Distance measurement method and device between driving and anchoring all-in-one machine and rear corollary equipment, electronic equipment and storage medium

Abstract

The invention belongs to the technical field of coal mine tunneling equipment control, and provides a distance measurement method and device between a tunneling and anchoring all-in-one machine and rear corollary equipment, electronic equipment and a storage medium in order to solve the technical problem that safe machine following cannot be achieved due to the fact that continuous and reliable distance measurement between the equipment cannot be achieved in the severe environments of underground dust, metal shielding, vibration and the like at present. The method comprises the following steps: deploying UWB, infrared thermal imaging and ultrasonic radar sensors, dynamically distributing weight coefficients according to real-time environmental parameters, and obtaining an accurate distance measurement value through a multi-stage fusion algorithm; and a safe distance self-adaptive mechanism based on the roadway gradient and the equipment load rate is introduced, and the following speed of the rear corollary equipment is dynamically controlled. The anti-interference capability and the environmental adaptability of the distance measuring system are effectively improved, the collision risk is remarkably reduced, the consistency and the precision of material conveying alignment are guaranteed, meanwhile, the system cost is reduced, and reliable support is provided for intelligent collaborative operation of a coal mine.

Description

Technical Field

[0001] This invention belongs to the field of coal mine tunneling equipment control technology, specifically relating to a distance measurement method, device, electronic equipment, and storage medium between a tunneling and anchoring integrated machine and its supporting equipment. Background Technology

[0002] Collaborative control of multiple machines is a crucial function of intelligent coal mining. Following and collision-avoiding between machines are key components of this collaborative control. Accurate measurement and sensing of the distance between machines is a prerequisite for achieving this. While the integrated roadheader-anchor (TOA) is now widely used as the leading equipment for rapid coal mining, its supporting equipment typically includes bolt transfer machines and shuttle cars. Currently, however, the collaborative following between the TOA and its supporting equipment is not yet routine, severely hindering the development of intelligent coal mining and reducing tunneling efficiency. The fundamental reason for this lack of coordination lies in the inability to accurately measure the distance between the TOA and its supporting equipment. Inaccurate sensing directly leads to control deviations and safety issues. The TOA needs to maintain a precise distance from its supporting equipment to ensure material transport alignment and collision avoidance. Although various methods such as ultrasonic, UWB, and lidar are currently used, none can achieve accurate measurement in harsh or heavily obstructed environments, and detailed planning and design for distance measurement methods have not been developed.

[0003] Existing distance measurement methods between integrated tunneling and anchoring machines and their supporting equipment suffer from the following main problems: While UWB distance measurement is highly resistant to interference, it is prone to signal attenuation in underground environments with severe metal obstructions; infrared thermal imaging relies on equipment temperature changes, but dust cover may reduce the accuracy of thermal radiation detection; ultrasonic radar is susceptible to dust and vibration interference, and is only suitable for short-range supplementary distance measurement, with significant limitations in single-sensor measurements. Existing solutions are mostly based on static or single-point distance measurement, making it difficult to adapt to real-time position changes during equipment movement; high-precision solutions such as lidar are expensive, have poor environmental adaptability, are easily damaged, and are difficult to apply on a large scale in underground coal mines. In practical applications, the distance accuracy between the integrated tunneling and anchoring machine and its supporting equipment does not need to be too high, and its main purpose is to achieve alignment and collision prevention during material transport and unloading while following the machine. Furthermore, its working scenarios are not all dusty environments during cutting; the distance measurement environment and requirements vary in different working scenarios. Summary of the Invention

[0004] In order to solve at least one of the above-mentioned technical problems in the prior art, the present invention provides a distance measurement method, device, electronic equipment and storage medium between a coal mine tunneling and anchoring integrated machine and its supporting equipment.

[0005] According to the first aspect, a distance measurement method between a coal mine tunneling and anchoring integrated machine and its supporting equipment includes the following steps: S1: Acquire UWB data, infrared thermal imaging data, ultrasonic data, and environmental parameters during the operation of the tunneling and anchoring machine and its supporting equipment, and adjust the weight ratio of the UWB data, infrared thermal imaging data, and ultrasonic data based on the environmental parameters to obtain the corresponding first weight coefficient, second weight coefficient, and third weight coefficient. The environmental parameters include dust concentration, metal obstruction strength, and tunneling and anchoring machine movement speed. S2: Based on the first weighting coefficient, the second weighting coefficient, and the third weighting coefficient, the UWB data, infrared thermal imaging data, and ultrasonic data are fused and calculated using a multi-level fusion algorithm to obtain the real-time distance between the tunneling and anchoring integrated machine and the supporting equipment. S3: Based on the comparison between the real-time distance and the safe distance threshold, control the following speed and position offset of the supporting equipment according to the comparison result.

[0006] Preferably, step S2 involves fusing the UWB data, infrared thermal imaging data, and ultrasonic data using a multi-level fusion algorithm, including: An improved Kalman filter is used to predict the state of the UWB data, infrared thermal imaging data, and ultrasonic data. The state prediction results are fused using a weighted least squares method based on the first weighting coefficient, the second weighting coefficient, and the third weighting coefficient.

[0007] Preferably, the dynamic adjustment of the safety distance threshold in step S3 includes: Real-time data collection of the roadway slope angle where the integrated tunneling and anchoring machine is located, as well as the equipment load rate during operation of the integrated tunneling and anchoring machine; When the roadway slope angle increases or the equipment load rate increases, the safety distance threshold increases; when the roadway slope angle decreases or the equipment load rate decreases, the safety distance threshold decreases.

[0008] Preferably, the formula for dynamically adjusting the safety distance threshold is: In the formula, This is the baseline value for safe distance; The slope angle of the tunnel; slope angle correction factor ; The load factor is the equipment load rate, ranging from 0 to 1; the load rate correction factor is... .

[0009] According to a second aspect, a distance measuring device between a coal mine roadheader and its supporting equipment is provided, capable of performing a distance measuring method between a coal mine roadheader and its supporting equipment as described in the first aspect and any preferred embodiment, including: The sensor array is used to collect UWB data, infrared thermal imaging data, ultrasonic data, and environmental parameters during the operation of the tunneling and anchoring machine and its supporting equipment. The control terminal is used to receive data collected by the sensor group, process the data, and generate corresponding control commands based on the data processing results. An actuator is used to respond to the control command and control the movement of the integrated tunneling and anchoring machine and its supporting equipment. The sensor group and the control terminal establish a data connection through a communication module, and the control terminal and the actuator are connected through a drive module.

[0010] Preferably, the sensor group includes a UWB ranging module, an infrared thermal imager, and an ultrasonic radar; The UWB ranging module includes UWB base stations deployed on the left and right rear sides of the tunneling and anchoring machine, and UWB tags set opposite to each other on the rear supporting equipment. The UWB base stations and the UWB tags form a dual-side ranging link and are connected to the control unit via a CAN bus. The infrared thermal imager is installed at the front end of the rear supporting equipment and is located at the center line of the rear supporting equipment. It focuses on the drive motor area of ​​the tail of the tunneling and anchoring machine transport machine. The collected infrared thermal imaging data is transmitted to the control terminal via Ethernet. The ultrasonic radar is installed at a 15° downward angle at the tail end of the tunneling and anchoring machine, and at least three ultrasonic radars are installed side by side, with a monitoring range covering at least a 120° fan-shaped area. It is connected to the control terminal via a CAN bus.

[0011] Preferably, the control terminal includes a main control unit, a power supply module, a drive module, a display module, and a communication module; The main control unit includes a tunneling and anchoring machine controller and a downstream equipment controller. The tunneling and anchoring machine controller receives data collected by the sensor group and performs fusion calculations. The downstream equipment controller receives data transmitted by the tunneling and anchoring machine controller via Ethernet and extracts the motion control information of the downstream equipment based on the transmitted data. The power supply module includes an intrinsically safe power supply module and a switching power supply module. The intrinsically safe power supply module is used to supply power to the sensor group and the communication module, and the switching power supply module supplies power to the main control unit, the drive module and the display module. The drive module includes a motor driver and a solenoid valve driver, and is used to select the corresponding driver according to the control command generated by the main control unit. The display module includes an industrial computer and a display screen. The industrial computer communicates with the integrated tunneling and anchoring machine controller, the downstream equipment controller, and the infrared thermal imager via a network. The display screen is used for image data, sensor ranging data, and the operation status of the integrated tunneling and anchoring machine and the downstream equipment. The communication module includes an intrinsically safe base station for mining and a switch; the intrinsically safe base station for mining is used to realize Ethernet signal transmission between the tunneling and anchoring machine and the supporting equipment; the switch is used to connect the tunneling and anchoring machine controller, display module and infrared thermal imager.

[0012] Preferably, the actuator further includes an audible and visual alarm for receiving control commands generated by the control terminal, and for use in collision prevention alarms and equipment action warnings.

[0013] Thirdly, the present invention provides a computer device, comprising: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to perform a distance measurement method between a coal mine tunneling and anchoring integrated machine and its supporting equipment as described in the first aspect or any corresponding embodiment.

[0014] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute a distance measurement method between a coal mine tunneling and anchoring integrated machine and its supporting equipment, as described in the first aspect or any corresponding embodiment.

[0015] Compared with the prior art, the beneficial effects of the present invention are: This invention provides a distance measurement method, device, electronic equipment, and storage medium between a coal mine tunneling and anchoring machine and its supporting equipment. Based on the practicality of complex underground working conditions, it achieves highly robust continuous distance measurement and safe collaborative control between the tunneling and anchoring machine and its supporting equipment through multi-sensor collaborative fusion and dynamic control mechanism within the sensor group. This significantly reduces the risk of collisions and improves the alignment accuracy of material conveying.

[0016] This invention proposes a multi-sensor complementary deployment and dynamic weight allocation mechanism. It creatively designs differentiated layout strategies for UWB, infrared thermal imaging and ultrasonic radar to address interference sources such as dust, metal obstruction and vibration. Based on real-time environmental parameters, it dynamically adjusts the weights of the corresponding sensor data, breaking through the failure bottleneck of a single sensor in harsh environments and ensuring the continuity and reliability of ranging data.

[0017] This invention employs a hierarchical fusion algorithm and adaptive safety control logic, using a multi-level fusion model combining improved Kalman filtering and weighted least squares method. It improves ranging accuracy in mobile scenarios through dynamic correction of state equations and noise covariance. At the same time, it designs an adaptive formula for following distance, introducing roadway slope and equipment load rate to dynamically adjust the safety threshold, thereby achieving a balance between collision avoidance and following continuity.

[0018] This invention reduces system communication load by constructing a distributed control architecture and a lightweight engineering implementation scheme, and by dividing the computing tasks between the integrated tunneling and anchoring machine controller and the downstream equipment controller. On the hardware side, it adopts intrinsically safe sensors for mining and a modular power supply design to ensure stable operation of the device in an explosion-proof environment.

[0019] This invention achieves deep scene adaptation between algorithms and hardware. Compared with high-cost LiDAR solutions, this device reduces hardware costs through sensor selection and layout optimization. At the software level, it abandons complex neural network models and adopts a lightweight fusion algorithm, which not only meets real-time requirements but also accumulates a feature library for subsequent data-driven optimization.

[0020] In summary, the ranging system described in this invention has strong environmental adaptability, real-time control, and easy engineering deployment. It has been successfully applied to underground tunneling faces, providing reliable technical support for intelligent collaborative operations in coal mines. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 A schematic diagram of the distance measuring device between a coal mine tunneling and anchoring integrated machine and its supporting equipment provided by the present invention; Figure 2 This invention provides a schematic diagram of the sensor group deployment between a coal mine tunneling and anchoring integrated machine and its supporting equipment. Figure 3 This invention provides a distance measurement method between a coal mine tunneling and anchoring integrated machine and its supporting equipment; Figure 4 The flowchart of the multi-sensor weight allocation and fusion algorithm provided by the present invention; Figure 5 This is a schematic diagram of the adaptive control process for the following distance between the integrated tunneling and anchoring machine and its supporting equipment provided by the present invention. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportional relationships, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should fall within the scope of the technical content disclosed in the present invention. It should be noted that in this specification, relational terms such as "first" and "second" are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0025] In coal mine tunneling operations, there are currently many challenging problems. On the one hand, the large size and complex operation of the tunneling and anchoring machine make accurate distance measurement and safe following of the machine and its supporting equipment extremely difficult. On the other hand, the harsh underground environment, with frequent interference factors such as dust, metal obstructions, and vibrations, easily leads to distortion of sensor data, affecting continuous distance measurement and real-time position calibration during the movement of the tunneling and anchoring machine and its supporting equipment.

[0026] This invention addresses the aforementioned problems, achieving accurate distance measurement and safe following of the integrated tunneling and anchoring machine and its supporting equipment under complex conditions. Simultaneously, it overcomes the sensor data distortion caused by underground interference, enabling continuous distance measurement and real-time position calibration during the movement of the integrated tunneling and anchoring machine and its supporting equipment. Furthermore, through multi-sensor complementary fusion, hardware costs are reduced while ensuring functional requirements are met. This invention improves equipment quality and intelligence; its hardware structure, especially its software algorithms, serves as a typical demonstration for the following movement of other coal mine tunneling equipment such as continuous coal mining machines, tunneling machines, and anchor bolting machines, and can be further promoted and applied.

[0027] To more clearly illustrate the above-mentioned objectives, features, and advantages of the present invention, a further detailed description is provided below in conjunction with the accompanying drawings and specific embodiments.

[0028] A distance measurement method between a tunneling and anchoring machine and its supporting equipment includes a sensor group deployment and data acquisition method, a data fusion and error correction method, and an equipment control and feedback mechanism. The sensor group deployment and data acquisition method mainly refers to the installation positions and distance measurement principles of different types of distance measuring sensors on the tunneling and anchoring machine and its supporting equipment. The data fusion and error correction method includes multi-sensor priority logic, multi-sensor weight allocation, and fusion algorithms. The equipment control and feedback mechanism includes inter-equipment position alignment control, anti-collision logic, and adaptive following distance method. In this invention, the distance measurement method is illustrated using an anchor bolt transfer machine as an example of its supporting equipment.

[0029] like Figure 1 The diagram shows a distance measuring device between a coal mine tunneling and anchoring machine and its supporting equipment, including: The sensor array is used to collect UWB data, infrared thermal imaging data, ultrasonic data, and environmental parameters during the operation of the tunneling and anchoring machine and its supporting equipment. The control terminal is used to receive data collected by the sensor group, process the data, and generate corresponding control commands based on the data processing results. An actuator is used to respond to the control command and control the movement of the integrated tunneling and anchoring machine and its supporting equipment. The sensor group and the control terminal establish a data connection through a communication module, and the control terminal and the actuator are connected through a drive module.

[0030] Optionally, the sensor group includes a UWB ranging module, an infrared thermal imager, and an ultrasonic radar. The UWB ranging module includes UWB base stations deployed on the left and right rear sides of the tunneling and anchoring machine, respectively, and UWB tags positioned opposite each other on the rear supporting equipment. The UWB base stations and the UWB tags form a dual-sided ranging link and are connected to the control unit via a CAN bus. The infrared thermal imager is installed at the front end of the rear supporting equipment and is located at the center line of the rear supporting equipment, focusing on the drive motor area at the tail of the tunneling and anchoring machine. The collected infrared thermal imaging data is transmitted to the control terminal via Ethernet. The ultrasonic radar is installed at a 15° downward tilt at the tail end of the tunneling and anchoring machine, and at least three ultrasonic radars are installed side by side, with a monitoring range covering at least a 120° fan-shaped area. It is connected to the control terminal via a CAN bus.

[0031] In this embodiment, as Figure 2As shown, the UWB ranging module includes two UWB base stations and two UWB tags. Each UWB positioning base station corresponds one-to-one with a UWB tag. The base stations use the Decawave DW3000 chipset, supporting the 6.8GHz frequency band, with a maximum ranging range of 80m. Both the base stations and tags are powered by DC12V. The base stations transmit real-time distance data to the tunneling and anchoring machine controller via a CAN bus. Simultaneously, the tunneling and anchoring machine controller transmits the data to the downstream equipment controller via the Modbus TCP protocol. The UWB base stations and tags are designed with dedicated mounting brackets for easy and quick installation and removal.

[0032] In this embodiment, on the left rear side of the integrated tunneling and anchoring machine, as shown... Figure 2 Point A in the middle and the right rear side are as follows Figure 2 One UWB base station is installed at point B in the middle section. UWB tags are installed at points A' and B' corresponding to the anchor bolt transfer machine to form ranging links A-A' and B-B' on the left and right sides. The horizontal distance between the two sides is calculated by the time-of-flight algorithm to monitor the lateral offset between the tunneling and anchoring machine and the anchor bolt transfer machine in real time, and the longitudinal distance between the tunneling and anchoring machine and the anchor bolt transfer machine is measured as an auxiliary judgment.

[0033] In this embodiment, as Figure 2 As shown, the infrared thermal imager is powered by DC12V, has a resolution of 160×120, and a temperature measurement range of -10℃ to 400℃. The image data is transmitted to the display module via Ethernet for analysis and calculation. At the same time, the image recognition data is transmitted to the integrated tunneling and anchoring machine controller and the downstream equipment controller for real-time distance judgment. The infrared thermal imager is equipped with a self-cleaning device to reduce the impact of dust and water mist on the recognition accuracy.

[0034] In this embodiment, at the front end of the anchor bolt transfer machine, such as Figure 2 An infrared thermal imaging camera is installed at point C, focusing on the drive motor area at the tail of the tunneling and anchoring machine transporter. The temperature of the transport motor of the tunneling and anchoring machine is significantly higher than that of the environment when it is working. Based on the location of the heat source and image features, the longitudinal distance between the tail of the tunneling and anchoring machine transporter and the anchor bolt transfer machine is calculated, and the influence of dust obstruction is eliminated through edge detection algorithm. In this embodiment, as Figure 2 As shown, the ultrasonic radar is powered by DC12V and transmits data to the tunneling and anchoring machine controller via CAN bus. The tunneling and anchoring machine controller also transmits data to the downstream equipment controller via ModbusTCP protocol. A total of 3 ultrasonic radars are installed. The detection angle of each ultrasonic radar is 40° and the frequency is 40kHz. The ultrasonic radars are installed at a 15° downward tilt to avoid coal block accumulation affecting detection.

[0035] In this embodiment, at the tail end of the transport machine of the integrated tunneling and anchoring machine, such as... Figure 2An ultrasonic radar array, consisting of three ultrasonic radar sensors, is installed in the D area, covering a 120° fan-shaped area. When the dust concentration is below a preset threshold, it provides short-range, high-frequency ranging data as a supplementary verification to UWB and infrared.

[0036] Optionally, the control terminal includes a main control unit, a power supply module, a drive module, a display module, and a communication module. The main control unit includes a tunneling and anchoring machine controller and a downstream equipment controller. The tunneling and anchoring machine controller receives data collected by the sensor group and performs fusion calculations. The downstream equipment controller receives data transmitted by the tunneling and anchoring machine controller via Ethernet and extracts the motion control information of the downstream equipment based on the transmitted data. The power supply module includes an intrinsically safe power supply module and a switching power supply module. The intrinsically safe power supply module supplies power to the sensor group and the communication module. The switching power supply module is used for the main control unit, the drive module, and the display module. Power supply; the drive module includes a motor driver and a solenoid valve driver, used to select the corresponding driver according to the control instructions generated by the main control unit; the display module includes an industrial computer and a display screen, the industrial computer communicates with the tunneling and anchoring machine controller, the downstream equipment controller and the infrared thermal imager via a network, and the display screen is used for image data, sensor ranging data and the operation status of the tunneling and anchoring machine and the downstream equipment; the communication module includes a mining intrinsically safe base station and a switch; the mining intrinsically safe base station is used to realize Ethernet signal transmission between the tunneling and anchoring machine and the downstream equipment; the switch is used to connect the tunneling and anchoring machine controller, the display module and the infrared thermal imager.

[0037] In this embodiment, the integrated tunneling and anchoring machine controller is responsible for collecting signals from all sensor groups, and simultaneously completes the operation control of the multi-sensor deployment and data acquisition method, data fusion and error correction method, and equipment control and feedback mechanism. It has an Ethernet interface and a CAN bus interface. The downstream equipment controller only directly collects the image data recognized by the infrared thermal imager through the display module. The remaining sensor data is transmitted to the downstream equipment controller via Ethernet through the integrated tunneling and anchoring machine controller. The downstream equipment controller only completes the action parts of the sensor group deployment and data acquisition method and the equipment control and feedback mechanism related to the downstream equipment, and does not perform sensor data fusion algorithm calculations. It also has an Ethernet interface and a CAN bus interface.

[0038] In this embodiment, the power supply module mainly includes an intrinsically safe power supply module and a 24V switching power supply module. There are four intrinsically safe power supplies, with an input of DC24V and an output of DC12V, and a single operating current of 1.5A. They supply power to the infrared thermal imager, three ultrasonic radars, two sets of UWB ranging base stations, and the communication module, respectively. There is one 24V switching power supply module, with an input of AC127V and an output of DC24V, and an operating current of 10A. It supplies power to the main control unit, the drive module, and the display module.

[0039] In this embodiment, the drive module includes two types. If the movement of the tunneling and anchoring machine and the supporting equipment is driven by a motor, the drive module is a motor driver. The main control unit sends the calculated control command to the motor driver. If the movement is driven by hydraulics, the drive module is a solenoid valve driver. The main control unit sends the calculated control command to the solenoid valve driver. Finally, the control command is converted into a control current in the drive module to drive the walking motor or walking cylinder to work.

[0040] In this embodiment, the industrial control computer mainly communicates with the integrated tunneling and anchoring machine controller, the downstream equipment controller, and the infrared thermal imager via network, and displays the collected data on the display screen, including image data, distance measurement data from the sensor group, and the operating status of the integrated tunneling and anchoring machine and the downstream equipment.

[0041] In this embodiment, the communication module includes an intrinsically safe base station for mining and a switch. The intrinsically safe base station for mining is used to realize Ethernet signal transmission between the tunneling and anchoring machine and the supporting equipment. The switch is used to realize communication between the tunneling and anchoring machine controller and the display module and the infrared thermal imager.

[0042] Optionally, the actuator further includes an audible and visual alarm for receiving control commands generated by the control terminal, and for use in collision prevention alarms and equipment action warnings.

[0043] In this embodiment, the actuator includes an audible and visual alarm, a walking motor or a walking hydraulic cylinder. The audible and visual alarm is mainly used to realize anti-collision alarm and equipment action warning. The alarm command comes from the controller of the tunneling and anchoring machine. The walking motor or walking hydraulic cylinder receives the control command of the drive module to realize the forward and reverse rotation of the walking motor and the extension and retraction of the cylinder, and finally realizes the walking of the tunneling and anchoring machine and the walking of the supporting equipment in different directions and speeds.

[0044] like Figure 3 As shown in the figure, this embodiment of the invention provides a distance measurement method between a coal mine tunneling and anchoring integrated machine and its supporting equipment, including the following steps: S1: Acquire UWB data, infrared thermal imaging data, ultrasonic data, and environmental parameters during the operation of the tunneling and anchoring machine and its supporting equipment, and adjust the weight ratio of the UWB data, infrared thermal imaging data, and ultrasonic data based on the environmental parameters to obtain the corresponding first weight coefficient, second weight coefficient, and third weight coefficient. The environmental parameters include dust concentration, metal obstruction strength, and tunneling and anchoring machine movement speed. S2: Based on the first weighting coefficient, the second weighting coefficient, and the third weighting coefficient, the UWB data, infrared thermal imaging data, and ultrasonic data are fused and calculated using a multi-level fusion algorithm to obtain the real-time distance between the tunneling and anchoring integrated machine and the supporting equipment. S3: Based on the comparison between the real-time distance and the safe distance threshold, control the following speed and position offset of the supporting equipment according to the comparison result.

[0045] In this embodiment, the main control module prioritizes UWB data. When UWB data is lost, it switches to infrared thermal imaging data. Ultrasonic data is only used for collision warning and does not participate in dynamic tracking control. The multi-sensor weight allocation and fusion algorithm is as follows: sensor weights are dynamically adjusted according to different environmental parameters, and the specific rules are shown in Table 1 below. in, , , These are the first, second, and third weighting coefficients corresponding to UWB data, infrared thermal imaging data, and ultrasonic data, respectively, satisfying... The weighting percentages are dynamically adjusted based on real-time sensor confidence levels, such as signal strength and noise ratio. A multi-level fusion algorithm combining an improved Kalman filter and weighted least squares is used to measure the distance. The system state variables are: In the formula, Indicates horizontal distance; Indicates vertical distance; This indicates relative velocity.

[0046] The horizontal and longitudinal distribution of the relative positions between the tunneling and anchoring machine and its supporting equipment, as well as their relative velocities during movement, are the core state parameters for determining safe distances and controlling follow-up motion. Therefore, they are used as system state variables in the modeling. The state prediction equation is as follows: In the formula, express Predicted state at time (based on) (System state variables at time 1) Represents the state transition matrix; express System state variables at any given time; Represents the control input matrix; This represents the acceleration of the tunneling and anchoring machine and its supporting equipment. Since the movement of the tunneling and anchoring machine and its supporting equipment is controlled by acceleration, it is used as a control input term and controlled through a control input matrix. and Multiplication reflects the effect of acceleration on state variables; To represent process noise, in the actual environment, factors such as the impact of the roadway floor environment, coal piles, and floating coal, which cannot be accurately modeled, such as the movement of the roadway integrated tunneling and anchoring machine and its supporting equipment, are uniformly represented by Gaussian white noise. express, The process noise covariance matrix represents the statistical characteristics of the noise and is determined through experimental statistics and system identification methods.

[0047] The observation equation is: In the formula, The observation matrix represents the system state. This is converted into a form that matches the dimension of the observed values. If the sensor array observes physical quantities related to distance and velocity, then... Through physical relationships, The predictive quantity that is linearly combined into the observation value is essentially the transformation rule from "state to observation"; The observation noise is used to represent the random characteristics of these errors because each sensor in the sensor group has measurement errors such as hardware precision and environmental interference. The observed values ​​cannot perfectly match the mapping results of the real state.

[0048] In this embodiment, the noise covariance matrix Based on the dynamic adjustment of the weight ratio of each sensor in the sensor group, from an engineering perspective, sensors with high confidence should have a lower proportion of error impact on the overall system observation; sensors with low confidence should have a higher proportion of error impact. Therefore, according to the normalized weight coefficients in Table 1... and sensor calibration error The covariance term of a single sensor error is designed as Based on the above logic, the noise covariance matrix is ​​constructed. The diagonal elements correspond to the weighted covariance of each sensor error, while the off-diagonal elements are 0.

[0049] Constructed covariance matrix As shown in the following formula: In the formula, , , These are the calibration errors of the UWB ranging module, the infrared thermal imager, and the ultrasonic radar, respectively.

[0050] In this embodiment, the flowchart of the multi-sensor weight allocation and fusion algorithm is as follows: Figure 4 As shown. The weighted least squares method is used to fuse the state prediction results, and the fusion formula is shown below: In the formula, Indicates the normalized weighting coefficient; This represents the measurement data from each sensor.

[0051] In this embodiment, a device control and feedback mechanism is set based on real-time distance and safe distance thresholds. This mechanism includes position alignment control between the integrated tunneling and anchoring machine and its downstream support equipment, anti-collision logic, and a adaptive following distance method. Position alignment control between the integrated tunneling and anchoring machine and its downstream support equipment mainly refers to the alignment control between the conveyor tail of the integrated tunneling and anchoring machine and the receiving hopper of the anchor bolt transfer machine. When the horizontal offset between the conveyor tail and the receiving hopper of the anchor bolt transfer machine exceeds 30cm, an audible and visual alarm is triggered, and a speed adjustment command is sent to the actuator via industrial Ethernet. A coordinate system is established based on the inertial measurement unit of the integrated tunneling and anchoring machine, while assuming the center coordinates of the conveyor tail are... The center of the receiving hopper of the anchor bolt transfer machine is located at... Horizontal offset It is calculated using the formula for the distance between two points.

[0052] when An alarm is triggered at any time. The UWB ranging module provides horizontal [measurement / position]. Infrared thermal imagers provide longitudinal distance. The PID control algorithm is used to generate the speed correction value for the traveling motor of the tunneling and anchoring machine. Proportion value .

[0053] In this embodiment, if the ultrasonic radar detects an obstacle at a distance of less than 1m, the travel power of the tunneling and anchoring machine is immediately cut off, and emergency braking is initiated. Specifically, three ultrasonic radar arrays cover a 120° fan-shaped area, and the minimum distance is taken as the effective value to avoid single-point failure. When the distance measured by the ultrasonic radar is less than 1m and remains so for more than 200ms, it is considered an emergency collision risk. In this case, the power supply to the entire machine should be cut off first, and an audible and visual alarm signal should be triggered simultaneously.

[0054] In this embodiment, adaptive following distance refers to dynamically adjusting the safety distance threshold based on the roadway slope angle and equipment load rate, with a default value of 3-5m, to ensure the continuity of the bolt transfer machine's following movement. The dynamic adjustment formula for the safety distance threshold is: In the formula, This is the baseline value for safe distance; The slope angle of the tunnel; slope angle correction factor ; This represents the equipment load rate, with a value ranging from 0 to 1. .

[0055] In this embodiment, the tunnel slope angle Real-time measurement is performed using the inertial measurement unit within the integrated tunneling and anchoring machine; equipment load rate. The calculation is performed using the hydraulic pressure sensor inside the tunneling and anchoring machine. The principle behind the dynamic adjustment formula for the safety distance threshold is as follows: First, a benchmark term needs to be determined; in actual engineering, this means first determining the benchmark value for the safety distance. This is under conditions where the tunnel slope is 0 and the equipment has no additional load (load rate). Under ideal and simple working conditions, the basic safety distance that ensures the continuous movement of the bolt transfer machine is the benchmark term of the formula, serving as the basis for subsequent corrections. Secondly, it is necessary to analyze the influencing factors and correction coefficients, including the roadway slope angle. The impact is as follows: when the roadway has a slope, the inertia of the equipment and the tendency of materials to slide will change the safety distance requirements. The greater the slope, the greater the risk of additional displacement caused by the component of gravity during equipment start-up, shutdown, and operation, requiring an increased safety distance. Therefore, a slope angle correction coefficient is introduced. Through extensive field tests and simulations The incremental patterns of safety distance under different slopes were statistically analyzed, and the coefficients that matched the slope angle were fitted. The form reflects how the slope increases the safety distance proportionally from the baseline value; the impact of equipment load rate L is as follows: the higher the equipment load rate, the greater the operating inertia, the slower the start-stop response, and the greater the required safety distance. Similarly, through engineering tests, the relationship between load rate and safety distance requirements is statistically analyzed to determine the load rate correction coefficient. ( (The load rate correction factor for the experimental fitting) is used The form reflects how the load causes the safety distance to increase proportionally from the baseline value. Finally, considering the influence of the baseline safety distance value, the roadway slope angle, and the equipment load rate, the above-mentioned dynamic adjustment formula for the safety distance threshold is obtained. Thus, when the roadway slope angle increases or the equipment load rate increases, the safety distance will increase accordingly from the baseline value, adapting to the need for dynamic adjustment of the safety distance due to changes in working conditions in engineering projects. Subsequently, by combining the actual distance with the safety distance, adaptive control of the anchor bolt transfer machine's following speed can be achieved.

[0056] In this embodiment, the adaptive control process for the following distance between the integrated tunneling and anchoring machine and its supporting equipment is as follows: Figure 5 As shown, firstly, the roadway slope angle and equipment load rate are acquired in real time; secondly, the safety distance threshold is dynamically adjusted according to the formula. If the actual distance is greater than the updated safe distance threshold, the following speed of the anchor bolt transfer machine is reduced; if the actual distance is less than the updated safe distance threshold, the supporting equipment behind it is controlled to accelerate.

[0057] This invention also provides a computer device having the above-described features. Figure 1 The image shows a distance measuring device between a coal mine tunneling and anchoring integrated machine and its supporting equipment.

[0058] An optional embodiment of the present invention provides a computer device comprising: one or more processors, memory, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components are interconnected via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processor can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on an external input / output device (such as a display device coupled to the interface). In some optional embodiments, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system).

[0059] The processor can be a central processing unit, a network processor, or a combination thereof. The processor may further include hardware chips. These hardware chips can be application-specific integrated circuits (ASICs), programmable logic devices (PLDs), or combinations thereof. The programmable logic devices can be complex programmable logic devices (CLPs), field-programmable gate arrays (FPGAs), general-purpose array logic (GDAs), or any combination thereof.

[0060] The memory stores instructions executable by at least one processor to cause the at least one processor to perform the method shown in the above embodiments.

[0061] The memory may include a stored program area and a stored data area, wherein the stored program area may store the operating system and application programs required for at least one function; the stored data area may store data created based on the use of the computer device, etc. Furthermore, the memory may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory may optionally include memory remotely located relative to the processor, which can be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0062] The memory may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory may also include a combination of the above types of memory.

[0063] The computer device also includes a communication interface for communicating with other devices or communication networks.

[0064] In this embodiment of the invention, the computer equipment mainly refers to the integrated tunneling and anchoring machine controller and communication equipment that integrate the above-mentioned devices, which are installed in the explosion-proof electrical control box of the integrated tunneling and anchoring machine; the downstream equipment controller and communication equipment are installed in the explosion-proof electrical control box of the downstream equipment, and support wireless data transmission.

[0065] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0066] In this embodiment of the invention, the computer-readable storage medium includes an embedded TF card storage card and a cloud database. The embedded TF card stores historical ranging data and fault logs; the cloud database supports long-term storage and analysis of ranging data and is used to optimize algorithm parameters such as filtering algorithms.

[0067] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for measuring the distance between a coal mine tunneling and anchoring integrated machine and its supporting equipment, characterized in that, Includes the following steps: S1: Acquire UWB data, infrared thermal imaging data, ultrasonic data, and environmental parameters during the operation of the tunneling and anchoring machine and its supporting equipment, and adjust the weight ratio of the UWB data, infrared thermal imaging data, and ultrasonic data based on the environmental parameters to obtain the corresponding first weight coefficient, second weight coefficient, and third weight coefficient. The environmental parameters include dust concentration, metal obstruction strength, and tunneling and anchoring machine movement speed. S2: Based on the first weighting coefficient, the second weighting coefficient, and the third weighting coefficient, the UWB data, infrared thermal imaging data, and ultrasonic data are fused and calculated using a multi-level fusion algorithm to obtain the real-time distance between the tunneling and anchoring integrated machine and the supporting equipment. S3: Based on the comparison between the real-time distance and the safe distance threshold, control the following speed and position offset of the supporting equipment according to the comparison result.

2. The distance measurement method between a coal mine tunneling and anchoring integrated machine and its supporting equipment according to claim 1, characterized in that, Step S2 involves fusing the UWB data, infrared thermal imaging data, and ultrasonic data using a multi-level fusion algorithm, including: An improved Kalman filter is used to predict the state of the UWB data, infrared thermal imaging data, and ultrasonic data. The state prediction results are fused using a weighted least squares method based on the first weighting coefficient, the second weighting coefficient, and the third weighting coefficient.

3. The distance measurement method between a coal mine tunneling and anchoring integrated machine and its supporting equipment according to claim 1, characterized in that, The dynamic adjustment of the safety distance threshold in step S3 includes: Real-time data collection of the roadway slope angle where the integrated tunneling and anchoring machine is located, as well as the equipment load rate during operation of the integrated tunneling and anchoring machine; When the roadway slope angle increases or the equipment load rate increases, the safety distance threshold increases; when the roadway slope angle decreases or the equipment load rate decreases, the safety distance threshold decreases.

4. The distance measurement method between a coal mine tunneling and anchoring integrated machine and its supporting equipment according to claim 3, characterized in that, The formula for dynamically adjusting the safe distance threshold is: In the formula, This is the baseline value for safe distance; The slope angle of the tunnel; slope angle correction factor ; The load factor is the equipment load rate, ranging from 0 to 1; the load rate correction factor is... .

5. A distance measuring device between a coal mine roadheader and its supporting equipment, capable of performing the distance measuring method between a coal mine roadheader and its supporting equipment as described in any one of claims 1-4, characterized in that... include: The sensor array is used to collect UWB data, infrared thermal imaging data, ultrasonic data, and environmental parameters during the operation of the tunneling and anchoring machine and its supporting equipment. The control terminal is used to receive data collected by the sensor group, process the data, and generate corresponding control commands based on the data processing results. An actuator is used to respond to the control commands and control the movement of the integrated tunneling and anchoring machine and its supporting equipment. The sensor group and the control terminal establish a data connection through a communication module, and the control terminal and the actuator are connected through a drive module.

6. The ranging device between a coal mine tunneling and anchoring integrated machine and its supporting equipment as described in claim 5, characterized in that, The sensor group includes a UWB ranging module, an infrared thermal imager, and an ultrasonic radar; The UWB ranging module includes UWB base stations deployed on the left and right rear sides of the tunneling and anchoring machine, and UWB tags positioned opposite each other on the rear supporting equipment. The UWB base stations and the UWB tags form a dual-side ranging link and are connected to the control unit via a CAN bus. The infrared thermal imager is installed at the front end of the rear supporting equipment and is located at the center line of the rear supporting equipment. It focuses on the drive motor area of ​​the tail of the tunneling and anchoring machine transport machine. The collected infrared thermal imaging data is transmitted to the control terminal via Ethernet. The ultrasonic radar is installed at a 15° downward angle at the tail end of the tunneling and anchoring machine, and at least three ultrasonic radars are installed side by side, with a monitoring range covering at least a 120° fan-shaped area. It is connected to the control terminal via a CAN bus.

7. The distance measuring device between a coal mine tunneling and anchoring integrated machine and its supporting equipment as described in claim 5, characterized in that, The control terminal includes a main control unit, a power supply module, a drive module, a display module, and a communication module; The main control unit includes a tunneling and anchoring machine controller and a downstream equipment controller. The tunneling and anchoring machine controller receives data collected by the sensor group and performs fusion calculations. The downstream equipment controller receives data transmitted by the tunneling and anchoring machine controller via Ethernet and extracts the motion control information of the downstream equipment based on the transmitted data. The power supply module includes an intrinsically safe power supply module and a switching power supply module. The intrinsically safe power supply module is used to supply power to the sensor group and the communication module, and the switching power supply module supplies power to the main control unit, the drive module and the display module. The drive module includes a motor driver and a solenoid valve driver, and is used to select the corresponding driver according to the control command generated by the main control unit. The display module includes an industrial computer and a display screen. The industrial computer communicates with the integrated tunneling and anchoring machine controller, the downstream equipment controller, and the infrared thermal imager via a network. The display screen is used for image data, sensor ranging data, and the operation status of the integrated tunneling and anchoring machine and the downstream equipment. The communication module includes an intrinsically safe base station for mining and a switch; the intrinsically safe base station for mining is used to realize Ethernet signal transmission between the tunneling and anchoring machine and the supporting equipment; the switch is used to connect the tunneling and anchoring machine controller, display module and infrared thermal imager.

8. The distance measuring device between a coal mine tunneling and anchoring integrated machine and its supporting equipment according to claim 5, characterized in that, The actuator also includes an audible and visual alarm, used to receive control commands generated by the control terminal, and for collision prevention alarms and equipment action warnings.

9. A computer device, characterized in that, include: The system includes a memory and a processor, which are interconnected and communicate with each other. The memory stores computer instructions, and the processor executes the computer instructions to perform a distance measurement method between a coal mine tunneling and anchoring integrated machine and its supporting equipment, as described in any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to execute the distance measurement method between a coal mine tunneling and anchoring integrated machine and its supporting equipment as described in any one of claims 1 to 4.

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