CN105370318B - A kind of fully-mechanized mining working method for inspecting - Google Patents
A kind of fully-mechanized mining working method for inspecting Download PDFInfo
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- CN105370318B CN105370318B CN201510617084.8A CN201510617084A CN105370318B CN 105370318 B CN105370318 B CN 105370318B CN 201510617084 A CN201510617084 A CN 201510617084A CN 105370318 B CN105370318 B CN 105370318B
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- 238000005065 mining Methods 0.000 title claims abstract description 37
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000007689 inspection Methods 0.000 claims abstract description 28
- 239000003245 coal Substances 0.000 claims abstract description 21
- 238000009434 installation Methods 0.000 claims abstract description 7
- 238000001931 thermography Methods 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract description 6
- 238000012544 monitoring process Methods 0.000 abstract description 4
- 238000011160 research Methods 0.000 abstract description 4
- 239000011435 rock Substances 0.000 abstract description 3
- 238000000354 decomposition reaction Methods 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 13
- 230000007246 mechanism Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000009991 scouring Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F13/00—Transport specially adapted to underground conditions
- E21F13/06—Transport of mined material at or adjacent to the working face
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Control Of Conveyors (AREA)
Abstract
A kind of fully-mechanized mining working method for inspecting relies on a set of fully-mechanized mining working inspection device, patrol mode can be set as according to need of work or with machine pattern；When in patrol mode, by the velocity amplitude of setting, with the speed free-running operation not higher than 60m/min, the entire working face operating mode of fast inspection；When in machine pattern, the speed of service and the direction of coalcutter are acquired in real time by monitoring center, it is consistent with coal shearer speed by frequency converter, driving motor control device platform.The present invention provides a kind of reliable, easily inspection device and method for inspecting for fully-mechanized mining working；For video monitoring working face, entire working face only needs one high-definition camera instrument of installation, it will be able to realize to the fast inspection of entire working face, greatly reduce cost of investment；Inspection device is provided with equipment platform, can easily carry various equipment, looks for the scientific researches such as straight, coal petrography decomposition, coal rock detection for working face, provides convenience for the installation of sensor, convenient and reliable easy care.
Description
Technical field
The present invention relates to a kind of method for inspecting of working face in the pit, more particularly to it is a kind of for coal mining machine in full-mechanized mining face and
The method for inspecting of Orbital Transport Systems.
Background technology
Few peopleization, the technical research of unmanned fully-mechanized mining working and application are an emphasis science and technology tasks of coal industry,
It is also the only way that coal enterprise carries out safety, high-yield and high-efficiency is exploited.Currently, hydraulic support is automatically with machine technology, coalcutter
Memory cut technology, " three machines " collection control technology etc. are widely used, and obtain ideal effect.But with coal mining
Technology makes constant progress, and straight technology, coal-rock detection technology, coal are looked for automatically to higher levels of automatic technology such as working face
Cash identification technology, video-splicing technology etc. are more and more urgent.However, work on hand space of planes is narrow, lack an independent energy
The monitoring platform of free-running operation is reached to support the research and application of above-mentioned technology, hinders technological progress to a certain extent.Together
When, sensor involved by these technologies is various and expensive, as high-precision inertial navigation sensors, laser radar sense
Device, infrared thermal imaging sensor, high-definition camera instrument etc., narrow working face working space make the arrangement of each sensor and safeguard all
It is abnormal difficult.
In the prior art, CN102733856A discloses a kind of inclined gallery Belt transport automatic tour inspection system comprising prison
Control computer, optical transmitter and receiver, repeater, load device, track, mobile device, all-dimensional web camera, wireless launcher and
Detection sensor；All-dimensional web camera is placed in mobile device；Mobile device setting is in orbit and energy is in orbit
It runs back and forth；Monitoring computer is connect with optical transmitter and receiver by optical fiber；Optical transmitter and receiver and repeater, repeater and repeater, repeater
It is connect between load device by leaking cable；All-dimensional web camera is connect with wireless launcher；Detection sensor with it is wireless
Transmitting dress is wirelessly connected.CN102720533A discloses a kind of belt conveyer wireless video inspection device, including is used in real time
The display for acquiring the video camera of belt conveyer working condition and being shown for the information to camera acquisition, is also wrapped
Include the fixed mechanism for installing video camera, the operating mechanism for making video camera be moved back and forth along belt and for controlling behaviour
The frequency-variable controller acted as mechanism；Fixed mechanism is arranged on operating mechanism, and operating mechanism is according to frequency-variable controller
Instruction is acted by driving mechanism.
But the inspection device that the above-mentioned prior art is related to all is to be applied to cable tunnel or sealing-tape machine tunnel, is not suitable for
Fully-mechanized face, while also without the control system framework of open cruising inspection system.
Invention content
To solve the above problems, the present invention proposes a kind of fully-mechanized mining working method for inspecting, include the following steps：According to work
It needs to select patrol mode or with machine pattern；When in patrol mode, by the velocity amplitude of setting, to be not higher than 60m/
The speed free-running operation of min, the entire working face operating mode of fast inspection；When in machine pattern, adopted in real time by monitoring center
Collect the speed of service and the direction of coalcutter, it is consistent with coal shearer speed by frequency converter, driving motor control device platform.
Its fully-mechanized mining working inspection running device used, including gyroscopic drive system, the gyroscopic drive system setting
In the outside of the cable chute of the fully-mechanized mining working surface transporter, including drive part, rotating part, middle part slot part and
Control section, the drive part are positioned close to the head side of the scratch board conveyor, the rotating part setting by
The tail side of the nearly scratch board conveyor.Middle part slot part includes drive chain, is provided with equipment platform, middle part groove portion
Divide the outside that the cable chute is fixed on by mounting bracket.
The present invention provides a kind of reliable, easily inspection device and method for inspecting for fully-mechanized mining working；Video is supervised
Working face is controlled, entire working face only needs one high-definition camera instrument of installation, it will be able to realize the fast inspection to entire working face, pole
Reduce cost of investment greatly；It is provided with equipment platform, can easily carry various equipment, look for straight, coal petrography to decompose working face,
The scientific researches such as coal rock detection are provided convenience for the installation of sensor, convenient and reliable easy care.
Description of the drawings
Attached drawing 1 is the knot of one embodiment of inspection running device in fully-mechanized mining working inspection traveling method of the present invention
Structure arrangement schematic diagram；
Attached drawing 2 is the structure arrangement signal of another embodiment of fully-mechanized mining working inspection running device of the present invention
Figure；
Attached drawing 3 is the structural schematic diagram of drive part (the second drive part) in fully-mechanized mining working inspection running device；
Attached drawing 4 is slot part installation and structural schematic diagram in the middle part of fully-mechanized mining working inspection running device；
Attached drawing 5 is the control system configuration diagram of fully-mechanized mining working inspection running device；
Attached drawing 6 is the control flow chart of fully-mechanized mining working inspection traveling method.
Reference numeral is as follows：
1- drive parts；Slot part in the middle part of 2-；3- rotating parts；4- coalcutters；1 '-the second drive part；
5- electric cable for coal mining machine slots；6- electric cable for coal mining machine clamping plates；7- inspection device intermediate channels；8- drive chains；9- intermediate channels
Fixed frame；
10- driving motors；11- retarders；12- turns round sprocket wheel；13- driving arms.
Specific implementation mode
Below in conjunction with the accompanying drawings, fully-mechanized mining working method for inspecting of the present invention is described in further detail.
Fully-mechanized mining working inspection running device is set firstly the need of in working face, i.e., is transported in work on hand face forward scraper
On the outside of the cable chute of machine, a set of gyroscopic drive system is arranged, the carrying platform as video imaging apparatus.Gyroscopic drive system
Including drive part, rotating part, middle part slot part and control section, in one embodiment, referring to attached drawing 1, drive part
It is positioned close to the head side of scratch board conveyor, rotating part is positioned close to the tail side of scratch board conveyor, using list
Head driving portion, tail is as driven revolution, in a further embodiment, referring to attached drawing 2, is used when in longer working face
When, it needs that the second drive part is being arranged close to the tail side of scratch board conveyor, forms head, tail double drive portion, avoid
Drive tractive force insufficient.
Drive part, including the second drive part include driving motor, retarder and revolution sprocket wheel in structure, drive
Dynamic motor, retarder and revolution sprocket wheel are arranged on driving arm, referring to attached drawing 3.Pass through the control devices control such as electric machine controller
The start and stop and operating of driving motor processed, and the rotation of driving motor is output to by retarder on revolution sprocket wheel.Driving motor
Speed or position coder should be installed additional, the speed of service of real-time watch device platform is used for, ensures its speed under with machine pattern
With the accurate matching of coal shearer speed, in the present embodiment, the encoder installed additional on driving motor is absolute value formula encoder, is led to
The rotation for crossing motor obtains equipment platform position.In addition, limiting square shaft coupling with friction can be installed between retarder additional in driving motor
The peak torque of its permission can be arranged in device, and then motor dallies after exceeding, in this way, when equipment platform blocks under certain fortuitous events
When firmly cannot normally advance, ensure that motor will not overload, protection system safety.
Middle part slot part is referring to attached drawing 4, including drive chain, scraper plate and intermediate channel.Intermediate channel is overall structure, driving portion
The revolution sprocket wheel divided drives drive chain and scraper plate to be moved in intermediate channel, and it is flat that equipment can also be arranged on chain or scraper plate
Platform, for installing fixed each sensor device.1 or 2 equipment platforms can be installed, if 2 equipment platforms of installation, peace
It is preferably coalcutter fuselage length to fill spacing, is mainly used under with machine pattern, real-time with video or infrared thermography etc. is crossed
Drum functions state before and after monitoring coalcutter.Inertial navigation system, high-definition camera instrument, infrared thermal imaging can be installed in equipment platform additional
Security classes sensors such as instrument, terahertz transmitter, radar sensor, 3 D laser scanning sensor, gas humiture etc.
Instrument；High capacity cell can be also installed, powered to each sensor；The wireless transport modules such as wifi can be equipped with simultaneously, will be passed
Sensor data are wirelessly transmitted outward.Equipment platform can install RF transmitter additional, be installed for same in operational process
In the infrared receiver communication on holder, so as to obtain the position of equipment platform.
Middle part slot part is designed according to the joint number of work on the spot face scratch board conveyor and the length often saved, the two quantity
And length is consistent, has the gaps 10mm between two intermediate channels, prevents from interfering during holder pushing and sliding.Intermediate channel scraper plate is by round steel
Processing, can pass through intermediate channel gap.The middle part slot part assembled, to electric cable for coal mining machine slot outside, is led to by mounting bracket
Electric cable for coal mining machine clamping plate is crossed to be fixed.
Rotating part includes revolution sprocket wheel, and drive chain realizes the change of rotation direction around revolution sprocket wheel, to realize
The continuous movement of drive chain.
To ensure the safety of operation, there is hardware close to switch, platform in former electric cable for coal mining machine scouring machine head and drive end unit packing
When device is run to head or tail, switch is closed, and ensures that it runs within the scope of trouble free service face.
Referring to attached drawing 5, the control system of fully-mechanized mining working inspection running device uses frequency-converting speed-governing control system, Neng Goupei
Set system and be in patrol mode and with machine pattern, include mainly controller, infrared transmitter, frequency converter, driving motor retarder,
Motor encoder etc..
Inspection process includes the following steps that workflow is referring to attached drawing 6：
(1) manual mode or automatic mode are selected according to need of work.Under automatic mode, software program automatic running,
Manual intervention is not needed；When working face overhauls, manual mode may be selected, moved by the direct operating platform of controller button；
(2) under automatic mode, patrol mode may be selected according to need of work or with machine pattern；
(3) under patrol mode, equipment platform can do autonomous back and forth movement according to the target speed value being arranged at controller, together
The other equipments such as coalcutter, transporter are mutually independent.Controller controls frequency converter output, driving motor rotation according to target speed value
Turn, while the encoder of detection motor output shaft in real time, is exported according to encoder values and carry out feedback control according to PID scheduling algorithms
System, to ensure that equipment platform actual motion speed is consistent with target velocity.Under this pattern, equipment platform can be not higher than 60m/
The speed free-running operation of min, can the sensors such as external high-definition camera instrument, inertial navigation system, be used for the fast video inspection of working face
With the applications such as straight line degree measurement；
(4) under machine pattern, similar with patrol mode, control system detects the speed of service of coalcutter as target in real time
Speed, control frequency converter output are detected the encoder output of motor output shaft as value of feedback, are protected using PID scheduling algorithms in real time
It is consistent with the coal machine speed of service to demonstrate,prove equipment platform speed.Under this operating mode, equipment platform can install infrared thermal imaging instrument, too additional
Hertz transmitter, radar sensor etc., for being detected to holder face guard near roller before and after coalcutter, roller etc., from
And help is provided with the application such as machine automation, coal petrography identification, coal-gangue boundary to realizing.
The above, the preferable specific implementation mode of patent only of the present invention, but the protection domain of patent of the present invention is not
It is confined to this, any one skilled in the art can readily occur in the technical scope of patent diselosesll of the present invention
Change or replacement, should all cover within the protection domain of patent of the present invention.
Claims (8)
1. a kind of fully-mechanized mining working method for inspecting, it is characterised in that：
It is in patrol mode or with machine pattern using fully-mechanized mining working inspection running device configuration system；
Wherein fully-mechanized mining working inspection running device includes that the revolution on the outside of the cable chute of working face forward scraper transporter is driven
Dynamic part, the revolution driving part includes drive part, rotating part, middle part slot part and control section；Middle part slot part
Including drive chain, scraper plate and intermediate channel, intermediate channel is fixed on the outside of the cable chute, drive part band by mounting bracket
Dynamic drive chain and scraper plate move in intermediate channel, and the middle part slot part is provided with equipment platform, install fixed sensor and set
It is standby；
When in patrol mode, the control section is independently transported back and forth according to the velocity amplitude by setting, control device platform
It is dynamic, inspection working face operating mode；
When in machine pattern, the speed of service and the direction of coalcutter are acquired in real time, pass through frequency converter and driving motor, control
Equipment platform is consistent with coal shearer speed.
2. fully-mechanized mining working method for inspecting as described in claim 1, it is characterised in that：Under patrol mode, the equipment is flat
Platform is with the speed free-running operation not higher than 60m/min.
3. fully-mechanized mining working method for inspecting as described in claim 1, it is characterised in that：The sensor device of equipment platform installation
It can be one or more of lower sensor：Inertial navigation system, high-definition camera instrument, infrared thermal imaging instrument, Terahertz hair
Emitter, radar sensor, 3 D laser scanning sensor, gas Temperature Humidity Sensor.
4. the fully-mechanized mining working method for inspecting as described in claim 1 or 3, it is characterised in that：Equipment platform can install infrared ray additional
Transmitter, for the infrared receiver communication being installed on holder, obtaining the position of equipment platform in operational process.
5. fully-mechanized mining working method for inspecting as described in claim 1, it is characterised in that：The revolution driving part further include
The second drive part is set close to the tail side of scratch board conveyor, forms head, tail double drive part.
6. the fully-mechanized mining working method for inspecting as described in claim 1 or 5, it is characterised in that：Rotating part includes revolution sprocket wheel,
Drive chain realizes the change of rotation direction around revolution sprocket wheel.
7. the fully-mechanized mining working method for inspecting as described in claim 1 or 5, it is characterised in that：Middle part slot part installs 2 equipment
Platform.
8. fully-mechanized mining working method for inspecting as claimed in claim 6, it is characterised in that：2 equipment platform clipping rooms are away to adopt
Coal machine fuselage length.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510617084.8A CN105370318B (en) | 2015-09-24 | 2015-09-24 | A kind of fully-mechanized mining working method for inspecting |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510617084.8A CN105370318B (en) | 2015-09-24 | 2015-09-24 | A kind of fully-mechanized mining working method for inspecting |
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| Publication Number | Publication Date |
|---|---|
| CN105370318A CN105370318A (en) | 2016-03-02 |
| CN105370318B true CN105370318B (en) | 2018-08-28 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108106569B (en) * | 2017-11-28 | 2021-02-05 | 北京天地玛珂电液控制系统有限公司 | Fully mechanized coal mining face straightness detection method and system based on vision |
| CN108561133B (en) * | 2018-04-19 | 2020-07-21 | 北京天地玛珂电液控制系统有限公司 | System and method for automatic control of coal mining machine and automatic alignment of working face based on video inspection |
| CN111997679B (en) * | 2020-09-09 | 2022-08-30 | 重庆工程职业技术学院 | Fully-mechanized coal mining face end pushing state monitoring device |
| CN112412536A (en) * | 2020-11-12 | 2021-02-26 | 临沂矿业集团菏泽煤电有限公司 | Stringing type mobile target inspection bearing system for fully mechanized mining face of mine and working method |
| CN112855266B (en) * | 2020-12-31 | 2023-06-23 | 北京天玛智控科技股份有限公司 | Intelligent monitoring and autonomous collaborative machine following device of coal mining machine and inspection platform system |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102720533B (en) * | 2012-07-03 | 2014-11-05 | 石家庄煤矿机械有限责任公司 | Wireless video patrol inspection device of belt conveyor |
| CN102733856A (en) * | 2012-07-20 | 2012-10-17 | 张宝龙 | Automatic inspection system for inclined drift adhesive tape transportation |
| CN103281515A (en) * | 2013-05-10 | 2013-09-04 | 山东华辉自动化设备有限公司 | Adjustable and controllable routing inspection type conveying belt wireless video monitoring system |
| CN103306700B (en) * | 2013-05-15 | 2015-12-09 | 太原理工大学 | The control method of a kind of coal mine fully-mechanized mining working unmanned operation |
| 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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Address after: 100013, Beijing, Chaoyang District, Hepingli Youth ditch East Road, building 5, one floor Patentee after: CCTEG Beijing Tianma Intelligent Control Technology Co.,Ltd. Address before: 100013, Beijing, Chaoyang District, Hepingli Youth ditch East Road, building 5, one floor Patentee before: BEIJING TIANDI-MARCO ELECTRO-HYDRAULIC CONTROL SYSTEM Co.,Ltd. |
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