阅读说明：本技术 一种基于毫米波雷达的煤流测量系统及方法 (Coal flow measuring system and method based on millimeter wave radar ) 是由 田莹 张强 于 2020-06-08 设计创作，主要内容包括：本发明提供一种基于毫米波雷达的煤流测量系统及方法,涉及煤流检测技术领域。该系统包括刮板运输机、毫米波雷达、全晰摄像头、A/D转换器、无线传输模块、计算机和信号发射器；毫米波雷达和全晰摄像头均设置于刮板输送机运行方向侧方,并与A/D转换器相连,A/D转换器将毫米波雷达与全晰摄像头反馈的信号进行A/D转换后通过无线传输模块传送至计算机,计算机通过内置程序判断采集的煤流是否出现过载以及煤流中是否出现大块煤及岩石或无法判断的异常情况,并将检测结果通过信号发射器传递至煤矿运输系统的控制中心；本发明系统及方法能够对煤流质量进行检测,并检测出煤流中出现的大块煤及片帮、夹矸以及岩石。(The invention provides a coal flow measuring system and method based on a millimeter wave radar, and relates to the technical field of coal flow detection. The system comprises a scraper conveyer, a millimeter wave radar, a full-definition camera, an A/D converter, a wireless transmission module, a computer and a signal transmitter; the millimeter wave radar and the full-definition camera are arranged on the side of the running direction of the scraper conveyor and connected with the A/D converter, the A/D converter performs A/D conversion on signals fed back by the millimeter wave radar and the full-definition camera and then transmits the signals to the computer through the wireless transmission module, the computer judges whether the collected coal flow is overloaded and whether large coal and rock or abnormal conditions which cannot be judged occur in the coal flow through a built-in program and transmits the detection result to the control center of the coal mine transportation system through the signal transmitter; the system and the method can detect the quality of the coal flow and detect the large coal, the caving, the gangue and the rock in the coal flow.)

1. The utility model provides a coal flows measurement system based on millimeter wave radar which characterized in that: the system comprises a scraper conveyer, a millimeter wave radar, a full-definition camera, an A/D converter, a wireless transmission module, a computer and a signal transmitter; the millimeter wave radar and the full-definition camera are both connected with an A/D converter, the A/D converter performs A/D conversion on signals fed back by the millimeter wave radar and the full-definition camera and then transmits the signals to a computer through a wireless transmission module, the computer judges whether the collected coal flow is overloaded and whether large coal and rock or abnormal conditions which cannot be judged occur in the coal flow through a built-in program, and transmits the detection result to a control center of a coal mine transportation system through a signal transmitter; the millimeter wave radar and the full-resolution camera are both arranged on the side of the running direction of the scraper conveyor of the coal mine transportation system, and the direction of a signal transmitted by the millimeter wave radar is perpendicular to the coal flow.

2. The coal flow measuring system based on the millimeter wave radar as claimed in claim 1, wherein: the full-resolution camera collects the coal falling image on the scraper conveyor, and transmits the image to the computer after the image is processed by the A/D converter.

3. The coal flow measuring system based on the millimeter wave radar as claimed in claim 1, wherein: the computer is internally provided with an image database, and common coal flow image characteristics and common image characteristics of caving, gangue inclusion and rocks contained in the coal flow are stored in the database.

4. The coal flow measuring system based on the millimeter wave radar as claimed in claim 3, wherein: the computer built-in program comprises a coal flow component detection module, a loading capacity monitoring module and an abnormality detection module; the coal flow component detection module reads and analyzes the millimeter wave radar reflection signals processed by the A/D converter to obtain the three-dimensional profile and the components of the current coal flow; the loading capacity monitoring module calculates the volume and the quality of the coal flow through the three-dimensional profile and the components of the coal flow, judges whether the volume and the quality of the coal flow exceed the maximum transfer capacity of the transfer device at the coal flow outlet, and if the volume and the quality of the coal flow exceed the maximum transfer capacity of the transfer device at the coal flow outlet, the computer feeds back an early warning signal to a control center of a coal mine transportation system through a signal transmitter; the abnormity detection module is used for extracting and analyzing the characteristics of the coal flow image collected by the holographic camera processed by the A/D converter, judging whether the extracted characteristics are consistent with the characteristics of the coal flow or not and further detecting the abnormal condition in the coal flow.

5. A coal flow measurement method based on millimeter wave radar, which adopts the system of claim 1 to measure coal flow, and is characterized in that: the specific method comprises the following steps:

arranging a millimeter wave radar at the side of the scraper conveyor, converting a reflected signal by the millimeter wave radar through an A/D converter, and transmitting the converted reflected signal to a computer;

when the coal falling on the scraper conveyor passes through the full-resolution camera, the camera can take a picture and transmit the picture to the computer;

the computer receives the reflected signal of the millimeter wave radar processed by the A/D converter, and obtains the three-dimensional profile of the coal flow and the composition information of the coal flow according to the reflected signal of the millimeter wave radar, so as to calculate the volume and the quality of the coal flow, if the quality of the coal flow is larger than the maximum bearing capacity of the transfer device or large coal or rock exists in the coal flow, the computer feeds back an early warning signal or an abnormal signal to a control center of a coal mine transportation system through a signal transmitter, and the control center controls the running state of the fully mechanized mining equipment according to the early warning signal or the abnormal signal fed back by the computer;

the computer also adopts an image recognition method to perform feature extraction analysis on the received coal flow image collected by the holographic camera, if the image features do not accord with the coal flow features, the computer compares the data in a database of the computer, and if the current image features accord with the common features of caving, gangue inclusion and rock in the coal flow stored in the database, the computer sends a sorting notification to the controller; and if the currently acquired image characteristics are not consistent with the common rib, gangue inclusion and rock characteristics in the coal flow stored in the database, the computer sends an abnormal notification to a control center of the coal mine transportation system and adds the image characteristics into the image database.

Technical Field

The invention relates to the technical field of coal flow detection, in particular to a coal flow measuring system and method based on a millimeter wave radar.

Background

At present, in the process of using a scraper conveyor to transport coal in a coal mine transportation system, the transportation quantity is not easy to control, and the final transportation quantity cannot be determined. Meanwhile, the phenomena of rock cutting and large coal dropping of a coal mining machine can be avoided in the coal mining process, the phenomena of rock cutting and large coal dropping can be caused in the conveying process, a plurality of defects exist in the engineering practice, and other machines in the conveying process can be damaged due to overload caused by unclear conveying amount. Still there appear the bold coal, the rock leads to transporting in the coal-charging transportation to equip and receives the damage, this has very big influence to the efficiency and the security of transportation, even can prevent the overload phenomenon through the mode of weighing at every turn, carry out the strict screening of the coal of carrying the exit and can prevent bold coal and rock phenomenon, but do like this and can consume a large amount of time, there is not great difference with coal in some rock outward appearance simultaneously, be difficult to effectively distinguish, the cycle has been prolonged and has increased engineering cost and operation workman's intensity of labour still can't ensure the reliability of letter sorting and screening process.

Disclosure of Invention

The technical problem to be solved by the present invention is to provide a system and a method for measuring coal flow based on millimeter wave radar, aiming at the defects of the prior art, so as to realize the measurement of coal flow.

In order to solve the technical problems, the technical scheme adopted by the invention is as follows:

on one hand, the invention provides a coal flow measuring system based on a millimeter wave radar, which comprises a scraper conveyer, the millimeter wave radar, a full-definition camera, an A/D converter, a wireless transmission module, a computer and a signal transmitter, wherein the scraper conveyer is connected with the computer; the millimeter wave radar and the full-definition camera are both connected with an A/D converter, the A/D converter performs A/D conversion on signals fed back by the millimeter wave radar and the full-definition camera and then transmits the signals to a computer through a wireless transmission module, the computer judges whether the collected coal flow is overloaded and whether large coal and rock or abnormal conditions which cannot be judged occur in the coal flow through a built-in program, and transmits the detection result to a control center of a coal mine transportation system through a signal transmitter; the millimeter wave radar and the full-resolution camera are both arranged on the side of the running direction of the scraper conveyor of the coal mine transportation system, and the direction of a signal transmitted by the millimeter wave radar is perpendicular to the coal flow.

Preferably, the full-definition camera collects the coal falling image on the scraper conveyor, and transmits the image to the computer after processing by the A/D converter.

Preferably, the computer is internally provided with an image database, and common coal flow image characteristics and common image characteristics of caving, gangue inclusion and rocks contained in the coal flow are stored in the database.

Preferably, the computer built-in program comprises a coal flow component detection module, a loading capacity monitoring module and an abnormality detection module; the coal flow component detection module reads and analyzes the millimeter wave radar reflection signals processed by the A/D converter to obtain the three-dimensional profile and the components of the current coal flow; the loading capacity monitoring module calculates the volume and the quality of the coal flow through the three-dimensional profile and the components of the coal flow, judges whether the volume and the quality of the coal flow exceed the maximum transfer capacity of the transfer device at the coal flow outlet, and if the volume and the quality of the coal flow exceed the maximum transfer capacity of the transfer device at the coal flow outlet, the computer feeds back an early warning signal to a control center of a coal mine transportation system through a signal transmitter; the abnormity detection module is used for extracting and analyzing the characteristics of the coal flow image collected by the holographic camera processed by the A/D converter, judging whether the extracted characteristics are consistent with the characteristics of the coal flow or not and further detecting the abnormal condition in the coal flow.

On the other hand, the invention also provides a coal flow measuring method based on the millimeter wave radar, which comprises the following specific steps:

arranging a millimeter wave radar at the side of the scraper conveyor, converting a reflected signal by the millimeter wave radar through an A/D converter, and transmitting the converted reflected signal to a computer;

when the coal falling on the scraper conveyor passes through the full-resolution camera, the camera can take a picture and transmit the picture to the computer;

the computer receives the reflected signal of the millimeter wave radar processed by the A/D converter, and obtains the three-dimensional profile of the coal flow and the composition information of the coal flow according to the reflected signal of the millimeter wave radar, so as to calculate the volume and the quality of the coal flow, if the quality of the coal flow is larger than the maximum bearing capacity of the transfer device or large coal or rock exists in the coal flow, the computer feeds back an early warning signal or an abnormal signal to a control center of a coal mine transportation system through a signal transmitter, and the control center controls the running state of the fully mechanized mining equipment according to the early warning signal or the abnormal signal fed back by the computer;

the computer also adopts an image recognition method to perform feature extraction analysis on the received coal flow image collected by the holographic camera, if the image features do not accord with the coal flow features, the computer compares the data in a database of the computer, and if the current image features accord with the common features of caving, gangue inclusion and rock in the coal flow stored in the database, the computer sends a sorting notification to the controller; and if the currently acquired image characteristics are not consistent with the common rib, gangue inclusion and rock characteristics in the coal flow stored in the database, the computer sends an abnormal notification to a control center of the coal mine transportation system and adds the image characteristics into the image database.

Adopt the produced beneficial effect of above-mentioned technical scheme to lie in: the invention provides a coal flow measuring system and a method based on a millimeter wave radar, wherein the millimeter wave radar is used for measuring and measuring the three-dimensional profile of the coal flow on a scraper conveyor so as to calculate the volume of the coal flow; and a mode identification mode is adopted, a full-definition camera is additionally arranged, the full-definition camera is used for carrying out visual identification on the currently transported coal rock and comparing the visually identified current coal rock with the image characteristics of the common texture and the rib, the gangue and the rock prestored in the computer, the common texture and the rib, the gangue and the rock of the coal flow are identified, and the abnormal condition is notified. In addition, when the millimeter wave radar and the full-definition camera detect that the current coal flow contains the large coal and rock components, the control center feeds back the positions of the large coal and the rock to the workers, and the workers sort the large coal and the rock, so that the limit of danger caused by unfavorable monitoring in the prior art, such as low efficiency, long period, high cost and high labor intensity, is broken through, the possibility of danger caused by insufficient monitoring of the coal flow is effectively reduced, the working efficiency is improved, and the danger is avoided.

Drawings

Fig. 1 is a block diagram of a coal flow measurement system based on a millimeter wave radar according to an embodiment of the present invention;

FIG. 2 is a schematic structural view of a face conveyor according to an embodiment of the present invention;

fig. 3 is a flowchart of a coal flow measurement method based on a millimeter wave radar according to an embodiment of the present invention.

In the figure: 1. a squeegee; 2. a sprocket; 3. a drag chain.

Detailed Description

The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

The millimeter wave radar works by capturing millimeter waves with the wavelength between centimeter waves and light waves, and the millimeter waves have the advantages of microwave guidance and photoelectric guidance. Compared with the centimeter wave seeker, the millimeter wave seeker has the characteristics of small volume, light weight and high spatial resolution. Compared with optical probes such as infrared, laser and television, the millimeter wave probe has strong capability of penetrating fog, smoke and dust and has the characteristics of all weather (except heavy rainy days) all day long. In addition, the anti-interference and anti-stealth capabilities of the millimeter wave seeker are also superior to those of other microwave seekers. In addition, the anti-interference and anti-stealth capabilities of the millimeter wave seeker are also superior to those of other microwave seekers. Millimeter wave radar with the frequency of 30 GHz, 94 GHz and 140 GHz is beyond the wave band which can be countered by stealth technology, and simultaneously, the millimeter wave radar has the characteristics of narrow antenna beam, high resolution, wide frequency band, strong interference resistance and the like, thereby having anti-stealth capability. The system can distinguish and identify very small targets, and can identify a plurality of targets simultaneously; the millimeter wave radar detection device has the advantages of imaging capability, small size, good maneuverability and concealment, and can be used in a coal mine underground severe environment, and the reliability of detection work of the millimeter wave radar cannot be influenced by factors such as underground coal dust, noise, sound waves and vibration in the working process of underground equipment.

In this embodiment, a coal flow measuring system based on a millimeter wave radar, as shown in fig. 1, includes a scraper conveyor, a millimeter wave radar, a full-resolution camera, an a/D converter, a wireless transmission module, a computer, and a signal transmitter; the millimeter wave radar and the full-definition camera are directly connected with the A/D converter, the A/D converter performs A/D conversion on signals fed back by the millimeter wave radar and the full-definition camera and then transmits the signals to the computer through the wireless transmission module, the computer judges whether the collected coal flow is overloaded and whether large coal and rock or abnormal conditions which cannot be judged occur in the coal flow through a built-in program, and transmits the judgment result to a control center of a coal mine transportation system through the signal transmitter; the millimeter wave radar and the full-resolution camera are both arranged on the side of the running direction of the scraper conveyor of the coal mine transportation system, and the signal transmitting direction of the millimeter wave radar is perpendicular to the coal flow, so that the millimeter wave radar can accurately describe the volume and the state of the current coal flow. In this embodiment, as shown in fig. 2, the millimeter wave radar and the full-resolution camera are both disposed on the left side of the operation direction of the scraper conveyor, and the direction of the millimeter wave radar transmission signal is perpendicular to the coal flow.

The computer built-in program comprises a coal flow component detection module, a loading capacity monitoring module and an abnormality detection module; the coal flow component detection module reads and analyzes the millimeter wave radar reflection signals processed by the A/D converter to obtain the three-dimensional profile and the components of the current coal flow; the loading capacity monitoring module calculates the volume and the quality of the coal flow according to the three-dimensional profile and the components of the coal flow, judges whether the volume and the quality of the coal flow exceed the maximum transfer capacity of the transfer device at the coal flow outlet, if so, the computer feeds back an early warning signal to a control center of a coal mine transportation system through a signal transmitter, and the control center controls the fully mechanized mining equipment to stop mining so as to prevent the overload of the transfer device at the coal flow outlet from the aspects of volume and quality; the abnormity detection module is used for extracting and analyzing the characteristics of the coal flow image collected by the holographic camera processed by the A/D converter, judging whether the extracted characteristics are consistent with the characteristics of the coal flow or not and further detecting the abnormal condition in the coal flow. The computer is also internally provided with an image database, and common coal flow image characteristics and common image characteristics of caving, gangue inclusion and rocks contained in the coal flow are stored in the database.

The full-resolution camera collects the coal falling image on the scraper conveyor, and transmits the image to the computer after the image is processed by the A/D converter.

A coal flow measuring method based on a millimeter wave radar is shown in FIG. 3, and the specific method is as follows:

arranging a millimeter wave radar at the side of the scraper conveyor, converting a reflected signal by the millimeter wave radar through an A/D converter, and transmitting the converted reflected signal to a computer;

when the coal falling on the scraper conveyor passes through the full-resolution camera, the camera can take a picture and transmit the picture to the computer;

the computer receives a reflected signal of the millimeter wave radar processed by the A/D converter, obtains a three-dimensional profile of the coal flow and composition information of the coal flow according to the reflected signal of the millimeter wave radar, obtains the volume of the coal flow through the three-dimensional profile of the coal flow, obtains the density of the coal flow through the composition information of the coal flow, and further obtains the quality of the coal flow through calculation, if the quality of the coal flow is larger than the maximum bearing capacity of the transfer device or large coal or rock exists in the coal flow, the computer feeds back an early warning signal to a control center of the coal mine transportation system through a signal transmitter, and the control center controls the running state of the fully mechanized mining equipment according to the early warning signal fed back by the computer; if the coal flow has large coal blocks or rocks, the computer sends an abnormal signal to the control center, and the control center receives the abnormal signal and informs workers to sort the coal blocks and the rocks so as to prevent the large coal blocks and the rocks from flowing out together with the coal. In the field of coal mining, large coal refers to coal blocks with a diameter of more than 25cm or a mass of more than 10 kg.

The computer also adopts an image recognition method to perform feature extraction analysis on the received coal flow image collected by the holographic camera, if the image features do not accord with the coal flow features, the computer compares the data in a database of the computer, and if the current image features accord with the common features of caving, gangue inclusion and rock in the coal flow stored in the database, the computer sends a sorting notification to the controller; the sorting personnel sort the rib, the gangue and the rocks to prevent the rib, the gangue and the rocks from entering the next circulation, if the image characteristics collected at present are not consistent with the common rib, the gangue and the rock characteristics in the coal flow stored in the database, the computer sends an abnormal notification to a control center of the coal mine transportation system, and meanwhile, the technical personnel analyze the characteristics of the rib, judge the abnormal type in the coal flow at the moment, add the image characteristics into the image database and facilitate the detection work in the future. Meanwhile, in order to ensure the reliability of detection work, if abnormal coal flows occur in the detection process, detection is carried out again, the quality of the output coal flows is ensured to be reliable, the reliability of the coal flow detection work is improved, the intellectualization of the coal flow detection work is considered, and the use of personnel is reduced.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions and scope of the present invention as defined in the appended claims.