Device and method for intelligent guidance in coal mine tunneling based on millimeter-wave radar

Abstract

20 26 20 45 30 12 J un 2 02 6 2 0 2 6 2 0 4 5 3 0 1 2 J u n 2 0 2 6 2 0 2 6 2 0 4 5 3 0 1 2 J u n 2 0 2 6

Description

FIELD OF THE INVENTION

[0001] The present disclosure belongs to the technical field of intelligent guidance, and specifically relates to a device and method for intelligent guidance in coal mine tunneling based on a millimeter-wave radar. BACKGROUND TO THE INVENTION

[0002] A device for intelligent guidance in coal mine tunneling based on a millimeterwave radar is an intelligent guidance system that detects, in real time, surrounding roadway cross sections, front coal-rock interfaces, and distances to obstacles around a roadheader based on the high-precision ranging and anti-interference characteristics of the millimeter-wave radar. By means of radar echo signal processing and a three dimensional (3D) modeling algorithm, this intelligent guidance system dynamically generates a position, an attitude, and a cutting trajectory of a cutting head, and automatically compares the acquired data with preset roadway design parameters. Accordingly, in harsh underground environments characterized by dust, low illumination, and high humidity, this intelligent guidance system provides centimeter-level deviation correction and rib wall early warnings for operators or automatic control systems, effectively avoiding overbreak, underbreak, or collision hazards and markedly improving the quality of roadway forming and the operation safety and automation level of tunneling.

[0003] However, the traditional devices still face the following issues during use:

[0004] A patent with publication No. CN213149225U discloses a guidance device for radar positioning. The guidance device includes a compact radar and a guidance device body. The guidance device body is movably engaged on a side of the compact radar by means of a fixed guide post and a guide post hole. Two first engaging blocks are both T-shaped blocks, which allows the guidance device body to be stably arranged on the side of the compact radar and less prone to falling off. By adding a self-position display unit to the compact radar, this patent overcomes the drawback that conventional radars cannot display their own positions. Further, a global positioning system (GPS) positioner can be separated from a position query and retrieval unit by compressing a spring. Thus, the GPS positioner can function independently, which enhances flexibility. 2026204530   12 Jun 2026

[0005] In the prior art, a millimeter-wave radar is typically fixedly installed in front of a roadheader. When encountering an obstacle ahead, the millimeter-wave radar cannot actively avoid the obstacle due to its non-adjustable position. Once a collision occurs, the millimeter-wave radar is highly susceptible to damage, which substantially increases maintenance costs and downtime risks.

[0006] Therefore, there is a need to develop a device and method for intelligent guidance in coal mine tunneling based on a millimeter-wave radar, which solves the problem that millimeter-wave radars cannot actively avoid obstacles, enabling active obstacle avoidance. SUMMARY OF THE INVENTION

[0007] In view of the deficiencies in the prior art, an objective of the present disclosure is to provide a device and method for intelligent guidance in coal mine tunneling based on a millimeter-wave radar, with the advantage of enabling active obstacle avoidance.

[0008] To achieve the above objective, the present disclosure provides the following technical solutions: A device for intelligent guidance in coal mine tunneling based on a millimeter-wave radar is provided, including: a roadheader body, where a recess is formed in a front side of the roadheader body, a mounting frame is fixedly connected to an inner wall of the recess, and a controller is fixedly connected to the inner wall of the recess.

[0009] Preferably, a second motor is fixedly connected to an inner wall of the mounting frame, a threaded rod is fixedly connected to an output end of the second motor, a second support rod is rotatably connected to an outer wall of one end of the threaded rod, and an outer wall of a bottom of the second support rod is fixedly connected to an inner wall of the roadheader body.

[0010] Preferably, a moving block is threadedly connected to an outer wall of the threaded rod, a frame is fixedly connected to an outer wall of the moving block, a rotating groove is formed in an outer wall of the frame, a rotary ring is rotatably connected inside the rotating groove, and a protruding block is fixedly connected to an outer wall of the rotary ring.

[0011] Preferably, a mounting base is fixedly connected to the outer wall of the 2026204530   12 Jun 2026 rotary ring, a buffer spring is fixedly connected to an inner wall of the mounting base, an elastic piece is fixedly connected to the inner wall of the mounting base, a mounting plate is slidably connected inside the mounting base, and an outer wall of one end of the buffer spring is fixedly connected to an inner wall of one side of the mounting plate.

[0012] Preferably, an outer wall of one end of the elastic piece is fixedly connected to the inner wall of the one side of the mounting plate, a cushion pad is fixedly connected to an outer wall of one side of the mounting plate, a millimeter-wave radar body is fixedly connected to an outer wall of one side of the cushion pad, and an obstacle sensor is fixedly connected to the outer wall of the one side of the cushion pad at a position below the millimeter-wave radar body.

[0013] Preferably, a first motor is fixedly connected to the inner wall of the mounting frame, a main shaft is fixedly connected to an output end of the first motor, a first support rod is rotatably connected to an outer wall of one end of the main shaft, an outer wall of a bottom of the first support rod is fixedly connected to the inner wall of the roadheader body, a rotary rack is fixedly connected to an outer wall of the main shaft, and an outer wall of the rotary rack is in meshing engagement with an outer wall of the protruding block.

[0014] Preferably, a fixing base is fixedly connected to a lower portion of the inner wall of the mounting frame, a first electric telescopic rod is provided inside the fixing base, an outer wall of a bottom of the first electric telescopic rod is fixedly connected to the lower portion of the inner wall of the mounting frame, an output end of the first electric telescopic rod is fixedly connected to a limiting seat, an outer wall of the limiting seat abuts against an outer wall of the rotary rack, a first insertion hole is formed through an outer wall of a top of the fixing base, a guide rod is fixedly connected to an outer wall of a bottom of the limiting seat, and an outer wall of the guide rod is slidably connected inside the first insertion hole.

[0015] Preferably, an extension plate is fixedly connected to an inner wall of one side of the frame, a second insertion hole is formed through two outer side walls of the extension plate, a second electric telescopic rod is fixedly connected to an inner wall of one side of the extension plate, a connecting plate is fixedly connected to an output end of the second electric telescopic rod, a fixed housing is fixedly connected to an outer wall of one side of the connecting plate, a return spring is fixedly connected to an inner wall of the fixed housing, an insertion rod is fixedly connected to an outer wall of one 2026204530   12 Jun 2026 end of the return spring, an outer wall of the insertion rod is slidably connected to an inner wall of the fixed housing, the outer wall of the insertion rod is slidably connected inside the second insertion hole, and the outer wall of the insertion rod abuts against an outer wall of the protruding block.

[0016] Preferably, a flow distribution box is fixedly connected to the inner wall of the mounting frame, a circular hole is formed through an outer wall of one side of the flow distribution box, a fixed pipe penetrates through and is fixedly connected to an outer wall of a top of the flow distribution box, an outer wall of the fixed pipe penetrates through and is fixedly connected to an interior of the roadheader body, and a connecting pipe is rotatably connected to an inner wall of the fixed pipe.

[0017] A method for intelligent guidance in coal mine tunneling based on a millimeter-wave radar is provided, where the method is implemented by the device for intelligent guidance in coal mine tunneling based on a millimeter-wave radar, and includes the following steps:

[0018] S1, obstacle detection and limit release: activating the obstacle sensor to detect whether an obstacle is present in front of the millimeter-wave radar body; and if the obstacle is present, automatically controlling the first motor and the first electric telescopic rod by the controller to move such that a limit of the limiting seat on the rotary rack is released;

[0019] S2, rotation-based obstacle avoidance: driving the main shaft by the first motor to enable the rotary rack to rotate and mesh with the protruding block, such that the mounting base drives the millimeter-wave radar body to rotate within the frame, thereby avoiding the obstacle;

[0020] S3, locking by the insertion rod and synchronous movement: when the obstacle is large and fails to be avoided by a rotation adjustment, controlling the second electric telescopic rod by the controller to push the insertion rod into a gap between protruding blocks, such that the frame and the rotary ring are connected integrally to allow the synchronous movement;

[0021] S4, retraction into the mounting frame: when the second motor drives the threaded rod to rotate, driving the frame by the moving block to move toward the rotary rack, such that the mounting base and the millimeter-wave radar body are retracted into the mounting frame to avoid collision damage; and 2026204530   12 Jun 2026

[0022] S5, air curtain-based dust prevention: connecting the connecting pipe to a compressed air system in an underground coal mine, such that a high-pressure gas is ejected through the circular hole of the flow distribution box to form a high-speed air curtain for preventing external dust-laden air from entering at an opening plane of the mounting frame.

[0023] Compared with the prior art, the present disclosure has the following beneficial effects:

[0024] Through a fixed connection between the moving block and the frame, a movement direction of the moving block is limited to prevent the moving block from rotating with the threaded rod. Thus, when the threaded rod moves, the moving block drives the frame to move toward the rotary rack, such that the frame drives the mounting base to move into an interior of the mounting frame. This design prevents the millimeter-wave radar body from coming into contact with obstacles and reduces the risk of collision damage to the millimeter-wave radar body during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] FIG. 1 is a schematic diagram of a structure in the present disclosure;

[0026] FIG. 2 is a schematic diagram of a structure of a controller in the present disclosure;

[0027] FIG. 3 is a schematic diagram of an internal structure of a mounting frame in the present disclosure;

[0028] FIG. 4 is a schematic diagram of a structure of a second motor in the present disclosure;

[0029] FIG. 5 is a schematic diagram of a structure of a rotary rack in the present disclosure;

[0030] FIG. 6 is a schematic diagram of a structure of a rotary ring in the present disclosure;

[0031] FIG. 7 is a schematic diagram of an internal structure of a mounting base in the present disclosure;

[0032] FIG. 8 is a schematic enlarged view of a structure of a portion A in FIG. 5; 2026204530   12 Jun 2026

[0033] FIG. 9 is a schematic enlarged view of a structure of a portion B in FIG. 6;

[0034] FIG. 10 is a schematic diagram of a structure of an extension plate in the present disclosure; and

[0035] FIG. 11 is a flow chart for the present disclosure.

[0036] Reference numerals: 1, roadheader body; 2, mounting frame; 3, first support rod; 31, rotary rack; 32, first motor; 33, main shaft; 4, second support rod; 41, threaded rod; 42, frame; 43, rotary ring; 44, protruding block; 45, moving block; 46, second motor; 5, controller; 6, flow distribution box; 61, fixed pipe; 62, connecting pipe; 63, circular hole; 7, limiting seat; 71, fixing base; 72, first electric telescopic rod; 73, guide rod; 74, first insertion hole; 8, mounting base; 81, millimeter-wave radar body; 82, obstacle sensor; 83, buffer spring; 84, elastic piece; 85, cushion pad; 86, mounting plate; 9, extension plate; 91, connecting plate; 92, second electric telescopic rod; 93, fixed housing; 94, return spring; 95, insertion rod; and 96, second insertion hole. DETAILED DESCRIPTION OF THE INVENTION

[0037] In order to make the objectives and technical solutions of the present disclosure clearly and completely described and to make the advantages of the present disclosure clearly understood, the embodiments of the present disclosure are further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are some rather than all of the embodiments of the present disclosure, and are merely intended to explain rather than limit the embodiments of the present disclosure. All other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present disclosure.

[0038] Embodiment 1: As shown in FIG. 1 to FIG. 11, the present disclosure provides a technical solution of a device for intelligent guidance in coal mine tunneling based on a millimeter-wave radar, including a roadheader body 1. A recess is formed in a front side of the roadheader body 1, a mounting frame 2 is fixedly connected to an inner wall of the recess, and a controller 5 is fixedly connected to the inner wall of the recess. A second motor 46 is fixedly connected to an inner wall of the mounting frame 2, a threaded rod 41 is fixedly connected to an output end of the second motor 46, and a second support rod 4 is rotatably connected to an outer wall of one end of the threaded rod 41. An outer wall of a bottom of the second support rod 4 is fixedly 2026204530   12 Jun 2026 connected to an inner wall of the roadheader body 1. A moving block 45 is threadedly connected to an outer wall of the threaded rod 41. A frame 42 is fixedly connected to an outer wall of the moving block 45, and a rotating groove is formed in an outer wall of the frame 42. A rotary ring 43 is rotatably connected inside the rotating groove, and a protruding block 44 is fixedly connected to an outer wall of the rotary ring 43.

[0039] Through a fixed connection between the moving block 45 and the frame 42, a movement direction of the moving block 45 is limited to prevent the moving block 45 from rotating with the threaded rod 41. Thus, when the threaded rod 41 moves, the moving block 45 drives the frame 42 to move toward the rotary rack 31, such that the frame 42 drives the mounting base 8 to move into an interior of the mounting frame 2. This design prevents the millimeter-wave radar body 81 from coming into contact with obstacles and reduces the risk of collision damage to the millimeter-wave radar body 81 during operation.

[0040] Embodiment 2: On the basis of Embodiment 1, a mounting base 8 is fixedly connected to the outer wall of the rotary ring 43, a buffer spring 83 is fixedly connected to an inner wall of the mounting base 8, an elastic piece 84 is fixedly connected to the inner wall of the mounting base 8, and a mounting plate 86 is slidably connected inside the mounting base 8. An outer wall of one end of the buffer spring 83 is fixedly connected to an inner wall of one side of the mounting plate 86, and an outer wall of one end of the elastic piece 84 is fixedly connected to the inner wall of the one side of the mounting plate 86. Further, a cushion pad 85 is fixedly connected to an outer wall of one side of the mounting plate 86, a millimeter-wave radar body 81 is fixedly connected to an outer wall of one side of the cushion pad 85, and an obstacle sensor 82 is fixedly connected to the outer wall of the one side of the cushion pad 85 at a position below the millimeter-wave radar body 81.

[0041] The millimeter-wave radar body 81 and the obstacle sensor 82 are fixed on the cushion pad 85, and the cushion pad 85 is connected to the buffer spring 83 and the elastic piece 84 through the mounting plate 86. When the millimeter-wave radar body 81 encounters a vibration during operation, movements of the buffer spring 83, the elastic piece 84, and the cushion pad 85 can buffer the millimeter-wave radar body 81 and the obstacle sensor 82. It should be noted that a damper is provided inside the buffer spring 83.

[0042] Embodiment 3: On the basis of Embodiment 1, a first motor 32 is fixedly 2026204530   12 Jun 2026 connected to the inner wall of the mounting frame 2, a main shaft 33 is fixedly connected to an output end of the first motor 32, and a first support rod 3 is rotatably connected to an outer wall of one end of the main shaft 33. An outer wall of a bottom of the first support rod 3 is fixedly connected to the inner wall of the roadheader body 1. Further, a rotary rack 31 is fixedly connected to an outer wall of the main shaft 33, and an outer wall of the rotary rack 31 is in meshing engagement with an outer wall of the protruding block 44. A fixing base 71 is fixedly connected to a lower portion of the inner wall of the mounting frame 2, and a first electric telescopic rod 72 is provided inside the fixing base 71. An outer wall of a bottom of the first electric telescopic rod 72 is fixedly connected to the lower portion of the inner wall of the mounting frame 2. An output end of the first electric telescopic rod 72 is fixedly connected to a limiting seat 7, and an outer wall of the limiting seat 7 abuts against an outer wall of the rotary rack 31. A first insertion hole 74 is formed through an outer wall of a top of the fixing base 71, a guide rod 73 is fixedly connected to an outer wall of a bottom of the limiting seat 7, and an outer wall of the guide rod 73 is slidably connected inside the first insertion hole 74.

[0043] The millimeter-wave radar body 81 is fixed on the rotary ring 43 through the mounting base 8. When the rotary rack 31 drives the protruding block 44 to rotate, the rotary ring 43 drives the mounting base 8 to rotate within the frame 42, such that the mounting base 8 drives a change of a position of the millimeter-wave radar body 81 on the frame 42. In this way, the millimeter-wave radar body 81 avoids an obstacle, which prevents the millimeter-wave radar body 81 from directly contacting the obstacle and extends the service life of the millimeter-wave radar body 81.

[0044] Embodiment 4: On the basis of Embodiment 3, an extension plate 9 is fixedly connected to an inner wall of one side of the frame 42, a second insertion hole 96 is formed through two outer side walls of the extension plate 9, a second electric telescopic rod 92 is fixedly connected to an inner wall of one side of the extension plate 9, a connecting plate 91 is fixedly connected to an output end of the second electric telescopic rod 92, a fixed housing 93 is fixedly connected to an outer wall of one side of the connecting plate 91, a return spring 94 is fixedly connected to an inner wall of the fixed housing 93, and an insertion rod 95 is fixedly connected to an outer wall of one end of the return spring 94. An outer wall of the insertion rod 95 is slidably connected to an inner wall of the fixed housing 93, the outer wall of the insertion rod 95 is slidably connected inside the second insertion hole 96, and the outer wall of the insertion rod 95 abuts against an outer wall of the protruding block 44. 2026204530   12 Jun 2026

[0045] An extrusion force is applied to the return spring 94 by the insertion rod 95, such that the insertion rod 95 slides toward an interior of the fixed housing 93. When the frame 42 drives the extension plate 9 to rotate slowly while the rotary ring 43 remains stationary, a position of the insertion rod 95 is adjusted. When the insertion rod 95 aligns with a gap between protruding blocks 44, the insertion rod 95 is pushed out of the interior of the fixed housing 93 under an action of the return spring 94, such that the insertion rod 95 is inserted into a gap between protruding blocks 44 and the frame 42 and the rotary ring 43 are connected integrally. As a result, a synchronous movement is allowed during subsequent operation.

[0046] Embodiment 5: On the basis of Embodiment 3, a flow distribution box 6 is fixedly connected to the inner wall of the mounting frame 2, and a circular hole 63 is formed through an outer wall of one side of the flow distribution box 6. A fixed pipe 61 penetrates through and is fixedly connected to an outer wall of a top of the flow distribution box 6, and an outer wall of the fixed pipe 61 penetrates through and is fixedly connected to an interior of the roadheader body 1. Further, a connecting pipe 62 is rotatably connected to an inner wall of the fixed pipe 61.

[0047] After entering an interior of the flow distribution box 6 through the fixed pipe 61, a high-pressure gas is ejected through the circular hole 63 provided on the flow distribution box 6 to form a high-speed air curtain at an opening plane of the mounting frame 2. A dynamic pressure of an airflow prevents external dust-laden air from entering an interior of the mounting frame 2. A continuous airflow immediately blows away any coal dust particles that attempt to approach or have already entered an edge of a frame opening. Consequently, a micro-positive pressure clean space is created in front of the millimeter-wave radar body 81.

[0048] Embodiment 6: A method for intelligent guidance in coal mine tunneling based on a millimeter-wave radar is provided. The method is implemented by the device for intelligent guidance in coal mine tunneling based on a millimeter-wave radar according to any one of Embodiments 1 to 5, and includes the following steps:

[0049] S1: Obstacle detection and limit release: The obstacle sensor 82 is activated to detect whether an obstacle is present in front of the millimeter-wave radar body 81. If the obstacle is present, the first motor 32 and the first electric telescopic rod 72 are automatically controlled by the controller 5 to move such that a limit of the limiting seat 7 on the rotary rack 31 is released. 2026204530   12 Jun 2026

[0050] As a result, the rotary rack 31 transforms from an original fixed state to a free state while most of the external load force is bypassed and transferred to the robust limiting seat 7, which shortens the continuous stress duration for a self-locking mechanism of the first motor 32 and allows the main shaft 33 to be ready for subsequent rotation-based obstacle avoidance.

[0051] S2: Rotation-based obstacle avoidance: The main shaft 33 is driven by the first motor 32 to enable the rotary rack 31 to rotate and mesh with the protruding block 44, such that the mounting base 8 drives the millimeter-wave radar body 81 to rotate within the frame 42, thereby avoiding the obstacle.

[0052] A position and direction of the millimeter-wave radar body 81 within the frame 42 change to avoid the obstacle ahead. In this way, the millimeter-wave radar body is prevented from directly contacting or colliding with the obstacle, which can extend the service life of the millimeter-wave radar body 81.

[0053] S3: Locking by the insertion rod 95 and synchronous movement: When the obstacle is large and fails to be avoided by a rotation adjustment, the second electric telescopic rod 92 is controlled by the controller 5 to push the insertion rod 95 into a gap between protruding blocks 44, such that the frame 42 and the rotary ring 43 are connected integrally to allow the synchronous movement.

[0054] After being connected integrally, the frame 42 and the rotary ring 43 can move synchronously. This design provides a transmission connection condition for subsequently driving the frame 42 by the second motor 46 to move for retraction into the mounting frame, and also facilitates adjusting a position of the insertion rod 95 when necessary to enable the accurate insertion of the insertion rod into the gap between the protruding blocks 44.

[0055] S4: Retraction into the mounting frame 2: When the second motor 46 drives the threaded rod 41 to rotate, the frame 42 is driven by the moving block 45 to move toward the rotary rack 31, such that the mounting base 8 and the millimeter-wave radar body 81 are retracted into the mounting frame 2 to avoid collision damage.

[0056] The mounting base 8 and the millimeter-wave radar body 81 are retracted as a whole into an interior of the mounting frame 2, which can prevent the millimeter-wave radar body 81 from coming into contact with large obstacles and further lower the risk of collision damage to the millimeter-wave radar body during operation. 2026204530   12 Jun 2026

[0057] S5: Air curtain-based dust prevention: The connecting pipe 62 is connected to a compressed air system in an underground coal mine, such that a high-pressure gas is ejected through the circular hole 63 of the flow distribution box 6 to form a high-speed air curtain for preventing external dust-laden air from entering at an opening plane of the mounting frame 2.

[0058] Since the high-speed air curtain is formed at the opening plane of the mounting frame 2, a dynamic pressure of an airflow prevents the external dust-laden air from entering the interior of the mounting frame 2, and continuously blows away coal dust particles approaching or entering a frame opening. Consequently, a micro-positive pressure clean space is created in front of the millimeter-wave radar body 81.

[0059] Working principle and operation process of the present disclosure: During operation, the millimeter-wave radar body 81 is arranged in front of the roadheader body 1 to capture an accurate position of the roadheader body 1 in real time. Accordingly, a tunneling roadway contour is formed based on the captured accurate position in combination with designed contour light spots projected by a laser target instrument. Through a wireless display terminal, an operator can clearly observe an accurate deviation between a current position of the roadheader body 1 and a designed roadway in real time, and can fine-tune the roadheader body 1 at any time to consistently control the deviation within a centimeter-level range. After the system is implemented, a leapfrog improvement in tunneling efficiency can be achieved. The continuous and automatic guidance reduces downtime caused by manual measurement and deviation correction. It is estimated that tunneling efficiency can be improved by 20% to 30%, effectively boosting monthly tunneling footage and creating considerable output value. The centimeter-level accuracy guidance of the system can effectively control a roadway contour, reduce overbreak by 10% to 15%, and significantly reduce the cost of support materials such as concrete. In addition, the increased automation level can lower the allocation of measurement and skilled operating personnel per shift and directly cut labor costs. The above is the conventional working principle of the millimeter-wave radar body 81, which will not be further described herein.

[0060] In the present disclosure, due to the arrangement of the obstacle sensor 82, whether an obstacle is present in front of the millimeter-wave radar body 81 can be detected during operation of the millimeter-wave radar body 81. When it is detected that an obstacle is present in front of the millimeter-wave radar body 81, the obstacle sensor 2026204530   12 Jun 2026 82 transmits a detected result to the controller 5. Upon receiving a signal, the controller 5 immediately responds and controls the first motor 32 and the first electric telescopic rod 72 to move. When the first electric telescopic rod 72 drives the limiting seat 7 to move downward, the limiting seat 7 releases a limit on the rotary rack 31, such that the rotary rack 31 can move freely. When the rotary rack 31 is fixed and limited by the limiting seat 7, a stabilizing force is provided for subsequent operation of the rotary rack 31, avoiding full load concentration on the main shaft (33) and the self-locking mechanism of the first motor (32). As a result, when the rotary rack 31 is fixed by the limiting seat 7, most of the external load force is bypassed and transferred to the robust limiting seat 7, such that the main shaft 33 bears nearly no load and only needs to provide a power during rotation. Consequently, a continuous stress duration for the selflocking mechanism of the first motor 32 is shortened.

[0061] It should be noted that, while the first electric telescopic rod 72 pushes the limiting seat 7 to move, the limiting seat 7 drives the guide rod 73 to slide inside the first insertion hole 74 accordingly, thereby guiding a movement direction of the limiting seat 7.

[0062] In the present disclosure, by releasing a limit of the limiting seat 7 on the rotary rack 31, the main shaft 33 drives the rotary rack 31 to rotate on the first support rod 3 during operation of the first motor 32. Further, due to the movable contact between the rotary ring 43 and the frame 42 and the meshing engagement between the protruding block 44 and the rotary rack 31, the millimeter-wave radar body 81 can be fixed on the rotary ring 43 through the mounting base 8. When the rotary rack 31 drives the protruding block 44 to rotate, the rotary ring 43 drives the mounting base 8 to rotate within the frame 42, such that the mounting base 8 drives a change of a position of the millimeter-wave radar body 81 on the frame 42. In this way, the millimeter-wave radar body 81 avoids an obstacle, which prevents the millimeter-wave radar body 81 from directly contacting the obstacle and extends the service life of the millimeter-wave radar body 81.

[0063] In the present disclosure, if an obstacle is large and the millimeter-wave radar body 81 cannot avoid the obstacle even after a position adjustment, the controller 5 controls the second electric telescopic rod 92 and the second motor 46 to move. Due to the fixed connection between the second electric telescopic rod 92 and the connecting plate 91, a movement of the second electric telescopic rod 92 drives the 2026204530   12 Jun 2026 connecting plate 91 to move accordingly. Further, due to the fixed connection between the connecting plate 91 and the fixed housing 93, the connecting plate 91 drives the fixed housing 93 to be inserted into an interior of the second insertion hole 96 while moving with the second electric telescopic rod 92, such that the insertion rod 95 comes into contact with the protruding block 44. When the second electric telescopic rod 92 drives the connecting plate 91 to move to a specified position and stop moving, the insertion rod 95 is inserted into a gap between protruding blocks 44, thereby connecting the frame 42 and the protruding block 44 through the insertion rod 95. When the second electric telescopic rod 92 stops moving and the insertion rod 95 is not inserted into a gap between protruding blocks 44 but abuts against a side of the protruding block 44, the insertion rod 95 applies an extrusion force to the return spring 94, such that the insertion rod 95 slides toward an interior of the fixed housing 93. When the frame 42 drives the extension plate 9 to rotate slowly while the rotary ring 43 remains stationary, a position of the insertion rod 95 is adjusted. When the insertion rod 95 aligns with a gap between protruding blocks 44, the insertion rod 95 is pushed out of the interior of the fixed housing 93 under an action of the return spring 94, such that the insertion rod 95 is inserted into a gap between protruding blocks 44 and the frame 42 and the rotary ring 43 are connected integrally. As a result, a synchronous movement is allowed during subsequent operation.

[0064] In the present disclosure, when the second motor 46 operates, the limiting seat 7 is inserted into an interior of the rotary rack 31 while the first motor 32 is stopped. Due to the fixed connection between the second motor 46 and the threaded rod 41, the operation of the second motor 46 drives the threaded rod 41 to rotate on the second support rod 4. In this case, since the insertion rod 95 is inserted into a gap between protruding blocks 44, the rotary ring 43 and the frame 42 are connected. Further, due to the limit of the limiting seat 7 on the rotary rack 31 and the meshing engagement between the rotary rack 31 and the protruding block 44, the protruding block 44 can also be restricted even when the rotary rack 31 cannot rotate. Due to the fixed connection between the moving block 45 and the frame 42, a movement direction of the moving block 45 can be limited to prevent the moving block 45 from rotating with the threaded rod 41. Thus, when the threaded rod 41 moves, the moving block 45 drives the frame 42 to move toward the rotary rack 31, such that the frame 42 drives the mounting base 8 to move into the interior of the mounting frame 2. This design prevents the millimeter-wave radar body 81 from coming into contact with obstacles and reduces 2026204530   12 Jun 2026 the risk of collision damage to the millimeter-wave radar body 81 during operation.

[0065] In the present disclosure, the millimeter-wave radar body 81 and the obstacle sensor 82 are fixed on the cushion pad 85, and the cushion pad 85 is connected to the buffer spring 83 and the elastic piece 84 through the mounting plate 86. When the millimeter-wave radar body 81 encounters a vibration during operation, movements of the buffer spring 83, the elastic piece 84, and the cushion pad 85 can buffer the millimeter-wave radar body 81 and the obstacle sensor 82. It should be noted that a damper is provided inside the buffer spring 83.

[0066] In the present disclosure, the connecting pipe 62 is connected to an existing compressed air system in an underground coal mine such that air can be directly drawn from a main compressed air pipeline in a roadway. The spherical rotary connection between the connecting pipe 62 and the fixed pipe 61 facilitates a change in a direction of a pipeline during operation. The connecting pipe 62 and the fixed pipe 61 are connected using a conventional structure available on the market, which will not be further described herein. After entering an interior of the flow distribution box 6 through the fixed pipe 61, a high-pressure gas is ejected through the circular hole 63 provided on the flow distribution box 6 to form a high-speed air curtain at an opening plane of the mounting frame 2. A dynamic pressure of an airflow prevents external dust-laden air from entering an interior of the mounting frame 2. A continuous airflow immediately blows away any coal dust particles that attempt to approach or have already entered an edge of a frame opening. Consequently, a micro-positive pressure clean space is created in front of the millimeter-wave radar body 81.

[0067] Although the embodiments of the present disclosure have been illustrated and described, it should be understood that those of ordinary skill in the art may make various changes, modifications, replacements, and variations to the above embodiments without departing from the principle and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims and equivalents thereof.

Claims

1. A method for intelligent guidance in coal mine tunneling based on a millimeterwave radar, wherein the method is implemented by a device for intelligent guidance in coal mine tunneling based on a millimeter-wave radar, comprising a roadheader body (1), a recess formed in a front side of the roadheader body (1), a mounting frame (2) fixedly connected to an inner wall of the recess, and a controller (5) fixedly connected to the inner wall of the recess, and the method comprises following steps:S1, obstacle detection and limit release: activating an obstacle sensor (82) to detect whether an obstacle is present in front of a millimeter-wave radar body (81); and if the obstacle is present, automatically electrical controlling a first motor (32) and a first electric telescopic rod (72) by the controller (5) to move such that a limit of a limiting seat (7) on a rotary rack (31) is released;S2, rotation-based obstacle avoidance: driving a main shaft (33) by the first motor (32) to enable the rotary rack (31) to rotate and mesh with a protruding block (44), such that a mounting base (8) drives the millimeter-wave radar body (81) to rotate within a frame (42), thereby avoiding the obstacle;S3, locking by an insertion rod (95) and synchronous movement: when the obstacle is large and fails to be avoided by a rotation adjustment, controlling a second electric telescopic rod (92) by the controller (5) to push the insertion rod (95) into a gap between protruding blocks (44), such that the frame (42) and a rotary ring (43) are connected integrally to allow the synchronous movement;S4, retraction into the mounting frame (2): when a second motor (46) drives a threaded rod (41) to rotate, driving the frame (42) by a moving block (45) to move toward the rotary rack (31), such that the mounting base (8) and the millimeter-wave radar body (81) are retracted into the mounting frame (2) to avoid collision damage; andS5, air curtain-based dust prevention: connecting a connecting pipe (62) to a compressed air system in an underground coal mine, such that a high-pressure gas is ejected through a circular hole (63) of a flow distribution box (6) to form a high-speed air curtain for preventing external dust-laden air from entering at an opening plane of the mounting frame (2).

Images