CN103940907A - Coal-rock identification equipment and identification method thereof - Google Patents

Abstract

The invention discloses coal-rock identification equipment and an identification method thereof. The coal-rock identification equipment comprises an acoustic emission device, an acoustic receiving device, a horizontal pitch detector, a water path guide device, a signal processing and calculating device, a cable and an explosion-proof housing, wherein the acoustic emission device comprises a signal generator, a power amplifier and a hydrophone; the hydrophone finally transmits acoustic signals with certain frequency outwards; the acoustic receiving device comprises a hydrophone and a measurement amplifier. The problems that an existing coal-rock identification method has a poor identification effect, is not practical, has inherent and large errors, and cannot be applied to the geological environment with a complicated geological working surface are solved. The coal-rock identification equipment and the identification method thereof can be applicable to the condition with high demands on the coal-rock identification effect, acoustic detection is taken as a main identification technique, the solution of a numerical solution of a nonlinear equation system is taken as a solving method, and the coal-rock identification equipment has stable solving accuracy. The identification equipment disclosed by the invention is compact in structure and convenient to install and operate, and the identification method is safe and reliable.

Description

Coal and rock identify equipment and recognition methods thereof

Technical field

The invention belongs to coal and rock identify technical field, relate to a kind of coal and rock identify equipment, relate in particular to a kind of coal mine fully-mechanized mining working coal and rock identify equipment; Meanwhile, the invention still further relates to a kind of coal mine fully-mechanized mining working coal and rock identify method.

Background technology

Coal and rock identify is domestic and international generally acknowledged hi-tech, highly difficult problem, is also key and the prerequisite that realizes automatic adjustment height and fully-mechanized mining working robotization.This technology can effectively prevent that coal mining machine roller from cutting to the pick position breakage causing rock stratum.Cannot judge accurately that coal is thick, certainly will occur that coalcutter course of work intermediate roll part cuts to rock stratum, very easily cause gas explosion for gassy mine, the rock of cut is sneaked into coal seam and is caused Coal Quality Decline, or roof and floor stays coal too much to reduce coal mining rate.Can say that coal and rock identify is to combine the bottleneck problem of adopting automatically working face.

At present, the method that colliery mining face under mine solution coal and rock identify is being attempted and studied mainly contains passive r X-ray detection X method, radar detection method, dynamometry pick method.

Described passive r X-ray detection X method is based on radiating a certain amount of r ray in rock, and in coal seam, almost there is no exit dose, and coal seam has the principle of attenuation to the r ray radiating in rock.Once for actual production, the sensor head of acquisition sensor receives r ray abroad, and signal further amplifies via photomultiplier, then through the thick converter of counting-coal, radiant quantity is converted to the thick amount of coal by exponential relationship.But this method can only be useful in China 20% to be had on the colliery of radioactivity top board.

Described radar detection method is by measuring the integrated reflection coefficient at coal and shale interface, utilizes by antenna and moves the spatial modulation identification transport function that forms, utilizes scattering matrix to calculate the thickness of specific inductive capacity and each layer of coal and shale.But antenna scattering and target scattering have increased the difficulty of the problem of time domain.The technical matterss such as antenna assembly response, antennafier in the time that transmitting-receiving still exists antenna loop when electromagnetic wave overflow, and electromagnetic wave in coal seam, rock stratum decay is serious, be unfavorable for surveying.

Vibration frequency when described dynamometry pick method is cut coal, rock based on coalcutter there are differences, by receive from distinguish different cut states under acoustic vibration signal realize coal and rock identify.This Method And Principle is simple, practical application is but very complicated, because the acoustic vibration signal receiving is also relevant with state of strength, the workplace geologic structure of coalcutter type, production practice, pick, not yet develops practical vibration transducer at present.

In sum, existing coal and rock identify method recognition effect is not good, has intrinsic and larger error, can be practical without any a kind of mode, can not solve the coal and rock identify problem under complicated coal mine work area geologic media.

Summary of the invention

Technical matters to be solved by this invention is: a kind of coal and rock identify equipment is provided, can solves existing coal and rock identify method recognition effect not good, have intrinsic and larger error, and can not be practical, the problem that can not be used for complicated geological workplace geologic media.

In addition, the present invention also provides coal and rock identify method, can solve existing coal and rock identify method recognition effect not good, has intrinsic and larger error, can not be practical, the problem that can not be used for complicated geological workplace geologic media.

For solving the problems of the technologies described above, the present invention adopts following technical scheme:

A kind of coal and rock identify equipment, described coal and rock identify equipment comprises: acoustic emission apparatus, sound wave receiving trap, level inclination detector, water route guiding device, signal processing and calculation element, cable, explosion-resistant enclosure;

Described acoustic emission apparatus comprises signal generator, power amplifier, nautical receiving set, and the nautical receiving set the most at last acoustic signals of certain frequency is externally launched;

Described sound wave receiving trap comprises nautical receiving set, measuring amplifier;

Described signal is processed and calculation element comprises identification DSP microprocessing unit, display screen;

Described signal generator sends sinusoidal acoustic signals, amplify through power amplifier, import the transmitting nautical receiving set as piezoelectric transducer into, drawn in the medium of coalcutter chilled water vertical water coal interface with nautical receiving set at water route guiding device by this transmitting and launch sound wave; Sound wave transmits until coal seam in chilled water;

Above-mentioned sound wave is in the reflection of water coal generation of interfaces, refraction, and a part of sound wave enters coal seam to be continued to propagate, and arrives coal-rock interface, again produces reflection, refraction at this interface, and the sound wave that is refracted to coal seam produces reflection, refraction in coal water termination;

Sound wave receiving trap receives and turns back to the acoustic signals of receiving end, and this returns to acoustic signals and acoustic emission apparatus institute sounding wave signal through long cable transmission, sends into the signal that is positioned at coalcutter fuselage position simultaneously and processes and calculation element;

The frequency that signal generator sends signal is certain, is made up of the signal of multiple characteristic frequency, in the physical model that sound wave forms at water, coal, rock, propagate, search the characteristic impedance of existing each medium, density, acoustic wave propagation velocity, and to water, after the wave absorption coefficient of coal is demarcated, set up with water layer thickness, thickness of coal seam is unknown number, continuous with water coal interface and coal-rock interface acoustic pressure, particle velocity is constraint continuously, the sonic transmissions acoustic model that the modulus ratio of the amplitude that the transmitting-receiving sound wave of being exported by detection system calculates through signal processing apparatus and each medium inherent characteristic parametric configuration become, finally obtain the Nonlinear System of Equations of coal and rock identify, to Nonlinear System of Equations, numerical analysis solves, obtain unknown parameter water layer thickness, thickness of coal seam,

The sound wave trajectory that water route chilled water that guiding device sprays sends acoustic emission apparatus covers, and level inclination detector, sound wave R-T unit explosion-resistant enclosure external with it are fixed on the nearly cylinder of rocking arm position; Calculated signals is connected with above-mentioned parts by cable with treating apparatus, and is positioned in coal mining machine electric control box;

In water, coal, rock sonic transmissions spatial model, the wave equation of sound wave in medium is:

$\frac{{\∂}^{2}p}{{\∂x}^2}=\frac{1}{c_0^2}\frac{{\∂}^{2}p}{{\∂t}^2},$ The acoustic pressure expression formula of incident wave is: $P_i=P_{\mathrm{ia}}{e}^{j(\mathrm{wt}-k_{1}x)};$ Former incident wave P _i, amplitude P _ia, x is coordinate system x direction coordinate; The sound wave being sent by nautical receiving set is in the reflection of water coal generation of interfaces, refraction, part sound wave enters coal seam to be continued to propagate, and through absorption, the scatter attenuation in coal seam, arrives coal-rock interface, secondary reflection, the refraction again at this interface, refraction wave again transfers to coal water termination through coal seam and produces reflection, refraction; The sound wave transmitting in coal seam is: $P_{2t}=P_{2\mathrm{ta}}{e}^{j(\mathrm{wt}-k_{2}x)},$ The sound wave that turns back to water layer is: $P_{2r}=P_{2\mathrm{ra}}{e}^{j(\mathrm{wt}+k_{2}x)};$ Wherein, k ₁, k ₂, k ₃be respectively the wave number of water, coal, rock;

The primary reflection at water coal interface and formed through coal water termination refraction wave the signal that sound wave receiving trap receives by coal-rock interface bounce back coal seam; Follow-up a series of reflections, refraction wave due to signal a little less than, ignored;

In coal, transmit sound wave and produce reflection, refraction through coal-rock interface, the sound wave reflexing in coal seam is: $P_{2r}=P_{2\mathrm{ra}}{e}^{j(\mathrm{wt}+k_{2}x)},$ The sound wave being refracted in rock stratum is: x _coalfor thickness of coal seam; In each medium, particle velocity is: $V=\frac{P{e}^{j(\mathrm{wt}-\mathrm{kx})}}{R};$

When sound wave is propagated at imperfect medium, there will be the physical phenomenon decaying gradually along with distance; In medium, the decay of sound wave is divided into scatter attenuation, attenuation by absorption; Scatter attenuation is to be caused by media particle or hole, is generally Rayleigh scattering; The another kind of sound absorption causing for interior friction, attenuation coefficient α, when sound wave is propagated in solid, this coefficient is directly proportional to the first power of frequency: α=α ₀* f, α ₀for scale-up factor;

When sound wave is propagated in liquid, heat conducting acoustical absorptivity is directly proportional to the quadratic power of frequency; The absorption loss of sonic wave amplitude on medium travel path is: or

Continuous according to water coal interface and coal-rock interface acoustic pressure, draw:

Continuous according to water coal interface and coal-rock interface normal direction particle velocity, draw:

α _waterfor the acoustical absorptivity of water, P _iafor the sound pressure level on interphase;

Separate the system of equations of above-mentioned four formulas, draw the ratio of the magnitudes of acoustic waves transmitting and receiving, and this plural number is asked to mould A: x _waterfor nautical receiving set is apart from water coal interface distance;

R ₁, R ₂, R ₃be respectively the characteristic impedance of water, coal, rock; α _coalfor the absorption coefficient of coal, x _coalrepresent that coal is thick;

The frequency that signal generator sends signal is certain, is made up of the signal of multiple characteristic frequency; In multi-frequency acoustic sounding situation, above modulus expression formula has formed Nonlinear System of Equations under different signal frequencies; Characteristic impedance, density, the acoustic wave propagation velocity of existing each medium are known;

After the wave absorption coefficient to water, coal is demarcated, above-mentioned Nonlinear System of Equations is sonic transmissions acoustic model; This model is taking water layer thickness, thickness of coal seam as unknown number,, particle velocity continuous taking water coal interface and coal-rock interface acoustic pressure is constraint continuously, and the common structure of the amplitude modulus ratio of the transmitting-receiving acoustic pressure of being exported by sound wave receive-transmit system and signal processing apparatus and each medium inherent characteristic parameter forms; This system of equations numerical analysis is solved, can draw the result of coal and rock identify, be i.e. unknown number water layer thickness, thickness of coal seam;

The nautical receiving set of sound wave receiving trap receives the signal of echo, amplifies through measuring amplifier,, jointly sends into the signal that is positioned at coalcutter fuselage position and processes and calculation element through long cable transmission with acoustic emission apparatus institute sounding wave signal;

The sound wave path that water route chilled water that guiding device sprays sends acoustic emission apparatus covers, and sound wave, after nautical receiving set sends, transmits until coal seam always in water; Acting as in the time detecting that acoustic emission apparatus is positioned at level of level inclination detector, enables acoustic emission apparatus, carries out a coal and rock identify and surveys; This inclination angle detector and sound wave R-T unit with and external explosion-resistant enclosure be fixed on the nearly cylinder of rocking arm position; Calculated signals is connected with above-mentioned parts by cable with treating apparatus, and is placed in coal mining machine electric control box body;

By the thickness of coal seam numerical value under calculated signals and treating apparatus output coal mining machine roller current location;

Signal processing, first carry out the initialization of DSP in signal processing and calculation element, initialization is sampled to data that cable passes later, sampled data comprises that acoustic emission apparatus institute sounding wave signal harmony wave receiving device receives acoustic data signal, calculate the amplitude modulus ratio of receiving and transmitting signal, calculate software by acoustic model Solutions of The System of Nonlinear Equations and measure the thick data of coal and preserve the display unit demonstration of sending in electric cabinet; Realize the FFT conversion of acoustic signals simultaneously by FFT conversion module, send into display unit display time domain and frequency curve; Show that curve object is convenient observation detector environmental noise around, is convenient to debugging and selects acoustic emission frequency range point.

A kind of coal and rock identify equipment, described coal and rock identify equipment comprises: acoustic emission apparatus, sound wave receiving trap, level inclination detector, water route guiding device, signal are processed and calculation element;

Described acoustic emission apparatus comprises signal generator, power amplifier, nautical receiving set, and the nautical receiving set the most at last acoustic signals of certain frequency is externally launched;

Described sound wave receiving trap comprises nautical receiving set, measuring amplifier;

The sound wave path that described water route chilled water that guiding device sprays sends acoustic emission apparatus covers, and sound wave, after nautical receiving set sends, transmits until coal seam always in water; Level inclination detector, in order in the time detecting that acoustic emission apparatus is positioned at level, enables acoustic emission apparatus, carries out a coal and rock identify and surveys; Calculated signals is connected with acoustic emission apparatus, sound wave receiving trap, level inclination detector, water route guiding device with treating apparatus;

Described signal is processed and calculation element is sampled to the data of importing into, sampled data comprises that acoustic emission apparatus institute sounding wave signal harmony wave receiving device receives acoustic data signal, calculate the amplitude modulus ratio of receiving and transmitting signal, calculate and measure the thick data of coal output by acoustic model Solutions of The System of Nonlinear Equations.

As a preferred embodiment of the present invention, described signal generator sends sinusoidal acoustic signals, amplify through power amplifier, import the nautical receiving set as piezoelectric transducer into, drawn vertical water coal interface in the medium of coalcutter chilled water by nautical receiving set at water route guiding device and launch sound wave; Sound wave transmits until coal seam in chilled water;

Above-mentioned sound wave is in the reflection of water coal generation of interfaces, refraction, and a part of sound wave enters coal seam to be continued to propagate, and arrives coal-rock interface, again produces reflection, refraction at this interface, and the sound wave that is refracted to coal seam produces reflection, refraction in coal water termination;

Sound wave receiving trap receives and turns back to the acoustic signals of receiving end, and this returns to acoustic signals and acoustic emission apparatus institute sounding wave signal through long cable transmission, sends into the signal that is positioned at coalcutter fuselage position simultaneously and processes and calculation element;

The frequency that signal generator sends signal is certain, is made up of the signal of multiple characteristic frequency, in the physical model that sound wave forms at water, coal, rock, propagate, search the characteristic impedance of existing each medium, density, acoustic wave propagation velocity, and to water, after the wave absorption coefficient of coal is demarcated, set up with water layer thickness, thickness of coal seam is unknown number, continuous with water coal interface and coal-rock interface acoustic pressure, particle velocity is constraint continuously, the sonic transmissions acoustic model that the modulus ratio of the amplitude that the transmitting-receiving sound wave of being exported by detection system calculates through signal processing apparatus and each medium inherent characteristic parametric configuration become, finally obtain the Nonlinear System of Equations of coal and rock identify, to Nonlinear System of Equations, numerical analysis solves, obtain unknown parameter water layer thickness, thickness of coal seam,

The sound wave trajectory that water route chilled water that guiding device sprays sends acoustic emission apparatus covers, and level inclination detector, sound wave R-T unit explosion-resistant enclosure external with it are fixed on the nearly cylinder of rocking arm position; Calculated signals is connected with above-mentioned parts by cable with treating apparatus, and is positioned in coal mining machine electric control box.

As a preferred embodiment of the present invention, in water, coal, rock sonic transmissions spatial model, the wave equation of sound wave in medium is:

$\frac{{\∂}^{2}p}{{\∂x}^2}=\frac{1}{c_0^2}\frac{{\∂}^{2}p}{{\∂t}^2},$ The acoustic pressure expression formula of incident wave is: $P_i=P_{\mathrm{ia}}{e}^{j(\mathrm{wt}-k_{1}x)};$ Former incident wave P _i, amplitude P _ia, x is coordinate system x direction coordinate; The sound wave being sent by nautical receiving set is in the reflection of water coal generation of interfaces, refraction, part sound wave enters coal seam to be continued to propagate, and through absorption, the scatter attenuation in coal seam, arrives coal-rock interface, secondary reflection, the refraction again at this interface, refraction wave again transfers to coal water termination through coal seam and produces reflection, refraction; The sound wave transmitting in coal seam is: $P_{2t}=P_{2\mathrm{ta}}{e}^{j(\mathrm{wt}-k_{2}x)},$ The sound wave that turns back to water layer is: $P_{2r}=P_{2\mathrm{ra}}{e}^{j(\mathrm{wt}+k_{2}x)};$ Wherein, k ₁, k ₂, k ₃be respectively the wave number of water, coal, rock;

The primary reflection at water coal interface and formed through coal water termination refraction wave the signal that sound wave receiving trap receives by coal-rock interface bounce back coal seam; Follow-up a series of reflections, refraction wave due to signal a little less than, ignored;

In coal, transmit sound wave and produce reflection, refraction through coal-rock interface, the sound wave reflexing in coal seam is: $P_{2r}=P_{2\mathrm{ra}}{e}^{j(\mathrm{wt}+k_{2}x)},$ The sound wave being refracted in rock stratum is: x _coalfor thickness of coal seam; In each medium, particle velocity is: $V=\frac{P{e}^{j(\mathrm{wt}-\mathrm{kx})}}{R};$

When sound wave is propagated at imperfect medium, there will be the physical phenomenon decaying gradually along with distance; In medium, the decay of sound wave is divided into scatter attenuation, attenuation by absorption; Scatter attenuation is to be caused by media particle or hole, is generally Rayleigh scattering; The another kind of sound absorption causing for interior friction, attenuation coefficient α, when sound wave is propagated in solid, this coefficient is directly proportional to the first power of frequency: α=α ₀* f, α ₀for scale-up factor;

When sound wave is propagated in liquid, heat conducting acoustical absorptivity is directly proportional to the quadratic power of frequency; The absorption loss of sonic wave amplitude on medium travel path is: or

Continuous according to water coal interface and coal-rock interface acoustic pressure, draw:

Continuous according to water coal interface and coal-rock interface normal direction particle velocity, draw:

α _waterfor the acoustical absorptivity of water, P _iafor the sound pressure level on interphase;

Separate the system of equations of above-mentioned four formulas, draw the ratio of the magnitudes of acoustic waves transmitting and receiving, and this plural number is asked to mould A: x _waterfor nautical receiving set is apart from water coal interface distance;

R ₁, R ₂, R ₃be respectively the characteristic impedance of water, coal, rock; α _coalfor the absorption coefficient of coal, x _coalrepresent that coal is thick.

As a preferred embodiment of the present invention, the frequency that signal generator sends signal is certain, is made up of the signal of multiple characteristic frequency; In multi-frequency acoustic sounding situation, above modulus expression formula has formed Nonlinear System of Equations under different signal frequencies; Characteristic impedance, density, the acoustic wave propagation velocity of existing each medium are known;

After the wave absorption coefficient to water, coal is demarcated, above-mentioned Nonlinear System of Equations is sonic transmissions acoustic model; This model is taking water layer thickness, thickness of coal seam as unknown number,, particle velocity continuous taking water coal interface and coal-rock interface acoustic pressure is constraint continuously, and the common structure of the amplitude modulus ratio of the transmitting-receiving acoustic pressure of being exported by sound wave receive-transmit system and signal processing apparatus and each medium inherent characteristic parameter forms; This system of equations numerical analysis is solved, can draw the result of coal and rock identify, be i.e. unknown number water layer thickness, thickness of coal seam;

The nautical receiving set of sound wave receiving trap receives the signal of echo, amplifies through measuring amplifier,, jointly sends into the signal that is positioned at coalcutter fuselage position and processes and calculation element through long cable transmission with acoustic emission apparatus institute sounding wave signal;

The sound wave path that water route chilled water that guiding device sprays sends acoustic emission apparatus covers, and sound wave, after nautical receiving set sends, transmits until coal seam always in water; Acting as in the time detecting that acoustic emission apparatus is positioned at level of level inclination detector, enables acoustic emission apparatus, carries out a coal and rock identify and surveys; This inclination angle detector and sound wave R-T unit with and external explosion-resistant enclosure be fixed on the nearly cylinder of rocking arm position; Calculated signals is connected with above-mentioned parts by cable with treating apparatus, and is placed in coal mining machine electric control box body;

By the thickness of coal seam numerical value under calculated signals and treating apparatus output coal mining machine roller current location; Signal processing, first carry out the initialization of DSP in signal processing and calculation element, initialization is sampled to data that cable passes later, sampled data comprises that acoustic emission apparatus institute sounding wave signal harmony wave receiving device receives acoustic data signal, calculate the amplitude modulus ratio of receiving and transmitting signal, calculate software by acoustic model Solutions of The System of Nonlinear Equations and measure the thick data of coal and preserve the display unit demonstration of sending in electric cabinet; Realize the FFT conversion of acoustic signals simultaneously by FFT conversion module, send into display unit display time domain and frequency curve; Show that curve object is convenient observation detector environmental noise around, is convenient to debugging and selects acoustic emission frequency range point.

As a preferred embodiment of the present invention, described signal is processed and calculation element comprises identification DSP microprocessing unit, display screen; Described coal and rock identify equipment also comprises cable, explosion-resistant enclosure, and calculated signals is connected, and is positioned in coal mining machine electric control box with acoustic emission apparatus, sound wave receiving trap, level inclination detector, water route guiding device by cable with treating apparatus.

A recognition methods for coal and rock identify equipment, described coal and rock identify equipment comprises: acoustic emission apparatus, sound wave receiving trap, level inclination detector, water route guiding device, signal are processed and calculation element;

Described acoustic emission apparatus comprises signal generator, power amplifier, nautical receiving set, and the nautical receiving set the most at last acoustic signals of certain frequency is externally launched; Described sound wave receiving trap comprises nautical receiving set, measuring amplifier;

Described recognition methods comprises the steps:

Described signal generator sends sinusoidal acoustic signals, amplifies through power amplifier, imports the nautical receiving set as piezoelectric transducer into, is drawn vertical water coal interface in the medium of coalcutter chilled water launch sound wave by nautical receiving set at water route guiding device; Sound wave transmits until coal seam in chilled water;

Above-mentioned sound wave is in the reflection of water coal generation of interfaces, refraction, and a part of sound wave enters coal seam to be continued to propagate, and arrives coal-rock interface, again produces reflection, refraction at this interface, and the sound wave that is refracted to coal seam produces reflection, refraction in coal water termination;

Sound wave receiving trap receives and turns back to the acoustic signals of receiving end, and this returns to acoustic signals and acoustic emission apparatus institute sounding wave signal through long cable transmission, sends into the signal that is positioned at coalcutter fuselage position simultaneously and processes and calculation element;

The frequency that signal generator sends signal is certain, is made up of the signal of multiple characteristic frequency, in the physical model that sound wave forms at water, coal, rock, propagate, search the characteristic impedance of existing each medium, density, acoustic wave propagation velocity, and to water, after the wave absorption coefficient of coal is demarcated, set up with water layer thickness, thickness of coal seam is unknown number, continuous with water coal interface and coal-rock interface acoustic pressure, particle velocity is constraint continuously, the sonic transmissions acoustic model that the modulus ratio of the amplitude that the transmitting-receiving sound wave of being exported by detection system calculates through signal processing apparatus and each medium inherent characteristic parametric configuration become, finally obtain the Nonlinear System of Equations of coal and rock identify, to Nonlinear System of Equations, numerical analysis solves, obtain unknown parameter water layer thickness, thickness of coal seam,

The sound wave trajectory that water route chilled water that guiding device sprays sends acoustic emission apparatus covers, and level inclination detector, sound wave R-T unit explosion-resistant enclosure external with it are fixed on the nearly cylinder of rocking arm position; Calculated signals is connected with above-mentioned parts by cable with treating apparatus, and is positioned in coal mining machine electric control box;

In water, coal, rock sonic transmissions spatial model, the wave equation of sound wave in medium is:

$\frac{{\∂}^{2}p}{{\∂x}^2}=\frac{1}{c_0^2}\frac{{\∂}^{2}p}{{\∂t}^2},$ The acoustic pressure expression formula of incident wave is: $P_i=P_{\mathrm{ia}}{e}^{j(\mathrm{wt}-k_{1}x)};$ Former incident wave P _i, amplitude P _ia, x is coordinate system x direction coordinate; The sound wave being sent by nautical receiving set is in the reflection of water coal generation of interfaces, refraction, part sound wave enters coal seam to be continued to propagate, and through absorption, the scatter attenuation in coal seam, arrives coal-rock interface, secondary reflection, the refraction again at this interface, refraction wave again transfers to coal water termination through coal seam and produces reflection, refraction; The sound wave transmitting in coal seam is: $P_{2t}=P_{2\mathrm{ta}}{e}^{j(\mathrm{wt}-k_{2}x)},$ The sound wave that turns back to water layer is: $P_{2r}=P_{2\mathrm{ra}}{e}^{j(\mathrm{wt}+k_{2}x)};$ Wherein, k ₁, k ₂, k ₃be respectively the wave number of water, coal, rock;

The primary reflection at water coal interface and formed through coal water termination refraction wave the signal that sound wave receiving trap receives by coal-rock interface bounce back coal seam; Follow-up a series of reflections, refraction wave due to signal a little less than, ignored;

In coal, transmit sound wave and produce reflection, refraction through coal-rock interface, the sound wave reflexing in coal seam is: $P_{2r}=P_{2\mathrm{ra}}{e}^{j(\mathrm{wt}+k_{2}x)},$ The sound wave being refracted in rock stratum is: x _coalfor thickness of coal seam; In each medium, particle velocity is: $V=\frac{P{e}^{j(\mathrm{wt}-\mathrm{kx})}}{R};$

When sound wave is propagated at imperfect medium, there will be the physical phenomenon decaying gradually along with distance; In medium, the decay of sound wave is divided into scatter attenuation, attenuation by absorption; Scatter attenuation is to be caused by media particle or hole, is generally Rayleigh scattering; The another kind of sound absorption causing for interior friction, attenuation coefficient α, when sound wave is propagated in solid, this coefficient is directly proportional to the first power of frequency: α=α ₀* f, α ₀for scale-up factor;

When sound wave is propagated in liquid, heat conducting acoustical absorptivity is directly proportional to the quadratic power of frequency; The absorption loss of sonic wave amplitude on medium travel path is: or

Continuous according to water coal interface and coal-rock interface acoustic pressure, draw:

Continuous according to water coal interface and coal-rock interface normal direction particle velocity, draw:

α _waterfor the acoustical absorptivity of water, P _iafor the sound pressure level on interphase;

Separate the system of equations of above-mentioned four formulas, draw the ratio of the magnitudes of acoustic waves transmitting and receiving, and this plural number is asked to mould A: x _waterfor nautical receiving set is apart from water coal interface distance;

R ₁, R ₂, R ₃be respectively the characteristic impedance of water, coal, rock; α _coalfor the absorption coefficient of coal, x _coalrepresent that coal is thick;

The frequency that signal generator sends signal is certain, is made up of the signal of multiple characteristic frequency; In multi-frequency acoustic sounding situation, above modulus expression formula has formed Nonlinear System of Equations under different signal frequencies; Characteristic impedance, density, the acoustic wave propagation velocity of existing each medium are known;

After the wave absorption coefficient to water, coal is demarcated, above-mentioned Nonlinear System of Equations is sonic transmissions acoustic model; This model is taking water layer thickness, thickness of coal seam as unknown number,, particle velocity continuous taking water coal interface and coal-rock interface acoustic pressure is constraint continuously, and the common structure of the amplitude modulus ratio of the transmitting-receiving acoustic pressure of being exported by sound wave receive-transmit system and signal processing apparatus and each medium inherent characteristic parameter forms; This system of equations numerical analysis is solved, can draw the result of coal and rock identify, be i.e. unknown number water layer thickness, thickness of coal seam;

The nautical receiving set of sound wave receiving trap receives the signal of echo, amplifies through measuring amplifier,, jointly sends into the signal that is positioned at coalcutter fuselage position and processes and calculation element through long cable transmission with acoustic emission apparatus institute sounding wave signal;

The sound wave path that water route chilled water that guiding device sprays sends acoustic emission apparatus covers, and sound wave, after nautical receiving set sends, transmits until coal seam always in water; Acting as in the time detecting that acoustic emission apparatus is positioned at level of level inclination detector, enables acoustic emission apparatus, carries out a coal and rock identify and surveys; This inclination angle detector and sound wave R-T unit with and external explosion-resistant enclosure be fixed on the nearly cylinder of rocking arm position; Calculated signals is connected with above-mentioned parts by cable with treating apparatus, and is placed in coal mining machine electric control box body;

By the thickness of coal seam numerical value under calculated signals and treating apparatus output coal mining machine roller current location;

Signal processing, first carry out the initialization of DSP in signal processing and calculation element, initialization is sampled to data that cable passes later, sampled data comprises that acoustic emission apparatus institute sounding wave signal harmony wave receiving device receives acoustic data signal, calculate the amplitude modulus ratio of receiving and transmitting signal, calculate software by acoustic model Solutions of The System of Nonlinear Equations and measure the thick data of coal and preserve the display unit demonstration of sending in electric cabinet; Realize the FFT conversion of acoustic signals simultaneously by FFT conversion module, send into display unit display time domain and frequency curve; Show that curve object is convenient observation detector environmental noise around, is convenient to debugging and selects acoustic emission frequency range point.

A recognition methods for coal and rock identify equipment, described coal and rock identify equipment comprises: acoustic emission apparatus, sound wave receiving trap, level inclination detector, water route guiding device, signal are processed and calculation element;

Described acoustic emission apparatus comprises signal generator, power amplifier, nautical receiving set, and the nautical receiving set the most at last acoustic signals of certain frequency is externally launched; Described sound wave receiving trap comprises nautical receiving set, measuring amplifier;

Described recognition methods comprises the steps:

Described signal generator sends sinusoidal acoustic signals, amplifies through power amplifier, imports the nautical receiving set as piezoelectric transducer into, is drawn vertical water coal interface in the medium of coalcutter chilled water launch sound wave by nautical receiving set at water route guiding device; Sound wave transmits until coal seam in chilled water;

Above-mentioned sound wave is in the reflection of water coal generation of interfaces, refraction, and a part of sound wave enters coal seam to be continued to propagate, and arrives coal-rock interface, again produces reflection, refraction at this interface, and the sound wave that is refracted to coal seam produces reflection, refraction in coal water termination;

Sound wave receiving trap receives and turns back to the acoustic signals of receiving end, and this returns to acoustic signals and acoustic emission apparatus institute sounding wave signal through long cable transmission, sends into the signal that is positioned at coalcutter fuselage position simultaneously and processes and calculation element;

The sound wave path that described water route chilled water that guiding device sprays sends acoustic emission apparatus covers, and sound wave, after nautical receiving set sends, transmits until coal seam always in water; Level inclination detector, in order in the time detecting that acoustic emission apparatus is positioned at level, enables acoustic emission apparatus, carries out a coal and rock identify and surveys; Calculated signals is connected with acoustic emission apparatus, sound wave receiving trap, level inclination detector, water route guiding device with treating apparatus;

Described signal is processed and calculation element is sampled to the data of importing into, sampled data comprises that acoustic emission apparatus institute sounding wave signal harmony wave receiving device receives acoustic data signal, calculate the amplitude modulus ratio of receiving and transmitting signal, calculate and measure the thick data of coal output by acoustic model Solutions of The System of Nonlinear Equations.

As a preferred embodiment of the present invention, described recognition methods specifically comprises the steps:

The sound wave that step S1, acoustic emission apparatus send draws at water route guiding device the sound wave of launching certain frequency in the medium of coalcutter chilled water perpendicular to water coal interface; Sound wave transmits until coal seam in chilled water;

Step S2, water, coal, rock sonic transmissions spatial model, the wave equation of sound wave in medium is:

$\frac{{\∂}^{2}p}{{\∂x}^2}=\frac{1}{c_0^2}\frac{{\∂}^{2}p}{{\∂t}^2},$ The acoustic pressure expression formula of incident wave is: $P_i=P_{\mathrm{ia}}{e}^{j(\mathrm{wt}-k_{1}x)};$ Former incident wave P _i, amplitude P _ia, x is coordinate system x direction coordinate; The sound wave being sent by nautical receiving set is in the reflection of water coal generation of interfaces, refraction, part sound wave enters coal seam to be continued to propagate, through the decay such as absorption, scattering in coal seam, arrive coal-rock interface, secondary reflection, the refraction again at this interface, refraction wave again transfers to coal water termination through coal seam and produces reflection, refraction; The sound wave transmitting in coal seam is: $P_{2t}=P_{2\mathrm{ta}}{e}^{j(\mathrm{wt}-k_{2}x)},$ The sound wave that turns back to water layer is: $P_{2r}=P_{2\mathrm{ra}}{e}^{j(\mathrm{wt}+k_{2}x)};$ K ₁, k ₂, k ₃be respectively the wave number of water, coal, rock;

The primary reflection at step S3, water coal interface and formed through coal water termination refraction wave the signal that sound wave receiving trap receives by coal-rock interface bounce back coal seam;

In step S4, coal, transmit sound wave and produce reflection, refraction through coal-rock interface, the sound wave reflexing in coal seam is: $P_{2r}=P_{2\mathrm{ra}}{e}^{j(\mathrm{wt}+k_{2}x)},$ The sound wave being refracted in rock stratum is: x _coalfor thickness of coal seam; In each medium, particle velocity is: $V=\frac{P{e}^{j(\mathrm{wt}-\mathrm{kx})}}{R};$

When sound wave is propagated at imperfect medium, there will be the physical phenomenon decaying gradually along with distance; In medium, the decay of sound wave is divided into scatter attenuation, attenuation by absorption; Scatter attenuation is to be caused by media particle or hole, is generally Rayleigh scattering; The another kind of sound absorption causing for interior friction, attenuation coefficient α, when sound wave is propagated in solid, this coefficient is directly proportional to the first power of frequency, α=α ₀* f;

When sound wave is propagated in liquid, heat conducting acoustical absorptivity is directly proportional to the quadratic power of frequency; Pure water quality has determined that again grain effect causes loss and viscous to absorb and disregards; α=α ₀* f ²the relative sound absorption amplitude of scatter attenuation is too little, ignores; The absorption loss of sonic wave amplitude on medium travel path is: or

Step S5, continuous according to water coal interface and coal-rock interface acoustic pressure, draws:

Continuous according to water coal interface and coal-rock interface normal direction particle velocity, draw:

(α _waterfor the acoustical absorptivity of water, P _iafor the sound pressure level on interphase)

Step S6, separate the system of equations of above-mentioned four formulas, draw the ratio of the magnitudes of acoustic waves transmitting and receiving, and this plural number is asked to mould A: (x _waterfor nautical receiving set is apart from water coal interface distance)

r ₁, R ₂, R ₃be respectively the characteristic impedance of water, coal, rock, α _coalfor the absorption coefficient of coal, x _coalrepresent that coal is thick;

The frequency that step S7, signal generator send signal is certain, is made up of the signal of multiple characteristic frequency; In multi-frequency acoustic sounding situation, above modulus expression formula has formed Nonlinear System of Equations under different signal frequencies; Characteristic impedance, density, the acoustic wave propagation velocity of existing each medium are known;

Step S8, after the wave absorption coefficient to water, coal is demarcated, above-mentioned Nonlinear System of Equations is sonic transmissions acoustic model; This model is taking water layer thickness, thickness of coal seam as unknown number,, particle velocity continuous taking water coal interface and coal-rock interface acoustic pressure is constraint continuously, and the common structure of the amplitude modulus ratio of the transmitting-receiving acoustic pressure of being exported by sound wave receive-transmit system and signal processing apparatus and each medium inherent characteristic parameter forms; This system of equations numerical analysis is solved, can draw the result of coal and rock identify, be i.e. unknown number water layer thickness, thickness of coal seam;

The nautical receiving set of step S9, receiving system device receives the signal of echo, amplifies through measuring amplifier,, jointly sends into the signal that is positioned at coalcutter fuselage position and processes and calculation element through long cable transmission with acoustic emission apparatus institute sounding wave signal;

The sound wave path that step S10, water route chilled water that guiding device sprays send acoustic emission apparatus covers, and sound wave, after nautical receiving set sends, transmits until coal seam always in water; Acting as in the time detecting that acoustic emission apparatus is positioned at level of level inclination detector, enables acoustic emission apparatus, carries out a coal and rock identify and surveys; This inclination angle detector and sound wave R-T unit with and external explosion-resistant enclosure be fixed on cylinder position; Signal is connected with above-mentioned parts by cable with calculation processing apparatus, and is placed in coal mining machine electric control box body;

Step S11, by the thickness of coal seam numerical value under signal and calculation processing apparatus output coal mining machine roller current location;

Step S12, first carry out the initialization of DSP in signal processing and calculation element, initialization is sampled to data that cable passes later, sampled data comprises that acoustic emission apparatus institute sounding wave signal harmony wave receiving device receives acoustic data signal, calculate the amplitude modulus ratio of receiving and transmitting signal, write acoustic model Solutions of The System of Nonlinear Equations and calculate software, measure the thick data of coal and preserve the display unit demonstration of sending in electric cabinet; Write software simultaneously and realize the FFT conversion of acoustic signals, send into display unit display time domain and frequency curve; Show that curve object is convenient observation detector environmental noise around, is convenient to debugging and selects acoustic emission frequency range point.

Beneficial effect of the present invention is: the coal and rock identify Apparatus and method for that the present invention proposes, solved existing coal and rock identify method recognition effect not good, there is intrinsic and larger error, impracticable, the problem that can not be used for complicated geological workplace geologic media.

The present invention installs level inclination detector, sound wave R-T unit and comprises their explosion-resistant enclosure at coal mining machine roller position, cylinder often rotates a circle, and when nautical receiving set institute sounding wave vertical direction in sound wave R-T unit, realizes a coal and rock identify and surveys.Pass through the thick measurements and calculations nonlinear equation of built coal group model, solve the thick information of real-time coal.Realizing coal and rock identify by acoustic sounding method, without the physicochemical characteristics that relies on coal petrography, is a kind of method of active emission detection.And which is mated the physics singularity of rock stratum, actual coal seam with impedance factor, density, the absorption coefficient of medium, detection difficulty and unworthiness that other method causes because of geologic condition difference in different mining areas are solved greatly.The transmitting-receiving acoustic signals that the present invention obtains detection sends into signal and calculation processing apparatus calculates, and build in coal and rock identify physical model with the common substitution of each medium actual physics parameter, thereby composition Nonlinear System of Equations, this system of equations is by numerical analysis, obtains the thick information of coal and be no longer the estimated value of other mode gained in the past.

The present invention can be applicable to the situation higher to coal and rock identify effect requirements, taking acoustic sounding as main recognition technology, is solved to calculation method with Nonlinear System of Equations numerical solution, has stable solving precision.Identification equipment compact conformation of the present invention, recognition methods is safe and reliable, installation and easy to operate.

Brief description of the drawings

Fig. 1 is acoustic transmission of the present invention path schematic diagram.

Fig. 2 is instrument layout figure of the present invention.

Fig. 3 is coal and rock identify system principle diagram of the present invention.

Fig. 4 is that signal of the present invention is processed and computer data is processed block diagram.

11, chilled water; 12, coal; 13, rock; 14, nautical receiving set.

1, signal generator; 2, power amplifier; 3, transmitting nautical receiving set; 4, reception nautical receiving set;

5, measuring amplifier; 6, horizontal inclinometer; 7, explosion-resistant enclosure; 8, cable;

9, signal is processed and calculation element; 10, water route guiding device

Embodiment

Describe the preferred embodiments of the present invention in detail below in conjunction with accompanying drawing.

Embodiment mono-

Refer to Fig. 2, Fig. 3, the present invention has disclosed a kind of coal and rock identify equipment, and described coal and rock identify equipment comprises: acoustic emission apparatus, sound wave receiving trap, level inclination detector 6, water route guiding device 10, signal processing and calculation element 9, cable 8, explosion-resistant enclosure 7.Described acoustic emission apparatus comprises signal generator 1, power amplifier 2, nautical receiving set 3, and the nautical receiving set 3 the most at last acoustic signals of certain frequency is externally launched; Described sound wave receiving trap comprises nautical receiving set 4, measuring amplifier 5; Described signal is processed and calculation element comprises identification DSP microprocessing unit, display screen.

Sound wave R-T unit and horizontal inclinometer 6 are positioned at the explosion-resistant enclosure 7 at the nearly cylinder of rocker arm of coal mining machine position, are processed and are connected with calculation element 9 with the signal in coal mining machine electric control box by cable 8.Water route guiding device 10 is responsible for water hole place chilled water to guide to acoustic emission system and device front end, and sound wave is transmitted until coal seam in water.

The recognition methods of above-mentioned coal and rock identify equipment is as follows:

[step 1] signal generator sends sinusoidal acoustic signals, amplify through power amplifier, import the nautical receiving set as piezoelectric transducer into, drawn at water route guiding device the sound wave of launching certain frequency in the medium of coalcutter chilled water perpendicular to water coal interface through electroacoustic conversion by nautical receiving set.Sound wave transmits until coal seam in chilled water.

[step 2] water, coal, rock have formed the spatial model of sonic transmissions, the sound wave being sent by nautical receiving set is in the reflection of water coal generation of interfaces, refraction, part sound wave enters coal seam to be continued to propagate, through the decay such as absorption, scattering in coal seam, arrive coal-rock interface, secondary reflection, the refraction again at this interface, refraction wave again transfers to coal water termination through coal seam and produces reflection, refraction.

The primary reflection at [step 3] water coal interface and formed through coal water termination refraction wave the signal that sound wave receiving trap receives by coal-rock interface bounce back coal seam.Follow-up a series of reflections, refraction wave due to signal a little less than, ignored.The nautical receiving set of receiving system device receives the signal of echo, amplifies through measuring amplifier,, jointly sends into the signal that is positioned at coalcutter fuselage position and processes and calculation element through long cable transmission with acoustic emission apparatus institute sounding wave signal.

The frequency that [step 4] signal generator sends signal is certain, is made up of the signal of multiple characteristic frequency; Set up the physical model of sound wave in the time that three kinds of media are propagated.Search the parameter such as characteristic impedance, density, acoustic wave propagation velocity of existing each medium, and after the wave absorption coefficient of water, coal is demarcated, set up sonic transmissions acoustic model.This model is taking water layer thickness, thickness of coal seam as unknown number,, particle velocity continuous taking water coal interface and coal-rock interface acoustic pressure is constraint continuously, and the common structure of the amplitude modulus ratio of the transmitting-receiving acoustic pressure of being exported by sound wave receive-transmit system and signal processing apparatus and each medium inherent characteristic parameter forms.In multi-frequency acoustic sounding situation, the form of this model is Nonlinear System of Equations, and this system of equations numerical analysis is solved, and can draw the result of coal and rock identify, i.e. unknown number water layer thickness, thickness of coal seam.

The sound wave path that [step 5] water route chilled water that guiding device sprays sends acoustic emission apparatus covers, and sound wave, after nautical receiving set sends, transmits until coal seam always in water.Acting as in the time detecting that acoustic emission apparatus is positioned at level of level inclination detector, enables acoustic emission apparatus, carries out a coal and rock identify and surveys.This inclination angle detector and sound wave R-T unit with and external explosion-resistant enclosure be fixed on the nearly cylinder of rocking arm position; Signal is connected with above-mentioned parts by cable with calculation processing apparatus, and is placed in coal mining machine electric control box body.

[step 6] is by the thickness of coal seam numerical value under signal and calculation processing apparatus output coal mining machine roller current location.

Particularly, in above-mentioned steps, in water, coal, rock sonic transmissions spatial model, the wave equation of sound wave in medium is:

$\frac{{\∂}^{2}p}{{\∂x}^2}=\frac{1}{c_0^2}\frac{{\∂}^{2}p}{{\∂t}^2},$ The acoustic pressure expression formula of incident wave is: $P_i=P_{\mathrm{ia}}{e}^{j(\mathrm{wt}-k_{1}x)}$ (former incident wave P _i, amplitude P _ia, x is the direction of coordinate system x shown in Fig. 1 coordinate).The sound wave being sent by nautical receiving set 3 is in the reflection of water coal generation of interfaces, refraction, part sound wave enters coal seam to be continued to propagate, through the decay such as absorption, scattering in coal seam, arrive coal-rock interface, secondary reflection, the refraction again at this interface, refraction wave again transfers to coal water termination through coal seam and produces reflection, refraction.The sound wave transmitting in coal seam is: $P_{2t}=P_{2\mathrm{ta}}{e}^{j(\mathrm{wt}-k_{2}x)},$ The sound wave that turns back to water layer is: $P_{2r}=P_{2\mathrm{ra}}{e}^{j(\mathrm{wt}+k_{2}x)}$ (k ₁, k ₂, k ₃be respectively the wave number of water, coal, rock).

The primary reflection at water coal interface and formed through coal water termination refraction wave the signal that sound wave receiving trap receives by coal-rock interface bounce back coal seam.Follow-up a series of reflections, refraction wave due to signal a little less than, ignored.

In coal, transmit sound wave and produce reflection, refraction through coal-rock interface, the sound wave reflexing in coal seam is: $P_{2r}=P_{2\mathrm{ra}}{e}^{j(\mathrm{wt}+k_{2}x)},$ The sound wave being refracted in rock stratum is: (x _coalfor thickness of coal seam).In each medium, particle velocity is: $V=\frac{P{e}^{j(\mathrm{wt}-\mathrm{kx})}}{R}.$

When sound wave is propagated at imperfect medium, there will be the physical phenomenon decaying gradually along with distance.In medium, the decay of sound wave is divided into scatter attenuation, attenuation by absorption.Scatter attenuation is to be caused by media particle or hole, is generally Rayleigh scattering.The another kind of sound absorption causing for interior friction, attenuation coefficient α, when sound wave is propagated in solid, this coefficient is directly proportional to the first power of frequency.α＝α ₀*f

When sound wave is propagated in liquid, heat conducting acoustical absorptivity is directly proportional to the quadratic power of frequency.Pure water quality has determined that again grain effect causes loss and viscous to absorb and disregards.α=α ₀* f ²the relative sound absorption amplitude of scatter attenuation is too little, ignores.The absorption loss of sonic wave amplitude on medium travel path is: or

Continuous according to water coal interface and coal-rock interface acoustic pressure, draw:

Continuous according to water coal interface and coal-rock interface normal direction particle velocity, draw:

(α _waterfor the acoustical absorptivity of water, P _iafor the sound pressure level on interphase).

Separate the system of equations of above-mentioned four formulas, draw the ratio of the magnitudes of acoustic waves transmitting and receiving, and this plural number is asked to mould A: (x _waterfor nautical receiving set is apart from water coal interface distance)

R ₁, R ₂, R ₃be respectively the characteristic impedance of water, coal, rock.α _coalfor the absorption coefficient of coal, x _coalrepresent that coal is thick.

The frequency that signal generator sends signal is certain, is made up of the signal of multiple characteristic frequency; In multi-frequency acoustic sounding situation, above modulus expression formula has formed Nonlinear System of Equations under different signal frequencies.The parameters such as the characteristic impedance of existing each medium, density, acoustic wave propagation velocity can draw by inquiry data, as shown in table 1.

The characterisitic parameter table of table 1 water, coal, rock

After the wave absorption coefficient to water, coal is demarcated, above-mentioned Nonlinear System of Equations is sonic transmissions acoustic model.This model is taking water layer thickness, thickness of coal seam as unknown number,, particle velocity continuous taking water coal interface and coal-rock interface acoustic pressure is constraint continuously, and the common structure of the amplitude modulus ratio of the transmitting-receiving acoustic pressure of being exported by sound wave receive-transmit system and signal processing apparatus and each medium inherent characteristic parameter forms.This system of equations numerical analysis is solved, can draw the result of coal and rock identify, be i.e. unknown number water layer thickness, thickness of coal seam.

The nautical receiving set of receiving system device receives the signal of echo, amplifies through measuring amplifier,, jointly sends into the signal that is positioned at coalcutter fuselage position and processes and calculation element through long cable transmission with acoustic emission apparatus institute sounding wave signal.

The sound wave path that water route chilled water that guiding device sprays sends acoustic emission apparatus covers, and sound wave, after nautical receiving set sends, transmits until coal seam always in water.Acting as in the time detecting that acoustic emission apparatus is positioned at level of level inclination detector, enables acoustic emission apparatus, carries out a coal and rock identify and surveys.This inclination angle detector and sound wave R-T unit with and external explosion-resistant enclosure be fixed on the nearly cylinder of rocking arm position; Signal is connected with above-mentioned parts by cable with calculation processing apparatus, and is placed in coal mining machine electric control box body.

By the thickness of coal seam numerical value under signal and calculation processing apparatus output coal mining machine roller current location.Signal processing, first carry out the initialization of DSP in signal processing and calculation element, initialization is sampled to data that cable passes later, sampled data comprises that acoustic emission apparatus institute sounding wave signal harmony wave receiving device receives acoustic data signal, calculate the amplitude modulus ratio of receiving and transmitting signal, write acoustic model Solutions of The System of Nonlinear Equations and calculate software, measure the thick data of coal and preserve the display unit demonstration of sending in electric cabinet; Write software simultaneously and realize the FFT conversion of acoustic signals, send into display unit display time domain and frequency curve.Show that curve object is convenient observation detector environmental noise around, is convenient to debugging and selects acoustic emission frequency range point.

Embodiment bis-

The difference of the present embodiment and embodiment mono-is, the present embodiment discloses a kind of coal and rock identify method, specifically comprises the steps:

The sound wave that [step S1] acoustic emission apparatus sends draws at water route guiding device the sound wave of launching certain frequency in the medium of coalcutter chilled water perpendicular to water coal interface.Sound wave transmits until coal seam in chilled water.The characteristic impedance value of water and coal, rock approach, so be used for replacing air as transmission medium, greatly reduce the energy loss while propagation between interface.

[step S2] chilled water 11, coal 12, rock 13 sonic transmissions spatial models as shown in Figure 1, the wave equation of sound wave in medium is: $\frac{{\∂}^{2}p}{{\∂x}^2}=\frac{1}{c_0^2}\frac{{\∂}^{2}p}{{\∂t}^2},$ The acoustic pressure expression formula of incident wave is: $P_i=P_{\mathrm{ia}}{e}^{j(\mathrm{wt}-k_{1}x)}$ (former incident wave P _i, amplitude P _ia, x is the direction of coordinate system x shown in Fig. 1 coordinate).The sound wave being sent by nautical receiving set 14 is in the reflection of water coal generation of interfaces, refraction, part sound wave enters coal seam to be continued to propagate, through the decay such as absorption, scattering in coal seam, arrive coal-rock interface, secondary reflection, the refraction again at this interface, refraction wave again transfers to coal water termination through coal seam and produces reflection, refraction.The sound wave transmitting in coal seam is: $P_{2t}=P_{2\mathrm{ta}}{e}^{j(\mathrm{wt}-k_{2}x)},$ The sound wave that turns back to water layer is: $P_{2r}=P_{2\mathrm{ra}}{e}^{j(\mathrm{wt}+k_{2}x)}$ (k ₁, k ₂, k ₃be respectively the wave number of water, coal, rock).

The primary reflection at [step S3] water coal interface and formed through coal water termination refraction wave the signal that sound wave receiving trap receives by coal-rock interface bounce back coal seam.Follow-up a series of reflections, refraction wave due to signal a little less than, ignored.

In [step S4] coal, transmit sound wave and produce reflection, refraction through coal-rock interface, the sound wave reflexing in coal seam is: $P_{2r}=P_{2\mathrm{ra}}{e}^{j(\mathrm{wt}+k_{2}x)},$ The sound wave being refracted in rock stratum is: (x _coalfor thickness of coal seam).In each medium, particle velocity is: $V=\frac{P{e}^{j(\mathrm{wt}-\mathrm{kx})}}{R}.$

When [step S5] sound wave is propagated at imperfect medium, there will be the physical phenomenon decaying gradually along with distance.In medium, the decay of sound wave is divided into scatter attenuation, attenuation by absorption.Scatter attenuation is to be caused by media particle or hole, is generally Rayleigh scattering.The another kind of sound absorption causing for interior friction, attenuation coefficient α, when sound wave is propagated in solid, this coefficient is directly proportional to the first power of frequency, α=α ₀* f.

When [step S6] sound wave is propagated in liquid, heat conducting acoustical absorptivity is directly proportional to the quadratic power of frequency.Pure water quality has determined that again grain effect causes loss and viscous to absorb and disregards.α=α ₀* f ²the relative sound absorption amplitude of scatter attenuation is too little, ignores.The absorption loss of sonic wave amplitude on medium travel path is: or

[step S7] is continuous according to water coal interface and coal-rock interface acoustic pressure, draws:

Continuous according to water coal interface and coal-rock interface normal direction particle velocity, draw:

(α _waterfor the acoustical absorptivity of water, P _iafor the sound pressure level on interphase)

[step S8] separates the system of equations of above-mentioned four formulas, draws the ratio of the magnitudes of acoustic waves transmitting and receiving, and this plural number is asked to mould A: (x _waterfor nautical receiving set is apart from water coal interface distance)

(R ₁, R ₂, R ₃be respectively the characteristic impedance of water, coal, rock.α _coalfor the absorption coefficient of coal, x _coalrepresent that coal is thick.)

The frequency that [step S9] signal generator sends signal is certain, is made up of the signal of multiple characteristic frequency; In multi-frequency acoustic sounding situation, above modulus expression formula has formed Nonlinear System of Equations under different signal frequencies.The parameters such as the characteristic impedance of existing each medium, density, acoustic wave propagation velocity can draw by inquiry data, as shown in table 1.

The characterisitic parameter table of table 1 water, coal, rock:

[step S10], after the wave absorption coefficient to water, coal is demarcated, above-mentioned Nonlinear System of Equations is sonic transmissions acoustic model.This model is taking water layer thickness, thickness of coal seam as unknown number,, particle velocity continuous taking water coal interface and coal-rock interface acoustic pressure is constraint continuously, and the common structure of the amplitude modulus ratio of the transmitting-receiving acoustic pressure of being exported by sound wave receive-transmit system and signal processing apparatus and each medium inherent characteristic parameter forms.This system of equations numerical analysis is solved, can draw the result of coal and rock identify, be i.e. unknown number water layer thickness, thickness of coal seam.

The nautical receiving set of [step S11] receiving system device receives the signal of echo, amplifies through measuring amplifier,, jointly sends into the signal that is positioned at coalcutter fuselage position and processes and calculation element through long cable transmission with acoustic emission apparatus institute sounding wave signal.

The sound wave path that [step S12] water route chilled water that guiding device sprays sends acoustic emission apparatus covers, and sound wave, after nautical receiving set sends, transmits until coal seam always in water.Acting as in the time detecting that acoustic emission apparatus is positioned at level of level inclination detector, enables acoustic emission apparatus, carries out a coal and rock identify and surveys.This inclination angle detector and sound wave R-T unit with and external explosion-resistant enclosure be fixed on cylinder position; Signal is connected with above-mentioned parts by cable with calculation processing apparatus, and is placed in coal mining machine electric control box body.

[step S13] is by the thickness of coal seam numerical value under signal and calculation processing apparatus output coal mining machine roller current location.

In [step S14] Fig. 4, first carry out the initialization of DSP in signal processing and calculation element, initialization is sampled to data that cable passes later, sampled data comprises that acoustic emission apparatus institute sounding wave signal harmony wave receiving device receives acoustic data signal, calculate the amplitude modulus ratio of receiving and transmitting signal, write acoustic model Solutions of The System of Nonlinear Equations and calculate software, measure the thick data of coal and preserve the display unit demonstration of sending in electric cabinet; Write software simultaneously and realize the FFT conversion of acoustic signals, send into display unit display time domain and frequency curve.Show that curve object is convenient observation detector environmental noise around, is convenient to debugging and selects acoustic emission frequency range point.

In sum, the coal and rock identify Apparatus and method for that the present invention proposes, solved existing coal and rock identify method recognition effect not good, there is intrinsic and larger error, impracticable, the problem that can not be used for complicated geological workplace geologic media.

The present invention installs level inclination detector, sound wave R-T unit and comprises their explosion-resistant enclosure at coal mining machine roller position, cylinder often rotates a circle, and when nautical receiving set institute sounding wave vertical direction in sound wave R-T unit, realizes a coal and rock identify and surveys.Pass through the thick measurements and calculations nonlinear equation of built coal group model, solve the thick information of real-time coal.Realizing coal and rock identify by acoustic sounding method, without the physicochemical characteristics that relies on coal petrography, is a kind of method of active emission detection.And which is mated the physics singularity of rock stratum, actual coal seam with impedance factor, density, the absorption coefficient of medium, detection difficulty and unworthiness that other method causes because of geologic condition difference in different mining areas are solved greatly.The transmitting-receiving acoustic signals that the present invention obtains detection sends into signal and calculation processing apparatus calculates, and build in coal and rock identify physical model with the common substitution of each medium actual physics parameter, thereby composition Nonlinear System of Equations, this system of equations is by numerical analysis, obtains the thick information of coal and be no longer the estimated value of other mode gained in the past.

The present invention can be applicable to the situation higher to coal and rock identify effect requirements, taking acoustic sounding as main recognition technology, is solved to calculation method with Nonlinear System of Equations numerical solution, has stable solving precision.Identification equipment compact conformation of the present invention, recognition methods is safe and reliable, installation and easy to operate.

Here description of the invention and application is illustrative, not wants scope of the present invention to limit in the above-described embodiments.Here the distortion of disclosed embodiment and change is possible, and for those those of ordinary skill in the art, the various parts of the replacement of embodiment and equivalence are known.Those skilled in the art are noted that in the situation that not departing from spirit of the present invention or essential characteristic, and the present invention can be with other form, structure, layout, ratio, and realize with other assembly, material and parts.In the situation that not departing from the scope of the invention and spirit, can carry out other distortion and change to disclosed embodiment here.

Claims (9)

1. a coal and rock identify equipment, is characterized in that, described coal and rock identify equipment comprises: acoustic emission apparatus, sound wave receiving trap, level inclination detector, water route guiding device, signal processing and calculation element, cable, explosion-resistant enclosure;

Described acoustic emission apparatus comprises signal generator, power amplifier, transmitting nautical receiving set, transmitting with nautical receiving set the most at last the acoustic signals of certain frequency externally launch;

Described sound wave receiving trap comprises receiving uses nautical receiving set, measuring amplifier;

Described signal is processed and calculation element comprises identification DSP microprocessing unit, display screen;

Described signal generator sends sinusoidal acoustic signals, amplifies through power amplifier, imports the transmitting nautical receiving set as piezoelectric transducer into, is drawn vertical water coal interface in the medium of coalcutter chilled water launch sound wave by this nautical receiving set at water route guiding device; Sound wave transmits until coal seam in chilled water;

Above-mentioned sound wave is in the reflection of water coal generation of interfaces, refraction, and a part of sound wave enters coal seam to be continued to propagate, and arrives coal-rock interface, again produces reflection, refraction at this interface, and the sound wave that is refracted to coal seam produces reflection, refraction in coal water termination;

Sound wave receiving trap receives and turns back to the acoustic signals of receiving end, and this returns to acoustic signals and acoustic emission apparatus institute sounding wave signal through long cable transmission, sends into the signal that is positioned at coalcutter fuselage position simultaneously and processes and calculation element;

The frequency that signal generator sends signal is certain, is made up of the signal of multiple characteristic frequency, in the physical model that sound wave forms at water, coal, rock, propagate, search the characteristic impedance of existing each medium, density, acoustic wave propagation velocity, and to water, after the wave absorption coefficient of coal is demarcated, set up with water layer thickness, thickness of coal seam is unknown number, continuous with water coal interface and coal-rock interface acoustic pressure, particle velocity is constraint continuously, the sonic transmissions acoustic model that the modulus ratio of the amplitude that the transmitting-receiving sound wave of being exported by detection system calculates through signal processing apparatus and each medium inherent characteristic parametric configuration become, finally obtain the Nonlinear System of Equations of coal and rock identify, to Nonlinear System of Equations, numerical analysis solves, obtain unknown parameter water layer thickness, thickness of coal seam,

The sound wave trajectory that water route chilled water that guiding device sprays sends acoustic emission apparatus covers, and level inclination detector, sound wave R-T unit explosion-resistant enclosure external with it are fixed on the nearly cylinder of rocking arm position; Calculated signals is connected with above-mentioned parts by cable with treating apparatus, and is positioned in coal mining machine electric control box;

In water, coal, rock sonic transmissions spatial model, the wave equation of sound wave in medium is:

$\frac{{\∂}^{2}p}{{\∂x}^2}=\frac{1}{c_0^2}\frac{{\∂}^{2}p}{{\∂t}^2},$ The acoustic pressure expression formula of incident wave is: $P_i=P_{\mathrm{ia}}{e}^{j(\mathrm{wt}-k_{1}x)};$ Former incident wave P _i, amplitude P _ia, x is coordinate system x direction coordinate; The sound wave being sent by nautical receiving set is in the reflection of water coal generation of interfaces, refraction, part sound wave enters coal seam to be continued to propagate, and through absorption, the scatter attenuation in coal seam, arrives coal-rock interface, secondary reflection, the refraction again at this interface, refraction wave again transfers to coal water termination through coal seam and produces reflection, refraction; The sound wave transmitting in coal seam is: $P_{2t}=P_{2\mathrm{ta}}{e}^{j(\mathrm{wt}-k_{2}x)},$ The sound wave that turns back to water layer is: $P_{2r}=P_{2\mathrm{ra}}{e}^{j(\mathrm{wt}+k_{2}x)};$ Wherein, k ₁, k ₂, k ₃be respectively the wave number of water, coal, rock;

The primary reflection at water coal interface and formed through coal water termination refraction wave the signal that sound wave receiving trap receives by coal-rock interface bounce back coal seam; Follow-up a series of reflections, refraction wave due to signal a little less than, ignored;

In coal, transmit sound wave and produce reflection, refraction through coal-rock interface, the sound wave reflexing in coal seam is: $P_{2r}=P_{2\mathrm{ra}}{e}^{j(\mathrm{wt}+k_{2}x)},$ The sound wave being refracted in rock stratum is: x _coalfor thickness of coal seam; In each medium, particle velocity is: r is characteristic impedance;

When sound wave is propagated at imperfect medium, there will be the physical phenomenon decaying gradually along with distance; In medium, the decay of sound wave is divided into scatter attenuation, attenuation by absorption; Scatter attenuation is to be caused by media particle or hole, is generally Rayleigh scattering; The another kind of sound absorption causing for interior friction, attenuation coefficient α, when sound wave is propagated in solid, this coefficient is directly proportional to the first power of frequency: α=α ₀* f, α ₀for scale-up factor;

When sound wave is propagated in liquid, heat conducting acoustical absorptivity is directly proportional to the quadratic power of frequency; The absorption loss of sonic wave amplitude on medium travel path is: or

Continuous according to water coal interface and coal-rock interface acoustic pressure, draw:

Continuous according to water coal interface and coal-rock interface normal direction particle velocity, draw:

α _waterfor the acoustical absorptivity of water, P _iafor the sound pressure level on interphase;

Separate the system of equations of above-mentioned four formulas, draw the ratio of the magnitudes of acoustic waves transmitting and receiving, and this plural number is asked to mould A: x _waterfor nautical receiving set is apart from water coal interface distance;

R ₁, R ₂, R ₃be respectively the characteristic impedance of water, coal, rock; α _coalfor the absorption coefficient of coal, x _coalrepresent that coal is thick;

The frequency that signal generator sends signal is certain, is made up of the signal of multiple characteristic frequency; In multi-frequency acoustic sounding situation, above modulus expression formula has formed Nonlinear System of Equations under different signal frequencies; The characteristic impedance of each medium, density, acoustic wave propagation velocity are known;

After the wave absorption coefficient to water, coal is demarcated, above-mentioned Nonlinear System of Equations is sonic transmissions acoustic model; This model is taking water layer thickness, thickness of coal seam as unknown number,, particle velocity continuous taking water coal interface and coal-rock interface acoustic pressure is constraint continuously, and the common structure of the amplitude modulus ratio of the transmitting-receiving acoustic pressure of being exported by sound wave receive-transmit system and signal processing apparatus and each medium inherent characteristic parameter forms; This system of equations numerical analysis is solved, can draw the result of coal and rock identify, be i.e. unknown number water layer thickness, thickness of coal seam;

The nautical receiving set of sound wave receiving trap receives the signal of echo, amplifies through measuring amplifier,, jointly sends into the signal that is positioned at coalcutter fuselage position and processes and calculation element through long cable transmission with acoustic emission apparatus institute sounding wave signal;

The sound wave path that water route chilled water that guiding device sprays sends acoustic emission apparatus covers, and sound wave, after nautical receiving set sends, transmits until coal seam always in water; Acting as in the time detecting that acoustic emission apparatus is positioned at level of level inclination detector, enables acoustic emission apparatus, carries out a coal and rock identify and surveys; This inclination angle detector and sound wave R-T unit with and external explosion-resistant enclosure be fixed on the nearly cylinder of rocking arm position; Calculated signals is connected with above-mentioned parts by cable with treating apparatus, and is placed in coal mining machine electric control box body;

By the thickness of coal seam numerical value under calculated signals and treating apparatus output coal mining machine roller current location;

Signal processing, first carry out the initialization of DSP in signal processing and calculation element, initialization is sampled to data that cable passes later, sampled data comprises that acoustic emission apparatus institute sounding wave signal harmony wave receiving device receives acoustic data signal, calculate the amplitude modulus ratio of receiving and transmitting signal, calculate software by acoustic model Solutions of The System of Nonlinear Equations and measure the thick data of coal and preserve the display unit demonstration of sending in electric cabinet; Realize the FFT conversion of acoustic signals simultaneously by FFT conversion module, send into display unit display time domain and frequency curve; Show that curve object is convenient observation detector environmental noise around, is convenient to debugging and selects acoustic emission frequency range point.

2. a coal and rock identify equipment, is characterized in that, described coal and rock identify equipment comprises: acoustic emission apparatus, sound wave receiving trap, level inclination detector, water route guiding device, signal are processed and calculation element;

Described acoustic emission apparatus comprises signal generator, power amplifier, nautical receiving set, and the nautical receiving set the most at last acoustic signals of certain frequency is externally launched;

Described sound wave receiving trap comprises nautical receiving set, measuring amplifier;

The sound wave path that described water route chilled water that guiding device sprays sends acoustic emission apparatus covers, and sound wave, after nautical receiving set sends, transmits until coal seam always in water; Level inclination detector, in order in the time detecting that acoustic emission apparatus is positioned at level, enables acoustic emission apparatus, carries out a coal and rock identify and surveys; Calculated signals is connected with acoustic emission apparatus, sound wave receiving trap, level inclination detector, water route guiding device with treating apparatus;

Described signal is processed and calculation element is sampled to the data of importing into, sampled data comprises that acoustic emission apparatus institute sounding wave signal harmony wave receiving device receives acoustic data signal, calculate the amplitude modulus ratio of receiving and transmitting signal, calculate and measure the thick data of coal output by acoustic model Solutions of The System of Nonlinear Equations.

3. coal and rock identify equipment according to claim 2, is characterized in that:

Described signal generator sends sinusoidal acoustic signals, amplify through power amplifier, import the transmitting nautical receiving set as piezoelectric transducer into, drawn in the medium of coalcutter chilled water vertical water coal interface with nautical receiving set at water route guiding device by this transmitting and launch sound wave; Sound wave transmits until coal seam in chilled water;

Above-mentioned sound wave is in the reflection of water coal generation of interfaces, refraction, and a part of sound wave enters coal seam to be continued to propagate, and arrives coal-rock interface, again produces reflection, refraction at this interface, and the sound wave that is refracted to coal seam produces reflection, refraction in coal water termination;

Sound wave receiving trap receives and turns back to the acoustic signals of receiving end, and this returns to acoustic signals and acoustic emission apparatus institute sounding wave signal through long cable transmission, sends into the signal that is positioned at coalcutter fuselage position simultaneously and processes and calculation element;

The frequency that signal generator sends signal is certain, is made up of the signal of multiple characteristic frequency, in the physical model that sound wave forms at water, coal, rock, propagate, search the characteristic impedance of existing each medium, density, acoustic wave propagation velocity, and to water, after the wave absorption coefficient of coal is demarcated, set up with water layer thickness, thickness of coal seam is unknown number, continuous with water coal interface and coal-rock interface acoustic pressure, particle velocity is constraint continuously, the sonic transmissions acoustic model that the modulus ratio of the amplitude that the transmitting-receiving sound wave of being exported by detection system calculates through signal processing apparatus and each medium inherent characteristic parametric configuration become, finally obtain the Nonlinear System of Equations of coal and rock identify, to Nonlinear System of Equations, numerical analysis solves, obtain unknown parameter water layer thickness, thickness of coal seam,

The sound wave trajectory that water route chilled water that guiding device sprays sends acoustic emission apparatus covers, and level inclination detector, sound wave R-T unit explosion-resistant enclosure external with it are fixed on the nearly cylinder of rocking arm position; Calculated signals is connected with above-mentioned parts by cable with treating apparatus, and is positioned in coal mining machine electric control box.

4. coal and rock identify equipment according to claim 3, is characterized in that:

In water, coal, rock sonic transmissions spatial model, the wave equation of sound wave in medium is:

$\frac{{\∂}^{2}p}{{\∂x}^2}=\frac{1}{c_0^2}\frac{{\∂}^{2}p}{{\∂t}^2},$ The acoustic pressure expression formula of incident wave is: $P_i=P_{\mathrm{ia}}{e}^{j(\mathrm{wt}-k_{1}x)};$ Former incident wave P _i, amplitude P _ia, x is coordinate system x direction coordinate; The sound wave being sent by nautical receiving set is in the reflection of water coal generation of interfaces, refraction, part sound wave enters coal seam to be continued to propagate, and through absorption, the scatter attenuation in coal seam, arrives coal-rock interface, secondary reflection, the refraction again at this interface, refraction wave again transfers to coal water termination through coal seam and produces reflection, refraction; The sound wave transmitting in coal seam is: $P_{2t}=P_{2\mathrm{ta}}{e}^{j(\mathrm{wt}-k_{2}x)},$ The sound wave that turns back to water layer is: $P_{2r}=P_{2\mathrm{ra}}{e}^{j(\mathrm{wt}+k_{2}x)};$ Wherein, k ₁, k ₂, k ₃be respectively the wave number of water, coal, rock;

The primary reflection at water coal interface and formed through coal water termination refraction wave the signal that sound wave receiving trap receives by coal-rock interface bounce back coal seam; Follow-up a series of reflections, refraction wave due to signal a little less than, ignored;

In coal, transmit sound wave and produce reflection, refraction through coal-rock interface, the sound wave reflexing in coal seam is: $P_{2r}=P_{2\mathrm{ra}}{e}^{j(\mathrm{wt}+k_{2}x)},$ The sound wave being refracted in rock stratum is: x _coalfor thickness of coal seam; In each medium, particle velocity is: r is characteristic impedance;

When sound wave is propagated at imperfect medium, there will be the physical phenomenon decaying gradually along with distance; In medium, the decay of sound wave is divided into scatter attenuation, attenuation by absorption; Scatter attenuation is to be caused by media particle or hole, is generally Rayleigh scattering; The another kind of sound absorption causing for interior friction, attenuation coefficient α, when sound wave is propagated in solid, the first power of this coefficient and frequency

Be directly proportional: α=α ₀* f, α ₀for scale-up factor;

When sound wave is propagated in liquid, heat conducting acoustical absorptivity is directly proportional to the quadratic power of frequency; The absorption loss of sonic wave amplitude on medium travel path is: or

Continuous according to water coal interface and coal-rock interface acoustic pressure, draw:

Continuous according to water coal interface and coal-rock interface normal direction particle velocity, draw:

α _waterfor the acoustical absorptivity of water, P _iafor the sound pressure level on interphase;

Separate the system of equations of above-mentioned four formulas, draw the ratio of the magnitudes of acoustic waves transmitting and receiving, and this plural number is asked to mould A: x _waterfor nautical receiving set is apart from water coal interface distance;

R ₁, R ₂, R ₃be respectively the characteristic impedance of water, coal, rock; α _coalfor the absorption coefficient of coal, x _coalrepresent that coal is thick.

5. according to the coal and rock identify equipment one of claim 2 to 4 Suo Shu, it is characterized in that:

The frequency that signal generator sends signal is certain, is made up of the signal of multiple characteristic frequency; In multi-frequency acoustic sounding situation, above modulus expression formula has formed Nonlinear System of Equations under different signal frequencies; Characteristic impedance, density, the acoustic wave propagation velocity of existing each medium are known;

After the wave absorption coefficient to water, coal is demarcated, above-mentioned Nonlinear System of Equations is sonic transmissions acoustic model; This model is taking water layer thickness, thickness of coal seam as unknown number,, particle velocity continuous taking water coal interface and coal-rock interface acoustic pressure is constraint continuously, and the common structure of the amplitude modulus ratio of the transmitting-receiving acoustic pressure of being exported by sound wave receive-transmit system and signal processing apparatus and each medium inherent characteristic parameter forms; This system of equations numerical analysis is solved, can draw the result of coal and rock identify, be i.e. unknown number water layer thickness, thickness of coal seam;

The nautical receiving set of sound wave receiving trap receives the signal of echo, amplifies through measuring amplifier,, jointly sends into the signal that is positioned at coalcutter fuselage position and processes and calculation element through long cable transmission with acoustic emission apparatus institute sounding wave signal;

The sound wave path that water route chilled water that guiding device sprays sends acoustic emission apparatus covers, and sound wave, after nautical receiving set sends, transmits until coal seam always in water; Acting as in the time detecting that acoustic emission apparatus is positioned at level of level inclination detector, enables acoustic emission apparatus, carries out a coal and rock identify and surveys; This inclination angle detector and sound wave R-T unit with and external explosion-resistant enclosure be fixed on the nearly cylinder of rocking arm position; Calculated signals is connected with above-mentioned parts by cable with treating apparatus, and is placed in coal mining machine electric control box body;

By the thickness of coal seam numerical value under calculated signals and treating apparatus output coal mining machine roller current location; Signal processing, first carry out the initialization of DSP in signal processing and calculation element, initialization is sampled to data that cable passes later, sampled data comprises that acoustic emission apparatus institute sounding wave signal harmony wave receiving device receives acoustic data signal, calculate the amplitude modulus ratio of receiving and transmitting signal, calculate software by acoustic model Solutions of The System of Nonlinear Equations and measure the thick data of coal and preserve the display unit demonstration of sending in electric cabinet; Realize the FFT conversion of acoustic signals simultaneously by FFT conversion module, send into display unit display time domain and frequency curve; Show that curve object is convenient observation detector environmental noise around, is convenient to debugging and selects acoustic emission frequency range point.

6. coal and rock identify equipment according to claim 2, is characterized in that:

Described signal is processed and calculation element comprises identification DSP microprocessing unit, display screen; Described coal and rock identify equipment also comprises cable, explosion-resistant enclosure, and calculated signals is connected, and is positioned in coal mining machine electric control box with acoustic emission apparatus, sound wave receiving trap, level inclination detector, water route guiding device by cable with treating apparatus.

7. a recognition methods for coal and rock identify equipment, is characterized in that, described coal and rock identify equipment comprises: acoustic emission apparatus, sound wave receiving trap, level inclination detector, water route guiding device, signal are processed and calculation element;

Described acoustic emission apparatus comprises signal generator, power amplifier, nautical receiving set, and the nautical receiving set the most at last acoustic signals of certain frequency is externally launched; Described sound wave receiving trap comprises nautical receiving set, measuring amplifier;

Described recognition methods comprises the steps:

Described signal generator sends sinusoidal acoustic signals, amplifies through power amplifier, imports the nautical receiving set as piezoelectric transducer into, is drawn vertical water coal interface in the medium of coalcutter chilled water launch sound wave by nautical receiving set at water route guiding device; Sound wave transmits until coal seam in chilled water;

Above-mentioned sound wave is in the reflection of water coal generation of interfaces, refraction, and a part of sound wave enters coal seam to be continued to propagate, and arrives coal-rock interface, again produces reflection, refraction at this interface, and the sound wave that is refracted to coal seam produces reflection, refraction in coal water termination;

Sound wave receiving trap receives and turns back to the acoustic signals of receiving end, and this returns to acoustic signals and acoustic emission apparatus institute sounding wave signal through long cable transmission, sends into the signal that is positioned at coalcutter fuselage position simultaneously and processes and calculation element;

The frequency that signal generator sends signal is certain, is made up of the signal of multiple characteristic frequency, in the physical model that sound wave forms at water, coal, rock, propagate, search the characteristic impedance of existing each medium, density, acoustic wave propagation velocity, and to water, after the wave absorption coefficient of coal is demarcated, set up with water layer thickness, thickness of coal seam is unknown number, continuous with water coal interface and coal-rock interface acoustic pressure, particle velocity is constraint continuously, the sonic transmissions acoustic model that the modulus ratio of the amplitude that the transmitting-receiving sound wave of being exported by detection system calculates through signal processing apparatus and each medium inherent characteristic parametric configuration become, finally obtain the Nonlinear System of Equations of coal and rock identify, to Nonlinear System of Equations, numerical analysis solves, obtain unknown parameter water layer thickness, thickness of coal seam,

The sound wave trajectory that water route chilled water that guiding device sprays sends acoustic emission apparatus covers, and level inclination detector, sound wave R-T unit explosion-resistant enclosure external with it are fixed on the nearly cylinder of rocking arm position; Calculated signals is connected with above-mentioned parts by cable with treating apparatus, and is positioned in coal mining machine electric control box;

In water, coal, rock sonic transmissions spatial model, the wave equation of sound wave in medium is:

$\frac{{\∂}^{2}p}{{\∂x}^2}=\frac{1}{c_0^2}\frac{{\∂}^{2}p}{{\∂t}^2},$ The acoustic pressure expression formula of incident wave is: $P_i=P_{\mathrm{ia}}{e}^{j(\mathrm{wt}-k_{1}x)};$ Former incident wave P _i, amplitude P _ia, x is coordinate system x direction coordinate; The sound wave being sent by nautical receiving set is in the reflection of water coal generation of interfaces, refraction, part sound wave enters coal seam to be continued to propagate, and through absorption, the scatter attenuation in coal seam, arrives coal-rock interface, secondary reflection, the refraction again at this interface, refraction wave again transfers to coal water termination through coal seam and produces reflection, refraction; The sound wave transmitting in coal seam is: $P_{2t}=P_{2\mathrm{ta}}{e}^{j(\mathrm{wt}-k_{2}x)},$ The sound wave that turns back to water layer is: $P_{2r}=P_{2\mathrm{ra}}{e}^{j(\mathrm{wt}+k_{2}x)};$ Wherein, k ₁, k ₂, k ₃be respectively the wave number of water, coal, rock;

The primary reflection at water coal interface and formed through coal water termination refraction wave the signal that sound wave receiving trap receives by coal-rock interface bounce back coal seam; Follow-up a series of reflections, refraction wave due to signal a little less than, ignored;

In coal, transmit sound wave and produce reflection, refraction through coal-rock interface, the sound wave reflexing in coal seam is: $P_{2r}=P_{2\mathrm{ra}}{e}^{j(\mathrm{wt}+k_{2}x)},$ The sound wave being refracted in rock stratum is: x _coalfor thickness of coal seam; In each medium, particle velocity is:

When sound wave is propagated at imperfect medium, there will be the physical phenomenon decaying gradually along with distance; In medium, the decay of sound wave is divided into scatter attenuation, attenuation by absorption; Scatter attenuation is to be caused by media particle or hole, is generally Rayleigh scattering; The another kind of sound absorption causing for interior friction, attenuation coefficient α, when sound wave is propagated in solid, this coefficient is directly proportional to the first power of frequency: α=α ₀* f, α ₀for scale-up factor;

When sound wave is propagated in liquid, heat conducting acoustical absorptivity is directly proportional to the quadratic power of frequency; The absorption loss of sonic wave amplitude on medium travel path is: or

Continuous according to water coal interface and coal-rock interface acoustic pressure, draw:

Continuous according to water coal interface and coal-rock interface normal direction particle velocity, draw:

α _waterfor the acoustical absorptivity of water, P _iafor the sound pressure level on interphase;

Separate the system of equations of above-mentioned four formulas, draw the ratio of the magnitudes of acoustic waves transmitting and receiving, and this plural number is asked to mould A: x _waterfor nautical receiving set is apart from water coal interface distance;

R ₁, R ₂, R ₃be respectively the characteristic impedance of water, coal, rock; α _coalfor the absorption coefficient of coal, x _coalrepresent that coal is thick;

The frequency that signal generator sends signal is certain, is made up of the signal of multiple characteristic frequency; In multi-frequency acoustic sounding situation, above modulus expression formula has formed Nonlinear System of Equations under different signal frequencies; Characteristic impedance, density, the acoustic wave propagation velocity of existing each medium are known;

After the wave absorption coefficient to water, coal is demarcated, above-mentioned Nonlinear System of Equations is sonic transmissions acoustic model; This model is taking water layer thickness, thickness of coal seam as unknown number,, particle velocity continuous taking water coal interface and coal-rock interface acoustic pressure is constraint continuously, and the common structure of the amplitude modulus ratio of the transmitting-receiving acoustic pressure of being exported by sound wave receive-transmit system and signal processing apparatus and each medium inherent characteristic parameter forms; This system of equations numerical analysis is solved, can draw the result of coal and rock identify, be i.e. unknown number water layer thickness, thickness of coal seam;

The nautical receiving set of sound wave receiving trap receives the signal of echo, amplifies through measuring amplifier,, jointly sends into the signal that is positioned at coalcutter fuselage position and processes and calculation element through long cable transmission with acoustic emission apparatus institute sounding wave signal;

The sound wave path that water route chilled water that guiding device sprays sends acoustic emission apparatus covers, and sound wave, after nautical receiving set sends, transmits until coal seam always in water; Acting as in the time detecting that acoustic emission apparatus is positioned at level of level inclination detector, enables acoustic emission apparatus, carries out a coal and rock identify and surveys; This inclination angle detector and sound wave R-T unit with and external explosion-resistant enclosure be fixed on the nearly cylinder of rocking arm position; Calculated signals is connected with above-mentioned parts by cable with treating apparatus, and is placed in coal mining machine electric control box body;

By the thickness of coal seam numerical value under calculated signals and treating apparatus output coal mining machine roller current location;

Signal processing, first carry out the initialization of DSP in signal processing and calculation element, initialization is sampled to data that cable passes later, sampled data comprises that acoustic emission apparatus institute sounding wave signal harmony wave receiving device receives acoustic data signal, calculate the amplitude modulus ratio of receiving and transmitting signal, calculate software by acoustic model Solutions of The System of Nonlinear Equations and measure the thick data of coal and preserve the display unit demonstration of sending in electric cabinet; Realize the FFT conversion of acoustic signals simultaneously by FFT conversion module, send into display unit display time domain and frequency curve; Show that curve object is convenient observation detector environmental noise around, is convenient to debugging and selects acoustic emission frequency range point.

8. a recognition methods for coal and rock identify equipment, is characterized in that, described coal and rock identify equipment comprises: acoustic emission apparatus, sound wave receiving trap, level inclination detector, water route guiding device, signal are processed and calculation element;

Described acoustic emission apparatus comprises signal generator, power amplifier, transmitting nautical receiving set, this transmitting with nautical receiving set the most at last the acoustic signals of certain frequency externally launch; Described sound wave receiving trap comprises receiving uses nautical receiving set, measuring amplifier;

Described recognition methods comprises the steps:

Described signal generator sends sinusoidal acoustic signals, amplifies through power amplifier, imports the nautical receiving set as piezoelectric transducer into, is drawn vertical water coal interface in the medium of coalcutter chilled water launch sound wave by nautical receiving set at water route guiding device; Sound wave transmits until coal seam in chilled water;

Above-mentioned sound wave is in the reflection of water coal generation of interfaces, refraction, and a part of sound wave enters coal seam to be continued to propagate, and arrives coal-rock interface, again produces reflection, refraction at this interface, and the sound wave that is refracted to coal seam produces reflection, refraction in coal water termination;

Sound wave receiving trap receives and turns back to the acoustic signals of receiving end, and this returns to acoustic signals and acoustic emission apparatus institute sounding wave signal through long cable transmission, sends into the signal that is positioned at coalcutter fuselage position simultaneously and processes and calculation element;

The sound wave path that described water route chilled water that guiding device sprays sends acoustic emission apparatus covers, and sound wave, after nautical receiving set sends, transmits until coal seam always in water; Level inclination detector, in order in the time detecting that acoustic emission apparatus is positioned at level, enables acoustic emission apparatus, carries out a coal and rock identify and surveys; Calculated signals is connected with acoustic emission apparatus, sound wave receiving trap, level inclination detector, water route guiding device with treating apparatus;

Described signal is processed and calculation element is sampled to the data of importing into, sampled data comprises that acoustic emission apparatus institute sounding wave signal harmony wave receiving device receives acoustic data signal, calculate the amplitude modulus ratio of receiving and transmitting signal, calculate and measure the thick data of coal output by acoustic model Solutions of The System of Nonlinear Equations.

9. recognition methods according to claim 8, is characterized in that:

Described recognition methods specifically comprises the steps:

The sound wave that step S1, acoustic emission apparatus send draws at water route guiding device the sound wave of launching certain frequency in the medium of coalcutter chilled water perpendicular to water coal interface; Sound wave transmits until coal seam in chilled water;

Step S2, water, coal, rock sonic transmissions spatial model, the wave equation of sound wave in medium is:

$\frac{{\∂}^{2}p}{{\∂x}^2}=\frac{1}{c_0^2}\frac{{\∂}^{2}p}{{\∂t}^2},$ The acoustic pressure expression formula of incident wave is: $P_i=P_{\mathrm{ia}}{e}^{j(\mathrm{wt}-k_{1}x)};$ Former incident wave P _i, amplitude P _ia, x is coordinate system x direction coordinate; The sound wave being sent by nautical receiving set is in the reflection of water coal generation of interfaces, refraction, part sound wave enters coal seam to be continued to propagate, through the decay such as absorption, scattering in coal seam, arrive coal-rock interface, secondary reflection, the refraction again at this interface, refraction wave again transfers to coal water termination through coal seam and produces reflection, refraction; The sound wave transmitting in coal seam is: $P_{2t}=P_{2\mathrm{ta}}{e}^{j(\mathrm{wt}-k_{2}x)},$ The sound wave that turns back to water layer is: $P_{2r}=P_{2\mathrm{ra}}{e}^{j(\mathrm{wt}+k_{2}x)};$ K ₁, k ₂, k ₃be respectively the wave number of water, coal, rock;

The primary reflection at step S3, water coal interface and formed through coal water termination refraction wave the signal that sound wave receiving trap receives by coal-rock interface bounce back coal seam;

In step S4, coal, transmit sound wave and produce reflection, refraction through coal-rock interface, the sound wave reflexing in coal seam is: $P_{2r}=P_{2\mathrm{ra}}{e}^{j(\mathrm{wt}+k_{2}x)},$ The sound wave being refracted in rock stratum is: x _coalfor thickness of coal seam; In each medium, particle velocity is: r is characteristic impedance;

When sound wave is propagated at imperfect medium, there will be the physical phenomenon decaying gradually along with distance; In medium, the decay of sound wave is divided into scatter attenuation, attenuation by absorption; Scatter attenuation is to be caused by media particle or hole, is generally Rayleigh scattering; The another kind of sound absorption causing for interior friction, attenuation coefficient α, when sound wave is propagated in solid, this coefficient is directly proportional to the first power of frequency, α=α ₀* f;

When sound wave is propagated in liquid, heat conducting acoustical absorptivity is directly proportional to the quadratic power of frequency; Pure water quality has determined that again grain effect causes loss and viscous to absorb and disregards; α=α ₀* f ²the relative sound absorption amplitude of scatter attenuation is too little, ignores; The absorption loss of sonic wave amplitude on medium travel path is: or

Step S5, continuous according to water coal interface and coal-rock interface acoustic pressure, draws:

Continuous according to water coal interface and coal-rock interface normal direction particle velocity, draw:

α _waterfor the acoustical absorptivity of water, P _iafor the sound pressure level on interphase;

Step S6, separate the system of equations of above-mentioned four formulas, draw the ratio of the magnitudes of acoustic waves transmitting and receiving, and this plural number is asked to mould A: x _waterfor nautical receiving set is apart from water coal interface distance;

R ₁, R ₂, R ₃be respectively the characteristic impedance of water, coal, rock, α _coalfor the absorption coefficient of coal, x _coalrepresent that coal is thick;

The frequency that step S7, signal generator send signal is certain, is made up of the signal of multiple characteristic frequency; In multi-frequency acoustic sounding situation, above modulus expression formula has formed Nonlinear System of Equations under different signal frequencies; Characteristic impedance, density, the acoustic wave propagation velocity of existing each medium are known;

Step S8, after the wave absorption coefficient to water, coal is demarcated, above-mentioned Nonlinear System of Equations is sonic transmissions acoustic model; This model is taking water layer thickness, thickness of coal seam as unknown number,, particle velocity continuous taking water coal interface and coal-rock interface acoustic pressure is constraint continuously, and the common structure of the amplitude modulus ratio of the transmitting-receiving acoustic pressure of being exported by sound wave receive-transmit system and signal processing apparatus and each medium inherent characteristic parameter forms; This system of equations numerical analysis is solved, can draw the result of coal and rock identify, be i.e. unknown number water layer thickness, thickness of coal seam;

The nautical receiving set of step S9, receiving system device receives the signal of echo, amplifies through measuring amplifier,, jointly sends into the signal that is positioned at coalcutter fuselage position and processes and calculation element through long cable transmission with acoustic emission apparatus institute sounding wave signal;

The sound wave path that step S10, water route chilled water that guiding device sprays send acoustic emission apparatus covers, and sound wave, after nautical receiving set sends, transmits until coal seam always in water; Acting as in the time detecting that acoustic emission apparatus is positioned at level of level inclination detector, enables acoustic emission apparatus, carries out a coal and rock identify and surveys; This inclination angle detector and sound wave R-T unit with and external explosion-resistant enclosure be fixed on cylinder position; Signal is connected with above-mentioned parts by cable with calculation processing apparatus, and is placed in coal mining machine electric control box body;

Step S11, by the thickness of coal seam numerical value under signal and calculation processing apparatus output coal mining machine roller current location;

Step S12, first carry out the initialization of DSP in signal processing and calculation element, initialization is sampled to data that cable passes later, sampled data comprises that acoustic emission apparatus institute sounding wave signal harmony wave receiving device receives acoustic data signal, calculate the amplitude modulus ratio of receiving and transmitting signal, write acoustic model Solutions of The System of Nonlinear Equations and calculate software, measure the thick data of coal and preserve the display unit demonstration of sending in electric cabinet; Write software simultaneously and realize the FFT conversion of acoustic signals, send into display unit display time domain and frequency curve; Show that curve object is convenient observation detector environmental noise around, is convenient to debugging and selects acoustic emission frequency range point.