Coal mine operation equipment distance measurement identification method based on multiple millimeter wave radars

Abstract

The invention provides a coal mine operation equipment distance measurement identification method based on multiple millimeter wave radars, and relates to the technical field of coal mine safety detection, and the method comprises the steps: obtaining the width of a roadway; arranging the distance measuring assembly on the coal mine operation equipment, and obtaining a measurement value of the distance measuring assembly in real time; determining whether the ranging assembly is shielded based on the roadway width and the measured value of the ranging assembly; if the distance measuring assembly is shielded, compensating the measured value of the distance measuring assembly, and outputting the compensated measured value as the distance between the left side and the right side of the coal mine operation equipment and the roadway; and if the distance measurement assembly is not shielded, directly outputting the measurement value of the distance measurement assembly as the distance between the left and right sides of the coal mine operation equipment and the roadway. According to the invention, the shielded distance measurement assembly is subjected to measurement value compensation, so that the condition of distance measurement interruption or incomplete data of the distance measurement assembly is avoided, and the continuity and accuracy of distance measurement of the coal mine operation equipment are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine safety detection, and in particular to a coal mine operating equipment ranging and identification method based on multi-millimeter wave radar. Background Art

[0002] In the current context, when various coal mine operating equipment (such as integrated drilling and anchoring machines, anchor transport and breaking robots, etc.) work in the underground environment of coal mines, it is necessary to locate and measure the distance of each coal mine operating equipment through ranging and identification methods. By measuring the distance between each coal mine operating equipment and the side wall of the tunnel and positioning each coal mine operating equipment, applications such as safe production, automated scheduling, and intelligent inspection in coal mines can be realized. At the same time, due to the problems of narrow space, insufficient ambient light, high dust concentration, high air humidity, and a large amount of flammable and explosive gases in underground coal mines, high requirements are placed on the stability, real-time nature, and environmental adaptability of the ranging and identification methods.

[0003] At present, when measuring the distance between coal mine operating equipment and the left and right side walls of the tunnel, the distance measurement and identification method usually adopts image recognition and other means. The distance measurement equipment generally adopts laser radar, ultrasonic wave, infrared sensor, etc. Due to the large size and changeable posture of the equipment operating in the coal mine, the distance measurement equipment is often blocked. The distance measurement equipment in the existing distance measurement and identification method lacks an effective compensation mechanism when blocked, resulting in distance measurement interruption or incomplete data, and cannot guarantee the continuity and accuracy of distance measurement. Therefore, the existing distance measurement and identification method has the problems of poor continuity and poor accuracy when measuring the distance of coal mine operating equipment in the coal mine. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a coal mine operating equipment ranging and identification method based on multi-millimeter wave radar, which can solve the technical problems of poor continuity and poor accuracy in the existing technology when measuring the distance of coal mine operating equipment underground in coal mines.

[0005] In order to achieve the above objectives, the technical solutions adopted in the embodiments of the present invention are as follows:

[0006] In a first aspect, an embodiment of the present invention provides a method for ranging and identifying coal mine operating equipment based on a multi-millimeter wave radar, which is used to detect the distance between the left and right sides of coal mine operating equipment and the roadway in real time. The method includes:

[0007] Obtaining the lane width of the lane;

[0008] A distance measuring component is installed on the coal mine operating equipment to obtain the measurement value of the distance measuring component in real time; wherein the distance measuring component is used to measure the distance between the left and right sides of the coal mine operating equipment and the roadway in real time; there are multiple distance measuring components, and each distance measuring component is a millimeter wave radar;

[0009] determining whether the ranging component is blocked based on the lane width and a measurement value of the ranging component;

[0010] If the ranging component is blocked, the measurement value of the ranging component is compensated, and the compensated measurement value is output as the distance between the left and right sides of the coal mine operating equipment and the roadway; if the ranging component is not blocked, the measurement value of the ranging component is directly output as the distance between the left and right sides of the coal mine operating equipment and the roadway.

[0011] Furthermore, an embodiment of the present invention provides a first possible implementation manner of the first aspect, wherein the distance measuring assembly includes: a first left distance measuring assembly, a first right distance measuring assembly, a second left distance measuring assembly, and a second right distance measuring assembly; wherein the first left distance measuring assembly is arranged at the left front of the coal mine operating equipment; the first right distance measuring assembly is arranged at the right front of the coal mine operating equipment; the second left distance measuring assembly is arranged at the left rear of the coal mine operating equipment; and the second right distance measuring assembly is arranged at the right rear of the coal mine operating equipment;

[0012] The step of obtaining the measurement value of the ranging component in real time includes:

[0013] Acquire a horizontal distance between the first left ranging component and the first right ranging component as a first horizontal distance, and acquire a horizontal distance between the second left ranging component and the second right ranging component as a second horizontal distance;

[0014] Acquire the horizontal distance between the first left ranging component and the second left ranging component as a third horizontal distance, acquire the vertical distance between the first left ranging component and the second left ranging component as a first vertical distance, acquire the horizontal distance between the first right ranging component and the second right ranging component as a fourth horizontal distance, and acquire the vertical distance between the first right ranging component and the second right ranging component as a second vertical distance;

[0015] The detection values of the first left ranging component, the first right ranging component, the second left ranging component, and the second right ranging component are respectively obtained as the first left measurement value, the first right measurement value, the second left measurement value, and the second right measurement value.

[0016] Furthermore, an embodiment of the present invention provides a second possible implementation of the first aspect, wherein the step of determining whether the ranging component is blocked based on the lane width and the measurement value of the ranging component includes:

[0017] Calculating the sum of the first horizontal distance, the first left measurement value, and the first right measurement value to obtain a first sum value;

[0018] Calculating the sum of the second horizontal distance, the second left measurement value, and the second right measurement value to obtain a second sum value;

[0019] Based on the first sum value, the second sum value, and the lane width, it is determined whether the first left ranging component, the first right ranging component, the second left ranging component, and the second right ranging component are blocked.

[0020] Furthermore, an embodiment of the present invention provides a third possible implementation manner of the first aspect, wherein the step of determining whether the first left ranging component, the first right ranging component, the second left ranging component, and the second right ranging component are blocked based on the first sum value, the second sum value, and the lane width includes:

[0021] Calculating a difference between the first sum and the lane width to obtain a first difference;

[0022] Calculating a difference between the second sum and the lane width to obtain a second difference;

[0023] Calculating a difference between the first sum and the second sum to obtain a third difference;

[0024] If the first difference is greater than or equal to 0, the second difference is greater than or equal to 0, and the absolute value of the third difference is less than or equal to a preset threshold, it is determined that the first left ranging component, the first right ranging component, the second left ranging component, and the second right ranging component are not blocked;

[0025] If the third difference is greater than a preset threshold and the first difference is greater than or equal to 0, it is determined that at least one of the second left ranging component and the second right ranging component is blocked, and the first left ranging component and the first right ranging component are not blocked;

[0026] If the third difference is less than the inverse of a preset threshold and the second difference is greater than or equal to 0, it is determined that at least one of the first left ranging component and the first right ranging component is blocked, and the second left ranging component and the second right ranging component are not blocked;

[0027] If the first difference is less than 0 and the second difference is less than 0, it is determined that at least one of the first left ranging component and the first right ranging component is blocked, and at least one of the second left ranging component and the second right ranging component is blocked.

[0028] Furthermore, an embodiment of the present invention provides a fourth possible implementation manner of the first aspect, wherein, if the third difference is greater than a preset threshold and the first difference is greater than or equal to 0, the step of determining that at least one of the second left ranging component and the second right ranging component is blocked, and neither the first left ranging component nor the first right ranging component is blocked, includes:

[0029] determining a first heading angle of the coal mining operation component based on the roadway width and the first sum value;

[0030] A left projection value is determined based on the first heading angle and the first vertical distance, and a right projection value is determined based on the first heading angle and the second vertical distance; wherein the left projection value is the distance between the intersection of the extended line of the first left ranging component and the ranging line of the second left ranging component and the coal mine operating equipment along the ranging line of the second left ranging component; and the right projection value is the distance between the intersection of the extended line of the first right ranging component and the ranging line of the second right ranging component and the coal mine operating equipment along the ranging line of the second right ranging component;

[0031] Determine the first equivalent value based on the left projection value, the first left measurement value and the third horizontal distance; wherein the first equivalent value is an approximation of the second left measurement value when the second left distance measuring component is not blocked;

[0032] Determine the second equivalent value based on the right projection value, the first right measurement value and the fourth horizontal distance; wherein the second equivalent value is an approximation of the second right measurement value when the second right distance measuring component is not blocked;

[0033] Determining an obscured component of the second left ranging component and the second right ranging component based on the first equivalent value, the second equivalent value, the second left measurement value, and the second right measurement value; wherein, if the difference between the first equivalent value and the second left measurement value at this time is greater than the preset threshold, determining that the second left ranging component is obscured, and / or, if the difference between the second equivalent value and the second right measurement value at this time is greater than the preset threshold, determining that the second right ranging component is obscured;

[0034] Based on the first difference being greater than or equal to 0, it is determined that neither the first left ranging component nor the first right ranging component is blocked.

[0035] Furthermore, an embodiment of the present invention provides a fifth possible implementation manner of the first aspect, wherein if the third difference is less than the inverse of a preset threshold and the second difference is greater than or equal to 0, the step of determining that at least one of the first left ranging component and the first right ranging component is blocked and neither the second left ranging component nor the second right ranging component is blocked includes:

[0036] Determine the third equivalent value based on the left projection value, the second left measurement value and the third horizontal distance; wherein the third equivalent value is an approximation of the first left measurement value when the first left distance measuring component is not blocked;

[0037] Determine the fourth equivalent value based on the right projection value, the second right measurement value and the fourth horizontal distance; wherein the fourth equivalent value is an approximation of the first right measurement value when the first right distance measuring component is not blocked;

[0038] Determining an obscured component of the first left ranging component and the first right ranging component based on the third equivalent value, the fourth equivalent value, the first left measurement value, and the first right measurement value; wherein, if the difference between the third equivalent value and the first left measurement value at this time is greater than the preset threshold, it is determined that the first left ranging component is obscured, and / or, if the difference between the fourth equivalent value and the first right measurement value at this time is greater than the preset threshold, it is determined that the first right ranging component is obscured;

[0039] Based on the second difference being greater than or equal to 0, it is determined that neither the second left ranging component nor the second right ranging component is blocked.

[0040] Furthermore, an embodiment of the present invention provides a sixth possible implementation manner of the first aspect, wherein the step of determining that at least one of the first left ranging component and the first right ranging component is blocked and at least one of the second left ranging component and the second right ranging component is blocked if the first difference is less than 0 and the second difference is less than 0 includes:

[0041] Calculate the sum of the first left measurement value, the first horizontal distance, and the fourth equivalent value to obtain a third sum value;

[0042] Calculate the sum of the third equivalent value, the first horizontal distance, and the first right measurement value to obtain a fourth sum value;

[0043] Calculate the sum of the second left measurement value, the second horizontal distance, and the second equivalent value to obtain a fifth sum value;

[0044] Calculate the sum of the first equivalent value, the second horizontal distance, and the second right measurement value to obtain a sixth sum value;

[0045] Determining an obscured component of the first left ranging component and the first right ranging component based on the third sum, the fourth sum, and the lane width; wherein, if the difference between the third sum and the lane width is greater than or equal to a preset threshold, determining that the first right ranging component is obscured, and / or, if the difference between the fourth sum and the lane width is greater than or equal to the preset threshold, determining that the first left ranging component is obscured;

[0046] Based on the fifth sum, the sixth sum, and the lane width, the obscured component of the second left ranging component and the second right ranging component is determined; wherein, if the difference between the fifth sum and the lane width is greater than or equal to a preset threshold, it is determined that the second right ranging component is obscured, and / or, if the difference between the sixth sum and the lane width is greater than or equal to the preset threshold, it is determined that the second left ranging component is obscured.

[0047] Furthermore, the embodiment of the present invention provides a seventh possible implementation of the first aspect, which further includes the steps of:

[0048] If the occlusion conditions of at least three ranging components cannot be determined, the initial detection values of the first left ranging component, the first right ranging component, the second left ranging component, and the second right ranging component are respectively obtained as the first left initial value, the first right initial value, the second left initial value, and the second right initial value;

[0049] Based on the first left measurement value, the first right measurement value, the second left measurement value, the second right measurement value, the first left initial value, the first right initial value, the second left initial value, and the second right initial value at this time, it is determined whether each of the ranging components is blocked; wherein, if the absolute value of the difference between the first left measurement value and the first left initial value is greater than the preset threshold, it is determined that the first left ranging component is blocked; if the absolute value of the difference between the first right measurement value and the first right initial value is greater than the preset threshold, it is determined that the first right ranging component is blocked; if the absolute value of the difference between the second left measurement value and the second left initial value is greater than the preset threshold, it is determined that the second left ranging component is blocked; if the absolute value of the difference between the second right measurement value and the second right initial value is greater than the preset threshold, it is determined that the second right ranging component is blocked.

[0050] Furthermore, an embodiment of the present invention provides an eighth possible implementation manner of the first aspect, wherein the step of compensating the measurement value of the ranging component if the ranging component is blocked includes:

[0051] The measurement value of the distance measuring component at this time is compensated to the measurement value before the measurement value of the distance measuring component changes suddenly.

[0052] Furthermore, an embodiment of the present invention provides a ninth possible implementation of the first aspect, which also includes the steps of comparing the distances of the left and right sides of the coal mine operating equipment from the roadway with the preset alarm thresholds, and issuing an alarm if the distances of the left and right sides of the coal mine operating equipment from the roadway are less than or equal to the preset alarm thresholds.

[0053] An embodiment of the present invention provides a ranging and identification method for coal mine operating equipment based on multiple millimeter-wave radars. The ranging and identification method includes: obtaining the width of a tunnel; arranging a ranging component on the coal mine operating equipment and obtaining a measurement value of the ranging component in real time; wherein the ranging component is used to measure the distance between the left and right sides of the coal mine operating equipment and the tunnel in real time; there are multiple ranging components, and the ranging components are millimeter-wave radars; determining whether the ranging component is blocked based on the tunnel width and the measurement value of the ranging component; if the ranging component is blocked, compensating the measurement value of the ranging component and outputting the compensated measurement value as the distance between the left and right sides of the coal mine operating equipment and the tunnel; if the ranging component is not blocked, directly outputting the measurement value of the ranging component as the distance between the left and right sides of the coal mine operating equipment and the tunnel. The present invention arranges a distance measuring component on coal mine operating equipment so as to obtain the distances between the left and right sides of the coal mine operating equipment and the roadway in real time, compares the measurement value of the distance measuring component with the roadway width of the roadway to determine whether the distance measuring component is blocked, compensates for the measurement value of the blocked distance measuring component so that the data of each measurement component remains complete and continuous, avoids the situation where the distance measuring component has distance measurement interruption or incomplete data, and finally uses the measurement value of the distance measuring component as the distance between the left and right sides of the coal mine operating equipment and the roadway, thereby improving the continuity and accuracy of the distance measurement of the coal mine operating equipment in the coal mine.

[0054] Other features and advantages of the embodiments of the present invention will be described in the following description, or some features and advantages can be inferred or determined without doubt from the description, or can be learned by implementing the above-mentioned technologies of the embodiments of the present invention.

[0055] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0057] Figure 1 A schematic flow chart of a method for ranging and identifying coal mine operating equipment based on multi-millimeter-wave radars provided by an embodiment of the present invention is shown;

[0058] Figure 2 A schematic diagram showing a coal mine operation equipment provided by an embodiment of the present invention in a non-tilted state is shown;

[0059] Figure 3 A schematic diagram showing a coal mine operating equipment provided by an embodiment of the present invention in a left-tilted state is shown;

[0060] Figure 4 A schematic diagram showing a coal mine operation equipment provided by an embodiment of the present invention in a right tilted state is shown;

[0061] Figure 5 A module schematic diagram of a distance measurement system provided by an embodiment of the present invention is shown;

[0062] Figure 6 A schematic structural diagram of a coal mine operation equipment provided by an embodiment of the present invention is shown;

[0063] Figure 7 A schematic diagram of a process for performing distance measurement and identification on coal mine operating equipment based on a distance measurement and identification method provided by an embodiment of the present invention is shown.

[0064] Description of Reference Numerals

[0065] 201 - first left ranging component, 202 - first right ranging component, 203 - second left ranging component, 204 - second right ranging component. DETAILED DESCRIPTION

[0066] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0067] This embodiment provides a method for measuring and identifying coal mine operating equipment based on multi-millimeter wave radar. This method can be applied to electronic devices such as computers and can detect the distance between the left and right sides of coal mine operating equipment and the roadway in real time. Figure 1 The flowchart of a method for ranging and identifying coal mining equipment based on multi-millimeter wave radar is shown. The method mainly includes the following steps:

[0068] Step S1, obtaining the lane width of the lane;

[0069] Coal mining equipment usually works in tunnels underground in coal mines. The above steps use the horizontal distance from the left inner wall to the right inner wall of the tunnel as the tunnel width, recorded as B, and use the obtained tunnel width to subsequently determine the obstruction of the ranging component on the coal mining equipment.

[0070] Step S3: installing a ranging component on the coal mine operating equipment and obtaining the measurement value of the ranging component in real time; wherein the ranging component is used to measure the distance between the left and right sides of the coal mine operating equipment and the roadway in real time; there are multiple ranging components, and the ranging components are millimeter wave radars;

[0071] In the above steps, the ranging component (i.e., millimeter-wave radar) is set on the coal mine operating equipment to obtain the distance between the left and right sides of the coal mine operating equipment and the roadway in real time through the ranging component. The coal mine operating equipment under the coal mine is usually large-scale equipment, mainly including integrated drilling and anchoring machines, anchor transport and breaking robots, etc.; the above-mentioned ranging component can usually use millimeter-wave radar, which has good anti-interference ability. At the same time, the following sensors can also be used alone or in combination as ranging components, including: LiDAR sensor: It is suitable for roadway areas with relatively low dust interference, and can provide high-density point cloud data to assist posture judgment; Ultra-wideband (Ultra-wideband) -UWB) wireless ranging sensor: It achieves high-precision ranging through a positioning system composed of multiple tags and anchor points, and has a certain penetration capability, which is suitable for short-distance high-precision requirements; TOF camera sensor or 3D structured light camera sensor: These two sensors can estimate the distance between the left and right sides of the coal mine operating equipment and the tunnel through the depth map in areas where lighting conditions permit; Inertial Measurement Unit (IMU) + Encoder: The combination of these two devices, combined with the trajectory and inclination changes of the coal mine operating equipment, can assist in estimating the relative displacement and posture information of the coal mine operating equipment, which is used to compensate for occlusion or signal loss.

[0072] Step S5, determining whether the ranging component is blocked based on the lane width and the measurement value of the ranging component;

[0073] When the ranging component is blocked, the measurement value will become 0, the signal value will be lost, and the measurement angle will not match. This will cause the measurement value of the ranging component (i.e., millimeter-wave radar) to become smaller. Therefore, by comparing the lane width and the measurement value of the ranging component, the difference between the two can be used to determine whether the ranging component is blocked.

[0074] Step S7: If the distance measuring component is blocked, the measurement value of the distance measuring component is compensated and the compensated measurement value is output as the distance between the left and right sides of the coal mine operating equipment and the roadway; if the distance measuring component is not blocked, the measurement value of the distance measuring component is directly output as the distance between the left and right sides of the coal mine operating equipment and the roadway;

[0075] In the above steps, by judging the occlusion of the ranging component, the measurement value is compensated when the ranging component is blocked to ensure the accuracy and continuity of the measurement value. Specifically, when compensating the measurement value of the ranging component, a PLC unit can be used to realize the compensation of the measurement value. At the same time, a fusion algorithm of Kalman filtering or particle filtering can be used to compensate the current measurement value in combination with historical measurement values. A neural network or machine learning model can also be referenced to learn the model through a large amount of working condition data of coal mine operating equipment, improve the compensation rules for the measurement value, and improve the intelligence level of judgment and compensation. The measurement value of the ranging component can also be weighted by using a fuzzy logic rule system to improve robustness.

[0076] The coal mine operating equipment ranging and identification method based on multi-millimeter wave radar provided by an embodiment of the present invention sets a ranging component on the coal mine operating equipment to obtain the distance between the left and right sides of the coal mine operating equipment and the roadway in real time, and compares the measurement value of the ranging component with the roadway width of the roadway to determine whether the ranging component is blocked, and compensates for the measurement value of the blocked ranging component so that the data of each measurement component remains complete and continuous, avoiding the ranging interruption or incomplete data of the ranging component, and finally uses the compensated measurement value of the blocked ranging component and the measurement value of the unblocked ranging component as the distance between the left and right sides of the coal mine operating equipment and the roadway, thereby improving the continuity and accuracy of ranging of the coal mine operating equipment in the coal mine.

[0077] In one embodiment, the distance measuring assembly provided in this embodiment includes: a first left distance measuring assembly 201, a first right distance measuring assembly 202, a second left distance measuring assembly 203, and a second right distance measuring assembly 204; wherein the first left distance measuring assembly 201 is arranged at the left front of the coal mine operating equipment; the first right distance measuring assembly 202 is arranged at the right front of the coal mine operating equipment; the second left distance measuring assembly 203 is arranged at the left rear of the coal mine operating equipment; and the second right distance measuring assembly 204 is arranged at the right rear of the coal mine operating equipment.

[0078] See also Figure 2The schematic diagram of a coal mine operating equipment shown is in a non-tilted state. The above-mentioned ranging components are respectively arranged at the left front, right front, left rear and right rear of the coal mine operating equipment. By installing two ranging components on both sides of the coal mine operating equipment, when a ranging component is blocked or signal distortion occurs, the historical data of the ranging component can be automatically called to compensate its measurement value, or the measurement value can be compensated by the effective measurement value of other radars, thereby achieving robust perception of the status of each ranging component. The compensation mechanism implemented by multiple ranging components has the ability to identify occlusions and dynamic judgment logic to ensure that the measurement values of each ranging component are continuously reliable. At the same time, multiple ranging components are set up. Unlike most current ranging systems that can only provide single-point or single-side distance information, the ranging components arranged on both sides of the coal mine operating equipment have the ability to perceive the overall heading angle, left and right offset or tilt state of the coal mine operating equipment, which enhances its application in scenarios such as automatic driving and assisted obstacle avoidance of coal mine operating equipment.

[0079] In addition to arranging the first left ranging component 201, the first right ranging component 202, the second left ranging component 203, and the second right ranging component 204 on the left and right sides of the coal mine operating equipment respectively, the ranging components can also be arranged in a surrounding ring shape. By arranging the ranging components (i.e., millimeter wave radar) circumferentially around the coal mine operating equipment, the impact of unidirectional occlusion on the ranging components can be reduced; a mobile radar scanning mechanism can also be provided, and a rotatable or movable millimeter wave radar probe is used for periodic scanning to reduce the number of ranging components. This structure is suitable for scenarios with limited space; when there are multiple coal mine operating equipment in a coal mine, multiple devices can be deployed in a coordinated manner, and the ranging values of the ranging components of the shared adjacent coal mine operating equipment can be used for cross-device ranging to improve the perception range.

[0080] A specific implementation method for obtaining the measurement value of the ranging component in real time is provided, including:

[0081] Step S31, obtaining the horizontal distance between the first left distance measuring component 201 and the first right distance measuring component 202 as the first horizontal distance, and obtaining the horizontal distance between the second left distance measuring component 203 and the second right distance measuring component 204 as the second horizontal distance;

[0082] The horizontal distance between the first left ranging component 201 and the first right ranging component 202 is obtained as a first horizontal distance, recorded as A1; the horizontal distance between the second left ranging component 203 and the second right ranging component 204 is obtained as a second horizontal distance, recorded as A2.

[0083] Step S32: Acquire the horizontal distance between the first left ranging component 201 and the second left ranging component 203 as the third horizontal distance, acquire the vertical distance between the first left ranging component 201 and the second left ranging component 203 as the first vertical distance, acquire the horizontal distance between the first right ranging component 202 and the second right ranging component 204 as the fourth horizontal distance, and acquire the vertical distance between the first right ranging component 202 and the second right ranging component 204 as the second vertical distance;

[0084] Step S33, respectively acquiring the detection values of the first left ranging component 201, the first right ranging component 202, the second left ranging component 203, and the second right ranging component 204 as the first left measurement value, the first right measurement value, the second left measurement value, and the second right measurement value;

[0085] The above-mentioned first horizontal distance is recorded as A1, the second horizontal distance is recorded as A2, the third horizontal distance is recorded as c1, the fourth horizontal distance is recorded as c2, the first vertical distance is recorded as b1, the second vertical distance is recorded as b2, the first left measurement value is recorded as X1, the first right measurement value is recorded as Y1, the second left measurement value is recorded as X2, and the second right measurement value is recorded as Y2. In an embodiment of the present invention, the set first vertical distance = second vertical distance = b.

[0086] In one embodiment, this embodiment provides a specific implementation of determining whether the ranging component is blocked based on the lane width and the measurement value of the ranging component, including:

[0087] Step S51, calculating the sum of the first horizontal distance, the first left measurement value, and the first right measurement value to obtain a first sum value;

[0088] Calculate the sum of the first horizontal distance, the first left measurement value, and the first right measurement value to obtain the first sum value H1;

[0089] H1=X1+A1+Y1.

[0090] Step S52, calculating the sum of the second horizontal distance, the second left measurement value, and the second right measurement value to obtain a second sum value;

[0091] Calculate the sum of the second horizontal distance, the second left measurement value, and the second right measurement value to obtain the second sum value H2:

[0092] H2=X2+A2+Y2.

[0093] Step S53, determining whether the first left ranging component 201, the first right ranging component 202, the second left ranging component 203, and the second right ranging component 204 are blocked based on the first sum value, the second sum value, and the lane width;

[0094] When the coal mine operating equipment is traveling at no inclination angle, the above-mentioned first sum and second sum are the same as the value of the tunnel width. When the coal mine operating equipment is traveling at a certain inclination angle, the above-mentioned first sum and second sum are both greater than the value of the tunnel width. At the same time, if the ranging component is blocked, according to the blocking judgment logic of the ranging component (i.e., millimeter wave radar), the measurement value will be zero, the measurement value signal will be lost, and the angle will not match, which will definitely cause the measurement value to become smaller. Therefore, when the ranging component is blocked, it will cause it to be more than less than the tunnel width. By comparing the first sum and the second sum with the tunnel width respectively, it can be determined whether the first left ranging component 201, the first right ranging component 202, the second left ranging component 203, and the second right ranging component 204 are blocked.

[0095] In one embodiment, this embodiment provides a specific implementation method for determining whether the first left ranging component 201, the first right ranging component 202, the second left ranging component 203, and the second right ranging component 204 are blocked based on the first sum value, the second sum value, and the lane width, including:

[0096] Step S531, calculating the difference between the first sum and the lane width to obtain a first difference;

[0097] Calculate the difference between the first sum and the lane width, and get the first difference M1 as

[0098] M1=H1-B.

[0099] Step S532, calculating the difference between the second sum and the lane width to obtain a second difference;

[0100] Calculate the difference between the second sum and the lane width, and obtain the second difference M2 as:

[0101] M2=H2-B.

[0102] Step S533: Calculate the difference between the first sum and the second sum to obtain a third difference M3:

[0103] M3=H1-H2.

[0104] Step S534: If the first difference is greater than or equal to 0, the second difference is greater than or equal to 0, and the absolute value of the third difference is less than or equal to the preset threshold, it is determined that the first left ranging component 201, the first right ranging component 202, the second left ranging component 203, and the second right ranging component 204 are not blocked;

[0105] The above preset threshold can usually be set to (100 mm). When the absolute value of the third difference is less than or equal to the preset threshold, it indicates that the difference between the first sum value and the second sum value is within a certain error range, meaning that there are no large errors in the measurement values of the first left ranging component 201, the first right ranging component 202, the second left ranging component 203, and the second right ranging component 204. And considering the conditions that the first difference is greater than or equal to 0 and the second difference is greater than or equal to 0, it can be determined that none of the first left ranging component 201, the first right ranging component 202, the second left ranging component 203, and the second right ranging component 204 are blocked. At this time, the first heading angle of the coal mine operation equipment is directly calculated as:

[0106] Or,

[0107] where the angle range of the first heading angle is: 0° ≤ β ≤ 90°, see Figure 3 the schematic diagram of a coal mine operation equipment in a left-tilt state shown in Figure 4 and the schematic diagram of a coal mine operation equipment in a right-tilt state shown in. When the coal mine operation equipment is traveling, it has three traveling states: left tilt, no tilt, and right tilt. Specifically, if X1 < X2 - c1, or Y1 > Y2 - c2, it is determined that the coal mine operation equipment is in a left-tilt traveling state; if the first heading angle is 0°, it is determined that the coal mine operation equipment is in a non-tilt traveling state; if X1 > X2 - c1, or Y1 < Y2 - c2, it is determined that the coal mine operation equipment is in a right-tilt traveling state.

[0108] Step S535, if the third difference is greater than the preset threshold and the first difference is greater than or equal to 0, it is determined that at least one of the second left ranging component 203 and the second right ranging component 204 is blocked, and both the first left ranging component 201 and the first right ranging component 202 are not blocked;

[0109] In the above steps, since the third difference is greater than the preset threshold (i.e., M3 > 100 mm), it indicates that the first sum value is greater than the second sum value and the error between them is large. At the same time, because the first difference is greater than or equal to 0 (i.e., M1 ≥ 0), it indicates that the first sum value is greater than or equal to the roadway width (i.e., H1 ≥ B). Then it can be determined that at least one of the second left ranging component 203 and the second right ranging component 204 is blocked, and both the first left ranging component 201 and the first right ranging component 202 are not blocked.

[0110] Step S536, if the third difference is less than the opposite of the preset threshold and the second difference is greater than or equal to 0, it is determined that at least one of the first left ranging component 201 and the first right ranging component 202 is blocked, and both the second left ranging component 203 and the second right ranging component 204 are not blocked;

[0111] In the above steps, since the third difference is less than the opposite of the preset threshold (i.e., M3 < -100 mm), it indicates that the first sum value is less than the second sum value, and the error between them is relatively large. At the same time, since the second difference is greater than or equal to 0 (i.e., M2 ≥ 0), it indicates that the second sum value is greater than or equal to the roadway width (i.e., H2 ≥ B). Then, it can be determined that at least one of the first left distance measuring component 201 and the first right distance measuring component 202 is blocked, and neither the second left distance measuring component 203 nor the second right distance measuring component 204 is blocked.

[0112] Step S537, if the first difference is less than 0 and the second difference is less than 0, then it is determined that at least one of the first left distance measuring component 201 and the first right distance measuring component 202 is blocked, and at least one of the second left distance measuring component 203 and the second right distance measuring component 204 is blocked;

[0113] In the above steps, if the first difference is less than 0 (i.e., M1 < 0), it indicates that the first sum value is less than the roadway width (i.e., H1 < B), and it can be determined that at least one of the first left distance measuring component 201 and the first right distance measuring component 202 is blocked; if the second difference is less than 0 (i.e., M2 < 0), it indicates that the second sum value is less than the roadway width (i.e., H2 < B), and it can be determined that at least one of the second left distance measuring component 203 and the second right distance measuring component 204 is blocked.

[0114] In one embodiment, this embodiment provides that when the third difference is greater than the preset threshold and the first difference is greater than or equal to 0, the specific implementation manner of determining that at least one of the second left distance measuring component 203 and the second right distance measuring component 204 is blocked and neither the first left distance measuring component 201 nor the first right distance measuring component 202 is blocked includes:

[0115] Step S5351, determine the first course angle of the coal mine operation component based on the roadway width and the first sum value;

[0116] This step is based on the condition that at least one of the second left distance measuring component 203 and the second right distance measuring component 204 is blocked and neither the first left distance measuring component 201 nor the first right distance measuring component 202 is blocked. The first course angle β of the coal mine operation component can be directly determined based on the roadway width and the first sum value as:

[0117]

[0118] Similarly, the angle range of the first course angle at this time is still: 0° ≤ β ≤ 90°.

[0119] Step S5352: Determine a left projection value based on the first heading angle and the first vertical distance, and determine a right projection value based on the first heading angle and the second vertical distance; wherein the left projection value is the distance between the intersection of the extended line of the first left ranging component 201 and the ranging line of the second left ranging component 203 and the coal mine operating equipment along the ranging line of the second left ranging component 203; and the right projection value is the distance between the intersection of the extended line of the first right ranging component 202 and the ranging line of the second right ranging component 204 and the coal mine operating equipment along the ranging line of the second right ranging component 204.

[0120] In the above steps, the left projection value a1 is determined based on the first heading angle and the first vertical distance as:

[0121] a1=b1×tanβ;

[0122] The right projection value a2 is determined based on the first heading angle and the second vertical distance:

[0123] a2=b2×tanβ;

[0124] It can be seen from the above formula that the numerical values of the left projection value and the right projection value are related to the inclination angle of the coal mine operating equipment. If the inclination angle of the coal mine operating equipment is 0°, the numerical values of the left projection value and the right projection value are both 0. In the embodiment of the present invention, since the first vertical distance and the second vertical distance are the same value, the left projection value a1 and the right projection value a2 can be set to the same parameter a.

[0125] Step S5353: determining a first equivalent value based on the left projection value, the first left measurement value, and the third horizontal distance; wherein the first equivalent value is an approximate value of the second left measurement value when the second left distance measuring component 203 is not blocked;

[0126] The first equivalent value in the above steps is related to the tilt direction of the coal mine operating equipment. Specifically, if the coal mine operating equipment is in a left tilted driving state, the first equivalent value Z1 is solved as:

[0127] Z1=X1+a1+c1;

[0128] When the coal mine operating equipment is in a left-leaning driving state, the first left measurement value should be smaller than the second left measurement value when each distance measuring component is not blocked. Therefore, by summing the first left measurement value, the left projection value, and the third horizontal distance, the second left measurement value when the second left distance measuring component 203 is not blocked can be approximately obtained.

[0129] If the coal mine operating equipment is in the right tilted driving state, the first equivalent value Z1 is solved as:

[0130] Z1=X1-a1+c1;

[0131] When the coal mining equipment is in a right-tilted driving state, the first left measurement value should be greater than the second left measurement value when the distance measuring components are not blocked, and the third horizontal distance is added. Therefore, by adding the difference between the first left measurement value and the left projection value and the third horizontal distance, the second left measurement value when the second left distance measuring component 203 is not blocked can be approximately obtained.

[0132] If the coal mine operating equipment is in a non-tilted driving state, the first equivalent value Z1 is:

[0133] Z1=X1+c1;

[0134] When the coal mine operating equipment is in a non-tilted driving state, the first left measurement value is approximately equal to the second left measurement value when the distance measuring components are not blocked and the third horizontal distance is added. By adding the first left measurement value to the third horizontal distance, the second left measurement value when the second left distance measuring component 203 is not blocked can be approximately obtained.

[0135] Step S5354: determining a second equivalent value based on the right projection value, the first right measurement value, and the fourth horizontal distance; wherein the second equivalent value is an approximate value of the second right measurement value when the second right distance measuring component 204 is not blocked;

[0136] The second equivalent value in the above steps is related to the tilt direction of the coal mine operating equipment. Specifically, if the coal mine operating equipment is in a left tilted driving state, the second equivalent value Z2 is solved as:

[0137] Z2=Y1-a2+c2;

[0138] When the coal mining equipment is in a left-leaning driving state and the distance measuring components are not blocked, the first right measurement value should be greater than the second right measurement value when the fourth horizontal distance is added. Therefore, by adding the difference between the first right measurement value and the right projection value to the fourth horizontal distance, the second right measurement value when the second right distance measuring component 204 is not blocked can be approximately obtained.

[0139] If the coal mine operating equipment is in the right tilted driving state, the second equivalent value Z2 is solved as follows:

[0140] Z2=Y1+a2+c2;

[0141] When the coal mine operating equipment is in a right tilted driving state and each distance measuring component is not blocked, the first right measurement value should be smaller than the second right measurement value. Therefore, by summing the first right measurement value, the right projection value, and the fourth horizontal distance, the second right measurement value when the second right distance measuring component 204 is not blocked can be approximately obtained.

[0142] If the coal mine operating equipment is in a non-tilted driving state, the second equivalent value Z2 is:

[0143] Z2=Y1+c2;

[0144] When the coal mine operating equipment is in a non-tilted driving state and the various ranging components are not blocked, the first right measurement value is approximately equal to the second right measurement value when the fourth horizontal distance is added. By adding the first right measurement value to the fourth horizontal distance, the second right measurement value when the second right ranging component 204 is not blocked can be approximately obtained.

[0145] Step S5355: Determine the obscured components of the second left ranging component 203 and the second right ranging component 204 based on the first equivalent value, the second equivalent value, the second left measurement value, and the second right measurement value; wherein, if the difference between the first equivalent value and the second left measurement value at this time is greater than a preset threshold, then it is determined that the second left ranging component 203 is obscured, and / or, if the difference between the second equivalent value and the second right measurement value at this time is greater than a preset threshold, then it is determined that the second right ranging component 204 is obscured;

[0146] In the above steps, when at least one of the second left ranging component 203 and the second right ranging component 204 is blocked, if the difference between the first equivalent value and the second left measurement value at this time is greater than the preset threshold, it is determined that the second left ranging component 203 is blocked. Specifically, if X1+a1+c1-X2>100mm is satisfied, it can be determined that the second left ranging component 203 is blocked at this time, and the coal mine working equipment is in a left tilted driving state; if X1-a1+c1-X2>100mm is satisfied, it can be determined that the second left ranging component 203 is blocked at this time, and the coal mine working equipment is in a right tilted driving state; if X1+c1-X2>100mm is satisfied, it can be determined that the second left ranging component 203 is blocked at this time, and the coal mine working equipment is in a right tilted driving state. The working equipment is in a non-tilted driving state; at the same time, in the above steps, the second equivalent value, the second right measurement value at this time, and the preset threshold value can also be used to determine whether the second left ranging component 203 is blocked. Specifically, if Y1-a2+c2-Y2≤100mm is satisfied, it can be determined that the second left ranging component 203 is blocked at this time, and the coal mine working equipment is in a left tilted driving state. At the same time, it can also be determined that if Y1+a2+c2-Y2≤100mm is satisfied, it can be determined that the second left ranging component 203 is blocked at this time, and the coal mine working equipment is in a right tilted driving state; if Y1+c2-Y2≤100mm is satisfied, it can be determined that the second left ranging component 203 is blocked at this time, and the coal mine working equipment is in a non-tilted driving state;

[0147] If the difference between the second equivalent value and the second right measurement value at this time is greater than the preset threshold, it is determined that the second right ranging component 204 is blocked. Specifically, if Y1-a2+c2-Y2>100mm is satisfied, it can be determined that the second right ranging component 204 is blocked at this time, and the coal mine working equipment is in a left tilted driving state. At the same time, it can also be passed; if Y1+a2+c2-Y2>100mm is satisfied, it can be determined that the second right ranging component 204 is blocked at this time, and the coal mine working equipment is in a right tilted driving state; if Y1+c2-Y2>100mm is satisfied, it can be determined that the second right ranging component 204 is blocked at this time, and the coal mine working equipment is in a non-tilted driving state. ; At the same time, in the above steps, whether the second right ranging component 204 is blocked can also be determined by the first equivalent value, the second left measurement value at this time, and the preset threshold. Specifically, if X1+a1+c1-X2≤100mm is satisfied, it can be determined that the second right ranging component 204 is blocked at this time, and the coal mine working equipment is in a left tilted driving state; if X1-a1+c1-X2≤100mm is satisfied, it can be determined that the second right ranging component 204 is blocked at this time, and the coal mine working equipment is in a right tilted driving state; if X1+c1-X2≤100mm is satisfied, it can be determined that the second right ranging component 204 is blocked at this time, and the coal mine working equipment is in a non-tilted driving state.

[0148] In the embodiment of the present invention, the first equivalent value can be substituted into the second sum value to further determine the occlusion status of the second left ranging component 203 and the second right ranging component 204. Specifically, the following conditions are analyzed under the condition that X1+a1+c1-X2≥100mm, or X1-a1+c1-X2≥100mm, or X1+c1-X2≥100mm:

[0149] ① If |[X1+A1+Y1-(X1+a1+c1+A2)]-Y2|≤100 mm, it is determined that the second left ranging component 203 is blocked and the coal mine working equipment is in a left tilted driving state;

[0150] ② If |[X1+A1+Y1-(X1-a1+c1+A2)]-Y2|≤100mm, it is determined that the second left ranging component 203 is blocked and the coal mine working equipment is in a right tilted driving state;

[0151] ③ If |[X1+A1+Y1-(X1+c1+A2)]-Y2|≤100 mm, it is determined that the second left ranging component 203 is blocked and the coal mine working equipment is in a non-tilted driving state;

[0152] ④ If |[X1 + A1 + Y1 - (X1 + a1 + c1 + A2)] - Y2| > 100 mm, it is determined that both the second left distance measuring component 203 and the second right distance measuring component 204 are blocked at this time, and the coal mine working equipment is in a left-tilting driving state at this time;

[0153] ⑤ If |[X1 + A1 + Y1 - (X1 - a1 + c1 + A2)] - Y2| > 100 mm, it is determined that both the second left distance measuring component 203 and the second right distance measuring component 204 are blocked at this time, and the coal mine working equipment is in a right-tilting driving state at this time;

[0154] ⑥ If |[X1 + A1 + Y1 - (X1 + c1 + A2)] - Y2| > 100 mm, it is determined that both the second left distance measuring component 203 and the second right distance measuring component 204 are blocked at this time, and the coal mine working equipment is in a non-tilting driving state at this time;

[0155] And in the above steps, if the coal mine operation equipment is set in the middle of the roadway and the distances from the left and right sides to the roadway are the same, the first left measurement value and the first right measurement value can also be directly compared to determine what kind of driving state the coal mine operation equipment is in. Specifically, if X1 > Y1 is satisfied, the coal mine working equipment is in a left-tilting driving state at this time; if X1 < Y1 is satisfied, the coal mine working equipment is in a right-tilting driving state at this time; if X1 = Y1 is satisfied, the coal mine working equipment is in a non-tilting driving state at this time.

[0156] Step S5356, based on the first difference being greater than or equal to 0, it is determined that both the first left distance measuring component 201 and the first right distance measuring component 202 are not blocked.

[0157] In one embodiment, this embodiment provides a specific implementation manner for determining that at least one of the first left distance measuring component 201 and the first right distance measuring component 202 is blocked and both the second left distance measuring component 203 and the second right distance measuring component 204 are not blocked if the third difference is less than the opposite of the preset threshold and the second difference is greater than or equal to 0, including:

[0158] Step S5361, based on the left projection value, the second left measurement value and the third horizontal distance, determine the third equivalent value; wherein, the third equivalent value is an approximation of the first left measurement value when the first left distance measuring component 201 is not blocked;

[0159] In the above steps, since both the second left distance measuring component 203 and the second right distance measuring component 204 are not blocked, when solving the first course angle, the first course angle β can also be obtained as:

[0160]

[0161] The third equivalent value is related to the tilt direction of the coal mine operating equipment. Specifically, if the coal mine operating equipment is in a left tilted driving state, the third equivalent value Z3 is solved as follows:

[0162] Z3=X2-a1-c1;

[0163] When the coal mine operating equipment is in a left-leaning driving state, the first left measurement value should be smaller than the second left measurement value when each distance measuring component is not blocked. Therefore, by summing the second left measurement value, the left projection value, and the third horizontal distance, the first left measurement value when the first left distance measuring component 201 is not blocked can be approximately obtained.

[0164] If the coal mine operating equipment is in the right tilted driving state, the third equivalent value Z3 is solved as follows:

[0165] Z3=X2+a1-c1;

[0166] When the coal mine operating equipment is in a right-tilted driving state, the second left measurement value should be smaller than the first left measurement value after subtracting the third horizontal distance when each distance measuring component is not blocked. Therefore, by subtracting the sum of the second left measurement value and the left projection value from the third horizontal distance, the first left measurement value when the first left distance measuring component 201 is not blocked can be approximately obtained.

[0167] If the coal mine operating equipment is in a non-tilted driving state, the third equivalent value Z3 is:

[0168] Z3=X2-c1;

[0169] When the coal mine operating equipment is in a non-tilted driving state, the second left measurement value is approximately equal to the first left measurement value after subtracting the third horizontal distance when the ranging components are not blocked. By subtracting the second left measurement value from the third horizontal distance, the first left measurement value when the first left ranging component 201 is not blocked can be approximately obtained.

[0170] Step S5362: determining a fourth equivalent value based on the right projection value, the second right measurement value, and the fourth horizontal distance; wherein the fourth equivalent value is an approximate value of the first right measurement value when the first right distance measurement component 202 is not blocked;

[0171] The fourth equivalent value in the above steps is related to the tilt direction of the coal mine operating equipment. Specifically, if the coal mine operating equipment is in a left tilted driving state, the fourth equivalent value Z4 is solved as follows:

[0172] Z4=Y2+a2-c2;

[0173] When the coal mining equipment is in a left-leaning driving state and the distance measuring components are not blocked, the second right measurement value should be smaller than the first right measurement value after subtracting the fourth horizontal distance. Therefore, by subtracting the sum of the second right measurement value and the right projection value from the fourth horizontal distance, the first right measurement value when the first right distance measuring component 202 is not blocked can be approximately obtained.

[0174] If the coal mine operating equipment is in the right tilted driving state, the fourth equivalent value Z4 is solved as follows:

[0175] Z4=Y2-a2-c2;

[0176] When the coal mining equipment is in a right tilted driving state and the distance measuring components are not blocked, the second right measurement value should be greater than the first right measurement value. Therefore, by subtracting the sum of the right projection value and the fourth horizontal distance from the second right measurement value, the first right measurement value when the first right distance measuring component 202 is not blocked can be approximately obtained.

[0177] If the coal mine operating equipment is in a non-tilted driving state, the fourth equivalent value Z4 is solved as follows:

[0178] Z4=Y2-c2;

[0179] When the coal mine operating equipment is in a non-tilted driving state and the various ranging components are not blocked, the second right measurement value is approximately equal to the first right measurement value after subtracting the fourth horizontal distance. By subtracting the second right measurement value from the fourth horizontal distance, the second right measurement value when the second right ranging component 204 is not blocked can be approximately obtained.

[0180] Step S5363: Determine the obscured components of the first left ranging component 201 and the first right ranging component 202 based on the third equivalent value, the fourth equivalent value, the first left measurement value, and the first right measurement value; wherein, if the difference between the third equivalent value and the first left measurement value at this time is greater than a preset threshold, it is determined that the first left ranging component 201 is obscured, and / or, if the difference between the fourth equivalent value and the first right measurement value at this time is greater than a preset threshold, it is determined that the first right ranging component 202 is obscured;

[0181] In the above steps, when at least one of the first left ranging component 201 and the first right ranging component 202 is blocked, if the difference between the third equivalent value and the first left measurement value at this time is greater than the preset threshold, it is determined that the first left ranging component 201 is blocked. Specifically, if X2-a1-c1-X1>100mm, it can be determined that the first left ranging component 201 is blocked at this time, and the coal mine working equipment is in a left tilted driving state; if X2+a1-c1-X1>100mm, it can be determined that the first left ranging component 201 is blocked at this time, and the coal mine working equipment is in a right tilted driving state; if X2-c1-X1>100mm, it can be determined that the first left ranging component 201 is blocked at this time, and the coal mine working equipment is in a right tilted driving state. The working equipment is in a non-tilted driving state; at the same time, in the above steps, the fourth equivalent value, the first right measurement value at this time, and the preset threshold value can also be used to determine whether the first left ranging component 201 is blocked. Specifically, if Y2+a2-c2-Y1≤100mm is satisfied, it can be determined that the first left ranging component 201 is blocked at this time, and the coal mine working equipment is in a left tilted driving state. At the same time, it can also be determined that if Y2-a2-c2-Y1≤100mm is satisfied, it can be determined that the first left ranging component 201 is blocked at this time, and the coal mine working equipment is in a right tilted driving state; if Y2-c2-Y1≤100mm is satisfied, it can be determined that the first left ranging component 201 is blocked at this time, and the coal mine working equipment is in a non-tilted driving state;

[0182] If the difference between the fourth equivalent value and the first right measurement value at this time is greater than the preset threshold, it is determined that the first right ranging component 202 is blocked. Specifically, if Y2+a2-c2-Y1>100mm is satisfied, it can be determined that the first right ranging component 202 is blocked at this time, and the coal mine working equipment is in a left tilted driving state. At the same time, it can also be passed; if Y2-a2-c2-Y1>100mm is satisfied, it can be determined that the first right ranging component 202 is blocked at this time, and the coal mine working equipment is in a right tilted driving state; if Y2-c2-Y1>100mm is satisfied, it can be determined that the first right ranging component 202 is blocked at this time, and the coal mine working equipment is in a non-tilted driving state. state; at the same time, in the above steps, the third equivalent value, the first left measurement value at this time, and the preset threshold can also be used to determine whether the first right ranging component 202 is blocked. Specifically, if X2-a1-c1-X1>100mm, it can be determined that the first right ranging component 202 is blocked at this time, and the coal mine working equipment is in a left tilted driving state; if X2+a1-c1-X1≤100mm, it can be determined that the first right ranging component 202 is blocked at this time, and the coal mine working equipment is in a right tilted driving state; if X2-c1-X1≤100mm, it can be determined that the first right-left ranging component is blocked at this time, and the coal mine working equipment is in a non-tilted driving state.

[0183] In an embodiment of the present invention, the occlusion status of the first left ranging component 201 and the first right ranging component 202 can be further determined by substituting the third equivalent value into the first sum value. Specifically, the following conditions are analyzed under the condition that X2 - a1 - c1 - X1 ≥ 100 mm, or X2 + a1 - c1 - X1 ≥ 100 mm, or X2 - c1 - X1 ≥ 100 mm:

[0184] ① If |[X2 + A2 + Y2 - (X2 - a1 - c1 + A1)] - Y1| ≤ 100 mm, it is determined that the first left ranging component 201 is occluded at this time, and the coal mine working equipment is in a left - tilted driving state at this time;

[0185] ② If |[X2 + A2 + Y2 - (X2 + a1 - c1 + A1)] - Y1| ≤ 100 mm, it is determined that the first left ranging component 201 is occluded at this time, and the coal mine working equipment is in a right - tilted driving state at this time;

[0186] ③ If |[X2 + A2 + Y2 - (X2 - c1 + A1)] - Y1| ≤ 100 mm, it is determined that the first left ranging component 201 is occluded at this time, and the coal mine working equipment is in a non - tilted driving state at this time;

[0187] ④ If |[X2 + A2 + Y2 - (X2 - a1 - c1 + A1)] - Y1| > 100 mm, it is determined that both the first left ranging component 201 and the first right ranging component 202 are occluded at this time, and the coal mine working equipment is in a left - tilted driving state at this time;

[0188] ⑤ If |[X2 + A2 + Y2 - (X2 + a1 - c1 + A1)] - Y1| > 100 mm, it is determined that both the first left ranging component 201 and the first right ranging component 202 are occluded at this time, and the coal mine working equipment is in a right - tilted driving state at this time;

[0189] ⑥ If |[X2 + A2 + Y2 - (X2 - c1 + A1)] - Y1| > 100 mm, it is determined that both the first left ranging component 201 and the first right ranging component 202 are occluded at this time, and the coal mine working equipment is in a non - tilted driving state at this time;

[0190] And in the above steps, if the coal mine operation equipment is set in the middle of the roadway and the distances from the left and right sides to the roadway are the same, the driving state of the coal mine operation equipment can also be directly determined by comparing the magnitudes of the second left measurement value and the second right measurement value. Specifically, if X2 > Y2, the coal mine working equipment is in a left - tilted driving state at this time; if X2 < Y2, the coal mine working equipment is in a right - tilted driving state at this time; if X2 = Y2, the coal mine working equipment is in a non - tilted driving state at this time.

[0191] Step S5364: Based on the second difference being greater than or equal to 0, determine that the second left ranging component 203 and the second right ranging component 204 are not blocked.

[0192] In one embodiment, this embodiment provides a method for determining that at least one of the first left ranging component 201 and the first right ranging component 202 is blocked, and at least one of the second left ranging component 203 and the second right ranging component 204 is blocked if the first difference is less than 0 and the second difference is less than 0. Specific implementations include:

[0193] Step S5371, calculating the sum of the first left measurement value, the first horizontal distance, and the fourth equivalent value to obtain a third sum value;

[0194] Calculate the sum of the first left measurement value, the first horizontal distance, and the fourth equivalent value to obtain the third sum value H3:

[0195] H3=X1+A1+Z4.

[0196] Step S5372, calculating the sum of the third equivalent value, the first horizontal distance, and the first right measurement value to obtain a fourth sum value;

[0197] Calculate the sum of the third equivalent value, the first horizontal distance, and the first right measurement value to obtain the fourth sum value H4:

[0198] H4=Z3+A1+Y1.

[0199] Step S5373, calculating the sum of the second left measurement value, the second horizontal distance, and the second equivalent value to obtain a fifth sum value;

[0200] Calculate the sum of the second left measurement value, the second horizontal distance, and the second equivalent value to obtain the fifth sum value H5:

[0201] H5=X2+A2+Z2.

[0202] Step S5374, calculating the sum of the first equivalent value, the second horizontal distance, and the second right measurement value to obtain a sixth sum value;

[0203] Calculate the sum of the first equivalent value, the second horizontal distance, and the second right measurement value to obtain the sixth sum value H6:

[0204] H6=Z1+A2+Y2.

[0205] Step S5375: Determine the obscured component of the first left ranging component 201 and the first right ranging component 202 based on the third sum, the fourth sum, and the lane width; wherein, if the difference between the third sum and the lane width is greater than or equal to a preset threshold, it is determined that the first right ranging component 202 is obscured, and / or, if the difference between the fourth sum and the lane width is greater than or equal to a preset threshold, it is determined that the first left ranging component 201 is obscured;

[0206] If the difference between the third sum and the lane width is greater than or equal to a preset threshold, it is determined that the first right ranging component 202 is blocked, and it can also be preliminarily determined that the second left ranging component 203 is blocked, that is, H3-B≥100mm is satisfied. Specifically, if the condition of X1+A1+Z4-B≥100mm is satisfied, it is determined that the first right ranging component 202 is blocked, wherein the fourth equivalent value is input into different values when the coal mine operating equipment is in different driving states. When the coal mine operating equipment is in a left tilted driving state, Z4=Y2+a2-c2; when the coal mine operating equipment is in a right tilted driving state, Z4=Y2-a2-c2; when the coal mine operating equipment is in a non-tilted driving state, Z4=Y2-c2;

[0207] If the difference between the fourth sum and the tunnel width is greater than or equal to the preset threshold, it is determined that the first left ranging component 201 is blocked, and it can also be preliminarily determined that the second right ranging component 204 is blocked, that is, H4-B≥100mm is satisfied. Specifically, if the condition of Z3+A1+Y1-B≥100mm is satisfied, it is determined that the first left ranging component 201 is blocked, wherein the third equivalent value is input into different values when the coal mine operating equipment is in different driving states. When the coal mine operating equipment is in a left-tilted driving state, Z3=X2-a1-c1; when the coal mine operating equipment is in a right-tilted driving state, Z3=X2+a1-c1; when the coal mine operating equipment is in a non-tilted driving state, Z3=X2-c1.

[0208] Step S5376: Determine the obscured component of the second left ranging component 203 and the second right ranging component 204 based on the fifth sum, the sixth sum, and the lane width; wherein, if the difference between the fifth sum and the lane width is greater than or equal to a preset threshold, then the second right ranging component 204 is determined to be obscured, and / or, if the difference between the sixth sum and the lane width is greater than or equal to a preset threshold, then the second left ranging component 203 is determined to be obscured;

[0209] If the difference between the fifth sum and the lane width is greater than or equal to a preset threshold, it is determined that the second right ranging component 204 is blocked, and it can also be preliminarily determined that the first left ranging component 201 is blocked, that is, H5-B≥100mm is satisfied. Specifically, if the condition of X2+A2+Z2-B≥100mm is satisfied, it is determined that the second right ranging component 204 is blocked, wherein the second equivalent value is input into different values when the coal mine operating equipment is in different driving states. When the coal mine operating equipment is in a left tilted driving state, Z2=Y1-a2+c2; when the coal mine operating equipment is in a right tilted driving state, Z2=Y1+a2+c2; when the coal mine operating equipment is in a non-tilted driving state, Z2=Y1+c2;

[0210] If the difference between the fourth sum and the tunnel width is greater than or equal to the preset threshold, it is determined that the first left ranging component 201 is blocked, and it can also be preliminarily determined that the second right ranging component 204 is blocked, that is, H6-B≥100mm is satisfied. Specifically, if the condition of Z1+A2+Y2-B≥100mm is satisfied, it is determined that the second left ranging component 203 is blocked, wherein the first equivalent value enters different values when the coal mine operating equipment is in different driving states. When the coal mine operating equipment is in a left-tilted driving state, Z1=X1+a1+c1; when the coal mine operating equipment is in a right-tilted driving state, Z1=X1-a1+c1; when the coal mine operating equipment is in a non-tilted driving state, Z1=X1+c1.

[0211] In the embodiment provided by the present invention, whether the first right ranging component 202 and the second right ranging component 204 are blocked at the same time can also be determined by the difference between the first equivalent value and the first left measurement value, and the difference between the third equivalent value and the second left measurement value. Specifically, if |Z1-X1|≤100mm, or |Z3-X2|≤100mm, it is determined that the first right ranging component 202 and the second right ranging component 204 are blocked at the same time. Similar to the above steps, the first equivalent value and the third equivalent value need to be substituted with different values when the coal mine operating equipment is in different driving states;

[0212] Whether the first right ranging component 202 and the second right ranging component 204 are blocked at the same time can also be determined by the difference between the second equivalent value and the first right measurement value, and the difference between the fourth equivalent value and the second right measurement value. Specifically, if |Z2-Y1|≤100mm, or |Z4-Y2|≤100mm, it is determined that the first left ranging component 201 and the second left ranging component 203 are blocked at the same time. And the same as the above steps, the second equivalent value and the fourth equivalent value need to be substituted with different values when the coal mine operating equipment is in different driving states.

[0213] In one embodiment, the specific implementation of the ranging identification method provided in this embodiment further includes:

[0214] If the occlusion conditions of at least three ranging components cannot be determined, the initial detection values of the first left ranging component 201, the first right ranging component 202, the second left ranging component 203, and the second right ranging component 204 are respectively obtained as the first left initial value, the first right initial value, the second left initial value, and the second right initial value;

[0215] The first left initial value is recorded as P1, the first right initial value is recorded as P2, the second left initial value is recorded as P3, and the second right initial value is recorded as P4.

[0216] Based on the first left measurement value, the first right measurement value, the second left measurement value, the second right measurement value, the first left initial value, the first right initial value, the second left initial value, and the second right initial value at this time, it is determined whether each ranging component is blocked; wherein, if the absolute value of the difference between the first left measurement value and the first left initial value is greater than a preset threshold, it is determined that the first left ranging component 201 is blocked; if the absolute value of the difference between the first right measurement value and the first right initial value is greater than the preset threshold, it is determined that the first right ranging component 202 is blocked; if the absolute value of the difference between the second left measurement value and the second left initial value is greater than the preset threshold, it is determined that the second left ranging component 203 is blocked; if the absolute value of the difference between the second right measurement value and the second right initial value is greater than the preset threshold, it is determined that the second right ranging component 204 is blocked;

[0217] If the absolute value of the difference between the first left measurement value and the first left initial value is greater than the preset threshold, it is determined that the first left distance measuring component 201 is blocked, that is,

[0218] X1-P1>100mm;

[0219] At this time, it is determined that the first left distance measuring component 201 is blocked;

[0220] If the absolute value of the difference between the first right measurement value and the first right initial value is greater than the preset threshold, it is determined that the first right distance measuring component 202 is blocked, that is,

[0221] Y1-P2>100mm;

[0222] At this time, it is determined that the first right distance measuring component 202 is blocked;

[0223] If the absolute value of the difference between the second left measurement value and the second left initial value is greater than the preset threshold, it is determined that the second left distance measuring component 203 is blocked, that is,

[0224] X2-P3>100mm;

[0225] At this time, it is determined that the second left ranging component 203 is blocked;

[0226] If the absolute value of the difference between the second right measurement value and the second right initial value is greater than the preset threshold, it is determined that the second right distance measuring component 204 is blocked, that is,

[0227] Y2-P4>100mm;

[0228] At this time, it is determined that the second right ranging component 204 is blocked.

[0229] In one embodiment, this embodiment provides a specific implementation of compensating the measurement value of the ranging component if the ranging component is blocked, including:

[0230] Compensate the current measurement value of the ranging component to the measurement value before the sudden change of the ranging component measurement value;

[0231] During the operation of coal mine equipment, the measurement values of each distance measuring component are saved in real time. When a distance measuring component undergoes a sudden change, the step length of the measurement value before the sudden change is set to the measurement value of the distance measuring component.

[0232] When finally outputting the distances between the left and right sides of the coal mine operating equipment and the roadway, it is necessary to compare the first left measurement value and the second left measurement value, and select the smaller left measurement value as the distance between the left side of the coal mine operating equipment and the roadway; it is necessary to compare the first right measurement value and the second right measurement value, and select the smaller right measurement value as the distance between the right side of the coal mine operating equipment and the roadway.

[0233] Furthermore, the embodiment of the present invention provides a ninth possible implementation of the first aspect, which further includes the steps of:

[0234] Compare the distances of the left and right sides of the coal mine operating equipment from the roadway with the preset alarm thresholds. If the distances of the left and right sides of the coal mine operating equipment from the roadway are less than or equal to the preset alarm thresholds, an alarm is triggered.

[0235] A red preset alarm threshold, a yellow preset alarm threshold and a green preset normal threshold are set for each ranging component, wherein the red preset alarm threshold of each ranging component is less than the yellow preset alarm threshold and less than the green preset normal threshold. If the measurement value of a certain ranging component is at the red preset alarm threshold or the yellow preset alarm threshold, an alarm is generated. Specifically, the alarm level at the red preset alarm threshold is higher than the alarm level at the yellow preset alarm threshold. When the ranging component is at the green preset normal threshold, it proves that the position of the coal mine operating equipment is in a normal state.

[0236] In addition to calculating the heading angle based on the difference in multi-point ranging, the embodiments of the present invention can also directly obtain the tilt state of the coal mine operating equipment by using an electronic compass or gyroscope component; it can also determine whether the coal mine operating equipment is tilted or offset based on a matching algorithm based on changes in multiple radar reflection characteristics; it can also combine the coal mine map and the trajectory of the coal mine operating equipment to perform error correction and predictive judgment, and assist in heading angle estimation when data is missing.

[0237] The embodiment of the present invention also provides a ranging system, which is applicable to the above-mentioned coal mine operation equipment ranging identification method based on multi-millimeter wave radar. Figure 5 The module diagram of a distance measurement system shown in FIG5 is a diagram of a distance measurement system, which includes a millimeter wave radar sensor group 501 (i.e., each distance measurement component), which is installed at different parts of the coal mine operating equipment (including the left front, right front, left rear and right rear), and is used to measure the distance between the left and right sides of the coal mine operating equipment and the side wall of the tunnel. The measurement value of each millimeter wave radar is provided with a corresponding variable and a cache variable; the data acquisition and cache module 502 mainly includes a PLC control unit, which is used to collect the measurement value of the millimeter wave radar in real time and establish a historical cache mechanism for the millimeter wave radar. Data compensation is performed when the device is blocked or the signal fails, and parameters (for example, the first horizontal distance, the first vertical distance, etc.) can also be modified in real time through the PLC control unit; the judgment and calculation module 503 is used to realize logical judgment and calculation of the tilt state (left or right tilt) of the coal mine operation equipment and the obstruction of the millimeter wave radar, including heading angle calculation, minimum side distance screening, error compensation, etc.; the alarm and communication module 504 is used to upload the judgment results to the host computer and output a visual alarm signal according to the three warning intervals of red, yellow and green for the scheduling and obstacle avoidance of the equipment coal mine operation;

[0238] This ranging system can accurately measure the distance between the left and right sides of the coal mine operating equipment and the tunnel. At the same time, it can analyze the inclination (i.e., posture) of the coal mine operating equipment based on the heading angle. It can continuously obtain the relative position and posture information of the coal mine operating equipment under complex environmental conditions such as occlusion, dust interference, and signal interruption, thereby realizing stable, reliable, and highly robust spatial perception functions. The ranging system calculates the heading angle of the coal mine operating equipment through the real-time measurement of the minimum distance between the coal mine operating equipment and the tunnel wall, combined with the geometric installation parameters of the ranging component, to accurately determine the posture state of the coal mine operating equipment (such as left tilt, right tilt, and no tilt), providing support for automatic navigation or intelligent control of the coal mine operating equipment. At the same time, the ranging system sets three alarm intervals of red, yellow, and green for each ranging component, and binds real-time variables to the PLC program. When the corresponding warning value is triggered, it is automatically uploaded to the host computer, and the auxiliary display interface is used for color identification and alarm management, with flexible configuration and scalability.

[0239] Based on the above embodiment, this embodiment provides an example of applying the above multi-millimeter wave radar-based coal mine operating equipment ranging identification method to measure the distance between the left and right sides of the coal mine operating equipment, see Figure 6The diagram shows a schematic diagram of the structure of coal mining equipment, in which a digging and anchoring machine is selected as the coal mining equipment, and a millimeter-wave radar is selected as the ranging component. The first millimeter-wave radar (i.e., the first left ranging component 201) is arranged in the left front of the digging and anchoring machine; the second millimeter-wave radar (i.e., the first right ranging component 202) is arranged in the right front of the digging and anchoring machine; the third millimeter-wave radar (i.e., the second left ranging component 203) is arranged in the left rear of the digging and anchoring machine; and the fourth millimeter-wave radar (i.e., the second right ranging component 204) is arranged in the right rear of the digging and anchoring machine.

[0240] At the same time, the design width of the working tunnel of the mining and anchoring machine (i.e., coal mine operating equipment) is 6240 mm, and the actual measured width is 6360 mm (6360 mm is taken in subsequent analysis); the design installation position of the first left distance measuring component 201 set at the left front of the coal mine operating equipment is 463 mm away from the side wall of the tunnel, and the actual installation position of the first left distance measuring component 201 is 630 mm away from the side wall of the tunnel (630 mm is taken in subsequent analysis); the design installation position of the first right distance measuring component 202 set at the right front of the coal mine operating equipment is 450 mm away from the side wall, and the actual installation position of the first right distance measuring component 202 is 450 mm away from the side wall. The side wall is 630mm (630mm will be taken in the subsequent analysis); the design installation position of the second left ranging component 203 arranged at the left rear of the coal mine operating equipment is 1322mm away from the side wall, and the actual installation position of the second left ranging component 203 is 1686mm away from the side wall (1686mm will be taken in the subsequent analysis); the design installation position of the second right ranging component 204 arranged at the right rear of the coal mine operating equipment is 1322mm away from the side wall, and the actual installation position of the second right ranging component 204 is 1686mm away from the side wall (1686mm will be taken in the subsequent analysis), wherein the first horizontal distance is 5100mm.

[0241] See for example Figure 7 The figure shows a flow chart of a distance measurement and identification method for coal mine operating equipment. The distance measurement and identification method can be specifically performed according to the following steps:

[0242] Step S1101, obtaining the values of lanes and distances;

[0243] In the above steps, the lane width, the first horizontal distance, the second horizontal distance, the third horizontal distance, the fourth horizontal distance, the first vertical distance, and the second vertical distance of the lane are obtained; wherein, the first horizontal distance>the second horizontal distance; the third horizontal distance=the fourth horizontal distance=c; the first vertical distance=the second vertical distance=b;

[0244] Step S1102: collecting the measurement values of each ranging component in real time and caching the measurement values;

[0245] In the above steps, the detection values of the first left ranging component 201, the first right ranging component 202, the second left ranging component 203, and the second right ranging component 204 are respectively collected in real time based on the PLC as the first left measurement value, the first right measurement value, the second left measurement value, and the second right measurement value, and each measurement value is cached;

[0246] Step S1103, setting a preset threshold, and obtaining a first sum value and a second sum value;

[0247] In the above steps, the preset threshold is set to 100 mm, and the sum of the first horizontal distance, the first left measurement value, and the first right measurement value is calculated to obtain a first sum value; the sum of the second horizontal distance, the second left measurement value, and the second right measurement value is calculated to obtain a second sum value;

[0248] Step S1104, determining the occlusion status of each ranging component based on the first sum value, the second sum value, the lane width, and a preset threshold;

[0249] In the above steps, if the ranging component is blocked, it will cause signal loss, angle abnormality, etc. Specifically, if the difference between the first sum and the lane width is greater than or equal to 0, the difference between the second sum and the lane width is greater than or equal to 0, and the absolute value of the difference between the first sum and the second sum is less than or equal to the preset threshold, it is determined that the first left ranging component 201, the first right ranging component 202, the second left ranging component 203, and the second right ranging component 204 are not blocked;

[0250] If the difference between the first sum and the second sum is greater than a preset threshold and the difference between the first sum and the lane width is greater than or equal to 0, it is determined that at least one of the second left ranging component 203 and the second right ranging component 204 is blocked, and the first left ranging component 201 and the first right ranging component 202 are not blocked;

[0251] If the difference between the first sum and the second sum is less than the inverse of a preset threshold and the difference between the second sum and the lane width is greater than or equal to 0, it is determined that at least one of the first left ranging component 201 and the first right ranging component 202 is blocked, and the second left ranging component 203 and the second right ranging component 204 are not blocked;

[0252] If the difference between the first sum and the lane width is less than 0 and the difference between the second sum and the lane width is less than 0, it is determined that at least one of the first left ranging component 201 and the first right ranging component 202 is blocked, and at least one of the second left ranging component 203 and the second right ranging component 204 is blocked;

[0253] Step S1105: Based on the occlusion of each distance measuring component, output the measured value as the distance between the left and right sides of the coal mine operating equipment and the roadway;

[0254] If the ranging component is blocked, the current measurement value is compensated based on the historical cached measurement value before the mutation of the ranging component;

[0255] If the ranging component is not blocked, the current measurement value is output directly;

[0256] Compare the current measurement values of the distance measuring components on the same side of the coal mine operating equipment, and output the smaller measurement value between the first left measurement value and the second left measurement value as the distance between the left side of the coal mine operating equipment and the roadway; output the smaller measurement value between the first right measurement value and the second right measurement value as the distance between the right side of the coal mine operating equipment and the roadway;

[0257] Step S1106, calculating a first heading angle of the coal mining equipment based on the compensated measurement values or directly output measurement values of each ranging component, and determining the posture of the coal mining equipment;

[0258] Calculate the current first sum H1 and second sum H2 based on the compensated measurement values or directly output measurement values of each ranging component, the first horizontal distance, and the second horizontal distance;

[0259] Calculate the first heading angle β of coal mine operating equipment as:

[0260] or,

[0261] If the current first left measurement value is less than the first right measurement value or the second left measurement value is greater than the second right measurement value, it is determined that the coal mine operating equipment is in a left tilted driving state at this time;

[0262] If the current first left measurement value is greater than the first right measurement value or the second left measurement value is less than the second right measurement value, it is determined that the coal mine operating equipment is in a right tilted driving state at this time;

[0263] If the current first left measurement value is equal to the first right measurement value or the second left measurement value is equal to the second right measurement value, it is determined that the coal mine operating equipment is in a non-tilt driving state at this time;

[0264] Step S1107: Based on the real-time measurement values of each ranging component, determine whether the measurement values of each ranging component are within a safe range, and issue an alarm for measurement values outside the safe range;

[0265] Set the red preset alarm threshold, yellow preset alarm threshold and green preset normal threshold of each ranging component. When the measurement value of the ranging component is at the red preset alarm threshold or the yellow preset alarm threshold, an alarm is generated. Specifically, the red preset alarm threshold of the first left ranging component 201 is 350mm-600mm, the yellow preset alarm threshold is 601mm-629mm, and the green preset normal threshold is 630mm-1163mm; the red preset alarm threshold of the first right ranging component 202 is 350mm-550mm, the yellow preset alarm threshold is 5 The red preset alarm threshold of the second left ranging component 203 is 350mm-1100mm, the yellow preset alarm threshold is 1101mm-1685mm, and the green preset normal threshold is 1603mm-2230mm; the red preset alarm threshold of the second right ranging component 204 is 350mm-1100mm, the yellow preset alarm threshold is 1101mm-1685mm, and the green preset normal threshold is 1686mm-2230mm.

[0266] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0267] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the above-described embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-described embodiments within the technical scope disclosed by the present invention, or replace some of the technical features therein with equivalents. Such modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A method for ranging and identifying coal mine operating equipment based on multi-millimeter wave radar, characterized in that: The method is used to detect the distance between the left and right sides of coal mine operating equipment and the roadway in real time, including: Obtaining the lane width of the lane; A distance measuring component is installed on the coal mine operating equipment to obtain the measurement value of the distance measuring component in real time; wherein the distance measuring component is used to measure the distance between the left and right sides of the coal mine operating equipment and the roadway in real time; there are multiple distance measuring components, and each distance measuring component is a millimeter wave radar; determining whether the ranging component is blocked based on the lane width and a measurement value of the ranging component; If the ranging component is blocked, the measurement value of the ranging component is compensated, and the compensated measurement value is output as the distance between the left and right sides of the coal mine operating equipment and the roadway; if the ranging component is not blocked, the measurement value of the ranging component is directly output as the distance between the left and right sides of the coal mine operating equipment and the roadway.

2. The distance measurement and identification method according to claim 1, characterized in that: The distance measuring assembly comprises: a first left distance measuring assembly (201), a first right distance measuring assembly (202), a second left distance measuring assembly (203) and a second right distance measuring assembly (204); wherein the first left distance measuring assembly (201) is arranged at the left front of the coal mine operating equipment; the first right distance measuring assembly (202) is arranged at the right front of the coal mine operating equipment; the second left distance measuring assembly (203) is arranged at the left rear of the coal mine operating equipment; and the second right distance measuring assembly (204) is arranged at the right rear of the coal mine operating equipment; The step of obtaining the measurement value of the ranging component in real time includes: Acquire the horizontal distance between the first left distance measuring component (201) and the first right distance measuring component (202) as a first horizontal distance, and acquire the horizontal distance between the second left distance measuring component (203) and the second right distance measuring component (204) as a second horizontal distance; The horizontal distance between the first left ranging component (201) and the second left ranging component (203) is obtained as a third horizontal distance, the vertical distance between the first left ranging component (201) and the second left ranging component (203) is obtained as a first vertical distance, the horizontal distance between the first right ranging component (202) and the second right ranging component (204) is obtained as a fourth horizontal distance, and the vertical distance between the first right ranging component (202) and the second right ranging component (204) is obtained as a second vertical distance; Detection values of the first left distance measuring component (201), the first right distance measuring component (202), the second left distance measuring component (203), and the second right distance measuring component (204) are respectively obtained as a first left measurement value, a first right measurement value, a second left measurement value, and a second right measurement value.

3. The distance measurement and identification method according to claim 2, characterized in that: The step of determining whether the ranging component is blocked based on the lane width and the measurement value of the ranging component comprises: Calculating the sum of the first horizontal distance, the first left measurement value, and the first right measurement value to obtain a first sum value; Calculating the sum of the second horizontal distance, the second left measurement value, and the second right measurement value to obtain a second sum value; Based on the first sum value, the second sum value, and the lane width, it is determined whether the first left ranging component (201), the first right ranging component (202), the second left ranging component (203), and the second right ranging component (204) are blocked.

4. The distance measurement and identification method according to claim 3, characterized in that: The step of determining whether the first left ranging component (201), the first right ranging component (202), the second left ranging component (203), and the second right ranging component (204) are blocked based on the first sum value, the second sum value, and the lane width comprises: Calculating a difference between the first sum and the lane width to obtain a first difference; Calculating a difference between the second sum and the lane width to obtain a second difference; Calculating a difference between the first sum and the second sum to obtain a third difference; If the first difference is greater than or equal to 0, the second difference is greater than or equal to 0, and the absolute value of the third difference is less than or equal to a preset threshold, it is determined that the first left ranging component (201), the first right ranging component (202), the second left ranging component (203), and the second right ranging component (204) are not blocked; If the third difference is greater than a preset threshold and the first difference is greater than or equal to 0, it is determined that at least one of the second left ranging component (203) and the second right ranging component (204) is blocked, and the first left ranging component (201) and the first right ranging component (202) are not blocked; If the third difference is less than the inverse of a preset threshold and the second difference is greater than or equal to 0, it is determined that at least one of the first left ranging component (201) and the first right ranging component (202) is blocked, and the second left ranging component (203) and the second right ranging component (204) are not blocked; If the first difference is less than 0 and the second difference is less than 0, it is determined that at least one of the first left ranging component (201) and the first right ranging component (202) is blocked, and at least one of the second left ranging component (203) and the second right ranging component (204) is blocked.

5. The distance measurement and identification method according to claim 4, characterized in that: The step of determining that at least one of the second left ranging component (203) and the second right ranging component (204) is blocked and both the first left ranging component (201) and the first right ranging component (202) are not blocked if the third difference is greater than a preset threshold and the first difference is greater than or equal to 0 comprises: determining a first heading angle of the coal mining operation component based on the roadway width and the first sum value; A left projection value is determined based on the first heading angle and the first vertical distance, and a right projection value is determined based on the first heading angle and the second vertical distance; wherein the left projection value is the distance between the intersection of the extension line of the first left ranging component (201) and the ranging line of the second left ranging component (203) and the coal mine operating equipment along the ranging line of the second left ranging component (203); and the right projection value is the distance between the intersection of the extension line of the first right ranging component (202) and the ranging line of the second right ranging component (204) and the coal mine operating equipment along the ranging line of the second right ranging component (204); Determine the first equivalent value based on the left projection value, the first left measurement value and the third horizontal distance; wherein the first equivalent value is an approximate value of the second left measurement value when the second left distance measuring component (203) is not blocked; Determine the second equivalent value based on the right projection value, the first right measurement value and the fourth horizontal distance; wherein the second equivalent value is an approximation of the second right measurement value when the second right distance measuring component (204) is not blocked; Determining the blocked components of the second left distance measuring component (203) and the second right distance measuring component (204) based on the first equivalent value, the second equivalent value, the second left measurement value, and the second right measurement value; wherein, if the difference between the first equivalent value and the second left measurement value at this time is greater than the preset threshold, it is determined that the second left distance measuring component (203) is blocked, and / or, if the difference between the second equivalent value and the second right measurement value at this time is greater than the preset threshold, it is determined that the second right distance measuring component (204) is blocked; Based on the first difference being greater than or equal to 0, it is determined that both the first left distance measuring component (201) and the first right distance measuring component (202) are not blocked.

6. The distance measurement and identification method according to claim 5, characterized in that: The step of determining that at least one of the first left ranging component (201) and the first right ranging component (202) is blocked and the second left ranging component (203) and the second right ranging component (204) are not blocked if the third difference is less than the inverse of a preset threshold and the second difference is greater than or equal to 0 comprises: Determine the third equivalent value based on the left projection value, the second left measurement value and the third horizontal distance; wherein the third equivalent value is an approximate value of the first left measurement value when the first left distance measuring component (201) is not blocked; Determine the fourth equivalent value based on the right projection value, the second right measurement value and the fourth horizontal distance; wherein the fourth equivalent value is an approximate value of the first right measurement value when the first right distance measurement component (202) is not blocked; Determining the blocked components of the first left distance measuring component (201) and the first right distance measuring component (202) based on the third equivalent value, the fourth equivalent value, the first left measurement value, and the first right measurement value; wherein, if the difference between the third equivalent value and the first left measurement value at this time is greater than the preset threshold, it is determined that the first left distance measuring component (201) is blocked, and / or, if the difference between the fourth equivalent value and the first right measurement value at this time is greater than the preset threshold, it is determined that the first right distance measuring component (202) is blocked; Based on the second difference being greater than or equal to 0, it is determined that both the second left distance measuring component (203) and the second right distance measuring component (204) are not blocked.

7. The distance measurement and identification method according to claim 6, characterized in that: The step of determining that at least one of the first left ranging component (201) and the first right ranging component (202) is blocked, and at least one of the second left ranging component (203) and the second right ranging component (204) is blocked if the first difference is less than 0 and the second difference is less than 0 comprises: Calculate the sum of the first left measurement value, the first horizontal distance, and the fourth equivalent value to obtain a third sum value; Calculate the sum of the third equivalent value, the first horizontal distance, and the first right measurement value to obtain a fourth sum value; Calculate the sum of the second left measurement value, the second horizontal distance, and the second equivalent value to obtain a fifth sum value; Calculate the sum of the first equivalent value, the second horizontal distance, and the second right measurement value to obtain a sixth sum value; Determining the obscured component of the first left ranging component (201) and the first right ranging component (202) based on the third sum, the fourth sum, and the lane width; wherein, if the difference between the third sum and the lane width is greater than or equal to the preset threshold, it is determined that the first right ranging component (202) is obscured, and / or, if the difference between the fourth sum and the lane width is greater than or equal to the preset threshold, it is determined that the first left ranging component (201) is obscured; The blocked component of the second left ranging component (203) and the second right ranging component (204) is determined based on the fifth sum, the sixth sum, and the lane width; wherein, if the difference between the fifth sum and the lane width is greater than or equal to a preset threshold, it is determined that the second right ranging component (204) is blocked, and / or, if the difference between the sixth sum and the lane width is greater than or equal to the preset threshold, it is determined that the second left ranging component (203) is blocked.

8. The distance measurement and identification method according to claim 2, characterized in that: Also includes the steps: If the occlusion conditions of at least three ranging components cannot be determined, initial detection values of the first left ranging component (201), the first right ranging component (202), the second left ranging component (203), and the second right ranging component (204) are respectively obtained as a first left initial value, a first right initial value, a second left initial value, and a second right initial value; Based on the first left measurement value, the first right measurement value, the second left measurement value, the second right measurement value, the first left initial value, the first right initial value, the second left initial value, and the second right initial value at this time, it is respectively determined whether each of the distance measuring components is blocked; wherein, if the absolute value of the difference between the first left measurement value and the first left initial value is greater than the preset threshold, it is determined that the first left distance measuring component (201) is blocked; if the absolute value of the difference between the first right measurement value and the first right initial value is greater than the preset threshold, it is determined that the first right distance measuring component (202) is blocked; if the absolute value of the difference between the second left measurement value and the second left initial value is greater than the preset threshold, it is determined that the second left distance measuring component (203) is blocked; if the absolute value of the difference between the second right measurement value and the second right initial value is greater than the preset threshold, it is determined that the second right distance measuring component (204) is blocked.

9. The distance measurement and identification method according to claim 1, characterized in that: The step of compensating the measurement value of the ranging component if the ranging component is blocked includes: The measurement value of the distance measuring component at this time is compensated to the measurement value before the measurement value of the distance measuring component changes suddenly.

10. The distance measurement and identification method according to claim 1, characterized in that: The method further includes the steps of comparing the distances of the left and right sides of the coal mine operating equipment from the roadway with the preset alarm thresholds, and issuing an alarm if the distances of the left and right sides of the coal mine operating equipment from the roadway are less than or equal to the preset alarm thresholds.

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