Radar following detection analysis control system and method for continuous mining roadway

Abstract

The invention discloses a radar following detection analysis control system and method for a continuous mining roadway. The radar following detection analysis control system comprises an anchor rod trolley; the top plate radar system is arranged on the roof of the anchor rod trolley, keeps a fixed distance between a radar detection surface and a top plate through a suspension system and is used for detecting the coal rock condition of the continuous mining roadway top plate; the bottom plate radar system is arranged at the bottom of the anchor rod trolley, keeps a fixed distance between a radar detection surface and a bottom plate through a suspension system, and is used for detecting the coal rock condition of the bottom plate of the continuous mining roadway; and a control system. According to the system and the method, the thickness change of a coal seam and the spatial fluctuation trend of a coal-rock interface can be quickly known in the coal roadway tunneling excavation process, the possibility that a tunneling machine touches a rock stratum is reduced, smooth and efficient construction is guaranteed, and meanwhile, the thickness of the reserved coal seam is reduced as much as possible to increase the coal mining amount and improve economic benefits; and good technical support can be provided for intelligent roadway construction control of a coal mine.

Description

Technical Field

[0001] The present invention belongs to the field of engineering detection and measurement technology, and specifically relates to a radar following detection analysis control system and method for continuous mining tunnels, which is suitable for information construction and less-manpowered applications in intelligent coal mines. Background Art

[0002] Coal tunnels are often constructed during coal mining, with coal retained in the roof and floor. Coal seams often exhibit spatial fluctuations. Failure to promptly understand changes in coal seam thickness and the spatial fluctuations of the coal-rock interface during tunnel excavation will not only hinder maximum coal production, significantly impacting economic efficiency, but also potentially cause tunneling machinery to collide with rock formations, leading to mechanical failure and impacting construction progress.

[0003] At present, the detection of the coal-rock interface in continuous mining tunnels mainly relies on manual drilling, which is very inefficient and cannot continuously provide the surface distance of the continuous coal tunnel roof and floor layers, making it difficult to quickly and comprehensively understand the spatial change trend of the coal-rock interface.

[0004] Therefore, there is an urgent need for a detection and analysis system and method that combines real-time detection and analysis to obtain the continuously changing data of the coal-rock interface of the roof and floor of the continuous mining tunnel, thereby providing support for the control of tunnel excavation machinery. Summary of the Invention

[0005] To address the above technical issues, the present invention aims to provide a device and method for real-time detection, analysis, and control of the remaining coal seam thickness in the roof and floor of continuous mining tunnels in coal mines, based on a combination of electromagnetic radar and machinery. This invention efficiently captures the continuous changes in the coal-rock interface in the roof and floor of continuous mining tunnels, providing a basis for controlling tunneling machinery.

[0006] The purpose of the present invention is achieved through the following technical solutions:

[0007] In a first aspect, the present invention provides a radar tracking detection analysis and control system for continuous mining tunnels, comprising:

[0008] Anchor rigs; and,

[0009] The roof radar system is installed on the roof of the anchor trolley. The suspension system keeps the radar detection surface at a fixed distance from the roof. It is used to detect the coal and rock conditions of the roof of the continuous mining roadway.

[0010] The floor radar system is installed on the bottom of the anchor trolley. The suspension system keeps the radar detection surface at a fixed distance from the floor. It is used to detect the coal and rock conditions on the floor of the continuous mining roadway.

[0011] The control system is connected to the top and bottom radar systems for data analysis.

[0012] In one possible implementation, the roof radar system or the floor radar system both include an integrated radar and a suspension system;

[0013] The suspension system includes a bracket, an elastic component and a wheel; one end of the bracket is connected to the vehicle body, and the other end is equipped with an integrated radar; one end of the elastic component is connected to the bracket, and the other end is connected to the wheel.

[0014] Furthermore, the bracket includes a vertically connected flat plate and a support rod; the support rod is a telescopic structure connected to the anchor trolley body; the flat plate is used to install the integrated radar.

[0015] In one possible implementation, the elastic component is a shock absorber.

[0016] In one possible implementation, the control system is a computer.

[0017] In a second aspect, the present invention provides a method for performing detection and analysis using the radar following detection and analysis control system according to the first aspect, comprising the following steps:

[0018] Drill holes at the starting point of the continuous mining roadway to be operated to determine the initial depths of the coal-rock interface above the roof and below the floor, which are recorded as B0 and T0 respectively;

[0019] Adjust the radar system so that it fits snugly against the top or bottom plate;

[0020] During the driving process of the anchor trolley, the top plate or bottom plate radar system collects data to obtain the survey line profile of the top plate and bottom plate;

[0021] The survey line profiles are spliced ​​together to form a complete survey line profile;

[0022] The interface layer is tracked for the complete survey line profile to obtain the real-time depth of the coal-rock interface above the roof and below the floor, which are recorded as B realtime and T realtime ;

[0023] Repeat the above steps to detect and analyze the next interface.

[0024] In one possible implementation, the method for splicing the survey line profiles to form a complete survey line profile is as follows: aligning the individual survey line profiles through matching points and smoothly connecting them using a linear interpolation method to eliminate errors and discontinuities between data, thereby forming a seamless complete survey line profile.

[0025] In one possible implementation, the method for tracking the interface layer of the complete survey line profile is as follows: using a threshold-based image processing algorithm to analyze the complete survey line profile, identifying and extracting the interface features, and using a smoothing algorithm to correct the interface features to obtain more accurate real-time depth data.

[0026] The present invention has the following beneficial effects:

[0027] The device described in the present invention can quickly understand the thickness changes of the coal seam and the spatial fluctuation trend of the coal-rock interface during coal tunnel excavation, reduce the possibility of the excavation machinery encountering the rock layer and ensure smooth and efficient construction, while minimizing the thickness of the remaining coal seam to increase the amount of coal that can be mined and improve economic benefits.

[0028] The method described in the present invention is based on quantitative informatization, and can obtain the real-time depth of the coal-rock interface in real time, realize precise control of the retained coal seam and intelligent continuous mining tunnel excavation, provide guidance for the construction of the tunnel boring machine in each cycle, and thus provide good technical support for the intelligent tunnel construction control of coal mines. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a radar tracking detection, analysis and control system for continuous mining tunnels;

[0030] Figure 2 Schematic diagram for determining initial values ​​for coal-rock boundary detection and analysis;

[0031] Figure 3 This is a schematic diagram of coal-rock boundary detection and tracking;

[0032] In the figure, 1-roof integrated radar; 2-roof radar bracket; 3-bottom plate integrated radar; 4-bottom plate radar bracket; 5-coal roadway roof; 6-coal roadway floor; 7-anchor trolley; 8-anchor drill arm; 9-computer. DETAILED DESCRIPTION

[0033] In order to facilitate those skilled in the art to understand and implement the present invention, the present invention is further described in detail below in conjunction with embodiments. It should be understood that the embodiments described herein are only used to illustrate and explain the present invention and are not used to limit the present invention.

[0034] Example 1

[0035] like Figure 1 The figure shows the radar tracking detection analysis and control system for continuous mining tunnels according to the present invention, comprising:

[0036] Anchor trolley 7; and

[0037] The roof radar system is installed on the roof of the anchor trolley. The suspension system keeps the radar detection surface at a fixed distance from the roof 5, and is used to detect the coal and rock conditions of the continuous mining roadway roof.

[0038] The floor radar system is installed on the bottom of the anchor trolley. The suspension system keeps the radar detection surface at a fixed distance from the floor 6 and is used to detect the coal and rock conditions of the continuous mining roadway floor.

[0039] The control system is connected to the top and bottom radar systems for data analysis.

[0040] In one possible implementation, the top plate radar system 1 or the bottom plate radar system 3 both include an integrated radar and a suspension system;

[0041] The suspension system includes a bracket, an elastic component and a wheel; one end of the bracket is connected to the vehicle body, and the other end is equipped with an integrated radar; one end of the elastic component is connected to the bracket, and the other end is connected to the wheel.

[0042] Furthermore, the bracket includes a vertically connected flat plate and a support rod; the support rod is a telescopic structure connected to the anchor trolley body; the flat plate is used to install the integrated radar.

[0043] Furthermore, the support rod can be extended and retracted by a hydraulic structure. During detection, the wheels of the support are extended and retracted to keep close to the top plate or bottom plate, thereby ensuring that the radar detection surface is at a fixed distance from the top plate or bottom plate, thereby improving measurement accuracy.

[0044] Furthermore, the elastic component is a shock absorber.

[0045] Furthermore, the integrated radar is a Luojia brand integrated geological radar for mining.

[0046] In one possible implementation, the control system 9 is a computer.

[0047] Specifically, the anchor trolley 7 is a single-arm or multi-arm anchor operation trolley commonly used in coal mines, which can perform anchor drilling in all directions. In this embodiment, it is used to drill into the coal-rock interface in order to determine the tracking target.

[0048] Example 2

[0049] The following describes a method for performing detection and analysis based on the radar following detection and analysis control system of the continuous mining tunnel.

[0050] The method comprises the following steps:

[0051] Drill holes at the starting point of the continuous mining roadway to be operated to determine the initial depths of the coal-rock interface above the roof and below the floor, which are recorded as B0 and T0 respectively;

[0052] Adjust the radar system so that it fits snugly against the top or bottom plate;

[0053] During the driving process of the anchor trolley, the top plate or bottom plate radar system collects data to obtain the survey line profile of the top plate and bottom plate;

[0054] The survey line profiles are spliced ​​together to form a complete survey line profile;

[0055] The interface layer is tracked for the complete survey line profile to obtain the real-time depth of the coal-rock interface above the roof and below the floor, which are recorded as B realtime and T realtime ;

[0056] Repeat the above steps to detect and analyze the next interface.

[0057] In a possible implementation, the method of splicing the survey line profiles to form a complete survey line profile is as follows:

[0058] Each survey line profile is aligned through matching points and smoothly connected using linear interpolation method to eliminate errors and discontinuities between data, thus forming a seamless complete survey line profile.

[0059] In one possible implementation, the method for tracing the interface layer for a complete survey line profile is as follows:

[0060] The complete survey line profile is analyzed using a threshold-based image processing algorithm to identify and extract the interface features, and a smoothing algorithm is used to correct the interface features to obtain more accurate real-time depth data.

[0061] Specifically, the threshold-based image processing algorithm includes:

[0062] Convert the survey line profile into a grayscale image;

[0063] By setting a suitable threshold, the coal-rock interface in the grayscale image is distinguished from the background using binarization processing.

[0064] Use morphological operations (such as dilation) to optimize the extraction of interface features;

[0065] The Canny edge detection algorithm is used to extract clear interface contours, thereby achieving accurate layer tracking.

[0066] The following is an explanation with specific embodiments.

[0067] The detection and analysis method comprises the following steps:

[0068] Step 1: In the continuous mining tunnel to be operated, arrange the anchor trolley 7 to perform drilling operations at the starting point to determine the depth of the coal-rock interface above the 5-top plate and below the 6-bottom plate, which are used as the initial values ​​B0 and T0 for interface tracking in the radar detection profile.

[0069] Step 2: At the same location, start the roof support 2 so that the roof wheels are pressed against the coal tunnel roof through the suspension system to maintain a constant distance between the front surface of the antenna and the roof surface. Simultaneously start the bottom plate support 4 so that the bottom plate wheels are also pressed against the coal tunnel roof through the suspension system to maintain a constant distance between the front surface of the antenna and the bottom plate surface. Start the radar to collect data and obtain the electromagnetic wave survey line profile of the roof and bottom plates in conjunction with the anchor trolley during each excavation cycle. After the anchor trolley has completed the work area and radar detection in each cycle, retract the roof support 2 downward and the bottom plate support 4 upward to facilitate the transition and avoid accidental damage to the radar components.

[0070] In step 3, the bolting trolley travels forward in sections, alternating with the roadheader during tunneling in the continuous mining tunnel. For each section of operation (e.g., 11 meters for each bolting operation), the bolting trolley acquires a radar profile of the continuous mining tunnel. The 9-axis computer then cumulatively combines this additional 11-meter profile data with the existing profile data to create a complete new profile.

[0071] Step 4: Based on the data profiles cumulatively spliced ​​in step 4, the software in the computer 9 tracks the coal-rock interface. The real-time depth B of the coal-rock interface is obtained. realtime and T realtime , which is used to guide the construction of the roadheader in the current operation cycle to ensure that the thickness of the remaining coal seam is within a relatively thin optimized range.

[0072] Step 5: After the system has been running for a long time, the drilling operation of the anchor trolley is started regularly or according to the changes in geological conditions to determine the current coal-rock interface depth B above the top plate 5 and below the bottom plate 6. i and T i The newly acquired interface data is used to update the starting point of the profile tracking, and the interface tracking operation is continued in the 9 computer (eg Figure 3 This improves the accuracy of the coal-rock interface and reduces uncertainty in complex geological conditions.

[0073] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications, equivalent replacements and improvements made by any technician familiar with this technical field within the technical scope disclosed by the present invention should be included in the scope of protection of the invention.

Claims

1. The radar following detection analysis and control system of continuous mining tunnel is characterized by: include: Anchor trolley; as well as, The roof radar system is installed on the roof of the anchor trolley. The suspension system keeps the radar detection surface at a fixed distance from the roof. It is used to detect the coal and rock conditions on the roof of the continuous mining tunnel. The bottom plate radar system is installed at the bottom of the anchor trolley. The suspension system keeps the radar detection surface at a fixed distance from the bottom plate, and is used to detect the coal and rock conditions of the bottom plate of the continuous mining tunnel. Control system, connected to top and bottom radar systems for data analysis.

2. The radar following detection analysis and control system for continuous mining tunnel according to claim 1 is characterized in that: The top plate radar system or the bottom plate radar system both include an integrated radar and a suspension system; The suspension system comprises a bracket, an elastic component and a wheel; one end of the bracket is connected to the vehicle body, and the other end is equipped with an integrated radar; one end of the elastic component is connected to the bracket, and the other end is connected to the wheel.

3. The radar following detection analysis and control system for continuous mining tunnel according to claim 2 is characterized in that: The bracket includes a vertically connected flat plate and a support rod; the support rod is a telescopic structure connected to the anchor trolley body; the flat plate is used to install an integrated radar.

4. The radar following detection analysis and control system for continuous mining tunnel according to claim 2 is characterized in that: The elastic component is a shock absorber.

5. The radar following detection analysis and control system for continuous mining tunnel according to claim 1 is characterized in that: The control system is a computer.

6. A method for performing detection and analysis using the radar following detection and analysis control system according to any one of claims 1 to 5, characterized in that: The following steps are involved: Drill holes at the starting point of the continuous mining tunnel to be operated to determine the initial values ​​of the coal-rock interface depth above the roof and below the floor, which are recorded as B0 and T0 respectively; Adjust the radar system so that it fits snugly against the top or bottom plate; During the driving process of the anchor trolley, the top plate or bottom plate radar system collects data to obtain the survey line profile of the top plate and bottom plate; The survey line profiles are spliced ​​to form a complete survey line profile; The interface layer is tracked for the complete survey line profile to obtain the real-time depth of the coal-rock interface above the roof and below the floor, which are recorded as B realtime and T realtime ; Repeat the above steps to detect and analyze the next interface.

7. The detection and analysis method according to claim 6, characterized in that: The method of splicing the survey line profiles to form a complete survey line profile is as follows: Each survey line profile is aligned through matching points and smoothly connected using linear interpolation method to eliminate errors and discontinuities between data, thus forming a seamless and complete survey line profile.

8. The detection and analysis method according to claim 6, characterized in that: The method for tracking the interface layer of the complete survey line profile is as follows: The complete survey line profile is analyzed using a threshold-based image processing algorithm to identify and extract interface features, and a smoothing algorithm is used to correct the interface features to obtain more accurate real-time depth data.

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