Sensing method for collecting multivariate information at a goaf side based on chutes of scraper conveyors

Abstract

The present invention relates to the technical field of mining instruments, and discloses a sensing method for collecting multivariate information at a goaf side of chutes based on scraper conveyors, wherein gesture sensors are provided at a goaf side of the chutes of a scraper conveyor; building an equivalent model of the chutes, fusing constants and variants of relative information and distance measurements methods, determining collection of multivariate information of detection bodies of the gesture sensors of the chutes and combinational logic algorithms thereof; and sensing gesture changes of the chutes by the detection bodies of the gesture sensors of the chutes and conducting collection of the multivariate information and analyzing relative changes and trends of gestures between the chutes. The present invention can further improve detection real time properties, accuracy, coverage, reliability and environment adaptability compared with other measurement methods.

Claims

1. A sensing method for collecting multivariate information at a goaf side of chutes based on scraper conveyors comprising: analyzing common mode difference features in changing processes of chutes of a scraper conveyor and providing at least one gesture sensor for the chutes at a goaf side of the chutes; building an equivalent model based on the chutes, fusing constants and variants of relative distances, and determining collection of multivariate information and a plurality of combinational logic algorithms of detection bodies of the at least one gesture sensor of the chutes; sensing gesture changes of the chutes via the at least one gesture sensor of the chutes, and conducting collection of the multivariate information; judging whether relative movements are present in between the chutes based on the multivariate information collected by the at least one gesture sensor of the chutes; where the relative movements are present, turn to step S105; where the relative movements are not present, turn to step S103; and judging trends of the relative movements and judging directions and magnitudes of the relative movements, determining corresponding points and conducting information interaction; meanwhile generating mapping images of relative positions of the chutes.

2. The sensing method for collecting multivariate information at a goaf side of chutes based on scraper conveyors according to claim 1 wherein the multivariate information provided in the present invention comprises distances, angles and other information.

3. The sensing method for collecting multivariate information at a goaf side of chutes based on scraper conveyors according to claim 1 wherein sensing the gesture changes of the chutes by the detection bodies of the at least one gesture sensor of the chutes provided in an embodiment of the present invention comprises: measuring the gesture changes by inertial navigation, raster grating, magnetic grating, electric resistance, capacitive grating or image recognition and other means.

4. A sensing device for collecting multivariate information at a goaf side of chutes based on scraper conveyors using the sensing method for collecting multivariate information at a goaf side of chutes based on scraper conveyors as defined in claim 1, comprises: a plurality of gesture sensors 10; wherein the plurality of gesture sensors 10 are fixed at the goaf side of each of the chutes 1 via fixing supports; the plurality of gesture sensors 10 of the chutes comprise detection bodies, signal processing circuits, communication ports and outer casings; and the detection bodies are provided with moving mechanisms, extension mechanisms and retraction mechanisms.

5. The sensing device for collecting multivariate information at a goaf side of chutes based on scraper conveyors according to claim 4, wherein the plurality of gesture sensors can work in combination.

6. The sensing device for collecting multivariate information at a goaf side of chutes based on scraper conveyors according to claim 4, wherein the plurality of gesture sensors are further provided with flexible connection pieces.

7. The sensing device for collecting multivariate information at a goaf side of chutes based on scraper conveyors according to claim 4, wherein both ends of each of the plurality of gesture sensors are respectively fixed at adjacent chutes or walls of the chutes, or other objects connected with the chutes.

8. The sensing device for collecting multivariate information at a goaf side of chutes based on scraper conveyors according to claim 4, wherein at least one bolt is provided at an end of each of the fixing supports, the at least one bolt is configured to connect the chutes and at least one coal stopper, the at least one coal stopper and at least one cable tray, and the fixing supports are fixed at the chutes 1.

9. The sensing device for collecting multivariate information at a goaf side of chutes based on scraper conveyors according to claim 4, wherein key points of the fixing supports specially for the adjacent chutes are connected by pulling at least one wire, providing at least one supports or other means, and the fixing supports for each of the chutes are connected by the plurality of sensors.

10. A sensing device for collecting multivariate information at a goaf side of chutes based on scraper conveyors using the sensing method for collecting multivariate information at a goaf side of chutes based on scraper conveyors as defined in claim 2, comprises: a plurality of gesture sensors 10; wherein the plurality of gesture sensors 10 are fixed at the goaf side of each of the chutes 1 via fixing supports; the plurality of gesture sensors 10 of the chutes comprise detection bodies, signal processing circuits, communication ports and outer casings; and the detection bodies are provided with moving mechanisms, extension mechanisms and retraction mechanisms.

11. A sensing device for collecting multivariate information at a goaf side of chutes based on scraper conveyors using the sensing method for collecting multivariate information at a goaf side of chutes based on scraper conveyors as defined in claim 3, comprises: a plurality of gesture sensors 10; wherein the plurality of gesture sensors 10 are fixed at the goaf side of each of the chutes 1 via fixing supports; the plurality of gesture sensors 10 of the chutes comprise detection bodies, signal processing circuits, communication ports and outer casings; and the detection bodies are provided with moving mechanisms, extension mechanisms and retraction mechanisms.

Description

BRIEF DESCRIPTION OF DRAWINGS

[0040] FIG. 1 is a flowchart diagram showing a sensing method for collecting multivariate information at a goaf side of chutes of scraper conveyors provided in an embodiment of the present invention.

[0041] FIG. 2 is a diagram showing principles of the sensing method for collecting multivariate information at a goaf side of chutes of scraper conveyors provided in an embodiment of the present invention.

[0042] FIG. 3 is a structural diagram showing fixing supports provided in an embodiment of the present invention.

[0043] FIG. 4 is a diagram showing a front portion of the fixing supports provided in an embodiment of the present invention.

[0044] FIG. 5 is a diagram showing positions of the fixing supports, the sensors and the chutes provided in an embodiment of the present invention.

[0045] In the drawings: 1—chute; 2—upper connection rod; 3—bolt; 4—lower connection rod; 5—spring; 6—support base; 7—upper panel; 8—lower panel; 9—supporting pole; 10—gesture sensor; 11—gesture sensor; and 12—bolt.

EMBODIMENTS

[0046] The coal mining face comprises an inlet air trough, a coal mining body, an open-off cut and a return air trough. In the 300 m cut-out cuboid space, the coal cutter, the scraper conveyor and the hydraulic supports are placed. Three gesture sensors of the chutes are deployed between adjacent chutes, and every twenty adjacent sensors form a group, which communicate through one CAN and transmit data to substations and there are three independent CAN communication interfaces in each of the substations. A 300-meter-long scraper conveyor uses 400 gesture sensors and 20 sub-stations to complete the system architecture. The gesture sensors and the sub-stations are connected through MHVRP1*4*7*0.52 shielded communication, and metal pipes are externally sleeved to enhance anti-interference ability. The substations transmit the data to a centralized control center of the trough through the CAN communication interface. The centralized control center analyzes the data, analyzes straightness of the scraper in real time, judges moving directions, judges magnitudes of movements, determines relative points, and is responsible for data interaction with the hydraulic system to realize feedback to pushing of the coal cutter and correct bending of the scraper conveyor. At the same time, through a underground fiber optic ring network, the data is uploaded to an on ground data center to realize in-depth data analysis, 3D simulation and sharing.

[0047] To make purposes, technical solutions and advantages of the present invention more clear, hereinafter a detailed explanation will be further given to the present invention in conjunction with embodiments. It shall be understood that, the embodiments given here are only used to explain the present invention rather than limit the present invention.

[0048] Targeting at problems existing with the prior art, the present invention provides a sensing method for collecting multivariate information at a goaf side of chutes based on scraper conveyors.

[0049] As shown in FIG. 1 and FIG. 2, the sensing method for collecting multivariate information at a goaf side of chutes based on scraper conveyors comprising:

[0050] S101: analyzing common mode difference features in changing processes of chutes of a scraper conveyor and providing at least one gesture sensor for the chutes at a goaf side of the chutes;

[0051] S102: building an equivalent model based on the chutes, fusing constants and variants of relative distances, distance measurement methods, and determining collection of multivariate information and a plurality of combinational logic algorithms of detection bodies of the at least one gesture sensor of the chutes;

[0052] S103: sensing gesture changes of the chutes via the at least one gesture sensor of the chutes, and conducting collection of the multivariate information;

[0053] S104: judging whether relative movements are present in between the chutes based on the multivariate information collected by the at least one gesture sensor of the chutes; where the relative movements are present, turn to step S105; where the relative movements are not present, turn to step S103;

[0054] S105: judging trends of the relative movements and judging directions and magnitudes of the relative movements, determining corresponding points and conducting information interaction; meanwhile generating mapping images of relative positions of the chutes.

[0055] The multivariate information provided in the present invention comprises distances, angles and other information.

[0056] Sensing the gesture changes of the chutes by the detection bodies of the at least one gesture sensor of the chutes provided in an embodiment of the present invention comprises:

[0057] Measurement of the gesture changes can be done by inertial navigation, raster grating, magnetic grating, electric resistance, capacitive grating or image recognition and other means.

[0058] As shown in FIG. 3 to FIG. 5, a sensing device for collecting multivariate information at a goaf side of chutes based on scraper conveyors provided in an embodiment of the present invention comprises:

[0059] A plurality of gesture sensors 10; wherein the plurality of gesture sensors 10 are fixed at the goaf side of each of the chutes 1 via fixing supports;

[0060] The plurality of gesture sensors 10 of the chutes comprise detection bodies, signal processing circuits, communication ports and outer casings; gear tumblers are provided at outlets of the detection monomers, and retraction of the detection monomers are done by springs.

[0061] The plurality of gesture sensors 10 provided in an embodiment of the present invention can work in combination.

[0062] The plurality of gesture sensors 10 provided in an embodiment of the present invention are further provided with flexible connection pieces 11.

[0063] Both ends of each of the plurality of gesture sensors 10 provided in an embodiment of the present invention are respectively fixed at adjacent chutes or walls of the chutes, and the plurality of gesture sensors 10 are maintained parallel and vertical via washers.

[0064] At least one bolt 12 is provided at an end of each of the fixing supports provided in an embodiment of the present invention, the at least one bolt 12 is configured to connect the chutes and at least one coal stopper, the at least one coal stopper and at least one cable tray, and the fixing supports are fixed at the chutes 1;

[0065] Intermediate portions of the fixing supports are intersected like scissors, and springs 5 are provided in the fixing supports for providing supporting forces;

[0066] Another end of each of the fixing supports rests on a side of each of the chutes 1;

[0067] A supporting base or a supporting pole configured to provide a fixing position for each of the plurality of gesture sensors of the chutes is provided at a bottom portion of each of the fixing supports; and the supporting base or the supporting pole is vertical to each of the chutes.

[0068] The fixing supports provided in an embodiment of the present invention are retractable fixing supports.

[0069] Key points of the fixing supports specially for the adjacent chutes provided in an embodiment of the present invention are connected by pulling at least one wire, providing at least one supports or other means, and the fixing supports for each of the chutes are connected by the plurality of sensors.

[0070] Hereinafter technical solutions of the present invention will be further described in conjunction with specific embodiments.

[0071] Sensing algorithm for collecting multivariate information regarding gesture changes of chutes based on mining scraper conveyors and realizing method thereof comprise:

[0072] In view of on-site working characteristics of the chutes, the gesture sensors of the chutes will be installed at a goaf side of each of the chutes so as to sense gesture changes of the chutes and avoid being squeezed by coal walls and coal cutters.

[0073] The plurality of gesture sensors comprise modules such as detection bodies, signal processing circuits, clock circuits, communication ports and outer casing;

[0074] Each of the chutes is provided with each of the fixing supports, and the fixing supports are connected via the plurality of gesture sensors;

[0075] One end of each of the fixing supports of the chutes is connected at each of the chutes, each of the coal stoppers or each of the cable trays, and key points of the fixing supports for the adjacent chutes are connected by pulling wires or providing supports;

[0076] The plurality of sensors comprise the detection bodies, and a plurality of detection units can be used to increase reliability of the system;

[0077] Building an equivalent model based on the chutes, fusing the constants and the variants of the relative distances and the distance measurement methods, and designing the detection bodies for collection of multivariate information such as distances and angles and a plurality of combinational logic algorithms;

[0078] The detection bodies can make gesture change measurements by inertial navigation, optical grating, magnetic grating, electrical resistance or image recognition;

[0079] Gear tumblers are provided at outlets of the detection bodies so that it is possible to extend, retract and change directions and retraction is done by pulling of one or more springs;

[0080] Forming a plurality of polygons and analyzing relative movements between the chutes and trends thereof;

[0081] Collecting information regarding gesture changes of the chutes, judging directions and magnitudes of movements, determining corresponding points and conducting information interaction; and

[0082] Generating logics and mapping images of relative positions of the chutes.

[0083] The fixing supports for the plurality of gesture sensors at the same side (the goaf side) of the chutes provided in an embodiment of the present invention comprise: [0084] (1) One end of each of the fixing supports comprises at least one bolt, so as to fasten connection between the chutes and the coal stoppers, the coal stoppers and the cable trays and ensure that the fixing supports are fixed on the chutes; [0085] (2) Intermediate sections of the fixing supports are intersected like scissors wherein supporting forces are provided by springs; [0086] (3) Another end of each of the fixing supports rests tightly on sides of the chutes; [0087] (4) Supporting bases or supporting poles are extended from bottom portions of the fixing supports so that the plurality of gesture sensors can be fixed and the supporting bases or the supporting poles are vertical to the chutes; and [0088] (5) The fixing supports are retractable, and dimensions thereof can be adjusted based on on-site conditions.

[0089] The sensing algorithm for collecting multivariate information of gesture changes of chutes at a goaf side and realization method thereof can be done in three steps sequentially, in the first step, as subject to influences due to factors such as on-site conditions and actual applications, by using the fixing supports, the plurality of gesture sensors of the chutes can be fixed firmly on the chutes and are approximately parallel to the chutes. In the second step, resolution of the sensors can be in a micrometer grade, and by using automatic recovery and absolute measurement modes, initiation reliance and repeated calibration can be avoided. In the third step, polygonal algorithm mechanisms and multiple measurement unit redundancy mechanisms are fused, so as to improve reliability of serial measurement of a plurality of chutes.

[0090] Embodiments of the present invention can be realized by hardware, mechanical structures and software or combination of hardware and software. The hardware part can be realized by special detection bodies, signal processing circuits and logical circuits; the structural part can be realized by combination of stainless steel, corrugated pipes and variable jacket tubes; and the software part can be stored in a microprocessor, and the system can be executed by appropriate instructions. Those of ordinary skill in the art can appreciate that the foregoing device and the method can be realized by devices and microprocessors for collection and communication of data. The device of the present invention and modules thereof can be implemented by hardware circuits such as very large scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, etc., or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., it can also be implemented by software executed by various types of processors, or by a combination of the above-mentioned hardware circuits and software, such as firmware.

[0091] In the description of the present invention, unless otherwise stated, “plurality” means two or more; the orientations or positional relationships indicated by terms “upper”, “lower”, “left”, “right”, “inner”, “outer”, “front end”, “rear end”, “head”, “tail”, etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element must have a particular orientation, be constructed and operate in a particular orientation, and shall not be construed as a limitation of the present invention. Furthermore, the terms “first,” “second,” “third,” etc. are used for descriptive purposes only and should not be construed to indicate or imply relative importance.

[0092] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited to this. Any modification, equivalent replacements and improvements to the present invention within the technical scope disclosed in the present invention and spirit and principles of the present invention by any one skilled in the art shall be covered in the protection scope of the present invention.