2018 Vol. 44, No. 5

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Thinking about application of Internet of things in metal mine
HAN Zhilei, ZHANG Da
2018, 44(5): 1-6. doi: 10.13272/j.issn.1671-251x.17328
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Abstract:
Problems existed in constructing Internet of things(IoT) of metal mine in China were analyzed. A concept of constructing IoT ecosystem of metal mine adapting to characteristics of Chinese metal mines was proposed, which was an inevitable way to realize safety, efficiency, green and sustainable development of mine industry. Existing development conditions of IoT technology of metal mine at home and abroad were introduced. Technology connotation and architecture of the IoT ecosystem of metal mine were given. Key points about construction of the IoT ecosystem of metal mine were expounded including links of scheme design, system construction, production operation, data application, system maintenance, optimization control and upgrading.
Design of coal mine detection robot with automatic returning
WANG Zhitong, NIU Zhigang, GUO Chenxing, LI Yiju
2018, 44(5): 6-12. doi: 10.13272/j.issn.1671-251x.2017110034
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Abstract:
In order to solve problem of limited working travel of coal mine detection robot, a coal mine detection robot was designed, which can independently increase its communication distance and automatically return. When wireless control signal is weakened, the robot will use repeater catapulting system to increase wireless communication distance. When wireless signal is suddenly interrupted, the robot will initiate automatic returning function, and return to a safe place automatically according to sensor data memorized in the scouting process. Automatic returning function of robot adopts integration data method between encoders and laser sensor, uses ICP algorithm to do double data matching and adjust position and orientation gradually of the robot, so as to realize high accuracy in the process of automatic returning. Testing results show that the robot has a long working travel distance and automatic returning function, can work stably and safely at the scene of unknown coal mine disaster, and can replace rescue workers to complete early dangerous detection work in coal mine, provide a significant on-site data information for coal mine rescue.
Design of an explosion-proof grade conversion interface for mine gas pipeline equipments
LIN Yin
2018, 44(5): 12-15. doi: 10.13272/j.issn.1671-251x.2017120041
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Abstract:
According to requirements that gas pipeline equipments and its associated power supply and communication interface must satisfy the "ia" safety explosion-proof grade in mine gas drainage monitoring system, the gas pipeline equipments can be upgraded by increasing an explosion-proof grade conversion interface based on current mine gas drainage monitoring system with the “ib” explosion-proof grade. Power conversion principle with resistive current limiting and trapezoidal output characteristics, and signal conversion principle with resistive current limiting and linear output characteristics were introduced in detail. Related parameters of key components were analyzed and calculated. The test results show that the conversion interface has the characteristics of high conversion efficiency and low frequency distortion, and its output characteristics meet the "ia" safety level requirements.
Design of protection system for prevention of coal piling wearing tail rope in mine
WANG Detang, LI Haiwei, WANG Gonghua, ZHANG Yunhua
2018, 44(5): 16-19. doi: 10.13272/j.issn.1671-251x.2017100019
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Abstract:
In view of problems of small detection range, difficult installation position setting and easy misoperation existed in traditional protection devices for prevention of coal piling wearing tail rope, a protection system for prevention of coal piling wearing tail rope in mine was designed based on two-dimensional laser radar scanning technology and active infrared radiation sensor technology. The system adopts two layer protection system structure. When coal piling reaches the first layer protection system named two-dimensional laser radar scanning system, ranging information output by the two-dimensional laser radar scanning system changes and is uploaded to upper computer. The upper computer controls alarm device and starts the second layer protection system named active infrared radiation sensor system. When coal piling level increases continuously to reach the active infrared radiation sensor system, level signal output by the active infrared radiation sensor system changes and is uploaded to the upper computer. The upper computer controls electric control system of hoist to stop hoist running, so as to prevent high coal piling wearing tail rope. Field test results prove reliability and practicability of the system.
Design of mine distributed hierarchical autonomous system
LI Jingzhao, JIANG Yang
2018, 44(5): 20-25. doi: 10.13272/j.issn.1671-251x.2017120017
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Abstract:
In view of requirements for characteristics of mine management system such as precision mining, heterogeneity, distribution, autonomy and data driving, a mine distributed hierarchical autonomous system based on mine cyber-physical system was proposed. The system is composed of wisdom sensing and control layer, information transmission layer, unified scheduling layer, model description layer and control and application layer. Sensing and control nodes of the wisdom sensing and control layer can realize ubiquitous perception, control and adjustment for human, machine and environment. The information transmission layer not only combines backbone network and sub-network, but also combines wired network and wireless network, so as to improve reliability of data transmission and reduce generation of information isolated islands. The unified scheduling layer can realize unification of system semantics and system time, which improves efficiency of data utilization. The model description layer can realize digital description of overall mine. The control and application layer is accessed to mine application system, which can reduce development difficulty of the mining application system and improve wisdom of mine management. The system has reliability, cooperativity and autonomy, and provides technical support for mine precise mining, unattended work and few people operation.
Construction of coal mine accident ontology based on formal concept analysis
ZHU Jia, WANG Xiangqian, ZHANG Baolong, LIU Min
2018, 44(5): 26-30. doi: 10.13272/j.issn.1671-251x.2017120026
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Abstract:
In order to solve problems of management confusion and linkage lack of coal mine accident knowledge, a coal mine accident ontology based on formal concept analysis was constructed. Firstly, formal contexts are separately constructed based on thesaurus and text set of coal mine, and formal context of heterogeneous resources is obtained through apposition-overlap operation. Then the formal context is converted to concept lattice by use of concept lattice construction tool. Finally, concept, attribute and instance are extracted from the concept lattice to form coal mine accident ontology. The coal mine accident ontology can organize and formally express coal mine accident knowledge, and realize sharing and reuse of coal mine accident knowledge, so as to provide help for coal mine safety warning.
Two-dimensional accurate personnel positioning method in underground coal mine based on Kalman filter
SUN Zhexing , WANG Yanwen
2018, 44(5): 31-35. doi: 10.13272/j.issn.1671-251x.17318
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Abstract:
Due to affects of clock synchronization error, clock timing error, multipath effect, not line of sight （NLOS）delay error, electromagnetic disturbance between positioning substation and positioning card, it has large positioning error in the existing personnel positioning methods in underground coal mine and it is difficult to meet requirements of coal mine accident emergency rescue, transportation and electromechanical accident prevention and control. In order to improve positioning accuracy and achieve two-dimensional accurate personnel positioning in underground coal mine, a two-dimensional accurate personnel positioning method in underground coal mine based on Kalman filter was proposed: the distance between positioning card and positioning substation measured by the positioning substation is taken as measurement result of Kalman filter, the miner's position is calculated by established mathematical model of underground miner movement, which is taken as prediction result of Kalman filter.The measurement results and the prediction results were weighted reasonably,the best estimate value at the current time is obtained from the best estimate value after the previous step by Kalman filter, so as to realize two-dimensional accurate personnel positioning in underground coal mine.
Influence of partial discharge on temperature rise of windings of mine-used flameproof dry-type transformer
WAN Zhiqiang, CAO Penggang, SONG Jiancheng, LEI Zhipeng
2018, 44(5): 36-41. doi: 10.13272/j.issn.1671-251x.2017100006
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Abstract:
In order to analyze influence of air gaps or impurities in insulation layer on temperature rise of windings of mine-used flameproof dry-type transformer, a mine-used 1 000 kVA/10 kV dry-type transformer with continuous winding was selected as research object, inter-turn and inter-layer insulation structures of windings of dry-type transformer were introduced. Infrared thermal imaging camera was used for analogy analysis of temperature rise characteristics of the samples under different discharge types and different aging temperatures, and relationship between temperature and inter-turn discharge and inter-layer discharge of dry-type transformer using Nomex insulation paper as insulating layer was obtained. Using theory of heat transfer and combining with insulation material characteristics to calculate and analyze the influence of inter-turn discharge dry-type transformer on heating process of windings. The paper provides theoretical basis for accurately locating hot spot temperature inside transformer and partial discharge point.
Research on model predictive control model in application of shearer height-adjusting system
ZHANG Sihan, LIU Zhenjian, QIU Jinbo
2018, 44(5): 42-46. doi: 10.13272/j.issn.1671-251x.2017120009
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In view of the problems of lower stability and poor precision existed in present shearer height-adjustment system, which used electromagnetic switch valve to adjust height of drum, a model predictive control model of the shearer height-adjustment system was established through adding model predictive controller in conventional model of the shearer height-adjusting system and taking MG300/700-WD type AC traction shearer as the research object. The switching frequency of electromagnetic switch valve and working hours were reduced by adjusting sampling time and predictive time domain length of model predictive controller, the drum can be realize accurate and real time height adjustment according to the target height. Simulation results show that the shearer height-adjustment system based on model predictive control model can achieve stability in 6 s after given input compared with the conventional model, switch frequency of the electromagnetic switch valve is reduced, overshoot amount is decreased by 28.8%, stability and real-time performance of the system are improved.
Rocker angle measurement method of shearer under low illumination environment
GUO Wei, LI Hongwei, WANG Yuan, DING Zhibing
2018, 44(5): 47-51. doi: 10.13272/j.issn.1671-251x.2017120062
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In view of problems of serious wear and high failure rate in application of contact method of rocker angle measurement of shearer in complex mine environment, an rocker angle measurement method of shearer under low illumination environment was proposed, which combines image enhancement algorithm and monocular vision for non-contact measurement of rocker angle of shearer. Multi-scale Retinex image enhancement algorithm based on guided filtering is used to obtain enhanced images. ROI extraction, edge detection and progressive probabilistic transform are performed on the enhanced image to get rocker angle in camera space, and calibrated CCD camera is used for coordinate conversion, and actual angle is output. The experimental results show that the rocker angle measurement method of shearer is fast and accurate, the error is less than 0.1°, and it has good performance in contrast enhancement, noise cancellation, detail enhancement.
Positioning of coal mining equipments based on inertial navigation and odometer
ZHANG Shouxiang, LI Sen, SONG Lailiang
2018, 44(5): 52-57. doi: 10.13272/j.issn.1671-251x.2018010042
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Abstract:
Research and application of inertial navigation technology in coal mines at home and abroad was analyzed, and the point was proposed that inertial-level strapdown fiber inertial navigation technology is suitable for positioning of coal mining equipment. Inertial navigation and odometer are combined to perform co-location and navigation, and mileage information is used to correct inertial navigation measurement data to improve precision of positioning and navigation. Method of dynamic initial alignment of inertial navigation, specific method of inertial navigation and odometer coordinate positioning, and Kalman filter equation used for error estimation, correction and compensation were given. Experimental results show that the maximum error of straightness measurement of working surface is 90 mm, the average error is 60 mm, and height measurement error is 20 mm after adopting the inertial navigation and odometer coordinate positioning technology, which meets accuracy require of straightness measurement of working face.
A fault diagnosis method for axial flow fa
HU Shaohua, GU Zhenyu, JIN Diwen
2018, 44(5): 58-63. doi: 10.13272/j.issn.1671-251x.2017100023
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Abstract:
For poor diagnosis effect of existing fault diagnosis methods for axial flow fan based on spectrum analysis which correlated fault type with spectrum characteristic value simply, a fault diagnosis method for axial flow fan based on vector ellipsoid spectrum and hidden Markov model (HMM) was proposed. Firstly, two orthogonal vibration signals of axial flow fan in the same section are fused into a complex signal in time domain, and full-spectrum amplitudes of the vibration signals under multi characteristic frequencies are obtained by fast Fourier transform of the complex signal. Secondly, the full-spectrum amplitudes under different fault conditions are used to train HMM. Finally, full-spectrum amplitudes of real-time vibration signals are as input of HMM, and Viterbi algorithm is used to calculate likelihood probability outputted by HMM. Fault type is judged according to the maximum logarithm value of the likelihood probability, which avoids simple association between the vibration amplitude and fault type. The experimental result shows that correct rate of fault diagnosis of the method is above 90%.
Coal-rock damage evolution characteristics based oninfrared radiation under uniaxial compressio
CHENG Fuqi, LI Zhonghui, WEI Yang, YIN Shan, LIU Shuaijie, KONG Yanhui
2018, 44(5): 64-70. doi: 10.13272/j.issn.1671-251x.2017110064
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In order to quantitatively study evolution law between temperater parameter of infrared radiation and coal-rock damage law under uniaxial compression, temperature data of infrared radiation during coal-rock failure process was collected and analyzed. A coal-rock damage model was established according to damage mechanics theory, so as to obtain relationship between the maximum infrared radiation temperature (MIRT) and coal-rock damage. The results show that: ① The MIRT-time curve has a good correspondence with load-time curve of the coal-rock under loading, and the MIRT can reflect the damage of coal-rock under loading. ② The coal-rock damage model based on infrared radiation temperature accumulation can well reflect evolution, development and failure of cracks in the coal-rock under uniaxial compression. ③ The correlation coefficient between calculated stress based on MIRT accumulation and measured stress is more than 0.8, which is highly correlated, and peak of the calculated stress-strain curve is ahead of the one of the measured stress-strain curve.
Research on fault line selection method of mine power network
LI Ke, SUI Xiaona, ZHANG Jun, ZHANG Feifei, LI He, ZOU Wei
2018, 44(5): 70-75. doi: 10.13272/j.issn.1671-251x.2018010024
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In view of characteristics of DC component of transient zero-sequence current in fault lines is larger than that of normal lines when additional DC source system of mine power network occurrs single-phase earth fault, a fault line selection method of mine power network based on least-square matrix pencil algorithm and Romanovsky criterion was presented. The method uses least-square matrix pencil algorithm to extract DC component of transient zero-sequence current, and the DC component of each line is formed matrix. Then, it uses Romanovsky criterion to judge fault. If the absolute dispersion is larger than the critical dispersion, it is the line fault, the rejected data branch is the fault line, otherwise it is the buses fault. Simulation results show that the method is accurate，reliable with high adaptability.
Structure design of suspension line inspection robot in coal mine roadway and its simulatio
JIANG Junying, ZHOU Zhan, CAO Xiangang, MA Xiaoyan, DI Hang, WU Xudong
2018, 44(5): 76-81. doi: 10.13272/j.issn.1671-251x.2017110055
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For complicated structure and control of existing wheeled or crawler-type inspection robot in coal mine tunnel as well as low reliability, and high cost and occupation of tunnel space resource of tracked inspection robot, a kind of suspension line inspection robot in coal mine roadway was designed, which was not influenced by complex geographical environment of roadway and distribution of personnel and equipments. Structure design of the robot was focused on. A virtual prototype model of the robot was established in ADAMS software, and three motion states of the robot were simulated and analyzed including horizontally walking with obstacle navigation, uphill walking with obstacle navigation and downhill walking with obstacle navigation. The results show that the robot always maintains a uniform linear motion in horizontal direction and fluctuates in vertical and horizontal side-sway directions within allowable range, and displacement changes of the robot are relatively stable in the three motion states. The simulation results verify rationality of structure design of the robot.
Architecture of software defined cluster wireless sensor network of coal mine
CHEN Enuo
2018, 44(5): 81-84. doi: 10.13272/j.issn.1671-251x.2017080060
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For no guarantee of communication reliability of traditional coal mine wireless sensor network under accident condition because static route protocol cannot change route according to network states, an architecture of software defined cluster wireless sensor network of coal mine was designed by adding gateway nodes in cluster of coal mine wireless sensor network based on software defined network system and characteristic of the cluster topology. In the architecture, the gateway nodes in each domain collect data of sensor nodes for intra-domain or inter-domain communication, and controller manages flow, route and safety of the domain. Wireless sensor network based on the architecture can change route according to network states, which is suitable for coal mine safety monitoring.
Route planning of unmanned aerial vehicle in post-disaster underground based on improved algorithm
LYU Wenhong, XIA Shuangshuang, WEI Bowen, YIN Lijie, GUO Yinjing
2018, 44(5): 85-90. doi: 10.13272/j.issn.1671-251x.2017100058
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In view of problems of redundant search point and poor real-time performance when encountering sudden threat existed in application of traditional algorithm in route planning of unmanned aerial vehicle in environment detection for post-disaster underground, a reverse variable weight sparse algorithm was proposed. According to performance constraint of unmanned aerial vehicle and threat model in post-disaster underground, global static route planning is carried out from target point to start point, so as to avoid a large number of invalid searches. Different weight coefficients are set according to mission requirement of unmanned aerial vehicle, so as to obtain route focuses on distance or safety. Only the path covered by sudden threat is corrected by introducing sub-target point strategy, so as to avoid sudden threat effectively in short time. The simulation results show that the algorithm used in route planning can save time of route planning and reduce threat to unmanned aerial vehicle, which can effectively guarantee real-time performance and safety of route planning.
Coal pillar deformation analysis under different inclinations and spaces of structural plane
NING Shan, LYU Jiakun, JI Haiyu, ZHANG Yandong
2018, 44(5): 91-94. doi: 10.13272/j.issn.1671-251x.2017120040
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For problem that coal pillar is treated as a continuum in most of the coal pillar deformation studies without considering structural plane damage and instability in coal pillar, numerical simulation of the maximum principal stress and deformation of coal pillar under different inclinations and spaces of structural plane were carried out by use of 3DEC software. The results show that the maximum principal stress of coal pillar increases with increase of space of structural plane and decreases with increase of inclination of structural plane; influence of space of structural plane on the maximum principal stress of coal pillar decreases with increase of inclination of structural plane; coal pillar deformation decreases with increase of space of structural plane and increases with increase of inclination of structural plane; coal pillar deformation increases significantly when space of structural plane is less than 1.5 m and inclination of structural plane is more than 45°.
Miners' facial expression recognition method based on convolutional neural network
DU Yun, ZHANG Lulu, PAN Tao
2018, 44(5): 95-99. doi: 10.13272/j.issn.1671-251x.17312
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In view of problems of low recognition rate and complex algorithm of traditional miner's facial expression recognition methods, based on convolutional neural network and combining with nonlinear mapping function in support vector machine algorithm, a miners' facial expression recognition method based on convolutional neural network was proposed. The convolutional neural network adopts sharing weights strategy, constructs convolutional layer directly with fixed weights, and determine network hierarchy according to matching growth rules. Preprocessed miner's facial expression images are used as test set and training sets of the convolutional neural network. Supportive vector machine is used to classify neurons that represent miner's facial expression features, so as to realize classification and recognition of miner's facial expressions. The experimental results show that the recognition rate of miner's facial expression of the proposed method reaches 90.71%, which can meet the practical application needs.
Design of decoupling method of temperature control system for coal-fired reheating furnace
SHI Tao, HE Fengyou
2018, 44(5): 100-104. doi: 10.13272/j.issn.1671-251x.2017110047
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In view of problems of wasting too much fuel, serious pollution of coal-fired reheating furnace caused by difficult temperature control, a heating system model of coal-fired reheating furnace with multi-temperature zones was established. A feedforward decoupling control method based on PID control algorithm was proposed. The method uses feedforward decoupling control to realize decoupling for coupling parts of each heating channel, which can reduce the time required for the heating system to reach steady state, and uses PID control algorithm to optimize control parameters of the heating system, which can make temperature of the heating system rapidly rise and remain stability in a short time. The simulation and experimental results show that the method can greatly improve temperature control speed, and can achieve stable control accuracy in a shorter response time, which avoids fuel wasting and improves heating rate.

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