Intelligent excavation positioning device for coal mine

Abstract

The utility model discloses a kind of coal mine intelligent digging in positioning equipment, including positioning label and vehicle-mounted support, the front of vehicle-mounted support is equipped with spare label, positioning label and spare label inner portion are equipped with circuit board respectively, the bottom of positioning label is equipped with pulse signal buffer, the top of spare label is equipped with pulse signal regenerator, the back of vehicle-mounted support is equipped with moving cavity, moving cavity is installed with moving assembly, the front of vehicle-mounted support is fixed with fixed power supply, spring is connected between fixed power supply and spare label, the reliability of coal mine digging in positioning is improved by double-label structure and pulse signal thermal migration mechanism, when main positioning label is powered off or damaged failure, its built-in pulse signal buffer can save last effective pulse sequence, buffer and the pulse signal regenerator of spare label are physically inserted by mechanical linkage, reconstruct the positioning signal meeting UWB standard, realize the seamless switching of pulse signal, greatly improve the reliability of positioning equipment.

Description

Technical Field

[0001] This utility model relates to the technical field of coal mine excavation positioning equipment, specifically to an intelligent coal mine excavation positioning device. Background Technology

[0002] Coal mine excavation positioning equipment mainly uses mechanical measuring rods, laser pointers, or single UWB tags to monitor the basic position of the tunneling machine, guiding the direction and progress control of roadway excavation. The purpose of using excavation positioning equipment is to obtain the precise position, attitude, and movement trajectory of the tunneling equipment in real time, ensuring that the roadway is constructed accurately along the design axis. At the same time, it provides spatial coordinate references for safety systems such as gas outburst early warning and support equipment linkage, and is an indispensable basic equipment for intelligent coal mining.

[0003] However, existing technologies still have significant shortcomings. Traditional coal mine excavation positioning equipment typically uses a single UWB tag or mechanical positioning method, which has a high risk of single-point failure. Once the tag is damaged due to power failure, mechanical impact, or aging, the positioning signal will be completely interrupted, and historical location data cannot be recovered. It is also impossible to quickly switch the positioning tag and reacquire the location information of the positioning tag. Utility Model Content

[0004] The purpose of this invention is to provide an intelligent mining and positioning device for coal mines to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a coal mine intelligent excavation positioning device, comprising a positioning tag and a vehicle-mounted bracket, wherein a spare tag is provided on the front of the vehicle-mounted bracket, and circuit boards are respectively provided inside the positioning tag and the spare tag, a pulse signal buffer is provided on the bottom surface of the positioning tag, and a pulse signal regenerator is provided on the top surface of the spare tag, a movable cavity is provided on the back of the vehicle-mounted bracket, a movable component is installed in the movable cavity, a fixed power supply is fixed on the front of the vehicle-mounted bracket, and a spring is connected between the fixed power supply and the spare tag.

[0006] As can be seen, the above technical solution improves the reliability of coal mine excavation positioning by using a dual-tag structure and a pulse signal thermal migration mechanism. When the main positioning tag fails due to power failure or damage, its built-in pulse signal buffer can save the last valid pulse sequence. Through mechanical linkage, the buffer is physically connected to the pulse signal regenerator of the backup tag to reconstruct a positioning signal that conforms to the UWB standard, achieving seamless switching of pulse signals, ensuring continuous tunneling machine position data, and greatly improving the reliability of the positioning equipment.

[0007] Preferably, the moving component includes a lead screw and a limiting rod, both of which are located within the moving cavity. One end of the lead screw is connected to a servo motor, and a moving platform is provided within the moving cavity, with a positioning label located on the front of the moving platform.

[0008] As can be seen, the moving component in the above technical solution includes components such as a lead screw, a limit rod, a servo motor, and a moving platform.

[0009] Preferably, the moving platform is sleeved on the surface of the lead screw and the limiting rod, and the moving platform is threadedly connected to the surface of the lead screw.

[0010] As can be seen, in the above technical solution, the rotation of the mechanical structure such as the lead screw can cause the mobile platform to drive the positioning label on the front to move in a straight line.

[0011] Preferably, the surface of the vehicle mount is fitted with a movable platform, and the spare label is connected to the front screw of the movable platform.

[0012] As can be seen, in the above technical solution, the moving platform can slide along the surface of the vehicle-mounted bracket and move the spare label fixed on the front at the same time.

[0013] Preferably, the front of the vehicle-mounted bracket has a limiting groove, and the connecting end of the movable platform cooperates with the limiting groove.

[0014] As can be seen, in the above technical solution, the limiting groove limits the movable platform to prevent problems such as separation of the movable platform from the vehicle-mounted bracket.

[0015] Preferably, the two ends of the spring are respectively connected and fixed to the fixed power supply and the spare tag, and power plug interfaces are provided at the corresponding positions of the fixed power supply and the spare tag.

[0016] As can be seen, in the above technical solution, the fixed power supply serves to power the backup tag, and the backup tag can be powered on after the power-carrying interfaces of the two are aligned and connected.

[0017] Compared with the prior art, the beneficial effects of this utility model are: The reliability of coal mine excavation positioning is improved by using a dual-tag structure and pulse signal hot migration mechanism. When the main positioning tag fails due to power failure or damage, its built-in pulse signal buffer can save the last valid pulse sequence. Through mechanical linkage, the buffer is physically connected to the pulse signal regenerator of the backup tag to reconstruct a positioning signal that conforms to the UWB standard. The backup tag adopts a power-off hibernation design and is only connected to the fixed power supply by pressing down when the main tag fails. This reduces energy consumption and avoids signal interference, achieving seamless switching of pulse signals and ensuring continuous tunneling machine posture data. At the same time, non-volatile storage ensures that coordinate information can be recovered within a specified time, greatly improving the reliability of the positioning equipment. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the internal structure of the label of this utility model; Figure 3 This is a front view of the present invention; Figure 4 This is a perspective view of the present utility model; Figure 5 This is a structural diagram of the activity platform of this utility model; Figure 6 This is a side view of the present invention.

[0019] In the diagram: 1. Positioning tag; 2. Vehicle mount; 3. Limiting groove; 4. Moving cavity; 5. Moving component; 51. Lead screw; 52. Limiting rod; 53. Servo motor; 54. Moving platform; 6. Movable platform; 7. Spare tag; 8. Fixed power supply; 9. Spring; 10. Power connector; 11. Circuit board; 12. Pulse signal buffer; 13. Pulse signal regenerator. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0021] Please see Figure 1-6 This utility model provides a technical solution: Example 1: A coal mine intelligent excavation positioning device: It includes a positioning tag 1 and a vehicle-mounted support 2. A spare tag 7 is provided on the front of the vehicle-mounted support 2. Circuit boards 11 are respectively installed inside the positioning tag 1 and the spare tag 7. A pulse signal buffer 12 is provided on the bottom surface of the positioning tag 1, and a pulse signal regenerator 13 is provided on the top surface of the spare tag 7. A moving cavity 4 is opened on the back of the vehicle-mounted support 2, and a moving component 5 is installed inside the moving cavity 4. The coal mine excavation positioning device is mainly used to locate the position of coal mine excavation equipment such as tunneling machines and drilling rigs. The positioning device mainly transmits pulses through the positioning tag 1, which are received and calculated by the base station. The coordinates are then calculated using an edge server to provide feedback on the device's position. The positioning device primarily utilizes UWB technology for positioning. The specific positioning method and principle of positioning tag 1 have been described in the published patent CN111866710A. A vehicle-mounted bracket 2 is added to positioning tag 1, and it is installed on the excavating equipment using bolts or magnetic attachment. Its installation position does not affect the normal use of the equipment. Under normal circumstances, the positioning tag 1 locates the position of the excavating equipment, allowing users to easily see and understand its position. However, unexpected events can still occur during operation that prevent the equipment from positioning correctly. These could include forgetting to charge, equipment aging or damage, or external forces affecting the equipment during excavation, all of which could cause damage and prevent normal pulse generation. To prevent equipment malfunctions that could prevent timely location determination of the excavation equipment, a spare tag 7 was added to the vehicle-mounted bracket 2. The positioning tag 1 includes a pulse signal buffer 12, whose main function is to store the pulse sequence of the positioning tag 1 in real time. The data remains intact for a specified time after power failure. When the positioning tag 1 malfunctions, the pulse signal is cut off. At this time, a signal generator sends a signal to activate the moving component 5, moving the positioning tag 1. This allows the pulse signal buffer 12 on the circuit board 11 of the positioning tag 1 to connect with the pulse signal regenerator 13. The pulse signal regenerator 13 mainly receives the original tag pulse data and reconstructs the signal. The backup tag 7 is used to retransmit the pulse signal to achieve repositioning. The pulse signal buffer 12 is described in the published patent CN113726311A, and the pulse signal regenerator 13 is described in the published patent CN108647173A. The combination of the two can realize the transmission of the original tag pulse signal to the backup tag 7. Further, the circuit board 11 of the positioning tag 1 includes modules such as UWB pulse transmission module, pulse signal buffer 12, and power management module. The circuit board 11 of the backup tag 7 includes pulse signal regenerator 13, coordinate offset compensation module, and fast power supply module.

[0022] A fixed power supply 8 is fixed on the front of the vehicle mount 2. The two ends of the spring 9 are connected and fixed to the fixed power supply 8 and the spare tag 7 respectively. Power sockets 10 are provided at the corresponding positions of the fixed power supply 8 and the spare tag 7. It should be noted that the spare tag 7 is normally de-energized. Only when the base station does not receive the pulse signal from the positioning tag 1 will the positioning tag 1 descend and press down on the spare tag 7, so that it is plugged into the power socket 10 of the fixed power supply 8 to achieve power-on operation. When the base station detects that the pulse signal of the main tag is interrupted, the edge server immediately sends a CAN bus command to the vehicle control unit, triggering the relay to close and powering the servo motor 53 to run. At the same time, the accelerometer built into the positioning tag 1 will send a wireless activation signal to the spare tag 7 through the RFID wake-up module. Dual signal redundancy ensures the response of the servo motor 53.

[0023] The moving component 5 includes a lead screw 51 and a limiting rod 52, both of which are located within the moving cavity 4. One end of the lead screw 51 is connected to a servo motor 53. The moving cavity 4 contains a moving platform 54, with the positioning label 1 located on the front of the moving platform 54. The moving platform 54 is sleeved on the surfaces of the lead screw 51 and the limiting rod 52, and is threadedly connected to the surface of the lead screw 51. It is worth noting that the vehicle-mounted bracket 2 is simultaneously provided with a limiting groove 3 and a moving cavity 4. The moving component 5 is located within the moving cavity 4. The moving component 5 includes components such as the lead screw 51, the limiting rod 52, and the servo motor 53. The positioning label 1 moves by means of a threaded connection between the moving platform 54 and the lead screw 51. Specifically, when the lead screw 51 is driven by the servo motor 53, since the moving platform 54 is sleeved on the surface of the limiting rod 52 and cooperates with the inner wall of the moving cavity 4, the moving platform 54 can move up and down together with the positioning label 1, which is bolted to its front side, under the drive of the lead screw 51.

[0024] A movable platform 6 is fitted onto the surface of the vehicle mount 2. A spare label 7 is screwed to the front of the movable platform 6. A limiting groove 3 is provided on the front of the vehicle mount 2, and the connecting end of the movable platform 6 cooperates with the limiting groove 3. A spring 9 is connected between the fixed power supply 8 and the spare label 7. The spare label 7 is connected to the movable platform 6 on the surface of the vehicle mount 2. The movable platform 6 cooperates with the limiting groove 3, and the limiting groove 3 limits its position to ensure that the spare label 7 will not separate from the vehicle mount 2. At the same time, the spare label 7 is connected to the fixed power supply 8 by the spring 9. Under normal circumstances, the two are separated. When the positioning label 1 is damaged and descends, firstly, the pulse signal buffer 12 is electrically connected to the pulse signal regenerator 13 and pushes the spare label 7 down to squeeze the spring 9 until it is plugged into the power plug interface 10 of the fixed power supply 8 to complete the power supply. Working principle: Under normal circumstances, the main positioning tag 1 communicates with the tunnel base station via UWB pulse signal. The edge server calculates the coordinates of the tunneling machine in real time. When the base station detects that the main tag signal is interrupted, the edge server immediately triggers the servo motor 53 to run via the CAN bus. The drive screw 51 mechanism causes the moving platform 54 to move the main tag downward. Its pulse signal buffer 12 is connected to the regenerator of the backup tag 7 to transmit data. At the same time, the downward pressure causes the backup tag 7 compression spring 9 to be connected to the fixed power supply 8 and energized. The backup tag 7 then reconstructs the pulse signal to restore positioning. The entire switching process can be completed quickly. The mechanical alignment accuracy is ensured by the limit slide 3, realizing seamless continuity of the positioning of the tunneling equipment.

[0025] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A coal mine intelligent excavation and positioning device, characterized in that: The device includes a positioning tag (1) and a vehicle mount (2). The front of the vehicle mount (2) is provided with a spare tag (7). The positioning tag (1) and the spare tag (7) are respectively provided with circuit boards (11). The bottom surface of the positioning tag (1) is provided with a pulse signal buffer (12). The top surface of the spare tag (7) is provided with a pulse signal regenerator (13). The back of the vehicle mount (2) is provided with a moving cavity (4). The moving cavity (4) is installed with a moving component (5). The front of the vehicle mount (2) is fixed with a fixed power supply (8). A spring (9) is connected between the fixed power supply (8) and the spare tag (7).

2. The intelligent mining and positioning device for coal mines according to claim 1, characterized in that: The moving component (5) includes a lead screw (51) and a limiting rod (52). Both the lead screw (51) and the limiting rod (52) are located in the moving cavity (4). One end of the lead screw (51) is connected to a servo motor (53). The moving cavity (4) is equipped with a moving platform (54), and the positioning label (1) is located on the front of the moving platform (54).

3. The intelligent mining and positioning device for coal mines according to claim 2, characterized in that: The moving platform (54) is sleeved on the surface of the lead screw (51) and the limiting rod (52), and the moving platform (54) is threadedly connected to the surface of the lead screw (51).

4. The intelligent mining and positioning device for coal mines according to claim 1, characterized in that: The surface of the vehicle mount (2) is fitted with a movable platform (6), and the spare label (7) is screwed to the front of the movable platform (6).

5. The intelligent mining and positioning device for coal mines according to claim 4, characterized in that: The vehicle mount (2) has a limiting groove (3) on its front side, and the connecting end of the movable platform (6) cooperates with the limiting groove (3).

6. The intelligent mining and positioning device for coal mines according to claim 1, characterized in that: The two ends of the spring (9) are respectively connected and fixed to the fixed power supply (8) and the spare tag (7). The fixed power supply (8) and the spare tag (7) are respectively provided with power plugs (10) at their corresponding positions.

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