CN106368699A - Coal mining machine coal mining control method with automatic coal cutting being primary and remote interference being auxiliary - Google Patents
Coal mining machine coal mining control method with automatic coal cutting being primary and remote interference being auxiliary Download PDFInfo
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- CN106368699A CN106368699A CN201610754468.9A CN201610754468A CN106368699A CN 106368699 A CN106368699 A CN 106368699A CN 201610754468 A CN201610754468 A CN 201610754468A CN 106368699 A CN106368699 A CN 106368699A
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
Abstract
The invention discloses a coal mining machine coal mining control method with automatic coal cutting being primary and remote interference being auxiliary. A coal mining machine is a double-roller coal mining machine. A control system adopted by the method comprises a controller, a wireless communication module, a control computer, a data storage device, a camera, a displacement sensor, a left rocker arm angle sensor and a right rocker arm angle sensor. The coal mining machine mining control method comprises the following steps that first, demonstration is conducted manually; and second, the coal mining machine is controlled to conduct coal mining with automatic coal cutting being primary and remote interference being auxiliary, specifically, in the automatic coal cutting process through the coal mining machine, when an operator judges that the posture of the coal mining machine needs to be adjusted manually, the operator conducts manual interference control to adjust the coal cutting posture of the coal mining machine, and after adjustment is completed, remote manual interference is stopped, and the automatic coal cutting posture of the coal mining machine restores. According to the coal mining machine coal mining control method with automatic coal cutting being primary and remote interference being auxiliary, the steps are simple, the design is reasonable, the method is convenient to implement, the purposes of staff reduction and efficiency improvement are achieved, the safety coefficient is increased, the practicality is high, and popularization and application are facilitated.
Description
Technical field
The invention belongs to coal-winning machine control technology field is and in particular to supplemented by a kind of remote intervention based on automatic coal cutting
Coal-winning machine coal mining control method.
Background technology
The recoverable reserves of China's girdle enriches, and storage requirement is more stable, and ature of coal is preferably, in recent years to girdle
Exploitation dynamics be gradually increased, and thinner seam has gradually become main mining coal seam.But at present it is adaptable to thinner seam and girdle
The mechanization degree also ratio of exploitation is relatively low, is mostly exploited using the big gun mode of adopting, resource exploitation recovery utilization rate and efficiency are relatively
Low, and accident is many, the work under bad environment of workman, and labor intensity is very high, and potential safety hazard is very big.Thus open with to girdle
The pay attention to day by day adopted, is badly in need of solving the problems, such as above-mentioned thin seam mining.The mining problem of girdle to be solved, fundamentally people from
Free in heavy physical labor and badly dangerous environment, few people or manless coal face will be that following coal-mining technique is sent out
The certainty of exhibition.To sum up, for improving extractive equipment automatization, intelligent level, to a certain extent people from severe, dangerous coal
Ore deposit subsurface environment frees, and reduces labor intensity, needs to develop fully-mechanized mining, and fully-mechanized mining money loopback is received
Rate and production efficiency are higher, and danger coefficient is relatively small, and labor strength is less.Fully mechanized mining automated mining mode is subject to each
Mining listed corporations pay high attention to, they are highly desirable can find one can improve production efficiency, can ensure that production peace again
A kind of complete coal-winning machine method.
Content of the invention
The technical problem to be solved is for above-mentioned deficiency of the prior art, provides one kind automatically to cut
Coal-winning machine coal mining control method supplemented by remote intervention based on coal, its method and step is simple, reasonable in design and realizes conveniently, both reaching
Arrive the purpose cut payroll to improve efficiency, improve safety coefficient, practical, using effect is good, is easy to promote the use of again.
For solving above-mentioned technical problem, the technical solution used in the present invention is: a kind of remote intervention based on automatic coal cutting
Supplemented by coal-winning machine coal mining control method, described coal-winning machine is double-ended shearer, and described double-ended shearer includes coal-winning machine
Fuselage, it is arranged on the left traveling box of coal-winning machine fuselage lower left and is arranged on the bottom-right right traveling box of coal-winning machine fuselage, and
Left rocking arm on the left of coal-winning machine fuselage is hinged on by jointed shaft and is shaken by the right side that jointed shaft is hinged on the right side of coal-winning machine fuselage
Arm, described left traveling box is driven by left traction electric machine, and described right traveling box is driven by right movable motor, described left rocking arm front end peace
Equipped with the cylinder that rolls left, the described cylinder that rolls left is driven by left cutting motor, and described right rocking arm front end is provided with right cylinder, described right cylinder by
Right cutting motor drives；It is characterized in that: the method adopt control system include controller and by wireless communication module with
The control computer that controller connects, and the data storage connecting with controller；Described control computer is arranged on crossheading
Centralized-control center, the input of described controller is terminated with for coal-face being carried out with the photographic head of video acquisition, being used for
Walking displacement to coal-winning machine fuselage carries out the displacement transducer of real-time detection, is used for the angle between left rocking arm and horizontal plane
Carry out the left rocking arm angular transducer of real-time detection and for real-time detection is carried out to the angle between right rocking arm and horizontal plane
Right rocking arm angular transducer, the output of described controller is terminated with left traction electric machine driver, right traction electric machine driver, a left side section
Cut motor driver and right cutting motor driver, described left traction electric machine is connected with the outfan of left traction electric machine driver,
Described right traction electric machine is connected with the outfan of right traction electric machine driver, described left cutting motor and left cutting motor driver
Outfan connect, described right cutting motor is connected with the outfan of right cutting motor driver；
Described coal-winning machine coal mining control method comprises the following steps:
Step one, artificial teaching: operator carry out coal-winning machine teaching according to the requirement of coal cutter memorized cutting system
Practise, complete to remember Demonstration of standardization knife during coal cutting；After the completion of Demonstration of standardization knife teaching, the control authority of coal-winning machine is given suitable
Groove centralized-control center, site inspection finishes rear staff and withdraws to crossheading control centre；
Control mode supplemented by step 2, remote intervention based on automatic coal cutting controls coal-winning machine to be mined, and it is concrete
Process is: in crossheading centralized-control center, operational control computer, input coal-winning machine starts memory cut function to operator
Control signal, control signal is transferred to controller by wireless communication module by control computer, and coal-winning machine is according to during teaching
Service data carries out automatic coal cutting；
During coal-winning machine carries out automatic coal cutting, photographic head carries out video acquisition and will collect to coal-face
Video is transferred to control computer by wireless communication module, and control computer is shown in real time to the video of coal-face
Show, when operator are according to the video being shown in control computer, when being judged as needing to manually adjust coal-winning machine attitude, operation
Personnel carry out manual intervention control, the control signal to coal-winning machine for the input in control computer, and control signal passes through channel radio
Letter module transfer, to controller, adjusts coal-winning machine coal cutting attitude, after adjustment finishes, exits remote handle intervention, coal-winning machine recovers
Automatically coal cutting state.
Coal-winning machine coal mining control method supplemented by a kind of above-mentioned remote intervention based on automatic coal cutting it is characterised in that:
Operator described in step one carry out coal-winning machine learning from instruction according to the requirement of coal cutter memorized cutting system, complete memory and cut
Demonstration of standardization knife during coal includes following four pattern, the teaching of ten kinds of modes:
Low teaching pattern after pattern a, front height, including the teaching of following three kinds of modes:
Mode a1, low double-pole teaching mode after front height: coal-winning machine drives to right end from the left end of coal-face,
Drive to left end, one cycle of operation of teaching from the right end of coal-face again；Or, coal-winning machine is from coal-face
Right end drives to left end, then drives to right end, one cycle of operation of teaching from the left end of coal-face；Coal-winning machine
During teaching, according to direction of travel, all the time in a high position, rear side rocking arm is all the time in low level for front side rocking arm；
Mode a2, low hilted broadsword teaching mode to the right after front height: the left end of coal-face is designated as l point, will mine
The right end of work surface is designated as r point, and by coal-face apart from left end distance be more than length 0.3m of a fuselage～
The position of 2m is designated as m point, by coal-face apart from right end distance be more than a fuselage length 0.3m～2m position
It is designated as n point；First, coal-winning machine starts to travel to the left from m point, and, in a high position, right rocking arm is in low level for left rocking arm, until l point, carries out a left side
Termination teaching；Then, coal-winning machine starts to right travel from l point, and, in a high position, left rocking arm is in low level for right rocking arm, until r point；Finally,
Coal-winning machine starts to travel to the left from r point, and, in a high position, right rocking arm is in low level for left rocking arm, until n point；
Mode a3, low hilted broadsword teaching mode to the left after front height: the left end of coal-face is designated as l point, will mine
The right end of work surface is designated as r point, and by coal-face apart from left end distance be more than length 0.3m of a fuselage～
The position of 2m is designated as m point, by coal-face apart from right end distance be more than a fuselage length 0.3m～2m position
It is designated as n point；First, coal-winning machine starts to right travel from n point, and, in low level, right rocking arm is in a high position for left rocking arm, until r point, carries out the right side
Termination teaching；Then, coal-winning machine starts to travel to the left from r point, and, in a high position, right rocking arm is in low level for left rocking arm, until l point；Finally,
Coal-winning machine starts to right travel from l point, and, in low level, right rocking arm is in a high position for left rocking arm, until m point；
Pattern b, low early and high after teaching pattern, including the teaching of following three kinds of modes:
Mode b1, low early and high after double-pole teaching mode: coal-winning machine drives to right end from the left end of coal-face,
Drive to left end, one cycle of operation of teaching from the right end of coal-face again；Or, coal-winning machine is from coal-face
Right end drives to left end, then drives to right end, one cycle of operation of teaching from the left end of coal-face；Coal-winning machine
During teaching, according to direction of travel, all the time in low level, rear side rocking arm is all the time in a high position for front side rocking arm；
Mode b2, low early and high after hilted broadsword teaching mode to the right: the left end of coal-face is designated as l point, will mine
The right end of work surface is designated as r point, and by coal-face apart from left end distance be more than length 0.3m of a fuselage～
The position of 2m is designated as m point, by coal-face apart from right end distance be more than a fuselage length 0.3m～2m position
It is designated as n point；First, coal-winning machine starts to travel to the left from m point, and, in low level, right rocking arm is in a high position for left rocking arm, until l point, carries out a left side
Termination teaching；Then, coal-winning machine starts to right travel from l point, and, in low level, left rocking arm is in a high position for right rocking arm, until r point；Finally,
Coal-winning machine starts to travel to the left from r point, and, in low level, right rocking arm is in a high position for left rocking arm, until n point；
Mode b3, low early and high after hilted broadsword teaching mode to the left: the left end of coal-face is designated as l point, will mine
The right end of work surface is designated as r point, and by coal-face apart from left end distance be more than length 0.3m of a fuselage～
The position of 2m is designated as m point, by coal-face apart from right end distance be more than a fuselage length 0.3m～2m position
It is designated as n point；First, coal-winning machine starts to right travel from n point, and, in a high position, right rocking arm is in low level for left rocking arm, until r point, carries out the right side
Termination teaching；Then, coal-winning machine starts to travel to the left from r point, and, in low level, right rocking arm is in a high position for left rocking arm, until l point；Finally,
Coal-winning machine starts to right travel from l point, and, in a high position, right rocking arm is in low level for left rocking arm, until m point；
Pattern c, left low right high teaching pattern, including the teaching of following two modes:
Mode c1, left low right high hilted broadsword teaching mode to the right: the left end of coal-face is designated as l point, will mine
The right end of work surface is designated as r point, and by coal-face apart from left end distance be more than length 0.3m of a fuselage～
The position of 2m is designated as m point, by coal-face apart from right end distance be more than a fuselage length 0.3m～2m position
It is designated as n point；First, coal-winning machine starts to travel to the left from m point, and, in a high position, right rocking arm is in low level for left rocking arm, until l point, carries out a left side
Termination teaching；Then, coal-winning machine starts to right travel from l point, and, in a high position, left rocking arm is in low level for right rocking arm, until r point；Finally,
Coal-winning machine starts to travel to the left from r point, and, in a high position, right rocking arm is in low level for left rocking arm, until n point；
Mode c2, left low right high hilted broadsword teaching mode to the left: the left end of coal-face is designated as l point, will mine
The right end of work surface is designated as r point, and by coal-face apart from left end distance be more than length 0.3m of a fuselage～
The position of 2m is designated as m point, by coal-face apart from right end distance be more than a fuselage length 0.3m～2m position
It is designated as n point；First, coal-winning machine starts to right travel from n point, and, in a high position, right rocking arm is in low level for left rocking arm, until r point, carries out the right side
Termination teaching；Then, coal-winning machine starts to travel to the left from r point, and, in low level, right rocking arm is in a high position for left rocking arm, until l point；Finally,
Coal-winning machine starts to right travel from l point, and, in a high position, right rocking arm is in low level for left rocking arm, until m point；
Pattern d, the teaching pattern of right low left high, including the teaching of following two modes:
Mode d1, the hilted broadsword teaching mode to the right of right low left high: the left end of coal-face is designated as l point, will mine
The right end of work surface is designated as r point, and by coal-face apart from left end distance be more than length 0.3m of a fuselage～
The position of 2m is designated as m point, by coal-face apart from right end distance be more than a fuselage length 0.3m～2m position
It is designated as n point；First, coal-winning machine starts to travel to the left from m point, and, in low level, right rocking arm is in a high position for left rocking arm, until l point, carries out a left side
Termination teaching；Then, coal-winning machine starts to right travel from l point, and, in low level, left rocking arm is in a high position for right rocking arm, until r point；Finally,
Coal-winning machine starts to travel to the left from r point, and, in low level, right rocking arm is in a high position for left rocking arm, until n point；
Mode d2, the hilted broadsword teaching mode to the left of right low left high: the left end of coal-face is designated as l point, will mine
The right end of work surface is designated as r point, and by coal-face apart from left end distance be more than length 0.3m of a fuselage～
The position of 2m is designated as m point, by coal-face apart from right end distance be more than a fuselage length 0.3m～2m position
It is designated as n point；First, coal-winning machine starts to right travel from n point, and, in low level, right rocking arm is in a high position for left rocking arm, until r point, carries out the right side
Termination teaching；Then, coal-winning machine starts to travel to the left from r point, and, in a high position, right rocking arm is in low level for left rocking arm, until l point；Finally,
Coal-winning machine starts to right travel from l point, and, in low level, right rocking arm is in a high position for left rocking arm, until m point；
With upper type a1、a2、a3、b1、b2、b3、c1、c2、d1、d2Teaching during, displacement transducer is to coal-winning machine fuselage
Walking displacement carry out real-time detection and the signal detecting exported to controller in real time, controller is defeated according to displacement transducer
The signal going out, is controlled to left traction electric machine by left traction electric machine driver, and by right traction electric machine driver to the right side
Traction electric machine is controlled, and controls the walking displacement of coal-winning machine；Meanwhile, left rocking arm angular transducer to left rocking arm and horizontal plane it
Between angle carry out real-time detection and export the signal detecting to controller in real time, right rocking arm angular transducer is to right rocking arm
Angle and horizontal plane between carries out real-time detection and exports to controller in real time by the signal detecting, and controller passes through wireless
Angle between angle between left rocking arm that communication module is received and horizontal plane and right rocking arm and horizontal plane passes in real time
It is defeated by control computer；
With upper type a2、a3、b2、b3、c1、c2、d1、d2Teaching during, controller travels coal-winning machine in m point and n point
Between left rocking arm and horizontal plane between angle to the angle between referred to as right rocking arm and horizontal plane, and by coal-winning machine travel exist
Angle between right rocking arm between m point and n point and horizontal plane, to the angle between referred to as left rocking arm and horizontal plane, then leads to again
Cross wireless communication module and be transferred to control computer.
Coal-winning machine coal mining control method supplemented by a kind of above-mentioned remote intervention based on automatic coal cutting it is characterised in that:
The input of described controller be further connected with velocity sensor for the speed of travel of coal-winning machine fuselage is carried out with real-time detection and
For coal-winning machine fuselage is carried out along the angle between the direction of travel and horizontal plane of exploited work surface with the walking of real-time detection
Orientation angle sensor, mode a1、a2、a3、b1、b2、b3、c1、c2、d1、d2Teaching during, velocity sensor is to coal-winning machine
The speed of travel of fuselage carries out real-time detection and exports the signal detecting to controller, direction of travel angular transducer in real time
Coal-winning machine fuselage is carried out by real-time detection and will detect along the angle between the direction of travel and horizontal plane of exploited work surface
Signal export in real time to controller, the speed of travel of the coal-winning machine fuselage that controller is received by wireless communication module
With the angle real-time Transmission along between the direction of travel and horizontal plane of exploited work surface for the coal-winning machine fuselage is to control computer.
Coal-winning machine coal mining control method supplemented by a kind of above-mentioned remote intervention based on automatic coal cutting it is characterised in that:
The input of described controller is further connected with for carrying out real-time detection to the angle between the direction of propulsion of coal-winning machine and horizontal plane
Direction of propulsion angular transducer, mode a1、a2、a3、b1、b2、b3、c1、c2、d1、d2Teaching during, direction of propulsion angle
Sensor carries out real-time detection will be defeated in real time for the signal detecting to the angle between the direction of propulsion of coal-winning machine and horizontal plane
Go out the folder between the direction of propulsion of the coal-winning machine being received to controller, controller and horizontal plane by wireless communication module
Angle real-time Transmission is to control computer.
The present invention compared with prior art has the advantage that
1st, method of the present invention step is simple, reasonable in design and realizes conveniently.
2nd, the present invention is a kind of coal-winning machine control method that can effectively solve the problem that production efficiency and production safety, on the one hand may be used
To reduce working surface coal mining machine controllers quantity, coal mining process only needs a people to complete；On the other hand, coal-winning machine can be operated
Personnel transfer to comparatively safe, comfortable crossheading control centre from complicated, dangerous fully-mechanized mining working；Both personnel reduction and enlargement had been reached
Purpose, improve safety coefficient again.
3rd, the learning from instruction method of the present invention, can make memory coal cutting learning style simple, convenient, effective.
4th, the learning from instruction method of the present invention can make operating with of coal-winning machine driver simpler and more direct, improves teaching
The efficiency practised.
5th, mode a in the learning from instruction method of the present invention2、a3、b2、b3、c1、c2、d1、d2, employ left rocking arm and shake with the right side
Arm specular obtains the mode of data, improves learning from instruction efficiency.
6th, the coal-mining method of the present invention combines coal cutter memorized cutting technology and remote control technology use, create and
Develop a kind of new coal-mining method, be truly realized coal-winning machine field operation unmanned, it will become the neck of colliery digging from now on
One mark post in domain, practical, using effect is good, is easy to promote the use of.
In sum, the inventive method step is simple, reasonable in design and realizes conveniently, has both reached the mesh cut payroll to improve efficiency
, improve safety coefficient, practical, using effect is good, is easy to promote the use of again.
Below by drawings and Examples, technical scheme is described in further detail.
Brief description
The schematic block circuit diagram of the control system that Fig. 1 adopts for the present invention.
Fig. 2 is method of the present invention FB(flow block).
Fig. 3 is the teaching process schematic of low double-pole teaching mode after height before the present invention.
Fig. 4 is the teaching process schematic of low hilted broadsword teaching mode to the right after height before the present invention.
Fig. 5 is the teaching process schematic of low hilted broadsword teaching mode to the left after height before the present invention.
Fig. 6 is the teaching process schematic of the low early and high after double-pole teaching mode of the present invention.
Fig. 7 is the teaching process schematic of the low early and high after hilted broadsword of present invention teaching mode to the right.
Fig. 8 is the teaching process schematic of the low early and high after hilted broadsword of present invention teaching mode to the left.
Fig. 9 is the teaching process schematic of the left low right high hilted broadsword of present invention teaching mode to the right.
Figure 10 is the teaching process schematic of the left low right high hilted broadsword of present invention teaching mode to the left.
Figure 11 is the teaching process schematic of the hilted broadsword teaching mode to the right of right low left high of the present invention.
Figure 12 is the teaching process schematic of the hilted broadsword teaching mode to the left of right low left high of the present invention.
Description of reference numerals:
1 controller；2 wireless communication modules；3 control computers；
4 data storages；5 displacement transducers；6 velocity sensors；
7 left rocking arm angular transducers；8 right rocking arm angular transducers；9 left traction electric machine drivers；
10 right traction electric machine drivers；11 left cutting motor drivers；12 right cutting motor drivers；
13 left traction electric machines；14 right traction electric machines；15 left cutting motors；
16 right cutting motors；17 direction of travel angular transducers；18 direction of propulsion angular transducers；
19 photographic head.
Specific embodiment
Coal-winning machine coal mining control method supplemented by the remote intervention based on automatic coal cutting of the present invention, described coal-winning machine is double
Flitting, described double-ended shearer include coal-winning machine fuselage, the left traveling box being arranged on coal-winning machine fuselage lower left and
Be arranged on the bottom-right right traveling box of coal-winning machine fuselage, and by jointed shaft be hinged on left rocking arm on the left of coal-winning machine fuselage and
Right rocking arm on the right side of coal-winning machine fuselage is hinged on by jointed shaft, described left traveling box is driven by left traction electric machine 13, the described right side
Traveling box is driven by right movable motor, and described left rocking arm front end is provided with the cylinder that rolls left, and the described cylinder that rolls left is driven by left cutting motor 15
Dynamic, described right rocking arm front end is provided with right cylinder, and described right cylinder is driven by right cutting motor 16；As shown in figure 1, the method is adopted
Control system includes controller 1 and the control computer 3 connecting by wireless communication module 2 with controller 1, and with control
The data storage 4 that device 1 processed connects；Described control computer 3 is arranged on crossheading centralized-control center, described controller 1 defeated
Enter be terminated with for coal-face is carried out with video acquisition photographic head 19, for carrying out to the walking displacement of coal-winning machine fuselage
The displacement transducer 5 of real-time detection, the left rocking arm angle for the angle between left rocking arm and horizontal plane is carried out with real-time detection
Sensor 7 and the right rocking arm angular transducer 8 for the angle between right rocking arm and horizontal plane is carried out with real-time detection, described control
The output of device 1 processed is terminated with left traction electric machine driver 9, right traction electric machine driver 10, left cutting motor driver 11 and the right side
Cutting motor driver 12, described left traction electric machine 13 is connected with the outfan of left traction electric machine driver 9, described right traction electricity
Machine 14 is connected with the outfan of right traction electric machine driver 10, and described left cutting motor 15 is defeated with left cutting motor driver 11
Go out end to connect, described right cutting motor 16 is connected with the outfan of right cutting motor driver 12；
As shown in Fig. 2 described coal-winning machine coal mining control method comprises the following steps:
Step one, artificial teaching: operator carry out coal-winning machine teaching according to the requirement of coal cutter memorized cutting system
Practise, complete to remember Demonstration of standardization knife during coal cutting；After the completion of Demonstration of standardization knife teaching, the control authority of coal-winning machine is given suitable
Groove centralized-control center, site inspection finishes rear staff and withdraws to crossheading control centre；
Control mode supplemented by step 2, remote intervention based on automatic coal cutting controls coal-winning machine to be mined, and it is concrete
Process is: in crossheading centralized-control center, operational control computer 3, input coal-winning machine starts memory cut function to operator
Control signal, control signal is transferred to controller 1 by wireless communication module 2 by control computer 3, and coal-winning machine is according to teaching
When service data carry out automatic coal cutting；
During coal-winning machine carries out automatic coal cutting, photographic head 19 carries out video acquisition and will collect to coal-face
Video control computer 3 is transferred to by wireless communication module 2, control computer 3 carries out reality to the video of coal-face
When display, when operator are according to the video being shown in control computer 3, be judged as needing to manually adjust coal-winning machine attitude
When, operator carry out manual intervention control, the control signal to coal-winning machine for the input in control computer 3, and control signal is led to
Cross wireless communication module 2 and be transferred to controller 1, adjust coal-winning machine coal cutting attitude, after adjustment finishes, exit remote handle intervention,
Coal-winning machine recovers automatic coal cutting state.
In the present embodiment, operator described in step one carry out coal-winning machine according to the requirement of coal cutter memorized cutting system
Learning from instruction, completes to remember Demonstration of standardization knife during coal cutting and includes following four pattern, the teaching of ten kinds of modes:
Low teaching pattern after pattern a, front height, including the teaching of following three kinds of modes:
Mode a1, low double-pole teaching mode after front height: as shown in figure 3, coal-winning machine is from the left end row of coal-face
Sail to right end, then drive to left end, one cycle of operation of teaching, i.e. two knife from the right end of coal-face；Or, adopt
Coal machine drives to left end from the right end of coal-face, then drives to right end, teaching from the left end of coal-face
One cycle of operation, i.e. two knife；During teaching, according to direction of travel, all the time in a high position, rear side shakes front side rocking arm coal-winning machine
Arm is all the time in low level；This teaching mode, teaching mode is simple, convenient data processing, but less efficient；
Mode a2, low hilted broadsword teaching mode to the right after front height: as shown in figure 4, the left end of coal-face is designated as l
Point, the right end of coal-face is designated as r point, and coal-face is more than the length of a fuselage apart from the distance of left end
Degree 0.3m～2m position be designated as m point, by coal-face apart from right end distance be more than a fuselage length 0.3m～
The position of 2m is designated as n point；First, coal-winning machine starts to travel to the left from m point, and, in a high position, right rocking arm is in low level for left rocking arm, until l
Point, carries out left end teaching；Then, coal-winning machine starts to right travel from l point, right rocking arm in a high position, left rocking arm in low level, until
R point；Finally, coal-winning machine starts to travel to the left from r point, and, in a high position, right rocking arm is in low level for left rocking arm, until n point；This teaching side
Formula is relatively complicated, data processing complex, but efficiency is higher；
Mode a3, low hilted broadsword teaching mode to the left after front height: as shown in figure 5, the left end of coal-face is designated as l
Point, the right end of coal-face is designated as r point, and coal-face is more than the length of a fuselage apart from the distance of left end
Degree 0.3m～2m position be designated as m point, by coal-face apart from right end distance be more than a fuselage length 0.3m～
The position of 2m is designated as n point；First, coal-winning machine starts to right travel from n point, and, in low level, right rocking arm is in a high position for left rocking arm, until r
Point, carries out right end teaching；Then, coal-winning machine starts to travel to the left from r point, left rocking arm in a high position, right rocking arm in low level, until
L point；Finally, coal-winning machine starts to right travel from l point, and, in low level, right rocking arm is in a high position for left rocking arm, until m point；This teaching side
Formula is relatively complicated, data processing complex, but efficiency is higher；
Pattern b, low early and high after teaching pattern, including the teaching of following three kinds of modes:
Mode b1, low early and high after double-pole teaching mode: as shown in fig. 6, coal-winning machine is from the left end row of coal-face
Sail to right end, then drive to left end, one cycle of operation of teaching, i.e. two knife from the right end of coal-face；Or, adopt
Coal machine drives to left end from the right end of coal-face, then drives to right end, teaching from the left end of coal-face
One cycle of operation, i.e. two knife；During teaching, according to direction of travel, all the time in low level, rear side shakes front side rocking arm coal-winning machine
Arm is all the time in a high position；This teaching mode, teaching mode is simple, convenient data processing, but less efficient；
Mode b2, low early and high after hilted broadsword teaching mode to the right: as shown in fig. 7, the left end of coal-face is designated as l
Point, the right end of coal-face is designated as r point, and coal-face is more than the length of a fuselage apart from the distance of left end
Degree 0.3m～2m position be designated as m point, by coal-face apart from right end distance be more than a fuselage length 0.3m～
The position of 2m is designated as n point；First, coal-winning machine starts to travel to the left from m point, and, in low level, right rocking arm is in a high position for left rocking arm, until l
Point, carries out left end teaching；Then, coal-winning machine starts to right travel from l point, right rocking arm in low level, left rocking arm in a high position, until
R point；Finally, coal-winning machine starts to travel to the left from r point, and, in low level, right rocking arm is in a high position for left rocking arm, until n point；This teaching side
Formula is relatively complicated, data processing complex, but efficiency is higher；
Mode b3, low early and high after hilted broadsword teaching mode to the left: as shown in figure 8, the left end of coal-face is designated as l
Point, the right end of coal-face is designated as r point, and coal-face is more than the length of a fuselage apart from the distance of left end
Degree 0.3m～2m position be designated as m point, by coal-face apart from right end distance be more than a fuselage length 0.3m～
The position of 2m is designated as n point；First, coal-winning machine starts to right travel from n point, and, in a high position, right rocking arm is in low level for left rocking arm, until r
Point, carries out right end teaching；Then, coal-winning machine starts to travel to the left from r point, left rocking arm in low level, right rocking arm in a high position, until
L point；Finally, coal-winning machine starts to right travel from l point, and, in a high position, right rocking arm is in low level for left rocking arm, until m point；This teaching side
Formula is relatively complicated, data processing complex, but efficiency is higher；
Pattern c, left low right high teaching pattern, including the teaching of following two modes:
Mode c1, left low right high hilted broadsword teaching mode to the right: as shown in figure 9, the left end of coal-face is designated as l
Point, the right end of coal-face is designated as r point, and coal-face is more than the length of a fuselage apart from the distance of left end
Degree 0.3m～2m position be designated as m point, by coal-face apart from right end distance be more than a fuselage length 0.3m～
The position of 2m is designated as n point；First, coal-winning machine starts to travel to the left from m point, and, in a high position, right rocking arm is in low level for left rocking arm, until l
Point, carries out left end teaching；Then, coal-winning machine starts to right travel from l point, right rocking arm in a high position, left rocking arm in low level, until
R point；Finally, coal-winning machine starts to travel to the left from r point, and, in a high position, right rocking arm is in low level for left rocking arm, until n point；This teaching side
Formula is relatively complicated, data processing complex, but efficiency is higher；
Mode c2, left low right high hilted broadsword teaching mode to the left: as shown in Figure 10, the left end of coal-face is designated as
L point, the right end of coal-face is designated as r point, and coal-face is more than a fuselage apart from the distance of left end
The position of length 0.3m～2m is designated as m point, by coal-face apart from right end distance be more than a fuselage length 0.3m
The position of～2m is designated as n point；First, coal-winning machine starts to right travel from n point, left rocking arm in a high position, right rocking arm in low level, until
R point, carries out right end teaching；Then, coal-winning machine starts to travel to the left from r point, left rocking arm in low level, right rocking arm in a high position, directly
To l point；Finally, coal-winning machine starts to right travel from l point, and, in a high position, right rocking arm is in low level for left rocking arm, until m point；This teaching
Mode is relatively complicated, data processing complex, but efficiency is higher；
Pattern d, the teaching pattern of right low left high, including the teaching of following two modes:
Mode d1, the hilted broadsword teaching mode to the right of right low left high: as shown in figure 11, the left end of coal-face is designated as
L point, the right end of coal-face is designated as r point, and coal-face is more than a fuselage apart from the distance of left end
The position of length 0.3m～2m is designated as m point, by coal-face apart from right end distance be more than a fuselage length 0.3m
The position of～2m is designated as n point；First, coal-winning machine starts to travel to the left from m point, left rocking arm in low level, right rocking arm in a high position, until
L point, carries out left end teaching；Then, coal-winning machine starts to right travel from l point, right rocking arm in low level, left rocking arm in a high position, directly
To r point；Finally, coal-winning machine starts to travel to the left from r point, and, in low level, right rocking arm is in a high position for left rocking arm, until n point；This teaching
Mode is relatively complicated, data processing complex, but efficiency is higher；
Mode d2, the hilted broadsword teaching mode to the left of right low left high: as shown in figure 12, the left end of coal-face is designated as
L point, the right end of coal-face is designated as r point, and coal-face is more than a fuselage apart from the distance of left end
The position of length 0.3m～2m is designated as m point, by coal-face apart from right end distance be more than a fuselage length 0.3m
The position of～2m is designated as n point；First, coal-winning machine starts to right travel from n point, left rocking arm in low level, right rocking arm in a high position, until
R point, carries out right end teaching；Then, coal-winning machine starts to travel to the left from r point, left rocking arm in a high position, right rocking arm in low level, directly
To l point；Finally, coal-winning machine starts to right travel from l point, and, in low level, right rocking arm is in a high position for left rocking arm, until m point；This teaching
Mode is relatively complicated, data processing complex, but efficiency is higher；
With upper type a1、a2、a3、b1、b2、b3、c1、c2、d1、d2Teaching during, displacement transducer 5 is to coal-winning machine machine
The walking displacement of body carries out real-time detection and exports the signal detecting to controller 1 in real time, and controller 1 is according to displacement sensing
The signal of device 5 output, is controlled to left traction electric machine 13 by left traction electric machine driver 9, and is driven by right traction electric machine
Dynamic device 10 is controlled to right traction electric machine 14, controls the walking displacement of coal-winning machine；Meanwhile, left rocking arm angular transducer 7 is to a left side
Angle between rocking arm and horizontal plane carries out real-time detection and exports the signal detecting to controller 1, right rocking arm angle in real time
Degree sensor 8 carries out real-time detection and exports the signal detecting to control in real time to the angle between right rocking arm and horizontal plane
Device 1, the angle between the left rocking arm that controller 1 is received by wireless communication module 2 and horizontal plane and right rocking arm and water
Angle real-time Transmission between plane is to control computer 3；
With upper type a2、a3、b2、b3、c1、c2、d1、d2Teaching during, controller 1 by coal-winning machine travel in m point and n
Angle between left rocking arm between point and horizontal plane is to the angle between referred to as right rocking arm and horizontal plane, and coal-winning machine is travelled
Angle between right rocking arm between m point and n point and horizontal plane is to the angle between referred to as left rocking arm and horizontal plane, Ran Houzai
Control computer 3 is transferred to by wireless communication module 2.
In the present embodiment, as shown in figure 1, the input of described controller 1 is further connected with for the walking to coal-winning machine fuselage
Speed carries out the velocity sensor 6 of real-time detection and is used for the direction of travel to the exploited work surface in coal-winning machine fuselage edge and level
Angle between face carries out the direction of travel angular transducer 17 of real-time detection, mode a1、a2、a3、b1、b2、b3、c1、c2、d1、d2
Teaching during, velocity sensor 6 carries out real-time detection will be real for the signal detecting to the speed of travel of coal-winning machine fuselage
When, export to controller 1, and direction of travel angular transducer 17 is to coal-winning machine fuselage along the direction of travel of exploited work surface and water
Angle between plane carries out real-time detection and exports to controller 1 in real time by the signal detecting, and controller 1 passes through channel radio
The letter speed of travel of coal-winning machine fuselage that received of module 2 and coal-winning machine fuselage along exploited work surface direction of travel and
Angle real-time Transmission between horizontal plane is to control computer 3.
In the present embodiment, as shown in figure 1, the input of described controller 1 is further connected with for the direction of propulsion to coal-winning machine
Angle and horizontal plane between carries out the direction of propulsion angular transducer 18 of real-time detection, mode a1、a2、a3、b1、b2、b3、c1、
c2、d1、d2Teaching during, direction of propulsion angular transducer 18 is to the angle between the direction of propulsion of coal-winning machine and horizontal plane
Carry out real-time detection and the signal detecting is exported to controller 1 in real time, controller 1 is connect by wireless communication module 2
Angle real-time Transmission between the direction of propulsion of the coal-winning machine receiving and horizontal plane is to control computer 3.
The above, be only presently preferred embodiments of the present invention, not the present invention imposed any restrictions, every according to the present invention
Any simple modification, change and equivalent structure change that technical spirit is made to above example, all still fall within skill of the present invention
In the protection domain of art scheme.
Claims (4)
1. the coal-winning machine coal mining control method supplemented by a kind of remote intervention based on automatic coal cutting, described coal-winning machine is adopted for twin-roll
Coal machine, described double-ended shearer includes coal-winning machine fuselage, the left traveling box being arranged on coal-winning machine fuselage lower left and is arranged on
The bottom-right right traveling box of coal-winning machine fuselage, and the left rocking arm on the left of coal-winning machine fuselage is hinged on by jointed shaft and passes through hinge
Spindle is hinged on the right rocking arm on the right side of coal-winning machine fuselage, and described left traveling box is driven by left traction electric machine (13), and described right lateral is walked
Case is driven by right movable motor, and described left rocking arm front end is provided with the cylinder that rolls left, and the described cylinder that rolls left is driven by left cutting motor (15),
Described right rocking arm front end is provided with right cylinder, and described right cylinder is driven by right cutting motor (16)；It is characterized in that: the method is adopted
Control system includes controller (1) and the control computer (3) connecting by wireless communication module (2) with controller (1),
And the data storage (4) connecting with controller (1)；Described control computer (3) is arranged on crossheading centralized-control center, institute
State controller (1) input be terminated with for coal-face is carried out with video acquisition photographic head (19), for coal-winning machine
The walking displacement of fuselage carries out the displacement transducer (5) of real-time detection, for carrying out to the angle between left rocking arm and horizontal plane
The left rocking arm angular transducer (7) of real-time detection and the right side for the angle between right rocking arm and horizontal plane is carried out with real-time detection
Rocking arm angular transducer (8), the output of described controller (1) is terminated with left traction electric machine driver (9), right traction electric machine drives
Device (10), left cutting motor driver (11) and right cutting motor driver (12), described left traction electric machine (13) and left traction
The outfan of motor driver (9) connects, and described right traction electric machine (14) is connected with the outfan of right traction electric machine driver (10)
Connect, described left cutting motor (15) is connected with the outfan of left cutting motor driver (11), described right cutting motor (16) with
The outfan of right cutting motor driver (12) connects；
Described coal-winning machine coal mining control method comprises the following steps:
Step one, artificial teaching: operator carry out coal-winning machine learning from instruction according to the requirement of coal cutter memorized cutting system, complete
Become Demonstration of standardization knife during memory coal cutting；After the completion of Demonstration of standardization knife teaching, the control authority of coal-winning machine is given crossheading collection
Middle control centre, site inspection finishes rear staff and withdraws to crossheading control centre；
Control mode supplemented by step 2, remote intervention based on automatic coal cutting controls coal-winning machine to be mined, its detailed process
For: in crossheading centralized-control center, operational control computer (3), input coal-winning machine starts memory cut function to operator
Control signal, control signal is transferred to controller (1) by wireless communication module (2) by control computer (3), coal-winning machine according to
Service data during teaching carries out automatic coal cutting；
During coal-winning machine carries out automatic coal cutting, photographic head (19) carries out video acquisition and will collect to coal-face
Video is transferred to control computer (3) by wireless communication module (2), and control computer (3) is entered to the video of coal-face
Row shows in real time, when operator are according to the video being shown in control computer (3), is judged as needing to manually adjust coal-winning machine
During attitude, operator carry out manual intervention control, the control signal to coal-winning machine for the input in control computer (3), control
Signal is transferred to controller (1) by wireless communication module (2), adjusts coal-winning machine coal cutting attitude, after adjustment finishes, exits long-range
Manual intervention, coal-winning machine recovers automatic coal cutting state.
2. according to the coal-winning machine coal mining control method supplemented by a kind of remote intervention based on automatic coal cutting described in claim 1,
It is characterized in that: operator described in step one carry out coal-winning machine teaching according to the requirement of coal cutter memorized cutting system
Practise, complete to remember Demonstration of standardization knife during coal cutting and include following four pattern, the teaching of ten kinds of modes:
Low teaching pattern after pattern a, front height, including the teaching of following three kinds of modes:
Mode a1, low double-pole teaching mode after front height: coal-winning machine drives to right end from the left end of coal-face, then from
The right end of coal-face drives to left end, one cycle of operation of teaching；Or, coal-winning machine is from the right-hand member of coal-face
Head drives to left end, then drives to right end, one cycle of operation of teaching from the left end of coal-face；Coal-winning machine is showing
During religion, according to direction of travel, all the time in a high position, rear side rocking arm is all the time in low level for front side rocking arm；
Mode a2, low hilted broadsword teaching mode to the right after front height: the left end of coal-face is designated as l point, by coal-face
Right end be designated as r point, and by coal-face apart from left end distance be more than a fuselage length 0.3m～2m position
Put and be designated as m point, coal-face is more than the position of length 0.3m～2m of a fuselage and is designated as n apart from the distance of right end
Point；First, coal-winning machine starts to travel to the left from m point, and, in a high position, right rocking arm is in low level for left rocking arm, until l point, carries out left end
Teaching；Then, coal-winning machine starts to right travel from l point, and, in a high position, left rocking arm is in low level for right rocking arm, until r point；Finally, mine
Machine starts to travel to the left from r point, and, in a high position, right rocking arm is in low level for left rocking arm, until n point；
Mode a3, low hilted broadsword teaching mode to the left after front height: the left end of coal-face is designated as l point, by coal-face
Right end be designated as r point, and by coal-face apart from left end distance be more than a fuselage length 0.3m～2m position
Put and be designated as m point, coal-face is more than the position of length 0.3m～2m of a fuselage and is designated as n apart from the distance of right end
Point；First, coal-winning machine starts to right travel from n point, and, in low level, right rocking arm is in a high position for left rocking arm, until r point, carries out right end
Teaching；Then, coal-winning machine starts to travel to the left from r point, and, in a high position, right rocking arm is in low level for left rocking arm, until l point；Finally, mine
Machine starts to right travel from l point, and, in low level, right rocking arm is in a high position for left rocking arm, until m point；
Pattern b, low early and high after teaching pattern, including the teaching of following three kinds of modes:
Mode b1, low early and high after double-pole teaching mode: coal-winning machine drives to right end from the left end of coal-face, then from
The right end of coal-face drives to left end, one cycle of operation of teaching；Or, coal-winning machine is from the right-hand member of coal-face
Head drives to left end, then drives to right end, one cycle of operation of teaching from the left end of coal-face；Coal-winning machine is showing
During religion, according to direction of travel, all the time in low level, rear side rocking arm is all the time in a high position for front side rocking arm；
Mode b2, low early and high after hilted broadsword teaching mode to the right: the left end of coal-face is designated as l point, by coal-face
Right end be designated as r point, and by coal-face apart from left end distance be more than a fuselage length 0.3m～2m position
Put and be designated as m point, coal-face is more than the position of length 0.3m～2m of a fuselage and is designated as n apart from the distance of right end
Point；First, coal-winning machine starts to travel to the left from m point, and, in low level, right rocking arm is in a high position for left rocking arm, until l point, carries out left end
Teaching；Then, coal-winning machine starts to right travel from l point, and, in low level, left rocking arm is in a high position for right rocking arm, until r point；Finally, mine
Machine starts to travel to the left from r point, and, in low level, right rocking arm is in a high position for left rocking arm, until n point；
Mode b3, low early and high after hilted broadsword teaching mode to the left: the left end of coal-face is designated as l point, by coal-face
Right end be designated as r point, and by coal-face apart from left end distance be more than a fuselage length 0.3m～2m position
Put and be designated as m point, coal-face is more than the position of length 0.3m～2m of a fuselage and is designated as n apart from the distance of right end
Point；First, coal-winning machine starts to right travel from n point, and, in a high position, right rocking arm is in low level for left rocking arm, until r point, carries out right end
Teaching；Then, coal-winning machine starts to travel to the left from r point, and, in low level, right rocking arm is in a high position for left rocking arm, until l point；Finally, mine
Machine starts to right travel from l point, and, in a high position, right rocking arm is in low level for left rocking arm, until m point；
Pattern c, left low right high teaching pattern, including the teaching of following two modes:
Mode c1, left low right high hilted broadsword teaching mode to the right: the left end of coal-face is designated as l point, by coal-face
Right end be designated as r point, and by coal-face apart from left end distance be more than a fuselage length 0.3m～2m position
Put and be designated as m point, coal-face is more than the position of length 0.3m～2m of a fuselage and is designated as n apart from the distance of right end
Point；First, coal-winning machine starts to travel to the left from m point, and, in a high position, right rocking arm is in low level for left rocking arm, until l point, carries out left end
Teaching；Then, coal-winning machine starts to right travel from l point, and, in a high position, left rocking arm is in low level for right rocking arm, until r point；Finally, mine
Machine starts to travel to the left from r point, and, in a high position, right rocking arm is in low level for left rocking arm, until n point；
Mode c2, left low right high hilted broadsword teaching mode to the left: the left end of coal-face is designated as l point, by coal-face
Right end be designated as r point, and by coal-face apart from left end distance be more than a fuselage length 0.3m～2m position
Put and be designated as m point, coal-face is more than the position of length 0.3m～2m of a fuselage and is designated as n apart from the distance of right end
Point；First, coal-winning machine starts to right travel from n point, and, in a high position, right rocking arm is in low level for left rocking arm, until r point, carries out right end
Teaching；Then, coal-winning machine starts to travel to the left from r point, and, in low level, right rocking arm is in a high position for left rocking arm, until l point；Finally, mine
Machine starts to right travel from l point, and, in a high position, right rocking arm is in low level for left rocking arm, until m point；
Pattern d, the teaching pattern of right low left high, including the teaching of following two modes:
Mode d1, the hilted broadsword teaching mode to the right of right low left high: the left end of coal-face is designated as l point, by coal-face
Right end be designated as r point, and by coal-face apart from left end distance be more than a fuselage length 0.3m～2m position
Put and be designated as m point, coal-face is more than the position of length 0.3m～2m of a fuselage and is designated as n apart from the distance of right end
Point；First, coal-winning machine starts to travel to the left from m point, and, in low level, right rocking arm is in a high position for left rocking arm, until l point, carries out left end
Teaching；Then, coal-winning machine starts to right travel from l point, and, in low level, left rocking arm is in a high position for right rocking arm, until r point；Finally, mine
Machine starts to travel to the left from r point, and, in low level, right rocking arm is in a high position for left rocking arm, until n point；
Mode d2, the hilted broadsword teaching mode to the left of right low left high: the left end of coal-face is designated as l point, by coal-face
Right end be designated as r point, and by coal-face apart from left end distance be more than a fuselage length 0.3m～2m position
Put and be designated as m point, coal-face is more than the position of length 0.3m～2m of a fuselage and is designated as n apart from the distance of right end
Point；First, coal-winning machine starts to right travel from n point, and, in low level, right rocking arm is in a high position for left rocking arm, until r point, carries out right end
Teaching；Then, coal-winning machine starts to travel to the left from r point, and, in a high position, right rocking arm is in low level for left rocking arm, until l point；Finally, mine
Machine starts to right travel from l point, and, in low level, right rocking arm is in a high position for left rocking arm, until m point；
With upper type a1、a2、a3、b1、b2、b3、c1、c2、d1、d2Teaching during, displacement transducer (5) is to coal-winning machine fuselage
Walking displacement carries out real-time detection and exports the signal detecting to controller (1) in real time, and controller (1) is according to displacement sensing
The signal that device (5) exports, is controlled to left traction electric machine (13) by left traction electric machine driver (9), and by right traction
Motor driver (10) is controlled to right traction electric machine (14), controls the walking displacement of coal-winning machine；Meanwhile, left rocking arm angle passes
Sensor (7) carries out real-time detection and exports the signal detecting to controller in real time to the angle between left rocking arm and horizontal plane
(1), right rocking arm angular transducer (8) carries out real-time detection and by the signal detecting to the angle between right rocking arm and horizontal plane
Export to controller (1) in real time, the left rocking arm that controller (1) is received by wireless communication module (2) and horizontal plane it
Between angle and right rocking arm and horizontal plane between angle real-time Transmission to control computer (3)；
With upper type a2、a3、b2、b3、c1、c2、d1、d2Teaching during, controller (1) travels coal-winning machine in m point and n point
Between left rocking arm and horizontal plane between angle to the angle between referred to as right rocking arm and horizontal plane, and by coal-winning machine travel exist
Angle between right rocking arm between m point and n point and horizontal plane, to the angle between referred to as left rocking arm and horizontal plane, then leads to again
Cross wireless communication module (2) and be transferred to control computer (3).
3. according to the coal-winning machine coal mining control method supplemented by a kind of remote intervention based on automatic coal cutting described in claim 2,
It is characterized in that: the input of described controller (1) is further connected with for carrying out real-time detection to the speed of travel of coal-winning machine fuselage
Velocity sensor (6) and for entering along the angle between the direction of travel and horizontal plane of exploited work surface to coal-winning machine fuselage
The direction of travel angular transducer (17) of row real-time detection, mode a1、a2、a3、b1、b2、b3、c1、c2、d1、d2Teaching process
In, velocity sensor (6) speed of travel of coal-winning machine fuselage is carried out real-time detection and by the signal detecting export in real time to
Controller (1), direction of travel angular transducer (17) is to coal-winning machine fuselage along the direction of travel of exploited work surface and horizontal plane
Between angle carry out real-time detection and the signal detecting exported to controller (1) in real time, controller (1) passes through channel radio
The direction of travel of the exploited work surface of the speed of travel of coal-winning machine fuselage and coal-winning machine fuselage edge that letter module (2) is received
Angle real-time Transmission and horizontal plane between is to control computer (3).
4. according to the coal-winning machine coal mining control method supplemented by a kind of remote intervention based on automatic coal cutting described in claim 2,
It is characterized in that: the input of described controller (1) is further connected with for the folder between the direction of propulsion of coal-winning machine and horizontal plane
Angle carries out the direction of propulsion angular transducer (18) of real-time detection, mode a1、a2、a3、b1、b2、b3、c1、c2、d1、d2Teaching
Cheng Zhong, direction of propulsion angular transducer (18) carries out real-time detection simultaneously to the angle between the direction of propulsion of coal-winning machine and horizontal plane
The signal detecting is exported in real time to controller (1), controller (1) is by adopting that wireless communication module (2) is received
Angle real-time Transmission between the direction of propulsion of coal machine and horizontal plane is to control computer (3).
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108490812A (en) * | 2018-03-26 | 2018-09-04 | 太重煤机有限公司 | Coalcutter intelligence control system and method |
| CN109469484A (en) * | 2018-11-05 | 2019-03-15 | 郑州煤机液压电控有限公司 | Automation coal-mining method based on host computer planning |
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| DE29923750U1 (en) * | 1999-09-15 | 2001-06-21 | Siemens Ag | Conveyor system for opencast mining systems |
| GB2383914A (en) * | 2002-01-08 | 2003-07-09 | Edh | Positioning of mechanised mining apparatus |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108490812A (en) * | 2018-03-26 | 2018-09-04 | 太重煤机有限公司 | Coalcutter intelligence control system and method |
| CN108490812B (en) * | 2018-03-26 | 2021-01-22 | 太重煤机有限公司 | Intelligent control method for coal mining machine |
| CN109469484A (en) * | 2018-11-05 | 2019-03-15 | 郑州煤机液压电控有限公司 | Automation coal-mining method based on host computer planning |
| CN109469484B (en) * | 2018-11-05 | 2020-01-31 | 郑州煤机液压电控有限公司 | Automatic coal mining method based on upper computer planning |
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