A Ranging and Identification Method for Coal Mine Operating Equipment Based on Multi-Millimeter Wave Radar

Abstract

This invention provides a ranging and identification method for coal mine operating equipment based on multi-millimeter-wave radar, belonging to the field of coal mine safety detection technology. The method includes: acquiring the width of the roadway; setting a ranging component on the coal mine operating equipment and acquiring the measurement value of the ranging component in real time; determining whether the ranging component is obstructed based on the roadway width and the measurement value of the ranging component; if the ranging component is obstructed, compensating for the measurement value of the ranging component and outputting the compensated measurement value as the distance from the left and right sides of the coal mine operating equipment to the roadway; if the ranging component is not obstructed, directly outputting the measurement value of the ranging component as the distance from the left and right sides of the coal mine operating equipment to the roadway. This invention, by compensating for the measurement value of the obstructed ranging component, avoids situations where the ranging component experiences ranging interruptions or incomplete data, thus improving the continuity and accuracy of ranging coal mine operating equipment.

Description

Technical Field

[0001] This invention relates to the field of coal mine safety detection technology, and more specifically, to a method for ranging and identifying coal mine operating equipment based on multi-millimeter-wave radar. Background Technology

[0002] In the current context, when various coal mine operation equipment (such as integrated tunneling and anchoring machines, anchor transport and demolition robots, etc.) are working in the underground environment of coal mines, it is necessary to locate and measure the distance of each coal mine operation equipment through distance measurement and identification methods. By measuring the distance of each coal mine operation equipment from the sidewall of the roadway and locating each coal mine operation 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 large amounts of flammable and explosive gases in underground coal mines, high requirements are placed on the stability, real-time performance, and environmental adaptability of distance measurement and identification methods.

[0003] Currently, when measuring the distance between coal mine operating equipment and the left and right side walls of the roadway, distance measurement and identification methods typically employ image recognition and other means. Distance measuring equipment commonly uses LiDAR, ultrasonic, and infrared sensors. However, due to the large size and varied posture of equipment operating underground in coal mines, distance measuring equipment is often obstructed. Existing distance measurement and identification methods lack effective compensation mechanisms when the distance measuring equipment is obstructed, leading to distance measurement interruptions or incomplete data, and failing to guarantee the continuity and accuracy of distance measurement. Therefore, existing distance measurement and identification methods suffer from poor continuity and accuracy when measuring the distance of coal mine operating equipment underground. Summary of the Invention

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

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

[0006] In a first aspect, embodiments of the present invention provide a method for ranging and identifying coal mine operating equipment based on multi-millimeter-wave radar, used to detect in real time the distances from the left and right sides of underground coal mine operating equipment to the roadway. The method includes:

[0007] Obtain the width of the tunnel;

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

[0009] Determine whether the ranging component is blocked based on the tunnel width and the measurement value of the ranging component;

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

[0011] Furthermore, this embodiment of the invention provides a first possible implementation of the first aspect, wherein the ranging component includes: a first left ranging component, a first right ranging component, a second left ranging component, and a second right ranging component; wherein the first left ranging component is disposed at the left front of the coal mining equipment; the first right ranging component is disposed at the right front of the coal mining equipment; the second left ranging component is disposed at the left rear of the coal mining equipment; and the second right ranging component is disposed at the right rear of the coal mining equipment.

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

[0013] The horizontal distance between the first left ranging component and the first right ranging component is obtained as the first horizontal distance, and the horizontal distance between the second left ranging component and the second right ranging component is obtained as the second horizontal distance;

[0014] The horizontal distance between the first left ranging component and the second left ranging component is obtained as the third horizontal distance; the vertical distance between the first left ranging component and the second left ranging component is obtained as the first vertical distance; the horizontal distance between the first right ranging component and the second right ranging component is obtained as the fourth horizontal distance; and the vertical distance between the first right ranging component and the second right ranging component is obtained as the 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, this embodiment of the invention provides a second possible implementation of the first aspect, wherein the step of determining whether the ranging component is obstructed based on the tunnel width and the measurement value of the ranging component includes:

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

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

[0019] Based on the first sum, the second sum, and the tunnel width, determine whether the first left ranging component, the first right ranging component, the second left ranging component, and the second right ranging component are obstructed.

[0020] Furthermore, this embodiment of the invention provides a third possible implementation 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 occluded based on the first sum value, the second sum value, and the roadway width includes:

[0021] Calculate the difference between the first sum and the width of the tunnel to obtain the first difference;

[0022] Calculate the difference between the second sum and the width of the tunnel to obtain the second difference;

[0023] Calculate the difference between the first sum and the second sum to obtain the 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, then 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 obscured.

[0025] If the third difference is greater than a preset threshold and the first difference is greater than or equal to 0, then it is determined that at least one of the second left ranging component and the second right ranging component is occluded, and neither the first left ranging component nor the first right ranging component is occluded.

[0026] If the third difference is less than the opposite of the preset threshold and the second difference is greater than or equal to 0, then it is determined that at least one of the first left ranging component and the first right ranging component is occluded, and neither the second left ranging component nor the second right ranging component is occluded.

[0027] 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 ranging component and the first right ranging component is occluded, and at least one of the second left ranging component and the second right ranging component is occluded.

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

[0029] The first heading angle of the coal mine operation component is determined based on the roadway width and the first sum.

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

[0031] Based on the left projection value, the first left measurement value and the third horizontal distance determine the first equivalent value; wherein, the first equivalent value is an approximation of the second left measurement value when the second left ranging component is not obstructed;

[0032] Based on the right projection value, the first right measurement value and the fourth horizontal distance determine the second equivalent value; wherein, the second equivalent value is an approximation of the second right measurement value when the second right ranging component is not obstructed;

[0033] Based on the first equivalent value, the second equivalent value, the second left measurement value, and the second right measurement value, the occluded component in the second left ranging component and the second right ranging component is determined; wherein, if the difference between the first equivalent value and the second left measurement value at this time is greater than the preset threshold, the second left ranging component is determined to be occluded, 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, the second right ranging component is determined to be occluded;

[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 obstructed.

[0035] Furthermore, this embodiment of the invention provides a fifth possible implementation 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 occluded, and neither the second left ranging component nor the second right ranging component is occluded, if the third difference is less than the negative of a preset threshold and the second difference is greater than or equal to 0, includes:

[0036] Based on the left projection value, the second left measurement value and the third horizontal distance, the third equivalent value is determined; wherein, the third equivalent value is an approximation of the first left measurement value when the first left ranging component is not obstructed;

[0037] Based on the right projection value, the second right measurement value and the fourth horizontal distance, the fourth equivalent value is determined; wherein, the fourth equivalent value is an approximation of the first right measurement value when the first right ranging component is not obstructed;

[0038] Based on the third equivalent value, the fourth equivalent value, the first left measurement value, and the first right measurement value, the occluded component in the first left ranging component and the first right ranging component is determined; wherein, if the difference between the third equivalent value and the first left measurement value at this time is greater than the preset threshold, the first left ranging component is determined to be occluded, 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, the first right ranging component is determined to be occluded;

[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 obstructed.

[0040] Furthermore, this embodiment of the invention provides a sixth possible implementation 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 occluded if the first difference is less than 0 and the second difference is less than 0, and at least one of the second left ranging component and the second right ranging component is occluded, includes:

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

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

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

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

[0045] The occluded component in the first left ranging component and the first right ranging component is determined 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, the first right ranging component is determined to be occluded, and / or, if the difference between the fourth sum and the lane width is greater than or equal to the preset threshold, the first left ranging component is determined to be occluded.

[0046] The occluded component in the second left ranging component and the second right ranging component 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, the second right ranging component is determined to be occluded, and / or, if the difference between the sixth sum and the lane width is greater than or equal to the preset threshold, the second left ranging component is determined to be occluded.

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

[0048] If the occlusion of at least three ranging components cannot be determined, then 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 obstructed; 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 obstructed; 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 obstructed; 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 obstructed; 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 obstructed.

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

[0051] The measurement value of the ranging component at this time is compensated to the measurement value before the sudden change in the measurement value of the ranging component.

[0052] Furthermore, the present invention provides a ninth possible implementation of the first aspect, which further includes the step of: comparing the distances from the left and right sides of the coal mine operating equipment to the roadway with a preset alarm threshold; and triggering an alarm if the distances from the left and right sides of the coal mine operating equipment to the roadway are less than or equal to the preset alarm threshold.

[0053] This invention provides a ranging and identification method for coal mine operating equipment based on multi-millimeter-wave radar. The method includes: acquiring the width of the roadway; setting a ranging component on the coal mine operating equipment and acquiring the measurement values ​​of the ranging component in real time; wherein the ranging component is used to measure the distances from the left and right sides of the coal mine operating equipment to the roadway in real time; multiple ranging components are used, and each ranging component is a millimeter-wave radar; determining whether the ranging component is obstructed based on the roadway width and the measurement values ​​of the ranging component; if the ranging component is obstructed, compensating the measurement values ​​of the ranging component and outputting the compensated measurement values ​​as the distances from the left and right sides of the coal mine operating equipment to the roadway; if the ranging component is not obstructed, directly outputting the measurement values ​​of the ranging component as the distances from the left and right sides of the coal mine operating equipment to the roadway. This invention installs ranging components on coal mine operating equipment to obtain real-time distances from the left and right sides of the equipment to the roadway. By comparing the measured values ​​of the ranging components with the roadway width, it determines whether the ranging components are obstructed. Compensation is provided for the measured values ​​of obstructed ranging components to ensure that the data from each measuring component remains complete and continuous, avoiding situations where ranging is interrupted or the data is incomplete. Finally, the measured values ​​of the ranging components are used as the distances from the left and right sides of the coal mine operating equipment to the roadway, thus improving the continuity and accuracy of ranging measurements of coal mine operating equipment underground.

[0054] Other features and advantages of the embodiments of the present invention will be set forth in the following description, or some features and advantages may be inferred from the description or determined without doubt, or may be learned by practicing the techniques described above in the embodiments of the present invention.

[0055] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0056] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0057] Figure 1 A flowchart illustrating a method for ranging and identifying coal mine equipment based on multi-millimeter-wave radar, provided by an embodiment of the present invention, is shown.

[0058] Figure 2 This diagram illustrates a coal mine operating equipment provided in an embodiment of the present invention in a non-tilting state;

[0059] Figure 3 This diagram illustrates a coal mine operating equipment provided in an embodiment of the present invention when it is tilted to the left.

[0060] Figure 4 This diagram illustrates a coal mine operating equipment in a right-tilted state according to an embodiment of the present invention.

[0061] Figure 5 A schematic diagram of a ranging system provided in an embodiment of the present invention is shown;

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

[0063] Figure 7 This illustration shows a flowchart of a distance measurement and identification method for coal mine operation equipment provided by an embodiment of the present invention.

[0064] Explanation of reference numerals in the attached figures

[0065] 201 - First left ranging component, 202 - First right ranging component, 203 - Second left ranging component, 204 - Second right ranging component. Detailed Implementation

[0066] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be described below in conjunction with the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments.

[0067] This embodiment provides a ranging and identification method for coal mine operating equipment based on multi-millimeter-wave radar. This method can be applied to electronic devices such as computers and can detect in real time the distances from the left and right sides of underground coal mine operating equipment to the roadway. (See also...) Figure 1 The diagram shows a flowchart of a ranging and identification method for coal mine operating equipment based on multi-millimeter-wave radar. The method mainly includes the following steps:

[0068] Step S1: Obtain the width of the tunnel;

[0069] Coal mine operating equipment typically operates in underground coal mine roadways. The above steps use the horizontal distance between the left inner wall and the right inner wall of the roadway as the roadway width, denoted as B. The roadway width is then used to determine the obstruction status of the ranging component on the coal mine operating equipment.

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

[0071] In the above steps, a ranging component (i.e., millimeter-wave radar) is installed on the coal mine operating equipment to obtain the distances from the left and right sides of the equipment to the roadway in real time. The coal mine operating equipment is typically large, including integrated tunneling and anchoring machines and anchor-transporting and breaking robots. The ranging component is usually a millimeter-wave radar, which has good anti-interference capabilities. Additionally, the following sensors can be used individually or in combination as ranging components: LiDAR sensors: suitable for roadway areas with relatively low dust interference, providing high-density point cloud data to assist in attitude determination; Ultra Wideband (UWB) sensors; and other sensors. 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, making it suitable for short-distance, high-precision requirements; TOF camera sensor or 3D structured light camera sensor: These two types of sensors can estimate the distance from the left and right sides of the coal mine equipment to the roadway through depth maps in areas where lighting conditions permit; Inertial measurement unit (IMU) + encoder: The combination of these two devices, based on the movement trajectory and tilt angle changes of the coal mine equipment, can help calculate the relative displacement and attitude information of the coal mine equipment, and is used to compensate for situations of obstruction or signal loss.

[0072] Step S5: Determine whether the ranging component is blocked based on the tunnel width and the measurement value of the ranging component;

[0073] Because the ranging component may experience situations such as the measured value becoming 0, signal value loss, and measurement angle mismatch when it is blocked, the measured value of the ranging component (i.e., millimeter-wave radar) will become smaller. Therefore, by comparing the tunnel width and the measured 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 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.

[0075] In the above steps, by judging the occlusion of the ranging component, compensation is made to its measurement value when the ranging component is occluded, so as 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 implement the compensation of the measurement value. At the same time, a fusion algorithm of Kalman filtering or particle filtering can be used to combine historical measurement values ​​to compensate the current measurement value. Neural networks or machine learning models can also be used to learn the model through a large amount of working condition data of coal mine equipment, improve the compensation rules of the measurement value, and improve the intelligence of the compensation judgment. Furthermore, a fuzzy logic rule system can be used to perform weighted processing of the measurement value of the ranging component to improve robustness.

[0076] The distance measurement and identification method for coal mine operating equipment based on multi-millimeter-wave radar provided in this invention involves setting a distance measuring component on the coal mine operating equipment to obtain the distances from the left and right sides of the equipment to the roadway in real time. By comparing the measured values ​​of the distance measuring component with the width of the roadway, it is determined whether the distance measuring component is obstructed. The measured values ​​of the obstructed distance measuring component are compensated to ensure that the data of each measuring component remains complete and continuous, avoiding distance measurement interruptions or incomplete data. Finally, the compensated measured values ​​of the obstructed distance measuring component and the measured values ​​of the unobstructed distance measuring component are used as the distances from the left and right sides of the coal mine operating equipment to the roadway, thus improving the continuity and accuracy of distance measurement for coal mine operating equipment underground.

[0077] In one embodiment, the ranging component provided in this embodiment includes: a first left ranging component 201, a first right ranging component 202, a second left ranging component 203, and a second right ranging component 204; wherein, the first left ranging component 201 is disposed at the left front of the coal mining equipment; the first right ranging component 202 is disposed at the right front of the coal mining equipment; the second left ranging component 203 is disposed at the left rear of the coal mining equipment; and the second right ranging component 204 is disposed at the right rear of the coal mining equipment.

[0078] See Figure 2The diagram shows a coal mine operating equipment in a non-tilted state. The aforementioned ranging components are respectively set at the left front, right front, left rear, and right rear of the coal mine operating equipment. By installing two ranging components on each side of the coal mine operating equipment, when a ranging component is obstructed or experiences signal distortion, its historical data can be automatically retrieved to compensate for its measurement value, or it can be compensated for by using effective measurement values ​​from other radars. This achieves robust perception of the status of each ranging component. The compensation mechanism implemented through multiple ranging components has obstruction recognition capabilities and dynamic judgment logic, ensuring the continuous reliability of the measurement values ​​of each ranging component. At the same time, the multiple ranging components, unlike most current ranging systems that can only provide distance information from a single point or one side, provide the ability to perceive the overall heading angle, left and right offset, or tilt status of the coal mine operating equipment, enhancing its application in scenarios such as automatic driving and obstacle avoidance of coal mine operating equipment.

[0079] In addition to setting 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, a ring-shaped arrangement of ranging components can also be used. By arranging the ranging components (i.e., millimeter-wave radar) around the circumference of the coal mine operating equipment, the impact of one-way obstruction on the ranging components can be reduced. A mobile radar scanning mechanism can also be set up, using a rotatable or movable millimeter-wave radar probe to perform periodic scanning, reducing the number of ranging components. This structure is suitable for space-constrained scenarios. When there are multiple coal mine operating equipment in a coal mine, multiple devices can be deployed collaboratively, using the ranging values ​​of the ranging components of adjacent coal mine operating equipment to perform cross-device ranging, thereby improving the sensing range.

[0080] Specific implementation methods for acquiring the measurement values ​​of the ranging component in real time are provided, including:

[0081] Step S31: Obtain the horizontal distance between the first left ranging component 201 and the first right ranging component 202 as the first horizontal distance, and obtain the horizontal distance between the second left ranging component 203 and the second right ranging 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 the first horizontal distance, denoted as A1; the horizontal distance between the second left ranging component 203 and the second right ranging component 204 is obtained as the second horizontal distance, denoted as A2.

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

[0085] Let the first horizontal distance be denoted as A1, the second horizontal distance as A2, the third horizontal distance as c1, the fourth horizontal distance as c2, the first vertical distance as b1, the second vertical distance as b2, the first left measurement value as X1, the first right measurement value as Y1, the second left measurement value as X2, and the second right measurement value as Y2. In this embodiment of the invention, the first vertical distance = the second vertical distance = b.

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

[0087] Step S51: 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;

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

[0089] H1 = X1 + A1 + Y1.

[0090] Step S52: 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;

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

[0092] H2 = X2 + A2 + Y2.

[0093] Step S53: Determine 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 obstructed based on the first sum, the second sum, and the tunnel width.

[0094] When the coal mining equipment travels without tilt, the first and second sums are the same as the width of the roadway. When the coal mining equipment travels with a certain tilt angle, the first and second sums are both greater than the width of the roadway. 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 measured value will be zero, the measured value signal will be lost, and the angle will be mismatched, which will definitely lead to the measured value becoming smaller. Therefore, when the ranging component is blocked, it will result in the measured value being less than the width of the roadway. By comparing the first and second sums with the width of the roadway 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 obstructed based on a first sum value, a second sum value, and the roadway width.

[0096] Step S531: Calculate the difference between the first sum and the roadway width to obtain the first difference;

[0097] Calculate the difference between the first sum and the roadway width to obtain the first difference M1.

[0098] M1 = H1 - B.

[0099] Step S532: Calculate the difference between the second sum and the roadway width to obtain the second difference;

[0100] Calculate the difference between the second sum and the roadway width to obtain the second difference M2:

[0101] M2 = H2 - B.

[0102] Step S533: Calculate the difference between the first sum and the second sum to obtain the 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 a preset threshold, then 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 obscured.

[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 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. Moreover, combined with 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 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 blocked. At this time, directly calculate the first heading angle of the coal mine operation equipment 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 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;

[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 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.

[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 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;

[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 method for 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 heading angle of the coal mining 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 heading angle β of the coal mining operation component can be directly determined based on the roadway width and the first sum value as:

[0117]

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

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

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

[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] As can be seen from the above formula, the values ​​of the left projection value and the right projection value are related to the tilt angle of the coal mine operating equipment. If the tilt angle of the coal mine operating equipment is 0°, the values ​​of the left projection value and the right projection value are both 0. In this embodiment of the 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: Determine 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 approximation of the second left measurement value when the second left ranging component 203 is not obstructed;

[0126] The first equivalent value in the above steps is related to the tilt direction of the coal mining equipment. Specifically, if the coal mining equipment is traveling with its head tilted to the left, then the first equivalent value Z1 is calculated as follows:

[0127] Z1 = X1 + a1 + c1;

[0128] When the coal mine operating equipment is traveling with its left tilt, the first left measurement value should be less than the second left measurement value if each ranging component is not obstructed. 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 ranging component 203 is not obstructed can be approximately obtained.

[0129] If the coal mine operating equipment is traveling at a right tilt, then the solution for the first equivalent value Z1 is:

[0130] Z1 = X1 - a1 + c1;

[0131] When the coal mine operating equipment is traveling at a right tilt, the first left measurement value should be greater than the second left measurement value when the third horizontal distance is added, provided that the distance measuring components are not obstructed. Therefore, by adding the difference between the first left measurement value and the left projection value to the third horizontal distance, the second left measurement value when the second left distance measuring component 203 is not obstructed can be approximately obtained.

[0132] If the coal mine operating equipment is in a non-tilting travel state, then the first equivalent value Z1 is solved as follows:

[0133] Z1 = X1 + c1;

[0134] When the coal mine operating equipment is in a non-tilting driving state, the first left measurement value is approximately equal to the second left measurement value when the distance measuring components are not obstructed, provided that 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 obstructed can be approximately obtained.

[0135] Step S5354: Determine 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 approximation of the second right measurement value when the second right ranging component 204 is not obstructed;

[0136] The second equivalent value in the above steps is related to the tilt direction of the coal mining equipment. Specifically, if the coal mining equipment is traveling with its head tilted to the left, then the second equivalent value Z2 is calculated as follows:

[0137] Z2 = Y1 - a2 + c2;

[0138] When the coal mine operating equipment is in a left-tilted driving state, and the ranging components are not obstructed, the first right measurement value, when combined with the fourth horizontal distance, should be greater than the second right measurement value. 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 ranging component 204 is not obstructed can be approximately obtained.

[0139] If the coal mine operating equipment is traveling at a right tilt, then the solution for the second equivalent value Z2 is:

[0140] Z2 = Y1 + a2 + c2;

[0141] When the coal mine operating equipment is traveling at a right tilt, and all distance measuring components are not obstructed, the first right measurement value should be less 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 obstructed can be approximately obtained.

[0142] If the coal mine operating equipment is in a non-tilting travel state, then the solution for the second equivalent value Z2 is:

[0143] Z2 = Y1 + c2;

[0144] When the coal mine operating equipment is in a non-tilting driving state, and each ranging component is not obstructed, the first right measurement value, when combined with the fourth horizontal distance, is approximately equal to the second right measurement value. 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 obstructed can be approximately obtained.

[0145] Step S5355: Based on the first equivalent value, the second equivalent value, the second left measurement value, and the second right measurement value, determine the occluded component in the second left ranging component 203 and the second right ranging component 204; wherein, if the difference between the first equivalent value and the current second left measurement value is greater than a preset threshold, then the second left ranging component 203 is determined to be occluded, and / or, if the difference between the second equivalent value and the current second right measurement value is greater than a preset threshold, then the second right ranging component 204 is determined to be occluded;

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

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

[0148] In this embodiment of the invention, the occlusion status of the second left ranging component 203 and the second right ranging component 204 can be further determined by substituting the first equivalent value into the second sum value. Specifically, the following conditions are met for analysis: 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|≤100mm, then it is determined that the second left ranging component 203 is blocked at this time, and the coal mine working equipment is in a left tilt driving state at this time.

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

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

[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-tilt 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-tilt 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-tilt 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-tilt driving state at this time; if X1 < Y1 is satisfied, the coal mine working equipment is in a right-tilt driving state at this time; if X1 = Y1 is satisfied, the coal mine working equipment is in a non-tilt 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 when 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; where 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 heading angle, the first heading angle β can also be obtained as:

[0160]

[0161] The third equivalent value is related to the tilt direction of the coal mining equipment. Specifically, if the coal mining equipment is tilted to the left, the third equivalent value Z3 is calculated as follows:

[0162] Z3 = X2 - a1 - c1;

[0163] When the coal mine operating equipment is traveling with its left tilt, the first left measurement value should be less than the second left measurement value if each ranging component is not obstructed. 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 ranging component 201 is not obstructed can be approximately obtained.

[0164] If the coal mine operating equipment is traveling at a right tilt, then the solution for the third equivalent value Z3 is:

[0165] Z3 = X2 + a1 - c1;

[0166] When the coal mine operating equipment is traveling at a right tilt, the second left measurement value should be less than the first left measurement value after subtracting the third horizontal distance, provided that each ranging component is not obstructed. 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 ranging component 201 is not obstructed can be approximately obtained.

[0167] If the coal mine operating equipment is in a non-tilting travel state, then the solution for the third equivalent value Z3 is:

[0168] Z3 = X2 - c1;

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

[0170] Step S5362: Determine 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 approximation of the first right measurement value when the first right ranging component 202 is not obstructed;

[0171] The fourth equivalent value in the above steps is related to the tilt direction of the coal mining equipment. Specifically, if the coal mining equipment is traveling with its head tilted to the left, then the fourth equivalent value Z4 is calculated as follows:

[0172] Z4 = Y2 + a2 - c2;

[0173] When the coal mine operating equipment is in a left-tilted driving state, and the ranging components are not obstructed, the second right measurement value should be less 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 ranging component 202 is not obstructed can be approximately obtained.

[0174] If the coal mine operating equipment is traveling with its back tilted to the right, then the fourth equivalent value Z4 is calculated as follows:

[0175] Z4 = Y2 - a2 - c2;

[0176] When the coal mine operating equipment is in a right-tilted driving state, if each ranging component is not obstructed, 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 ranging component 202 is not obstructed can be approximately obtained.

[0177] If the coal mine operating equipment is in a non-tilting travel state, then the fourth equivalent value Z4 is:

[0178] Z4 = Y2 - c2;

[0179] When the coal mine operating equipment is in a non-tilting driving state, and each ranging component is not obstructed, 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 obstructed can be approximately obtained.

[0180] Step S5363: Determine the occluded component in 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 occluded, 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 occluded;

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

[0182] If the difference between the fourth equivalent value and the current first right measurement value is greater than a preset threshold, then the first right ranging component 202 is determined to be blocked. Specifically, if Y2+a2-c2-Y1>100mm, then the first right ranging component 202 is blocked, and the coal mine working equipment is in a left-tilted driving state, and can also pass through; if Y2-a2-c2-Y1>100mm, then the first right ranging component 202 is blocked, and the coal mine working equipment is in a right-tilted driving state; if Y2-c2-Y1>100mm, then the first right ranging component 202 is blocked, and the coal mine working equipment is in a non-tilted driving state. The state; at the same time, in the above steps, the first right ranging component 202 can also be determined by the third equivalent value, the first left measurement value at this time, and the preset threshold. 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 tilt 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 tilt driving state; if X2-c1-X1≤100mm, it can be determined that the first right and left ranging components are 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 distance measuring component 201 and the first right distance measuring 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 distance measuring component 201 is occluded at this time, and the coal mine working equipment is in a left - inclined 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 distance measuring component 201 is occluded at this time, and the coal mine working equipment is in a right - inclined driving state at this time;

[0186] ③ If |[X2 + A2 + Y2 - (X2 - c1 + A1)] - Y1| ≤ 100 mm, it is determined that the first left distance measuring component 201 is occluded at this time, and the coal mine working equipment is in a non - inclined 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 distance measuring component 201 and the first right distance measuring component 202 are occluded at this time, and the coal mine working equipment is in a left - inclined 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 distance measuring component 201 and the first right distance measuring component 202 are occluded at this time, and the coal mine working equipment is in a right - inclined 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 distance measuring component 201 and the first right distance measuring component 202 are occluded at this time, and the coal mine working equipment is in a non - inclined 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 - inclined driving state at this time; if X2 < Y2, the coal mine working equipment is in a right - inclined driving state at this time; if X2 = Y2, the coal mine working equipment is in a non - inclined driving state at this time.

[0191] Step S5364: Based on the second difference being greater than or equal to 0, it is determined that neither the second left ranging component 203 nor the second right ranging component 204 is obstructed.

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

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

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

[0195] H3 = X1 + A1 + Z4.

[0196] Step S5372: Calculate the sum of the third equivalent value, the first horizontal distance, and the first right measurement value to obtain the fourth sum.

[0197] The fourth sum, H4, is obtained by summing the third equivalent value, the first horizontal distance, and the first right measurement value:

[0198] H4 = Z3 + A1 + Y1.

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

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

[0201] H5 = X2 + A2 + Z2.

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

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

[0204] H6 = Z1 + A2 + Y2.

[0205] Step S5375: Determine the occluded component in 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 occluded, 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 occluded;

[0206] If the difference between the third sum and the roadway 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 X1+A1+Z4-B≥100mm is satisfied, it is determined that the first right ranging component 202 is blocked. Among them, the fourth equivalent value is entered with different values ​​when the coal mine operating equipment is in different driving states. When the coal mine operating equipment is in a left tilt driving state, Z4=Y2+a2-c2; when the coal mine operating equipment is in a right tilt 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 roadway width is greater than or equal to a preset threshold, it is determined that the first left ranging component 201 is blocked. 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 Z3+A1+Y1-B≥100mm is satisfied, it is determined that the first left ranging component 201 is blocked. Among them, the third equivalent value is entered with different values ​​when the coal mine operating equipment is in different driving states. When the coal mine operating equipment is in a left tilt driving state, Z3=X2-a1-c1; when the coal mine operating equipment is in a right tilt 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 occluded component in 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, the second right ranging component 204 is determined to be occluded, and / or, if the difference between the sixth sum and the lane width is greater than or equal to a preset threshold, the second left ranging component 203 is determined to be occluded;

[0209] If the difference between the fifth sum and the roadway width is greater than or equal to a preset threshold, it is determined that the second right ranging component 204 is blocked. 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 X2+A2+Z2-B≥100mm is satisfied, it is determined that the second right ranging component 204 is blocked. Among them, the second equivalent value is entered with different values ​​when the coal mine operating equipment is in different driving states. When the coal mine operating equipment is in a left tilt driving state, Z2=Y1-a2+c2; when the coal mine operating equipment is in a right tilt 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 roadway width is greater than or equal to a preset threshold, it is determined that the first left ranging component 201 is blocked. 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 Z1+A2+Y2-B≥100mm is satisfied, it is determined that the second left ranging component 203 is blocked. The first equivalent value is substituted with different values ​​when the coal mine operating equipment is in different driving states. When the coal mine operating equipment is in a left tilt driving state, Z1=X1+a1+c1; when the coal mine operating equipment is in a right tilt 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 embodiments provided by the present invention, it can also be determined whether the first right ranging component 202 and the second right ranging component 204 are simultaneously blocked 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 simultaneously blocked. And the same as 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] 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, can be used to determine whether the first right ranging component 202 and the second right ranging component 204 are simultaneously blocked. 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 simultaneously blocked. The steps are the same as above. 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 operating states.

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

[0214] If the occlusion 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] Let the first left initial value be P1, the first right initial value be P2, the second left initial value be P3, and the second right initial value be P4.

[0216] Based on the current first left measurement value, first right measurement value, second left measurement value, second right measurement value, first left initial value, first right initial value, second left initial value, and second right initial value, it is determined whether each ranging component is occluded; specifically, 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 occluded; if the absolute value of the difference between the first right measurement value and the first right initial value is greater than a preset threshold, it is determined that the first right ranging component 202 is occluded; if the absolute value of the difference between the second left measurement value and the second left initial value is greater than a preset threshold, it is determined that the second left ranging component 203 is occluded; if the absolute value of the difference between the second right measurement value and the second right initial value is greater than a preset threshold, it is determined that the second right ranging component 204 is occluded.

[0217] If the absolute value of the difference between the first left measured value and the first left initial value is greater than a preset threshold, then it is determined that the first left ranging component 201 is occluded, i.e., the condition is met.

[0218] X1-P1>100mm;

[0219] At this point, it is determined that the first left ranging component 201 is obstructed;

[0220] If the absolute value of the difference between the first right measured value and the first right initial value is greater than a preset threshold, then it is determined that the first right ranging component 202 is occluded, i.e., the condition is met.

[0221] Y1-P2>100mm;

[0222] At this point, it is determined that the first right ranging component 202 is obstructed;

[0223] If the absolute value of the difference between the second left measured value and the second left initial value is greater than a preset threshold, then it is determined that the second left ranging component 203 is occluded, i.e., the condition is met.

[0224] X2-P3>100mm;

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

[0226] If the absolute value of the difference between the second right measured value and the second right initial value is greater than a preset threshold, then it is determined that the second right ranging component 204 is occluded, i.e., the condition is met.

[0227] Y2-P4>100mm;

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

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

[0230] The measurement value of the ranging component at this time will be compensated to the measurement value before the sudden change in the measurement value of the ranging component;

[0231] During the operation of coal mine equipment, the measurement values ​​of each ranging component are saved in real time. When a sudden change occurs in a ranging component, the measurement value before the sudden change is taken as the measurement value of that ranging component.

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

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

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

[0235] Each ranging component is configured with a red preset alarm threshold, a yellow preset alarm threshold, and a green preset normal threshold. The red preset alarm threshold for each ranging component is less than the yellow preset alarm threshold, which in turn is less than the green preset normal threshold. An alarm is triggered when the measured value of a ranging component falls within either the red or yellow preset alarm threshold. Specifically, the alarm intensity at the red preset alarm threshold is higher than that at the yellow preset alarm threshold. When the ranging component falls within the green preset normal threshold, it indicates that the location of the coal mine operating equipment is in a normal state.

[0236] In addition to calculating the heading angle based on the difference in distance measurements from multiple points, the embodiments of the present invention can also directly obtain the tilt state of 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 deviated based on a matching algorithm of multiple radar reflection feature changes; 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 the estimation of heading angle when data is missing.

[0237] This invention also provides a ranging system applicable to the above-mentioned ranging and identification method for coal mine operating equipment based on multi-millimeter-wave radar. For details, see [link to documentation]. Figure 5 The diagram shows a modular design of a ranging system. This system includes millimeter-wave radar sensor groups 501 (i.e., various ranging components), installed at different locations on the coal mine operating equipment (including the left front, right front, left rear, and right rear) to measure the distances between the left and right sides of the coal mine operating equipment and the sidewalls of the roadway. Each millimeter-wave radar measurement value has corresponding variables and cache variables. The data acquisition and caching module 502 mainly includes a PLC control unit, used for real-time acquisition of the millimeter-wave radar measurements and establishing a historical cache mechanism for use in millimeter-wave radar... Data compensation is performed when the signal is blocked or fails, and parameters (e.g., first horizontal distance, first vertical distance, etc.) can be modified in real time through the PLC control unit; the judgment and calculation module 503 is used to realize the logical judgment and calculation of the tilt state (left or right tilt) of the coal mine operation equipment and the blockage of the millimeter-wave radar, including heading angle calculation, minimum lateral distance screening, error compensation, etc.; the alarm and communication module 504 is used to upload the judgment results to the host computer and output visual alarm signals according to the three warning intervals of red, yellow and green for the scheduling and obstacle avoidance of equipment in coal mine operations;

[0238] This ranging system can accurately measure the distance between the coal mine operating equipment and the roadway on both sides. Simultaneously, it can analyze the tilt (attitude) of the coal mine operating equipment based on the heading angle. Even under complex environmental conditions such as obstructions, dust interference, and signal interruptions, it can continuously acquire the relative position and attitude information of the coal mine operating equipment, achieving stable, reliable, and highly robust spatial perception capabilities. Furthermore, by measuring the minimum distance between the coal mine operating equipment and the roadway wall in real time, and combining this with the geometric installation parameters of the ranging components, the system calculates the heading angle of the coal mine operating equipment, accurately determining its attitude (such as left tilt, right tilt, and no tilt), providing support for automatic navigation or intelligent control of the coal mine operating equipment. The system also sets three alarm intervals (red, yellow, and green) for each ranging component, and binds these to real-time variables in the PLC program. When the corresponding alarm value is triggered, the data is automatically uploaded to the host computer, and the auxiliary display interface provides color-coding and alarm management, offering flexible configuration and scalability.

[0239] Based on the foregoing embodiments, this embodiment provides an example of using the aforementioned multi-millimeter-wave radar-based ranging and identification method for coal mine operating equipment to measure the distance to the left and right sides of coal mine operating equipment, see example... Figure 6The diagram shows a structural schematic of a coal mine operation equipment. A roadheader-anchor integrated machine is selected as the coal mine operation equipment, and millimeter-wave radar is selected as the ranging component. The first millimeter-wave radar (i.e., the first left ranging component 201) is located at the front left of the roadheader-anchor integrated machine; the second millimeter-wave radar (i.e., the first right ranging component 202) is located at the front right of the roadheader-anchor integrated machine; the third millimeter-wave radar (i.e., the second left ranging component 203) is located at the rear left of the roadheader-anchor integrated machine; and the fourth millimeter-wave radar (i.e., the second right ranging component 204) is located at the rear right of the roadheader-anchor integrated machine.

[0240] Meanwhile, the design width of the working roadway of the tunneling and anchoring machine (i.e., coal mine operation equipment) is 6240mm, and the actual measured width is 6360mm (6360mm will be used in the subsequent analysis); the designed installation position of the first left ranging component 201, located at the left front of the coal mine operation equipment, is 463mm from the side wall of the roadway, and the actual installation position of the first left ranging component 201 is 630mm from the side wall of the roadway (630mm will be used in the subsequent analysis); the designed installation position of the first right ranging component 202, located at the right front of the coal mine operation equipment, is 450mm from the side wall, and the actual installation position of the first right ranging component 202 is 450mm from the side wall. The side wall is 630mm away (630mm will be used in the subsequent analysis); the designed installation position of the second left ranging component 203, which is located 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 used in the subsequent analysis); the designed installation position of the second right ranging component 204, which is located 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 used in the subsequent analysis), wherein the first horizontal distance is 5100mm.

[0241] See also Figure 7 The diagram illustrates a process for distance measurement and identification of coal mine operating equipment based on a distance measurement and identification method. The specific steps of this method are as follows:

[0242] Step S1101: Obtain the values ​​of the tunnel and various distances;

[0243] In the above steps, the tunnel width, first horizontal distance, second horizontal distance, third horizontal distance, fourth horizontal distance, first vertical distance, and second vertical distance 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: Real-time acquisition of measurement values ​​from each ranging component and caching of 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 collected in real time by 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: Set a preset threshold and obtain the first sum and the second sum;

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

[0248] Step S1104: Determine the occlusion status of each ranging component based on the first sum, the second sum, the tunnel width, and the 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 roadway width is greater than or equal to 0, the difference between the second sum and the roadway 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 a preset threshold, then 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, then it is determined that at least one of the second left ranging component 203 and the second right ranging component 204 is blocked, and neither the first left ranging component 201 nor the first right ranging component 202 is blocked.

[0251] If the difference between the first sum and the second sum is less than the negative of the preset threshold and the difference between the second sum and the lane width is greater than or equal to 0, then it is determined that at least one of the first left ranging component 201 and the first right ranging component 202 is blocked, and neither the second left ranging component 203 nor the second right ranging component 204 is blocked.

[0252] If the difference between the first sum and the roadway width is less than 0 and the difference between the second sum and the roadway width is less than 0, then 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 ranging component, output the measured value as the distance from the left and right sides of the coal mine operating equipment to the roadway.

[0254] If the ranging component is obstructed, the current measurement value is compensated based on the measurement value of the ranging component before the mutation in the historical cache.

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

[0256] The current measurement values ​​of the ranging components on the same side as the coal mine operating equipment are compared, and the smaller of the first left measurement value and the second left measurement value is output as the distance from the left side of the coal mine operating equipment to the roadway; the smaller of the first right measurement value and the second right measurement value is output as the distance from the right side of the coal mine operating equipment to the roadway.

[0257] Step S1106: Calculate the first heading angle of the coal mine operating equipment based on the compensated measurement values ​​or the directly output measurement values ​​of each ranging component, and determine the attitude of the coal mine operating equipment.

[0258] The first sum H1 and the second sum H2 are calculated based on the measured values ​​after compensation or direct output of each ranging component, the first horizontal distance, and the second horizontal distance.

[0259] The first heading angle β of the coal mine operating equipment is calculated as follows:

[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, then it is determined that the coal mine operating equipment is in a left tilt 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, then it is determined that the coal mine operating equipment is in a right tilt 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, then it is determined that the coal mine operating equipment is in a non-tilting 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 the safe range, and issue an alarm for measurement values ​​outside the safe range;

[0265] Each ranging component has a preset red alarm threshold, a preset yellow alarm threshold, and a preset green normal threshold. An alarm is triggered when the measured value of the ranging component falls within the preset red or yellow alarm threshold. Specifically, the preset red alarm threshold for the first left ranging component 201 is 350mm-600mm, the preset yellow alarm threshold is 601mm-629mm, and the preset green normal threshold is 630mm-1163mm; the preset red alarm threshold for the first right ranging component 202 is 350mm-550mm, and the preset yellow alarm threshold is 5... The preset alarm threshold for the second left ranging component 203 is 51mm-629mm, and the preset normal threshold for green is 630mm-1163mm; the preset alarm threshold for red for the second left ranging component 203 is 350mm-1100mm, the preset alarm threshold for yellow is 1101mm-1685mm, and the preset normal threshold for green is 1603mm-2230mm; the preset alarm threshold for red for the second right ranging component 204 is 350mm-1100mm, the preset alarm threshold for yellow is 1101mm-1685mm, and the preset normal threshold for green is 1686mm-2230mm.

[0266] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the 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 merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. 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 foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by 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 for real-time detection of the distances from the left and right sides of underground coal mine operating equipment to the roadway includes: Obtain the width of the tunnel; A ranging component is installed on the coal mine operating equipment to acquire the measurement value of the ranging component in real time; wherein, the ranging component is used to measure the distance from the left and right sides of the coal mine operating equipment to the roadway in real time; the ranging component includes: a first left ranging component (201), a first right ranging component (202), a second left ranging component (203), and a second right ranging component (204); the first left ranging component (201) is located at the left front of the coal mine operating equipment; the first right ranging component (202) is located at the right front of the coal mine operating equipment; the second left ranging component (203) is located at the left rear of the coal mine operating equipment; the second right ranging component (204) is located at the right rear of the coal mine operating equipment; the ranging component is a millimeter-wave radar; Determine whether the ranging component is blocked based on the tunnel width and the measurement value of the ranging component; The step of determining whether the ranging component is obstructed based on the tunnel width and the measurement value of the ranging component includes: The horizontal and vertical distances between each of the ranging components are obtained; the heading angle of the coal mine operating equipment is determined based on the roadway width, each of the measured values, and the horizontal distance; a projection value is determined based on the heading angle and the vertical distance; an equivalent value is determined based on the projection value, the measured value, and the horizontal distance; and whether the ranging component is obstructed is determined based on the equivalent value and the measured value. If the ranging component is obstructed, the measured value of the ranging component is compensated, and the compensated measured value is output as the distance from the left and right sides of the coal mine operating equipment to the roadway; if the ranging component is not obstructed, the measured value of the ranging component is directly output as the distance from the left and right sides of the coal mine operating equipment to the roadway.

2. The ranging and identification method according to claim 1, characterized in that, The step of acquiring the measurement value of the ranging component in real time includes: The horizontal distance between the first left ranging component (201) and the first right ranging component (202) is obtained as the first horizontal distance, and the horizontal distance between the second left ranging component (203) and the second right ranging component (204) is obtained as the second horizontal distance; The horizontal distance between the first left ranging component (201) and the second left ranging component (203) is obtained as the third horizontal distance; the vertical distance between the first left ranging component (201) and the second left ranging component (203) is obtained as the first vertical distance; the horizontal distance between the first right ranging component (202) and the second right ranging component (204) is obtained as the fourth horizontal distance; and the vertical distance between the first right ranging component (202) and the second right ranging component (204) is obtained as the second vertical distance. 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 obtained as the first left measurement value, the first right measurement value, the second left measurement value, and the second right measurement value.

3. The ranging and identification method according to claim 2, characterized in that, The step of determining whether the ranging component is obstructed based on the tunnel width and the measurement value of the ranging component includes: Calculate the sum of the first horizontal distance, the first left measurement, and the first right measurement to obtain the first sum value; Calculate the sum of the second horizontal distance, the second left measurement, and the second right measurement to obtain the second sum value; Based on the first sum, the second sum, and the lane width, determine 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 obstructed.

4. The ranging 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 occluded based on the first sum value, the second sum value, and the roadway width includes: Calculate the difference between the first sum and the width of the tunnel to obtain the first difference; Calculate the difference between the second sum and the width of the tunnel to obtain the second difference; Calculate the difference between the first sum and the second sum to obtain the 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, then 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 obscured. If the third difference is greater than a preset threshold and the first difference is greater than or equal to 0, then it is determined that at least one of the second left ranging component (203) and the second right ranging component (204) is occluded, and neither the first left ranging component (201) nor the first right ranging component (202) is occluded. If the third difference is less than the opposite of the preset threshold and the second difference is greater than or equal to 0, then it is determined that at least one of the first left ranging component (201) and the first right ranging component (202) is occluded, and neither the second left ranging component (203) nor the second right ranging component (204) is occluded. 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 ranging component (201) and the first right ranging component (202) is occluded, and at least one of the second left ranging component (203) and the second right ranging component (204) is occluded.

5. The ranging 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 occluded, and neither the first left ranging component (201) nor the first right ranging component (202) is occluded, if the third difference is greater than a preset threshold and the first difference is greater than or equal to 0, includes: The first heading angle of the coal mine operating equipment is determined based on the roadway width and the first sum. The left projection value is determined based on the first heading angle and the first vertical distance, and the right projection value is determined based on the first heading angle and the second vertical distance; wherein, the left projection value is the distance from the intersection of the extension line of the first left ranging component (201) and the ranging line of the second left ranging component (203) to the distance between the coal mine operating equipment along the ranging line of the second left ranging component (203); the right projection value is the distance from the intersection of the extension line of the first right ranging component (202) and the ranging line of the second right ranging component (204) to the distance between the coal mine operating equipment along the ranging line of the second right ranging component (204). Based on the left projection value, the first left measurement value and the third horizontal distance determine a first equivalent value; wherein, the first equivalent value is an approximation of the second left measurement value when the second left ranging component (203) is not obstructed; Based on the right projection value, the first right measurement value and the fourth horizontal distance determine the second equivalent value; wherein, the second equivalent value is an approximation of the second right measurement value when the second right ranging component (204) is not obstructed; Based on the first equivalent value, the second equivalent value, the second left measurement value, and the second right measurement value, determine the occluded component in the second left ranging component (203) and the second right ranging component (204); 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 ranging component (203) is occluded, 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 ranging component (204) is occluded; Based on the first difference being greater than or equal to 0, it is determined that neither the first left ranging component (201) nor the first right ranging component (202) is obscured.

6. The ranging 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 occluded, and neither the second left ranging component (203) nor the second right ranging component (204) is occluded, if the third difference is less than the negative of a preset threshold and the second difference is greater than or equal to 0, includes: Based on the left projection value, the second left measurement value and the third horizontal distance determine a third equivalent value; wherein, the third equivalent value is an approximation of the first left measurement value when the first left ranging component (201) is not obstructed; Based on the right projection value, the second right measurement value and the fourth horizontal distance determine the fourth equivalent value; wherein, the fourth equivalent value is an approximation of the first right measurement value when the first right ranging component (202) is not obstructed; Based on the third equivalent value, the fourth equivalent value, the first left measurement value, and the first right measurement value, the occluded component in the first left ranging component (201) and the first right ranging component (202) is determined; wherein, if the difference between the third equivalent value and the first left measurement value at this time is greater than the preset threshold, the first left ranging component (201) is determined to be occluded, 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, the first right ranging component (202) is determined to be occluded; Based on the second difference being greater than or equal to 0, it is determined that neither the second left ranging component (203) nor the second right ranging component (204) is obscured.

7. The ranging 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), and at least one of the second left ranging component (203) and the second right ranging component (204) is occluded if the first difference is less than 0 and the second difference is less than 0 includes: Calculate the sum of the first left measurement value, the first horizontal distance, and the fourth equivalent value to obtain the third sum value; Calculate the sum of the third equivalent value, the first horizontal distance, and the first right measurement value to obtain the fourth sum; Calculate the sum of the second left measurement value, the second horizontal distance, and the second equivalent value to obtain the fifth sum value; Calculate the sum of the first equivalent value, the second horizontal distance, and the second right measurement value to obtain the sixth sum value; Based on the third sum, the fourth sum, and the lane width, determine the occluded component in the first left ranging component (201) and the first right ranging component (202); 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 occluded, 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 occluded; Based on the fifth sum, the sixth sum, and the lane width, determine the occluded component in the second left ranging component (203) and the second right ranging component (204); 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 occluded, 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 occluded.

8. The ranging and identification method according to claim 4, characterized in that, It also includes the following steps: If the occlusion 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. 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 occluded; 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 (201) is occluded; 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 occluded; 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 occluded; 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 occluded.

9. The ranging and identification method according to claim 1, characterized in that, The step of compensating for the measurement value of the ranging component if the ranging component is obstructed includes: The measurement value of the ranging component at this time is compensated to the measurement value before the sudden change in the measurement value of the ranging component.

10. The ranging and identification method according to claim 1, characterized in that, The method also includes the following steps: comparing the distances from the left and right sides of the coal mine operating equipment to the roadway with the preset alarm thresholds. If the distances from the left and right sides of the coal mine operating equipment to the roadway are less than or equal to the preset alarm thresholds, an alarm will be triggered.

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