CN102619511B - Working-face automated integrated control system for thin seam drum shearers - Google Patents
Working-face automated integrated control system for thin seam drum shearers Download PDFInfo
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Abstract
A working-face automated integrated control system for thin seam drum shearers comprises a working-face central control system (4), an electrohydraulic support control system (5), a working-face video monitoring system (6), a working-face voice communication and scram control system (7), a whole-set conveyer equipment monitoring system (8), a shearer memory cutting and remote control system (9) and a ground control center (10), and electrohydraulic control system controllers (5-1) and cameras (6-1) are mounted on hydraulic supports. The working-face central control system (4) utilizes a data coupler to convert the data formats of the different control systems into a format in order to carry out unified control, and carries out two-way real-time data communication between a working face shearer, the hydraulic supports and a scraper conveyer, the cameras (6-1) carry out tracking rotation and automatic switching according to the working parameters sent by the shearer memory cutting and remote control system (9), meanwhile, the working-face video monitoring system (6) is utilized to adjust the foci and vertical and horizontal rotation of the cameras (6-1), and thereby the dead corner-less monitoring of the working face is realized.
Description
Technical field
The invention belongs to coal mining apparatus field, relate in particular to a kind of girdle flitting work plane automation integrated control system that is adapted to complex geological condition thin seam mining.
Background technology
China's girdle aboundresources, widely distributed.The ratio of the shared coal gross reserves of girdle reserves is great, and only state-owned colliery girdle reserves proportion just accounts for 20% left and right, and local mine girdle reserves proportion is larger, and widely distributed, concentration of local.Because domestic many mines are not followed science mining sequence, " eat fertilizer lose thin, adopt thick abandon thin ", high seam mining too early, cause the original occurrence status of girdle and the continuity on it, covered in certain limit to suffer substantive destruction, so that the irretrievable problem of these resources is very serious.Establish the problem of the resource awareness of unexpected development and rational exploitation resource and should mention important schedule.New period national economy rapid growth, coal demand will continue to keep growing trend.Can predict, adopt technical support coal production if only rely on existing combining, within compared with short-term, must occur that colliery overall throughput declines, mine life is accelerated to shorten, and the confession ability of China's main body energy will suffer the consequence of severe challenge and destruction.
Because thin seam mining exists poor working environment, required workman is many, labor strength is large, coal production is low, deficiency in economic performance, production security is poor, ventilate not smooth, methane accumulation, the problems such as gas management difficulty is large, above-mentioned variety of problems makes the thin seam mining in a lot of mining areas in stagnating the situation that even falls back, and more causes the output of girdle only to account for 7.3% of gross reserves, well below the shared ratio of reserves, and this ratio also has further downward trend.But the exploitation of girdle is the important indicator that affects coal recovery rate always, improve the emphasis that rate of extraction Ye Shige coal mining enterprise chases.
So exploitation girdle production technique safety, high-yield and high-efficiency and equipment are imperative, are reasonable reclaiming coal resources, ensure that colliery economic benefit is stable, the only way of sustainable development; Only have application of thin coal seam safety and high efficiency technical equipment, could ensure that the ratio of adopting of joining thin, high seam matches with the actual ratio of depositing of composing.
In recent years, for Speeding up development girdle resource, improve the problems such as the work under bad environment, poor stability and the operating space that exist in thin seam mining process be limited, each large Mining Group and Mei Ji manufacturing enterprise have strengthened the research in girdle automation a complete set of equipment control system, and obtain some application achievements, realize at the machine of following at work plane middle part and moved the functions such as frame, auto spraying, pushing and sliding, and camera has been installed on coal-winning machine or hydraulic support and has been realized the video monitoring to work plane.But, the girdle flitting work plane automation a complete set of equipment of development has only been realized the automated mining to work plane middle part both at home and abroad at present, and all need cut sth. askew feed and cut Triangle Coal of manual intervention in work plane two ends, clear coal, cannot realize unmanned or few people's exploitation of work plane, simultaneously hydraulic support electrohydraulic control system adopts infrared rays to determine that the position signalling of coal-winning machine and the signal of traffic direction control, because infrared signal error is larger, often position and the direction of meeting erroneous judgement coal-winning machine, cause often there will be in automated mining and lose frame action and misoperation, need to manually intervene, cannot realize the full-automation exploitation of work plane.Therefore be badly in need of development and there is centralized control system accurate control, that can realize the full-automatic exploitation of work plane.
Summary of the invention
In order to address the above problem, a kind of girdle flitting work plane automation integrated control system is provided, can realize to coal-winning machine coal cutting process real-time, without the monitoring at dead angle, and then realize the full-automation exploitation of work plane.
Girdle flitting work plane automation integrated control system mainly comprises work plane centralized control system, support electrohydraulic control system, work plane video monitoring system, work plane speech communication and anxious control system, conveyer a complete set of equipment monitoring system, coal-winning machine memory cutting and tele-control system and the ground control centre of stopping, and electrohydraulic control system controller and video camera have wherein been installed on hydraulic support.Work plane centralized control system is that a kind of uniform format is controlled by data coupler by the Data Format Transform of different control systems, realize the two-way real-time communication of data between working surface coal mining machine, hydraulic support, drag conveyor, and by the coal-winning machine of coal-winning machine control system collection accurately position, direction, coal cutting stage signal send to hydraulic support electrohydraulic control system control hydraulic support to move accordingly, the coal cutting stage comprises middle part coal cutting, termination coal cutting, clear coal, the feed of cutting sth. askew, cuts Triangle Coal.The video camera with cradle head control function is installed on hydraulic support, video camera can carry out tracking rotary and automatic switchover according to the running parameter of coal-winning machine memory cutting and tele-control system transmission, can adjust the focal length of video camera, the rotation of vertical and horizontal direction by work plane video monitoring system simultaneously, realize monitoring without dead angle of work plane, to remote handle, intervention provides reference.
The operational factor of each equipment is carried out exchanges data by work plane centralized control system, control and automated mining to working surface coal mining machine, hydraulic support and conveyer a complete set of equipment are realized, and can carry out remote handle intervention and adjustment to work plane a complete set of equipment according to work plane video monitoring system, thereby realize unmanned or few people's exploitation of work plane, simultaneously by work plane operational factor by optical fibre transmission to ground control centre, thereby realize the aboveground and monitoring of remote computer to work plane operating condition.Coal-winning machine memory cutting and tele-control system by stored record coal-winning machine the variation at diverse location mining height in upper once coal cutting adjust the cylinder lifting of coal-winning machine, realize the automatic adjustment of mining height, and adopt modularized design, be divided into middle part coal cutting, the feed of cutting sth. askew, cut Triangle Coal and clear four modules of coal, adjust the parameter length of disparate modules according to different coal winning technologies, number of times etc., by centralized control system, coal cutting state is sent to hydraulic support electrohydraulic control system and work plane video monitoring system simultaneously, coal cutting state comprises direction, coal winning machine position parameter and coal cutting stage.Hydraulic support electrohydraulic control system control hydraulic support carries out corresponding action and moves frame, pushing and sliding, spraying, termination with machine and move in groups frame, pushing and sliding or transfixion etc., thus realized work plane two ends automatic inclined cutting-in tool, cut Triangle Coal, clear coal and middle part coal cutting.Conveyer a complete set of equipment monitoring system is monitored the real time execution situation of drag conveyor, elevating conveyor and crushing engine, and send monitor data to centralized control system, centralized control system, according to the hauling speed of the operation condition control coal-winning machine of conveyer, prevents drag conveyor overload and improves production efficiency.
Brief description of the drawings
Fig. 1 is girdle flitting work plane automation integrated control system figure.
In Fig. 1: work plane centralized control system 4, support electrohydraulic control system 5, work plane video control system 6, work plane speech communication stops control system 7 with anxious, conveyer a complete set of equipment monitoring system 8, coal-winning machine memory cutting and tele-control system 9, ground control centre 10, optical Fiber Closure 11, electrohydraulic control system controller 5-1, video camera 6-1.
Detailed description of the invention
Girdle flitting work plane automation integrated control system mainly comprises work plane centralized control system 4, support electrohydraulic control system 5, work plane video monitoring system 6, work plane speech communication and anxious control system 7, conveyer a complete set of equipment monitoring system 8, coal-winning machine memory cutting and tele-control system 9 and the ground control centre 10 of stopping, and electrohydraulic control system controller 5-1 and video camera 6-1 have wherein been installed on hydraulic support.Work plane centralized control system 4 is that a kind of uniform format is controlled by data coupler by the Data Format Transform of different control systems, realize the two-way real-time communication of data between working surface coal mining machine, hydraulic support, drag conveyor, and by the coal-winning machine of coal-winning machine control system collection accurately position, direction, coal cutting stage signal send to hydraulic support electrohydraulic control system control hydraulic support to move accordingly, the coal cutting stage comprises middle part coal cutting, termination coal cutting, clear coal, the feed of cutting sth. askew, cuts Triangle Coal.The video camera 6-1 with cradle head control function has been installed on hydraulic support, video camera 6-1 can carry out tracking rotary and automatic switchover according to the running parameter that coal-winning machine memory is cut and tele-control system 9 sends, can adjust the focal length of video camera 6-1, the rotation of vertical and horizontal direction by work plane video monitoring system 6 simultaneously, realize monitoring without dead angle of work plane, to remote handle, intervention provides reference.Work plane centralized control system is carried out exchanges data by the operational factor of each equipment simultaneously, control and automated mining to working surface coal mining machine, hydraulic support and conveyer a complete set of equipment are realized, and can carry out remote handle intervention and adjustment to work plane a complete set of equipment according to work plane video monitoring system 6, thereby realize unmanned or few people's exploitation of work plane, simultaneously by work plane operational factor by optical fibre transmission to ground control centre 10, thereby realize the aboveground and monitoring of remote computer to work plane operating condition.Coal-winning machine memory cutting and tele-control system 9 by stored record coal-winning machine the variation at diverse location mining height in upper once coal cutting adjust the cylinder lifting of coal-winning machine, realize the automatic adjustment of mining height, and adopt modularized design, be divided into middle part coal cutting, the feed of cutting sth. askew, cut Triangle Coal and clear four modules of coal, adjust the parameter (length of disparate modules according to different coal winning technologies, number of times etc.), by centralized control system, coal cutting state is sent to hydraulic support electrohydraulic control system 5 and work plane video monitoring system 6 simultaneously, coal cutting state comprises direction, coal winning machine position parameter and coal cutting stage.Hydraulic support electrohydraulic control system 5 is controlled hydraulic support and is moved accordingly, comprise: move frame, pushing and sliding, spraying, termination and move in groups frame, pushing and sliding or transfixion etc. with machine, thereby realized work plane two ends automatic inclined cutting-in tool, cut Triangle Coal, clear coal and middle part coal cutting.Conveyer a complete set of equipment monitoring system 8 is monitored the real time execution situation of drag conveyor 3, elevating conveyor and crushing engine, and send monitor data to centralized control system 4, centralized control system 4, according to the hauling speed of the operation condition control coal-winning machine 1 of conveyer, prevents drag conveyor overload and improves production efficiency.
Claims (4)
1. girdle flitting work plane automation integrated control system, comprise work plane centralized control system (4), support electrohydraulic control system (5), work plane video monitoring system (6), work plane speech communication and the anxious control system (7) of stopping, conveyer a complete set of equipment monitoring system (8), coal-winning machine memory cutting and tele-control system (9) and ground control centre (10), electrohydraulic control system controller (5-1) and video camera (6-1) have been installed on hydraulic support, it is characterized in that: work plane centralized control system (4) is that a kind of uniform format is controlled by data coupler by the Data Format Transform of different control systems, realize working surface coal mining machine, hydraulic support, the two-way real-time communication of data between drag conveyor, video camera (6-1) carries out tracking rotary and automatic switchover according to the running parameter of coal-winning machine memory cutting and tele-control system (9) transmission, adjust the focal length of video camera (6-1) by work plane video monitoring system (6) simultaneously, the rotation of vertical and horizontal direction, realize monitoring without dead angle of work plane, by the coal-winning machine of coal-winning machine control system collection, position, direction, coal cutting stage signal send to hydraulic support electrohydraulic control system control hydraulic support to move accordingly to work plane centralized control system (4) accurately, coal-winning machine memory cutting and tele-control system (9) send to hydraulic support electrohydraulic control system (5) and work plane video monitoring system (6) by work plane centralized control system (4) by coal cutting state, hydraulic support electrohydraulic control system (5) is controlled hydraulic support and is moved accordingly, wherein coal cutting state comprises direction, coal winning machine position parameter and coal cutting stage, and the action that hydraulic support carries out comprises that moving frame, pushing and sliding, spraying, termination with machine moves frame, pushing and sliding or transfixion in groups, conveyer a complete set of equipment monitoring system (8) sends monitor data to centralized control system (4), centralized control system (4), according to the hauling speed of the operation condition control coal-winning machine (1) of conveyer, prevents drag conveyor overload.
2. girdle flitting work plane automation integrated control system according to claim 1, is characterized in that: the described coal cutting stage comprises middle part coal cutting, termination coal cutting, clear coal, the feed of cutting sth. askew, cuts Triangle Coal.
3. girdle flitting work plane automation integrated control system according to claim 1, is characterized in that: described in the video camera (6-1) that is arranged on hydraulic support there is cradle head control function.
4. girdle flitting work plane automation integrated control system according to claim 1, it is characterized in that: described coal-winning machine memory cutting and tele-control system (9) adopt modularized design, be divided into middle part coal cutting, the feed of cutting sth. askew, cut Triangle Coal and clear four modules of coal.
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| CN102865075B (en) * | 2012-10-08 | 2014-10-29 | 中国矿业大学 | Remote monitor method and system for coal cutter |
| CN103334753B (en) * | 2013-03-04 | 2016-08-24 | 中国矿业大学 | Remotely underground coal mine work surface visualization coal mining procedure links supervisory systems and method |
| CN103244120B (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 high methane coal mine comprehensive face coal cutter speed kinetic-control system |
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| CN103912275B (en) * | 2014-03-19 | 2016-05-18 | 北京天地玛珂电液控制系统有限公司 | A kind of mining face equipment localization method based on image measurement |
| 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 |
| WO2017012285A1 (en) | 2015-07-20 | 2017-01-26 | 太原理工大学 | Method for implementing a centralized control platform of hydraulic support on fully mechanized mining working face in underground coal mines |
| CN105120209B (en) * | 2015-07-31 | 2019-01-15 | 日立楼宇技术（广州）有限公司 | Fully-mechanized mining working is mining video camera is with machine image pickup method and system |
| CN106401585A (en) * | 2016-09-13 | 2017-02-15 | 陕西陕煤黄陵矿业有限公司 | Memory coal cutting control method based on cooperative control over coal cutter and supports |
| CN108468543B (en) * | 2018-03-09 | 2020-08-25 | 北京天地玛珂电液控制系统有限公司 | Cooperative control method and system for fully-mechanized mining face and two-lane equipment |
| CN108561132A (en) * | 2018-03-26 | 2018-09-21 | 太重煤机有限公司 | Can intelligent remote monitoring control coalcutter |
| CN109505601B (en) * | 2018-11-26 | 2020-05-05 | 三一重型装备有限公司 | Unmanned intelligent fully mechanized coal mining face |
| CN110847904A (en) * | 2019-11-21 | 2020-02-28 | 常州联力自动化科技有限公司 | Automatic coal cutting method based on discrete control |
| CN110748378B (en) * | 2019-11-22 | 2020-10-20 | 河南理工大学 | Automatic coordination method for top coal caving face transportation system and fully mechanized coal mining operation |
| CN113685179A (en) * | 2020-05-19 | 2021-11-23 | 郑州煤机智能工作面科技有限公司 | Automatic control system and control method for fully mechanized coal mining face of coal mine |
| CN116567186A (en) * | 2023-05-26 | 2023-08-08 | 浙江双视科技股份有限公司 | Mining machine panoramic monitoring display system and position identification method thereof |
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