Reconstruction Crushing System Of Raw Ore Based On Millimeter Wave Radar

In mining production,due to the narrow underground transportation channel and the requirements of beneficiation process,it is often necessary to crush large pieces of raw ore.The traditional automatic ore crushing system is guided by the video information taken by the underground camera.However,due to the low video transmission rate and the bad underground environment,it is often unable to locate accurately.In view of these problems,this paper proposes and designs an underground raw ore fixed-point crushing system based on millimeter wave radar imaging technology and image processing.The specific researching work is as follows:（1）The overall structure and work flow of a raw ore crushing system based on millimeter wave radar imaging are designed.Around the practical application of engineering,the composition of a highly automatic raw ore crushing system is described.（2）The basic principle of millimeter wave FMCW radar is studied in detail.Several classical synthetic aperture radar imaging algorithms are deeply explored and compared.These algorithms are deduced and simulated to verify the effectiveness of the algorithm.The wave number domain imaging algorithm,which is most suitable for the system,is selected and applied to the imaging of raw ore.In view of the low efficiency of single channel radar imaging data acquisition,we apply the MIMO radar to design the array.And the MIMO is combined with the SAR,which is applied to the high-efficiency data acquisition required by the application of this project.（3）According to the designed system,the millimeter wave radar SAR imaging experimental platform is built,and real operating environment is simulated.The obtained images are processed,the ore reconstruction and centroid extraction are successfully completed.Finally,according to the actual engineering needs we design the manipulator.The kinematics design and simulation are carried out to ensure the operating of the manipulator smoothly and correctly,which lays a foundation for the real application of the system.