CN110685687A - Coal mining method based on radar wave-image combined type coal rock recognition - Google Patents
Coal mining method based on radar wave-image combined type coal rock recognition Download PDFInfo
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- CN110685687A CN110685687A CN201810734347.7A CN201810734347A CN110685687A CN 110685687 A CN110685687 A CN 110685687A CN 201810734347 A CN201810734347 A CN 201810734347A CN 110685687 A CN110685687 A CN 110685687A
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- 239000011435 rock Substances 0.000 title claims abstract description 99
- 239000003245 coal Substances 0.000 title claims abstract description 90
- 238000005065 mining Methods 0.000 title claims abstract description 30
- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000000007 visual effect Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract 1
- 238000001514 detection method Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000002285 radioactive effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000001845 vibrational spectrum Methods 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C41/00—Methods of underground or surface mining; Layouts therefor
- E21C41/16—Methods of underground mining; Layouts therefor
- E21C41/18—Methods of underground mining; Layouts therefor for brown or hard coal
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
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Abstract
The invention discloses a coal mining method based on radar wave-image combined type coal rock recognition, which comprises the following steps of: (a) a radar wave transmitting and receiving device is arranged at multiple points on a working surface, and coal rock boundary point data is generated by combining a first data processing module; (b) an infrared-visible image acquisition device is arranged between two adjacent radar wave transmitting and receiving devices, and rock site data are generated by combining a second data processing module; (c) the third data processing module processes the coal rock boundary data and the rock site data to generate a production coal rock boundary curve; (d) the control system controls the coal mining machine according to the coal rock boundary curve to realize coal cutting. The method comprehensively utilizes radar waves and image technologies to identify the coal-rock boundary, the drawn curve is better in accordance with the actual trend of the coal-rock boundary, the curve is used for controlling the coal cutter to cut coal, and the effect is good.
Description
Technical Field
The invention relates to the field of coal mining, in particular to a coal mining method based on radar wave-image combined type coal rock identification.
Background
At present, in the underground coal mining process of a coal mining machine, coal rocks need to be identified, and the height and the position of a roller of the coal mining machine are controlled to be automatically adjusted according to an identification result so as to accurately cut coal and avoid the rocks. The coal rock identification mostly adopts a geophysical prospecting method, such as intelligent memory program control, vibration spectrum analysis, natural gamma rays, radioactive isotopes, noise infrared rays, radar detection and the like. For example, in radar detection, a radar wave transmitting and receiving device is used for firstly transmitting radar waves, the radar waves are reflected in coal and rock, reflected echo signals are received, and due to the different irrational properties of the coal and the rock, special echo signals can be formed on the coal-rock interface, so that the coal-rock boundary point can be determined. The existing common identification method is to arrange a plurality of radar wave transmitting and receiving devices on a hydraulic support, firstly identify the coal-rock boundary at the arrangement point, and then connect all the coal-rock boundary points to form a coal-rock boundary curve. The connecting line of two adjacent points represents the trend of the coal-rock boundary because the coal-rock boundary generally changes continuously, so the curve mostly conforms to the actual boundary of the coal rock, but the fault condition is not eliminated, the sudden change of the coal and the rock on the boundary is generated, the curve cannot conform to the actual coal-rock boundary condition at this moment, the collapse condition of a certain area can also occur on the working surface, a radar wave transmitting and receiving device is not suitable to be arranged, the difficulty is increased for drawing the curve, if the drawn coal-rock boundary curve does not conform to the actual coal-rock boundary trend, the rock or excessive coal is easily cut when the coal mining machine is controlled to carry out unmanned coal mining according to the curve, and the mining rate is reduced.
Disclosure of Invention
The invention aims to provide a coal mining method based on radar wave-image combined type coal rock recognition, the method comprehensively utilizes radar waves and image technologies to recognize the coal rock boundary, the drawn curve is better matched with the actual trend of the coal rock boundary, the curve is used for controlling a coal mining machine to cut coal, the possibility that a roller of the coal mining machine is damaged by the rock can be reduced, the coal mining rate can be improved, and the coal residue can be reduced.
In order to achieve the above object, the present invention adopts the following method:
the system provides a supporting device for coal rock recognition of a coal mining machine, the supporting device is arranged on the coal mining machine and moves along with the coal mining machine, and can bear and protect the detection device to detect and recognize coal rocks of a coal bed, and compared with the traditional supporting device arranged at multiple points, the cost is effectively saved.
In order to achieve the purpose, the invention adopts the following technical scheme:
a coal mining method based on radar wave-image combined type coal rock recognition is characterized by comprising the following steps:
(a) the method comprises the steps that radar wave transmitting and receiving devices are arranged on a working surface at multiple points, each radar wave transmitting and receiving device transmits radar waves and receives echo signals, and then a first data processing module analyzes the echo signals of each point and generates coal rock boundary point data;
(b) an infrared-visible image acquisition device is arranged between two adjacent radar wave transmitting and receiving devices, the infrared-visible image acquisition device acquires real-time working face images within a visual field range, and then a second data processing module analyzes the real-time working face images and identifies rock areas in the real-time working face images to generate rock site data;
(c) the third data processing module integrates the coal rock boundary data and the rock site data, and sequentially connects the coal rock boundary points and the rock sites to produce a coal rock boundary curve;
(d) the control system controls the coal mining machine according to the coal rock boundary curve to realize coal cutting.
Preferably, a coal-rock image database may be established, wherein a plurality of historical working face images are pre-stored in the coal-rock image database, the historical working face images include all-coal working face images, all-rock working face images and coal and rock coexisting working face images, and in the step (b), the second data processing module compares the real-time working face images with the historical working face images and then identifies rock regions in the real-time working face images, and generates rock site data.
Further, the second data processing module enriches historical working face image data by storing the real-time working face image in a coal rock image database.
According to the technical scheme, the radar wave transmitting and receiving device is used for detecting the coal rock boundary points of each point, the infrared-visible image acquisition device is used for acquiring the exposed condition of the coal rock on the working face in the middle, the coal and the exposed rock are identified, and rock site data are formed at the same time, so that the coal rock boundary points detected by the radar wave are connected with the rock sites formed by image identification, the radar wave data are corrected with the image data, the obtained coal rock boundary curve is more consistent with the real coal rock boundary trend, the rocker arm of the coal mining machine is controlled to move up and down, the roller of the coal mining machine can be close to the rock without contacting the rock, the damage of the rock to the roller of the coal mining machine is avoided, coal remained on the rock is reduced, and the mining separation rate is effectively improved.
Detailed description of the preferred embodiments.
The invention is further illustrated below:
the coal mining method based on radar wave-image combined type coal rock recognition comprises the following steps:
(a) the multi-point installation radar wave transmitting and receiving device comprises a transmitting and receiving antenna and a signal transmitting and collecting control module, wherein the transmitting and receiving antenna is connected with a working surface, and the signal transmitting and collecting module controls the transmitting and receiving antenna to transmit radar waves and receive echo signals. And the first data processing module analyzes the callback signal after acquiring the echo signal, and locks the position of the coal-rock boundary according to a three-dimensional geological model prestored in the system to form coal-rock boundary point data.
(b) An infrared-visible image acquisition device, generally an infrared-visible camera, is arranged in the middle of the radar wave transmitting and receiving device, and the camera shoots a working surface in a visual field with shooting radius to form a real-time working surface image. And the second data processing module analyzes the real-time working face and identifies a rock area in the real-time working face. The specific analysis is that a plurality of historical working face images including all working faces of coal, all working faces of rock and working faces with staggered coal and rock are stored in a coal-rock image database in advance, the coal-rock boundaries of the historical working face images can be voted manually after storage, the second data processing module is used for learning the characteristics of the coal-rock interfaces and optimizing the recognition algorithm according to manual comparison after the images of the historical working faces are digitalized, and then the real-time working faces are recognized, so that the recognition accuracy is high. The real-time working face image is also stored in the coal rock image database and becomes a historical working face image which is used as a material for image recognition later.
(c) And the third data processing module integrates the coal rock boundary data and the rock site data, and sequentially connects the coal rock boundary points and the rock sites to produce a coal rock boundary curve.
(d) The control system controls the coal mining machine according to the coal rock boundary curve to realize coal cutting.
The embodiment is only an illustration of the concept and implementation of the present invention, and is not a limitation, and technical solutions without substantial changes are still within the protection scope under the inventive concept.
Claims (3)
1. A coal mining method based on radar wave-image combined type coal rock recognition is characterized by comprising the following steps:
(a) the method comprises the steps that radar wave transmitting and receiving devices are arranged on a working surface at multiple points, each radar wave transmitting and receiving device transmits radar waves and receives echo signals, and then a first data processing module analyzes the echo signals of each point and generates coal rock boundary point data;
(b) an infrared-visible image acquisition device is arranged between two adjacent radar wave transmitting and receiving devices, the infrared-visible image acquisition device acquires real-time working face images within a visual field range, and then a second data processing module analyzes the real-time working face images and identifies rock areas in the real-time working face images to generate rock site data;
(c) the third data processing module integrates the coal rock boundary data and the rock site data, and sequentially connects the coal rock boundary points and the rock sites to produce a coal rock boundary curve;
(d) the control system controls the coal mining machine according to the coal rock boundary curve to realize coal cutting.
2. The coal mining method based on radar wave-image combined type coal-rock recognition of claim 1, characterized by establishing a coal-rock image database, wherein a plurality of historical working face images are pre-stored in the coal-rock image database, the historical working face images comprise all-coal working face images, all-rock working face images and coal and rock coexisting working face images, and in the step (b), the second data processing module compares the real-time working face images with the historical working face images, then recognizes rock regions in the real-time working face images, and generates rock site data.
3. The method of claim 2, wherein the second data processing module enriches historical face image data by storing the real-time face image in a coal-rock image database.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810734347.7A CN110685687A (en) | 2018-07-06 | 2018-07-06 | Coal mining method based on radar wave-image combined type coal rock recognition |
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| CN201810734347.7A CN110685687A (en) | 2018-07-06 | 2018-07-06 | Coal mining method based on radar wave-image combined type coal rock recognition |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111337883A (en) * | 2020-04-17 | 2020-06-26 | 中国矿业大学(北京) | Intelligent detection and identification system and method for mine coal rock interface |
| CN113052208A (en) * | 2021-03-10 | 2021-06-29 | 神华神东煤炭集团有限责任公司 | Coal rock identification method based on vision, storage medium and electronic equipment |
| CN116520274A (en) * | 2023-03-21 | 2023-08-01 | 南京京烁雷达科技有限公司 | Identification radar system for coal rock identification three-dimensional high-precision pre-detection |
| CN116539643A (en) * | 2023-03-16 | 2023-08-04 | 南京京烁雷达科技有限公司 | Method and system for identifying coal rock data by using radar |
-
2018
- 2018-07-06 CN CN201810734347.7A patent/CN110685687A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111337883A (en) * | 2020-04-17 | 2020-06-26 | 中国矿业大学(北京) | Intelligent detection and identification system and method for mine coal rock interface |
| CN113052208A (en) * | 2021-03-10 | 2021-06-29 | 神华神东煤炭集团有限责任公司 | Coal rock identification method based on vision, storage medium and electronic equipment |
| CN113052208B (en) * | 2021-03-10 | 2023-08-25 | 神华神东煤炭集团有限责任公司 | Vision-based coal rock identification method, storage medium and electronic equipment |
| CN116539643A (en) * | 2023-03-16 | 2023-08-04 | 南京京烁雷达科技有限公司 | Method and system for identifying coal rock data by using radar |
| CN116539643B (en) * | 2023-03-16 | 2023-11-17 | 南京京烁雷达科技有限公司 | Method and system for identifying coal rock data by using radar |
| CN116520274A (en) * | 2023-03-21 | 2023-08-01 | 南京京烁雷达科技有限公司 | Identification radar system for coal rock identification three-dimensional high-precision pre-detection |
| CN116520274B (en) * | 2023-03-21 | 2023-09-26 | 南京京烁雷达科技有限公司 | Identification radar system for coal rock identification three-dimensional high-precision pre-detection |
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Application publication date: 20200114 |