Coal body identifying and crushing device based on millimeter wave radar and identifying and crushing method of coal body identifying and crushing device

Abstract

The invention relates to the technical field of mineral processing, in particular to a coal identifying and crushing device based on millimeter wave radar and an identifying and crushing method thereof.The method comprises the steps that 1, one or more crushing devices are installed on a belt conveyor of a conveying crossheading, and the millimeter wave radar is installed on a top plate which is away from the rear portion of a working face crusher and perpendicular to a belt; millimeter-wave radars are mounted on two sides which are ahead of a distance; 2, coal bodies are generated in the coal cutting process of the working face, and the coal bodies reach a belt conveyor through a crusher; according to the method, large coal bodies in the coal body crushing process are accurately recognized through millimeter wave radar monitoring, so that a continuous and repeated crushing treatment effect is achieved in the crushing treatment process of the large coal bodies through the crushing device based on the recognition result; and it is ensured that the coal body which is not completely crushed and is not crushed to the target state can obtain the repeated crushing treatment effect based on the method, and the crushing capacity and the intelligent degree of coal body crushing equipment are further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mineral processing, and in particular to a coal body identification and crushing device based on millimeter wave radar and an identification and crushing method thereof. Background Art

[0002] my country is a coal-producing country. Among the proven coal resources, the proportion of thick coal seams with a thickness of more than 3.5m accounts for more than 45%, and the main mining methods are fully mechanized caving and full-height mining at one time. Due to the thick coal seams, the law of mine pressure is relatively complex. Large coal bodies are easily generated during the mining and caving process. The large coal bodies are transported in different forms on the scraper conveyor, resulting in the crusher can only crush part of the large coal bodies. There are still large coal bodies that pass through the crusher to the belt conveyor arranged in the chute, and then fall to the belt conveyor arranged in the uphill or large lane of the mining area, which will impact the belt and cause irreversible damage such as belt perforation, which will cause problems such as equipment overload and shutdown, affecting the safe production of the working face. At present, the fully mechanized mining face mainly relies on manual crushing to clean up large coal bodies. During manual crushing, the conveying equipment needs to remain in a shutdown state, which not only reduces the efficiency of coal transportation, but also increases the labor intensity of workers in the manual crushing method, which is not conducive to the safe and efficient production of coal.

[0003] At present, image intelligent recognition and processing technology has been widely used in various industries. In the coal mining industry, it is mainly used for the recognition and sorting of coal, rock, foreign matter, etc. A mining belt foreign matter sorting robot has been developed, and the upper limit of the foreign matter sorting capacity can reach (120×120×1000mm) to meet the needs of most places. However, most of the above achievements are used in ground coal preparation plants and other places, where there is sufficient light, less coal dust, and a low belt running speed. The equipment recognition environment is excellent, and thus a better processing effect can be achieved.

[0004] Compared with the ground, the underground environment is dim, the coal dust is large, the belt conveyor conveys at a fast speed, the image recognition environment is harsh, the recognition effect is poor, and it is unknown whether the processing speed of the robotic arm after recognition can meet the design requirements. In addition, the space size of the underground tunnel is limited, and the equipment size needs to match the underground space. At the same time, the above research only realized the intelligent recognition and sorting of coal and rock, and did not realize the real-time crushing of large pieces of coal and rock. Summary of the invention

[0005] In view of the above-mentioned shortcomings of the prior art, the present invention provides a coal body identification and crushing device based on millimeter wave radar and an identification and crushing method thereof, which solves the technical problems raised in the above-mentioned background technology.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0007] The coal body identification and crushing method of the coal body identification and crushing device based on millimeter wave radar comprises:

[0008] Step 1: Install one or more crushing devices on the belt conveyor of the transport chute, and install a millimeter-wave radar on the top plate behind the crusher and perpendicular to the belt, and install a millimeter-wave radar on both sides ahead of the crusher for a certain distance;

[0009] Step 2: Coal is produced during the coal cutting process at the working face, and the coal passes through the crusher and reaches the belt conveyor;

[0010] Step 3: The millimeter wave radar monitors the coal on the belt conveyor in real time to obtain the size information of the coal;

[0011] Step 4: After obtaining the size of the coal body, determine whether it is a large coal body;

[0012] Step 5: When the coal body is determined to be a large coal body, the size information of the large coal body is recorded. During the subsequent production of the working face 7, the large coal body is monitored and identified, and the number and generation time of the large coal bodies are recorded in the upper computer in sequence to calculate the time difference between two large coal bodies, so as to provide design support for the start-up sequence of the subsequent crushing device;

[0013] Step 6: The size of the large coal mass and the time difference Δt n～n+1 The relevant information is transmitted to the host computer through the data acquisition instrument, and the host computer calculates the volume of the large coal body, the time difference Δt n～n+1 The relevant information is sent to the crushing device through the cable and a start signal is provided. After receiving the start signal, the crushing device moves the grabbing device to the edge of the guide rail through the guide rail, and the upper computer determines the time difference Δt between two adjacent large pieces of coal. n～n+1 Is it greater than 1.5 times the processing time of the crusher, and design the starting sequence of the crushing device accordingly. The specific calculation process is: Assume that the time for the crushing device to process large pieces of coal is t 破 , the t 破 It is composed of the grabbing time tgrasp and the coal impact time timpact. If Δt n～n+1 >1.5t 破 , the first step crusher will be used for crushing; if Δt n～n+1 <1.5t 破 , then crushing is carried out in the order in which the crushing devices are installed; then crushing is carried out in the order in which the crushing devices are installed;

[0014] The grabbing and crushing process is as follows:

[0015] Step 7: After the start-up sequence of the crushing device is set, the large coal body is grabbed and crushed;

[0016] Step 8: After grabbing the large coal block, move it to the top of the drop door through the guide rail, and place the largest direction of the obtained large coal block size information parallel to the rear cover on the drop door;

[0017] Step 9: After the large coal is placed, the host computer sets the cutting parameters and sends a start signal to the high-pressure water jet coal breaking device through the PLC logic control module. After the high-pressure water jet device is started, its multiple nozzles move from bottom to top along its guide rail to cut the large coal into multiple small pieces of coal. After the cutting is completed, the high-pressure water jet device is turned off;

[0018] Step 10: After the large coal is crushed, the crushed coal is dropped onto the belt conveyor through a drop door, and the large coal identification and crushing process is completed.

[0019] Furthermore, the coal body identification and crushing device includes a belt conveyor in the chute, a millimeter wave radar, a coal rock crushing device, cables, a host computer, and a water tank. The millimeter wave radar is installed on the top plate of the chute, and sends electromagnetic waves to the coal body transported on the belt conveyor, and obtains the length, width, and height size information of the coal body through the angle resolution, and then compares the length, width, and height of the coal body with 0.5 times the width of the belt conveyor to judge the large piece of coal body;

[0020] The crushing device is connected to the bracket and installed above the belt conveyor to crush large pieces of coal. The water tank is connected to the crushing device to provide water for the high-pressure water jet device;

[0021] The millimeter-wave radar is installed above the belt conveyor after the crusher and after the transfer crusher, and several groups are installed at equal intervals; the coal rock crushing device is composed of a frame leg, a grabbing device, a guide rail, a top cover plate, a high-pressure water jet device, a bottom cover plate, a drop door, a side cover plate and a thick cover plate. The frame leg is connected to the bottom cover plate and the top cover plate, and a certain height is left between the two cover plates. The guide rail is connected to the top cover plate and installed below the top cover plate. The grabbing device is connected to the guide rail, and the impact device is installed on the side cover plates on both sides.

[0022] Furthermore, the legs, top cover, bottom cover and side cover are all made of steel and straddle the belt conveyor. The top cover is provided with a through hole, and the guide rail is provided with a through hole for connecting with the top cover. The impact device is provided with an impact plate, which can be extended and retracted in multiple stages. The bottom cover is provided with a drop door, and the crushed coal body can fall to the belt conveyor through the drop door. The grabbing device is provided with a clamping head, which is connected to the track in the guide rail. The cable is used to connect the millimeter-wave radar and the host computer, which is located in the chamber. The millimeter-wave radar, cables and host computer are all explosion-proof, the millimeter-wave radar is waterproofed, and the guide rail, high-pressure water jet device and grabbing device are all waterproofed and rust-proofed.

[0023] Furthermore, the millimeter-wave radar perpendicular to the roof is used to monitor the length a and width b of the coal body, and the millimeter-wave radars on both sides are used to detect the height c of the coal body.

[0024] Furthermore, the method for obtaining the size information of the coal body is:

[0025] The millimeter-wave radar continuously emits electromagnetic waves to the coal on the belt conveyor, and calculates the distances Xa, Xb and Xc between different cross-sectional points of the coal and the millimeter-wave radar based on the round-trip time of the electromagnetic waves and the speed of light. Then, the length a, width b and height c of the coal are calculated based on the resolution α in the length direction, β in the width direction and γ in the height direction of the millimeter-wave radar.

[0026] Furthermore, the distances X between the different cross-section points of the coal body and the millimeter wave radar are a , X b With X c Calculate using the following formula:

[0027] a=X a ×tan(α);

[0028] b=X b ×tan(β);

[0029] c=X c ×tan(γ);

[0030] Among them, the length a, width b, and height c of the coal body are used to identify large pieces of coal in step 4.

[0031] Furthermore, the judgment logic of whether it is a large coal body is expressed as:

[0032] The length a, width b, and height c information of the coal body obtained in the step are transmitted to the host computer database for storage, and the bandwidth of the belt conveyor is set to W. If any one of the length a, width b, and height c of the coal body is ≥0.5W, the block of coal is judged as a large block of coal. Otherwise, the block of coal is judged as a non-large block of coal.

[0033] Furthermore, the time difference calculation logic of the large coal body is:

[0034] Assume that the generation time of a large coal mass is tn, where n represents the number of large coal masses generated. Then the time difference between two adjacent large coal masses is Δt n～n+1 =|t n+1 -t n |.

[0035] Furthermore, when the grabbing and crushing of the large coal is in progress, assuming that the installation position of the millimeter wave radar is x1, the distance of x1 relative to the tunnel opening is determined, the installation position of the crushing device is x2, the distance of x2 relative to the tunnel opening is determined, and the belt conveyor speed is u, then the time T for the large coal to reach the crushing device is (x1-x2) / u;

[0036] The host computer records the time T when the large piece of coal arrives at the crushing device and counts down synchronously. When T counts down to tgrasp, the host computer transmits a start signal to the grabbing device through the PLC logic control module and starts it. After the large piece of coal arrives, the grabbing device grabs the large piece of coal.

[0037] Furthermore, after step 10 is completed, steps 7 to 9 are successively performed to crush the coal.

[0038] Compared with the known public technology, the technical solution provided by the present invention has the following beneficial effects:

[0039] The present invention provides a coal body identification and crushing method of a coal body identification and crushing device based on millimeter wave radar. During the execution of the method, large pieces of coal in the coal crushing process are accurately identified through millimeter wave radar monitoring, thereby bringing about a continuous and repeated crushing effect for the large pieces of coal in the process of being crushed by the crushing device based on the identification result, ensuring that the coal that is not completely crushed or not crushed to the target state can obtain repeated crushing effects based on the method, thereby ensuring the quality of coal crushing and further improving the crushing capacity and intelligence level of the coal crushing equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0041] Figure 1 A schematic flow chart of a coal body identification and crushing method of a coal body identification and crushing device based on millimeter wave radar;

[0042] Figure 2 A schematic diagram of the posture and direction of coal entering the crushing device in the present invention;

[0043] Figure 3 It is a schematic diagram of the impact crushing structure of the crushing device in the present invention;

[0044] Figure 4 It is a schematic diagram of the high-pressure water jet crushing structure of the crushing device in the present invention;

[0045] Figure 5 It is a plan view showing the arrangement of the present invention in the chute.

[0046] Reference numerals:

[0047] 1. Millimeter-wave radar; 2. Data acquisition instrument; 3. Host computer; 4. Crushing device; 5. Tunnel; 6. Belt conveyor; 7. Working face; 8. Coal body; 9. Water tank; 10. Water pipe; 41. Frame legs; 42. Grabbing device; 43. Guide rail; 44. Top cover plate; 45. High-pressure water jet device; 46. Bottom cover plate; 47. Drop door; 48. Side cover plate; 49. Rear cover plate. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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.

[0049] The present invention will be further described below in conjunction with the embodiments.

[0050] Embodiment 1:

[0051] The coal body identification and crushing method of the coal body identification and crushing device based on millimeter wave radar in this embodiment is as follows: Figure 1 and Figure 3-Figure 5 As shown, including:

[0052] Step 1: Install one or more crushing devices 4 on the belt conveyor of the transport chute, and install a millimeter wave radar 1 on the top plate behind the working face crusher and perpendicular to the belt, and install a millimeter wave radar 1 on the two sides ahead of a certain distance;

[0053] Step 2: Coal body 8 is generated during coal cutting at the working face 7, and the coal body 8 passes through a crusher and reaches the belt conveyor 6;

[0054] Step 3: The millimeter wave radar 1 monitors the coal body 8 on the belt conveyor 6 in real time to obtain the size information of the coal body 8;

[0055] Step 4: After obtaining the size of the coal body 8, determine whether it is a large coal body;

[0056] Step 5: When the coal body 8 is determined to be a large coal body, the size information of the large coal body is recorded. During the subsequent production of the working face 7, the large coal body is monitored and identified, and the number and generation time of the large coal bodies are recorded in the upper computer in sequence to calculate the time difference between two large coal bodies, so as to provide design support for the start-up sequence of the subsequent crushing device;

[0057] Step 6: The size of the large coal mass and the time difference Δt n～n+1 The relevant information is transmitted to the host computer 3 through the data acquisition device 2, and the host computer 3 calculates the volume of the large coal body and the time difference Δt n～n+1 The relevant information is sent to the crushing device 4 through the cable, and a start signal is provided. After receiving the start signal, the crushing device 4 moves the grabbing device 42 to the edge of the guide rail 43, and the upper computer determines the time difference Δt between two adjacent large pieces of coal. n～n+1 Is it greater than 1.5 times the processing time of the crusher, and the starting sequence of the crushing device 4 is designed accordingly. The specific calculation process is: Assume that the time for the crushing device to process large pieces of coal is t 破 , t 破 It is composed of the grabbing time tgrasp and the coal impact time timpact. If Δt n～n+1 >1.5t 破 , the first step crusher will be used for crushing; if Δt n～n+1 <1.5t 破 , then crushing is carried out in the order in which the crushing devices are installed; then crushing is carried out in the order in which the crushing devices are installed;

[0058] The grabbing and crushing process is as follows:

[0059] Step 7: After the start sequence of the crushing device 4 is set, the large coal 8 is grabbed and crushed; Step 8: After grabbing the large coal, it is moved to the top of the drop door 47 through the guide rail 43, and the largest direction of the large coal size information obtained is placed on the drop door 47 parallel to the rear cover 49; Step 9: After the large coal is placed, the upper computer 3 sets the cutting parameters and sends a start signal to the high-pressure water jet coal crushing device 45 through the PLC logic control module. After the high-pressure water jet device 45 is started, its multiple nozzles move from bottom to top along its guide rail to cut the large coal into multiple small pieces of coal. After the cutting is completed, the high-pressure water jet device 45 is closed; Step 10: After the large coal is crushed, the crushed coal falls onto the belt conveyor through the drop door, and the large coal identification and crushing process is completed;

[0060] The judgment logic of whether it is a large coal body is expressed as:

[0061] The length a, width b, and height c information of the coal body 8 obtained in step 3 are transmitted to the upper computer database for storage, and the bandwidth of the belt conveyor 6 is set to W. If any one of the length a, width b, and height c of the coal body 8 is ≥ 0.5W, the coal body is determined to be a large coal body, otherwise, the coal body is determined to be a non-large coal body;

[0062] The time difference calculation logic of large coal body is:

[0063] Assume that the generation time of a large coal mass is tn, where n represents the number of large coal masses generated. Then the time difference between two adjacent large coal masses is Δt n～n+1 =|t n+1 -t n |;

[0064] When the grabbing and crushing of the large coal 8 is in progress, the installation position of the millimeter wave radar 1 is x1, and the distance of x1 relative to the tunnel opening is determined, the installation position of the crushing device is x2, and the distance of x2 relative to the tunnel opening is determined, and the belt conveyor speed is u, then the time T for the large coal to reach the crushing device is (x1-x2) / u;

[0065] The upper computer 3 records the time T when the large piece of coal arrives at the crushing device 4 and counts down synchronously. When T counts down to tgrasp, the upper computer 3 transmits a start signal to the grabbing device 42 through the PLC logic control module and starts it. After the large piece of coal arrives, the grabbing device 42 grabs the large piece of coal.

[0066] In this embodiment, large pieces of coal are accurately identified during the coal crushing process through millimeter wave radar monitoring, so that based on the identification results, a continuous and repeated crushing effect is achieved for the large pieces of coal as they pass through the crushing device, effectively improving the crushing capacity and intelligence of the coal crushing equipment.

[0067] Embodiment 2:

[0068] In terms of specific implementation, based on Example 1, this example refers to Figure 1 The coal body identification and crushing method of the coal body identification and crushing device based on millimeter wave radar in Example 1 is further specifically described:

[0069] The coal identification and crushing device includes a belt conveyor in the chute, a millimeter-wave radar, a coal-rock crushing device, cables, a host computer, and a water tank. The millimeter-wave radar is installed on the top plate of the chute. It sends electromagnetic waves to the coal transported on the belt conveyor and obtains the length, width, and height of the coal through the angle resolution. The length, width, and height of the coal are then compared with 0.5 times the width of the belt conveyor to determine the large pieces of coal.

[0070] The crushing device is connected to the bracket and installed above the belt conveyor to crush large pieces of coal. The water tank is connected to the crushing device to provide water for the high-pressure water jet device;

[0071] Millimeter wave radars are installed above the belt conveyor after the crusher and after the transfer crusher, with several groups installed at equal intervals; the coal rock crushing device consists of a frame leg, a grabbing device, a guide rail, a top cover plate, a high-pressure water jet device, a bottom cover plate, a drop door, a side cover plate and a thick cover plate. The frame leg is connected to the bottom cover plate and the top cover plate, and a certain height is left between the two cover plates. The guide rail is connected to the top cover plate and installed below the top cover plate. The grabbing device is connected to the guide rail, and the impact device is installed on the side cover plates on both sides;

[0072] The legs, top cover, bottom cover and side cover are all made of steel and straddle the belt conveyor. There are through holes on the top cover and on the guide rail for connecting with the top cover. The impact device is provided with an impact plate, which can be extended and retracted in multiple stages. There is a drop door on the bottom cover, through which the crushed coal can fall to the belt conveyor. The grabbing device is provided with a clamping head, which is connected to the track in the guide rail. The cable is used to connect the millimeter-wave radar with the host computer. The host computer is located in the chamber. The millimeter-wave radar, cables and host computer are all explosion-proof. The millimeter-wave radar is waterproofed. The guide rails, high-pressure water jet devices and grabbing devices are all waterproofed and rust-proofed.

[0073] In this embodiment, through the above settings, further step execution data and logic support are provided for the method in Example 1, ensuring stable execution of the method in Example 1.

[0074] Embodiment 3:

[0075] In terms of specific implementation, based on Example 1, this example refers to Figure 1 The coal body identification and crushing method of the coal body identification and crushing device based on millimeter wave radar in Example 1 is further specifically described:

[0076] The millimeter wave radar 1 perpendicular to the roof is used to monitor the length a and width b of the coal body 8, and the millimeter wave radars on both sides are used to detect the height c of the coal body 8;

[0077] The method for obtaining the size information of the coal body 8 is as follows:

[0078] The millimeter wave radar 1 continuously emits electromagnetic waves to the coal body 8 on the belt conveyor 6, and calculates the distances Xa, Xb and Xc between different cross-section points of the coal body 8 and the millimeter wave radar 1 according to the round-trip time of the electromagnetic waves and the speed of light, and then calculates the length a, width b and height c of the coal body 8 according to the resolution α in the length direction, the resolution β in the width direction and the resolution γ in the height direction of the millimeter wave radar 1;

[0079] The distance X between different cross-section points of coal body 8 and millimeter wave radar 1 a , X b With X c Calculate using the following formula:

[0080] a=X a ×tan(α);

[0081] b=X b ×tan(β);

[0082] c=X c ×tan(γ);

[0083] The length a, width b and height c of the coal body 8 are used to identify large coal bodies in step 4.

[0084] In this embodiment, the distances X between different cross-section points of the coal body 8 and the millimeter wave radar 1 are calculated by the above logic formula. a , X b With X c The definition is to specify the calculation logic to provide further execution logic support for the execution of the method in Example 1.

[0085] like Figure 1 As shown, after step 10 is completed, steps 7 to 9 are successively performed to crush the coal body.

[0086] In summary, during the execution of the method in the above embodiment, large pieces of coal in the coal crushing process are accurately identified through millimeter wave radar monitoring, thereby bringing about a continuous and repeated crushing effect for the large pieces of coal in the process of being crushed by the crushing device based on the identification results, ensuring that the coal that is not completely crushed or not crushed to the target state can obtain repeated crushing effects based on this method, thereby ensuring the quality of coal crushing and further improving the crushing capacity and intelligence of the coal crushing equipment.

[0087] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A coal body identification and crushing method based on a coal body identification and crushing device using a millimeter wave radar, characterized in that: include: Step 1: Install one or more crushing devices 4 on the belt conveyor of the transport chute, and install a millimeter wave radar 1 on the top plate behind the working face crusher and perpendicular to the belt, and install a millimeter wave radar 1 on the two sides ahead of a certain distance; Step 2: Coal body 8 is generated during coal cutting at the working face 7, and the coal body 8 passes through a crusher and reaches the belt conveyor 6; Step 3: The millimeter wave radar 1 monitors the coal body 8 on the belt conveyor 6 in real time to obtain the size information of the coal body 8; Step 4: After obtaining the size of the coal body 8, determine whether it is a large coal body; Step 5: When the coal body 8 is determined to be a large coal body, the size information of the large coal body is recorded. During the subsequent production of the working face 7, the large coal body is monitored and identified, and the number and generation time of the large coal bodies are recorded in the upper computer in sequence to calculate the time difference between two large coal bodies, so as to provide design support for the start-up sequence of the subsequent crushing device; Step 6: The size of the large coal mass and the time difference Δt n～n+1 The relevant information is transmitted to the host computer 3 through the data acquisition device 2, and the host computer 3 calculates the volume of the large coal body and the time difference Δt n～n+1 The relevant information is sent to the crushing device 4 through the cable, and a start signal is provided. After receiving the start signal, the crushing device 4 moves the grabbing device 42 to the edge of the guide rail 43, and the upper computer determines the time difference Δt between two adjacent large pieces of coal. n～n+1 Is it greater than 1.5 times the processing time of the crusher, and the starting sequence of the crushing device 4 is designed accordingly. The specific calculation process is: Assume that the time for the crushing device to process large pieces of coal is t 破 , the t 破 It is composed of the grabbing time tgrasp and the coal impact time timpact. If Δt n～n+1 >1.5t 破 , the first step crusher will be used for crushing; if Δt n～n+1 <1.5t 破 , then crushing is carried out in the order in which the crushing devices are installed; then crushing is carried out in the order in which the crushing devices are installed; The grabbing and crushing process is as follows: Step 7: After the start-up sequence of the crushing device 4 is set, the large coal 8 is grabbed and crushed; Step 8: After grabbing the large coal block, move it to the top of the drop door 47 through the guide rail 43, and place the largest direction of the obtained large coal block size information on the drop door 47 parallel to the rear cover 49; Step 9: After the large coal mass is placed, the host computer 3 sets the cutting parameters and sends a start signal to the high-pressure water jet coal breaking device 45 through the PLC logic control module. After the high-pressure water jet device 45 is started, its multiple nozzles move from bottom to top along its guide rail to cut the large coal body into multiple small coal bodies. After the cutting is completed, the high-pressure water jet device 45 is turned off; Step 10: After the large coal is crushed, the crushed coal is dropped onto the belt conveyor through a drop door, and the large coal identification and crushing process is completed.

2. The coal body identification and crushing method according to claim 1, characterized in that: The coal body identification and crushing device includes a belt conveyor in the chute, a millimeter wave radar, a coal rock crushing device, cables, a host computer, and a water tank. The millimeter wave radar is installed on the top plate of the chute, and sends electromagnetic waves to the coal body transported on the belt conveyor, and obtains the length, width, and height size information of the coal body through the angle resolution, and then compares the length, width, and height of the coal body with 0.5 times the width of the belt conveyor to judge the large piece of coal body; The crushing device is connected to the bracket and installed above the belt conveyor to crush large pieces of coal. The water tank is connected to the crushing device to provide water for the high-pressure water jet device; The millimeter-wave radar is installed above the belt conveyor after the crusher and after the transfer crusher, and several groups are installed at equal intervals; the coal rock crushing device is composed of a frame leg, a grabbing device, a guide rail, a top cover plate, a high-pressure water jet device, a bottom cover plate, a drop door, a side cover plate and a thick cover plate. The frame leg is connected to the bottom cover plate and the top cover plate, and a certain height is left between the two cover plates. The guide rail is connected to the top cover plate and installed below the top cover plate. The grabbing device is connected to the guide rail, and the impact device is installed on the side cover plates on both sides.

3. The coal body identification and crushing method according to claim 2, characterized in that: The legs, top cover, bottom cover and side cover are all made of steel and straddle the belt conveyor. The top cover is provided with a through hole, and the guide rail is provided with a through hole for connecting with the top cover. The impact device is provided with an impact plate, which can be extended and retracted in multiple stages. The bottom cover is provided with a drop door, and the crushed coal body can fall to the belt conveyor through the drop door. The grabbing device is provided with a clamping head, which is connected to the track in the guide rail. The cable is used to connect the millimeter-wave radar and the host computer, which is located in the chamber. The millimeter-wave radar, cables and host computer are all explosion-proof, and the millimeter-wave radar is waterproofed. The guide rail, high-pressure water jet device and grabbing device are all waterproofed and rust-proofed.

4. The coal body identification and crushing method according to the coal body identification and crushing device based on millimeter wave radar according to claim 1 is characterized in that: The millimeter wave radar 1 perpendicular to the roof is used to monitor the length a and width b of the coal body 8 , and the millimeter wave radars on both sides are used to detect the height c of the coal body 8 .

5. The coal body identification and crushing method according to the coal body identification and crushing device based on millimeter wave radar according to claim 1 is characterized in that: The method for obtaining the size information of the coal body 8 is: The millimeter-wave radar 1 continuously emits electromagnetic waves to the coal body 8 on the belt conveyor 6, and calculates the distances Xa, Xb and Xc between different cross-sectional points of the coal body 8 and the millimeter-wave radar 1 based on the round-trip time of the electromagnetic waves and the speed of light, and then calculates the length a, width b and height c of the coal body 8 based on the resolution α in the length direction, the resolution β in the width direction and the resolution γ in the height direction of the millimeter-wave radar 1.

6. The coal body identification and crushing method according to claim 5, characterized in that: The distance X between different cross-section points of the coal body 8 and the millimeter wave radar 1 a , X b With X c Calculate using the following formula: a=X a ×tan(a); b=X b ×tan(β); c=X c ×tan(γ); The length a, width b and height c of the coal body 8 are used to identify large coal bodies in step 4.

7. The coal body identification and crushing method according to claim 1, characterized in that: The judgment logic of whether it is a large coal body is expressed as: The length a, width b, and height c information of the coal body 8 obtained in step 3 are transmitted to the host computer database for storage, and the bandwidth of the belt conveyor 6 is set to W. If any one of the length a, width b, and height c of the coal body 8 is ≥0.5W, the coal body is judged as a large coal body, otherwise, the coal body is judged as a non-large coal body.

8. The coal body identification and crushing method according to the coal body identification and crushing device based on millimeter wave radar according to claim 1, characterized in that: The time difference calculation logic of the large coal body is: Assume that the generation time of a large coal mass is tn, where n represents the number of large coal masses generated. Then the time difference between two adjacent large coal masses is Δt n～n+1 =|t n+1 -t n |.

9. The coal body identification and crushing method according to claim 1, characterized in that: When the grabbing and crushing of the large coal 8 is in progress, the installation position of the millimeter wave radar 1 is x1, and the distance of x1 relative to the tunnel opening is determined, the installation position of the crushing device is x2, and the distance of x2 relative to the tunnel opening is determined, and the belt conveyor speed is u, then the time T for the large coal to reach the crushing device is (x1-x2) / u; The upper computer 3 records the time T when the large piece of coal arrives at the crushing device 4 and counts down synchronously. When T counts down to tgrasp, the upper computer 3 transmits a start signal to the grabbing device 42 through the PLC logic control module and starts it. After the large piece of coal arrives, the grabbing device 42 grabs the large piece of coal.

10. The coal body identification and crushing method of the coal body identification and crushing device based on millimeter wave radar according to claim 1, characterized in that: After step 10 is completed, steps 7 to 9 are successively performed to crush the coal.

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