UWB based measurement system for pushing progress of fully mechanized working face

A real-time measurement system for the pushing progress of fully mechanized working face based on UWB ranging technology is proposed to address the problems of existing measurement and calculation methods, such as time-consuming, labor-intensive, large cumulative errors, and inability to recalculate after sensor damage. The system adopts a combination of mining intrinsic safety distance measurement substation and distance measurement marker card, and achieves real-time measurement of the progress of roadway pushing in the fully mechanized working face through wireless communication. At the end of the fully mechanized working face, a distance measuring sub station is arranged on the hydraulic support, and a distance measuring mark card is hung at the fixed marking point of the mining roadway. The distance is measured through UWB wireless signal in the roadway. When the mining is about to reach the nearest distance measuring mark card position, the distance measuring mark card is removed. The subsequent distance measuring mark card is replaced to measure and calculate the progress of the roadway pushing, so as to continuously replace the measurement. Based on the coal mining technology, a limited amplitude median average filtering model is established based on the position of the shearer and the action of the hydraulic support. This model deeply integrates limited amplitude filtering, median filtering, and arithmetic mean filtering to eliminate invalid data with large measurement deviations caused by measurement and occlusion in massive data. At the same time, the maximum and minimum deviation data in the effective data are eliminated, further ensuring the accuracy and effectiveness of the measurement values obtained through arithmetic mean operation. The continuous measurement of the progress of the fully mechanized working face is achieved. The ground test results show that the maximum error of ranging substation 1 is 0.32 m, and the proportion of errors less than 0.2 m is 84.62%. The maximum error of distance measurement substation 2 is 0.48 m, and the proportion of errors less than 0.2 m is 76.92%. The industrial underground test results show that the difference between the daily average advance degree of the system and the measured data of the coal mine is 0.13 m. The result proves the feasibility of UWB ranging technology in underground roadway conditions and the accuracy of the pushing progress measurement model based on coal mining technology.