CN112377261A - Coal mining advancing face control method - Google Patents
Coal mining advancing face control method Download PDFInfo
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- CN112377261A CN112377261A CN202011189493.XA CN202011189493A CN112377261A CN 112377261 A CN112377261 A CN 112377261A CN 202011189493 A CN202011189493 A CN 202011189493A CN 112377261 A CN112377261 A CN 112377261A
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/12—Control, e.g. using remote control
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/865—Combination of radar systems with lidar systems
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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Abstract
The invention provides a coal face control method, which is characterized by comprising a plurality of driven coal faces connected by a plurality of driving parts, wherein N coal mining propelling surfaces form a propelling group (N is an integer larger than 1), the propelling group comprises a millimeter wave radar and/or a laser radar, the plurality of coal mining propelling surfaces form M propelling groups (M is an integer more than or equal to 2), all adjacent propelling groups of the M propelling groups comprise at least one same coal mining propelling surface, the millimeter wave radar and/or the laser radar in each propulsion group generates a control signal to control each propulsion surface in the propulsion group, and an overlapped scheme is arranged to ensure that a plurality of coal mining propulsion surfaces can have a uniform reference, thereby enabling millimeter wave radar and/or lidar to generate control signals capable of adjusting the plurality of coal face thrusts to operate efficiently in an integrated mode.
Description
Technical Field
The invention relates to the technical field of coal mining advancing face control, in particular to a coal mining advancing face control scheme realized by utilizing a radar.
Background
The important production equipment of the coal mine fully mechanized coal mining face comprises: scraper conveyors, coal mining machines, hydraulic supports. The coal mining machine can move on the chute of the scraper conveyor and cut coal from the coal wall; the scraper conveyer is used for conveying fallen coal out of a coal face and providing a movement support track for a coal mining machine; the hydraulic support is used for providing support for a working face and pushing the scraper conveyor. Specifically, the coal face is formed by sequentially arranging a plurality of hydraulic supports on the face, and supporting of a face top plate and migration of a scraper conveyor are achieved.
In general, in operation, multiple face hydraulic mounts are required to be substantially in the same plane for proper operation of the face. In the coal mining process, the scraper conveyor is a track for the coal mining machine to run, so the straightness of the hydraulic support on the working face is the premise of ensuring the straightness of the scraper conveyor, and finally the coal mining machine on the scraper conveyor can achieve a good coal cutting effect.
With the development of mining industry, new requirements are provided for automatic and intelligent mining, and a coal mining machine, a hydraulic support and a scraper machine are required to automatically cooperate to work and move in a coordinated manner. However, due to the complex ground conditions of the working environment and the large working vibration, the pushing surfaces of the hydraulic supports are not on the same plane, or the pushing surfaces have a certain inclination angle (not 90 degrees vertical) with respect to the ground, in the prior art, generally, workers in a coal mining field judge whether the hydraulic supports on the working surface exist on the same plane, and if the hydraulic supports are judged not to be on the same plane, the workers manually adjust the hydraulic supports, so that the efficiency of adjusting the hydraulic supports is low.
Therefore, how to realize the real-time state of a plurality of propelling surfaces which can be rapidly and conveniently obtained, and the accurate control of the inclination angle of each propelling surface and the integrated working mode of each surface as a whole, which is very necessary for the efficient and continuous automation of coal mining operation, and the problem to be solved urgently for the coal mine collection process is also realized.
Disclosure of Invention
The invention aims to provide a control method of a coal mining propelling face aiming at the defects in the prior art so as to solve the technical problems that the propelling face is adjusted manually and the visual observation is inaccurate in the related technology, so that the coal mining propelling system is a serious efficiency improvement restriction factor in the whole coal mining process.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
the embodiment of the invention provides a semiconductor laser transmitter, which is characterized by comprising:
the coal face coal mining and propelling system comprises a plurality of driven coal face coal faces connected by a plurality of driving parts, wherein N coal face coal faces form a propelling group (N is an integer larger than 1), the propelling group comprises a millimeter wave radar and/or a laser radar, the coal face coal faces form M propelling groups (M is an integer larger than or equal to 2), all adjacent propelling groups of the M propelling groups comprise at least one same coal face coal.
Optionally, the driving portion may linearly adjust the position of the coal face, and may also adjust an inclination angle of the coal face.
Optionally, the millimeter wave radar and/or the laser radar in the propulsion group sets the distance measurement accuracy according to the first distance deviation.
Optionally, the first distance deviation is a threshold value of a maximum distance deviation in the plurality of coal faces.
Optionally, the millimeter wave radar and/or the laser radar in the propulsion group at least adjusts the distance deviation between two propulsion surfaces in the plurality of coal mining propulsion surfaces not to exceed the threshold value of the distance deviation in one of the following manners, and the time is determined by starting up calibration, fixing time, fixing function relationship or adaptive adjustment, and the like.
Optionally, the millimeter wave radar and/or the laser radar in the propulsion group includes k distance-measuring waves (k is an integer greater than or equal to 2) input to the same propulsion plane, and the k distance-measuring waves obtain the inclination angle of the propulsion plane through k groups of distances.
Optionally, every two adjacent distance-measuring waves transmitted in the k distance-measuring waves have the same included angle.
Optionally, the parameters for determining the included angle of the range finding wave at least include the range finding precision of the millimeter wave radar and/or the laser radar in the propulsion group.
Optionally, the angle of inclination of the pushing surface does not exceed an included angle threshold.
Optionally, the millimeter wave radar and/or the laser radar in the propulsion group at least adjusts the inclination angle of each of the plurality of coal mining propulsion surfaces not to exceed the included angle threshold in one of the following manners, and the start calibration, the fixed time, the fixed function relationship determination time or the adaptive adjustment, and the like are performed.
The invention has the beneficial effects that: a coal face control method is characterized by comprising a plurality of driven coal faces connected by a plurality of driving parts, wherein N coal faces form a propulsion group (N is an integer larger than 1), the propulsion group comprises a millimeter wave radar and/or a laser radar, the coal faces form M propulsion groups (M is an integer larger than or equal to 2), all adjacent propulsion groups of the M propulsion groups comprise at least one same coal face, the millimeter wave radar and/or the laser radar in each propulsion group generates a control signal to control each propulsion face in the propulsion group, so that the groups can be integrated by forming the plurality of propulsion faces into a propulsion face group with overlapped propulsion faces, cost is saved by not using each propulsion face to correspond to a radar control module, and the technical problem of incongruity of the plurality of radars during working is avoided, meanwhile, the single propelling surface can be independently adjusted, and the high-efficiency characteristic of the whole system in working is ensured.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic structural diagram of a propulsion system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a layout of two propulsion group radars according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a propulsion group in which propulsion surfaces are symmetrically arranged along two sides of a radar according to an embodiment of the present invention;
FIG. 4 is a schematic illustration of a deviation between two pusher surfaces provided by an embodiment of the present invention;
FIG. 5 is a schematic view of a propulsion plate of a propulsion system according to an embodiment of the present invention before being propelled a distance;
FIG. 6 is a schematic view of a propulsion system according to an embodiment of the present invention;
FIG. 7 is a schematic diagram illustrating a distance deviation between a front propelling plate and a rear propelling plate that are the same before and after propelling a certain distance according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a thrust surface inclination angle configuration according to an embodiment of the present invention;
FIG. 9 is a schematic diagram illustrating the inclination angle of a propulsion surface in different states according to an embodiment of the present invention;
FIG. 10 is a schematic view of different thrust plane inclination angles in a thrust group according to an embodiment of the present invention;
FIG. 11 is a schematic diagram illustrating a measurement of the inclination angle of a propulsion plane formed by a propulsion group according to an embodiment of the present invention;
fig. 12 is a schematic diagram of transmitted and returned waves when a radar provided by an embodiment of the present invention is a millimeter wave radar.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.
Fig. 1 is a schematic structural diagram of a propulsion system according to an embodiment of the present invention, in which a radar 101 is disposed every several propulsion rods 102, that is, a radar 101 for distance measurement, for example, a laser radar and/or a millimeter wave radar, is disposed on the propulsion rods 102 of a hydraulic bracket, and an angle reflector 103 is disposed on a side of each propulsion plate facing the radar, wherein, in order to avoid the influence of vibration, the radar 102 may be mounted on a separate shock-absorbing platform, and the radar 102 is operated in a low frequency range as much as possible, preferably, the radar frequency is 15GHz, so as to prevent the influence of high humidity and high dust in the ground on the distance measurement of the laser radar.
Further, there is a propulsion surface covering the overlap between the two radars 101, that is, a propulsion surface repeating the distance measurement, so as to measure the positions of the two radars by using the same propulsion surface, in the actual use process, a plurality of coal mining propulsion surfaces may not be on one plane, and the whole propulsion surface or a certain propulsion surface of the propulsion group has a certain inclination angle with respect to the ground, so that the coal mining machine, the hydraulic support scraper machine, etc. cannot realize the cooperative propulsion, thereby affecting the propulsion of the coal mining work, and causing the whole coal mining work to be difficult to continue. In order to solve the problem, the plurality of propelling surfaces of the invention are in corresponding relation with the radar 101 according to a certain mode, so that the plurality of propelling surfaces form a whole, and further, the effect of efficiently propelling coal mining by all propelling surfaces as a whole through automatic or manual adjustment is ensured.
Fig. 2 is a schematic structural diagram of a layout of two propulsion groups, where N is 6 propulsion surfaces in each propulsion group in fig. 2, but is not limited to 6 propulsion surfaces in practical use, and may also be 5, 7, 8, etc., fig. 2 illustrates a schematic layout of two propulsion groups and two radars, where in this embodiment, the propulsion group 1 includes 1 to 6 (6) propulsion surfaces corresponding to the radar 1, and the propulsion group 2 includes 6 to 11 (6) propulsion surfaces corresponding to the radar 2, so that at least one common propulsion surface 6 is disposed in the two propulsion groups, so that the connection between the propulsion group 1 and the propulsion group 2 is established, and the problem that only one radar cannot be used to cover all the propulsion surfaces in a short distance range is solved, and a plurality of propulsion groups of the whole system can be connected to form a whole technical effect by using a low-cost radar, certainly, the number of the common propulsion surfaces can be larger than 1, and is not limited here, each propulsion group can also be composed of different numbers of propulsion surfaces to meet different working condition requirements, and six propulsion surfaces of one propulsion group in the embodiment are symmetrically distributed along two sides of the radar.
Fig. 3 is a schematic structural view of propelling surfaces in a propelling group symmetrically arranged along two sides of a radar according to an embodiment of the present invention, but certainly, propelling surfaces distributed on two sides of a radar may also be asymmetrically distributed in actual use, a total width of 6 propelling surfaces in a propelling group in the figure is L, a vertical distance from the radar to the propelling group is d, included angles between a connecting line of the symmetrically distributed 1 and 6 propelling surfaces and the radar and a propelling plane are equal, and a method for acquiring a deviation between two propelling surfaces will be performed below by taking two symmetrically distributed propelling surfaces as an example.
Fig. 4 is a schematic diagram of the deviation between two propulsion surfaces, where the distance deviation between the two propulsion surfaces is Δ d, and in order to meet the set threshold deviation, that is, at least the maximum distance deviation between the two propulsion surfaces in each propulsion group needs to not exceed the set deviation threshold, for example, the deviation threshold may be required to be 2cm, and then the accuracy of the radar may be determined in the following manner, so as to correlate the accuracy of the radar with the deviation requirement of the propulsion, and ensure the accuracy of the control method. The relationship between the distance deviation and the radar ranging precision can be established by the graph: d1＝D1sinθ1；d2＝D2sinθ2(ii) a Where D1 is the distance from one of the two symmetrically placed propulsive surfaces obtained by the radar, D1 is the distance from the other of the two symmetrically placed propulsive surfaces obtained by the radar 1, θ1And theta2Respectively, the angle between the line connecting the propulsion plane and the radar and the propulsion plane, so that Δ D ═ D1sinθ1-D2sinθ2For two thrusting surfaces placed symmetrically on either side of the radar, then θ1＝θ2Thus, the above formula is simplified to Δ d ═ sin θ1(D1-D2)＝sinθ1Δ D, Δ D is the ranging accuracy of the radar, and as further explained in conjunction with fig. 3, the following can be obtained in the symmetrically distributed 1 and 6 propulsion planes:
thus can obtain
Wherein L and d are in communication with the systemAs far as this is concerned, for example, the width of each advancing plane is 1.75m, so the width L of each advancing group is 1.75m × 6 — 10.5m, and generally D ranges from 0.5 to 2.0m, taking D as an example of 2m, then α ≈ 70 ° can be obtained, so θ ═ 90 ° -70 ° -20 °, so that the ranging accuracy Δ D of the radar associated with the range deviation threshold can be obtained:
the above calculation is also only an exemplary illustration, and the specific numerical value is not limited, mainly to realize the setting of the distance measurement accuracy of the radar and the distance deviation threshold value.
Fig. 5 is a schematic diagram of a propulsion board before a certain distance is propelled by a propulsion system provided in an embodiment of the present invention, and may also be a schematic diagram of an initial state or a state after installation, where in this embodiment, 4 radars and corresponding propulsion groups are included, where 1, 2 propulsion groups are arranged according to a scheme that at least includes one common propulsion plane, and 3, 4 are also arranged according to a similar scheme, but the 2 and 3 propulsion groups do not include a common propulsion group, and certainly are not limited to this manner in actual use, each two adjacent propulsion groups may include a common propulsion plane, the total number of propulsion groups is also not limited to 4, and of course, a distance deviation between two propulsion groups in each propulsion group may be calculated in a previous manner and manually or automatically controlled to meet a distance deviation threshold, so that each propulsion group in an initial condition of all propulsion groups in the initial state has a planar state, thereby, the initial distance d of the radar in different propelling groups from the propelling surface is obtained1、d2、d3And d4And so on, when the propulsive surface advances a certain distance, the distance between each radar and the propulsive surface is obtained as shown in fig. 6, d1’、d2’、d3' and d4' etc., comparing the distances between the radar of different propelling groups before and after a certain distance and the propelling surface to obtain the distance deviation result shown in fig. 7, and controlling the distance deviation in the propelling process by controlling the distance difference between the two times before and after within a certain threshold range, of course, the above is realized by using a schemeThe scheme of associating a plurality of propelling groups to form a uniform whole and controlling the propelling plane by controlling the distance deviation after working for a certain time can be set to carry out the detection of the deviation threshold value after a fixed time (namely propelling the fixed distance and the like), can also determine the deviation detection correction time according to a predetermined functional relation, a table relation and the like, can also adaptively arrange the distance deviation detection correction time in the working process, and is not limited here, certainly not limited to obtaining the distance deviation by using the method exemplified above, and can obtain the deviation of every two panels by using the single-panel distance deviation similar to the previously described, and is not limited here.
In the propelling process, due to the complex ground condition of the working environment and the large working vibration, the propelling surfaces of the hydraulic supports are not in the same plane or have a certain inclination angle relative to the ground, fig. 8 and 9 are schematic diagrams illustrating the state that the propelling surfaces have the inclination angle, and the scheme of obtaining the inclination angle of the propelling surfaces of the invention is explained by combining fig. 8, the millimeter wave radar and/or the laser radar in the propelling group comprises k ranging waves (k is an integer greater than or equal to 2) which are output to the same propelling surface, and the process is described as a thread, for example, the embodiment adopts a 4-thread radar, the four-wire radar can simultaneously send the ranging waves to 4 different points of the same propelling plate, the angle of each ranging wave is fixed, after the distance between the radar and the 4 points of the propelling plate is obtained, the distance is measured to the adjacent propelling plate of the propelling plate, so as to obtain the distance between the radar and the, the angle between each two adjacent distance-measuring waves is α, so that it can be obtained from fig. 8:
the resolution of the ranging radar is Δ D, which can be represented in the figure as the maximum value of the radar coverage, and thus its value is DLongest distance measuring wave-DShortest distance measurement waveD can be approximated in fig. 8, and thus Δ D — Htan β can be obtained by the following two equations:
the included angle of the ranging wave and the ranging of the radar are designed by the inventionThe precision is associated, namely the parameters for determining the included angle of the range finding wave at least comprise the range finding precision of the millimeter wave radar and/or the laser radar in the propulsion group, so that the design of the range finding radar is definite, while the angle of inclination of the propulsive surface can also be obtained, it is of course absolutely necessary in practice for the angle of inclination of the propulsive surface to be, for example, not more than 5, of course, this value is not limited to this and may be set further in practical applications, i.e. the angle of inclination of the pusher surface needs to meet a certain threshold requirement, when the value is exceeded, the propelling surface can be manually or automatically adjusted to ensure that the inclination angle parameter of the propelling surface is qualified, by this method, the inclination angle of each propulsive surface can be determined to ensure that the inclination angle of each propulsive surface satisfies a set threshold, as will be described below in another scheme for checking the inclination angle.
Similar to the above-described approach to detecting the distance deviation between the pusher faces, as shown in fig. 10, the tilt angles of the pusher faces in each pusher group are inclined in the same direction, so that it is assumed that one of the pusher groups affects the pusher faces equally during operation, and thus the entire pusher face has the same tilt angle, e.g., γ in fig. 101And gamma2If there are multiple groups of propelling surfaces corresponding to multiple radars in the system, the tilt angle of each group of propelling surfaces can be obtained, as shown in fig. 11, for the statistical result of the tilt angles of the propelling surfaces after a certain distance, a tilt angle threshold of the propelling surfaces of the propelling groups can be set, so that automatic or manual adjustment of the propelling surfaces can be realized to ensure that the tilt angle of the whole propelling surface system is within an acceptable range, thereby realizing integration of the propelling systems and ensuring that the whole working surface is not deviated, of course, the method can be used to independently check each propelling surface, thereby ensuring that the tilt angle of each propelling surface is within the threshold range, and the method is not limited herein, and similarly, the invention can generate the tilt angle measurement check time by the tilt angle measurement check of fixed time or by using a fixed function or table relationship, etc., and can also adaptively insert the measurement check of the tilt angle in the using process, the specific implementation is not limited herein.
The radar adopted by the invention can be a laser ranging radar, and has the advantages that the distance can be obtained, and the included angle between the connecting line of the propelling plane and the radar and the whole propelling plane can also be obtained, so that the method can be suitable for the arrangement conditions of various scenes, and is not limited to the assumption of symmetrical arrangement in the above calculation. And the intermediate frequency signal after frequency mixing comprises the distance and the velocity Doppler of the target to be detected due to the Doppler effect caused by the path difference and the velocity difference between the target to be detected and the radar system. And decoupling the two to obtain the radial distance and the radial component velocity of the target to be measured.
The radar system adopts a linear frequency modulation millimeter wave radar, namely, the radar carrier frequency is in a millimeter wave frequency band, and the transmitted wave is modulated by adopting a linear frequency modulation mode. The adopted frequency modulation waveform is shown in fig. 12, and the basic principle is as follows: assume that the radar transmits a waveform of
Its instantaneous phase
Is defined as
Receive a waveform of
The instantaneous phase of the received waveform
Is defined as
Assuming that the radial distance of the target is R, the radial velocity is V, and the time delay is tau, then
Intermediate frequency signal S received by radar systemIFIs composed of
Therefore, the first and second electrodes are formed on the substrate,
as can be obtained with the sawtooth waveform of figure 12,
for the K-th sawtooth wave T thereinchirp，
tK＝t-KTchirp tK∈[0，Tchirp] (10)，
Further substitution of 9 and 10 into 2 can be obtained,
it is possible to obtain by bringing 4, 10 into 7,
due to the fact that
The last entry in 12 may be omitted. By bringing 5 into 11, we can obtain
Therefore, the first and second electrodes are formed on the substrate,
thereby can obtain
For intermediate frequency signal SIFFourier transform of (A) having
By fourier transform we can get the range-doppler of the target. But its actual distance is disturbed by the speed of the target. If the accurate distance value of the target needs to be obtained, speed correction is needed. By 17 we can get a function on K-spectrum X(ω,K)Of the phase thereof
Varies with K. Therefore, we consider it as a discrete function, pairThen Fourier transform is carried out:
so that its velocity doppler can be obtained. We call 2D-FFT.
In order to obtain the azimuth information of the target (the included angle between the propulsion plane and the radar connecting line and the propulsion plane of the propulsion group), the measurement is carried out by adopting a plurality of receiving antennas. The path difference (phase) of the target echo is different due to different spatial positions of different receiving antennas. By calculating the difference, the target position can be measured.
After the target is subjected to distance and speed calculation, phase information of the target can be obtained. The relationship between the phase difference delta phi between the channels and the arrival angle theta of the radar is shown in a formula. In the formula, λ is radar wavelength, and d is antenna pitch.
Phase ratio between channels obtained by two different channels 23 and 13
Wherein, is'13To calculate the phase difference of 13 channels, Δ φ23For the measured 23-channel phase difference, d13Is 13 antenna spacing, d23At a 23 antenna spacing.
In actual processing, since the phase is inverted in units of 2 π, Δ φ can be determined from the antenna spacing of the 23 and 13 channels23And delta phi13So as to obtain a measured delta phi satisfying the phase range13And calculating the resulting delta phi'13Possible solutions of (a). When delta phi13And delta phi'13Is within a certain error, the solution angle is considered to be correct, and the arrival angle is calculated based on the phase difference of the 13 channels.
The basic calculation formula is:
the included angle between the propulsion plane detected by the millimeter wave radar and the radar connecting line and the whole propulsion group propulsion plane can be determined by the formula 21, and further, the detection result similar to that of the laser radar is realized, so that the scheme of the invention can realize distance measurement and included angle determination by adopting the existing millimeter wave and/or laser radar, and has stronger adaptability to the system.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A coal face control method is characterized by comprising a plurality of driven coal faces connected by a plurality of driving parts, wherein N coal faces form a propulsion group (N is an integer larger than 1), the propulsion group comprises a millimeter wave radar and/or a laser radar, the coal faces form M propulsion groups (M is an integer larger than or equal to 2), all adjacent propulsion groups of the M propulsion groups comprise at least one same coal face, and the millimeter wave radar and/or the laser radar in each propulsion group generates a control signal to control each propulsion face in the propulsion group.
2. The coal face control method according to claim 1, characterized in that the driving portion is capable of adjusting the coal face position linearly and also adjusting the inclination angle of the coal face.
3. A coal face control method according to claim 1, characterised in that the millimeter wave radar and/or lidar within the propulsion group sets the distance measurement accuracy in dependence on the first distance deviation.
4. The coal face control method of claim 3 wherein the first distance deviation is a threshold value of a maximum distance deviation in the plurality of coal faces.
5. The coal face control method according to claim 2 or 3, characterized in that the millimeter wave radar and/or lidar within the push group is adjusted at least in one of the following ways so that a distance deviation of two of the plurality of coal faces does not exceed the threshold value of the distance deviation,
starting calibration, fixed time, fixed function relation determination time or self-adaptive adjustment and the like.
6. The coal face control method according to claim 5, characterized in that the millimeter wave radar and/or lidar in the propulsion group contains k ranging waves (k is an integer greater than or equal to 2) that are input to the same propulsion face, and the k ranging waves obtain the inclination angle of the propulsion face through k groups of distances.
7. The coal face control method of claim 5 wherein each two adjacent ranging waves transmitted in the k ranging waves have the same included angle.
8. The coal face control method according to claim 1, characterized in that the parameters for determining the included angle of the distance-measuring wave at least include the distance-measuring accuracy of the millimeter wave radar and/or the laser radar in the propulsion group.
9. The coal face control method of claim 1 wherein the angle of inclination of the face does not exceed an included angle threshold.
10. The coal face control method according to claim 1, wherein the millimeter wave radar and/or lidar in the push group is adjusted at least one of by adjusting the inclination angle of each of the plurality of coal faces to not exceed the included angle threshold, by a turn-on calibration, by a fixed time, by a fixed functional relationship determination time, by an adaptive adjustment, and so forth.
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| CN202011189493.XA CN112377261A (en) | 2020-10-30 | 2020-10-30 | Coal mining advancing face control method |
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| CN202011189493.XA CN112377261A (en) | 2020-10-30 | 2020-10-30 | Coal mining advancing face control method |
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| CN112377261A true CN112377261A (en) | 2021-02-19 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113431616A (en) * | 2021-05-11 | 2021-09-24 | 中煤科工开采研究院有限公司 | Method and device for measuring propulsive degree of mining working face |
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- 2020-10-30 CN CN202011189493.XA patent/CN112377261A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113431616A (en) * | 2021-05-11 | 2021-09-24 | 中煤科工开采研究院有限公司 | Method and device for measuring propulsive degree of mining working face |
| CN113431616B (en) * | 2021-05-11 | 2023-12-29 | 中煤科工开采研究院有限公司 | Mining working face propulsion degree measuring method and device |
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