A coal-rock interface recognition device based on machine vision and its use method

Abstract

This invention discloses a machine vision-based coal-rock interface recognition device and its usage method, relating to the field of coal-rock interface recognition technology. It includes a rear support base and a front support base. An infrared thermal imager, a signal transceiver, and a signal processor are fixedly connected to the top of the front support base. Multiple through-holes are formed on the front support base, and support rods are inserted into the interior of these through-holes. The front ends of the support rods are located at the front end of the front support base and are fixedly connected to sensors A. The front side of the rear support base has telescopic grooves of the same number and corresponding to the multiple through-holes. This machine vision-based coal-rock interface recognition device uses a motor to drive a rack plate to move towards sensors A, causing sensors A to contact the coal-rock wall. The longitudinally and transversely distributed sensors A move to different positions according to different bends in the coal-rock wall, enabling the acquisition of three-dimensional image information of the coal-rock interface.

Description

Technical Field

[0001] The present invention relates to the technical field of coal-rock interface recognition, and in particular to a coal-rock interface recognition device based on machine vision and a use method thereof. Background Art

[0002] At present, in order to avoid unnecessary wear of equipment and improve production efficiency, coal mining machines will analyze and identify the coal-rock interface through infrared thermal imaging before coal mining construction, and then perform computer analysis on the collected signals, so that the coal mining machine can carry out subsequent production work according to the analysis conclusions of the coal-rock interface. However, when collecting information on the coal-rock interface through infrared thermal imaging, since the coal-rock interface is collected in a two-dimensional image by infrared thermal imaging, it is difficult to judge the hierarchical distribution of the coal-rock interface, and the coal-rock distribution of different layers of the three-dimensional coal-rock interface cannot be effectively extracted based on the two-dimensional image of the infrared thermal image. In the subsequent work of the coal mining machine, there will still be situations where the coal-rock hierarchical distribution is misjudged in the coal mining machine work due to unclear data collected on the coal-rock interface in the early stage, causing huge economic losses.

[0003] Therefore, it is necessary to propose a coal-rock interface recognition device and a method of use based on machine vision to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to provide a coal-rock interface recognition device based on machine vision and a method of use, so as to solve the problem raised in the above background technology that the existing infrared thermal imaging collects two-dimensional images, and cannot effectively extract the coal and rock distribution conditions of different layers of the three-dimensional coal-rock interface based on the two-dimensional image of the infrared thermal imaging, which leads to incorrect judgment of the coal and rock layer distribution in the subsequent coal mining machine operation, causing huge economic losses.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: a coal-rock interface recognition device based on machine vision, comprising a rear support seat and a front support seat, wherein the top of the front support seat is fixedly connected with an infrared thermal imager, a signal transceiver and a signal processor;

[0006] The front support seat is provided with a plurality of through holes extending from front to back, and support rods are inserted into the plurality of through holes. The front end of the support rods is located at the front end of the front support seat and is fixedly connected with the sensor A.

[0007] The front side of the rear support seat is provided with expansion slots having the same number as and corresponding to the plurality of perforations, a return spring is fixedly installed in the middle of the expansion slot, the rear end of the support rod passes through the expansion slot and is fixedly connected to the middle of the return spring, and a sensor B is fixedly installed on the inner rear side of the expansion slot.

[0008] Optionally, a base is provided under the rear support seat and the front support seat, a slide rail is provided on the top of the base, a horizontal slide groove is provided at the bottom of the slide rail, the bottom plates of the rear support seat and the front support seat are respectively fixedly connected with connecting bars A and connecting bars B, a horizontal sliding mechanism is provided in the horizontal slide groove, the bottoms of the connecting bars A and B are fixedly connected to the horizontal sliding mechanism, and the horizontal sliding mechanism drives the rear support seat and the front support seat to move forward and backward through the connecting bars A and connecting bars B.

[0009] Optionally, the horizontal sliding mechanism includes a rack plate, which is slidably arranged inside a horizontal slide groove, the rack of the rack plate is located on its lower surface, a groove is provided in the middle of the lower surface of the horizontal slide groove, a gear meshing with the rack of the rack plate is provided inside the groove, a motor is fixedly connected to one side of the base, and a rotating shaft of the motor passes through one side of the base and is fixedly connected to the middle of the gear.

[0010] Optionally, main columns are fixedly connected at four corners of the lower surface of the base, the bottom of the support column is movably connected to the support column, and the bottom of the support column is fixedly connected to a lower support plate.

[0011] Optionally, four cylinders are provided around the main column at the four corners of the lower surface of the base, the top of the cylinder is fixedly connected to the lower surface of the base, the telescopic end of the bottom of the cylinder is fixedly connected to the upper surface of the lower support plate, a rotating groove is provided at the bottom of the rear support seat, a conical groove penetrating downward is provided at the bottom of the rotating groove, a rotating ball is rotatably connected inside the rotating groove, and the bottom of the rotating ball is fixedly connected to the top of the support column.

[0012] Optionally, a level is fixedly connected to the middle portion of the lower surface of the base.

[0013] Optionally, the motor is a servo motor.

[0014] Optionally, the cross-sections of the connecting strips A and B are both rectangular structures, and the two sides of the connecting strips A and B fit with the two sides of the slide rail.

[0015] A method for using a coal-rock interface recognition device based on machine vision comprises the following steps:

[0016] The first step is to move the device body to the front side of the coal rock wall so that the multiple rows of sensors A correspond to the coal rock wall. Then, the level meter is used to detect whether the base is level. If the base is offset in angle, the signal transceiver and signal processor are used to drive the extension and contraction of the four groups of cylinders to adjust the angle of the base so that the base remains horizontal, thereby making the multiple rows of sensors A face the front side of the coal rock wall.

[0017] The second step is to use an infrared thermal imager to conduct infrared detection on the coal-rock wall in front, collect and upload infrared thermal imaging signals through the infrared thermal imager, and an external computer receives the collected information of the infrared thermal imager through a signal transceiver, calculates the coal-rock trajectory, and can simulate and build a virtual coal-rock interface model, providing an important reference for the subsequent mining of the coal-rock layer;

[0018] The third step is to further drive the rack plate to move toward the sensor A through the motor, and at the same time, the rack plate moves forward synchronously through the connecting bars A and the connecting bars B, so that the sensor A contacts the coal rock wall, and according to the tortuous surface of the coal rock wall, the sensors A distributed vertically and horizontally are formed to move to different positions according to different tortuous parts of the coal rock wall, and the tortuous surface signal of the coal rock wall is recorded according to the distance between the sensor A and the front surface of the front support seat and transmitted to the external computer through the signal transceiver, so as to further provide data reference for the coal rock trajectory and the thermal imaging of different levels of the coal rock, and determine the coal rock distribution at different levels of the coal rock interface in the area through the tortuosity of the coal rock wall surface sensed by the sensor A group and the infrared thermal imaging signal collected by the infrared thermal imager;

[0019] In the fourth step, the rack plate is further driven by the motor to move toward the sensor A, and the rack plate moves forward synchronously through the connecting bars A and B. The sensor A is supported by the coal rock wall, so that the rear end of the support rod passes the reset spring and continues to move backward, so that the rear ends of several support rods contact the sensor B and apply pressure to the sensor B. The several sensors B can record the pressure signal. The pressure signals at several positions received by the several sensors B can be transmitted to the external computer through the signal transceiver device, and can be compared with the coal rock surface constructed by the contact and transmission of several sensors A with the coal rock wall surface in the previous step, so that the error of the simulated coal rock interface is smaller. At the same time, when the sensor A located outside is damaged, the data can be corrected by the sensor B.

[0020] Compared with the prior art, the present invention provides a coal-rock interface recognition device based on machine vision, which has the following beneficial effects:

[0021] 1. This coal-rock interface recognition device based on machine vision drives the rack plate to move toward the sensor A through a motor, so that the sensor A contacts the coal-rock wall. The sensors A distributed vertically and horizontally move to different positions according to the different tortuous parts of the coal-rock wall, and can collect three-dimensional image information of the coal-rock interface, record the tortuous surface signal of the coal-rock wall and transmit it to an external computer through a signal transceiver, so as to provide data reference for further coal-rock trajectory and thermal imaging of different levels of coal-rock.

[0022] 2. A coal-rock interface recognition device based on machine vision, in which a motor drives the rack plate to move toward sensor A. Sensor A is supported by the coal rock wall, so that the rear end of the support rod passes over the reset spring and continues to move backward, so that the rear ends of several support rods contact sensor B and apply pressure to sensor B. Several sensors B can record the pressure signal. After transmitting it to an external computer through a signal transceiver, it can be compared with the coal rock surface constructed by recording and transmitting after several sensors A contact the coal rock wall surface, so that the error of the simulated coal rock interface is smaller. At the same time, when the sensor A located outside is damaged, the data can be corrected by sensor B. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the three-dimensional structure of a coal-rock interface recognition device based on machine vision according to the present invention;

[0024] Figure 2 It is a schematic cross-sectional view of the front support seat structure of a coal-rock interface recognition device based on machine vision according to the present invention;

[0025] Figure 3 This is a cross-sectional schematic diagram of the base structure of a coal-rock interface recognition device based on machine vision of the present invention;

[0026] Figure 4 This is a schematic cross-sectional view of the main column structure of a coal-rock interface recognition device based on machine vision in the present invention.

[0027] In the figure: 1. rear support seat; 2. front support seat; 3. infrared thermal imager; 4. support rod; 5. sensor A; 6. perforation; 7. telescopic slot; 8. reset spring; 9. sensor B; 10. base; 11. slide rail; 12. horizontal slide slot; 13. rack plate; 14. connecting bar A; 15. connecting bar B; 16. slot; 17. gear; 18. motor; 19. main column; 20. rotating slot; 21. rotating ball; 22. conical slot; 23. support column; 24. lower support plate; 25. cylinder; 26. level. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] The technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0031] Embodiment 1

[0032] See also Figure 1-3 As shown, a coal-rock interface recognition device based on machine vision includes a rear support seat 1 and a front support seat 2, and the top of the front support seat 2 is fixedly connected with an infrared thermal imager 3, a signal transceiver and a signal processor; wherein the signal transceiver and the signal processor control the switch of the motor 18, control the switch of the cylinder 25, and record and send the information collected by the sensor A5 and the sensor B9.

[0033] The front support seat 2 is provided with a plurality of through holes 6 which pass through the front and back, and support rods 4 are inserted into the interior of the plurality of through holes 6. The front end of the support rods 4 is located at the front end of the front support seat 2 and is fixedly connected with a sensor A5, and the plurality of support rods 4 are horizontally supported through the plurality of through holes 6.

[0034] The front side of the rear support seat 1 is provided with expansion slots 7, the number of which is the same as and corresponds to the plurality of through holes 6, a return spring 8 is fixedly installed in the middle of the expansion slot 7, the rear end of the support rod 4 passes through the expansion slot 7 and is fixedly connected to the middle of the return spring 8, and a sensor B9 is fixedly installed on the inner rear side of the expansion slot 7.

[0035] The signal received by the sensor A5 and transmitted to the external computer is compared and corrected by the sensor B9.

[0036] A base 10 is provided below the rear support seat 1 and the front support seat 2, a slide rail 11 is provided on the top of the base 10, a horizontal slide groove 12 is provided at the bottom of the slide rail 11, the bottom plates of the rear support seat 1 and the front support seat 2 are respectively fixedly connected with connecting bars A14 and connecting bars B15, a horizontal sliding mechanism is provided in the horizontal slide groove 12, the bottoms of the connecting bars A14 and connecting bars B15 are fixedly connected with the horizontal sliding mechanism, and the horizontal sliding mechanism drives the rear support seat 1 and the front support seat 2 to move forward and backward through the connecting bars A14 and connecting bars B15.

[0037] The horizontal sliding mechanism includes a rack plate 13, which is slidably arranged inside the horizontal slide groove 12. The rack of the rack plate 13 is located on its lower surface. A slot 16 is provided in the middle of the lower surface of the horizontal slide groove 12. A gear 17 meshing with the rack of the rack plate 13 is provided inside the slot 16. A motor 18 is fixedly connected to one side of the base 10. The rotating shaft of the motor 18 passes through one side of the base 10 and is fixedly connected to the middle of the gear 17. The motor 18 is a servo motor.

[0038] In this embodiment, the motor 18 drives the rack plate 13 to move toward the sensor A5, and at the same time, the rack plate 13 moves forward synchronously through the connecting bar A14 and the connecting bar B15, so that the sensor A5 contacts the coal rock wall. The sensors A5 distributed vertically and horizontally move to different positions according to the different tortuous parts of the coal rock wall, and the tortuous surface signals of the coal rock wall are recorded and transmitted to an external computer through a signal transceiver, so as to provide further data reference for the coal rock trajectory and different levels of thermal imaging of the coal rock.

[0039] Example 2

[0040] See also Figure 1 , Figure 3 and Figure 4 As shown, the difference from the first embodiment is that the four corners of the lower surface of the base 10 are fixedly connected with main columns 19, the bottom of the support column 23 is movably connected with the support column 23, and the bottom of the support column 23 is fixedly connected with the lower support plate 24.

[0041] In this embodiment, the base 10 is stably supported by four groups of main columns 19 , support columns 23 and lower support plates 24 .

[0042] Four cylinders 25 are provided around the main column 19 at the four corners of the lower surface of the base 10, the top of the cylinder 25 is fixedly connected to the lower surface of the base 10, the telescopic end of the bottom of the cylinder 25 is fixedly connected to the upper surface of the lower support plate 24, and a rotating groove 20 is provided at the bottom of the rear support seat 1, and a conical groove 22 penetrating downward is provided at the bottom of the rotating groove 20, and a rotating ball 21 is rotatably connected inside the rotating groove 20, and the bottom of the rotating ball 21 is fixedly connected to the top of the support column 23.

[0043] The four cylinders 25 can be used to adjust the angle of the base 10 so that the base 10 remains horizontal.

[0044] A level 26 is fixedly connected to the middle portion of the lower surface of the base 10 .

[0045] The level meter 26 can be used to detect whether the base 10 is level, and the four cylinders 25 can be used to adjust the base 10 to a level state.

[0046] The cross sections of the connecting strips A14 and B15 are both rectangular structures, and the two sides of the connecting strips A14 and B15 fit with the two sides of the slide rail 11 .

[0047] The connecting bar A14 and the connecting bar B15 can be limited by the slide rail 11, so that the connecting bar A14 and the connecting bar B15 are more stable when moving horizontally.

[0048] According to an embodiment of the present invention, a method for using a coal-rock interface recognition device based on machine vision is also provided, comprising the following steps:

[0049] The first step is to move the device body to the front side of the coal rock wall so that the multiple rows of sensors A5 correspond to the coal rock wall. Then, the level meter 26 is used to detect whether the base 10 is level. If the base 10 is angularly offset, the signal transceiver and signal processor drive the four groups of cylinders 25 to extend and retract, adjust the angle of the base 10, and keep the base 10 horizontal, so that the multiple rows of sensors A5 face the front side of the coal rock wall.

[0050] In the second step, the infrared thermal imager 3 is used to perform infrared detection on the coal-rock wall in front, and the infrared thermal imager 3 collects and uploads the infrared thermal image signal. The external computer receives the collected information of the infrared thermal imager 3 through the signal transceiver device, calculates the coal-rock trajectory, and can simulate and construct a virtual coal-rock interface model, providing an important reference for the subsequent mining of the coal-rock layer;

[0051] The third step is to further drive the rack plate 13 to move toward the sensor A5 through the motor 18, and at the same time, the rack plate 13 moves forward synchronously through the connecting bar A14 and the connecting bar B15, so that the sensor A5 contacts the coal rock wall, and according to the tortuous surface of the coal rock wall, the sensors A5 distributed vertically and horizontally are formed to move to different positions according to different tortuous parts of the coal rock wall, and the tortuous surface signal of the coal rock wall is recorded according to the distance between the sensor A5 and the front surface of the front support seat 2 and transmitted to the external computer through the signal transceiver, so as to further provide data reference for the coal rock trajectory and the thermal imaging of different levels of the coal rock, and determine the coal rock distribution at different levels of the coal rock interface in the area through the tortuosity of the coal rock wall surface sensed by the sensor A5 group and the infrared thermal imaging signal collected by the infrared thermal imager 3;

[0052] In the fourth step, the motor 18 is further used to drive the rack plate 13 to move toward the sensor A5. The rack plate 13 moves forward synchronously through the connecting bar A14 and the connecting bar B15. The sensor A5 is supported by the coal rock wall, so that the rear end of the support rod 4 passes over the reset spring 8 and continues to move backward, so that the rear ends of several support rods 4 contact the sensor B9 and apply pressure to the sensor B9. Several sensors B9 can record the pressure signal. The pressure signals at several positions received by several sensors B9 can be transmitted to the external computer through the signal transceiver device, and can be compared with the coal rock surface constructed by the contact record and transmission of several sensors A5 with the coal rock wall surface in the previous step, so that the error of the simulated coal rock interface is smaller. At the same time, when the sensor A5 located outside is damaged, the data can be corrected by the sensor B9.

[0053] In summary, firstly, the device body is aligned with the coal rock wall, and then the multiple rows of sensors A5 are also aligned with the coal rock wall. The level meter 26 is used to detect whether the base 10 is level. The angle of the base 10 can be adjusted by extending and retracting the four groups of cylinders 25, so that the sensors A5 can be kept level.

[0054] Then, the infrared thermal imager 3 is used to perform infrared detection on the coal rock wall in the front, and the infrared thermal imaging signal is collected and uploaded to the computer. At the same time, the motor 18 drives the rack plate 13 to move toward the sensor A5, so that the sensor A5 contacts the coal rock wall, and moves to different positions according to the different tortuous parts of the coal rock wall, so as to further provide data reference for the coal rock trajectory and the different levels of thermal imaging of the coal rock, and determine the coal rock distribution at different levels of the coal rock interface in the area with the infrared thermal imaging signal collected by the infrared thermal imager 3.

[0055] In order to avoid the damage of sensor A5 affecting the measurement accuracy, or to further correct the coal-rock interface data, the motor 18 can continue to be controlled to drive the rack plate 13 to move toward the direction of sensor A5, so that the rear end of the support rod 4 passes the reset spring 8 and continues to move backward, and the rear ends of several support rods 4 will contact the sensor B9 and apply pressure to the sensor B9. The pressure signals of several positions received by several sensors B9 can be transmitted to the external computer through the signal transceiver device, and can be compared with the data of the contact between sensor A5 and the coal rock wall surface, so that the error of the simulated coal-rock interface is smaller, providing accurate data support for subsequent mining work.

[0056] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0057] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A coal-rock interface recognition device based on machine vision, comprising a rear support seat (1) and a front support seat (2), characterized in that: The top of the front support seat (2) is fixedly connected with an infrared thermal imager (3), a signal transceiver and a signal processor; The front support seat (2) is provided with a plurality of through holes (6) extending from front to back, and support rods (4) are inserted into the interior of the plurality of through holes (6). The front end of the support rod (4) is located at the front end of the front support seat (2) and is fixedly connected to a sensor A (5); The front side of the rear support seat (1) is provided with telescopic grooves (7) of the same number as the plurality of through holes (6) and corresponding to each other, a return spring (8) is fixedly installed in the middle of the telescopic groove (7), the rear end of the support rod (4) passes through the telescopic groove (7) and is fixedly connected to the middle of the return spring (8), and a sensor B (9) is fixedly installed on the inner rear side of the telescopic groove (7); A base (10) is provided below the rear support seat (1) and the front support seat (2); a slide rail (11) is provided on the top of the base (10); a horizontal slide groove (12) is provided at the bottom of the slide rail (11); the bottom plates of the rear support seat (1) and the front support seat (2) are respectively fixedly connected with a connecting bar A (14) and a connecting bar B (15); a horizontal sliding mechanism is provided in the horizontal slide groove (12); the bottoms of the connecting bar A (14) and the connecting bar B (15) are fixedly connected with the horizontal sliding mechanism; the horizontal sliding mechanism drives the rear support seat (1) and the front support seat (2) to move forward and backward through the connecting bar A (14) and the connecting bar B (15); The horizontal sliding mechanism comprises a rack plate (13), the rack plate (13) being slidably arranged inside the horizontal slide groove (12), the rack of the rack plate (13) being located on its lower surface, a slot (16) being provided in the middle of the lower surface of the horizontal slide groove (12), a gear (17) being provided inside the slot (16) and meshing with the rack of the rack plate (13), a motor (18) being fixedly connected to one side of the base (10), a rotating shaft of the motor (18) passing through one side of the base (10) and being fixedly connected to the middle of the gear (17); The four corners of the lower surface of the base (10) are all fixedly connected to main columns (19), the bottom of the main columns (19) is movably connected to a support column (23), and the bottom of the support column (23) is fixedly connected to a lower support plate (24).

2. The coal-rock interface recognition device based on machine vision according to claim 1, characterized in that: Four cylinders (25) are provided at four corners of the lower surface of the base (10) around the main column (19); the top of the cylinder (25) is fixedly connected to the lower surface of the base (10); the telescopic end of the bottom of the cylinder (25) is fixedly connected to the upper surface of the lower support plate (24); a rotating groove (20) is provided at the bottom of the rear support seat (1); a conical groove (22) is provided at the bottom of the rotating groove (20) and passes downward; a rotating bead (21) is rotatably connected inside the rotating groove (20); and the bottom of the rotating bead (21) is fixedly connected to the top of the support column (23).

3. The coal-rock interface recognition device based on machine vision according to claim 2 is characterized by: A level (26) is fixedly connected to the middle portion of the lower surface of the base (10).

4. The coal-rock interface recognition device based on machine vision according to claim 3 is characterized by: The motor (18) is a servo motor.

5. The coal-rock interface recognition device based on machine vision according to claim 4 is characterized in that: The cross-sections of the connecting strip A (14) and the connecting strip B (15) are both rectangular structures, and the two sides of the connecting strip A (14) and the connecting strip B (15) are in contact with the two sides of the slide rail (11).

6. A method for using a coal-rock interface recognition device based on machine vision, used for the coal-rock interface recognition device based on machine vision as claimed in claim 5, comprising the following steps: The first step is to move the device body to the front side of the coal rock wall so that the multiple rows of sensors A (5) correspond to the coal rock wall. Then, the level meter (26) is used to detect whether the base (10) is horizontal. If the base (10) is angularly offset, the signal transceiver and the signal processor drive the four groups of cylinders (25) to extend and retract, and adjust the angle of the base (10) so that the base (10) remains horizontal, thereby making the multiple rows of sensors A (5) face the front side of the coal rock wall. In the second step, the infrared thermal imager (3) is used to perform infrared detection on the coal rock wall at the front side, and the infrared thermal imager (3) is used to collect and upload the infrared thermal image signal. The external computer receives the collected information of the infrared thermal imager (3) through the signal transceiver device, calculates the coal rock trajectory, and can simulate and construct a virtual coal rock interface model, providing an important reference for the subsequent mining of the coal rock layer; In the third step, the rack plate (13) is further driven by the motor (18) to move toward the sensor A (5), and the rack plate (13) is synchronously moved forward through the connecting bar A (14) and the connecting bar B (15), so that the sensor A (5) contacts the coal rock wall, and according to the tortuous surface of the coal rock wall, the sensors A (5) distributed vertically and horizontally are formed to move to different positions according to different tortuous parts of the coal rock wall, and the tortuous surface signal of the coal rock wall is recorded according to the distance between the sensor A (5) and the front surface of the front support seat (2) and transmitted to the external computer through the signal transceiver device, so as to further provide data reference for the coal rock trajectory and the thermal imaging of different levels of the coal rock, and determine the coal rock distribution at different levels of the coal rock interface through the tortuosity of the coal rock wall surface sensed by the sensor A (5) group and the infrared thermal imaging signal collected by the infrared thermal imager (3); In the fourth step, the motor (18) is further used to drive the rack plate (13) to move toward the sensor A (5). The rack plate (13) is synchronously moved forward through the connecting bar A (14) and the connecting bar B (15). The sensor A (5) is supported by the coal rock wall, so that the rear end of the support rod (4) passes over the reset spring (8) and continues to move backward, so that the rear ends of the plurality of support rods (4) contact the sensor B (9) and apply pressure to the sensor B (9). The plurality of sensors B (9) can record the pressure signal. The pressure signals at the plurality of positions received by the plurality of sensors B (9) are transmitted to the external computer through the signal transceiver device, and can be compared with the coal rock surface constructed by the plurality of sensors A (5) contacting the coal rock wall surface and completing the transmission in the previous step, so that the error of the simulated coal rock interface is smaller. At the same time, when the sensor A (5) located outside is damaged, the data can be corrected by the sensor B (9).

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