CN104215649B - Automatic coal and rock identification device of coal mining machine - Google Patents
Automatic coal and rock identification device of coal mining machine Download PDFInfo
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- CN104215649B CN104215649B CN201410444401.6A CN201410444401A CN104215649B CN 104215649 B CN104215649 B CN 104215649B CN 201410444401 A CN201410444401 A CN 201410444401A CN 104215649 B CN104215649 B CN 104215649B
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Abstract
The invention discloses an automatic coal and rock identification device of a coal mining machine. The device comprises a receiving antenna, a receiving attenuation module, a receiving frequency-mixing module, an adjustable frequency pulse generating module, an AD conversion module, an FPGA module, a DA conversion module, a transmitting frequency-mixing module, an output attenuation module, a transmitting antenna, a vibrating sensor, an ARM module, a torque transducer and a human-computer interaction module. The automatic coal and rock identification device integrates the predictable identification and the real-time identification by utilizing multiple identification means, so that the predictable identification and the real-time identification are mutually complemented and corroborated, and the accuracy and the efficiency of identification are improved.
Description
Technical field
The present invention relates to coal-winning machine automation field, in particular to a kind of coal rock for coal cutter automatic identification equipment.
Background technology
In coal mining field, improve identification coal seam and the interfacial accuracy of lithosphere for grasp exactly coal cutting dynamics,
Ensure that ature of coal, accurately the calculating response rate and saving coal resource are significant.Traditional is carried out by hand-holing method
Coal petrography identifies, there is the drawbacks of high labor intensive, low production efficiency, the automatic identification institute gradually having been carried out by physical prospecting means
Replace.One of study hotspot is how to improve coal petrography recognition accuracy by coal-rock detection face sensor mechanism, and then right at present
Coal mining machine roller is heightened to ensure the accuracy of coal cutting.
Coal-rock detection face sensor mechanism, is mainly had different on coal seam and lithosphere by some physical quantitys of acquisition
Feedback parameter, is then analyzed using computer to make differentiation to coal seam and lithosphere.Such as pass through to obtain high-frequency radio frequency
Electric wave produces different reflections in coal seam with lithosphere, or is produced not in coal seam and lithosphere using vibrating sensor acquisition
The vibrations of same frequency, or obtain, using torque sensor, the different torsions that coal mining machine roller is exported in contact coal seam and lithosphere
Square etc..Wherein, coal-rock detection face can be judged in advance by radio wave attenuation, such that it is able to adjust the height of coal mining machine roller in advance
Degree, but it is because the complexity of coal rock layer, occasionally there are situations such as identify inaccurate, and be identified by vibration and moment of torsion, belong to
In instant identification although accuracy is higher, but reserve more than the time of adjustment to coal-winning machine control system or operator
Amount, has only touched lithosphere in coal-winning machine and just can make feedback, lacked effective predictability, makes identification lose part meaning
Justice.The coal petrography identifying device of existing coal-winning machine also mainly carries out coal petrography identification it is impossible to incite somebody to action by obtaining one or two kind of physical quantity
Effectively predictability is combined with instant accuracy, or being simply identified of having, and can not be with coal-winning machine control system
Carry out effectively combining it is impossible to realize identification and automatic integratedization mined.
Content of the invention
It is an object of the present invention to provide a kind of coal rock for coal cutter automatic identification equipment, this device is using multiple identification handss
Section, collection predictability identification and instantaneity identification and one, make the two be complementary to one another, mutually confirm, improve identification precision and
Efficiency.
For achieving the above object, the present invention takes technical scheme below：
A kind of coal rock for coal cutter automatic identification equipment, including reception antenna（1）And transmitting antenna（10）It is characterised in that：
Reception antenna（1）With receiving attenuation module（2）It is connected, receiving attenuation module（2）With reception frequency mixing module（3）It is connected, receive mixed
Frequency module（3）Respectively with frequency-adjustable pulse generating module（4）And AD conversion module（5）It is connected, AD conversion module（5）With FPGA
Module（6）It is connected, FPGA module（6）Respectively with ARM module（12）And D/A conversion module（7）It is connected, ARM module（12）Respectively with
Vibrating sensor（11）, torque sensor（13）And human-computer interaction module（14）It is connected, D/A conversion module（7）With transmitting mixing mould
Block（8）It is connected, launch frequency mixing module（8）Respectively with frequency-adjustable pulse generating module（4）With output attenuatoin module（9）It is connected,
Output attenuatoin module（9）With transmitting antenna（10）It is connected.
Preferably, described FPGA module（6）Using xilinx company Virtex-V Series FPGA, FF665 pin package,
Using XC5VSX50T chip；Described AD conversion module（5）Single channel CMOS using National Semiconductor company
Type ADC081000 chip；Described D/A conversion module（7）AD9736 transducer using ADI company；Described ARM module（12）Adopt
With Samsung Exynos 4412 chip, based on ARM Cortex-A9 kernel, ARMv7 instruction set.
It is a further object to provide a kind of coal petrography automatic identifying method based on said apparatus, by following step
Rapid realization：
（a）In human-computer interaction module（14）Setting operation parameter simultaneously preserves；
（b）Through ARM module（12）Control FPGA module（6）And through D/A conversion module（7）With transmitting frequency mixing module（8）By
Transmitting antenna（10）Launch high frequency radio signals to the coal seam of coal mining machine roller direction of advance and/or rock stratum；
（c）By reception antenna（1）With receiving attenuation module（2）The echo-signal of collection reflection, and it is mixed mould by receiving
Block（3）Carry out lower mixing, obtain intermediate-freuqncy signal, by frequency-adjustable pulse generating module（4）Intermediate-freuqncy signal is sampled, sampling
Frequency is not less than 1Gsps, and institute's acquired data storage is in FPGA module（6）Memorizer in, and transfer data to ARM module,
Simultaneously by ARM module（12）Collection vibrating sensor（11）And torque sensor（13）Signal, then by ARM module（12）Logical
Cross wavelet transformation and particle filter algorithm realize data filtering, eliminate the interference that coal-winning machine vibrations and echo direction change produce,
Focusing function and the dual locality of frequency domain time domain using wavelet transformation suppress noise；
（d）By ARM module（12）Judge the sign mutation point in filtered data, record the time letter of catastrophe point
Breath, by ARM module（12）Determine the thickness of coal seam and/or rock stratum according to spread speed in operation material for the high frequency radio signals
Degree, and apply Kalman Filter Technology and the boundary surface information of the next sampled point of particle filter technology prediction；
(e) ARM module（12）Operation material thickness information is sent to coal mining motor servo-controlled system through port, and by
Coal mining motor servo-controlled system carries out position control to rocking arm.
The invention has the beneficial effects as follows, propose first by using the means phase such as radio wave, vibration and torque sensor
Identify in conjunction with the predictability to carry out coal-rock detection face and identify with instant.The present invention regards the motion of coal-winning machine front roll as right
Coal petrography decomposes the real-time tracking process in face, obtains coal-rock detection surface sample point data in real time, by EKF technology
Eliminate the interference of the observation data of echo direction change generation due to coal-winning machine vibrations, transmitting with particle filter technology, to carry
The precision of high coal petrography identification, even if echo identification produces discrete error and so that coal-winning machine cut is arrived during rock stratum it is also possible to by vibrating
Sensor and torque sensor immediately perceive and control coal-winning machine to be modified, it is to avoid the drawbacks of existing identifying device.Adopt simultaneously
Carry out data processing with wavelet transformation, particle filter and EKF, be greatly improved the precision of identification, real realization
Coal mining machine in full-mechanized mining face coal cutting automatization, realizes top ground coal and smoothly exploits, improve working face extraction rate and calculate accuracy.This
Bright overcome in conventional fully-mechanized mining working exploitation process, rely on coal-winning machine driver profile to judge the height of coal cutting and depth simultaneously
The drawbacks of often result in certain thickness top ground coal and can not produce, it is to avoid waste coal resources, improve economic benefit.
Brief description
Fig. 1 is coal petrography automatic identification equipment structural representation of the present invention.
Fig. 2 is operation principle schematic block diagram of the present invention.
Specific embodiment
As shown in figure 1, in this coal rock for coal cutter automatic identification equipment, reception antenna 1 is connected with receiving attenuation module 2, connects
Receive attenuation module 2 and be connected with receiving frequency mixing module 3, receive frequency mixing module 3 and turn with frequency-adjustable pulse generating module 4 and AD respectively
Die change block 5 be connected, AD conversion module 5 is connected with FPGA module 6, FPGA module 6 respectively with ARM module 12 and D/A conversion module 7
It is connected, ARM module 12 is connected with vibrating sensor 11, torque sensor 13 and human-computer interaction module 14 respectively, D/A conversion module 7
With transmitting frequency mixing module 8 be connected, launch frequency mixing module 8 respectively with frequency-adjustable pulse generating module 4 and output attenuatoin module 9 phase
Even, output attenuatoin module 9 is connected with transmitting antenna 10.
FPGA module can adopt the FPGA of the Virtex-V series of xilinx company, FF665 pin package, choosing
XC5VSX50T .The key technical indexes using the chip of XC5VSX series：Based on 65nm processing technique, 1.2V kernel is powered；6
Input look-up table, highest 330000 logic cells；550MHz DCM Clock management；Exclusive system monitoring function assists pipe
Reason system reliability；The pin distribution of sparse herringbone framework reduces up to 7 times of simultaneous switching noise.
AD conversion module can be selected for the single channel of National Semiconductor company, Low-Power CMOS type
, as AD conversion chip, its index is as follows for ADC081000：Maximum sampling rate 1.7GSPS, representative value 1 GSPS, precision
8Bits；Signal to noise ratio snr=46.3dB@1GSPS；SFDR SFDR=53dB@1GSPS；Differential nonlinearity DNL=
±0.15LSB；Total harmonic distortion THD=-53dB@1GSPS；Number of significant digit ENOB=7.25Bits@1GSPS；+ 1.9V electricity
Source powers, 1GSPS typical case's power consumption 1.8W, static schema 3.5mW；；Input signal dynamic range：Maximum 870mVpp；Input simulation
Signal bandwidth（Full power bandwidth）FPBW=1GHz(-3dB).
D/A conversion module can make data readback requirement output signal bandwidth reach 500MHz.Fixed according to nyquist sampling
Reason, the switching rate of DAC should be not less than 1000Msps.DAC can adopt the AD9736 of ADI company, this Digital To Analog Convert
Conversion accuracy has reached 14 bits, and conversion speed reaches 1200Msps.
The main feature of the AD9736 of analog meter company is as follows：High conversion rate, high-resolution：1200Msps,
14bit；Low-power consumption：1.1W@1200Msps；High speed interface：（DDR）LVDS, has termination inside 100 Europe；Noiseproof feature
Excellent：SFDR > 60 dBc to fOUT = 300 MHz& fdac = 1000Msps；IMD > 81 dBc to fOUT =
300 MHz& fdac = 1000Msps；Low signal distortion：DNL = ± 0.8 LSB；INL = ± 1.3 LSB
ARM module is mainly responsible for touch screen and is controlled and the process of man machine interface interactive data.Special in view of part mathematical operation
It is not that small echo calculates and will realize in ARM, ARM needs from interior nucleus product.Intend selecting Samsung Exynos 4412 core
Piece, based on ARM Cortex-A9 kernel, ARMv7 instruction set, is four core processors, dominant frequency 1.4GHz-1.6GHz, 128/64
Inside bus structure, the data/commands level cache of 32/32KB, the L2 cache of 1024KB, it is possible to achieve 2000DMIPS（Often
Second 200,000,000 instruction set）High performance computation ability.Exynos 4412 adopts 32nm low-power processing procedure, operational capability and power dissipation ratio
Exynos 4210 lifting 25% of 45nm and reduction by 40% about.Run Linux or Android system.In addition there is ARM kernel
Monolithic LPC2368, as configuration, controls companion chip, runs UcosII operating system.
PLL times of frequency module can adopt chip：ADF4350, reference frequency output：137.5MHz～4400MHz；Programmable defeated
Go out power；3-line serial interface；Frequency mixing module can adopt chip：HMC557；Frequency range：2.5～7GHz；Alleviating distention in middle-JIAO frequency：DC～
3GHz；Conversion loss：7dB；Local oscillator/radio frequency isolation：More than 40dB
Adjustable attenuator can adopt chip：HMC624LP4/624LP4E；Adjustable damping scope 0.5dB～31.5dB；Undershoot
Damage：[email protected]；Single 3V or 5V powers
As shown in Fig. 2 the method for coal rock for coal cutter automatic identification, comprise the steps：
（a）In human-computer interaction module（14）Setting operation parameter simultaneously preserves；
Man-machine interaction step, realizes user interface and will realize following functions：（1）Parameter setting：Can be arranged with real time modifying
System test parameter；（2）Parameter preserves and loads：The parameter setting can preserve, and next use can be loaded directly into；（3）
Data for real-time change is shown using graphic display mode；（4）Start/stop：Realization starts or stops function；（5）System
System infomation detection：The essential information of detection current system, such as：Time, memory capacity, software information, hardware information etc..
（b）Through ARM module（12）Control FPGA module（6）And through D/A conversion module（7）With transmitting frequency mixing module（8）By
Transmitting antenna（10）Launch high frequency radio signals to the coal seam of coal mining machine roller direction of advance and/or rock stratum；
（c）By reception antenna（1）With receiving attenuation module（2）The echo-signal of collection reflection, and it is mixed mould by receiving
Block（3）Carry out lower mixing, obtain intermediate-freuqncy signal, by frequency-adjustable pulse generating module（4）Intermediate-freuqncy signal is sampled, sampling
Frequency is not less than 1Gsps, and institute's acquired data storage is in FPGA module（6）Memorizer in, and transfer data to ARM module,
Simultaneously by ARM module（12）Collection vibrating sensor（11）And torque sensor（13）Signal, then by ARM module（12）Logical
Cross wavelet transformation and particle filter algorithm realize data filtering, eliminate the interference that coal-winning machine vibrations and echo direction change produce,
Focusing function and the dual locality of frequency domain time domain using wavelet transformation suppress noise；
（d）By ARM module（12）Judge the sign mutation point in filtered data, record the time letter of catastrophe point
Breath, by ARM module（12）Determine the thickness of coal seam and/or rock stratum according to spread speed in operation material for the high frequency radio signals
Degree, and apply Kalman Filter Technology and the boundary surface information of the next sampled point of particle filter technology prediction；
(e) ARM module（12）Operation material thickness information is sent to coal mining motor servo-controlled system through port, and by
Coal mining motor servo-controlled system carries out position control to rocking arm.
For improving the real-time of coal petrography identification it is ensured that coal petrography recognition speed runs synchronization with coal-winning machine, wavelet transformation needs
Realize inside high speed FPGA；Meanwhile, coal petrography identifying device, in addition to sending and receiving high frequency radio signals, is additionally provided with auxiliary
Vibrating sensor and torque sensor are measuring force-bearing situation during coal-winning machine cutterhead cut, cutting motor and/or revolution oil
, with the relation between cutting motor and/or angling cylinder parameter situation, calculating is adopted for the parameter situation of cylinder and cutterhead force-bearing situation
The firmness coefficient f of ore-rock at coal machine cutterhead current cut position, and according to coal and soft rock f≤4, middle hard rock f≤4-8, hard rock f
≤8-20（Rock the hardest）；The coal of f≤1.5 is referred to as cherry coal, the referred to as middle hard coal of coal of f=1.5-3.0, and the coal of f≤3.0 claims
Come subsidiary discriminant coal seam and rock stratum for hard coal.
Claims (2)
1. a kind of coal rock for coal cutter automatic identification equipment, including reception antenna（1）And transmitting antenna（10）It is characterised in that：Connect
Receive antenna（1）With receiving attenuation module（2）It is connected, receiving attenuation module（2）With reception frequency mixing module（3）It is connected, receive mixing
Module（3）Respectively with frequency-adjustable pulse generating module（4）And AD conversion module（5）It is connected, AD conversion module（5）With FPGA mould
Block（6）It is connected, FPGA module（6）Respectively with ARM module（12）And D/A conversion module（7）It is connected, ARM module（12）Respectively with shake
Dynamic sensor（11）, torque sensor（13）And human-computer interaction module（14）It is connected, D/A conversion module（7）With transmitting frequency mixing module
（8）It is connected, launch frequency mixing module（8）Respectively with frequency-adjustable pulse generating module（4）With output attenuatoin module（9）It is connected, defeated
Go out attenuation module（9）With transmitting antenna（10）It is connected.
2. coal rock for coal cutter automatic identification equipment as claimed in claim 1 is it is characterised in that described FPGA module（6）Using
Xilinx company Virtex-V Series FPGA, FF665 pin package, using XC5VSX50T chip；Described AD conversion module（5）
Single channel CMOS-type ADC081000 chip using National Semiconductor company；Described D/A conversion module（7）Adopt
AD9736 transducer with ADI company；Described ARM module（12）Using Samsung Exynos 4412 chip, based on ARM
Cortex-A9 kernel, ARMv7 instruction set.
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| CN201410444401.6A CN104215649B (en) | 2014-09-03 | 2014-09-03 | Automatic coal and rock identification device of coal mining machine |
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| CN201410444401.6A CN104215649B (en) | 2014-09-03 | 2014-09-03 | Automatic coal and rock identification device of coal mining machine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11834943B2 (en) | 2019-11-15 | 2023-12-05 | Peck Tech Consulting Ltd. | Systems, apparatuses, and methods for determining rock-coal transition with a drilling machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108415079B (en) * | 2018-03-05 | 2020-09-11 | 长沙矿山研究院有限责任公司 | Rock stratum interface delineation method based on rock drilling impact sound identification |
| WO2020240592A2 (en) * | 2019-05-29 | 2020-12-03 | Tata Consultancy Services Limited | Method and system for optimum coal selection and power plant optimization |
| US11661835B2 (en) | 2019-12-03 | 2023-05-30 | Peck Tech Consulting Ltd. | Systems, apparatuses, and methods for automated control of blasthole drill based on performance monitoring |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4165460A (en) * | 1977-11-04 | 1979-08-21 | Nasa | Coal-rock interface detector |
| US4793710A (en) * | 1987-06-09 | 1988-12-27 | The United States Of America As Represented By The Secretary Of The Interior | Method and apparatus for measuring surface density of explosive and inert dust in stratified layers |
| US4981327A (en) * | 1989-06-09 | 1991-01-01 | Consolidation Coal Company | Method and apparatus for sensing coal-rock interface |
| DE4025551A1 (en) * | 1989-09-25 | 1991-04-04 | Spies Klaus | METHOD AND DEVICE FOR CONTROLLING EXTRACTION AND DRIVING MACHINES ALONG A CUTTING HORIZON BETWEEN COAL AND STONE |
| CN103174423B (en) * | 2013-02-05 | 2015-03-04 | 中国矿业大学 | Device and method for monitoring and identifying coal rock for coal cutter in real time |
| CN103174449B (en) * | 2013-03-28 | 2015-12-23 | 北京天地玛珂电液控制***有限公司 | A kind of Coal-rock identification method using rock recognition processor |
| CN103940907B (en) * | 2014-05-09 | 2019-08-13 | 天地上海采掘装备科技有限公司 | Coal petrography identifies equipment and its recognition methods |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US11834943B2 (en) | 2019-11-15 | 2023-12-05 | Peck Tech Consulting Ltd. | Systems, apparatuses, and methods for determining rock-coal transition with a drilling machine |
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