CN-116125381-B - UWB-based fully-mechanized coal mining face coal mining machine position detection method

CN116125381BCN 116125381 BCN116125381 BCN 116125381BCN-116125381-B

Abstract

The invention provides a position detection method of a fully mechanized coal face coal mining machine based on UWB, belonging to the technical field of coal mining machine position detection; the problem that the position detection of the existing coal mining machine is inaccurate and is easily influenced by the environment is solved; the method comprises the steps that UWB coal machine ranging sensors are installed on a coal cutter body, two antennas are installed on the UWB coal machine ranging sensors, a UWB ranging base station is installed on a hydraulic support electrohydraulic controller every X frames of hydraulic supports, the UWB coal machine ranging sensors broadcast and call the UWB ranging base station, the UWB coal machine ranging sensors record base station numbers n responding to the UWB ranging base station, the UWB coal machine ranging sensors measure at least 5 groups of ranging information by taking the UWB ranging base station n as a center, the UWB coal machine ranging sensors screen effective data in measured data, a group of data with the smallest distance value is screened in the effective data and is sent to the corresponding support controllers, and the support controllers calculate coal machine positions according to the received data.

Inventors

HE LEI
ZHANG FEILONG
XIN FENG
JIN DAWEI

Assignees

太原向明智控科技有限公司

Dates

Publication Date: 20260505
Application Date: 20221229

Claims (2)

1. The position detection method of the fully mechanized coal face coal mining machine based on UWB is characterized in that a UWB coal machine ranging sensor is arranged on a coal mining machine body, two antennas, namely an antenna 1 and an antenna 2, are arranged on the UWB coal machine ranging sensor, a UWB ranging base station is arranged on a hydraulic support electrohydraulic controller every X hydraulic supports, and the detection method comprises the following steps: s1, an antenna 1 of a UWB coal machine ranging sensor broadcasts and calls a UWB ranging base station until receiving a response; s2, recording a base station number n of a UWB ranging base station by a UWB coal machine ranging sensor; S3, the UWB coal machine ranging sensor takes a UWB ranging base station n as a center, and an antenna 1 and an antenna 2 respectively measure at least 5 sets of ranging information; s4, screening effective data in the measured data by the UWB coal machine ranging sensor, screening a group of data with the minimum distance value in the effective data, recording the base station number m of a UWB ranging base station corresponding to the group of data with the minimum distance value, transmitting the group of data with the minimum distance value and the base station number m to the corresponding UWB ranging base station m by the antenna 1, and transmitting the data to the corresponding bracket controller by the UWB ranging base station m; let a be the distance between the antenna 1 and the UWB ranging base station m, b be the distance between the antenna 2 and the UWB ranging base station m, m be the number of the UWB ranging base station corresponding to a, b with the smallest ranging value in the effective data, and c be the distance between the antenna 1 and the antenna 2, then the process of determining the position of the coal machine according to the included angle e between b and c is as follows: When e <90 degrees, b is cos (e) to c, judging that the position corresponding to the midpoint of the coal machine is mapped to the m frame+d distance, wherein d=b is cos (e) -c; when e <90 degrees, b is less than or equal to c, judging that the position corresponding to the midpoint of the coal machine is mapped to the m-frame-d distance, and d=c-b is less than or equal to c; When e is more than or equal to 90 degrees, judging that the position corresponding to the midpoint of the coal machine is mapped to the distance of m frames-d, wherein d=b+cos (2pi-e) +c; s5, the support controller calculates the position of the coal machine according to the received data and uploads the data to the upper computer; And S6, checking or recalculating the position of the coal computer by the upper computer according to the received data.
2. The method for detecting the position of the fully mechanized coal mining face coal mining machine based on UWB according to claim 1, wherein in the step S4, the UWB coal machine ranging sensor sends the latest group of data to the UWB ranging base station m through the antenna 1, then the UWB coal machine ranging sensor goes to sleep until the UWB ranging base station m responded by the UWB coal machine ranging sensor is consistent with the base station number n of the UWB ranging base station in the step S2, and the steps S3 and S4 are repeated.

Description

UWB-based fully-mechanized coal mining face coal mining machine position detection method Technical Field The invention provides a fully-mechanized coal face coal mining machine position detection method based on UWB, and belongs to the technical field of fully-mechanized coal face coal mining machine position detection. Background The automation of the fully mechanized mining face is the basis for realizing high-yield and high-efficiency mines, and one of the key technologies is the following automation of the hydraulic support. To realize the automation of the hydraulic support, the position of the coal mining machine must be detected, and the hydraulic support controller sends out corresponding control instructions according to the position information of the coal mining machine so as to realize the linkage of the support and the coal mining machine. The detection method used at present mainly comprises the detection of the position of an infrared coal machine and the detection of the position of an encoder coal machine. However, the infrared detection and the encoder detection are easily affected by the field environment under the mine, such as dust scattering, coal slime flushing shielding, longitudinal inclination of a working face, cable trough shielding and the like, so that the problems of inaccurate or even impossible detection of the position of the coal cutter, or high failure rate of the position of the coal cutter detected by the encoder of the coal cutter are caused. The method and the device for accurately calibrating the absolute position of the coal mining machine based on the UWB also adopt the UWB technology to detect the position of the coal mining machine in the prior art, such as the patent with the application number 201410749250.5, comprise a coal mining machine body, a coal mining machine positioning device, an explosion-proof casing of the positioning device, an upper computer, four ultra-wideband wireless communication UWB sensors and a POE switch, wherein the explosion-proof casing of the positioning device is fixed on the coal mining machine body, the explosion-proof casing of the positioning device is internally provided with the coal mining machine positioning device, the coal mining machine positioning device comprises UWB positioning labels, the ultra-wideband wireless communication UWB sensors are fixed on a hydraulic support at the end head at equal intervals, and the ultra-wideband wireless communication UWB sensors are connected with the upper computer through the POE switch. However, the position calibration method adopted by the technical scheme is complex and has limited precision. Disclosure of Invention The invention provides a fully mechanized coal mining face coal mining machine position detection method based on UWB (ultra Wide band) for solving the problem that the position detection of an existing coal mining machine is inaccurate and is easily affected by the environment. In order to solve the technical problems, the invention adopts the technical scheme that the position detection method of the fully mechanized mining face coal mining machine based on UWB comprises the steps of installing UWB coal machine ranging sensors on a coal mining machine body, installing two antennas on the UWB coal machine ranging sensors, namely an antenna 1 and an antenna 2 respectively, installing a UWB ranging base station on a hydraulic support electrohydraulic controller every X hydraulic supports, wherein the detection method comprises the following steps: s1, an antenna 1 of a UWB coal machine ranging sensor broadcasts and calls a UWB ranging base station until receiving a response; s2, recording a base station number n of a UWB ranging base station by a UWB coal machine ranging sensor; S3, the UWB coal machine ranging sensor takes a UWB ranging base station n as a center, and an antenna 1 and an antenna 2 respectively measure at least 5 sets of ranging information; s4, screening effective data in the measured data by the UWB coal machine ranging sensor, screening a group of data with the minimum distance value in the effective data, recording the base station number m of a UWB ranging base station corresponding to the group of data with the minimum distance value, transmitting the group of data with the minimum distance value and the base station number m to the corresponding UWB ranging base station m by the antenna 1, and transmitting the data to the corresponding bracket controller by the UWB ranging base station m; s5, the support controller calculates the position of the coal machine according to the received data and uploads the data to the upper computer; And S6, checking or recalculating the position of the coal computer by the upper computer according to the received data. And in the step S4, the UWB coal machine ranging sensor sends the latest group of data to the UWB ranging base station m through the antenna 1, then the UWB coal machine ranging sensor enters sle