Figure 3 shown, by controlling the drilling method of the directional drilling rig 3, the drilled long borehole 4 is kept with the drilling trajectory located at the center in the width direction of the mining strip 2 on the horizontal plane, and the trajectory of the long borehole 4 on the vertical plane presents a wavy shape between the roof 13 and the floor 15 of the coal-pressed area 1 on the side slope. The embodiment of the present application utilizes the developed and mature directional long borehole construction technology, and can accurately obtain the three-dimensional trajectory of the constructed long borehole 4, and this three-dimensional trajectory is the trajectory in all coordinate systems constructed for the entire coal-pressed area 1 on the side slope. Moreover, since the directional long borehole trajectory in this embodiment is wavy between the roof 13 and the floor 15, it can play a role in detecting the coal seam thickness in the current mining strip 2. By analyzing the trajectory parameters such as the wave crest and wave trough of the wavy trajectory, the thickness of the coal seam 14 at different positions can be obtained, and thus the geological data can be enriched and improved.

[0051] Further, control the drilling equipment such as the drill pipe of the directional drilling rig 3 to withdraw from the completed long borehole 4, carry out the drilling construction of the next mining strip 2, and use a grouting pump to inject a quick-setting filling material added with a fluorescent substance into the obtained long borehole 4, and the quick-setting filling material forms a fluorescent filling body 7 after solidification. In this application, the long borehole 4 is filled with a fluorescent substance, so that the trajectory of the complete fluorescent filling body 7 is consistent with the trajectory of the long borehole 4.

[0052] Step S102, when the side slope coal mining equipment is at any position in the mining chamber, obtain the coordinate reference point of the mining equipment in the carrier coordinate system, determine the global coordinates of the current intersection point of the fluorescent filling body and the coal wall based on the three-dimensional trajectory, and determine the carrier coordinates of the current intersection point in the carrier coordinate system.

[0053] Specifically, in this step, the side coal mining equipment 8 is used to drive the mining strip 2 after the long borehole construction is completed, and the driving process is carried out in the corresponding mining chamber 11 of the mining strip 2. Among them, a carrier coordinate system is constructed for the mining equipment 8.

[0054] In an embodiment of the present application, the mining equipment 8 includes: an ultraviolet light source, a laser rangefinder 8-2, and a binocular camera. The rear part of the mining equipment 8 is connected to a conveyor belt 10. Among them, the binocular camera can not only take pictures but also record videos of the coal wall 9 in front, and transmit the collected video image data to the remote monitoring equipment outside the mining chamber 11 in real time for the operator to monitor. In the present application, the constructed global coordinate system is represented by W, and the carrier coordinate system of the mining equipment 8 is represented by O. During the operation of the mining equipment 8, the relative positions between the laser rangefinder 8-2, the binocular camera and the coordinate reference point Kn of the mining equipment 8 remain fixed.

[0055] When specifically navigating the mining equipment 8 in this embodiment, as Figure 4 shown, it is assumed that when the mining equipment 8 is currently located at any position Sn in the mining chamber 11, its coordinate reference point is Kn, and when driving to the position Sn, the intersection point of the fluorescent filling body 7 and the coal wall 9 is An-1. On this basis, determining the global coordinates of the current intersection point of the fluorescent filling body and the coal wall based on the three-dimensional trajectory includes: measuring the first distance between itself and the coal wall through the laser rangefinder, measuring the second distance of the conveyor belt in the mining chamber, and the third distance between the connection of the conveyor belt and the mining equipment to the laser rangefinder; according to the first distance, the second distance and the third distance, calculating the current mining length of the mining chamber, and determining the global coordinates of the current intersection point according to the current mining length and the three-dimensional trajectory.

[0056] Specifically, as Figure 4 shown, the first distance L3-1 between the current position of itself and the coal wall 9 is measured by the laser rangefinder 8-2. The length of the conveyor belt 10 entering the mining chamber is the second distance L1, and this distance can be monitored outside the mining chamber. The third distance from the connection of the conveyor belt 10 and the mining equipment 8 to the laser rangefinder 8-2 is L2, and this distance is a fixed value that can be measured and determined in advance. Then, the current mining length L = L1 + L2 + L3-1 of the mining chamber 11 can be calculated. Also, because it is assumed that the horizontal direction of the mining strip 2 is the horizontal axis of the global coordinate system, the current mining length L of the mining chamber 11 is equivalent to the abscissa of the current intersection point An-1, and the three-dimensional trajectory of the long borehole 4 in the global coordinate system is known. Therefore, combining the current mining length L and the three-dimensional trajectory of the long borehole 4, the global coordinates W(An-1) of the current intersection point An-1 can be calculated.

[0057] It should be noted that, as Figure 4As shown, the calculation method of the above embodiment is applicable when the mining equipment 8 is located inside the mining drift 11. In actual mining, however, the mining equipment 8 may be located outside the mining drift 11. For example, in the initial stage of the excavation of the mining strip 2, the mining equipment 8 has not been fully excavated into the mining strip 2, and the laser rangefinder 8-2 is still outside the mining drift 11. To apply to this situation, in an embodiment of the present application, when the laser rangefinder is located outside the mining drift, calculating the current mining length of the mining drift includes: measuring the fourth distance between the laser rangefinder and the exposed surface of the coal seam; calculating the difference between the first distance and the fourth distance, and taking the difference as the current mining length of the mining drift.

[0058] Specifically, in the embodiment, the mining length L of the mining drift is set as the difference between the first distance measured by the laser rangefinder 8-2 from its own coal wall 9 and the fourth distance between the laser rangefinder 8-2 and the exposed surface 12 of the coal seam. Among them, the fourth distance between the laser rangefinder 8-2 and the exposed surface 12 of the coal seam can be determined by a conventional measurement method outside the mining drift 11.

[0059] Further, in this embodiment, determining the vehicle coordinates of the current intersection point An-1 in the vehicle coordinate system includes: irradiating the coal wall with an ultraviolet light source so that the fluorescent filling body at the current intersection point emits visible light; photographing the coal wall with a binocular camera, identifying the current intersection point in the obtained image, and obtaining the vehicle coordinates of the current intersection point in the vehicle coordinate system through a three-dimensional positioning algorithm.

[0060] Specifically, control the ultraviolet light source in the mining equipment 8 to emit ultraviolet light to irradiate the coal wall 9 in front of the current equipment. The fluorescent substance at the current intersection point An-1 absorbs light energy and enters the excited state under the irradiation of the ultraviolet light, and then emits visible light. Then control the binocular camera to take a picture of the front coal wall 9, identify the An-1 point that emits visible light in the collected photo, and then obtain the coordinates O(An-1) of the An-1 point in the vehicle coordinate system of the mining equipment 8 through a three-dimensional positioning algorithm.

[0061] Step S103, based on the deviation from the three-dimensional trajectory, on the premise that the coordinate reference point in the vehicle coordinate system remains stationary, control the mining equipment to cut forward by no less than 2 cutting depths, and when each cutting depth is completed, obtain the global coordinates and vehicle coordinates of the newly generated intersection point of the fluorescent filling body and the coal wall.

[0062] As a possible implementation, such as Figure 5As shown, the body of the controlled mining equipment 8 is kept stationary, that is, the coordinate reference point of the mining equipment 8 in the carrier coordinate system remains stationary, and the cutting assembly such as the robotic arm of the controlled mining equipment 8 is controlled to cut forward by a cutting depth. The intersection point of the fluorescent filling body 7 and the newly formed coal wall after this cutting is An-2. Then, in this example, the global coordinates of the newly generated intersection point of the fluorescent filling body and the coal wall are obtained, including: measuring the real-time distance between itself and the coal wall generated after cutting through a laser rangefinder, and updating the first distance to the real-time distance; calculating the real-time mining length of the mined roadway after cutting according to the updated first distance, second distance, and third distance.

[0063] Specifically, the real-time distance L3-2 between itself and the newly formed coal wall is measured through the laser rangefinder 8-2. Since the body of the mining equipment 8 remains stationary, the second distance and the third distance obtained in step S102 remain unchanged. Then, the real-time mining length of the mined roadway after this cutting is equal to L1 + L2 + L3-2. Furthermore, the global coordinates W(An-2) of the newly generated intersection point An-2 after this cutting can be calculated in the same manner as in step S102.

[0064] Furthermore, in the same manner as in the above embodiment, the ultraviolet light source is controlled to emit ultraviolet light to irradiate the coal wall in front of the current equipment after cutting. The fluorescent substance at point An-2 absorbs light energy and enters the excited state under the irradiation of the ultraviolet light, emitting visible light. The binocular camera takes a picture of the coal wall, identifies point An-2 that emits visible light in the picture, and obtains the coordinates O(An-2) of point An-2 in the carrier coordinate system of the mining equipment 8 through a three-dimensional positioning algorithm.

[0065] Even further, in the implementation manner of the above first cutting, cutting and coordinate calculation are repeated, and the global coordinates W(An-3) and the coordinates O(An-3) of the intersection point An-3 of the newly formed coal wall of the fluorescent filling body 7 after the second cutting is completed can be obtained. The specific implementation manner is not described herein again.

[0066] It should be noted that this application navigates the mining equipment based on the fluorescence markers in the long borehole. Although the actual running trajectory of the mining equipment 8 is different from the three-dimensional trajectory of the long borehole 4, it can be guided by this three-dimensional trajectory to avoid excessive deviation between the actual running trajectory of the mining equipment 8 and the three-dimensional trajectory of the long borehole 4. For example, it can prevent the fluorescent filling body 7 in the long borehole 4 from being out of the detection range of the mining equipment 8. Therefore, this application can control parameters such as the forward cutting direction of the mining equipment 8 based on the deviation from the three-dimensional trajectory to navigate the mining equipment 8. Among them, the deviation from the three-dimensional trajectory can be determined by using the positioning information of the mining equipment calculated at the previous position. For example, the deviation between the three-dimensional trajectory and the global coordinates of the coordinate reference point at the previous position can be compared. In this embodiment, the mining equipment is controlled to cut forward by 2 cutting depths. In practical applications, it can also cut forward by more than 2 cutting depths according to the actual situation. This application needs to ensure that the coordinate data of the newly obtained intersection points can meet the subsequent calculation requirements, and there is no limit to the specific number of cutting times.

[0067] Step S104: Determine the transformation relationship between the global coordinate system and the carrier coordinate system according to the two coordinate information of each intersection point, and determine the positioning information of the mining equipment at any position according to the transformation relationship. Among them, the positioning information includes the global coordinates of the coordinate reference point and the attitude of the mining equipment.

[0068] Specifically, since the global coordinates and carrier coordinates of the current intersection point An-1 and multiple newly generated intersection points of the fluorescent filling body and the coal wall after forward cutting have been obtained, and the number of newly generated intersection points is greater than or equal to two, the transformation relationship between the global coordinate system and the carrier coordinate system can be calculated according to the corresponding relationship between the two coordinates of each intersection point. Then, the mining equipment can be positioned according to the calculated transformation relationship and the known coordinate reference point of the mining equipment.

[0069] Continuing to refer to the above example, according to the coordinates W(An-1), W(An-2), and W(An-3) of the three points An-1, An-2, and An-3 in the global coordinate system, and the coordinates O(An-1), O(An-2), and O(An-3) in the carrier coordinate system of the mining equipment 8, the transformation relationship between the carrier coordinate system O and the global coordinate system W of the mining equipment 8 at the position Sn can be calculated through coordinate transformation. Then, substituting the coordinate reference point Kn of the mining equipment 8 into this transformation relationship, the global coordinates W(Kn) of the coordinate reference point Kn can be obtained. Moreover, from the transformation relationship between the carrier coordinate system O and the global coordinate system W, and the information of the mining equipment 8 in the carrier coordinate system, the attitude of the mining equipment 8 at the position Sn can be obtained. This attitude information can include information such as the angle of the mining equipment 8 in the side coal pressure area 1.

[0070] Thus, the determination of the global coordinates and attitude of the mining equipment 8 at each position in this application is independently performed at the current position, without relying on previous measurement data and relevant calculation results, ensuring the accuracy of positioning at the position.

[0071] Step S105: Control the mining equipment to move to the next position according to the positioning information at any position, and use the positioning information at any position to repeat the cutting at the next position and the calculation of coordinate information and attitude information until the stop cutting line is reached.

[0072] Specifically, control the body of the mining equipment 8 to move from the current position Sn to the coal wall 9 to the next position, and repeat the above steps S102 to S105 to re-perform the cutting and information calculation for the next position at the next position until the stop cutting line of the current mining strip 2 is reached.

[0073] Among them, the next position where the body of the mining equipment 8 moves can be determined by combining the two completed cutting depths and the positioning information at the current position. For example, control the mining equipment 8 to move about two cutting depths towards the coal wall 9, and the specific moving distance can be determined according to the deviation between the global coordinates at the current position Sn and the three-dimensional trajectory, so that the next position after moving is within the range allowed by the three-dimensional trajectory of the long borehole 4. The repeated information calculation includes calculating the global coordinates and other coordinate information of the next position and the attitude of the mining equipment according to the coordinate information of each intersection point obtained after re-cutting after using the positioning information at any position to perform cutting at the next position. Then, by repeatedly executing steps S102 to S105, guide the mining equipment to continuously move forward until the stop cutting line is reached.

[0074] Further, after reaching the stop cutting line of the current mining strip 2, connect the global coordinates W(Kn) of the coordinate reference points Kn of the mining equipment 8 at all positions to obtain the actual operation trajectory of the mining equipment 8. Then, withdraw the conveyor belt 10 and the mining equipment 8 from the adit 11 corresponding to the current mining strip 2, and then repeat steps S101 to S105 to perform mining navigation on the remaining mining strips 2 in the same way in turn until all the coal in the side coal pressing area 1 is mined.

[0075] Based on the above embodiments, the navigation function of the directional long borehole fluorescence marking of this application for the mining equipment 8 is also reflected in verifying the navigation positioning data by using the image data of the long borehole fluorescence marking to avoid too large a deviation amplitude between the mining equipment 8 and the three-dimensional trajectory.

[0076] In an embodiment of the present application, after determining the carrier coordinates of the current intersection point in the carrier coordinate system, the following steps are included: obtaining video images of the mining equipment collected by a binocular camera at different positions, and analyzing the changes in the video images of the intersection point between the fluorescent filling body and the coal wall at different positions; when the intersection point between the fluorescent filling body and the coal wall is lost in the video image, implementing a navigation deviation protection measure.

[0077] Specifically, the situation of the coal wall 9 can be continuously monitored by analyzing the real-time video images transmitted by the binocular camera 8-S. By observing the position changes of the intersection point between the fluorescent filling body 7 and the coal wall 9 in the video image stream, the intersection point can always be ensured to be within the image range. When the navigation system fails or other reasons cause a large deviation, and the intersection point between the fluorescent filling body 7 and the coal wall 9 is lost in the image, or when the deviation amplitude of the intersection point from the center in the image continuously increases, navigation deviation protection measures can be taken in a timely manner, such as taking measures to withdraw the mining equipment 8 and other countermeasures. Thus, this embodiment realizes the function of verifying the navigation positioning data, and can take targeted countermeasures in advance before the deviation further expands and causes an accident, preventing the occurrence of the accident.

[0078] In summary, for the navigation method of the side slope coal mining equipment based on the fluorescent marking of the directional long borehole in the embodiment of the present application, before mining, a long borehole is constructed in advance by a directional drill. Based on the well-developed directional long borehole construction technology, the three-dimensional trajectory of the generated long borehole can be accurately obtained, thereby providing positioning guidance for the subsequent mining process of the mining equipment. The navigation calculation of the side slope coal mining equipment is carried out by using the fluorescent marking in the directional long borehole. The global coordinates and postures of the mining equipment at each position are calculated separately, and do not depend on the previously measured data and the calculated results, which can avoid the accumulation of errors caused by the increase of the driving distance and time, thereby reducing the deviation in the navigation data and ensuring the positioning accuracy of the equipment. Moreover, this method also realizes the verification function of large navigation deviation, and can take targeted countermeasures in a timely manner before the deviation further expands and causes an accident, preventing the occurrence of the accident, overcoming the drawback that a large deviation cannot be detected until an accident occurs. And the trajectory of the directional long borehole constructed prior to the mining equipment in this method is wavy between the roof and the floor, which plays a role in detecting the coal seam thickness, can enrich and improve the existing geological data, and provides guidance and a basis for the subsequent side slope coal mining. Thus, this method improves the accuracy and reliability of the navigation of the side slope coal mining equipment.

[0079] To implement the above embodiment, the present application also proposes a navigation system for a side slope coal mining equipment based on the fluorescent marking of a directional long borehole. Figure 6 FIG. is a schematic structural diagram of a navigation system for a side slope coal mining equipment based on the fluorescent marking of a directional long borehole proposed in an embodiment of the present application. Figure 6As shown, the system includes:

[0080] A drilling module 100, which is used to drill to the stop line in the coal - pressed area of the side slope by using a directional drilling rig to obtain a long borehole, determine the three - dimensional trajectory of the long borehole in the global coordinate system, and fill the long borehole with a fluorescent filling body.

[0081] A determination module 200, which is used to obtain the coordinate reference point of the mining equipment in the carrier coordinate system when the side - slope coal mining equipment is at any position in the mining chamber, determine the global coordinates of the current intersection point between the fluorescent filling body and the coal wall based on the three - dimensional trajectory, and determine the carrier coordinates of the current intersection point in the carrier coordinate system.

[0082] A cutting module 300, which is used to control the mining equipment to cut forward by no less than 2 cutting depths on the premise that the coordinate reference point in the carrier coordinate system remains stationary based on the deviation from the three - dimensional trajectory, and obtain the global coordinates and carrier coordinates of the newly generated intersection point between the fluorescent filling body and the coal wall every time a cutting depth is completed.

[0083] A positioning module 400, which is used to determine the transformation relationship between the global coordinate system and the carrier coordinate system according to the two - coordinate information of each intersection point, and determine the positioning information of the mining equipment at any position according to the transformation relationship, where the positioning information includes the global coordinates of the coordinate reference point and the attitude of the mining equipment.

[0084] A loop module 500, which is used to control the mining equipment to move to the next position according to the positioning information at any position, and repeat the cutting at the next position and the calculation of the coordinate information and attitude information by using the positioning information at any position until the stop line is reached.

[0085] Optionally, in an embodiment of the present application, the drilling module 100 is specifically used to: control the directional drilling rig to drill along the center line in the width direction of the mining strip on the horizontal plane, and control the directional drilling rig to drill in a wavy shape on the vertical plane, where the wavy trajectory of the long borehole is between the floor and the roof of the coal - pressed area of the side slope; analyze the coal seam thickness of the coal - pressed area of the side slope according to the wavy trajectory.

[0086] Optionally, in an embodiment of the present application, the determination module 200 is specifically used to: measure the first distance between itself and the coal wall through a laser rangefinder, measure the second distance of the conveyor belt in the mining chamber, and measure the third distance between the connection point of the conveyor belt and the mining equipment and the laser rangefinder; calculate the current mining length of the mining chamber according to the first distance, the second distance and the third distance, and determine the global coordinates of the current intersection point according to the current mining length and the three - dimensional trajectory.

[0087] Optionally, in an embodiment of the present application, the determining module 200 is further configured to: irradiate the coal wall with an ultraviolet light source to cause the fluorescent filler at the current intersection to emit visible light; take a photo of the coal wall with a binocular camera, identify the current intersection in the obtained image, and obtain the vehicle coordinates of the current intersection in the vehicle coordinate system through a three-dimensional positioning algorithm.

[0088] Optionally, in an embodiment of the present application, the determining module 200 is further configured to: acquire video images of the mining equipment at different positions collected by the binocular camera, and analyze the changes of the intersection of the fluorescent filler and the coal wall in the video images at the different positions; when the intersection of the fluorescent filler and the coal wall is lost in the video image, execute a navigation deviation protection measure.

[0089] Optionally, in an embodiment of the present application, the determining module 200 is specifically configured to: measure a fourth distance between the laser rangefinder and the exposed surface of the coal seam; calculate the difference between the first distance and the fourth distance, and use the difference as the current mining length of the adit.

[0090] Optionally, in an embodiment of the present application, the determining module 200 is specifically configured to: measure the real-time distance between itself and the coal wall generated after cutting through the laser rangefinder, and update the first distance to the real-time distance; calculate the real-time mining length of the adit after cutting according to the updated first distance, second distance, and the third distance.

[0091] It should be noted that the foregoing explanation of the embodiments of the method for navigating a side coal mining device based on directional long borehole fluorescence marking also applies to the system of this embodiment, and will not be elaborated here.

[0092] In summary, the navigation system for side coal mining equipment based on directional long borehole fluorescence marking in the embodiments of the present application reduces the deviation in navigation data, ensures the positioning accuracy of the equipment, realizes the verification function of large navigation deviations, and can take targeted countermeasures in time before the deviation further expands and causes an accident, preventing the occurrence of the accident. Thus, the system improves the accuracy and reliability of the navigation of side coal mining equipment.

[0093] To implement the above embodiments, the present application also proposes a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the method for navigating a side coal mining device based on directional long borehole fluorescence marking as described in any one of the embodiments in the first aspect above.

[0094] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0095] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of this application, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0096] Any process or method description shown in the flowchart or described in other ways herein can be understood as representing a module, segment, or part of code including one or more executable instructions for implementing a customized logic function or process, and the scope of the preferred embodiments of this application includes additional implementations, where the functions can be executed in a substantially simultaneous manner or in the reverse order according to the involved functions, rather than in the order shown or discussed, which should be understood by those skilled in the art to which the embodiments of this application pertain.

[0097] The logic and / or steps represented in the flowchart or otherwise described herein can, for example, be considered as a definitional sequence list of executable instructions for implementing logical functions, which can be embodied specifically in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or used in conjunction with these instruction execution systems, apparatus, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable media on which the program can be printed, as the program can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpretation, or otherwise processing as appropriate, and then stored in a computer memory.

[0098] It should be understood that various parts of the present application can be implemented by hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application-specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), and the like.

[0099] Those of ordinary skill in the art of this technology can understand that all or part of the steps carried by the method of the above-described embodiments can be completed by a program instructing relevant hardware, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0100] In addition, each functional unit in various embodiments of the present application may be integrated into one processing module, may exist physically alone for each unit, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0101] The above-mentioned storage medium may be a read-only memory, a magnetic disk, an optical disc, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A navigation method for side coal mining equipment based on fluorescence marking of directional long boreholes, characterized in that, Including the following steps: Using a directional drill to drill to the stop line in the coal-pressed area of the side slope to obtain a long borehole, determining the three-dimensional trajectory of the long borehole in the global coordinate system, and filling the long borehole with a fluorescent filling body; When the side-slope coal mining equipment is at any position in the mining chamber, obtaining the coordinate reference point of the mining equipment in the carrier coordinate system, determining the global coordinates of the current intersection point between the fluorescent filling body and the coal wall based on the three-dimensional trajectory, and determining the carrier coordinates of the current intersection point in the carrier coordinate system; Based on the deviation from the three-dimensional trajectory, on the premise that the coordinate reference point in the carrier coordinate system remains stationary, controlling the mining equipment to cut forward by no less than 2 cutting depths, and when each cutting depth is completed, obtaining the global coordinates and carrier coordinates of the newly generated intersection point between the fluorescent filling body and the coal wall; Determining the transformation relationship between the global coordinate system and the carrier coordinate system according to the two coordinate information of each intersection point, and determining the positioning information of the mining equipment at the any position according to the transformation relationship, where the positioning information includes the global coordinates of the coordinate reference point and the attitude of the mining equipment; Controlling the mining equipment to move to the next position according to the positioning information at the any position, and using the positioning information at the any position to repeat the cutting at the next position and the calculation of the coordinate information and attitude information until reaching the stop line; 2. The method according to claim 1, characterized in that The coal-pressed area of the side slope includes a plurality of mining strips, and the step of using a directional drill to drill to the stop line in the coal-pressed area of the side slope includes: Controlling the directional drill to drill along the center line in the width direction of the mining strip on the horizontal plane, and controlling the directional drill to drill in a wavy shape on the vertical plane, where the wavy trajectory of the long borehole is between the floor and the roof of the coal-pressed area of the side slope; Analyzing the coal seam thickness of the coal-pressed area of the side slope according to the wavy trajectory; 3. The method according to claim 1, wherein The mining equipment includes: an ultraviolet light source, a laser rangefinder, and a binocular camera. The mining equipment is connected to a conveyor belt. The step of determining the global coordinates of the current intersection point between the fluorescent filling body and the coal wall based on the three-dimensional trajectory includes: Measuring the first distance between itself and the coal wall through the laser rangefinder, measuring the second distance of the conveyor belt in the mining chamber, and the third distance between the connection point of the conveyor belt and the mining equipment and the laser rangefinder; Calculating the current mining length of the mining chamber according to the first distance, the second distance, and the third distance, and determining the global coordinates of the current intersection point according to the current mining length and the three-dimensional trajectory; 4. The method according to claim 3, wherein The step of determining the carrier coordinates of the current intersection point in the carrier coordinate system includes: Irradiating the coal wall through the ultraviolet light source so that the fluorescent filling body at the current intersection point emits visible light; Taking a picture of the coal wall through the binocular camera, identifying the current intersection point in the obtained image, and obtaining the carrier coordinates of the current intersection point in the carrier coordinate system through a three-dimensional positioning algorithm; 5. The method according to claim 3, wherein After determining the carrier coordinates of the current intersection point in the carrier coordinate system, including: Obtain the video images of the mining equipment at different positions collected by the binocular camera, and analyze the changes of the intersection point between the fluorescent filling body and the coal wall in the video images at different positions; When the intersection point between the fluorescent filling body and the coal wall is lost in the video image, execute the navigation deviation protection measure.

6. The method according to claim 3, characterized in that When the laser rangefinder is located outside the mining drift, the calculation of the current mining length of the mining drift further includes: Measure the fourth distance between the laser rangefinder and the exposed surface of the coal seam; Calculate the difference between the first distance and the fourth distance, and use the difference as the current mining length of the mining drift.

7. The method according to claim 3, characterized in that, The obtaining of the global coordinates of the newly generated intersection point between the fluorescent filling body and the coal wall includes: Measure the real-time distance between the laser rangefinder and the coal wall generated after cutting through the laser rangefinder, and update the first distance to the real-time distance; Calculate the real-time mining length of the mining drift after cutting according to the updated first distance, the second distance, and the third distance.

8. A navigation system for side coal mining equipment based on directional long borehole fluorescence marking, characterized in that, Includes the following modules: A drilling module, configured to use a directional drill to drill to the stop line in the side coal pressing area to obtain a long borehole, determine the three-dimensional trajectory of the long borehole in the global coordinate system, and fill the fluorescent filling body in the long borehole; A determination module, configured to obtain the coordinate reference point of the mining equipment in the carrier coordinate system when the side coal mining equipment is at any position in the mining drift, determine the global coordinates of the current intersection point between the fluorescent filling body and the coal wall based on the three-dimensional trajectory, and determine the carrier coordinates of the current intersection point in the carrier coordinate system; A cutting module, configured to control the mining equipment to cut forward by no less than 2 cutting depths on the premise that the coordinate reference point in the carrier coordinate system remains stationary based on the deviation from the three-dimensional trajectory, and obtain the global coordinates and carrier coordinates of the newly generated intersection point between the fluorescent filling body and the coal wall every time a cutting depth is completed; A positioning module, configured to determine the transformation relationship between the global coordinate system and the carrier coordinate system according to the two coordinate information of each intersection point, and determine the positioning information of the mining equipment at any position according to the transformation relationship, where the positioning information includes the global coordinates of the coordinate reference point and the attitude of the mining equipment; A loop module, configured to control the mining equipment to move to the next position according to the positioning information at any position, and use the positioning information at any position to repeat the cutting at the next position and the calculation of the coordinate information and attitude information until the stop line is reached.

9. The system according to claim 8, wherein The side coal pressing area includes multiple mining strips, and the drilling module is specifically configured to: Control the directional drill to drill along the center line of the width direction of the mining strip on the horizontal plane, and control the directional drill to drill in a wavy shape on the vertical plane, where the wavy trajectory of the long borehole is between the floor and the roof of the side coal pressing area; Analyze the coal seam thickness of the side coal pressing area according to the wavy trajectory.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the side coal mining equipment navigation method based on directional long borehole fluorescence marking according to any one of claims 1-7.

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