Table 1 Perception content statistics.
Perception system | Primary sensing device | Object of characterization |
|---|---|---|
Filling material system | Feeder belt speed sensor | Material feeding speed |
Weight sensor | Material feeding weight | |
Filling material transport system | Belt speed sensor | Material discharge speed |
Weight sensor | Feeding amount and scraper conveyor Discharge amount | |
Radar | Distance between discharge port and material pile | |
Laser sensor | Levelness and smoothness of scraper | |
Filling face perception | Hydraulic sensor for support | Pressure of supporting equipment |
Top beam inclination sensor | Inclination angle of supporting tunnel | |
Support measuring distance sensor | Height of supporting tunnel | |
Angle sensor | Angle of filling push plate | |
Travel sensor | Travel of filling push plate | |
Pressure sensor | Pressure of filling push plate | |
Distance sensor | Height of material pile | |
Distance sensor | Horizontal distance between material Pile and filling mechanism |
