Tunneling machine coal rock interface monitoring device and method based on terahertz imaging technology

Abstract

The invention discloses a heading machine coal rock interface monitoring device and method based on a terahertz imaging technology. The method comprises the steps that terahertz waves are emitted through a terahertz wave emitter; dividing the terahertz wave into two beams of terahertz waves through a two-way beam splitter; processing the two beams of terahertz waves through an optical processing module to obtain a terahertz wave beam converging plane; carrying out area array scanning on the coal-rock interface of the heading machine based on the converged plane of the terahertz wave beams through a lens to obtain reflected terahertz wave signals; receiving the reflected terahertz wave signal through a terahertz wave detector; processing and analyzing the terahertz wave signal through a signal processing unit to obtain a grey-scale map of the coal-rock interface of the heading machine; and performing image processing on the grey-scale map through a computer to obtain monitoring information of the coal-rock interface of the heading machine. The method is applied to mining of the underground heading machine on coal mines, the problem that the heading machine ineffectively mines rock stratums can be effectively solved, and the mining efficiency of the coal mines is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of reflective terahertz imaging, and in particular relates to a device and method for monitoring coal-rock interface of a roadheader based on terahertz imaging technology. Background Art

[0002] In the process of coal mining, the roadheader is a key mining equipment, and its operating efficiency and safety are directly related to the benefits and safety of the entire mining project. However, the accurate identification of the coal-rock interface during the operation of the roadheader has always been a technical problem. Traditional coal-rock interface identification methods often rely on the experience and feeling of the operator, which not only has low accuracy, but is also easily affected by environmental factors, thus restricting the efficient and safe operation of the roadheader.

[0003] In recent years, with the rapid development of terahertz imaging technology, it has shown great application potential in the fields of material identification, safety inspection and non-destructive testing. Terahertz waves have unique properties such as penetration, non-ionizing radiation, water absorption, and fingerprint spectrum, which can accurately detect the internal structure and composition of materials. Therefore, applying terahertz imaging technology to the monitoring of the coal-rock interface of the tunnel boring machine is expected to achieve rapid and accurate identification of the coal-rock interface and improve the operating efficiency and safety of the tunnel boring machine.

[0004] In the prior art, terahertz imaging technology is used to perform online identification of the coal-rock interface, but the prior art has the following shortcomings: ① Manual teaching is required for the first cut, which lacks intelligence and automation; ② The process of receiving and processing signals is relatively cumbersome, and the amount of calculation required for processing is large, which will cause the feedback of the core alarm device to have a certain lag. Summary of the invention

[0005] In order to solve the above technical problems, the present invention proposes a coal-rock interface monitoring device and method for a roadheader based on terahertz imaging technology to solve the problems existing in the above-mentioned prior art.

[0006] To achieve the above object, the present invention provides a roadheader coal-rock interface monitoring device based on terahertz imaging technology, comprising:

[0007] A terahertz wave transmitter, used for emitting terahertz waves;

[0008] A two-way beam splitter, used for splitting the terahertz wave into two beams;

[0009] An optical processing module is used to process two terahertz wave beams to obtain a surface from which the terahertz wave beams converge;

[0010] A lens is used to perform a surface array scan on the coal-rock interface of the tunneling machine based on the convergence of the terahertz beam to obtain a reflected terahertz wave signal;

[0011] A terahertz wave detector, used for receiving the reflected terahertz wave signal;

[0012] A signal processing unit, electrically connected to the terahertz wave detector, and configured to process and analyze the terahertz wave signal to obtain a grayscale image of the coal-rock interface of the tunneling machine;

[0013] A computer, electrically connected to the signal processing unit, and configured to perform image processing on the grayscale image to obtain monitoring information of the coal-rock interface of the roadheader;

[0014] Preferably, it also includes a shell, the terahertz wave transmitter, the two-way beam splitter, the optical processing module and the terahertz wave detector are fixedly installed inside the shell, a lens is installed on one side of the terahertz wave detector, the lens is fixedly installed on one side of the shell, the signal processing unit is fixedly installed above the shell, the signal processing unit is wired to the terahertz wave detector through the center hole on the upper surface of the shell, and the signal processing unit is wired to the computer.

[0015] Preferably, the transmitting probe of the terahertz wave transmitter and the receiving probe of the dichroic beam splitter are arranged concentrically at a fixed distance.

[0016] Preferably, the optical processing module comprises:

[0017] A first reflecting mirror (31) is used to receive two beams of terahertz waves and reflect the two beams of terahertz waves to a second reflecting mirror (32);

[0018] A second reflecting mirror (32), used for reflecting the two terahertz waves to the collimating mirror (33);

[0019] The collimator (33) is used to expand the radial range of the two terahertz beams and emit the terahertz beams to converge into a surface.

[0020] Preferably, it also includes a two-axis robotic arm connected to the housing.

[0021] Preferably, the two-axis robotic arm is fixed by an upper fixing plate and a lower fixing plate, the upper fixing plate is fixed to the bottom of the outer shell by bolts, and the lower fixing plate is fixed to the top plate of the tunnel boring machine by bolts.

[0022] The present invention also provides a method for monitoring the coal-rock interface of a roadheader based on terahertz imaging technology, which is used to implement the device for monitoring the coal-rock interface of a roadheader based on terahertz imaging technology, and comprises the following steps:

[0023] emitting terahertz waves by a terahertz wave transmitter;

[0024] Splitting the terahertz wave into two terahertz waves by a two-way beam splitter;

[0025] The two terahertz waves are processed by an optical processing module to obtain a surface where the terahertz beams converge;

[0026] Through a lens, based on the convergence of the terahertz beam, a surface array scan is performed on the coal-rock interface of the tunneling machine to obtain a reflected terahertz wave signal;

[0027] The reflected terahertz wave signal is received by a terahertz wave detector;

[0028] The terahertz wave signal is processed and analyzed by a signal processing unit to obtain a grayscale image of the coal-rock interface of the roadheader;

[0029] The grayscale image is processed by a computer to obtain monitoring information of the coal-rock interface of the tunneling machine.

[0030] Preferably, the process of performing image processing on the grayscale image includes:

[0031] Using the Otsu segmentation algorithm optimized by the sparrow algorithm, the grayscale image is subjected to binary segmentation processing to obtain a segmented coal rock image;

[0032] The Canny edge detection algorithm is used to detect the boundaries of the segmented coal-rock images;

[0033] The segmented coal-rock images are morphologically processed to obtain monitoring information of the coal-rock interface.

[0034] Compared with the prior art, the present invention has the following advantages and technical effects:

[0035] The present invention provides a roadheader coal-rock interface monitoring device based on terahertz imaging technology, wherein a terahertz wave is emitted by a terahertz wave transmitter; the terahertz wave is divided into two terahertz waves by a two-way beam splitter; the two terahertz waves are processed by an optical processing module to obtain a surface formed by the terahertz wave beams; a surface array scanning is performed on the roadheader coal-rock interface by a lens based on the surface formed by the terahertz beams, to obtain a reflected terahertz wave signal; the reflected terahertz wave signal is received by a terahertz wave detector; the terahertz wave signal is processed and analyzed by a signal processing unit to obtain a grayscale image of the roadheader coal-rock interface; and the grayscale image is image processed by a computer to obtain monitoring information of the roadheader coal-rock interface.

[0036] The present invention utilizes terahertz imaging technology to perform area array scanning on the surface to be measured, obtains the reflected terahertz wave signal through the terahertz wave detector, and then processes and analyzes the terahertz wave signal by the signal processing unit, extracts characteristic information and generates a grayscale image of the surface to be measured, and finally combines various image processing algorithms in the computer to achieve precise positioning of the target interface to be measured.

[0037] In view of the shortcomings of the prior art, the present invention does not need to adopt the guidance of manual teaching, avoids the learning process of the invented device to achieve the first knife cutting, omits the calculation and processing process of this part, thereby saving a certain amount of time cost, and improves the intelligence and automation of the present invention; in addition, the reception and processing process of the terahertz signal in the present invention is simpler than that of the prior art, the required calculation amount is small, and real-time detection of the surface to be measured can be realized, and the prediction ability of the prior art is enhanced, reducing the workload of the staff.

[0038] The present invention is applied to the mining of coal mines by underground tunnel boring machines, which can effectively solve the problem of ineffective mining of rock strata by tunnel boring machines, improve the mining efficiency of coal mines, and greatly reduce the wear of rocks on tunnel boring drill bits, thereby realizing intelligent mining of tunnel boring machines in underground coal mines. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0040] Figure 1 Schematic diagram of the overall structure of a device for monitoring coal-rock interface of a roadheader based on terahertz imaging technology according to an embodiment of the present invention;

[0041] Figure 2 It is a partial exploded view of an embodiment of the present invention;

[0042] Figure 3 This is a schematic diagram of the operation of a two-axis robotic arm according to an embodiment of the present invention;

[0043] Figure 4 is a schematic diagram of a terahertz wave propagation path in an optical processing module according to an embodiment of the present invention;

[0044] Figure 5 This is a schematic diagram of the working state of a tunnel boring machine according to an embodiment of the present invention;

[0045] Among them, 1. terahertz wave transmitter; 2. two-way beam splitter; 3. optical processing module; 31. first reflector; 32. second reflector; 33. collimator; 4. terahertz wave detector; 5. lower fixing plate; 6. two-axis robotic arm; 7. upper fixing plate; 8. lens; 9. housing; 10. signal processing unit; 11. computer. DETAILED DESCRIPTION

[0046] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0047] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0048] Embodiment 1

[0049] like Figure 1-2 As shown, in this embodiment, a roadheader coal-rock interface monitoring device based on terahertz imaging technology is provided, comprising:

[0050] A terahertz wave transmitter 1, used for transmitting terahertz waves;

[0051] A two-way beam splitter 2, used for splitting the terahertz wave into two beams of terahertz waves;

[0052] The optical processing module 3 is used to process the two terahertz wave beams to obtain a surface formed by the terahertz wave beams;

[0053] Lens 8, used for performing a surface array scan on the coal-rock interface of the tunneling machine based on the convergence of the terahertz beam to obtain a reflected terahertz wave signal;

[0054] A terahertz wave detector 4 is used to receive the reflected terahertz wave signal;

[0055] A signal processing unit 10 is used to process and analyze the terahertz wave signal to obtain a grayscale image of the coal-rock interface of the tunneling machine;

[0056] Computer 11, used for performing image processing on the grayscale image to obtain monitoring information of the coal-rock interface of the roadheader;

[0057] Among them, the terahertz wave transmitter 1, the two-way beam splitter 2, the optical processing module 3 and the terahertz wave detector 4 are fixedly installed inside the shell 9, a lens 8 is installed on one side of the terahertz wave detector 4, and the lens 8 is fixedly installed on one side of the shell 9. The signal processing unit 10 is fixedly installed above the shell 9, and the signal processing unit 10 is wiredly connected to the terahertz wave detector 4 through the central hole on the upper surface of the shell 9, and the signal processing unit 10 is wiredly connected to the computer 11.

[0058] Specifically, the transmitting probe of the terahertz wave transmitter 1 and the receiving probe of the dichroic beam splitter 2 are arranged concentrically at a certain distance, the two sides of the dichroic beam splitter 2 are respectively fixed to the optical processing module 3, and the dichroic beam splitter 2 and the terahertz wave detector 4 are fixedly arranged.

[0059] Furthermore, the optical processing module 3 is composed of a first reflector 31, a second reflector 32, a collimator 33 and an optical module housing. The first reflector 31 and the second reflector 32 are respectively fixedly matched with the optical module housing at a certain angle, and the collimator 33 is fixedly matched with the terminal port of the optical module to achieve the following Figure 4 , the propagation path of terahertz waves inside the optical module.

[0060] Specifically, the propagation route of the terahertz wave is as follows: the terahertz wave transmitter 1 emits a terahertz wave, which propagates to the two-way beam splitter 2, and the two-way beam splitter 2 divides the terahertz wave into two beams of terahertz waves, which are respectively emitted to the first reflectors 31 on both sides, and then the first reflector 31 reflects the terahertz wave to the second reflector 32 at a certain angle. Similarly, the second reflector 32 reflects the terahertz wave to the collimator 33 at a certain angle. The collimator 33 can expand the radial range of the terahertz beam, so that the terahertz beams emitted by the collimators 33 on both sides converge into a surface, and the surface array scanning is realized on the surface to be measured through the lens 8.

[0061] Furthermore, the monitoring device also includes a two-axis mechanical arm 6 connected to the housing 9, which is used to realize the multi-directional and multi-angle rotation of the device in space, that is, Figure 3 As shown, rotation in X and Y directions is achieved.

[0062] The two-axis mechanical arm 6 is fixed to the upper fixing plate 7 and the lower fixing plate 5 respectively, and the upper fixing plate 7 is fixed to the bottom of the housing 9 by bolts. The lower fixing plate 5 is fixed to the upper surface of the top plate of the tunnel boring machine drill tube by bolts, referring to Figure 5 .

[0063] Embodiment 2

[0064] This embodiment provides a method for monitoring the coal-rock interface of a roadheader based on terahertz imaging technology, which is used to implement the device for monitoring the coal-rock interface of a roadheader based on terahertz imaging technology described in the first embodiment, and includes the following steps:

[0065] The terahertz wave is emitted by the terahertz wave emitter 1;

[0066] Splitting the terahertz wave into two terahertz waves by a two-way beam splitter 2;

[0067] The two terahertz waves are processed by the optical processing module 3 to obtain a terahertz wave beam converged into a surface;

[0068] Through the lens 8, the terahertz wave beam is converged into a surface array scanning on the coal-rock interface of the tunneling machine to obtain the reflected terahertz wave signal;

[0069] The terahertz wave detector 4 receives the reflected terahertz wave signal;

[0070] The terahertz wave signal is processed and analyzed by the signal processing unit 10 to obtain a grayscale image of the coal-rock interface of the tunneling machine;

[0071] The grayscale image is processed by the computer 11 to obtain monitoring information of the coal-rock interface of the roadheader.

[0072] Further, the process of performing image processing on the grayscale image includes:

[0073] S1, the computer 11 performs image preprocessing on the received grayscale image to improve the image quality so that the edge information can be highlighted. The Otsu segmentation algorithm based on the sparrow algorithm optimization is further used to perform binary segmentation processing on the preprocessed image, so as to extract the feature information of the grayscale image. The feature information is reflected by the regional contrast, where the regional contrast is an indicator to measure the image segmentation quality, and its value is proportional to the segmentation quality. The calculation formula of the regional contrast C is as follows:

[0074] C=|f 0 -f 1 | / (f 0 +f 1 )

[0075] In the formula, f 0 Indicates the number of background pixels; f 1 Indicates the number of target pixels;

[0076] S2, using the Canny edge detection algorithm to further process the segmented grayscale image, so as to accurately identify the information of the coal-rock interface, but there is still other interference information that needs to be further processed;

[0077] S3, morphological processing of the image, that is, the segmented image is first closed and then opened to obtain the target coal-rock interface information. There are four basic morphological operations, namely dilation, erosion, opening and closing. The erosion operation can extract the backbone information and remove burrs; the dilation operation is used to fill the holes at the edge or inside; the opening operation is first erosion and then dilation, which is used to remove isolated points outside the target; the closing operation is the opposite of the opening operation process, and is mainly used to connect two areas to form a connected domain;

[0078] In this embodiment, the computer 11 transmits the extracted coal-rock interface information to the control center. By verifying and comparing the image information with the actual information, the staff can remotely control the drill movement of the tunnel boring machine, thereby realizing intelligent mining operation of the tunnel boring machine.

[0079] The above are only preferred specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A roadheader coal-rock interface monitoring device based on terahertz imaging technology, characterized in that: include: A terahertz wave transmitter (1), used for transmitting terahertz waves; A two-way beam splitter (2), used for splitting the terahertz wave into two beams; An optical processing module (3) is used to process two terahertz wave beams to obtain a surface formed by the terahertz wave beams converging; A lens (8) is used to perform a surface array scan on the coal-rock interface of the tunneling machine based on the convergence of the terahertz wave beam to obtain a reflected terahertz wave signal; A terahertz wave detector (4), used for receiving the reflected terahertz wave signal; A signal processing unit (10) is electrically connected to the terahertz wave detector (4), and the signal processing unit (10) is used to process and analyze the terahertz wave signal to obtain a grayscale image of the coal-rock interface of the tunneling machine; A computer (11) is electrically connected to the signal processing unit (10), and the computer (11) is used to perform image processing on the grayscale image to obtain monitoring information of the coal-rock interface of the tunneling machine.

2. The device for monitoring coal-rock interface of a roadheader based on terahertz imaging technology according to claim 1 is characterized in that: The invention also comprises a housing (9), wherein the terahertz wave transmitter (1), the two-way beam splitter (2), the optical processing module (3) and the terahertz wave detector (4) are fixedly mounted inside the housing (9), a lens (8) is mounted on one side of the terahertz wave detector (4), and the lens (8) is fixedly mounted on one side of the housing (9), and the signal processing unit (10) is fixedly mounted above the housing (9), and the signal processing unit (10) is connected to the terahertz wave detector (4) by wire through a central hole on the upper surface of the housing (9).

3. The device for monitoring coal-rock interface of a roadheader based on terahertz imaging technology according to claim 1, characterized in that: The transmitting probe of the terahertz wave transmitter (1) and the receiving probe of the dichroic beam splitter (2) are arranged concentrically at a fixed distance.

4. The device for monitoring coal-rock interface of a roadheader based on terahertz imaging technology according to claim 1, characterized in that: The optical processing module (3) comprises: A first reflecting mirror (31) is used to receive two beams of terahertz waves and reflect the two beams of terahertz waves to a second reflecting mirror (32); A second reflecting mirror (32), used for reflecting the two terahertz waves to the collimating mirror (33); The collimator (33) is used to expand the radial range of the two terahertz beams and emit the terahertz beams to converge into a surface.

5. The device for monitoring coal-rock interface of a roadheader based on terahertz imaging technology according to claim 2, characterized in that: It also includes a two-axis mechanical arm (6) connected to the housing (9).

6. The device for monitoring coal-rock interface of a roadheader based on terahertz imaging technology according to claim 5, characterized in that: The two-axis mechanical arm (6) is fixed by an upper fixing plate (7) and a lower fixing plate (5); the upper fixing plate (7) is fixed to the bottom of the housing (9) by bolts; and the lower fixing plate (5) is fixed to the top plate of the tunnel boring machine by bolts.

7. A method for monitoring coal-rock interface of a roadheader based on terahertz imaging technology, used to implement the device for monitoring coal-rock interface of a roadheader based on terahertz imaging technology as claimed in any one of claims 1 to 6, characterized in that: The following steps are involved: emitting a terahertz wave through a terahertz wave transmitter (1); Splitting the terahertz wave into two beams of terahertz waves by a two-way beam splitter (2); The two terahertz waves are processed by an optical processing module (3) to obtain a surface where the terahertz wave beams converge; Through a lens (8), based on the convergence of the terahertz wave beams, a surface array scan is performed on the coal-rock interface of the tunneling machine to obtain a reflected terahertz wave signal; receiving the reflected terahertz wave signal through a terahertz wave detector (4); The terahertz wave signal is processed and analyzed by a signal processing unit (10) to obtain a grayscale image of the coal-rock interface of the roadheader; The grayscale image is processed by a computer (11) to obtain monitoring information of the coal-rock interface of the tunneling machine.

8. The method for monitoring coal-rock interface of a roadheader based on terahertz imaging technology according to claim 7 is characterized in that: The process of performing image processing on the grayscale image includes: Using the Otsu segmentation algorithm optimized by the sparrow algorithm, the grayscale image is subjected to binary segmentation processing to obtain a segmented coal rock image; The Canny edge detection algorithm is used to detect the boundaries of the segmented coal-rock images; The segmented coal-rock images are morphologically processed to obtain monitoring information of the coal-rock interface.

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