CN209799958U - Full-automatic coal mining machine with coal petrography recognition function - Google Patents
Full-automatic coal mining machine with coal petrography recognition function Download PDFInfo
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- CN209799958U CN209799958U CN201920419059.2U CN201920419059U CN209799958U CN 209799958 U CN209799958 U CN 209799958U CN 201920419059 U CN201920419059 U CN 201920419059U CN 209799958 U CN209799958 U CN 209799958U
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Abstract
The utility model relates to a full-automatic coal-winning machine with coal petrography recognition function belongs to coal petrography cutting identification technical field, and the device includes coal-winning machine main part, cutting unit, supplementary cutting device, and the height of rocking arm control cutting unit is passed through to the coal-winning machine main part, and cutting unit includes helical blade and cutting drum for the operation of cutting. Supplementary cutting means sets up on the rocking arm, makes recognition device cut the judgement to the coal petrography boundary through the cooperation of runing rest, rotating mechanical arm, cutting support, telescopic bracket, judges the lifting operation of cutting unit through the data that recognition device gathered, is applicable to the coal mining operation in the pit that the operating mode is complicated, and the recognition rate is higher, and is more accurate, and stability is high, can improve workman operational environment greatly, improves coal mining efficiency simultaneously.
Description
Technical Field
the utility model relates to a full-automatic coal-winning machine with coal petrography recognition function belongs to coal petrography cutting identification technical field.
Background
the coal demand in China accounts for nearly 70% of the total energy, and therefore, the coal consumption is the dominant force in the energy consumption in China. At present, automatic mining is not realized in coal mining in China, and particularly in the aspect of coal rock recognition, so that the efficiency is low, and a full-automatic coal mining machine with a coal rock recognition function is urgently needed. The coal mining machine with the coal rock identification function is mainly applied to the coal mining working conditions that the coal rock boundary line is irregular in shape and has no definite boundary line.
The working principle of coal rock identification is that the stress condition of a saw blade is obtained by trial cutting of a coal bed through the saw blade, and whether the cut coal bed contains rocks or not is obtained through force analysis, so that identification is carried out. At present, the main means of coal rock identification comprises infrared detection and vibration characteristic analysis of a cutting drum, the requirement of an infrared detection mode on the working environment is relatively high, the identification rate of the cutting drum is high, the stability is good, the coal rock stratum cannot be identified in advance, the requirement on an irregular coal rock stratum cannot be met, and the coal mining efficiency is low. The saw blade trial cutting coal rock recognition device can change the position and trial cutting depth of the saw blade, can predict whether the uncut position is rock or not when the cutting drum cuts the coal bed in advance, sends cutting stress data to the control console, and sends a command to the hydraulic system after the system program is processed, so that the height of the cutting drum is adjusted, the cutting is avoided to the rock, and the coal rock is mixed together.
Theoretically, the identification rate can be higher and more accurate as the number of the saw blades is larger, but the stress of the identification device is increased by increasing the number of the saw blades, so that the structural complexity and the size of the identification device are increased, and the burden of processing data by the system is increased, so that the problems of slow response or identification error of the whole system are caused.
Disclosure of Invention
the utility model provides a not enough to prior art, the utility model provides a full-automatic coal-winning machine with coal petrography recognition function on the basis that does not change original cutting drum structure, increases supplementary recognition device and carries out the coal petrography discernment in advance, discerns the coal petrography boundary line in advance to highly leaving certain reaction time for adjusting cutting drum, thereby guaranteeing coal petrography discernment rate of accuracy and stability, and then realizing coal mining process's automation, improve coal mining efficiency, improve workman operational environment.
The technical scheme of the utility model as follows:
A full-automatic coal mining machine with a coal rock recognition function comprises a coal mining machine main body, a cutting part and an auxiliary cutting device, wherein rocker arms are arranged at two ends of the coal mining machine main body and are connected with the coal mining machine main body through rocker arm hydraulic cylinders;
The auxiliary cutting device comprises two rotary supports, three rotary mechanical arms, a cutting support and a telescopic support, wherein one end of the rotary support II is connected with the rocker arm through the rotary mechanical arm I; a first telescopic hydraulic cylinder is arranged on the rotary support II, the extending end of the first telescopic hydraulic cylinder is connected with a telescopic support, the telescopic support is connected with a rotary support I through a rotary mechanical arm II, and the rotary support I is connected with a cutting support through a rotary mechanical arm III; the cutting support is provided with an identification device, the identification device comprises a speed reduction cylinder and a saw blade, a motor is arranged in the speed reduction cylinder, the motor is connected with the saw blade, and the tail end of the motor is provided with a force sensor; the three rotary mechanical arms have a rotating function to drive the rotary support II to rotate, the telescopic support is driven to move and rotate through the rotation of the rotary support II and the extension of the first telescopic hydraulic cylinder, the rotary mechanical arm II drives the rotary support I to rotate to adjust the position of the identification device, and the rotary mechanical arm III controls the rotation of the cutting support to adjust the angle of the cutting device;
the coal mining machine main body is provided with an industrial personal computer and a DSP controller, the cutting part, the rocker hydraulic cylinder, the rotary mechanical arm I, the rotary mechanical arm II and the rotary mechanical arm III are all connected with the industrial personal computer, and the recognition device is connected with the DSP controller.
preferably, the rotating support II is provided with a guide rod, the telescopic support is provided with a through hole, and the telescopic support is connected with the guide rod in a matching mode through the through hole. The telescopic bracket is driven to do linear motion along the guide rod through the extension and retraction of the first telescopic hydraulic cylinder, and the guide rod is used for providing a motion route and reducing the bearing pressure of the first telescopic hydraulic cylinder.
Preferably, the cutting support is provided with a second telescopic hydraulic cylinder and a guide rail, the output end of the second telescopic hydraulic cylinder is connected with the recognition device, and the recognition device is arranged on the guide rail. And the second telescopic hydraulic cylinder controls the telescopic motion of the recognition device on the guide rail.
further preferably, the guide rail is provided with a limit switch. The limit switch prevents the second telescopic hydraulic cylinder from being transited and stretched to cause the derailment of the recognition device. The recognition device is driven by the second telescopic hydraulic cylinder to move along the guide rail at the bottom of the cutting support to stretch, and the position protection is carried out by the limit switch when the recognition device retracts.
preferably, the cutting pick is arranged on the spiral blade through the cutting pick base, the cutting pick base is welded on the spiral blade, and the spiral blade is welded on the cutting drum. The cutting pick is fixed on the cutting pick base, so that the cutting pick and the helical blade can be conveniently and independently replaced.
Preferably, the shearer body is connected with the body support through a hinge stud.
preferably, the motor in the reduction cylinder is connected with the saw blade through a gear, the gear comprises an output gear and a saw blade gear, the output gear is connected with an output shaft of the motor, and the saw blade gear is connected with the saw blade through a shaft. The speed can be changed through two layers of gears.
preferably, a saw blade protective cover is arranged below the saw blade, and the saw blade protective cover is a fan-shaped cover. In order to prevent the broken stones from splashing during cutting, the safety is ensured.
preferably, the saw blade protective cover is provided with a high-pressure nozzle, and the high-pressure nozzle is connected with the water gun. In order to prevent the cutting temperature of the saw blade from being too high, the high-pressure nozzle is additionally arranged for cooling.
preferably, the saw blade is a circular saw blade, and six notches are arranged at equal intervals in the circumferential direction. To increase the cutting effect.
Preferably, the coal mining machine main body is provided with a manual emergency control device, and the manual emergency control device is used for manually braking the whole coal mining machine.
when the full-automatic coal mining machine with the coal rock recognition function is used for working, the method comprises the following steps:
The height of the auxiliary cutting device is set through manual input parameters in advance to control the time of advanced identification, and the coal mining machine starts to work to cut the coal bed; when the cutting is to being close to the coal rock boundary surface, supplementary cutting device begins work, and the saw bit rotates the cutting, gathers the cutting force data by the force transducer on the supplementary cutting device to transmit the DSP controller and carry out data processing through the DSP controller, judge according to the data that force transducer gathered that current belongs to the stratum or the coal seam: if the coal seam is the coal seam, the position and the height of each part are kept unchanged, the coal mining is continued to advance until the cutting of the current round is completed, and then the industrial personal computer adjusts the height of the rocker arm to lift the height of the cutting part to start the next round of cutting; if the rock stratum, send the instruction for the rocking arm pneumatic cylinder through the industrial computer, and then reduce the cutting drum height to reduce whole cutting units height, avoid cutting the rock. The DSP controller judges and sends the action command to the industrial computer behind the data acquisition, then by industrial computer control height-adjusting controller, height-adjusting controller adjusts the cutting drum height, assists the cutting device to collect the cutting power simultaneously, the next round of data processing of being convenient for, adjustment cutting drum height, for the convenience of safety, there is special artifical emergency control module simultaneously to be used for emergency shutdown to and limit switch prevents that the cutting portion from derailing. During the cutting process of the coal mining machine, the saw blade is not always in a working state, and the working triggering condition is determined by artificially presetting parameters in advance, namely triggering when the last cutting (close to a coal rock interface) is carried out. The acquisition frequency of the cutting force data acquired by the force sensor is once every two seconds.
The beneficial effects of the utility model reside in that:
Utilize the technical scheme of the utility model full-automatic coal-winning machine that has coal petrography recognition device uses in the pit coal of operating mode complicacy, especially under the anomalous condition in coal petrography boundary line, adopt this coal-winning machine can improve workman operational environment greatly, improve coal mining efficiency simultaneously, because discernment and cut go on simultaneously, adjust in real time cutting drum height through identification data, can in time adjust cutting drum height, avoided promptly to cross to adopt (dig rock and colliery together) but also avoided the waste to reserve too many with the coal seam.
The utility model discloses a mechanical structure discerns the coal petrography, and stability is high. The position of the recognition device can be adjusted at will, and the recognition device is suitable for various working conditions. Compared with the traditional trial cutting roller, the trial cutting by the saw blade has higher recognition rate and is more accurate. The reaction time of the lifting of the roller can be adjusted by adjusting the position of the recognition device. The whole coal mining process (coal rock recognition, roller height adjustment and the like) does not need human intervention, and the working efficiency is improved.
Drawings
Fig. 1 is a schematic flow chart of the full-automatic coal mining machine with a coal rock recognition function according to the present invention during operation;
Fig. 2 is a front view of the coal mining machine of the present invention;
FIG. 3 is an oblique view of the coal mining machine of the present invention;
FIG. 4 is a detail view of the rocker arm;
FIG. 5-1 is a schematic top view of the cutting carriage;
FIG. 5-2 is an enlarged view at C of FIG. 5-1;
FIG. 5-3 is a schematic cross-sectional view taken along line B-B of FIG. 5-1;
FIG. 6 is a perspective view of the auxiliary cutting device;
FIG. 7 is a schematic top view of the internal structure of the identification device;
FIG. 8 is a front view of the structure of the auxiliary cutting device;
FIG. 9-1 is a view of the blade structure;
FIG. 9-2 is a schematic view taken along line A-A of FIG. 9-1;
Wherein: 1-cutting pick; 2-helical blades; 3-a saw blade; 4-cutting drum; 5-a guide rail; 6-rotating the mechanical arm; 7-rotating the bracket I; 8-a cutting pick base; 9-a gearbox housing; 10-a rocker arm; 11-a shearer body; 12-an industrial personal computer; 13-manual emergency control means; 14-rocker arm hydraulic cylinder; 15-a body support; 16-a blade guard; 17-a hinge stud; 18-limit switches; 19-rotating the support II; 20-a guide rod; 21-a high pressure nozzle; 22-a first telescopic hydraulic cylinder; 23-rotating the arm I; 24-a second telescopic hydraulic cylinder; 25-rotating the mechanical arm II; 26-a reduction drum; 27-a telescopic bracket; 28-rotating the robot arm iii; 29-cutting holder; 30-a saw blade holder; 31-an output gear; 32-blade gear; 33-identification means.
Detailed Description
the present invention will be further described, but not limited to, by the following examples in conjunction with the accompanying drawings.
example 1:
the utility model provides a full-automatic coal-winning machine with coal petrography recognition function, as shown in fig. 2, 3, including coal-winning machine main part 11, cutting unit, supplementary cutting device, coal-winning machine main part 11 both ends are equipped with rocking arm 10, rocking arm 10 links to each other with coal-winning machine main part 11 through rocking arm pneumatic cylinder 14, rocking arm 10 upper portion is equipped with cutting unit, cutting unit includes helical blade 2 and cutting drum 4, helical blade 2 links to each other with rocking arm 10 one end through cutting drum 4, the 2 edges of helical blade are equipped with pick 1.
The auxiliary cutting device comprises two rotary supports, three rotary mechanical arms 6, a cutting support and a telescopic support, as shown in fig. 2 and 4, and for the distinguishing structure, the two rotary supports and the three rotary mechanical arms are named respectively. One end of the rotating bracket II 19 is connected with the rocker arm 10 through a rotating mechanical arm I23; a first telescopic hydraulic cylinder 22 is arranged on the rotating bracket II 19, the extending end of the first telescopic hydraulic cylinder 22 is connected with a telescopic bracket 27, the telescopic bracket 27 is connected with a rotating bracket I7 through a rotating mechanical arm II 25, and the rotating bracket I7 is connected with a cutting bracket 29 through a rotating mechanical arm III 28; the cutting support 29 is provided with an identification device 33, the identification device 33 comprises a speed reducing cylinder 26 and a saw blade 3, a motor is arranged in the speed reducing cylinder 26 and is connected with the saw blade 3, and the tail end of the motor is provided with a force sensor; three rotatory arm has rotation function and drives runing rest II and rotate, and the rotation through runing rest II and the flexible telescopic bracket that drives of first flexible pneumatic cylinder remove and rotate, and the rotation arm II drives runing rest I rotatory for identification means adjusting position, and the rotation that the rotation arm III controlled the cutting support carries out the adjustment of angle to cutting device. The main body 11 of the coal mining machine is also provided with a main body bracket, and the main body of the coal mining machine is connected with the main body bracket 15 through a hinge stud 17.
the coal mining machine main body is provided with an industrial personal computer 12 and a DSP controller which are connected, the cutting part, the rocker hydraulic cylinder, the rotary mechanical arm I, the rotary mechanical arm II and the rotary mechanical arm III are all connected with the industrial personal computer, and the recognition device is connected with the DSP controller.
when the full-automatic coal mining machine with the coal rock recognition function works, as shown in fig. 1, the method comprises the following steps:
the height of the auxiliary cutting device is set through manual input parameters in advance to control the time of advanced identification, and the coal mining machine starts to work to cut the coal bed; when the cutting is to being close to the coal rock boundary surface, supplementary cutting device begins work, and the saw bit rotates the cutting, gathers the cutting force data by the force transducer on the supplementary cutting device to transmit the DSP controller and carry out data processing through the DSP controller, judge according to the data that force transducer gathered that current belongs to the stratum or the coal seam: if the coal seam is the coal seam, the position and the height of each part are kept unchanged, the coal mining is continued to advance until the cutting of the current round is completed, and then the industrial personal computer adjusts the height of the rocker arm to lift the height of the cutting part to start the next round of cutting; if the rock stratum, send the instruction for the rocking arm pneumatic cylinder through the industrial computer, and then reduce the cutting drum height to reduce whole cutting units height, avoid cutting the rock. The DSP controller judges and sends an action instruction to the industrial personal computer after collecting data, then is controlled by the industrial personal computer and is heightened the controller, and the controller of increaseing is adjusted the cutting drum height, and supplementary cutting device collects the cutting power simultaneously, and the next round of data processing of being convenient for adjusts the cutting drum height. During the cutting process of the coal mining machine, the saw blade is not always in a working state, and the working triggering condition is determined by artificially presetting parameters in advance, namely triggering when the last cutting (close to a coal rock interface) is carried out.
The acquisition frequency of the cutting force data acquired by the force sensor is once every two seconds.
Example 2:
The structure of the full-automatic coal mining machine with the coal rock recognition function is as described in embodiment 1, except that a guide rod 20 is arranged on a rotating support II 19, a through hole is formed in a telescopic support 27, and the telescopic support 27 is connected with the guide rod 20 in a matched mode through the through hole. The telescopic bracket 27 is driven to move linearly along the guide rod 20 by the extension and contraction of the first telescopic hydraulic cylinder 22, and the guide rod 20 is used for providing a movement path and reducing the bearing pressure of the first telescopic hydraulic cylinder.
example 3:
The structure of the full-automatic coal mining machine with the coal rock recognition function is as described in embodiment 1, except that a second telescopic hydraulic cylinder 24 and a guide rail 5 are arranged on a cutting support 29, as shown in fig. 5-1 and 5-3, the output end of the second telescopic hydraulic cylinder 24 is connected with a recognition device 33, and the recognition device 33 is arranged on the guide rail 5. And the second telescopic hydraulic cylinder controls the telescopic motion of the recognition device on the guide rail.
Example 4:
A full-automatic coal mining machine with a coal rock recognition function, which has the structure as described in embodiment 3, except that a limit switch 18 is provided on a guide rail, as shown in fig. 5-2 and 6. The limit switch prevents the second telescopic hydraulic cylinder from being transited and stretched to cause the derailment of the recognition device. The recognition device is driven by the second telescopic hydraulic cylinder to move along the guide rail at the bottom of the cutting support to stretch, and the position protection is carried out by the limit switch when the recognition device retracts.
Example 5:
The utility model provides a full-automatic coal-winning machine with coal petrography recognition function, its structure as embodiment 1, the difference is that, pick 1 locates helical blade 2 through pick base 8 on, pick base 8 welds on helical blade 2, and helical blade 2 welds on cutting drum 4.
Example 6:
A full-automatic coal mining machine with a coal rock recognition function, which has the structure as described in embodiment 1, except that a motor in a reduction cylinder 26 is connected with a saw blade 3 through a gear, the saw blade 3 is connected with a reduction cylinder shell through a saw blade bracket 30, the gear comprises an output gear 31 and a saw blade gear 32, the output gear 31 is connected with an output shaft of the motor, the saw blade gear 32 is connected with the saw blade through a shaft, and speed change can be performed through two layers of gears, as shown in fig. 7.
Example 7:
A full-automatic coal mining machine with a coal rock recognition function, which has the structure as described in embodiment 1, except that a saw blade shield 16 is provided below a saw blade 3, and the saw blade shield is a fan-shaped shield. In order to prevent the broken stones from splashing during cutting, the safety is ensured.
example 8:
A full-automatic coal mining machine with a coal rock recognition function, which has the structure as described in embodiment 7, except that a saw blade protective cover 16 is provided with a high pressure nozzle 21, and the high pressure nozzle is connected with a water gun, as shown in fig. 8. In order to prevent the cutting temperature of the saw blade from being too high, the high-pressure nozzle is additionally arranged for cooling.
Example 9:
The structure of the full-automatic coal mining machine with the coal rock recognition function is as described in embodiment 1, except that the saw blade is a circular saw blade, six notches are arranged at equal intervals in the circumferential direction to increase the cutting effect, as shown in fig. 9-1 and 9-2.
Example 10:
a fully automatic coal mining machine with a coal rock recognition function, which has the structure as described in embodiment 1, except that a manual emergency control device 13 is provided on the coal mining machine main body, and the manual emergency control device is used for manually braking the whole coal mining machine.
experimental example 1:
Assuming the working environment is that the height of the coal seam is about 5 meters, and the boundary line between the coal seam and the rock is an irregular broken line. The helical blade cutting diameter of coal-winning machine is 3 meters, before the cutting begins, identification device positional parameter input, runing rest II will rotate certain angle this moment, first flexible pneumatic cylinder drives the telescopic bracket and stretches out and draws back to certain position fixed, then, runing rest I uses the telescopic bracket to rotate certain angle and fix as the rotation center, the slewing arm rotates and makes the cutting support perpendicular with the coal seam, identification device passes through the flexible adjustment of the flexible pneumatic cylinder of second and helical blade's distance and identification position, if touch limit switch, then whole cutting process will be stopped, make identification device's height and position setting in than the cutting drum in the highest pick position exceed 15cm department through above-mentioned motion, the start carries out coal mining operation. In the first cutting working process, the coal rock recognition device is in a non-working state, and when the first round of cutting is completed, the second round of cutting is started; before the second round of cutting begins, carry out height control to the position of cutting through the industrial computer, increase the height of cutting part through control rocking arm pneumatic cylinder, two meters rise, begin the operation of second round of cutting, start supplementary cutting device, when the continuous twice of collection of identification means cut rock data, the DPS controller sends the decline instruction, through rocking arm pneumatic cylinder with cutting part position down transfer 10cm, continue to advance, when coal seam data is discerned once more to coal rock identification means, the DPS controller sends the instruction that rises, through rocking arm pneumatic cylinder with cutting part up-transfer 5cm, circulate in proper order, until accomplishing this cutting.
Claims (10)
1. A full-automatic coal mining machine with a coal rock recognition function is characterized by comprising a coal mining machine main body, a cutting part and an auxiliary cutting device, wherein rocker arms are arranged at two ends of the coal mining machine main body and are connected with the coal mining machine main body through rocker arm hydraulic cylinders;
the auxiliary cutting device comprises two rotary supports, three rotary mechanical arms, a cutting support and a telescopic support, wherein one end of the rotary support II is connected with the rocker arm through the rotary mechanical arm I; a first telescopic hydraulic cylinder is arranged on the rotary support II, the extending end of the first telescopic hydraulic cylinder is connected with a telescopic support, the telescopic support is connected with a rotary support I through a rotary mechanical arm II, and the rotary support I is connected with a cutting support through a rotary mechanical arm III; the cutting support is provided with an identification device, the identification device comprises a speed reduction cylinder and a saw blade, a motor is arranged in the speed reduction cylinder, the motor is connected with the saw blade, and the tail end of the motor is provided with a force sensor;
The coal mining machine main body is provided with an industrial personal computer and a DSP controller, the cutting part, the rocker hydraulic cylinder, the rotary mechanical arm I, the rotary mechanical arm II and the rotary mechanical arm III are all connected with the industrial personal computer, and the recognition device is connected with the DSP controller.
2. the full-automatic coal mining machine with the coal rock recognition function as claimed in claim 1, wherein the rotating bracket II is provided with a guide rod, the telescopic bracket is provided with a through hole, and the telescopic bracket is in matching connection with the guide rod through the through hole.
3. The full-automatic coal mining machine with the coal rock recognition function according to claim 1, characterized in that a second telescopic hydraulic cylinder and a guide rail are arranged on the cutting support, an output end of the second telescopic hydraulic cylinder is connected with a recognition device, and the recognition device is arranged on the guide rail.
4. The full-automatic coal mining machine with the coal rock recognition function according to claim 3, characterized in that a limit switch is arranged on the guide rail.
5. the fully automatic coal mining machine with coal and rock recognition function as claimed in claim 1, wherein the cutting pick is arranged on the helical blade through a cutting pick base, the cutting pick base is welded on the helical blade, and the helical blade is welded on the cutting drum.
6. The fully-automatic coal mining machine with the coal rock recognition function according to claim 1, characterized in that the coal mining machine main body is further provided with a main body support, and the coal mining machine main body is connected with the main body support through a hinge stud.
7. The fully automatic coal mining machine with coal and rock recognition function as claimed in claim 1, wherein the motor in the reduction cylinder is connected with the saw blade through a gear, the gear comprises an output gear and a saw blade gear, the output gear is connected with an output shaft of the motor, and the saw blade gear is connected with the saw blade through a shaft.
8. The full-automatic coal mining machine with the coal rock recognition function according to claim 1, characterized in that a saw blade protective cover is arranged below the saw blade, and the saw blade protective cover is a fan-shaped cover;
the saw blade protective cover is provided with a high-pressure nozzle which is connected with a water gun.
9. the fully automatic coal mining machine with coal and rock recognition function according to claim 1, characterized in that the saw blade is a circular saw blade, and six notches are arranged at equal intervals in the circumferential direction.
10. The fully automatic coal mining machine with coal and rock recognition function according to claim 1, characterized in that a manual emergency control device is arranged on the coal mining machine main body, and the manual emergency control device is used for manually braking the whole coal mining machine.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111155996A (en) * | 2020-01-08 | 2020-05-15 | 辽宁工程技术大学 | Coal rock automatic identification method based on multi-sensor data fusion |
| CN111485825A (en) * | 2020-04-07 | 2020-08-04 | 中煤科工集团西安研究院有限公司 | Design construction and data processing method for coal face coal rock interface detection directional hole |
-
2019
- 2019-03-29 CN CN201920419059.2U patent/CN209799958U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111155996A (en) * | 2020-01-08 | 2020-05-15 | 辽宁工程技术大学 | Coal rock automatic identification method based on multi-sensor data fusion |
| CN111485825A (en) * | 2020-04-07 | 2020-08-04 | 中煤科工集团西安研究院有限公司 | Design construction and data processing method for coal face coal rock interface detection directional hole |
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