UWB based measurement system for pushing progress of fully mechanized working face
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摘要: 针对目前综采工作面推进度的测量和计算方式存在费时费力、累计误差大、传感器损坏后无法重新计算等问题，提出了一种基于UWB测距技术的综采工作面推进度实时测量系统。该系统采用矿用本安型测距分站与测距标志卡组合的方式，通过无线通信实现对综采工作面巷道推进度的实时测量。在综采工作面端头液压支架布置测距分站，在回采巷道固定标志点悬挂测距标志卡，通过巷道内UWB无线信号测距，当即将开采到最近的测距标志卡位置时，撤掉该处测距标志卡，后续测距标志卡接替进行巷道推进度的测量与计算，依此循环往复，不断进行更替测量。结合采煤工艺，建立了依据采煤机位置和液压支架动作的限幅中值平均滤波模型，该模型将限幅滤波、中值滤波、算术平均滤波深度融合，以剔除海量数据中由于受到测量、遮挡等影响而造成的测量偏差较大的无效数据，同时消除有效数据中的最大和最小偏差数据，进一步保证了通过算术平均运算得到的测量值的准确性和有效性，实现了综采工作面推进度的连续测量。地面测试结果表明，测距分站1的最大误差为0.32 m，误差小于0.2 m的占比为84.62%；测距分站2的最大误差为0.48 m，误差小于0.2 m的占比为76.92%。井下工业性试验结果表明：该系统与矿方实测数据日平均推进度差值为0.13 m，证明了UWB测距技术在井下巷道条件下测距的可行性和基于采煤工艺的推进度测量模型的准确性。
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关键词:
- 综采工作面 /
- 推进度测量 /
- UWB测距 /
- 双边双向测距法 /
- 限幅中值平均滤波模型
Abstract: 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. -
图 5 测距分站与测距标志卡布置方案
Figure 5. Layout scheme for ranging substations and ranging mark cards
图 6 基于UWB的推进度测量计算方法
Figure 6. Calculation method for pushing progress measurement based on UWB
图 7 限幅中值平均滤波模型算法流程
Figure 7. Algorithm flow of limited amplitude median average filtering model
图 10 推进度测量系统井下安装
Figure 10. Underground installation of the pushing progress measurement system
图 11 基于UWB的推进度测量系统与矿方实测当日推进度对比
Figure 11. Comparison between the pushing progress measurement system based on UWB and daily pushing progress measured by mine
表 1 地面测试结果
Table 1. Ground test results
m 分站1 分站2 激光 UWB 误差 激光 UWB 误差 0.990 0.90 −0.09 1.010 1.212 −0.20 2.050 2.03 −0.02 1.980 2.170 −0.19 2.990 2.97 −0.02 3.010 3.157 −0.15 3.900 3.84 −0.06 3.960 4.091 −0.13 4.870 4.87 0 5.030 5.086 −0.06 6.030 6.05 0.02 6.080 6.118 −0.04 7.230 7.25 0.02 6.940 6.987 −0.05 8.640 8.67 0.03 8.040 8.120 −0.08 10.030 10.07 0.04 9.050 9.090 −0.04 12.440 12.50 0.06 10.100 10.126 −0.03 15.869 16.06 0.19 13.800 13.698 0.10 19.460 19.55 0.09 15.120 14.908 0.21 22.877 23 0.12 20.200 20.098 0.10 26.590 26.6 0.01 24.730 24.708 0.02 27.860 28 0.14 27.650 27.680 −0.03 29.410 29.48 0.07 29.870 29.767 0.10 30.420 30.49 0.07 35.260 35.179 0.08 35.290 35.41 0.12 39.780 39.750 0.03 40.270 40.36 0.09 45.140 44.929 0.21 45.400 45.51 0.11 50.420 50.284 0.14 49.470 49.65 0.18 55.190 55.165 0.02 59.290 59.48 0.19 59.910 59.545 0.36 64.241 64.52 0.28 64.560 64.422 0.14 71.160 71.48 0.32 69.873 69.396 0.48 75.800 76.02 0.22 74.580 74.359 0.22 88.419 88.74 0.32 88.330 88.302 0.03 
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表 2 试验巷道地质条件
Table 2. Geological conditions of the tested roadway
长度/m 倾向角度/（°） 形状 巷宽/m 巷高/m 标点间隔/m 2 880 0～5 矩形 4.6 2.8 50
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