Coal body recognition and breaking device based on millimeter wave radar and recognition and breaking method thereof

Abstract

This invention relates to the field of mineral processing technology, specifically to a coal body identification and crushing device and its identification and crushing method based on millimeter-wave radar, comprising: Step 1: Installing one or more crushing devices on the belt conveyor of the transport roadway, and installing millimeter-wave radar on the roof plate behind the working face crusher and perpendicular to the belt, and installing millimeter-wave radar on the two sides at a certain distance ahead; Step 2: Coal body is generated during the coal cutting process at the working face, and the coal body reaches the belt conveyor through the crusher; This invention uses millimeter-wave radar monitoring to accurately identify large pieces of coal during the coal body crushing process, thereby bringing continuous and repeated crushing effects to the large pieces of coal during the crushing process of the crushing device based on the identification results, ensuring that coal body that is not completely crushed or not crushed to the target state can obtain repeated crushing effects based on this method, further improving the crushing capacity and intelligence of the coal body crushing equipment.

Description

Technical Field

[0001] This invention relates to the field of mineral processing technology, specifically to a coal body identification and crushing device and its identification and crushing method based on millimeter-wave radar. Background Technology

[0002] Due to the thickness of the coal seam and the complex manifestation of mine pressure, large coal chunks are easily generated during mining and unloading. These large chunks are transported in various forms on the scraper conveyor, meaning the crusher can only break up a portion of them. Some large chunks still reach the belt conveyor in the roadway, where they fall onto the belt conveyor in the mining area's uphill or main roadway, causing irreversible damage such as belt perforation. This leads to equipment overload, shutdowns, and other problems, affecting safe production at the working face. Currently, fully mechanized mining faces mainly rely on manual crushing to remove large coal chunks. Manual crushing requires the conveyor equipment to be shut down, which not only reduces coal transport efficiency but also increases the labor intensity of workers, hindering safe and efficient coal production.

[0003] Currently, image intelligent recognition and processing technology has been widely applied in various industries. In the coal mining industry, it is mainly used for the identification and sorting of coal, rocks, and foreign objects. A mining conveyor belt foreign object sorting robot has been developed, with a maximum sorting capacity of 120×120×1000mm, meeting the needs of most locations. However, most of the above-mentioned achievements are applied in places such as surface coal preparation plants, where there is sufficient light, less coal dust, and lower conveyor belt speed, providing a superior environment for equipment recognition and thus achieving better processing results.

[0004] Compared to the surface, the underground environment is dark, dusty, and the conveyor belts travel at high speeds, making image recognition difficult and resulting in poor recognition performance. Furthermore, it is unknown whether the processing speed of the robotic arm after recognition can meet the design requirements. In addition, the underground tunnel space is limited, and the equipment size needs to be matched with the underground space. Moreover, the above-mentioned research only achieved intelligent identification and sorting of coal and rock, but did not achieve real-time crushing of large pieces of coal and rock. Summary of the Invention

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

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] The coal body identification and crushing method based on millimeter-wave radar coal body identification and crushing device includes:

[0008] Step 1: Install one or more crushing devices on the belt conveyor of the transport roadway, and install millimeter-wave radar on the top plate that is behind the crusher at the working face and perpendicular to the belt, and install millimeter-wave radar on the two sides that are a certain distance ahead.

[0009] Step 2: During the coal cutting process at the working face, coal body is generated and passes through a crusher to the belt conveyor;

[0010] Step 3: 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 dimensions of the coal body, determine whether it is a large coal block;

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

[0013] Step 6: Calculate the size of the large coal chunks and the time difference Δt. n～n+1 The relevant information is transmitted to the host computer via a data acquisition device. The host computer then processes the volume of the large coal block and the time difference Δt. n～n+1 Relevant information is transmitted to the crushing device via cable, along with a start signal. Upon receiving the start signal, the crushing device moves the gripper to the edge of the guide rail. The host computer then determines the time difference Δt between two adjacent large coal blocks. n～n+1 Whether it is greater than 1.5 times the crusher processing time, and design the start-up sequence of the crushing device accordingly. The specific calculation process is as follows: Let the time for the crushing device to process large coal pieces be t. 破 The t 破 It consists of the grabbing time tgrab and the coal impact time timpact. If Δt n～n+1 >1.5t 破 Then the first crusher will crush it; if Δt n～n+1 <1.5t 破 Then, crushing will proceed sequentially according to the installation order of the crushing devices.

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

[0015] Step 7: After setting the start-up sequence of the crushing device, begin the grabbing and crushing of large coal pieces;

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

[0017] Step 9: After the large coal block 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 starts, its multiple nozzles move along its guide rails from bottom to top to cut the large coal block into multiple smaller coal blocks. After cutting is completed, the high-pressure water jet device is turned off.

[0018] Step 10: After the large coal pieces are crushed, they are dropped onto the belt conveyor through the drop gate, thus completing the large coal piece identification and crushing process.

[0019] Furthermore, the coal body identification and crushing device includes a belt conveyor in the roadway, a millimeter-wave radar, a coal and rock crushing device, cables, a host computer, and a water tank. The millimeter-wave radar is installed on the top plate of the roadway. It sends electromagnetic waves to the coal body transported on the belt conveyor and obtains the length, width, and height dimensions of the coal body through angular resolution. Then, it compares the obtained length, width, and height of the coal body with 0.5 times the width of the belt conveyor to determine large coal pieces.

[0020] The crushing device is mounted above the belt conveyor via a support frame and is used for crushing large coal pieces. The water tank is connected to the crushing device and provides a water source 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, with several sets installed at equal intervals; the coal and rock mass crushing device consists of a support leg, a gripping device, a guide rail, a top cover plate, a high-pressure water jet device, a bottom cover plate, a drop door, side cover plates, and a thick cover plate. The support leg is connected to the bottom cover plate and the top cover plate, with a certain height left between the two cover plates. The guide rail is connected to the top cover plate and installed below the top cover plate. The gripping 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 plate, bottom cover plate, and side cover plate are all made of steel and straddle the belt conveyor. The top cover plate has through holes, and the guide rail has through holes for connection with the top cover plate. The impact device has an impact plate that can extend and retract in multiple stages. The bottom cover plate has a drop door, through which the crushed coal can fall onto the belt conveyor. The gripping device has a clamp that connects to the rail inside the guide rail. The cable is used to connect the millimeter-wave radar to the host computer, which is located in the chamber. The millimeter-wave radar, cable, and host computer are all explosion-proof. The millimeter-wave radar is waterproofed, and the guide rail, high-pressure water jet device, and gripping device are all waterproofed and rustproofed.

[0023] Furthermore, a millimeter-wave radar perpendicular to the top plate is used to monitor the length a and width b of the coal body, while 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 as follows:

[0025] The millimeter-wave radar continuously emits electromagnetic waves towards the coal body on the belt conveyor. Based on the round-trip time of the electromagnetic waves and the speed of light, the distances Xa, Xb, and Xc between different cross-sectional points of the coal body and the millimeter-wave radar are calculated. Then, 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, the length a, width b, and height c of the coal body are calculated.

[0026] Furthermore, the distance X between different cross-sectional points of the coal body and the millimeter-wave radar... a X b With X c The calculation is performed using the following formula:

[0027] a = X a ×tan(α);

[0028] b = X b ×tan(β);

[0029] c = X c ×tan(γ);

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

[0031] Furthermore, the logic for determining whether a coal body is a large block is expressed as follows:

[0032] The length a, width b, and height c of the coal body obtained in the steps are transmitted to the host computer database for storage. The bandwidth of the belt conveyor is set to W. If any one of the length a, width b, or height c of the coal body 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.

[0033] Furthermore, the time difference calculation logic for the large coal mass is as follows:

[0034] Let tn be the time it takes for a large coal block to form, and n represent the number of large coal blocks formed. Then the time difference Δt between two adjacent large coal blocks... n～n+1 =|t n+1 -t n |

[0035] Furthermore, when the large coal block is being grabbed and crushed, let the millimeter-wave radar be installed at position x1, and the distance of x1 relative to the roadway opening be determined. Let the crushing device be installed at position x2, and the distance of x2 relative to the roadway opening be determined. Let the belt speed of the belt conveyor be u. Then the time T for the large coal block to reach the crushing device is (x1-x2) / u.

[0036] The host computer records the time T when the large coal pieces arrive at the crushing device and counts down synchronously. When T counts down to equal t_grab, the host computer sends a start signal to the grabbing device through the PLC logic control module and starts the grabbing device. After the large coal pieces arrive, the grabbing device grabs the large coal pieces.

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

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

[0039] This invention provides a coal body identification and crushing method based on a millimeter-wave radar-based coal body identification and crushing device. During the execution of this method, large coal pieces are accurately identified during the coal body crushing process through millimeter-wave radar monitoring. Based on the identification results, large coal pieces are subjected to continuous and repeated crushing processes during the crushing process of the crushing device. This ensures that coal bodies that are not completely crushed or not crushed to the target state can be repeatedly crushed using this method, thereby ensuring the quality of coal body crushing and further improving the crushing capacity and intelligence of the coal body crushing equipment. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0041] Figure 1 This is a schematic diagram of the 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 showing the posture and direction of coal entering the crushing device in this invention;

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

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

[0045] Figure 5 This is a schematic plan view illustrating the arrangement of components in the feedstock according to the present invention.

[0046] Appendix label numbers:

[0047] 1. Millimeter-wave radar; 2. Data acquisition instrument; 3. Host computer; 4. Crushing device; 5. Roadway; 6. Belt conveyor; 7. Working face; 8. Coal body; 9. Water tank; 10. Water pipe; 41. Support leg; 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 Implementation

[0048] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0049] The present invention will be further described below with reference to embodiments.

[0050] Example 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 Figures 3-5 As shown, it includes:

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

[0053] Step 2: During the coal cutting process at the working face 7, coal body 8 is generated and reaches the belt conveyor 6 via the crusher;

[0054] Step 3: Millimeter-wave radar 1 monitors the coal body 8 on the belt conveyor 6 in real time and obtains the size information of the coal body 8;

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

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

[0057] Step 6: Calculate the size of the large coal chunks and the time difference Δt. n～n+1The relevant information is transmitted to the host computer 3 via the data acquisition device 2. The host computer 3 then processes the volume of the large coal block and the time difference Δt. n～n+1 Relevant information is transmitted to the crushing device 4 via cable, and a start signal is provided. After receiving the start signal, the crushing device 4 moves the gripping device 42 to the edge of the guide rail 43. The host computer determines the time difference Δt between two adjacent large coal blocks. n～n+1 Whether it is greater than 1.5 times the crusher processing time, and based on this, design the start-up sequence of crushing device 4. The specific calculation process is as follows: Let the time for the crushing device to process large coal pieces be t. 破 , t 破 It consists of the grabbing time tgrab and the coal impact time timpact. If Δt n～n+1 >1.5t 破 Then the first crusher will crush it; if Δt n～n+1 <1.5t 破 Then, crushing will proceed sequentially according to the installation order of the crushing devices.

[0058] The crushing process is as follows:

[0059] Step 7: After the start-up sequence of the crushing device 4 is set, the large coal pieces 8 are grasped and crushed. Step 8: After grasping the large coal pieces, they are moved to the top of the drop gate 47 via the guide rail 43, and the largest direction of the obtained large coal piece size information is placed on the drop gate 47 parallel to the rear cover plate 49. Step 9: After the large coal pieces are placed, the host 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 pieces into multiple smaller coal pieces. After the cutting is completed, the high-pressure water jet device 45 is turned off. Step 10: After the large coal pieces are crushed, the crushed coal pieces are dropped onto the belt conveyor through the drop gate, and the large coal piece identification and crushing process ends.

[0060] The logic for determining whether a coal body is a large lump is expressed as follows:

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

[0063] Let tn be the time it takes for a large coal block to form, and n represent the number of large coal blocks formed. Then the time difference Δt between two adjacent large coal blocks... n～n+1=|t n+1 -t n |;

[0064] When the large coal block 8 is being grabbed and crushed, the millimeter-wave radar 1 is installed at position x1, and the distance of x1 relative to the roadway opening is determined. The crushing device is installed at position x2, and the distance of x2 relative to the roadway opening is determined. The belt speed of the belt conveyor is u. Then the time T for the large coal block to reach the crushing device is (x1-x2) / u.

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

[0066] In this embodiment, large coal pieces are accurately identified during the coal crushing process using millimeter-wave radar monitoring. Based on the identification results, the large coal pieces are subjected to continuous and repeated crushing during the crushing process by the crushing device, which effectively improves the crushing capacity and intelligence of the coal crushing equipment.

[0067] Example 2:

[0068] At the implementation level, based on Example 1, this example refers to... Figure 1 The coal identification and crushing method of the millimeter-wave radar-based coal identification and crushing device in Example 1 will be further described in detail below:

[0069] The coal body identification and crushing device includes a belt conveyor in the roadway, a millimeter-wave radar, a coal and rock crushing device, cables, a host computer, and a water tank. The millimeter-wave radar is installed on the top plate of the roadway. It sends electromagnetic waves to the coal body transported on the belt conveyor and obtains the length, width, and height dimensions of the coal body through angular resolution. Then, it compares the obtained length, width, and height of the coal body with 0.5 times the width of the belt conveyor to determine large coal pieces.

[0070] The crushing device is mounted above the belt conveyor via a support frame and is used for crushing large coal pieces. The water tank is connected to the crushing device to provide water for the high-pressure water jet system.

[0071] Millimeter-wave radars are installed above the belt conveyor after the crusher and after the transfer crusher, with several sets installed at equal intervals; the coal and 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, side cover plates, and a thick cover plate. The frame leg is connected to the bottom cover plate and the top cover plate, with a certain height 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 plate, bottom cover plate, and side cover plate are all made of steel and straddle the belt conveyor. The top cover plate has through holes, and the guide rail has through holes for connection with the top cover plate. The impact device has an impact plate that can be extended and retracted in multiple stages. The bottom cover plate has a drop door, through which the crushed coal can fall to the belt conveyor. The gripping device has a clamp that connects to the rail inside the guide rail. The cable is used to connect the millimeter-wave radar to the host computer, which is located in the chamber. The millimeter-wave radar, cable, and host computer are all explosion-proof. The millimeter-wave radar is waterproofed. The guide rail, high-pressure water jet device, and gripping device are all waterproofed and rustproofed.

[0073] In this embodiment, the above settings provide further execution data and logic support for the method in Embodiment 1, ensuring the stable execution of the method in Embodiment 1.

[0074] Example 3:

[0075] At the implementation level, based on Example 1, this example refers to... Figure 1 The coal identification and crushing method of the millimeter-wave radar-based coal identification and crushing device in Example 1 will be further described in detail below:

[0076] A millimeter-wave radar 1 perpendicular to the top plate is used to monitor the length a and width b of the coal body 8, and 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 coal body 8 is as follows:

[0078] 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 millimeter-wave radar 1 based on the round-trip time of the electromagnetic waves and the speed of light. Then, 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 millimeter-wave radar 1, the length a, width b and height c of the coal body 8 are calculated.

[0079] Distance X between different cross-sectional points of coal body 8 and millimeter-wave radar 1 a X b With X c The calculation is performed using the following formula:

[0080] a = Xa ×tan(α);

[0081] b = X b ×tan(β);

[0082] c = X c ×tan(γ);

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

[0084] In this embodiment, the distance X between different cross-sectional points of coal body 8 and millimeter-wave radar 1 is determined using the above logical formula. a X b With X c The specified computational logic is used 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 then executed consecutively to crush the coal.

[0086] In summary, the method described in the above embodiments accurately identifies large coal pieces during the coal crushing process using millimeter-wave radar monitoring. Based on the identification results, the large coal pieces are subjected to continuous and repeated crushing processes by the crushing device. This ensures that coal pieces that are not completely crushed or not crushed to the target state can be repeatedly crushed using this method, thus 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, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions 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 millimeter-wave radar-based coal body identification and crushing device, characterized in that, include: Step 1: Install multiple crushing devices (4) on the belt conveyor of the transport roadway, and install millimeter-wave radar (1) on the top plate behind the crushing device at the working face and perpendicular to the belt, and install millimeter-wave radar (1) on the two sides a certain distance ahead. Step 2: During the coal cutting process at the working face (7), coal body (8) is generated, and the coal body (8) reaches the belt conveyor (6) through the crushing device; Step 3: The millimeter-wave radar (1) monitors the coal body (8) on the belt conveyor (6) in real time and obtains the size information of the coal body (8); Step 4: After obtaining the dimensions of the coal body (8), determine whether it is a large coal block; Step 5: When the coal body (8) is determined to be a large coal body, record the size information of the large coal body. During the subsequent production of the working face (7), the large coal body is continuously monitored and identified, and the number and generation time of the large coal body are recorded in the host computer in sequence. This is used to calculate the time difference between two large coal bodies and to provide design support for the start-up sequence of the subsequent crushing device. Step 6: Determine the size and time difference of the large coal blocks. The relevant information is transmitted to the host computer (3) via the data acquisition instrument (2). The host computer (3) then transmits the volume of the large coal block and the time difference. The relevant information is sent to the crushing device (4) via 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) via the guide rail. The host computer determines the time difference between two adjacent large coal blocks. Whether it is greater than 1.5 times the processing time of the crushing device, and based on this, design the start-up sequence of the crushing device (4). The specific calculation process is as follows: Assume that the time for the crushing device to process large coal pieces is... The It consists of the grabbing time tgrab and the coal impact time timpact. If >1.5 Then it is crushed by the first crushing device; if <1.5 The crushing process proceeds sequentially according to the installation order of the crushing devices; the crushing process is as follows: Step 7: After the start-up sequence of the crushing device (4) is set, the large coal pieces (8) are grasped and crushed. Step 8: After grabbing the large coal piece, move it to the top of the drop door (47) via the guide rail (43), and place the largest direction of the obtained large coal piece size information parallel to the rear cover plate (49) on the drop door (47); Step 9: After the large coal block is placed, the host computer (3) sets the cutting parameters and sends a start signal to the high-pressure water jet 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 block into multiple small coal blocks. After the cutting is completed, the high-pressure water jet device (45) is turned off. Step 10: After the large coal pieces are crushed, they are dropped onto the belt conveyor through the drop gate, thus completing the large coal piece identification and crushing process.

2. 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, The coal body identification and crushing device includes a belt conveyor in the roadway, a millimeter-wave radar, a coal and rock crushing device, cables, a host computer, and a water tank. The millimeter-wave radar is installed on the top plate of the roadway. It sends electromagnetic waves to the coal body transported on the belt conveyor and obtains the length, width, and height dimensions of the coal body through angular resolution. Then, it compares the obtained length, width, and height of the coal body with 0.5 times the width of the belt conveyor to determine large coal pieces. The crushing device is mounted above the belt conveyor via a support frame and is used to crush large coal pieces. The water tank is connected to the crushing device and provides a water source for the high-pressure water jet device. The millimeter-wave radar is installed above the belt conveyor after the crushing device. The coal and rock crushing device consists of a support leg, a gripping device, a guide rail, a top cover plate, a high-pressure water jet device, a bottom cover plate, a drop door, side cover plates, and a rear cover plate. The support leg is connected to the bottom cover plate and the top cover plate, with a certain height left between the two cover plates. The guide rail is connected to the top cover plate and installed below the top cover plate. The gripping 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 of the coal body identification and crushing device based on millimeter-wave radar according to claim 2, characterized in that, The frame legs, top cover plate, bottom cover plate, and side cover plates are all made of steel and straddle the belt conveyor. The top cover plate has through holes, and the guide rail has through holes for connection with the top cover plate. The impact device has an impact plate that can extend and retract in multiple stages. The bottom cover plate has a drop door, through which the crushed coal can fall onto the belt conveyor. The gripping device has a clamp that connects to the rail inside the guide rail. The cable is used to connect the millimeter-wave radar to the host computer. The host computer is located in the chamber. The millimeter-wave radar, cable, and host computer are all explosion-proof. The millimeter-wave radar is waterproofed. The guide rail, high-pressure water jet device, and gripping device are all waterproofed and rustproofed.

4. 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, A millimeter-wave radar (1) perpendicular to the top plate is used to monitor the length a and width b of the coal body (8), and 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 of the coal body identification and crushing device based on millimeter-wave radar according to claim 1, characterized in that, The method for obtaining the size information of the coal body (8) is as follows: 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. Then, 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), the length a, width b and height c of the coal body (8) are calculated.

6. The coal body identification and crushing method of the coal body identification and crushing device based on millimeter-wave radar according to claim 5, characterized in that, Distance between different cross-sectional points of the coal body (8) and the millimeter-wave radar (1) and The calculation is performed using the following formula: ； ； ； Among them, the length a, width b, and height c of the coal body (8) are used to identify large coal blocks in step 4.

7. 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, The logic for determining whether a coal body is a large lump is expressed as follows: The length a, width b, and height c of the coal body (8) obtained in step 3 are transmitted to the upper computer database for storage. The bandwidth of the belt conveyor (6) is set to W. If any one of the length a, width b, or height c of the coal body (8) is ≥0.5W, it is determined to be a large coal body. Otherwise, it is determined to be a non-large coal body.

8. 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, The time difference calculation logic for the large coal block is as follows: Assume the formation time of the large coal mass is... Let n represent the number of large coal blocks produced, then the time difference between two adjacent large coal blocks is... .

9. 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, When the large coal block (8) is being grabbed and crushed, the millimeter-wave radar (1) is installed at position x1, and the distance of x1 relative to the roadway opening is determined. The crushing device is installed at position x2, and the distance of x2 relative to the roadway opening is determined. The belt speed of the belt conveyor is u. Then the time T for the large coal block to reach the crushing device is (x1-x2) / u. The host computer (3) records the time T when the large coal pieces arrive at the crushing device (4) and counts down synchronously. When T counts down to equal t_grab, the host computer (3) transmits a start signal to the grabbing device (42) through the PLC logic control module and starts the grabbing device (42). After the large coal pieces arrive, the grabbing device (42) grabs the large coal pieces.

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 then executed consecutively to crush the coal.

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