A coal-rock identification sensor performance testing device and method

Abstract

The present invention provides a performance test device and method for coal rock identification sensors, and relates to the technical field of coal mine excavation. The device includes an environment simulation unit, a motion simulation unit, and a computing terminal; the environment simulation unit is used to construct the distribution position and relative relationship of the coal rock model; the motion simulation unit is used to realize the movement of the coal rock identification sensor in the X-Y direction, and collect coal rock structure data at different positions; the computing terminal is used to receive the coal rock structure data collected by the coal rock identification sensor, track the coal rock layer position line, and realize coal rock structure identification. The device and method can simulate the movement of the coal mining machine under various working conditions, can accurately test the accuracy and grade of the coal rock identification sensor, and have a good correction effect, thereby verifying the recognition ability of the coal rock identification sensor and promoting the technical update and iteration of the coal rock identification sensor.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine excavation, and in particular to a coal rock identification sensor performance testing device and method. Background Art

[0002] In coal mining production, the main equipment of the fully mechanized mining face includes coal mining machines, scraper conveyors, and hydraulic supports. These equipment together constitute the core of the fully mechanized mining face, ensuring the smooth progress of coal mining. The coal mining machine is one of the key equipment of the fully mechanized mining face. It is responsible for breaking coal, that is, cutting coal from the coal wall. The performance and efficiency of the coal mining machine directly affect the progress and output of the entire coal mining work. At the same time, its safety during the coal mining process is also very important. During the operation of the coal mining machine, if the working face encounters rocks, the following conditions may occur:

[0003] Damage to the shearer cutter disc.

[0004] Sparks generated by friction between the coal mining machine's cutter head and rocks may cause gas explosions.

[0005] Both of the above situations will cause major equipment and personnel safety accidents. Installing a coal rock identification sensor at the front end of the coal mining machine can protect the coal mining machine and shut it down when the rock is identified. After the rock is removed, the coal mining machine can continue to work.

[0006] The coal mining face environment is relatively harsh, and the coal and rock structure of the coal mining face is unknown and complex. Therefore, in order to test the accuracy, performance, and reliability of the coal and rock identification sensor, a device that simulates the coal and rock structure is required. The present invention is to assist the coal and rock identification sensor, simulate the conditions of the coal mining face and the movement of the coal mining machine, test the performance of the coal and rock identification sensor, and expose problems. The exposed problems are continuously solved, and after the technology matures, it is applied to the coal mining face to solve the actual safety problems of coal mining work. Summary of the invention

[0007] The technical problem to be solved by the present invention is to provide a coal rock identification sensor performance testing device and method in view of the above-mentioned deficiencies in the prior art, provide environmental simulation and simulate the movement state of the coal mining machine, and then simulate the movement of the coal rock identification sensor in the coal mining working face.

[0008] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0009] On the one hand, the present invention provides a coal-rock identification sensor performance test device, comprising an environment simulation unit, a motion simulation unit and a computing terminal; the environment simulation unit is used to construct the distribution position and relative relationship of the coal-rock model; the coal-rock model is divided into two layers of medium structure, a coal seam and a rock layer; a gangue structure is arranged on the right side of the coal-rock model, and a rock body in the coal is arranged on the left side;

[0010] The motion simulation unit is used to realize the movement of the coal-rock identification sensor in two directions, X-Y, and collect coal-rock structure data at different positions;

[0011] The computing terminal is used to receive the coal-rock structure data collected by the coal-rock identification sensor, track the coal-rock layer line, and realize coal-rock structure identification.

[0012] Preferably, the rock layer in the coal-rock model is molded according to the structure of the coal-rock model, and then a mixture of gypsum and concrete is poured. After the cast rock layer solidifies, the coal layer is made by laying and pouring fine coal blocks on top of the rock layer and compacting it.

[0013] Preferably, the motion simulation unit adopts a servo motor with two degrees of freedom to realize the movement of the coal rock identification sensor in two directions of X-Y, and has an emergency stop function and a limit stop function.

[0014] Preferably, the coal and rock identification sensor performance testing device also includes a main frame, a coal and rock model is arranged in the main frame, and a motion simulation unit is arranged on the main frame; wherein, horizontal Y-axis guide rails are detachably installed on both sides of the main frame, and a horizontal X-axis guide rail is slidably connected between the two horizontal Y-axis guide rails; a motion module is slidably connected to the horizontal X-axis guide rail; the motion module carries the coal and rock identification sensor along the horizontal X-axis guide rail and the horizontal Y-axis guide rail through the mounting bracket; the mounting bracket can manually adjust the distance between the coal and rock identification sensor and the coal seam up and down; an X-axis servo motor and an X-axis servo motion controller are arranged at the end of the horizontal X-axis guide rail; and a Y-axis servo motor and a Y-axis servo motion controller are respectively arranged at the ends of the two horizontal Y-axis guide rails.

[0015] Preferably, the motion simulation unit includes a switching power supply, an electromagnetic relay, an MCU control unit, an X-axis servo motion controller, a Y-axis servo motion controller A, a Y-axis servo motion controller B, a visual touch screen, an absolute encoder A and an absolute encoder B; the switching power supply is used to convert the AC220V input power supply into the DC power supply required by the motion simulation unit, and provide a stable power supply for each device in the unit; the electromagnetic relay is respectively connected to the X-axis servo motion controller, the Y-axis servo motion controller A and the Y-axis servo motion controller B for coordinated control; the visual touch screen, the absolute encoder A and the absolute encoder B are all connected to the MCU control unit; the absolute encoder A is arranged at the head end of the horizontal X-axis guide rail, and the absolute encoder B is arranged at the head end of a horizontal Y-axis guide rail, which are used to locate the position of the coal rock identification sensor on the upper surface of the main frame; the MCU control unit collects the encoding information of the absolute encoder A and the absolute encoder B, and displays the position signal of the coal rock identification sensor on the visual touch screen; the MCU control unit is controlled by the visual touch screen to issue a control command to control the X-axis servo motion controller and the two Y-axis servo motion controllers, and then control the servo motors arranged on the horizontal X-axis guide rail and the horizontal Y-axis guide rail, and drive the motion module to realize movement in the X-Y direction.

[0016] Preferably, the motion simulation unit also includes three photoelectric limit switches, an emergency stop switch and a remote sensing position control handle connected to the MCU control unit; the three photoelectric limit switches are respectively arranged at the ends of two horizontal Y-axis guide rails and a horizontal X-axis guide rail; the motion simulation unit is urgently stopped by cutting off power through the emergency stop switch.

[0017] Preferably, the computing terminal includes a collection setting module, a data storage module, a data processing module, a coal-rock layer position line tracking module and a result export module;

[0018] The acquisition setting module sets the sampling time window, sampling frequency and sampling mode of the coal-rock identification sensor;

[0019] The data storage module stores the data collected by the coal-rock identification sensor and customizes the file name and storage location of the collected raw data;

[0020] The data processing module performs background denoising, one-dimensional filtering, time gain and sliding average data processing on the raw data collected by the coal-rock identification sensor;

[0021] The coal-rock layer line tracking module selects the target layer and tracks the coal-rock layer line through the data processed by the data processing module;

[0022] The result export module exports and analyzes the data stored and processed by the data storage module and the data processing module and the coal layer line tracked by the coal layer line tracking module.

[0023] On the other hand, the present invention also provides a method for testing the performance of a coal-rock identification sensor, comprising the following steps:

[0024] Step 1: Fix the coal-rock identification sensor on the mounting bracket of the motion module, and manually adjust the distance between the coal-rock identification sensor and the coal seam up and down through the mounting bracket;

[0025] Step 2: A position is given through the visual touch screen, and the motion module drives the coal-rock identification sensor to the given position to identify the coal-rock structure at the given position;

[0026] Step 3: Control the motion module to move at a uniform speed to identify coal and rock structures at all positions; set a speed through the visual touch screen, and the motion module drives the coal and rock identification sensor to perform fixed-point circular motion, that is, to perform reciprocating simulated motion on the horizontal X-axis guide rail and the horizontal Y-axis guide rail of the motion simulation unit to achieve coal and rock structure recognition at all positions;

[0027] Step 4: Control the motion module to perform jog movement to conduct exploratory coal-rock structure identification; jog control the motion module, click the motion module once to drive the coal-rock identification sensor to move, and conduct exploratory coal-rock structure identification according to actual needs.

[0028] The beneficial effects of adopting the above technical scheme are: a coal-rock identification sensor performance testing device and method provided by the present invention can simulate the movement of a coal mining machine under various working conditions, thereby verifying the recognition ability of the coal-rock identification sensor and promoting the technical update and iteration of the coal-rock identification sensor; the coal-rock model constructed by the environmental simulation unit has a strict relative relationship of size and position, can accurately test the accuracy and grade of the coal-rock identification sensor, and has a good correction effect; it has supporting data processing methods and stratigraphic line tracking methods, can accurately derive coal-rock boundary information for analysis, and more accurately verify the performance of the coal-rock identification sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of the structure of a coal-rock identification sensor performance test device provided by an embodiment of the present invention;

[0030] Figure 2 A schematic diagram of a coal-rock model provided by an embodiment of the present invention;

[0031] Figure 3 An electrical control diagram of a motion simulation unit provided by an embodiment of the present invention;

[0032] Figure 4 A flow chart of a method for testing the performance of a coal rock identification sensor provided in an embodiment of the present invention.

[0033] In the picture, 1. Visual touch screen; 2. Motion module; 3. Main frame; 4. Tempered glass; 5. Imitation rock; 6. Pulley; 7. Coal block. DETAILED DESCRIPTION

[0034] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0035] In this embodiment, a coal rock identification sensor performance test device is provided. Figure 1 As shown, it includes an environment simulation unit, a motion simulation unit and a computing terminal; the environment simulation unit is used to construct the distribution position and relative relationship of the coal-rock model; in this embodiment, the coal-rock model is as follows Figure 2 As shown, the overall length is 2000mm, the height is 1500mm, and the width is 1000mm; the coal-rock model is divided into two-layer medium structures, namely, the coal seam and the rock layer; wherein the thickness of the coal seam is distributed from the shallowest 100mm to the deepest 1200mm; a gangue structure is arranged on the right side of the coal-rock model, and the thickness of the oblique coal seam under the gangue is 100mm; a coal-rock body is arranged on the left side of the coal-rock model, and in this embodiment, the size of the coal-rock body is 40*40*1000mm; in this embodiment, the rock layer in the coal-rock model is molded according to the structure of the coal-rock model, and then a mixture of gypsum and concrete is poured, and after the cast rock layer solidifies, the coal layer is made by laying and pouring fine coal blocks on top of the rock layer and compacting them.

[0036] The motion simulation unit is used to realize the movement of the coal-rock identification sensor in two directions, X-Y, and collect coal-rock structure data at different positions;

[0037] The computing terminal is used to receive the coal-rock structure data collected by the coal-rock identification sensor, track the coal-rock layer line, and realize coal-rock structure identification.

[0038] The motion simulation unit adopts a servo motor with two degrees of freedom to realize the movement of the coal rock identification sensor in the X-Y direction, and has emergency stop and limit stop functions.

[0039] In this embodiment, the coal rock model is arranged in a main frame 3, and tempered glass 4 is arranged around the main frame 3 to facilitate observation of the internal coal rock model structure, and pulleys 6 are arranged at the bottom to facilitate movement. A motion simulation unit is arranged on the main frame 3; in this embodiment, the imitation rock 5 and coal block 7 in the coal rock model can be seen through the tempered glass 4. In this embodiment, horizontal Y-axis guide rails are detachably installed on both sides of the main frame 3, and a horizontal X-axis guide rail is slidably connected between the two horizontal Y-axis guide rails; a motion module 2 is slidably connected to the horizontal X-axis guide rail; the motion module 2 carries the coal rock identification sensor through the mounting bracket and moves along the horizontal X-axis guide rail and the horizontal Y-axis guide rail; the mounting bracket can manually adjust the distance between the coal rock identification sensor and the coal seam, and the adjustment range is 0cm-40cm; an X-axis servo motor and an X-axis servo motion controller are arranged at the end of the horizontal X-axis guide rail; and a Y-axis servo motor and a Y-axis servo motion controller are respectively arranged at the ends of the two horizontal Y-axis guide rails. In this embodiment, the coal-rock identification sensor is hoisted on the main frame 3 through an installation bracket. Under the control of the motion simulation unit, it can move within a range of 200 cm to the left and right and 40 cm up and down to detect the environmental simulation unit. The coal-rock identification sensor transmits and receives electromagnetic waves into the environmental simulation unit, converts the received electromagnetic wave signals into digital signals and stores them as raw data files, and then performs background denoising, one-dimensional filtering, time gain, layer picking, layer tracking and other data processing processes on the file to obtain coal-rock boundary information.

[0040] In this embodiment, the motion simulation unit is as follows: Figure 3As shown, it includes a switching power supply, an electromagnetic relay, an MCU control unit, an X-axis servo motion controller, a Y-axis servo motion controller A, a Y-axis servo motion controller B, a visual touch screen 1, an absolute encoder A, an absolute encoder B, three photoelectric limit switches, an emergency stop switch and a remote sensing position control handle; the switching power supply is used to convert the AC220V input power supply into a DC power supply required by the motion simulation unit, and provide a stable power supply for each device in the unit; the electromagnetic relay is respectively connected to the X-axis servo motion controller, the Y-axis servo motion controller A and the Y-axis servo motion controller B for coordinated control; the visual touch screen 1, the absolute encoder A, the absolute encoder B All are connected to the MCU control unit; the absolute encoder A is set at the head end of the horizontal X-axis guide rail, and the absolute encoder B is set at the head end of a horizontal Y-axis guide rail, which are used to locate the position of the coal rock identification sensor on the upper surface of the main frame 3; the MCU control unit collects the encoding information of the absolute encoder A and the absolute encoder B, and displays the position signal of the coal rock identification sensor on the visual touch screen 1; the MCU control unit is controlled by the visual touch screen 1 to issue a control command to control the X-axis servo motion controller and the two Y-axis servo motion controllers, and then control the servo motors set on the horizontal X-axis guide rail and the horizontal Y-axis guide rail, and drive the motion module 2 to realize the movement in the X-Y direction. The three photoelectric limit switches are respectively set at the ends of the two horizontal Y-axis guide rails and the horizontal X-axis guide rail; the motion simulation unit can be stopped urgently by cutting off the power through the emergency stop switch.

[0041] In this embodiment, the computing terminal includes a collection setting module, a data storage module, a data processing module, a coal-rock layer position line tracking module and a result export module;

[0042] The acquisition setting module sets the sampling time window, sampling frequency and sampling mode (ranging wheel trigger, time trigger, point trigger) of the coal-rock identification sensor;

[0043] The data storage module stores the data collected by the coal-rock identification sensor and customizes the file name and storage location of the collected raw data;

[0044] The data processing module performs background denoising, one-dimensional filtering, time gain and sliding average data processing on the raw data collected by the coal-rock identification sensor;

[0045] The coal-rock layer line tracking module selects the target layer and tracks the coal-rock layer line through the data processed by the data processing module;

[0046] The result export module exports and analyzes the data stored and processed by the data storage module and the data processing module and the coal layer line tracked by the coal layer line tracking module.

[0047] In this embodiment, a coal rock identification sensor performance test method is provided. Figure 4 As shown, the following steps are included:

[0048] Step 1: Fix the coal-rock identification sensor on the mounting bracket of the motion module 2, and manually adjust the distance between the coal-rock identification sensor and the coal seam up and down through the mounting bracket;

[0049] Step 2: A position (X-axis coordinate, Y-axis coordinate) is given through the visual touch screen 1, and the motion module 2 drives the coal-rock identification sensor to the given position to identify the coal-rock structure at the given position.

[0050] Step 3: Control the motion module 2 to move at a uniform speed to identify the coal-rock structure at all positions; a speed (X-axis speed and Y-axis speed) is given by the visual touch screen 1, and the motion module 2 drives the coal-rock identification sensor to perform fixed-point circular motion, that is, to perform reciprocating simulated motion on the horizontal X-axis guide rail and the horizontal Y-axis guide rail of the motion simulation unit to identify the coal-rock structure at all positions;

[0051] There are three major interfaces in the coal-rock mass, namely the direct wave interface, the air-coal interface and the coal-rock interface. The identification of the three major interfaces is a prerequisite for positioning. Only by designing corresponding algorithms based on the data identified by the coal-rock identification sensor can the seed layer site be selected. After the seed layer site is selected, tracking can be carried out using the seed layer site.

[0052] To identify coal and rock layers, it is necessary to conduct in-depth research on single-channel waveforms and find out the laws of their changes. The forward simulation method can be used to first simulate the most ideal coal and rock structure model through GPRMAX, and then use amplitude and spectrum analysis to find out the waveform characteristics corresponding to the coal and rock layers, thereby completing the identification of the coal and rock layers.

[0053] The positioning of coal-rock layers is the premise of tracking and extracting coordinate information, including the positioning of direct waves and air interface layers, and the positioning of coal-rock layers. Through in-depth analysis of the quantitative relationship between the layers, the corresponding algorithms are used for positioning. The basic idea of ​​coal-rock layer positioning: select any data sequence in the preprocessed radar data, and determine the channel number of the selected data sequence: where the channel number of the selected data sequence is recorded as T0. Determine the position of the direct wave and the number of sampling points N0; determine the position of the air interface layer and its number of sampling points N1 through the number of direct wave sampling points N0; determine the position of the coal-rock layer and its number of sampling points N2 through the number of air interface layer sampling points N1.

[0054] The basic idea of ​​the coal-rock stratum adaptive tracking method is to first obtain the data collected by the coal-rock identification sensor and preprocess it, then select the seed point based on the preprocessed data, and then use the window operator to take the seed layer site as the starting reference center to track the stratum of the preprocessed data, confirm the stratum geographic coordinate information of the two parts of the data sequence of all tracked tracks and the starting reference track, and finally, based on the stratum geographic coordinate information of all track data sequences, make a coal-rock stratum occurrence curve diagram.

[0055] Step 4: Control the motion module 2 to perform jog movement to perform exploratory coal-rock structure identification; jog control the motion module 2, click the motion module once to drive the coal-rock identification sensor to move, and perform exploratory coal-rock structure identification according to actual needs.

[0056] In this embodiment, the performance analysis of the coal rock identification sensor is performed based on the coal rock structure identification results at a given position in step 2, the coal rock structure identification results at all positions in step 3, and the exploratory coal rock structure identification results in step 4.

[0057] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope defined by the claims of the present invention.

Claims

1. A coal-rock identification sensor performance test device, characterized in that: It includes an environment simulation unit, a motion simulation unit and a computing terminal; the environment simulation unit is used to construct the distribution position and relative relationship of the coal-rock model; the coal-rock model is 2000mm long, 1500mm high and 1000mm wide; the coal-rock model is divided into two layers of medium structure, namely, coal seam and rock layer; wherein the thickness of the coal seam is distributed from the shallowest 100mm to the deepest 1200mm; a gangue structure is arranged on the right side of the coal-rock model, and the thickness of the oblique coal seam under the gangue is 100mm; a rock body in coal is arranged on the left side of the coal-rock model; the size of the rock body in coal is 40*40*1000mm; the motion simulation unit is used to realize the movement of the coal-rock identification sensor in the X-Y direction and collect coal-rock structure data at different positions; The computing terminal is used to receive the coal-rock structure data collected by the coal-rock identification sensor, track the coal-rock layer line, and realize coal-rock structure identification.

2. A coal-rock identification sensor performance testing device according to claim 1, characterized in that: The rock layer in the coal-rock model is molded according to the structure of the coal-rock model, and then a mixture of gypsum and concrete is poured. After the poured rock layer solidifies, the coal layer is made by laying and pouring fine coal blocks on the top of the rock layer and compacting it.

3. A coal-rock identification sensor performance testing device according to claim 1, characterized in that: The motion simulation unit adopts a servo motor with two degrees of freedom to realize the movement of the coal rock identification sensor in the X-Y direction, and has an emergency stop function and a limit stop function.

4. A coal-rock identification sensor performance testing device according to claim 3, characterized in that: The coal and rock identification sensor performance testing device also includes a main frame, a coal and rock model is arranged in the main frame, and a motion simulation unit is arranged on the main frame; wherein, horizontal Y-axis guide rails are detachably installed on both sides of the main frame, and a horizontal X-axis guide rail is slidably connected between the two horizontal Y-axis guide rails; a motion module is slidably connected to the horizontal X-axis guide rail; the motion module carries the coal and rock identification sensor along the horizontal X-axis guide rail and the horizontal Y-axis guide rail through the mounting bracket; the mounting bracket can manually adjust the distance between the coal and rock identification sensor and the coal seam up and down; an X-axis servo motor and an X-axis servo motion controller are arranged at the end of the horizontal X-axis guide rail; and a Y-axis servo motor and a Y-axis servo motion controller are respectively arranged at the ends of the two horizontal Y-axis guide rails.

5. A coal-rock identification sensor performance testing device according to claim 4, characterized in that: The motion simulation unit includes a switching power supply, an electromagnetic relay, an MCU control unit, an X-axis servo motion controller, a Y-axis servo motion controller A, a Y-axis servo motion controller B, a visual touch screen, an absolute encoder A and an absolute encoder B; the switching power supply is used to convert the AC220V input power supply into the DC power supply required by the motion simulation unit, and provide a stable power supply for each device in the unit; the electromagnetic relay is respectively connected to the X-axis servo motion controller, the Y-axis servo motion controller A and the Y-axis servo motion controller B for coordinated control; the visual touch screen, the absolute encoder A and the absolute encoder B are all connected to the MCU control unit; the absolute encoder A is arranged at the head end of the horizontal X-axis guide rail, and the absolute encoder B is arranged at the head end of a horizontal Y-axis guide rail, which are used to locate the position of the coal and rock identification sensor on the upper surface of the main frame, and the MCU control unit collects the encoding information of the absolute encoder A and the absolute encoder B, and displays the position signal of the coal and rock identification sensor on the visual touch screen; the MCU control unit is controlled by the visual touch screen to issue a control command to control the X-axis servo motion controller and the two Y-axis servo motion controllers, and then control the servo motors arranged on the horizontal X-axis guide rail and the horizontal Y-axis guide rail, and drive the motion module to realize movement in the X-Y direction.

6. A coal-rock identification sensor performance test device according to claim 5, characterized in that: The motion simulation unit also includes three photoelectric limit switches, an emergency stop switch and a remote sensing position control handle connected to the MCU control unit; the three photoelectric limit switches are respectively arranged at the ends of two horizontal Y-axis guide rails and a horizontal X-axis guide rail; the motion simulation unit is stopped by cutting off power through the emergency stop switch.

7. A coal-rock identification sensor performance testing device according to claim 1, characterized in that: The computing terminal includes a collection setting module, a data storage module, a data processing module, a coal-rock layer position line tracking module and a result export module; The acquisition setting module sets the sampling time window, sampling frequency and sampling mode of the coal-rock identification sensor; The data storage module stores the data collected by the coal-rock identification sensor and customizes the file name and storage location of the collected raw data; The data processing module performs background denoising, one-dimensional filtering, time gain and sliding average data processing on the raw data collected by the coal-rock identification sensor; The coal-rock layer line tracking module selects the target layer and tracks the coal-rock layer line through the data processed by the data processing module; The result export module exports and analyzes the data stored and processed by the data storage module and the data processing module and the coal layer line tracked by the coal layer line tracking module.

8. A method for testing the performance of a coal-rock identification sensor, implemented based on the device of claim 5, characterized in that: The following steps are involved: Step 1: Fix the coal-rock identification sensor on the mounting bracket of the motion module, and manually adjust the distance between the coal-rock identification sensor and the coal seam up and down through the mounting bracket; Step 2: A position is given through the visual touch screen, and the motion module drives the coal-rock identification sensor to the given position to identify the coal-rock structure at the given position; Step 3: Control the motion module to move at a uniform speed to identify coal and rock structures at all positions; set a speed through the visual touch screen, and the motion module drives the coal and rock identification sensor to perform fixed-point circular motion, that is, to perform reciprocating simulated motion on the horizontal X-axis guide rail and the horizontal Y-axis guide rail of the motion simulation unit to identify coal and rock structures at all positions; Step 4: Control the motion module to perform jog movement to conduct exploratory coal-rock structure identification; jog control the motion module, click the motion module once to drive the coal-rock identification sensor to move, and conduct exploratory coal-rock structure identification according to actual needs.

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