A ranging method and device between an excavating-anchor integrated machine and a rear matching device, an electronic device, and a storage medium

Abstract

The present application belongs to the technical field of coal mine tunneling equipment control, in order to solve the technical problem that continuous and reliable ranging between devices cannot be realized in the current harsh environment of underground dust, metal shielding and vibration, leading to the inability to safely follow the machine, a ranging method and device between the tunneling and anchoring integrated machine and the rear supporting equipment, electronic equipment and storage medium are provided, by deploying three types of sensors of UWB, infrared thermal imaging and ultrasonic radar, and dynamically distributing the weight coefficient according to the real-time environmental parameters, and then obtaining the accurate ranging value through the multi-level fusion algorithm; Further introduce the safety distance adaptive mechanism based on the roadway slope and the equipment load rate, dynamically control the following speed of the rear supporting equipment. The present application effectively improves the anti-interference ability and environmental adaptability of the ranging system, significantly reduces the collision risk, ensures the continuity and precision of the material conveying alignment, and at the same time reduces the system cost, providing reliable support for intelligent collaborative operation in coal mines.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of coal mine tunneling equipment control, and particularly relates to a ranging method and device between an excavating and anchoring integrated machine and a rear supporting device, an electronic device and a storage medium. BACKGROUND

[0002] The cooperative control of multiple machines is one of the important functions of coal mine intelligentization, and the following walking between machines and the safety anti-collision are the main part of the cooperative control. The accurate measurement and perception of the distance between machines are the premise of realizing the following walking and anti-collision of machines. The excavating and anchoring integrated machine, as the leading equipment for current coal mine rapid tunneling, has been widely applied, and its rear supporting devices usually include an anchor rod transloader and a shuttle car. At present, the cooperative following walking of the excavating and anchoring integrated machine and the rear supporting device has not been realized in normal operation, which seriously affects the development progress of coal mine intelligentization and reduces the coal mine tunneling operation efficiency. The fundamental reason for not realizing the cooperation with the rear supporting device lies in that the distance between the current excavating and anchoring integrated machine and the rear supporting device cannot be accurately measured, and the inaccurate perception directly leads to the deviation of control and safety problems. The excavating and anchoring integrated machine needs to maintain an accurate distance from the rear supporting device to ensure the material conveying alignment and anti-collision safety. Although current multiple methods such as ultrasonic wave, UWB and laser radar are applied, none of the ranging methods can realize accurate measurement in harsh environments and high shielding environments, and the ranging method has not been planned and designed in detail.

[0003] The existing ranging method between the excavating and anchoring integrated machine and the rear supporting device mainly has the following problems: the UWB ranging method has strong anti-interference, but signal attenuation easily occurs in the underground environment with serious metal shielding; infrared thermal imaging depends on the temperature change of the equipment, but the dust coverage may reduce the detection precision of thermal radiation; the ultrasonic wave radar is easily disturbed by dust and vibration, is only suitable for short distance supplementary ranging, and the single sensor measurement has great limitations. The existing schemes are mostly based on static or single point ranging, and are difficult to adapt to real-time position changes in the movement of equipment; high precision schemes such as laser radar have high cost and poor environmental adaptability, are easy to damage, and are difficult to be applied on a large scale in coal mine underground. In actual application, the distance precision between the excavating and anchoring integrated machine and the rear supporting device does not need to be too high, and the main purpose is to realize the material conveying and unloading alignment and anti-collision in the following walking, and the ranging environment and demand of each working scene are different. SUMMARY

[0004] The present application provides a ranging method and device between an excavating and anchoring integrated machine and a rear supporting device for coal mine, an electronic device and a storage medium to solve at least one of the above technical problems in the prior art.

[0005] According to a first aspect, a ranging method between an excavating and anchoring integrated machine and a rear supporting device for coal mine comprises the following steps:

[0006] S1: Obtain UWB data, infrared thermal imaging data, ultrasonic data and environmental parameters of the tunneling-anchor integrated machine and the rear matching equipment in operation, and adjust the weight proportion of the UWB data, infrared thermal imaging data and ultrasonic data based on the environmental parameters to obtain corresponding first, second and third weight coefficients, wherein the environmental parameters include dust concentration, metal shielding intensity and tunneling-anchor integrated machine moving speed;

[0007] S2: Based on the first, second and third weight coefficients, the UWB data, infrared thermal imaging data and ultrasonic data are fused and calculated by a multi-level fusion algorithm to obtain the real-time distance between the tunneling-anchor integrated machine and the rear matching equipment;

[0008] S3: Compare the real-time distance with a safety distance threshold, and control the following speed and position offset of the rear matching equipment according to the comparison result.

[0009] Preferably, the UWB data, infrared thermal imaging data and ultrasonic data are fused and calculated by a multi-level fusion algorithm in step S2, comprising:

[0010] The UWB data, infrared thermal imaging data and ultrasonic data are state predicted by an improved Kalman filter;

[0011] The state prediction results are fused by a weighted least squares method according to the first, second and third weight coefficients.

[0012] Preferably, the dynamic adjustment of the safety distance threshold in step S3 comprises:

[0013] The roadway slope angle of the tunneling-anchor integrated machine and the equipment load rate of the tunneling-anchor integrated machine in operation are collected in real time;

[0014] When the roadway slope angle increases or the equipment load rate increases, the safety distance threshold increases, and when the roadway slope angle decreases or the equipment load rate decreases, the safety distance threshold decreases.

[0015] Preferably, the dynamic adjustment formula of the safety distance threshold is:

[0016]

[0017] In the formula, is a safety distance reference value; is a roadway slope angle; slope angle correction coefficient ; is an equipment load rate, with a value range of 0-1; load rate correction coefficient .

[0018] According to a second aspect, a ranging device between a coal mine excavating and anchoring integrated machine and a rear matching device can perform a ranging method between a coal mine excavating and anchoring integrated machine and a rear matching device as described in the first aspect and any preferred embodiment, comprising:

[0019] a sensor group for collecting UWB data, infrared thermal imaging data, ultrasonic data and environmental parameters when the excavating and anchoring integrated machine and the rear matching device are running;

[0020] a control terminal for receiving data collected by the sensor group and performing data processing, and generating corresponding control instructions according to the data processing results;

[0021] an actuator for controlling the travel action of the excavating and anchoring integrated machine and the rear matching device in response to the control instructions;

[0022] wherein the sensor group and the control terminal are connected through a communication module, and the control terminal and the actuator are connected through a drive module.

[0023] Preferably, the sensor group comprises a UWB ranging module, an infrared thermal imager and an ultrasonic radar.

[0024] The UWB ranging module comprises UWB base stations respectively arranged on the left and right rear sides of the excavating and anchoring integrated machine and UWB tags arranged oppositely on the rear matching device, the UWB base stations and the UWB tags form a double-sided ranging link, and are in communication connection with the control unit through a CAN bus.

[0025] The infrared thermal imager is installed at the front end of the rear matching device and located at the center line position of the rear matching device, focusing on the drive motor area of the conveyor tail of the excavating and anchoring integrated machine, and the collected infrared thermal imaging data is transmitted to the control terminal through an Ethernet.

[0026] The ultrasonic radar is installed at the tail end of the excavating and anchoring integrated machine at an angle of 15° downward, and at least three ultrasonic radars are installed side by side, monitoring a range of at least 120° sector area, and being in communication connection with the control terminal through a CAN bus.

[0027] Preferably, the control terminal comprises a main control unit, a power module, a drive module, a display module and a communication module.

[0028] The main control unit comprises an excavating and anchoring integrated machine controller and a rear matching device controller, the data collected by the sensor group is received by the excavating and anchoring integrated machine controller and fused and calculated, the transmission data of the excavating and anchoring integrated machine controller is received by the rear matching device controller through an Ethernet, and the action control information of the rear matching device is extracted according to the transmission data.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] Compared with the prior art, the beneficial effects of the present invention are:

[0037] 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.

[0038] The application proposes a multi-sensor complementary deployment and weight dynamic allocation mechanism, and different layout strategies of UWB, infrared thermal imaging and ultrasonic radar are creatively designed for interference sources such as dust, metal shielding and vibration, and the weight of corresponding sensor data is dynamically adjusted based on real-time environmental parameters, thereby breaking through the failure bottleneck of a single sensor in a harsh environment and guaranteeing the continuity and reliability of the ranging data.

[0039] The application adopts a multi-level fusion model combined with an improved Kalman filter and a weighted least squares method through a hierarchical fusion algorithm and an adaptive safety control logic, and the ranging accuracy in a mobile scene is improved through dynamic correction of a state equation and noise covariance; meanwhile, a following distance adaptive formula is designed, a roadway slope and a device load rate are introduced to dynamically adjust a safety threshold, and the balance between anti-collision and following continuity is realized.

[0040] The application reduces the system communication load through distributed computing division of the tunneling-anchor integrated machine controller and the rear supporting equipment controller by constructing a distributed control architecture and a lightweight engineering implementation plan; and ensures stable operation of the device in an explosion-proof environment by using a mine intrinsic safety sensor and a modular power supply design on the hardware.

[0041] The application realizes deep scene adaptation of the algorithm and the hardware, and compared with a high-cost laser radar scheme, the device reduces the hardware cost through sensor selection and layout optimization; and on the software level, a complex neural network model is abandoned, and a lightweight fusion algorithm is adopted, which meets the real-time requirement and accumulates a feature library for subsequent data-driven optimization.

[0042] In summary, the ranging system has strong adaptability to the environment, real-time control and easy deployment, and has been successfully applied to the underground tunneling working face, thereby providing reliable technical support for intelligent collaborative operation of coal mines. BRIEF DESCRIPTION OF DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments, and obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0044] Figure 1 A structure schematic view of a ranging device between a tunneling-anchor integrated machine and rear supporting equipment for coal mines provided by the application;

[0045] Figure 2 A sensor group deployment schematic view between a tunneling-anchor integrated machine and rear supporting equipment for coal mines provided by the application;

[0046] Figure 3A ranging method between a coal mine excavating and anchoring integrated machine and a rear matching device is provided for the present application.

[0047] Figure 4 A flow chart of a multi-sensor weight distribution and fusion algorithm is provided for the present application.

[0048] Figure 5 A following distance adaptive control flow diagram between the excavating and anchoring integrated machine and the rear matching device is provided for the present application. DETAILED DESCRIPTION

[0049] The technical solutions in the embodiments of the present application are clearly and completely described in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the present application.

[0050] It should be understood that the structures, proportions, sizes, etc. shown in the drawings of the specification are only used to cooperate with the content disclosed in the specification for understanding and reading by those skilled in the art, and do not define the limiting conditions for the implementation of the present application, so they do not have technical substantive significance. Any modification of structure, change of proportion relationship or adjustment of size, without affecting the effect and purpose that can be achieved by the present application, should fall within the scope of the technical content disclosed by the present application. It should be noted that in the present specification, relationship terms such as first and second are only used to distinguish one entity from another entity, and do not necessarily require or imply any actual relationship or order between the entities.

[0051] In coal mine excavation operation, there are many difficult problems. On the one hand, the excavating and anchoring integrated machine has a huge structure and complex operation process, which makes it very difficult to realize accurate ranging and safe following of the excavating and anchoring integrated machine and the rear matching device. On the other hand, the underground environment is harsh, and interference factors such as dust, metal shielding and vibration frequently occur, which leads to distortion of sensor data and affects continuous ranging and real-time position calibration during movement of the excavating and anchoring integrated machine and the rear matching device.

[0052] The application is dedicated to solving the above problems, and realizes accurate ranging and safe following of the tunneling and anchoring integrated machine and the rear matching equipment under complex conditions. Meanwhile, the application overcomes the problem of sensor data distortion caused by underground interference, and achieves continuous ranging and real-time position calibration of the tunneling and anchoring integrated machine and the rear matching equipment in movement. In addition, through multi-sensor complementary fusion, the hardware cost is reduced under the premise of ensuring functional requirements. The application improves the equipment quality and intelligent level, and the hardware structure and software algorithm of the application have typical demonstration significance for following walking of continuous miners, tunneling machines, anchor rod machines and other tunneling equipment used in coal mines, and can be further popularized and applied.

[0053] In order to more obviously introduce the above purposes, features and advantages of the application, further detailed description will be made below in combination with the drawings and specific embodiments.

[0054] A ranging method between a tunneling and anchoring integrated machine and rear matching equipment, including 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 position and ranging principle of different types of ranging sensors on the tunneling and anchoring integrated machine and the rear matching equipment; the data fusion and error correction method includes priority logic of multiple sensors, multi-sensor weight distribution and fusion algorithm; the equipment control and feedback mechanism includes equipment position alignment control, anti-collision logic and following distance adaptive method. In the application, the ranging method is described by taking the anchor rod transloader as an example.

[0055] As shown in Figure 1 Fig. 1 is a structural schematic diagram of a ranging device between a tunneling and anchoring integrated machine and rear matching equipment used in coal mines, including:

[0056] A sensor group is used to collect UWB data, infrared thermal imaging data, ultrasonic data and environmental parameters of the tunneling and anchoring integrated machine and the rear matching equipment in operation;

[0057] A control terminal is used to receive data collected by the sensor group, and perform data processing, and generate corresponding control instructions according to the data processing results;

[0058] An actuator is used to control the advancing action of the tunneling and anchoring integrated machine and the rear matching equipment in response to the control instructions;

[0059] The sensor group and the control terminal are connected through a communication module, and the control terminal and the actuator are connected through a driving module.

[0060] 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.

[0061] In this embodiment, as Figure 2 As 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.

[0062] 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.

[0063] 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.

[0064] In this embodiment, at the front end of the anchor bolt transfer machine, such as Figure 2The infrared thermal imaging camera is installed at the middle C point, focusing on the driving motor area of the conveyor tail of the combined excavator and anchor machine. The temperature of the driving motor of the combined excavator and anchor machine is significantly higher than the environment when the motor is working. Based on the heat source position and image features, the longitudinal distance between the conveyor tail of the combined excavator and anchor machine and the anchor rod transfer machine is calculated, and the dust shielding effect is eliminated through an edge detection algorithm.

[0065] In this embodiment, as shown in Figure 2 The ultrasonic radar is powered by DC12V, and data is transmitted to the combined excavator and anchor machine controller through the CAN bus. The combined excavator and anchor machine controller simultaneously transmits data to the rear supporting equipment controller through the ModbusTCP protocol. Three ultrasonic radars are installed. The detection angle of a single ultrasonic radar is 40°, and the frequency is 40kHz. The ultrasonic radar is installed downward at an inclination of 15° to avoid the influence of coal accumulation on detection.

[0066] In this embodiment, an ultrasonic radar array is installed at the end of the conveyor tail of the combined excavator and anchor machine, as shown in Figure 2 The ultrasonic radar array includes three ultrasonic radar sensors and covers a 120° sector. When the dust concentration is below the preset threshold, short-distance high-frequency ranging data is provided as a supplementary check for UWB and infrared.

[0067] Optionally, the control terminal includes a main control unit, a power module, a driving module, a display module, and a communication module. The main control unit includes a combined excavator and anchor machine controller and a rear supporting equipment controller. The combined excavator and anchor machine controller receives data collected by the sensor group and performs fusion calculation. The rear supporting equipment controller receives transmission data from the combined excavator and anchor machine controller through Ethernet and extracts action control information for the rear supporting equipment according to the transmission data. The power module includes an intrinsically safe power module and a switching power module. The intrinsically safe power module is used to power the sensor group and the communication module. The switching power module powers the main control unit, the driving module, and the display module. The driving module includes a motor driver and a solenoid valve driver, which are used to select corresponding drivers according to 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 combined excavator and anchor machine controller, the rear supporting equipment controller, and the infrared thermal imager through a network. The display screen is used for image data, sensor ranging data, and the action state of the combined excavator and anchor machine and the rear supporting equipment. The communication module includes a mine intrinsically safe base station and a switch. The mine intrinsically safe base station is used to realize Ethernet signal transmission between the combined excavator and anchor machine and the rear supporting equipment. The switch is used to connect the combined excavator and anchor machine controller, the display module, and the infrared thermal imager.

[0068] In the embodiment, the anchor integrated machine controller is responsible for collecting signals of all sensor groups, and simultaneously completes operation control of multi-sensor deployment and data acquisition method, data fusion and error correction method, device control and feedback mechanism, and has an Ethernet interface and a CAN bus interface; the rear supporting device controller only directly collects image data of the infrared thermal imager identified through the display module, and the rest of the sensor data is transmitted to the rear supporting device controller through the Ethernet by the anchor integrated machine controller, the rear supporting device controller only completes the action part of the sensor group deployment and data acquisition method, device control and feedback mechanism about the rear supporting device, does not perform fusion algorithm calculation on the sensor data, and has an Ethernet interface and a CAN bus interface.

[0069] In the embodiment, the power module mainly includes an intrinsic safety power module and a 24V switching power module, wherein the number of the intrinsic safety power module is 4, the input is DC 24V, the output is DC 12V, the single working current is 1.5A, and the intrinsic safety power module respectively supplies power to the infrared thermal imager, the three ultrasonic radars, the two groups of UWB ranging base stations and the communication module, the number of the 24V switching power module is 1, the input is AC 127V, the output is DC 24V, the working current is 10A, and the 24V switching power module supplies power to the main control unit, the driving module and the display module.

[0070] In the embodiment, the driving module includes two types, if the anchor integrated machine and the rear supporting device are motor-driven, the driving module is a motor driver, the main control unit sends the calculated control instruction to the motor driver, if the anchor integrated machine and the rear supporting device are hydraulic-driven, the driving module is a solenoid valve driver, the main control unit sends the calculated control instruction to the solenoid valve driver, and finally the control instruction is converted into a control current to drive the walking motor or the walking oil cylinder to work in the driving module.

[0071] In the embodiment, the industrial computer mainly communicates with the anchor integrated machine controller, the rear supporting device controller and the infrared thermal imager, displays the collected data on the display screen, and the data includes image data, ranging data of the sensor group, action state of the anchor integrated machine and the rear supporting device and the like.

[0072] In the embodiment, the communication module includes a mine-used intrinsic safety base station and a switch, wherein the mine-used intrinsic safety base station is used to realize Ethernet signal transmission between the anchor integrated machine and the rear supporting device, and the switch is used to realize communication between the anchor integrated machine controller and the display module and the infrared thermal imager.

[0073] Optionally, the execution mechanism further includes an audible and visual alarm, which is used to receive the control instruction generated by the control terminal, and is used for anti-collision alarm and device action early warning.

[0074] In this embodiment, the actuator includes an audible and visual alarm, a walking motor or a walking hydraulic cylinder, wherein the audible and visual alarm is mainly used to realize anti-collision alarm and equipment action warning, and the alarm instruction comes from the anchor and tunneling integrated machine controller; the walking motor or the walking hydraulic cylinder receives the control instruction of the driving module to realize the forward and reverse rotation of the walking motor and the extension and retraction of the oil cylinder, and finally realizes the walking of the anchor and tunneling integrated machine and the walking of the rear supporting equipment in different directions and speeds.

[0075] As shown in Figure 3 , the embodiment of the present application provides a ranging method between an anchor and tunneling integrated machine and a rear supporting equipment for coal mines, comprising the following steps:

[0076] S1: acquiring UWB data, infrared thermal imaging data, ultrasonic data and environmental parameters when the anchor and tunneling integrated machine and the rear supporting equipment are running, and adjusting the weight proportion of the UWB data, infrared thermal imaging data and ultrasonic data based on the environmental parameters to obtain corresponding first weight coefficients, second weight coefficients and third weight coefficients, wherein the environmental parameters include dust concentration, metal shielding intensity and anchor and tunneling integrated machine moving speed;

[0077] S2: based on the first weight coefficients, second weight coefficients and third weight coefficients, performing fusion calculation on the UWB data, infrared thermal imaging data and ultrasonic data through a multi-level fusion algorithm to obtain the real-time distance between the anchor and tunneling integrated machine and the rear supporting equipment;

[0078] S3: comparing the real-time distance with a safety distance threshold, and controlling the following speed and position offset of the rear supporting equipment according to the comparison result.

[0079] In this embodiment, the main control module preferentially uses UWB data, switches to infrared thermal imaging data when UWB data is lost, and ultrasonic data is only used for collision warning and does not participate in dynamic following control. The multi-sensor weight distribution and fusion algorithm is as follows: the sensor weight is dynamically adjusted according to different environmental parameters, and the specific rules are shown in Table 1 as follows:

[0080]

[0081] Among them, , , are the first weight coefficients, the second weight coefficients and the third weight coefficients corresponding to the UWB data, the infrared thermal imaging data and the ultrasonic data, respectively, and satisfy ; each weight proportion is dynamically fine-tuned according to real-time sensor confidence such as signal strength and noise ratio. A multi-level fusion algorithm combining improved Kalman filtering and weighted least squares method is used to measure the measured distance, and the system state quantity is:

[0082]

[0083] In the formula, Indicates horizontal distance; Indicates vertical distance; This indicates relative velocity.

[0084] 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:

[0085]

[0086] 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.

[0087] The observation equation is:

[0088]

[0089] 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.

[0090] In this embodiment, the noise covariance matrix According to the dynamic adjustment of the weight proportion of the corresponding sensor of the sensor group, from the engineering requirement, the influence of the error of the sensor with high confidence on the overall observation of the system should account for a lower proportion; the error influence of the sensor with low confidence accounts for a higher proportion. Therefore, according to the normalized weight coefficient in Table 1 and the calibration error of the sensor , the covariance term of the single sensor error is designed as Based on the above logic, the noise covariance matrix The diagonal elements correspond to the covariance of the error of each sensor after weight adjustment, and the non-diagonal elements are 0.

[0091] The constructed covariance matrix is as follows:

[0092]

[0093] In the formula, , , respectively, the calibration error of the UWB ranging module, the calibration error of the infrared thermal imager, and the calibration error of the ultrasonic radar.

[0094] In this embodiment, the flow chart of the multi-sensor weight distribution and fusion algorithm is as shown in Figure 4 The weighted least squares method is used to fuse the state prediction results, and the fusion formula is as follows:

[0095]

[0096] In the formula, indicates the normalized weight coefficient; indicates the measurement data of each sensor.

[0097] In this embodiment, a device control and feedback mechanism is set according to the real-time distance and the safety distance threshold value, and the device control and feedback mechanism includes position alignment control between the excavating-anchor integrated machine and the rear supporting device, anti-collision logic, and a following distance adaptive method. The position alignment control between the excavating-anchor integrated machine and the rear supporting device mainly refers to the position alignment control of the tail of the transport machine of the excavating-anchor integrated machine and the receiving hopper of the anchor rod reclaimer. When the horizontal offset between the tail of the transport machine and the receiving hopper of the anchor rod reclaimer exceeds 30 cm, an audible and light alarm is triggered, and a speed regulation instruction is sent to the actuator through an industrial Ethernet. According to the inertial measurement unit of the excavating-anchor integrated machine, a coordinate system is established, and it is assumed that the center coordinates of the tail of the transport machine are , the center coordinates of the receiving hopper of the anchor rod reclaimer are , and the horizontal offset is calculated by the distance formula between two points.

[0098] When , trigger alarm. Wherein the UWB ranging module provides horizontal ; infrared thermal imager provides longitudinal distance . Adopt PID control algorithm to generate speed correction value of walking motor of anchor and tunneling integrated machine , the proportion value .

[0099] In this embodiment, if the ultrasonic radar detects that the obstacle distance is <1m, the anchor and tunneling integrated machine running power is immediately cut off, and the emergency brake is started. The specific process is to cover a 120° sector area with 3 groups of ultrasonic radar arrays, take the minimum distance as the effective value, and avoid single point failure. When the distance value measured by the ultrasonic radar is less than 1m and lasts more than 200ms, it is determined that there is an emergency collision risk, at this time the whole machine power should be cut off first, and the sound and light alarm signal is triggered.

[0100] In this embodiment, the following distance adaptation refers to adaptive updating according to the roadway slope angle and the equipment load rate, dynamically adjusting the safety distance threshold, and the default is 3-5m, so as to ensure the coherence of the anchor rod transloader following walking. The safety distance threshold dynamic adjustment formula is:

[0101]

[0102] In the formula, is the safety distance reference value; is the roadway slope angle; the slope angle correction coefficient ; is the equipment load rate, the value range is 0~1; .

[0103] In this embodiment, the roadway slope angle is measured in real time by the inertial measurement unit in the anchor and tunneling integrated machine; the equipment load rate is calculated by the hydraulic pressure sensor in the anchor and tunneling integrated machine. The construction principle of the safety distance threshold dynamic adjustment formula is as follows: first, the reference item needs to be determined, which is to determine the safety distance reference value in the actual engineering, which is the basic safety distance that ensures the coherence of the anchor rod transloader following walking under ideal and simple working conditions such as roadway slope of 0, no additional load of equipment (load rate ), which is the reference item of the formula and the basis for subsequent correction. Secondly, the influencing factors and correction coefficients need to be analyzed. The influence of the roadway slope angle is as follows: when there is a slope in the roadway, the device running inertia, material sliding trend, etc. will change the safety distance demand. The greater the slope, the greater the additional displacement risk caused by the gravity component when the device starts and stops and runs, and the safety distance needs to be increased. The slope angle correction coefficient 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.

[0104] 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 less than the updated safe distance threshold, the following speed of the anchor bolt transfer machine is reduced; if the actual distance is greater than the updated safe distance threshold, the supporting equipment behind it is controlled to accelerate.

[0105] 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.

[0106] The computer device provided by the optional embodiment of the present application comprises one or more processors, a memory, and an interface for connecting various components, including a high-speed interface and a low-speed interface. Various components are communicatively connected with each other by using different buses, and can be installed on a common mainboard or installed in other manners as required. The processor can process instructions executed in the computer device, including instructions stored in the memory or on the 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 together with multiple memories and multiple memory, if necessary. Similarly, multiple computer devices can be connected, and each device provides part of the necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system).

[0107] The processor can be a central processor, a network processor, or a combination thereof. The processor can further comprise a hardware chip. The hardware chip can be an application specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device can be a complex programmable logic device, a field programmable logic gate array, a generic array logic, or any combination thereof.

[0108] The memory stores instructions executable by the at least one processor, so that the at least one processor executes the method shown in the above embodiments.

[0109] The memory can include a program storage area and a data storage area. The program storage area can store an operating system and application programs required by at least one function; the data storage area can store data created according to the use of the computer device, and the like. In addition, the memory can include a high-speed random access memory, and can also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state memory device. In some optional embodiments, the memory can optionally include a memory remotely arranged with respect to the processor, and these remote memories can be connected to the computer device through a network. Examples of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0110] The memory can include a volatile memory, such as a random access memory; the memory can also include a non-volatile memory, such as a flash memory, a hard disk, or a solid-state disk; and the memory can also include a combination of the above kinds of memories.

[0111] The computer device further comprises a communication interface for communication between the computer device and other devices or communication networks.

[0112] In the embodiment of the present application, the computer device mainly refers to the integrated anchor-digging all-in-one machine controller and communication device, which is installed in the explosion-proof electric control box of the anchor-digging all-in-one machine; the controller and communication device of the rear supporting device are installed in the explosion-proof electric control box of the rear supporting device, and support wireless data transmission.

[0113] The embodiment of the present application also provides a computer readable storage medium, and the method according to the embodiment of the present application can be implemented in hardware or firmware, or be implemented as computer code recorded in a storage medium, or be implemented by computer code originally stored in a remote storage medium or a non-transient machine readable storage medium and to be stored in a local storage medium through network downloading, so that the method described herein can be processed by such software on a storage medium using a general computer, a special processor or programmable or special hardware. The storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk or a solid state disk, etc. Further, the storage medium can also include a combination of the above-mentioned memories. It can be understood that the computer, the processor, the microprocessor controller or the programmable hardware include storage components that can store or receive software or computer code, when the software or computer code is accessed and executed by the computer, the processor or the hardware, the method shown in the above embodiment is implemented.

[0114] In the embodiment of the present application, the computer readable storage medium includes a local 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 for optimizing algorithm parameters such as filtering algorithms.

[0115] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this, any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection 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: Compare the real-time distance with the safe distance threshold, and control the following speed and position offset of the supporting equipment according to the comparison result; Before comparing the real-time distance with the safe distance threshold in step S3, the safe distance threshold is dynamically adjusted, including the following steps: 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. 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... .

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. A distance measuring device between a coal mine roadheader and its supporting equipment, used to perform the distance measuring method between a coal mine roadheader and its supporting equipment as described in any one of claims 1 and 2, 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 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.

4. The distance measuring device between a coal mine tunneling and anchoring integrated machine and its supporting equipment as described in claim 3, 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.

5. The distance measuring device between a coal mine tunneling and anchoring integrated machine and its supporting equipment as described in claim 3, 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.

6. The distance measuring device between a coal mine tunneling and anchoring integrated machine and its supporting equipment as described in claim 3, 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.

7. A computer device, characterized in that, include: The system includes a memory and a processor, which are interconnected. 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 and 2.

8. 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 and 2.

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