Optical gray scale monitoring and partitioned directional cleaning system for dust between hydraulic supports of coal mining face

Abstract

The present application discloses a coal face hydraulic support between the dust optical gray scale monitoring and partition directional cleaning system, aims at accurate monitoring and positioning of the dust between the coal face hydraulic support, and realizes multi-dimensional partition directional dust removal between the support through threshold segmentation processing of the gray scale image by the computer. The system comprises: optical monitoring of the dust, monitoring by the black and white gray extraction camera, and light supplement of the high scattering three-fan folding white light lamp to the dark environment, to obtain the dust distribution between the support; directional cleaning of the dust, the embedded self-suction atomizing nozzle creates negative pressure through high-speed jet flow, so that the gas-liquid two-phase self-suction mixing is used for atomizing dust removal. The system realizes intelligent identification, partition positioning and three-dimensional cleaning of the dust through secondary processing of the image by the computer, and receiving and transmission of the instruction. The system has small equipment volume, flexible installation and removal, fast response speed, and is very suitable for dust removal in the limited space between the coal face hydraulic support, and has strong popularization.

Description

Technical Field

[0001] This invention relates to an optical grayscale monitoring and zoned directional removal system for dust between hydraulic supports in coal mining faces, and is applicable to the field of dust monitoring, positioning, and directional removal between hydraulic supports in coal mining faces in underground spaces. Technical Background

[0002] Dust is a common occupational health hazard in underground coal mining operations. It is characterized by rapid diffusion, numerous triggers, and difficulty in localization, severely polluting the working environment and significantly hindering normal production. Particularly between hydraulic supports, the stress on the coal seam behind and above the supports is prone to change, causing coal to rapidly detach from the seam, inducing the generation of large amounts of dust. Under the influence of airflow and gravity, this dust rapidly diffuses into the coal face along the gaps between the hydraulic supports, quickly reaching a high concentration threshold and severely polluting the working environment. Furthermore, due to the confined underground space and limited ventilation, dust in the coal face is difficult to disperse quickly, seriously endangering the health and lives of workers and reducing production efficiency. Therefore, daily monitoring and removal of dust between hydraulic supports is both necessary and urgent.

[0003] In contrast, current technologies primarily employ spraying to remove dust between hydraulic supports of coal mining machines, with relatively fixed nozzle placement. The focus is often on improving nozzle performance to increase dust removal efficiency. While this method can remove dust to some extent, the unpredictable location of dust particles makes precise location detection difficult, leading to ineffective nozzle responses and wasted water resources. Furthermore, there is a lack of technological support for daily monitoring of dust between hydraulic supports, particularly incorporating techniques like optical intelligent monitoring and directional removal. Therefore, to address the difficulty in monitoring and locating dust between hydraulic supports, and to achieve zoned and directional dust removal, this invention provides an optical grayscale monitoring and zoned directional dust removal system for hydraulic supports in coal mining faces. This system effectively enables daily monitoring and zoned directional dust removal, significantly improving the working environment in coal mines, increasing work efficiency, and reducing water waste due to ineffective nozzle responses. Summary of the Invention

[0004] In view of this, the present invention provides an optical grayscale monitoring and zoned directional dust removal system for hydraulic supports in coal mining faces. This system enables precise optical monitoring and positioning of dust between hydraulic supports, and uses this precise monitoring and positioning to guide the activation of nozzles at corresponding locations, achieving directional and precise dust removal, thereby clearing dust between hydraulic supports and improving work efficiency. To achieve the above objectives, the embodiments of the present invention adopt the following technical solutions:

[0005] This invention provides a dust optical grayscale monitoring and zoned directional removal system for hydraulic supports in coal mining faces. The system first uses a black-and-white grayscale extraction camera and a high-scattering three-panel folding white light to accurately optically monitor and locate the dust between the hydraulic supports in two dimensions. Then, it uses an embedded self-priming atomizing nozzle to utilize the negative pressure generated by the high-speed jet to uniformly mix the gas-liquid two-phase flow in the two areas and atomize it at the nozzle, thereby performing zoned directional removal of dust in the identified areas.

[0006] Firstly, dust optical grayscale monitoring and positioning are achieved through a black-and-white grayscale extraction camera and a high-scattering three-panel folded white light lamp.

[0007] In one possible implementation of the first aspect, the black-and-white grayscale extraction camera comprises a black-and-white industrial camera module, a built-in power supply module, and a built-in wireless signal transmission module.

[0008] The monochrome industrial camera module can take pictures of the dust situation between the hydraulic support frames. The built-in wireless signal transmission module can transmit the information obtained by the monochrome industrial camera to the computer for further processing. The built-in power supply module can supply power to the built-in wireless signal transmission module and the monochrome industrial camera module.

[0009] In one possible implementation of the first aspect, the grayscale extraction camera is flanked by loading angle adjustment modules, and the grayscale extraction camera is connected to a loading station below via the loading angle adjustment modules. The loading station can be connected to a permanent magnet buffer loading station.

[0010] In one possible implementation of the first aspect, the high-scattering three-panel folded white light lamp is composed of three flat high-scattering white light lamps connected in sequence in a straight line. It can be understood that this can improve the illumination range of the white light, overcome the poor lighting characteristics of the underground space, and provide a certain amount of lighting supplement for the normal operation of the black and white grayscale extraction camera.

[0011] In one possible implementation of the first aspect, the flat, high-scattering white light in the middle is flanked by loading angle adjustment modules. The high-scattering three-panel folding white light is connected to the loading station below through the loading angle adjustment modules. The loading station can be connected to a permanent magnet buffer loading station.

[0012] In one possible implementation of the first aspect, the loading angle adjustment module can flexibly adjust the angles of the black-and-white grayscale extraction camera and the high-scattering three-panel folded white light lamp within a certain range by means of a threaded connection, so that the black-and-white grayscale extraction camera can extract photos at the correct angle, and the high-scattering three-panel folded white light lamp can provide supplementary lighting for the dark environment underground at the correct angle.

[0013] In one possible implementation of the first aspect, the flat high-scattering white light lamp comprises a discrete convex lattice diffuser plate, high-scattering LED white light beads, a reflector bead fixing slot plate, a high-scattering white light lamp box, and a power supply module. The high-scattering LED white light beads are embedded in the reflector bead fixing slot plate, which is embedded in the high-scattering white light lamp box. The discrete convex lattice diffuser plate is located above the high-scattering LED white light beads and covers the high-scattering white light lamp box. Below the high-scattering white light lamp box is the power supply module, which is equipped with a power supply to power the device.

[0014] Preferably, the reflective LED bead fixing slot is coated with silver reflective paint, which can further diffuse the white light provided by the high-scattering LED white light beads, while preventing the reflective LED bead fixing slot from absorbing the white light, thus reducing the supplementary lighting effect.

[0015] In one possible implementation of the first aspect, the high-scattering three-panel folding white light lamp is composed of three flat high-scattering white light lamps connected in sequence. A butterfly folding device is used at the connection point. The folding device is connected by a middle section bolt. One side of the middle section bolt is sealed with an anti-slip nesting structure. An anti-slip rubber ring is wrapped around the anti-slip bolt buckle. This ensures that the angle between the three flat high-scattering white light lamps can be freely adjusted according to the actual working conditions, improving the flexibility of the device and further providing flexible adjustment space for the angle of supplementary lighting.

[0016] Preferably, the light emitted by the flat, high-scattering white light lamp is highly scattered white light with an intensity of 50-80 lx, which can provide sufficient light intensity for the dark environment underground and ensure the effect of supplemental lighting.

[0017] In one possible implementation of the first aspect, the discrete convex lattice diffuser is composed of alternating transparent lattices and white-coated lattices. One side of the convex lattice unit is rectangular, and the other side protrudes downward and contracts into an arc. The rectangular surface of the white-coated lattice is uniformly coated with a light-transmitting white paint. This ensures that white light can be uniformly and effectively diffused after contacting the discrete convex lattice diffuser, giving the white light in the environment a larger illumination range and making the white light diffuse more uniformly.

[0018] Preferably, in the rectangular face of the convex lattice unit, the aspect ratio of the rectangle is 1.8, and the number of convex lattice units on each discrete convex lattice diffuser is greater than or equal to 250.

[0019] In one possible implementation of the first aspect, the permanent magnet buffer loading platform comprises a buffer support platform, a V-shaped double buffer spring, a hemispherical sleeve, an extended magnetic block, a hemispherical sleeve, and a permanent magnet adsorption platform. The buffer support platform is located at the top of the device and can freely load a black-and-white grayscale extraction camera and a high-scattering three-panel folding white light lamp. The buffer support platform is connected to the V-shaped double buffer spring below, and the V-shaped double buffer spring is connected to the hemispherical sleeve below. The hemispherical sleeve can be nested in the hemispherical sleeve. The connection utilizes the magnetic force of the permanent magnet to ensure mutual adsorption while achieving flexible rotation. The extended magnetic block on the hemispherical sleeve and the hemispherical sleeve can make it quickly return to its original position after rotation. The permanent magnet adsorption platform is connected below the hemispherical sleeve. The permanent magnet on the permanent magnet adsorption platform can be adsorbed onto the frame of the hydraulic support, which can be flexibly disassembled.

[0020] In one possible implementation of the first aspect, the buffer support platform and the fixed loading platform each have four toothed fixing slots. The slots are located at the edge of the platform and can be connected and fixed by toothed buckles. One side of the toothed buckle has a certain elasticity, which allows the black-and-white grayscale extraction camera and the high-scattering three-panel folding white light to be mounted on the buffer support platform, achieving flexible loading.

[0021] Preferably, the V-shaped double buffer spring adopts a double helix structure, each spring body adopts a "V" shaped bending structure, and the included angle φ between the "V" shaped structures is 10~18°, and the length of the spring is between 12~18 cm.

[0022] In one possible implementation of the first aspect, the extended magnetic block is an irregularly shaped magnetic block made of permanent magnet. The presence of the irregularly shaped magnetic block enables the hemispherical sleeve to be automatically reset by utilizing the attraction of the extended magnetic block between the two structures after displacement within the hemispherical sleeve.

[0023] In one possible implementation of the first aspect, the magnetic blocks on the hemispherical sleeve and the hemispherical sleeve are different magnetic poles that can attract each other, and the surface of the magnetic blocks is polished to make the surface smooth, thereby providing a certain amount of flexible rotation space at the connection.

[0024] Preferably, the permanent magnet adsorption platform provides an adsorption force of 150~200 N, which ensures that it is stably fixed on the hydraulic support frame.

[0025] It is understandable that the presence of the permanent magnet buffer loading platform can prevent large pieces of coal / rock from hitting the black-and-white grayscale extraction camera and the high-scattering three-panel folded white light lamp, causing changes in their monitoring or supplementary lighting angles; the permanent magnet buffer loading platform can utilize the buffering and stress dispersion of the V-shaped double buffer spring, and at the same time utilize the mutual attraction of two structurally dissimilar magnetic blocks to achieve automatic reset after the device position changes.

[0026] In one possible implementation of the first aspect, the grayscale extraction camera and the high-scattering three-panel folded white light are fixed to the top of the hydraulic support via a permanent magnet buffer loading platform. Two grayscale extraction cameras and one high-scattering three-panel folded white light form a monitoring group. One monitoring group is set on every five hydraulic supports. In each monitoring group, one camera is arranged in the upper middle part of the leftmost hydraulic support, and another camera is arranged in the upper right part of the middle hydraulic support. The lenses of the two cameras are facing different directions. The high-scattering three-panel folded white light is arranged in the upper middle part of the rightmost hydraulic support.

[0027] Understandably, using two black-and-white grayscale extraction cameras, placing them in different locations, and employing different lens orientations allows for monitoring of dust levels between shelves from two dimensions. The high-scattering three-panel folding white light positioned on the far right provides sufficient supplementary lighting for the camera's monitoring range.

[0028] Preferably, the angle between the two black-and-white grayscale extraction camera lenses is 90°.

[0029] Secondly, by using an embedded self-priming atomizing nozzle, the dust can be precisely located and then removed in a directional spray pattern, achieving zoned and targeted dust removal.

[0030] In one possible implementation of the second aspect, the embedded self-priming atomizing nozzle consists of an embedded air inlet pipe and a main liquid inlet pipe. The embedded air inlet pipe is nested inside the main liquid inlet pipe. The self-priming liquid filling slit is located on the left side of the device and is connected to the embedded air inlet pipe and the main liquid inlet pipe. The embedded spindle-shaped mixing chamber of the embedded air inlet pipe is located in the middle of the device, and its right end is connected to the embedded mixing nozzle. The self-priming air filling hole is located in the middle of the device and is set on the main liquid inlet pipe. A loading and fixing platform is set on the left end of the main liquid inlet pipe to connect to the permanent magnet buffer loading platform. The extended main jet is located on the right side of the outer side of the device and can spray out the mixed gas-liquid two-phase spray.

[0031] In one possible implementation of the second aspect, the embedded self-priming atomizing nozzle has a shrinking negative pressure liquid filling structure and a shrinking negative pressure gas filling structure. When the high-speed gas phase working flow entering through the embedded air inlet pipe passes through the shrinking negative pressure liquid filling structure, due to the narrowing of the flow channel, a negative pressure is formed inside the self-priming liquid filling narrow tube under the action of Bernoulli's equation, thereby drawing in the liquid phase working flow passing through the mainstream liquid inlet pipe to form a gas-liquid mixed flow. It can be understood that due to the enlarged design of the embedded spindle-shaped mixing cavity, the gas-liquid mixed flow accumulates in the embedded spindle-shaped mixing cavity for further mixing, and is finally sprayed out through the embedded mixing nozzle.

[0032] When the high-speed liquid phase working flow entering through the mainstream liquid inlet pipe passes through the contraction negative pressure air filling structure, due to the narrowing of the flow channel around the embedded spindle-shaped mixing cavity, a negative pressure will be formed at the self-priming air filling hole under the action of Bernoulli's equation, thereby drawing in outside air and forming a gas-liquid mixed flow.

[0033] In one possible implementation of the second aspect, the two gas-liquid mixed streams are mixed in the area between the embedded mixing nozzle and the inner extension mainstream nozzle, and finally, after achieving sufficient atomization, they are sprayed out from the inner extension mainstream nozzle to achieve the purpose of dust removal.

[0034] Preferably, the self-priming air filling holes are distributed around the embedded spindle-shaped mixing chamber on the outside of the device, with a quantity of 4 holes and an included angle of 90° between them. The included angle between the self-priming air filling holes located between the embedded air inlet pipe and the self-priming liquid filling narrow pipe and the two surrounding pipes is 45°.

[0035] Preferably, the self-priming liquid filling tube has a total of 12 liquid inlet holes, which are symmetrically distributed. The diameter of the liquid inlet holes is 3~5mm, which can ensure normal liquid absorption under negative pressure in the tube.

[0036] Preferably, the pressure of the gas phase working flow input by the embedded air inlet pipe should be 3~7 MPa, and the pressure of the liquid phase working flow input by the main liquid inlet pipe should be 2~5 MPa. This ensures the formation of negative pressure at the contraction point and allows the gas and liquid to be fully mixed, thereby achieving a good atomization effect while ensuring the spray range.

[0037] In one possible implementation of the second aspect, the embedded self-priming atomizing nozzle has four slow-flow, liquid-blocking oscillating fans at the nozzle orifice position. The shafts of these fans are embedded in the embedded mixing nozzle and can rotate along the shafts when liquid flows through. It is understood that the presence of these slow-flow, liquid-blocking oscillating fans slows the velocity of the gas-liquid two-phase flow passing through the embedded mixing nozzle, thereby achieving thorough mixing of the gas and liquid phases. Furthermore, the rotation of the slow-flow, liquid-blocking oscillating fans further enhances the gas-liquid mixing effect.

[0038] In one possible implementation of the second aspect, a nozzle connecting bridge is provided between the embedded mixing nozzle and the extended main flow nozzle. A flow-retarding oscillating fan is mounted on the nozzle connecting bridge, and its shaft is embedded in the nozzle connecting bridge, allowing it to rotate along the shaft in the direction of the liquid flow. It is understood that this flow-retarding oscillating fan, through rotation, can further and more thoroughly mix the two gas-liquid mixtures converging between the embedded mixing nozzle and the extended main flow nozzle, while simultaneously slowing down the flow velocity to a certain extent, thereby further improving the mixing effect.

[0039] Preferably, 14 through holes are provided on one fan surface of the slow-flow and liquid-blocking swing fan, of which 10 through holes are arranged around the fan surface, and the other 4 through holes are located on the horizontal central axis of the fan surface in a straight line, so as to ensure that the liquid flow can pass smoothly through the through holes and to slow down the fluid flow rate.

[0040] Preferably, the diameter of each through hole should be between 1 and 2 mm, and the diameter of each fan surface of the slow-flow and liquid-blocking oscillating fan should be between 15 and 22 mm, so as to ensure the effect of slowing down the flow rate. The included angle between the two fan surfaces is 90°, so that the slow-flow and liquid-blocking oscillating fan can rotate under the drive of the liquid flow.

[0041] In one possible implementation of the second aspect, the permanent magnet buffer loading platform can also be used to load embedded self-priming atomizing nozzles. Its principle and effect are the same as those described in the first aspect regarding the permanent magnet buffer loading platform. The loading method can be referenced to the loading of a black-and-white grayscale extraction camera and a high-scattering three-panel folding white light lamp.

[0042] In one possible implementation of the second aspect, the embedded self-priming atomizing nozzle is fixed to the hydraulic support by a permanent magnet buffer loading platform. Each hydraulic support is equipped with three embedded self-priming atomizing nozzles, located at the upper, middle, and lower positions of the hydraulic support, which can effectively cover different heights.

[0043] Preferably, the longitudinal distance between every two nozzles is not less than 1 / 4 of the height of the hydraulic support, and the angle θ between the nozzle and the ground surface of the coal face is 0~10°. It can be understood that this can ensure the comprehensive coverage of the nozzle area.

[0044] In one possible implementation of the second aspect, the embedded self-priming atomizing nozzle is divided into a gas phase pipeline and a liquid phase pipeline. Both pipelines are closely attached to the hydraulic support frame and run upwards. A wireless signal valve is installed on the gas and liquid pipelines near one end of each nozzle, and the other end provides high-speed liquid flow and compressed air flow. The compressed air flow can be supplied by an air compressor, and the high-speed liquid flow can be supplied by a water pump or a water source located at a high place on the ground. The required supply devices are all located on the side of the air inlet, which can continuously provide air and liquid flow to the nozzle. The presence of the wireless signal valve enables it to receive instructions from the computer and realize the nozzle action by opening the valve.

[0045] The above two aspects provide the equipment needed for dust monitoring, location, and targeted removal, as well as the arrangement of related equipment. The following is the monitoring, location, and nozzle operation principle:

[0046] In conjunction with the first aspect, after the grayscale extraction camera obtains grayscale photos from two angles, it uploads them to a computer and performs binarization processing on the photos using a threshold segmentation method.

[0047] Preferably, in the binarization processing of the photo, the calculation formula for the segmentation threshold C is: C = 0.47k, where k is the range of grayscale values.

[0048] Based on the principle of threshold segmentation, it can be understood that when processing the obtained grayscale image, when the grayscale value of a pixel in the image is less than C, it is automatically classified as pure white; when the grayscale value of a pixel in the image is higher than C, it is automatically classified as pure black. In this way, a binary image with only two pixels, pure black and pure white, is obtained.

[0049] In conjunction with the first aspect, after the photos obtained by the black-and-white grayscale extraction camera from the two angles are binarized, the binarized image provided by the left-side camera will be divided into three guard zones horizontally, with each guard zone being independent of the others; the binarized image provided by the middle-side camera will be divided into five guard zones vertically, with each guard zone being independent of the others.

[0050] In conjunction with the second aspect, the monitoring devices of a monitoring group are arranged on 5 hydraulic supports, and each hydraulic support is equipped with 3 embedded self-priming atomizing nozzles. The computer numbers the 15 nozzles in a monitoring group, and each nozzle number corresponds to a combination of a horizontal guard zone and a vertical guard zone.

[0051] Understandably, the three horizontal and five vertical guard zones can be freely combined, resulting in 3 × 5 = 15 possible combinations. These combinations correspond one-to-one with the fifteen different nozzles. Through the combination of the horizontal and vertical guard zones, the system ultimately connects to the nozzles at the corresponding locations. The computer then guides the opening of the wireless signal valves at the corresponding locations, thereby achieving zoned and directional dust removal.

[0052] In conjunction with the first aspect, to determine whether there is dust in the guard zone, the computer extracts the area of ​​the pure black region of each guard zone after binarization, denoted as S, and the total area of ​​a single guard zone is denoted as A. When S / A ≥ 0.30, the guard zone alarms. The alarm information of the horizontal guard zone and the vertical guard zone are cross-summarized. The alarm information of one horizontal guard zone and one vertical guard zone are combined, and the opening of the wireless signal valve guides the action of one nozzle in the cross area, thereby realizing zoned and directional dust removal.

[0053] Preferably, the grayscale extraction camera takes a picture every 5 minutes during daily monitoring and uploads it to the computer for binarization processing to guide the nozzle action. This allows the nozzle to be turned on in time when dust appears and turned off in time when dust disappears, achieving precise dust removal on a daily basis and reducing water waste.

[0054] Preferably, when any one of the five hydraulic supports in the monitoring group moves, all 15 nozzles in the monitoring group activate dust removal until all hydraulic supports in the monitoring group stop moving. It is understandable that during the special period when the hydraulic supports are moving, the probability of dust appearing between the supports increases sharply, so activating all nozzles in the monitoring group achieves comprehensive dust removal during this special period. Attached Figure Description

[0055] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, a detailed description will be provided below in conjunction with the accompanying drawings. Wherein:

[0056] Figure 1 This is a schematic diagram of a dust optical grayscale monitoring and zoned directional removal system between hydraulic supports in a coal face, provided in an embodiment of the present invention.

[0057] Figure 2 This is a schematic diagram of the dust monitoring and positioning device provided in an embodiment of the present invention;

[0058] Figure 3 A schematic diagram of a high-scattering three-panel folded white light lamp provided in an embodiment of the present invention;

[0059] Figure 4 This is a schematic diagram of an embedded self-priming atomizing nozzle provided in an embodiment of the present invention;

[0060] Figure 5 A schematic diagram of the slow-flow, liquid-blocking swing fan and its loading position provided in an embodiment of the present invention;

[0061] Figure 6 This is a schematic diagram of a permanent magnet buffer loading platform provided in an embodiment of the present invention;

[0062] Figure 7 This is a schematic diagram of the mounting position and piping of the embedded self-priming atomizing nozzle provided in an embodiment of the present invention;

[0063] Figure 8 This is a schematic diagram showing the installation location of the dust monitoring and positioning device provided in an embodiment of the present invention;

[0064] Figure 9 This is a schematic diagram illustrating the implementation principle of the zoned directional dust removal technology provided in an embodiment of the present invention. Detailed Implementation

[0065] The embodiments of the present invention and their technical solutions will be described in detail below with reference to the accompanying drawings.

[0066] Reference Figure 1 As shown, the system for monitoring and directional removal of dust between hydraulic supports in a coal face, as provided in an embodiment of the present invention, is mainly divided into two parts: one part is dust optical grayscale monitoring, and the other part is dust directional removal.

[0067] The dust optical grayscale monitoring and positioning system utilizes two devices: a black-and-white grayscale extraction camera and a high-scattering three-panel folded white light lamp. The high-scattering three-panel folded white light lamp emits highly scattered white light, thus supplementing illumination in the dark environment between the supports. The black-and-white grayscale extraction camera acquires the dust situation between the hydraulic supports through grayscale images. Then, the grayscale images are binarized on a computer, followed by partitioning the binarized image into zones and numbering the nozzles. Area extraction is then performed on the binarized image within each zone, and an alarm is triggered for the corresponding zone based on area comparison. Finally, the alarm information cross-guides the nozzle activation, thereby achieving zoned and targeted dust removal. The above steps briefly describe the principle of dust positioning and targeted removal; a detailed explanation of the principle follows in the following section. Figure 9 The narrative contains specific details.

[0068] The dust removal process utilizes an embedded self-priming atomizing nozzle. This nozzle creates negative pressure conditions through a contraction structure, thereby ensuring thorough mixing of the gas and liquid phases and achieving a good atomization effect, thus guaranteeing the effective dust removal operation.

[0069] Meanwhile, the black-and-white grayscale extraction camera, the high-scattering three-panel folding white light lamp, and the embedded self-priming atomizing nozzle can all be mounted on the permanent magnet buffer loading platform, enabling flexible loading and unloading.

[0070] Reference Figure 2 As shown, the dust monitoring and positioning device provided in this embodiment of the invention includes a grayscale extraction camera and a high-scattering three-panel folded white light. The grayscale extraction camera can acquire the dust distribution between hydraulic supports by taking pictures, and then transmit the acquired pictures to a computer for further processing. The high-scattering three-panel folded white light consists of three flat high-scattering white light lamps, which can emit a large area of ​​white light to supplement the lighting in the dark space underground, thereby ensuring that the grayscale extraction camera has a good working environment.

[0071] It is understandable that the high-scattering three-panel folded white light emits white light to provide a white background for the operation of the grayscale extraction camera. At the same time, the large area of ​​supplemental lighting also ensures better exposure of the photos acquired by the grayscale extraction camera, improving the accuracy of monitoring. It is also understandable that when the light received by the grayscale extraction camera lens is blocked by dust clouds, the photos it acquires will show gray areas at the locations where the dust is blocked. Based on this, further analysis by computer can reveal the diffusion of dust between the hydraulic support frames.

[0072] The black-and-white grayscale extraction camera consists of a black-and-white industrial camera module, a built-in power supply module, and a built-in wireless signal transmission module. The black-and-white industrial camera module can take pictures of the dust situation between the hydraulic support frames. The built-in wireless signal transmission module can transmit the information obtained by the black-and-white industrial camera to a computer for further processing. The built-in power supply module can supply power to the built-in wireless signal transmission module and the black-and-white industrial camera module.

[0073] The grayscale extraction camera has loading angle adjustment modules on both sides. The grayscale extraction camera is connected to the loading station below through the loading angle adjustment modules. The loading station can be connected to the permanent magnet buffer loading station.

[0074] The high-scattering three-panel folding white light is composed of three flat high-scattering white light lamps connected in sequence in a straight line. The flat high-scattering white light lamp in the middle is flanked by loading angle adjustment modules. The high-scattering three-panel folding white light lamp is connected to the loading fixing platform below through the loading angle adjustment module. The loading fixing platform can be connected to the permanent magnet buffer loading platform.

[0075] It is understood that the loading angle adjustment module can flexibly adjust the angles of the black-and-white grayscale extraction camera and the high-scattering three-panel folded white light lamp within a certain range by means of the threaded connection, so that the black-and-white grayscale extraction camera can extract photos at the correct angle, and the high-scattering three-panel folded white light lamp can provide supplemental lighting for the dark environment downhole at the correct angle.

[0076] Reference Figure 3 As shown, this is a high-scattering three-panel folding white light lamp provided in an embodiment of the present invention. The high-scattering three-panel folding white light lamp is composed of three flat high-scattering white light lamps connected in sequence in a straight line. A butterfly folding device is used at the connection point. The folding device is connected by a middle section bolt. One side of the middle section bolt is sealed with an anti-slip nesting structure. An anti-slip rubber ring is wrapped around the anti-slip bolt buckle.

[0077] Understandably, the butterfly-shaped folding device ensures that the angle between the three flat, high-scattering white lights can be freely adjusted according to the actual working conditions, improving the flexibility of the device and providing more room for flexible adjustment of the illumination angle.

[0078] The flat, high-scattering white light lamp consists of a discrete convex lattice diffuser plate, high-scattering LED white light beads, a reflector bead fixing slot plate, a high-scattering white light lamp box, and a power supply module. The high-scattering LED white light beads are embedded in the reflector bead fixing slot plate, which is embedded in the high-scattering white light lamp box. The discrete convex lattice diffuser plate is located above the high-scattering LED white light beads and covers the high-scattering white light lamp box. Below the high-scattering white light lamp box is the power supply module, which can load power to supply power to the device.

[0079] Preferably, the reflective LED bead fixing slot is coated with silver reflective paint, which can further diffuse the white light provided by the high-scattering LED white light beads, while preventing the reflective LED bead fixing slot from absorbing the white light, thus reducing the supplementary lighting effect.

[0080] Preferably, the flat, high-scattering white light emitted by the lamp is highly scattered white light with an intensity of 50-80 lx, which ensures sufficient illumination for the dark environment underground.

[0081] The discrete convex lattice diffuser is composed of alternating transparent lattices and white coated lattices. One side of the convex lattice unit is rectangular, while the other side convexes downward and contracts into an arc. The rectangular side is coated with a light-transmitting white paint. This ensures that white light can be evenly and effectively diffused after contacting the discrete convex lattice diffuser, giving the white light in the environment a larger illumination range and making the white light diffusion more uniform.

[0082] Preferably, in the rectangular face of the convex lattice unit, the aspect ratio of the rectangle is 1.8, and the number of convex lattice units on each discrete convex lattice diffuser should be greater than or equal to 250, further ensuring the diffusion range and uniformity of white light.

[0083] Reference Figure 4 As shown, this is an embedded self-priming atomizing nozzle provided in an embodiment of the present invention. The embedded self-priming atomizing nozzle consists of an embedded air inlet pipe and a main liquid inlet pipe. The embedded air inlet pipe is nested inside the main liquid inlet pipe. The self-priming liquid filling slit is located on the left side of the device and is connected to the embedded air inlet pipe and the main liquid inlet pipe. The embedded spindle-shaped mixing chamber of the embedded air inlet pipe is located in the middle of the device, and its right end is connected to the embedded mixing nozzle. The self-priming air filling hole is located in the middle of the device and is set on the main liquid inlet pipe. A loading and fixing platform is set on the left end of the main liquid inlet pipe to connect to the permanent magnet buffer loading platform. The extended main nozzle is located on the right side of the outer side of the device and can spray out the mixed gas-liquid two-phase spray.

[0084] The embedded self-priming atomizing nozzle has four slow-flow, liquid-blocking oscillating fans at the nozzle position of the embedded mixing nozzle. One slow-flow, liquid-blocking oscillating fan is positioned between the embedded mixing nozzle and the inner-stream main nozzle. The presence of the slow-flow, liquid-blocking oscillating fan slows down the fluid flow velocity and further mixes the gas-liquid two-phase flow. The function and principle of the slow-flow, liquid-blocking oscillating fan are explained in detail below. Figure 5 Further details are provided in the description; please refer to the relevant section for more information. Figure 5 Explanation.

[0085] The embedded self-priming atomizing nozzle has a shrinkage negative pressure liquid filling structure and a shrinkage negative pressure gas filling structure. When the high-speed gas phase working flow entering through the embedded air inlet pipe passes through the shrinkage negative pressure liquid filling structure, due to the narrowing of the flow channel, a negative pressure will be formed inside the self-priming liquid filling narrow tube under the action of Bernoulli's equation, thereby drawing in the liquid phase working flow passing through the mainstream liquid inlet pipe to form a gas-liquid mixed flow. It can be understood that due to the enlarged design of the embedded spindle-shaped mixing cavity, the gas-liquid mixed flow is further mixed in the embedded spindle-shaped mixing cavity and finally sprayed out through the embedded mixing nozzle.

[0086] When the high-speed liquid phase working flow entering through the mainstream liquid inlet pipe passes through the contraction negative pressure air filling structure, due to the narrowing of the flow channel around the embedded spindle-shaped mixing cavity, a negative pressure will be formed at the self-priming air filling hole under the action of Bernoulli's equation, thereby drawing in outside air and forming a gas-liquid mixed flow.

[0087] It is understandable that the two gas-liquid mixed flows mix in the area between the embedded mixing nozzle and the inner mainstream nozzle, and finally, after achieving sufficient atomization, they are sprayed out from the inner mainstream nozzle to achieve the purpose of dust removal.

[0088] Preferably, there are four self-priming air inlets distributed around the embedded spindle-shaped mixing chamber on the outside of the device, and the included angle between them is 90°. The included angle between the self-priming air inlets located between the embedded air inlet pipe and the self-priming liquid filling narrow pipe and the two surrounding pipes is 45°, which can ensure that the fluid passing through each flow channel can pass smoothly.

[0089] Preferably, the pressure of the gas phase working flow input by the embedded air inlet pipe should be 3~7 MPa, and the pressure of the liquid phase working flow input by the main liquid inlet pipe should be 2~5 MPa. This ensures the formation of negative pressure at the contraction point and allows the gas and liquid to be fully mixed, thereby achieving a good atomization effect, while ensuring the spray range and good dust removal effect.

[0090] Preferably, the self-priming liquid filling tube has a total of 12 liquid inlet holes, which are symmetrically distributed. The diameter of the liquid inlet holes is 3~5mm, which can ensure normal liquid absorption under negative pressure in the tube.

[0091] Reference Figure 5The diagram shown is a schematic diagram of the slow-flow liquid-blocking oscillating fan and its loading position provided in an embodiment of the present invention. The embedded self-priming atomizing nozzle has four slow-flow liquid-blocking oscillating fans at the nozzle position of the embedded mixing nozzle. The shaft of the slow-flow liquid-blocking oscillating fan is embedded in the embedded mixing nozzle and can rotate along the shaft when the liquid flows through.

[0092] Understandably, the presence of the slow-flow, liquid-blocking oscillating fan can slow down the velocity of the gas-liquid two-phase flow passing through the embedded mixing nozzle, thereby achieving thorough mixing. In addition, the rotation of the slow-flow, liquid-blocking oscillating fan can further enhance the mixing effect.

[0093] A nozzle connecting bridge is provided between the embedded mixing nozzle and the inner extension main flow nozzle. A slow-flow blocking oscillating fan is provided on the nozzle connecting bridge. The shaft of the slow-flow blocking oscillating fan is embedded in the nozzle connecting bridge and can rotate along the shaft with the direction of liquid flow.

[0094] Understandably, the slow-flow, liquid-blocking swing fan installed here can further and fully mix the two gas-liquid mixed flows that converge between the embedded mixing nozzle and the inner extended main flow nozzle by rotating, while also achieving a certain purpose of slowing down the flow rate, thereby further improving the mixing effect.

[0095] Preferably, 14 through holes are provided on one fan surface of the slow-flow and liquid-blocking swing fan, of which 10 through holes are arranged around the fan surface, and the other 4 through holes are located on the horizontal central axis of the fan surface in a straight line, so as to ensure that the liquid flow can pass through the through holes and to slow down the fluid flow rate.

[0096] Preferably, the diameter of each through hole should be between 1 and 2 mm, and the diameter of each fan surface of the slow-flow and liquid-blocking oscillating fan should be between 15 and 22 mm, so as to ensure the effect of slowing down the flow rate. The included angle between the two fan surfaces is 90°, so that the slow-flow and liquid-blocking oscillating fan can rotate under the drive of the liquid flow, thereby consuming the flow rate of the fluid passing through.

[0097] Reference Figure 6 As shown, this is a permanent magnet buffer loading platform provided in an embodiment of the present invention. The permanent magnet buffer loading platform consists of a buffer support platform, a V-shaped double buffer spring, a hemispherical sleeve, an extension magnetic block, a hemispherical sleeve, and a permanent magnet adsorption platform. The buffer support platform is located at the top of the device and can freely load a black-and-white grayscale extraction camera, a high-scattering three-panel folding white light lamp, and an embedded self-priming atomizing nozzle. The buffer support platform is connected to the V-shaped double buffer spring below, and the V-shaped double buffer spring is connected to the hemispherical sleeve below. The hemispherical sleeve can be nested in the hemispherical sleeve. The connection utilizes the magnetic force of the permanent magnet to ensure mutual adsorption while achieving flexible rotation. The extension magnetic block on the hemispherical sleeve and the hemispherical sleeve can make it quickly return to its original position after rotation. The permanent magnet adsorption platform is connected below the hemispherical sleeve. The permanent magnet on the permanent magnet adsorption platform can be adsorbed onto the frame of the hydraulic support, which can be flexibly disassembled.

[0098] The buffer support platform and the fixed loading platform each have four toothed fixing slots. The slots are located at the edge of the platform and can be connected and fixed by toothed buckles. One side of the toothed buckle has a certain degree of elasticity. It can be understood that the existence of elasticity allows the toothed buckle to be flexibly removed from the toothed fixing slot, so that the black and white grayscale extraction camera, the high-scattering three-panel folding white light lamp and the embedded self-priming atomizing nozzle can be flexibly loaded.

[0099] Preferably, the V-shaped double buffer spring adopts a double helix structure, and the spring body of each spring adopts a "V" shaped bending structure, and the included angle φ between the "V" shaped structures is 10~18°, and the length of the spring is 12~18 cm, which can ensure its buffering effect.

[0100] Understandably, the double helix structure of the V-shaped double buffer spring itself can provide buffer space for the device mounted on the buffer support when subjected to stress. Secondly, the "V" shaped bending structure of each spring body can provide secondary buffer space, thus achieving the effect of double buffering and ensuring the effectiveness of buffering.

[0101] Preferably, the extended magnetic block is an irregularly shaped magnetic block made of permanent magnet. The presence of the irregularly shaped magnetic block enables the hemispherical sleeve to automatically reset by the attraction of the extended magnetic block between the two structures after displacement within the hemispherical sleeve.

[0102] Preferably, the magnetic blocks on the hemispherical sleeve and the hemispherical sleeve are different magnetic poles that can attract each other, and are polished to make their surfaces smooth, thereby providing a certain contact space; the permanent magnet adsorption platform provides an attraction force of 150~200 N, which is sufficient to ensure that it is stably adsorbed on the hydraulic support.

[0103] Understandably, the permanent magnet buffer loading platform prevents large pieces of coal / rock from hitting the loading module and causing a change in its monitoring angle. The permanent magnet buffer loading platform uses V-shaped double buffer springs to buffer and disperse stress, and uses the effect of extended magnetic blocks to achieve automatic reset after the device position changes, ensuring that the loading angle of the loading module does not change.

[0104] Reference Figure 7 As shown, the embedded self-priming atomizing nozzle is mounted on a hydraulic support via a permanent magnet buffer mounting platform. Each hydraulic support is equipped with three embedded self-priming atomizing nozzles, located at the upper, middle, and lower positions of the hydraulic support. This effectively covers different heights, thereby ensuring the dust removal effect of the nozzles.

[0105] The embedded self-priming atomizing nozzle is divided into a gas phase pipeline and a liquid phase pipeline. Both pipelines are closely attached to the hydraulic support frame and run upwards, providing working fluid to the three nozzles in sequence. Wireless signal valves are installed on the gas and liquid pipelines near each nozzle, and high-speed liquid flow and compressed air flow are provided at the other end.

[0106] The wireless signal valve can receive instructions from the computer, thereby controlling the nozzle's movement by opening and closing the valve; the compressed air can be supplied by an air compressor, and the high-speed liquid can be supplied by a water pump or a surface water source, with all the necessary supply devices located on one side of the air intake tunnel; it is understood that when the surface water source reaches the well, its gravitational potential energy is converted into kinetic energy, so its speed can meet the liquid supply requirements.

[0107] Preferably, the longitudinal distance between every two nozzles is not less than 1 / 4 of the height of the hydraulic support, and the angle θ between the nozzle and the ground surface of the coal face is 0~10°. It can be understood that this can ensure the comprehensive coverage of the nozzle area.

[0108] Reference Figure 8 The diagram shows the mounting position of the dust monitoring and positioning device provided in this embodiment of the invention. It can be understood that the monitoring device consists of a grayscale extraction camera and a high-scattering three-panel folded white light. The grayscale extraction camera and the high-scattering three-panel folded white light are fixed to the top of the hydraulic support via a permanent magnet buffer mounting platform. Two grayscale extraction cameras and one high-scattering three-panel folded white light form one monitoring group. One monitoring group is set on every five hydraulic supports. At viewing angle 2, in each monitoring group, one camera is positioned in the upper-middle part of the leftmost hydraulic support, and the other camera is positioned in the upper-right part of the middle hydraulic support, with the lenses of the two cameras facing different directions. The high-scattering three-panel folded white light is positioned in the upper-middle part of the rightmost hydraulic support.

[0109] It is understandable that by using two black-and-white grayscale extraction cameras and placing them in different positions, dust conditions can be monitored from two dimensions. From the position of the camera and the folding light in viewpoint 1, it can be seen that the photo obtained by camera 1 monitored the dust conditions of the xz flour, while the photo obtained by camera 2 monitored the dust conditions of the yz flour.

[0110] It is understandable that cameras 1 and 2 achieve two-dimensional monitoring of the dust surface by obtaining dust conditions on two surfaces, and the position of the high-scattering three-panel folded white light lamp is just right to ensure that the emitted white light provides supplementary lighting to the monitoring area.

[0111] Preferably, the angle between the two black-and-white grayscale extraction camera lenses is 90°. Only when the angle between the two camera lenses is perpendicular can the different dimensions of the monitoring be achieved.

[0112] Reference Figure 9The diagram illustrates the implementation principle of the zoned directional dust removal technology provided in this embodiment of the invention. The following section combines... Figure 8 The arrangement of the two black-and-white grayscale extraction cameras, and Figure 7 The arrangement of the nozzles will be used to describe the implementation principle of the embodiments of the present invention.

[0113] The first step is to use cameras 1 and 2 to extract dust information from the xz and yz planes respectively, and then take pictures and upload them to the computer.

[0114] The second step involves the computer receiving the photo and then processing it using a threshold segmentation method to obtain a binarized photo.

[0115] Thresholding segmentation involves first determining a threshold value, and then comparing the pixel value of each pixel in the image with this threshold. It's understood that the grayscale extraction camera in this embodiment only obtains grayscale images, so thresholding segmentation is only needed for the grayscale values. Under this premise, grayscale values ​​above the determined threshold will be classified as the maximum value in the entire grayscale range, i.e., pure black; grayscale values ​​below the determined threshold will be classified as the minimum value in the entire grayscale range, i.e., pure white; and generally, the grayscale value range of a pixel in a grayscale image is 0~255.

[0116] Preferably, in order to ensure the dust recognition effect, the segmentation threshold C is calculated as follows: C = 0.47k, where k is the grayscale value range.

[0117] Based on the principle of threshold segmentation, it can be understood that when the pixel value is less than C, it is automatically classified as pure white, and when the pixel grayscale value is higher than C, it is automatically classified as pure black. This results in a binary image with only two pixels: pure black and pure white.

[0118] The third step involves binarizing the photos obtained by the black-and-white grayscale extraction camera from the two angles. The photo extracted by the left camera 1 will be divided into three guard zones horizontally, and the photo extracted by the middle camera 2 will be divided into five guard zones vertically.

[0119] At the same time, the nozzles are numbered. It can be understood that a monitoring group is set up on 5 hydraulic supports, and 3 embedded self-priming atomizing nozzles are set up on each hydraulic support. The computer numbers the 15 nozzles in a monitoring group, with a total number of numbers from 1 to 15.

[0120] Each nozzle number corresponds to a combination of a horizontal guard zone and a vertical guard zone. In other words, there are 3 × 5 = 15 possible combinations of 3 horizontal guard zones and 5 vertical guard zones, which correspond one-to-one with 15 nozzles in different positions. This allows the combination of horizontal and vertical guard zones to ultimately contact the corresponding nozzles through the opening of the wireless signal valve, thereby achieving the purpose of zoned and directional dust removal.

[0121] The sprinkler head number and the location of the corresponding numbered sprinkler head are determined by combining the horizontal and vertical security zones. Figure 9 This is reflected in the text.

[0122] The fourth step is to determine whether there is dust in the guard zone. The computer extracts the area of ​​the black area in each guard zone and records it as S. The total area of ​​a single guard zone is recorded as A. When S / A ≥ 0.30, the guard zone will alarm. The alarm information of the horizontal guard zone and the vertical guard zone are cross-summarized. The combination of alarm information from one horizontal guard zone and one vertical guard zone corresponds to the action of one nozzle in the cross area, thereby realizing the removal of dust in the corresponding area.

[0123] Preferably, the grayscale extraction camera takes a picture every 5 minutes during daily monitoring and uploads it to the computer for binarization processing to guide the nozzle action. This allows the nozzle to be turned on in time when dust appears and turned off in time when dust disappears, achieving precise dust removal on a daily basis and reducing water waste.

[0124] Preferably, when any one of the five hydraulic supports in the monitoring group moves, all 15 nozzles in the monitoring group will activate dust removal until all the hydraulic supports in the monitoring group stop moving. This allows for comprehensive dust removal during the special period when the hydraulic supports are moving.

Claims

1. A dust optical grayscale monitoring and zoned directional removal system for hydraulic supports in coal mining faces, characterized in that, include: To address both optical grayscale monitoring and zoned targeted removal of dust between hydraulic supports, the system employs a high-scattering three-panel folded white light to supplement the dark environment of the hydraulic support area. A grayscale extraction camera extracts grayscale images of the dust distribution within the hydraulic support area, thus providing optical monitoring of dust in two dimensions. The grayscale images are then processed by computer to determine the specific areas where dust is present. An embedded self-priming atomizing nozzle utilizes the negative pressure generated by the high-speed jet to absorb the liquid flow in the pipeline and the airflow around the nozzle, uniformly mixing the gas and liquid phases in two areas before atomizing and spraying them out at the nozzle for zoned targeted removal of dust within the identified areas. The grayscale extraction camera consists of a black-and-white industrial camera module, a built-in power supply module, and a built-in wireless signal transmission module. An angle adjustment module is mounted on both sides of the camera, and a mounting platform is located below. The high-scattering three-panel folded white light consists of three flat, high-scattering white lights connected in sequence. On either side of the central flat, high-scattering white light lamp are loading angle adjustment modules, with a loading platform connected below them. The embedded self-priming atomizing nozzle consists of an embedded air inlet pipe and a main liquid inlet pipe. The embedded air inlet pipe is nested inside the main liquid inlet pipe. The self-priming liquid filling slit is connected to both the embedded air inlet pipe and the main liquid inlet pipe. The embedded spindle-shaped mixing chamber of the embedded air inlet pipe is located in the middle of the device. The self-priming air filling hole is located in the middle of the device and is set on the main liquid inlet pipe. A loading platform is set at the left end of the main liquid inlet pipe. The nozzle is located on the right side of the outer side of the device; the loading and fixing platform can be freely loaded onto the permanent magnet buffer loading platform; the embedded self-priming atomizing nozzle has a shrinkage negative pressure liquid filling structure and a shrinkage negative pressure air filling structure. When the working fluid passes through the shrinkage structure, a negative pressure is formed at the self-priming liquid filling slit and the self-priming air filling hole, thereby drawing in fluid of a different phase from the working flow, so that the gas-liquid mixture is atomized in two separate locations in different ways; the pressure of the gas phase working flow input by the embedded air inlet pipe is 3~7 MPa, and the pressure of the liquid phase working flow input by the main liquid inlet pipe is 2~5 MPa; there are 4 self-priming air filling holes distributed around the embedded spindle-shaped mixing chamber outside the device, with an angle of 90° between them; the angle between the self-priming air filling hole located between the embedded air inlet pipe and the self-priming liquid filling slit and the two surrounding pipes is 45°; there are a total of 12 liquid inlet holes on the self-priming liquid filling slit, which are symmetrically distributed, and the diameter of the liquid inlet holes is 3~5 mm.

2. The dust optical grayscale monitoring and zoned directional removal system between hydraulic supports in a coal face according to claim 1, characterized in that, The flat, high-scattering white light lamp mainly consists of a discrete convex lattice diffuser plate, high-scattering LED white light beads, a reflector bead fixing slot plate, a high-scattering white light lamp box, and a power supply module. The high-scattering LED white light beads are embedded in the reflector bead fixing slot plate, which is embedded within the high-scattering white light lamp box. The discrete convex lattice diffuser plate is located above the high-scattering LED white light beads and covers the high-scattering white light lamp box. The power supply module is located below the high-scattering white light lamp box. The light emitted by the flat, high-scattering white light lamp is highly scattered white light with an intensity of 50-80 lux. lx; The discrete convex lattice diffuser is composed of alternating transparent lattices and white coated lattices. One side of the convex lattice unit is rectangular with an aspect ratio of 1.8, and the other side convexes downward and contracts into an arc. The rectangular side of the white coated lattice is uniformly coated with a light-transmitting white paint. The number of convex lattice units on each discrete convex lattice diffuser is greater than or equal to 250.

3. The dust optical grayscale monitoring and zoned directional removal system between hydraulic supports in a coal face according to claim 1, characterized in that, The embedded self-priming atomizing nozzle has four slow-flow, liquid-blocking oscillating fans at the nozzle position of the embedded mixing nozzle. The shaft of the slow-flow, liquid-blocking oscillating fan is embedded in the embedded mixing nozzle and can rotate along the shaft when the liquid flows through. A nozzle connecting bridge is provided between the embedded mixing nozzle and the inner extended main flow nozzle. One slow-flow, liquid-blocking oscillating fan is provided on the nozzle connecting bridge. The shaft of the slow-flow, liquid-blocking oscillating fan is embedded in the nozzle connecting bridge and can rotate along the shaft with the direction of liquid flow. One fan surface of the slow-flow, liquid-blocking oscillating fan has 14 through holes. Ten through holes are arranged around the fan surface, and the other four through holes are located on the horizontal central axis of the fan surface in a straight line. The diameter of each through hole is between 1 and 2 mm. The diameter of each fan surface of the slow-flow, liquid-blocking oscillating fan is between 15 and 22 mm. The included angle between two fan surfaces is 90°.

4. The dust optical grayscale monitoring and zoned directional removal system between hydraulic supports in a coal face according to claim 1, characterized in that, The permanent magnet buffer loading platform consists of a buffer support platform, a V-shaped double buffer spring, a hemispherical sleeve, an extended magnetic block, a hemispherical sleeve, and a permanent magnet adsorption platform. The buffer support platform is located at the top of the device and is connected to the V-shaped double buffer spring below. The V-shaped double buffer spring is connected to the hemispherical sleeve below, and the hemispherical sleeve can be nested in the hemispherical sleeve. The permanent magnet adsorption platform is connected below the hemispherical sleeve and can be adsorbed onto the hydraulic support. The buffer support platform and the fixed loading platform each have four toothed fixing slots located at the edge of the platform surface, which can be fixed by toothed buckles. The V-shaped double buffer spring adopts a double helix structure, and the spring body of each spring adopts a "V"-shaped bending structure, with the included angle between the "V" shapes being... The angle is 10~18°, and the length of the spring is between 12~18 cm; the extended magnetic block is an irregularly shaped magnetic block made of permanent magnet. The magnetic blocks on the hemispherical sleeve and the hemispherical sleeve have different magnetic poles, and the surface of the magnetic block is polished to become relatively smooth, thereby providing a certain contact space under the premise of mutual attraction. The permanent magnet adsorption platform provides an adsorption force of 150~200 N.

5. The dust optical grayscale monitoring and zoned directional removal system between hydraulic supports in a coal face according to claim 1, characterized in that, The embedded self-priming atomizing nozzles are fixed to the hydraulic supports via a permanent magnet buffer loading platform. Each hydraulic support is equipped with three embedded self-priming atomizing nozzles, located at the top, middle, and bottom of the hydraulic support. The longitudinal distance between any two nozzles is no less than 1 / 4 of the height of the hydraulic support. The angle θ between the nozzle and the ground is 0~10°. The embedded self-priming atomizing nozzles are divided into gas phase pipelines and liquid phase pipelines. Both pipelines run upwards along the support frame. Wireless signal valves are installed on the gas and liquid pipelines near one end of each nozzle. The other end provides high-speed liquid flow and compressed air flow. The compressed air flow can be supplied by an air compressor, and the high-speed liquid flow can be supplied by a water pump or a ground water source.

6. The dust optical grayscale monitoring and zoned directional removal system between hydraulic supports in a coal face according to claim 1, characterized in that, The grayscale extraction camera and the high-scattering three-panel folded white light lamp are fixed to the top of the hydraulic support via a permanent magnet buffer loading platform. Two grayscale extraction cameras and one high-scattering three-panel folded white light lamp constitute one monitoring group, and one monitoring group is set up on every five hydraulic supports. In each monitoring group, one camera is arranged in the upper middle part of the leftmost hydraulic support, and the other camera is arranged in the upper right part of the middle hydraulic support. The two camera lenses face different directions, and the relative angle between the lenses is 90°. The high-scattering three-panel folded white light lamp is arranged in the upper middle part of the rightmost hydraulic support.

7. The dust optical grayscale monitoring and zoned directional removal system between hydraulic supports in a coal face according to claim 1, characterized in that, After the grayscale extraction camera obtains grayscale photos from two angles, it uploads them to the computer. The photos are then binarized using a threshold segmentation method. The segmentation threshold C is calculated as: C = 0.47k, where k is the grayscale value range. After binarization, the binarized image extracted by the left-side camera will be divided into 3 horizontal alert zones, and the binarized image extracted by the middle camera will be divided into 5 vertical alert zones. When the computer processes the alert zones, the black area of ​​a single alert zone is denoted as S, and the total area of ​​a single alert zone is denoted as A. When S / A ≥ 0.30, the alert zone triggers an alarm. The alarm information from one horizontal alert zone and one vertical alert zone is cross-combined, and the opening of a wireless signal valve guides the action of one nozzle within the cross-region.

8. The dust optical grayscale monitoring and zoned directional removal system between hydraulic supports in a coal face according to claim 1, characterized in that, The black-and-white grayscale extraction camera takes a picture every 5 minutes during daily monitoring and uploads it to the computer for binarization processing to guide the nozzle action. When any of the five hydraulic supports in the monitoring group moves, all 15 nozzles in the monitoring group will activate dust removal until all the hydraulic supports in the monitoring group stop moving, at which point the system enters the daily monitoring state.

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