Fully mechanized coal mining coal cutter front radar detection analysis control system and method

Abstract

The invention discloses a fully-mechanized coal mining coal cutter front radar detection analysis control system and method. The system comprises at least two radar hosts, at least two wireless transmission devices, at least two radar receivers and a data control system, each cutting roller of the fully-mechanized coal mining machine is provided with a radar host and a wireless transmission device; the radar receivers are arranged at the two ends of a track of the fully-mechanized coal cutter and used for receiving the test data, sent by the wireless transmission device, of the radar host when the fully-mechanized coal cutter travels to the two ends of the track; the data control system is connected with the radar receiver and used for analyzing data of the radar receiver. According to the device and the method, the condition of the coal rock mass in front of each coal cutting circulation can be obtained in real time, a basis is provided for quantitative control over circulation adjustment of the coal cutter support, and then good technical support is provided for intelligent roadway construction control of a coal mine.

Description

Technical Field

[0001] The present invention belongs to the technical field of coal-rock interface recognition, and in particular relates to a front radar detection and analysis control system and method for a fully mechanized coal mining and cutting machine in a coal mine based on the combination of an electromagnetic wave radar and machinery. Background Art

[0002] The fully-mechanized coal mining machine is one of the important equipments to realize the mechanization and modernization of coal mine production. Mechanized coal mining can reduce physical labor, improve safety, and achieve the goals of high output, high efficiency and low consumption.

[0003] In the longwall coal mining face, the coal mining machine uses the working mechanism to break the coal from the coal body (breaking coal) and load it into the face conveyor (loading coal). The coal mining machine moves at the set traction speed (traction), so that the coal breaking and coal loading processes can be carried out continuously.

[0004] When a fully-mechanized coal cutter is used to recover coal seams in a coal mine, it is generally used to perform reciprocating coal cutting operations. If there are boulders or rock formations in front of the coal seam, and the operator cannot understand them in time, it is easy to cause losses such as damage to the cutting teeth and affect the normal production process.

[0005] At present, it is difficult to detect the coal seam in front of the comprehensive mining working face, and it is generally necessary to stop work to implement advanced measurement, which greatly affects the coal mining efficiency and causes large economic losses.

[0006] Therefore, there is an urgent need for a detection system and method that can obtain the fine structure of the coal seam ahead in real time during each coal mining cycle, thereby providing necessary support for the accurate control of the coal mining machine support. Summary of the invention

[0007] In view of the above technical problems, the purpose of the present invention is to provide a control system and method for detecting and analyzing the rock mass in front of the fully mechanized coal mining face based on electromagnetic wave radar and machinery. The system and method can timely obtain the situation of the coal mass in front of each coal cutting cycle, and provide a strong basis for the quantitative control of the cycle adjustment of the coal cutting machine support.

[0008] The technical solution provided by the present invention is as follows:

[0009] In a first aspect, the present invention provides a front radar detection analysis control system for a fully-mechanized coal mining and cutting machine, which is used for a double-drum fully-mechanized coal mining and cutting machine, comprising:

[0010] At least 2 radar hosts, at least 2 wireless transmission devices, at least 2 radar receivers and data control systems;

[0011] Each cutting drum of the fully mechanized coal cutting machine is provided with a radar host and a wireless transmission device;

[0012] The radar receiver is arranged at both ends of the track of the fully-mechanized coal mining and cutting machine, and is used to receive the test data of the radar host sent by the wireless transmission device when the fully-mechanized coal mining and cutting machine travels to both ends of the track;

[0013] The data control system is connected to the radar receiver and is used for analyzing the data of the radar receiver.

[0014] In one possible implementation, the radar host is an electromagnetic wave radar that integrates the host and antenna.

[0015] In a possible implementation, the wireless transmission device is a WIFI transmission module.

[0016] In a possible implementation, the radar receiver is used to receive signals from a wireless transmission device at the end closest to the radar receiver at both ends of the moving track of the fully mechanized coal cutter.

[0017] In one possible implementation, the radar host and the wireless transmission device are arranged on the working surface of the cutting drum at a position that does not rotate with the cutting drum, and are protected by a shell that can be penetrated by radar waves.

[0018] In one possible implementation, the data control system is a computer.

[0019] In a second aspect, the present invention provides a method for detecting and analyzing the rock mass in front of a fully-mechanized coal mining face in a coal mine by using the front radar detection and analysis control system of the fully-mechanized coal mining machine described in the first aspect, comprising the following steps:

[0020] Start the coal cutting cycle, the radar host moves with the fully-mechanized coal cutter to detect the rock mass in front of the fully-mechanized mining face;

[0021] The fully mechanized coal cutter moves to one end of the track, and when the radar host approaches the nearest radar receiver, data is exchanged through a wireless transmission device;

[0022] The fully mechanized coal cutter moves in the opposite direction to the other end of the track, and when the radar host approaches the nearest radar receiver, data is exchanged through the wireless transmission device;

[0023] The data control system receives the data from the radar receiver, combines the data, and obtains the detection data of the coal cutting cycle.

[0024] In a possible implementation manner, when data is exchanged, an alignment operation is performed between the wireless transmission device and the corresponding radar receiver.

[0025] In one possible implementation, the method of data stitching is as follows:

[0026] Perform 3D stitching of the upper side line data of this cycle and the previous cycle to obtain first data;

[0027] Perform 3D stitching of the lower side line data of this cycle and the previous cycle to obtain the second data;

[0028] In a unified coordinate system, the first data and the second data are spliced ​​to obtain the coal-rock model data in front of the overall fully mechanized mining face, and generate a 3D coal-rock model.

[0029] Further, in the data stitching method, the 3D stitching method includes 3D registration and stitching;

[0030] The method of splicing the first data and the second data to obtain the coal and rock mass model data in front of the overall fully mechanized mining face includes:

[0031] Using a multi-view geometry algorithm, the first data and the second data are registered and fused in a unified coordinate system;

[0032] On the basis of fusion, the interpolation algorithm is used to generate a complete coal-rock model, and then meshing and texture mapping are performed to obtain complete 3D coal-rock model data;

[0033] Based on the generated 3D coal-rock model, data optimization and correction are carried out to ensure that the splicing error is minimized and generate precise control data for coal cutter operation.

[0034] The present invention has the following beneficial effects:

[0035] The system of the present invention closely combines the radar device with the operating characteristics of large-scale coal cutting machinery, which can overcome the detection interference and the signal transmission problems of large-scale metal moving machinery, and realize the real-time collection of radar data of two coal mining faces of the fully-mechanized coal cutting machine. On this basis, combined with relevant methods, it can realize the advanced detection of the fully-mechanized coal mining face while cutting and measuring, timely understand the changes in the coal and rock mass in front of the current coal mining face, guide the cyclic adjustment of the height of the coal mining machine support, and provide good technical support for the intelligent roadway construction control of coal mines. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is the front view of the front radar detection, analysis and control system of the fully mechanized coal mining and cutting machine;

[0037] Figure 2 This is the back view of the front radar detection, analysis and control system of the fully mechanized coal mining and cutting machine;

[0038] Figure 3 This is a top view of the front radar detection, analysis and control system of the fully mechanized coal mining and cutting machine;

[0039] Figure 4 It is a side view of the coal mining detection process of the front radar detection analysis and control system of the fully mechanized coal cutting machine;

[0040] In the figure, 1-first radar host; 2-second radar host; 3-left cutting drum; 4-right cutting drum; 5-left rocker arm; 6-right rocker arm; 7-first shell; 8-second shell; 9-first wireless transmission device; 10-second wireless transmission device: 11-first receiver; 12-second receiver; 13-computer. DETAILED DESCRIPTION

[0041] In order to facilitate the understanding and implementation of the present invention by those skilled in the art, the present invention is further described in detail below in conjunction with the 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. The following directional nouns such as "left", "right", "upper", and "lower" are only exemplary displays for the convenience of description and understanding, and do not constitute a limitation of the technical solution.

[0042] Example 1

[0043] like Figure 1-3 As shown, a front radar detection analysis control system for a fully mechanized coal mining and cutting machine is used for a double-drum fully mechanized coal mining and cutting machine, including:

[0044] At least 2 radar hosts, at least 2 wireless transmission devices, at least 2 radar receivers and data control systems;

[0045] Each cutting drum of the fully mechanized coal cutting machine is provided with a radar host and a wireless transmission device;

[0046] The radar receiver is arranged at both ends of the track of the fully-mechanized coal mining and cutting machine, and is used to receive the test data of the radar host sent by the wireless transmission device when the fully-mechanized coal mining and cutting machine travels to both ends of the track;

[0047] The data control system is connected to the radar receiver and is used for analyzing the data of the radar receiver.

[0048] In one possible implementation, the radar host is an electromagnetic wave radar that integrates the host and antenna.

[0049] In a possible implementation, the wireless transmission device is a WIFI transmission module.

[0050] In a possible implementation, the radar receiver is used to receive signals from a wireless transmission device at the end closest to the radar receiver at both ends of the moving track of the fully mechanized coal cutter.

[0051] In one possible implementation, the radar host and the wireless transmission device are arranged on the working surface of the cutting drum at a position that does not rotate with the cutting drum, and are protected by a shell that can be penetrated by radar waves.

[0052] In one possible implementation, the data control system is a computer.

[0053] For example, Figure 1 The viewing angle of is described as a reference viewing angle.

[0054] like Figure 1-3 As shown, the fully mechanized coal cutting machine of this embodiment includes a left cutting drum 3, a left rocker arm 5, a right cutting drum 4 and a right rocker arm 6.

[0055] The two radar hosts are the first radar host 1 and the second radar host 2. The wireless transmission devices are the first wireless transmission device 9 and the second wireless transmission device 10. The receivers are the first receiver 11 arranged at the left end of the track and the second receiver 12 arranged at the right end of the track.

[0056] The first radar host 1 and the first wireless transmission device 9 are arranged on the working surface of the right cutting drum 4 and protected by the first shell 7. The second radar host 2 and the second wireless transmission device 10 are arranged on the working surface of the left cutting drum 3 and protected by the first shell 8.

[0057] It should be noted that the reason why a radar system is installed on both cutting drums is that the cutting area of ​​the double-drum fully mechanized coal cutting machine is large, and a single radar system is difficult to fully cover the coal-rock interface information of the entire coal mining face. By installing a radar host and a wireless transmission device on the left and right cutting drums respectively, full coverage detection on both sides of the coal mining face can be achieved, ensuring that more comprehensive and accurate coal and rock layer structure information is obtained.

[0058] Specifically, the radar host is a Luojia brand integrated geological radar for mining.

[0059] Specifically, the shell is made of high-strength wear-resistant plastic, which is strong enough to resist the impact of coal seams to protect the radar host, and can effectively transmit 100-1000MHz radar waves and signals of wireless transmission devices.

[0060] Specifically, the housing of the built-in radar host and the wireless transmission device is arranged at the center of the working surface of the cutting drum.

[0061] Specifically, the wireless transmission device is a WIFI wireless transmission module.

[0062] Example 2

[0063] A method for detecting and analyzing the rock mass in front of a fully mechanized coal mining face using the system described in Example 1 comprises the following steps:

[0064] Step 1: Start a coal cutting cycle (left cutting cycle) on the fully mechanized mining face, and perform coal cutting operations from left to right. 4-The right cutting drum is the main drum, running at the top, and the first radar host 1 follows the right cutting drum 4 to detect at the upper side line. The left cutting drum 3 is the auxiliary drum, running at the bottom, and the second radar host follows the left cutting drum 3 to detect at the lower side line.

[0065] Step 2: During the lateral movement of the fully mechanized coal cutter, the first radar host 1 and the second radar host 2 are continuously triggered to detect the coal and rock mass in front to obtain detection data.

[0066] Step 3: When the left cutting cycle is finished, the right cutting drum 4, driven by the right rocker arm 6, performs the alignment operation between the first wireless device 9 and the first receiver 11. When the alignment is completed, the wireless data transmission is started, and the data measured in the entire fully mechanized mining face (upper side line) of the most recent left cutting cycle is transmitted to the first receiver 11 at one time.

[0067] Step 4: Start the right cutting cycle. The left cutting drum 3 is the main drum, running at the top, and the second radar host 2 follows the left cutting drum 3 to detect at the upper measuring line. The right cutting drum 4 is the auxiliary drum, running at the bottom, and the first radar host 1 follows the right cutting drum 4 to detect at the lower side line.

[0068] Step 5: During the rightward movement of the fully mechanized coal cutter, the first radar host 1 and the second radar host 2 are continuously triggered to detect the coal and rock mass in front to obtain detection data.

[0069] Step 6: When the right cutting cycle is finished, the left drum, driven by the rocker arm, performs the alignment operation between the second wireless transmission device 10 and the second receiver 12. When the alignment is completed, the wireless data transmission is started, and the data measured on the entire fully mechanized mining face in the most recent right cutting cycle is transmitted to the second receiver 12 at one time.

[0070] Step 7: The computer 15 receives the detection data from the first receiver 11 and the second receiver 12 at the end of each coal cutting cycle, combines the data, and obtains the detection data of the coal cutting cycle.

[0071] In one possible implementation, the method of data stitching is as follows:

[0072] Perform 3D stitching of the upper side line data of this cycle and the previous cycle to obtain first data;

[0073] Perform 3D stitching of the lower side line data of this cycle and the previous cycle to obtain the second data;

[0074] In a unified coordinate system, the first data and the second data are spliced ​​to obtain the coal-rock model data in front of the overall fully mechanized mining face, and a 3D coal-rock model is generated;

[0075] The 3D coal-rock model is optimized and modified to generate precise control data for coal cutter operation.

[0076] Specifically, the method of data splicing is as follows:

[0077] 1) The upper sideline data obtained in this left cutting cycle (denoted as i) is denoted as Data_up_i, and is 3D registered and spliced ​​with the upper sideline data obtained in the previous right cutting cycle (Data_up_i-1) to obtain comprehensive upper sideline data;

[0078] 2) The lower side line data obtained in this right cutting cycle (denoted as i) is denoted as Data_down_i, and is 3D aligned and spliced ​​with the lower side line data obtained in the previous left cutting cycle (Data_down_i-1) to obtain comprehensive lower side line data;

[0079] 3) Use a multi-view geometry algorithm or other suitable registration algorithm to register the upper sideline data and the lower sideline data, and fuse them in a unified coordinate system;

[0080] 4) Based on the fusion, an interpolation algorithm is used to generate a complete coal-rock model, and then gridding and texture mapping are performed to obtain complete 3D coal-rock model data;

[0081] 5) Based on the generated 3D coal-rock model, data optimization and correction are performed to ensure that the splicing error is minimized and accurate control data for coal cutter operation is generated.

[0082] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. The front radar detection, analysis and control system of the fully mechanized coal mining and cutting machine is characterized by: For double drum fully mechanized coal cutting machine, including: At least 2 radar hosts, at least 2 wireless transmission devices, at least 2 radar receivers and data control systems; Each cutting drum of the fully mechanized coal cutting machine is provided with a radar host and a wireless transmission device; The radar receiver is arranged at both ends of the track of the fully-mechanized coal mining and cutting machine, and is used to receive the test data of the radar host sent by the wireless transmission device when the fully-mechanized coal mining and cutting machine travels to both ends of the track; The data control system is connected to the radar receiver and is used for analyzing the data of the radar receiver.

2. The front radar detection, analysis and control system of the fully mechanized coal mining machine according to claim 1 is characterized in that: The radar host is an electromagnetic wave radar that integrates the host and the antenna.

3. The front radar detection, analysis and control system of the fully mechanized coal mining machine according to claim 1 is characterized in that: The wireless transmission device is a WIFI wireless transmission module.

4. The front radar detection, analysis and control system for a fully mechanized coal mining and cutting machine according to claim 1 is characterized in that: The radar receiver is used to receive signals from a wireless transmission device at the end closest to the radar receiver when the radar receiver is at both ends of the moving track of the fully mechanized coal cutter.

5. The front radar detection, analysis and control system for a fully mechanized coal mining and cutting machine according to claim 1 is characterized in that: The radar host and the wireless transmission device are arranged on the working surface of the cutting drum at a position that does not rotate with the cutting drum, and are protected by a shell that can be penetrated by radar waves.

6. The front radar detection, analysis and control system for a fully mechanized coal mining machine according to claim 1 is characterized in that: The data control system is a computer.

7. A method for detecting and analyzing the rock mass in front of a fully-mechanized coal mining face in a coal mine using the front radar detection and analysis control system of a fully-mechanized coal mining machine according to any one of claims 1 to 6, comprising the following steps: Start the coal cutting cycle, the radar host moves with the fully-mechanized coal cutter to detect the rock mass in front of the fully-mechanized mining face; The fully mechanized coal cutter moves to one end of the track, and when the radar host approaches the nearest radar receiver, data is exchanged through a wireless transmission device; The fully mechanized coal cutter moves in the opposite direction to the other end of the track, and when the radar host approaches the nearest radar receiver, data is exchanged through the wireless transmission device; The data control system receives the data from the radar receiver, combines the data, and obtains the detection data of the coal cutting cycle.

8. The method for detecting and analyzing the rock mass in front of a fully-mechanized coal mining face according to claim 7, characterized in that: When data is exchanged, an alignment operation is performed between the wireless transmission device and the corresponding radar receiver.

9. The method for detecting and analyzing rock mass in front of a fully-mechanized coal mining face according to claim 7, characterized in that: The method of data splicing is as follows: Perform 3D stitching of the upper side line data of this cycle and the previous cycle to obtain first data; Perform 3D stitching of the lower side line data of this cycle and the previous cycle to obtain the second data; In a unified coordinate system, the first data and the second data are spliced ​​to obtain the coal-rock model data in front of the overall fully mechanized mining face, and a 3D coal-rock model is generated; The 3D coal-rock model is optimized and modified to generate precise control data for coal cutter operation.

10. The method for detecting and analyzing the rock mass in front of a fully-mechanized coal mining face according to claim 9, characterized in that: In the data stitching method, the 3D stitching method includes 3D registration and stitching; The method of splicing the first data and the second data in a unified coordinate system to obtain the coal-rock model data in front of the overall fully mechanized mining face and generating a 3D coal-rock model includes: Using a multi-view geometry algorithm, the first data and the second data are registered and fused in a unified coordinate system; On the basis of fusion, the interpolation algorithm is used to generate a complete coal-rock model, and then gridding and texture mapping are performed to obtain complete 3D coal-rock model data.

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