CN102004483A - Fully-mechanized mining digital manless working face control system - Google Patents
Fully-mechanized mining digital manless working face control system Download PDFInfo
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Abstract
The invention discloses a fully-mechanized mining digital manless working face control system which mainly comprises a centralized control console, a coal mining combine control system, a hydraulic rack control system and a video monitoring system, wherein the centralized control console is respectively connected with the coal mining combine control system, the hydraulic rack control system and the video monitoring system through mine communication cables. The fully-mechanized mining digital manless working face control system has a plurality of flexible and reliable control modes, and can be used for remotely centrally controlling equipment of a coal mining combine, a hydraulic rack and the like, thereby reducing the quantity of site operators of the coal mining combine and the hydraulic rack, realizing automatic, manless or few man mining of a fully-mechanized working face, improving the mining efficiency of coal resources, and avoiding or reducing serious loss of life and personal injury in a mine.
Description
Technical field
The present invention relates to a kind of combine and adopt digitizing workplace tele-control system, relate in particular to the long-range joint-monitoring system that supervision, Long-distance Control, the unmanned exploitation of workplace are concentrated in a kind of fully-mechanized mining working digitizing.
Background technology
Along with China is increasing to the demand of the energy, the coal mining scale also increases gradually, the workplace working condition also becomes increasingly complex, security threat to personnel is also more and more big, existing fully-mechanized mining equipment and mining type can not meet the needs of, therefore, realize that colliery robotization and unmanned or few people's working face mining become pressing for of domestic and international coal mining industry.
Over nearly 20 years, based on the positive rapid permeability of the high-tech achievement of microelectric technique and infotech to coal field, compunication by the advanced person, robotization control, core technologies such as electro-hydraulic control and ultra-low illumination video monitor are as support, the processing of coal mine fully-mechanized mining working facility information is combined with the control of coal mining production process, then realize the remote real time monitoring of fully-mechanized mining working operating mode, the fault diagnosis of equipment and associating robotization control, improved the efficient and the safety coefficient of coal digging industry greatly, made to combine and adopt digitizing workplace unmanned and come true gradually.
Summary of the invention
The present invention solves the coal mining scale and increases gradually in order to remedy the deficiencies in the prior art, and the workplace working condition also becomes increasingly complex, and the problem also more and more big to personnel's security threat provides a kind of combining to adopt digitizing manless working face control system.
The technical solution adopted for the present invention to solve the technical problems is:
Combine and adopt digitizing manless working face control system, mainly be made up of integrated console, coalcutter control system, hydraulic support control system and video monitoring system, its integrated console connects coalcutter control system, hydraulic support control system and video monitoring system respectively by communication cable for mine.
The technical scheme that the present invention solves its technical matters also can be:
Described combining adopted digitizing manless working face control system, its described coalcutter control system is by operation keyboard, industrial computer, communication module, the PLC controller, primary transducer, left side traction electric machine, from frequency converter, right traction electric machine, left side inclinator, the fuselage inclinator, right inclinator, position coder, the gas cutoff instrument, control panel, traction stops, traction starts, cut stops, the cut starting, lead the alternating temperature degree, the oil pump electric current, the cut temperature, the cut electric current, electrical apparatus control circuit, left side cutting motor, Oil pump electrical machinery, right cutting motor, the solenoid valve I, the solenoid valve II, the solenoid valve III, left side rocking arm lifting, hydraulic braking, right rocking arm lifting, coalcutter control section and memory cut, automatically heighten part and detection module, form, operation keyboard connects industrial computer successively, communication module and PLC controller, the PLC controller connects left inclinator successively, the fuselage inclinator, right inclinator, position coder, the gas cutoff instrument, control panel, detection module, primary transducer, electrical apparatus control circuit, control panel connects traction successively to be stopped, traction starts, cut stops to start with cut, detection module connects successively and leads the alternating temperature degree, the oil pump electric current, cut temperature and cut electric current, primary transducer connects left traction electric machine and successively from frequency converter, connect right traction electric machine from frequency converter, electrical apparatus control circuit connects left cutting motor successively, Oil pump electrical machinery, right cutting motor, the solenoid valve I, solenoid valve II and solenoid valve III, the solenoid valve I connects right rocking arm lifting, the solenoid valve II connects hydraulic braking, the solenoid valve III connects left rocking arm lifting, and the PLC controller is heightened part automatically with coalcutter control section and memory cut respectively and is connected in parallel.
The technical scheme that the present invention solves its technical matters can also be:
Described combining adopted digitizing manless working face control system, its described video monitoring system, mainly form by intrinsic safety type video camera, explosion-proof type LED lamp, dustproof fan housing, picture segmentation switch and flame-proof type monitor, intrinsic safety type video camera top connects dustproof fan housing bottom and connects picture segmentation switch and two flame-proof type monitors successively by communication cable for mine, the explosion-proof type LED lamp connects power supply, and described intrinsic safety type video camera, explosion-proof type LED lamp and dustproof fan housing can be respectively four to 20.
The technical scheme that the present invention solves its technical matters can also be:
Described combining adopted digitizing manless working face control system, its described integrated console mainly is made up of industrial computer I, coalcutter memory cut automatic height-adjusting system, monitor, picture segmentation video switching system, industrial computer II and support electrohydraulic control system, the industrial computer I connects coalcutter memory cut automatic height-adjusting system, two monitors connect the picture segmentation video switching system respectively, two picture segmentation video switching systems connect again, and the industrial computer II connects the support electrohydraulic control system.
The technical scheme that the present invention solves its technical matters can also be:
Described combining adopted digitizing manless working face control system, its described hydraulic support control system is mainly by the first controller group, the second controller group, the the 3rd to n-1 controller group, n controller group, long-range main control computer, bracket controller, power supply box, isolating coupler, the bus lifter and the network terminal, long-range main control computer connects the first controller group successively, isolating coupler, the second controller group, isolating coupler, the the 3rd to n-1 controller group, isolating coupler, n controller group, the isolating coupler of the right and left connects power supply box respectively, and a middle isolating coupler connects two bus lifters.
The technical scheme that the present invention solves its technical matters can also be:
Described combining adopted digitizing manless working face control system, its described bracket controller, mainly slip, pass between stroke sensor, electromagnetic coil drive, electric pilot operated valve device and frame connector and forms by bus lifter, infrared receiver, column pressure transducer, obliquity sensor, tail boom, plate, back, bracket controller successively between connecting bus lifter, infrared receiver, frame connector, column pressure transducer, obliquity sensor, tail boom, plate, back slip, connector between passing stroke sensor, electromagnetic coil drive, electric pilot operated valve device and frame.
The invention has the beneficial effects as follows:
1, the present invention has flexible, reliable multiple control mode, can realize remote centralized control to equipment such as coalcutter and hydraulic supports, reduce coalcutter and hydraulic support site operation personnel, realize fully-mechanized mining working robotization, unmanned or few people's exploitation, improve the production efficiency of coal resources, avoid or reduce the great personnel casualty accidents in colliery.
Description of drawings
Fig. 1 is manless working face control system figure of the present invention.
Fig. 2 is coalcutter control system figure.
Fig. 3 is video monitoring system figure of the present invention.
Fig. 4 is centralized monitoring system figure.
Fig. 5 is hydraulic support circuit hydraulic control system figure.
Fig. 6 is the bracket controller schematic diagram.
Embodiment
Among Fig. 1, combine and adopt digitizing manless working face control system, mainly be made up of integrated console 1, coalcutter control system 2, hydraulic support control system 3 and video monitoring system 4, its integrated console 1 connects coal mining control system 2, hydraulic support control system 3 and video monitoring system 4 respectively by communication cable for mine.
Among Fig. 2, described combining adopted digitizing manless working face control system, its described coalcutter control system 2 is by operation keyboard 15, industrial computer 16, communication module 17, PLC controller 18, primary transducer 19, left side traction electric machine 20, from frequency converter 21, right traction electric machine 22, left side inclinator 23, fuselage inclinator 24, right inclinator 25, position coder 26, gas cutoff instrument 27, control panel 28, traction stops 29, traction starts 30, cut stops 31, cut starting 32, lead alternating temperature degree 33, oil pump electric current 34, cut temperature 35, cut electric current 36, electrical apparatus control circuit 37, left side cutting motor 38, Oil pump electrical machinery 39, right cutting motor 40, solenoid valve I 41, solenoid valve II 42, solenoid valve III 43, left side rocking arm lifting 44, hydraulic braking 45, right rocking arm lifting 46, coalcutter control section 47 and memory cut, automatically heighten part 48 and detection module 49 compositions, operation keyboard 15 connects industrial computer 16 successively, communication module 17 and PLC controller 18, PLC controller 18 connects left inclinator 23 successively, fuselage inclinator 24, right inclinator 25, position coder 26, gas cutoff instrument 27, control panel 28, detection module 49, primary transducer 19, electrical apparatus control circuit 37, control panel 28 connects traction successively and stops 29, traction starts 30, cut stops 31 and cut starting 32, detection module 49 connects successively and leads alternating temperature degree 33, oil pump electric current 34, cut temperature 35 and cut electric current 36, primary transducer 19 connects left traction electric machine 20 and successively from frequency converter 21, connect right traction electric machine 22 from frequency converter 21, electrical apparatus control circuit 37 connects left cutting motor 38 successively, Oil pump electrical machinery 39, right cutting motor 40, solenoid valve I 41, solenoid valve II 42 and solenoid valve III 43, solenoid valve I 41 connects right rocking arm lifting 46, solenoid valve II 42 connects hydraulic braking 45, solenoid valve III 43 connects left rocking arm lifting 44, and PLC controller 18 is heightened part 48 automatically with coalcutter control section 47 and memory cut respectively and is connected in parallel.
Among Fig. 3, described combining adopted digitizing manless working face control system, its described video monitoring system 4, mainly form by intrinsic safety type video camera 7, explosion-proof type LED lamp 8, dustproof fan housing 9, picture segmentation switch 10 and flame-proof type monitor 11, intrinsic safety type video camera 7 tops connect dustproof fan housing 9 bottoms and connect picture segmentation switch 10 and two flame-proof type monitors 11 successively by communication cable for mine, explosion-proof type LED lamp 8 connects power supply, and described peace type video camera 7, explosion-proof type LED lamp 8 and dustproof fan housing 9 can be respectively four to 12; Video monitoring system 4 is that many KBA6 mine intrinsic safety type video cameras 7 are installed on hydraulic support at regular intervals, the camera lens of video camera is selected the manual wide-angle lens of 2.8mm for use, join the dustproof fan housing 9 of pressurized air before the camera lens and isolate coal dust, anti-explosion LED lamps 8 floor lights are established on each intrinsic safety type video camera 7 side, at integrated console 1 two flame-proof type monitors 11 are installed, by many picture segmentation switch 10 tracing display images.
Among Fig. 4, described combining adopted digitizing manless working face control system, its described integrated console 1 mainly is made up of industrial computer I 50, coalcutter memory cut automatic height-adjusting system 51, monitor 52, picture segmentation video switching system 53, industrial computer II 54 and support electrohydraulic control system 55, industrial computer I 50 connects coalcutter memory cut automatic height-adjusting system 51, two monitors 52 connect picture segmentation video switching system 53 respectively, two picture segmentation video switching systems 53 connect again, and industrial computer II 54 connects support electrohydraulic control system 55.
Among Fig. 5, described combining adopted digitizing manless working face control system, its described hydraulic support control system 3 is mainly by the first controller group 60, the second controller group 61, the the 3rd to n-1 controller group 62, n controller group 63, long-range main control computer 64, bracket controller 65, power supply box 66, isolating coupler 67, the bus lifter 68 and the network terminal 69, long-range main control computer 64 connects the first controller group 60 successively, isolating coupler 67, the second controller group 61, isolating coupler 67, the the 3rd to n-1 controller group 62, isolating coupler 67, n controller group 63, the isolating coupler 67 of the right and left connects power supply box 66 respectively, and a middle isolating coupler 67 connects two bus lifters 68; Electrohydraulic control system is a core at each bracket controller 65, it is one group that 4～6 adjacent bracket controllers 65 are compiled, road DC power supply by power supply box 66, realize electrical isolation and the coupling of data-signal photoelectricity by isolating coupler 67 between group, every group is used a bus lifter 68, guarantees TBUS bus normal signal transmission, and the two ends of bracket controller 65 networks respectively are provided with a network terminal device 69, can link to each other with long-range main control computing machine 64, realize the Monitoring and Controlling function.
Among Fig. 6, described combining adopted digitizing manless working face control system, its described bracket controller (65), mainly by bus lifter 68, infrared receiver 70, column pressure transducer 71, obliquity sensor 72, tail boom 73, plate 74, the back slips 75, pass stroke sensor 76, electromagnetic coil drive 77, connector 79 is formed between electricity pilot operated valve device 78 and frame, and bracket controller 65 is connecting bus lifter 68 successively, infrared receiver 70, connector 79 between frame, column pressure transducer 71, obliquity sensor 72, tail boom 73, plate 74, the back slips 75, pass stroke sensor 76, electromagnetic coil drive 77, connector 79 between electricity pilot operated valve device 78 and frame.
Claims (6)
1. combine and adopt digitizing manless working face control system, mainly be made up of integrated console (1), coalcutter control system (2), hydraulic support control system (3) and video monitoring system (4), it is characterized in that: integrated console (1) connects coalcutter control system (2), hydraulic support control system (3) and video monitoring system (4) respectively by communication cable for mine.
2. according to claim 1 combining adopted digitizing manless working face control system, it is characterized in that: described coalcutter control system (2) is by Cao Zuo Key dish (15), industrial computer (16), communication module (17), PLC controller (18), primary transducer (19), left side traction electric machine (20), from frequency converter (21), right traction electric machine (22), left side inclinator (23), fuselage inclinator (24), right inclinator (25), position coder (26), gas cutoff instrument (27), control panel (28), traction stops (29), traction starts (30), cut stops (31), cut starting (32), lead alternating temperature degree (33), oil pump electric current (34), cut temperature (35), cut electric current (36), electrical apparatus control circuit (37), left side cutting motor (38), Oil pump electrical machinery (39), right cutting motor (40), solenoid valve I (41), solenoid valve II (42), solenoid valve III (43), left side rocking arm lifting (44), hydraulic braking (45), right rocking arm lifting (46), coalcutter control section (47) and memory cut, automatically heighten part (48) and detection module (49), form, operation keyboard (15) connects industrial computer (16) successively, communication module (17) and PLC controller (18), PLC controller (18) connects left inclinator (23) successively, fuselage inclinator (24), right inclinator (25), position coder (26), gas cutoff instrument (27), control panel (28), detection module (49), primary transducer (19), electrical apparatus control circuit (37), control panel (28) connects traction successively and stops (29), traction starts (30), cut stops (31) and cut starting (32), detection module (49) connects successively and leads alternating temperature degree (33), oil pump electric current (34), cut temperature (35) and cut electric current (36), primary transducer (19) connects left traction electric machine (20) and successively from frequency converter (21), connect right traction electric machine (22) from frequency converter (21), electrical apparatus control circuit (37) connects left cutting motor (38) successively, Oil pump electrical machinery (39), right cutting motor (40), solenoid valve I (41), solenoid valve II (42) and solenoid valve III (43), solenoid valve I (41) connects right rocking arm lifting (46), solenoid valve II (42) connects hydraulic braking (45), solenoid valve III (43) connects left rocking arm lifting (44), and PLC controller (18) is heightened part (48) automatically with coalcutter control section (47) and memory cut respectively and is connected in parallel.
3. according to claim 1 combining adopted digitizing manless working face control system, it is characterized in that: described video monitoring system (4), mainly by intrinsic safety type video camera (7), explosion-proof type LED lamp (8), dustproof fan housing (9), picture segmentation switch (10) and flame-proof type monitor (11) are formed, intrinsic safety type video camera (7) top connects dustproof fan housing (9) bottom and connects picture segmentation switch (10) and two flame-proof type monitors (11) successively by communication cable for mine, explosion-proof type LED lamp (8) connects power supply, described peace type video camera (7), explosion-proof type LED lamp (8) and dustproof fan housing (9) can be respectively four to 12.
4. according to claim 1 combining adopted digitizing manless working face control system, it is characterized in that: described integrated console (1) is mainly by industrial computer I (50), coalcutter memory cut automatic height-adjusting system (51), monitor (52), picture segmentation video switching system (53), industrial computer II (54) and support electrohydraulic control system (55) are formed, industrial computer I (50) connects coalcutter memory cut automatic height-adjusting system (51), two monitors (52) connect picture segmentation video switching system (53) respectively, two picture segmentation video switching systems (53) connect again, and industrial computer II (54) connects support electrohydraulic control system (55).
5. according to claim 1 combining adopted digitizing manless working face control system, it is characterized in that: described hydraulic support control system (3) is mainly by the first controller group (60), the second controller group (61), the the 3rd to n-1 controller group (62), n controller group (63), long-range main control computer (64), bracket controller (65), power supply box (66), isolating coupler (67), the bus lifter (68) and the network terminal (69), long-range main control computer (64) connects the first controller group (60) successively, isolating coupler (67), the second controller group (61), isolating coupler (67), the the 3rd to n-1 controller group (62), isolating coupler (67), n controller group (63), the isolating coupler of the right and left (67) connects power supply box (66) respectively, and a middle isolating coupler (67) connects two bus lifters (68).
6. according to claim 5 combining adopted digitizing manless working face control system, it is characterized in that: described bracket controller (65), mainly by bus lifter (68), infrared receiver (70), column pressure transducer (71), obliquity sensor (72), tail boom (73), plate (74), back slide (75), pass stroke sensor (76), electromagnetic coil drive (77), connector (79) is formed between electricity pilot operated valve device (78) and frame, and bracket controller (65) is connecting bus lifter (68) successively, infrared receiver (70), connector between frame (79), column pressure transducer (71), obliquity sensor (72), tail boom (73), plate (74), back slide (75), pass stroke sensor (76), electromagnetic coil drive (77), connector (79) between electricity pilot operated valve device (78) and frame.
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| CN102367738A (en) * | 2011-10-24 | 2012-03-07 | 三一重型综采成套装备有限公司 | Hydraulic support control device |
| CN102587910A (en) * | 2012-03-01 | 2012-07-18 | 山西中新唐山沟煤业有限责任公司 | Debugging method of automatic working surface device of thin coal seam drum shearer |
| CN102777199A (en) * | 2012-07-13 | 2012-11-14 | 北京天地玛珂电液控制系统有限公司 | Automatic coal carving control device with memory function for fully-mechanized carving mining face of coal mine underground and coal carving method thereof |
| CN103050045A (en) * | 2012-10-01 | 2013-04-17 | 河南理工大学 | Multi-work-type collaborative virtual practical training operation system for coal mine fully mechanized coal face |
| CN103244164A (en) * | 2013-05-23 | 2013-08-14 | 北京天地玛珂电液控制系统有限公司 | Hydraulic support group with video control system |
| CN103438875A (en) * | 2013-09-03 | 2013-12-11 | 山西科达自控股份有限公司 | Continuous mining machine control system for coal mine based on image and data combination |
| CN103912296A (en) * | 2014-03-19 | 2014-07-09 | 北京天地玛珂电液控制系统有限公司 | Working face equipment positioning system based on image measurement |
| CN105065050A (en) * | 2015-07-20 | 2015-11-18 | 太原理工大学 | Implementation method of central control platform of underground fully-mechanized coal face hydraulic supports |
| CN105201507A (en) * | 2015-09-07 | 2015-12-30 | 神华集团有限责任公司 | Mining system and mining method for high-dipping super-high seam shortwall working face |
| CN105826835A (en) * | 2015-11-30 | 2016-08-03 | 常州联力自动化科技有限公司 | Coal mine underground intelligent power center |
| CN106089202A (en) * | 2016-08-22 | 2016-11-09 | 西安科技大学 | Coal mining machine in full-mechanized mining face Automatic Height-Adjusting method based on current monitoring |
| CN106507051A (en) * | 2016-11-21 | 2017-03-15 | 广州日滨科技发展有限公司 | A kind of fully-mechanized mining working is electro-hydraulic to control integrated video Transmission system and method |
| CN108591180A (en) * | 2018-04-12 | 2018-09-28 | 陕西陕煤黄陵矿业有限公司 | A kind of fully-mechanized mining working hydraulic system monitoring method |
| CN110847942A (en) * | 2019-11-12 | 2020-02-28 | 常州联力自动化科技有限公司 | Coal mine support electric hydraulic control system with redundant data bus |
| US10655467B2 (en) | 2015-07-20 | 2020-05-19 | Taiyuan University Of Technology | Method for implementing a centralized control platform of hydraulic support on fully mechanized mining working face in underground coal mines |
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| CN102367738B (en) * | 2011-10-24 | 2014-04-16 | 三一重型综采成套装备有限公司 | Hydraulic support control device |
| CN102367738A (en) * | 2011-10-24 | 2012-03-07 | 三一重型综采成套装备有限公司 | Hydraulic support control device |
| CN102587910A (en) * | 2012-03-01 | 2012-07-18 | 山西中新唐山沟煤业有限责任公司 | Debugging method of automatic working surface device of thin coal seam drum shearer |
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| CN102777199B (en) * | 2012-07-13 | 2015-02-18 | 北京天地玛珂电液控制系统有限公司 | Automatic coal carving control device with memory function for fully-mechanized carving mining face of coal mine underground and coal carving method thereof |
| CN103050045A (en) * | 2012-10-01 | 2013-04-17 | 河南理工大学 | Multi-work-type collaborative virtual practical training operation system for coal mine fully mechanized coal face |
| CN103050045B (en) * | 2012-10-01 | 2015-06-17 | 河南理工大学 | Multi-work-type collaborative virtual practical training operation system for coal mine fully mechanized coal face |
| CN103244164B (en) * | 2013-05-23 | 2015-07-29 | 北京天地玛珂电液控制系统有限公司 | A kind of hydraulic support group with video control system |
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| CN103438875A (en) * | 2013-09-03 | 2013-12-11 | 山西科达自控股份有限公司 | Continuous mining machine control system for coal mine based on image and data combination |
| CN103912296B (en) * | 2014-03-19 | 2016-08-17 | 北京天地玛珂电液控制系统有限公司 | A kind of mining face equipment alignment system based on image measurement |
| CN103912296A (en) * | 2014-03-19 | 2014-07-09 | 北京天地玛珂电液控制系统有限公司 | Working face equipment positioning system based on image measurement |
| CN105065050B (en) * | 2015-07-20 | 2019-08-30 | 太原理工大学 | A kind of implementation method for underground coal mine fully-mechanized mining working surface hydraulic support centralized control platform |
| CN105065050A (en) * | 2015-07-20 | 2015-11-18 | 太原理工大学 | Implementation method of central control platform of underground fully-mechanized coal face hydraulic supports |
| US10655467B2 (en) | 2015-07-20 | 2020-05-19 | Taiyuan University Of Technology | Method for implementing a centralized control platform of hydraulic support on fully mechanized mining working face in underground coal mines |
| CN105201507A (en) * | 2015-09-07 | 2015-12-30 | 神华集团有限责任公司 | Mining system and mining method for high-dipping super-high seam shortwall working face |
| CN105826835A (en) * | 2015-11-30 | 2016-08-03 | 常州联力自动化科技有限公司 | Coal mine underground intelligent power center |
| CN106089202A (en) * | 2016-08-22 | 2016-11-09 | 西安科技大学 | Coal mining machine in full-mechanized mining face Automatic Height-Adjusting method based on current monitoring |
| CN106507051B (en) * | 2016-11-21 | 2019-06-14 | 日立楼宇技术（广州）有限公司 | A kind of electro-hydraulic control integrated video Transmission system of fully-mechanized mining working and method |
| CN106507051A (en) * | 2016-11-21 | 2017-03-15 | 广州日滨科技发展有限公司 | A kind of fully-mechanized mining working is electro-hydraulic to control integrated video Transmission system and method |
| CN108591180A (en) * | 2018-04-12 | 2018-09-28 | 陕西陕煤黄陵矿业有限公司 | A kind of fully-mechanized mining working hydraulic system monitoring method |
| CN108591180B (en) * | 2018-04-12 | 2020-02-07 | 陕西陕煤黄陵矿业有限公司 | Fully mechanized coal mining face hydraulic system monitoring method |
| CN110847942A (en) * | 2019-11-12 | 2020-02-28 | 常州联力自动化科技有限公司 | Coal mine support electric hydraulic control system with redundant data bus |
| CN113008311A (en) * | 2021-04-09 | 2021-06-22 | 郑州煤机液压电控有限公司 | System and method for detecting pushing progress of fully mechanized coal mining face of coal mine |
| CN114265373A (en) * | 2021-11-22 | 2022-04-01 | 煤炭科学研究总院 | Integrated control platform control system for fully mechanized mining face |
| CN115185173A (en) * | 2022-09-09 | 2022-10-14 | 三一重型装备有限公司 | General control system, control method, control device and storage medium of fully mechanized coal mining face |
| CN115185173B (en) * | 2022-09-09 | 2023-01-20 | 三一重型装备有限公司 | General control system, control method, control device and storage medium of fully mechanized coal mining face |
| CN115237082A (en) * | 2022-09-22 | 2022-10-25 | 太原向明智控科技有限公司 | System and method for realizing fully mechanized coal mining face planning mining based on programmable mode |
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Application publication date: 20110406 |