CN106996303A - Coal face hydraulic support monitoring and alarming system based on laser survey scale - Google Patents
Coal face hydraulic support monitoring and alarming system based on laser survey scale Download PDFInfo
- Publication number
- CN106996303A CN106996303A CN201710440595.6A CN201710440595A CN106996303A CN 106996303 A CN106996303 A CN 106996303A CN 201710440595 A CN201710440595 A CN 201710440595A CN 106996303 A CN106996303 A CN 106996303A
- Authority
- CN
- China
- Prior art keywords
- hydraulic support
- hydraulic
- data
- monitoring
- laser beam
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/0004—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor along the working face
- E21D23/0013—Frame type supports
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/12—Control, e.g. using remote control
- E21D23/14—Effecting automatic sequential movement of supports, e.g. one behind the other
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH 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
Abstract
The invention provides a kind of coal face hydraulic support monitoring and alarming system based on laser survey scale, the warning system is monitored by the way of image recognition to coal face hydraulic support, so as to realize automatically controlling for hydraulic moving stand work.The system mainly includes video camera, generating laser, hydraulic support monitoring device and hydraulic support control device.Video camera is used to gather video image；Hydraulic support control device is responsible for being controlled hydraulic support, and gathers hydraulic pressure shelf-like state；The hydraulic support monitoring device passes through camera acquisition laser beam and the video image of hydraulic support, being obtained by the fixed signal identification to laser beam in image and hydraulic support includes the data of hydraulic support position and support angle, hydraulic support is controlled automatically by hydraulic support control device according to monitoring result, control hydraulic support is moved to the position of setting.
Description
Technical field
The present invention relates to a kind of coal face hydraulic support monitoring and alarming system based on laser survey scale, this method is related to
Automatically control, the field such as image steganalysis and communication.
Background technology
At present, with the development of science and technology, underground work personnel amount greatly reduces.But underground coal mine fully-mechanized mining equipment is still more
Based on being operated with manual site.Down-hole coal excavation working face, driving face are accident region occurred frequently, getting working face production environment
Severe changeable, Frequent Accidents, have seriously threatened the personal safety of producers, have reduced coal production efficiency.Therefore, to drop
Low getting working face labor intensity, improve staff safety coefficient and coal mining efficiency, it is necessary to realize getting working face from
Dynamicization and few peopleization.
Hydraulic support as fully-mechanized mining working important component, it is necessary to realize the automation of equipment and few peopleization.Cause
How this, which monitors hydraulic support, control hydraulic support, becomes particularly important.At present, the monitoring system of hydraulic support is more with sensor
Based on monitoring, used sensor includes pressure sensor, angular transducer, displacement transducer, feeler etc., passes through
AD conversion, then the links such as processor are transferred data to through communication system, process is complicated, and data processing is comparatively laborious.In underground
There is the disturbed conditions such as coal dust, water pouring, high-power electrical equipment, vibration in working face, bad environments, particularly powerful device are opened
The electromagnetic interference such as stop and vibrate to influence larger to sensor, easily cause sensing data error, even cause the damage of sensor；
The sensor cost of big quantity is higher in addition, while reliability is low, inefficiency.To solve problem above, it is necessary to a kind of new
, be not entirely dependent on sensor, dependable performance, hydraulic pressure monitoring and alarming system simple in construction.
The content of the invention
The invention provides a kind of coal face hydraulic support monitoring and alarming system based on laser survey scale, the alarm
System is monitored by the way of image recognition to coal face hydraulic support, so as to realize the automatic of hydraulic moving stand work
Control.The system mainly includes generating laser, video camera, hydraulic support control device, hydraulic support monitoring device；It is described
Generating laser is used to launch the laser beam as scale；The video camera is installed on coal-face tunnel sidewall locations, uses
Include at least one laser beam and at least one fixed signal of at least one hydraulic support in collection；The hydraulic support control
Equipment is responsible for being controlled hydraulic support, and gathers hydraulic pressure shelf-like state；The hydraulic support monitoring device passes through video camera
The video image of hydraulic support is gathered, being obtained by the fixed signal identification to laser beam in image and hydraulic support includes hydraulic pressure
The data of the relative position and angle of support and laser beam, and by data and stored with the relative target position of laser beam and
Operating angle data are compared, and hydraulic support is controlled automatically by hydraulic support control device according to comparison result,
Control hydraulic support is moved to the position of setting；The hydraulic support monitoring device is when monitoring that hydraulic support angle is abnormal, then
Alert data is sent to monitor terminal.
The hydraulic support monitoring and alarming system further comprises：The hydraulic support monitoring device data storage includes taking the photograph
The template image data of at least one hydraulic support fixed signal in camera collection image-region；The hydraulic support monitoring is set
Standby data storage also includes relative target position and the operating angle data of hydraulic support and laser beam；The relative target position
Measure and obtain in the state of video camera and hydraulic support are in operating position with operating angle data, relative target position
Put the distance of special characteristic point and laser beam of the data including hydraulic support fixed signal.
Hydraulic moving stand job step includes:
The first step：Generating laser and video camera are moved to new operating position along coal mining direction；
Second step：Hydraulic support monitoring device drops post by hydraulic support control device control pressure support, then to coal-getter
Make the movement of face direction；
3rd step：Hydraulic support monitoring device is entered to the video image of camera acquisition with hydraulic support fixed signal template
Row mode is matched, and recognizes laser beam, is such as found matching target in setting time and is identified laser beam, then carries out the 4th step,
Otherwise stop moving frame and send shifting frame failure signal；
4th step：The angle of matching target and laser beam is calculated, and asks this angle-data and the hydraulic support phase stored
To the difference data of operating angle, the 5th step is carried out if obtained poor absolute value is less than given threshold, otherwise stops movement
Hydraulic support simultaneously sends alarm signal；
5th step：The special characteristic point for obtaining matching target is calculated, the special characteristic point and laser beam of matching target is calculated
Distance, calculate the range data with storage the hydraulic support relative target position data difference, such as difference be more than setting threshold
Value then continues to move to hydraulic support, and repeats the 3rd to the 5th step, until difference is less than given threshold, then stops mobile liquid
Press support and setting prop；
In mobile camera monitoring range during multiple hydraulic supports, second step is repeated to the 5th step, until completing shooting
The mobile working of all hydraulic support in machine monitoring range.
The video image of camera acquisition is compared hydraulic support monitoring device with hydraulic support fixed signal template
Process include：
1. extract the particular color feature in digital picture；
2. processing is filtered to image with filtering algorithm；
3. pair digital picture carries out rim detection, image edge information is obtained.
4. mark template to be carried out with the digital picture Jing Guo rim detection at pattern match with each hydraulic support transferred
Reason.Pattern match result is judged.
The hydraulic support monitoring and alarming system further comprises：The generating laser and camera installation locations include
The trapped orbit device installed perpendicular to coal face；The trapped orbit device includes controllable moving track device, and device is main
Including track and motor；Motor is used to control video camera to move in orbit；The motor is controlled by hydraulic support control device.
The hydraulic support monitoring and alarming system further comprises：The material of the fixed signal includes fluorescent material；Institute
Fixed signal is stated to mark including " ten " font.
Brief description of the drawings
The system schematic of Fig. 1 embodiments 1.
The system schematic of Fig. 2 embodiments 2.
Fig. 3 hydraulic bracket controller connection diagrams.
Fig. 4 video cameras and generating laser scheme of installation.
Fig. 5 hydraulic support mobile working flow charts.
Fig. 6 hydraulic support pattern match flow charts.
Embodiment
The embodiment 1 of the coal face hydraulic support monitoring and alarming system based on laser survey scale as shown in figure 1,
System composition mainly includes：
1. hydraulic support monitoring server (101), i.e. hydraulic support monitoring device, receive video server (103) and upload
Coal-face scene digital video data, by being obtained to the identification of the fixed signal of laser beam in image and hydraulic support
The data of hydraulic support position and support angle must be included and processing is compared, and according to comparison result automatically by hydraulic pressure branch
Frame controller equiment is controlled to hydraulic support, and control hydraulic support is moved to the position of setting；With onsite alarming monitoring
Function, when monitoring Hydraulic Support Posture or environmental abnormality, then sends alert data to monitor terminal.
2. storage server (102), is responsible for receiving the digitlization at the coal-face scene that video server (103) is uploaded
Video data is simultaneously stored, and transfers service for monitor terminal (103) offer inquiry.
3. monitor terminal (103), is responsible for display coal-face live video image, with real-time video monitoring and history
Video transfers function, and production management personnel check live video image by monitor terminal and can adjusted from storage server (102)
Take history monitoring data；The alert data progress alarm that server (101) transmission can be monitored according to the hydraulic support received is carried
Show, and send sound and light alarm.
4. the network switch (104), is responsible for management and the data exchange of the equipment of all mining Ethernets of access.
5. underground interchanger (105), is responsible for substation and other accesses and data exchange by network communication equipment, has
Flameproof enclosure, meets underground coal mine flame proof requirement.
6. hydraulic bracket controller (106), is communicated with hydraulic support monitoring server (101) and hydraulic support is carried out
Control, using programmable controller (PLC), realizes the monitoring to coal-winning machine, hydraulic support, scratch board conveyor and relevant device.
Siemens's S700 series sensors can be used.
7. electrichydraulic control valve group (107), electric hydraulic control valve is the execution unit of hydraulic bracket controller (106), is unit
Fabricated structure, each unit by two main control valves and two pilot valves into.Two main control valves in same unit are used respectively
To control stretching and receiving for same hydraulic cylinder.The integrated unit number of electric-hydraulic control reversing valve depends on the quantity of controlled device so that electricity
Hydraulic control valve possesses agile and all-purpose property, the action and posture of hydraulic support (109) and scraper plate (110) transporter is realized, by hydraulic pressure
Bracket controller (106) directly drives.
8. sensor (108), necessary feedback data, including pressure sensor, stroke are acted for gathering hydraulic support
Switch, infrared sensor etc..
9. hydraulic support (109), for support works face top, solenoid valve block is controlled by hydraulic bracket controller (106)
(107) cut-off, so as to control each movable part, linked during frame is moved with scratch board conveyor (110).
10. scratch board conveyor (110), for short-distance transport by coal-winning machine adopt under coal, equipment operation is by hydraulic support
Controller (106) is controlled, and scratch board conveyor is connected with hydraulic support (109) by hydraulic mechanism, the first mobile scraper before frame is moved
Transporter mobile hydraulic support again.
11. coal-winning machine (111), is directly controlled by the control device of itself, controlled by crossing fieldbus with hydraulic support
Device (106) communicates, and critical component is provided with infrared sensor, and for monitoring coal winning machine position and posture, Monitoring Data is by hydraulic pressure
Bracket controller (106) acquisition process.
12. video encoder (112), analog video image digitlization and compressed encoding by camera acquisition, and to well
Upper hydraulic support monitoring server (101), storage server (102), monitor terminal (103) transmitting video data；Can be using sea
Health DS-6701HW, video data is sent with multicast mode.
13. video camera (113), using the mining video camera for meeting coal mine flame-proof requirement, with secondary light source, by coaxial
Cable is connected with video encoder (112), in camera tracks (115).
14. generating laser (114), using the generating laser for meeting coal mine flame-proof requirement, with secondary light source, passes through
Cable is connected with hydraulic bracket controller (106), in camera tracks (115).
15. camera tracks (115), work surface side wall is installed on perpendicular to tunnel and parallel to tunnel, using stepping electricity
Machine drives track to slide, stepper motor connection hydraulic bracket controller (106), is controlled to rotate according to the pulse signal of its transmission,
Video camera (113) is driven to be moved to specified location.
The embodiment 2 of the coal face hydraulic support monitoring and alarming system based on laser survey scale as shown in Fig. 2
Difference with embodiment 1 is：
1. hydraulic support monitoring server (101) is installed on underground, recognized using industrial computer or for multiway images processing
Special equipment, direct collecting work face field video signal simultaneously handled, and network is passed through with hydraulic bracket controller (106)
Communication, can also be communicated by industrial field bus.
2. video camera connection video shunt (116), for that will be divided into two-way output by analog video signal all the way, connects all the way
Video encoder (112) is connect, by video signal digitization and is compressed, is transmitted by UDP mode of unicast to storage server
(102)；Second road analog video output connection hydraulic support monitoring server (101).
Hydraulic bracket controller is connected as shown in Figure 3 with control planning with each underground equipment：
1. the controller that hydraulic bracket controller (106) connects coal-winning machine (111) by CAN carries out shifting frame correlation must
The communication wanted.Hydraulic bracket controller (106) is realized by CAN communication module and communicated.
2. hydraulic bracket controller (106) controls hydraulic support (106) and scraper plate to transport by Electromagnetic Control valve group (107)
Machine (110).
3. infrared sensor (202) is used to monitor coal winning machine position and angle, using GUH5-F infrared transmitters and GUH5-
S infrared remote receivers, infrared transmitter is deployed on coal-winning machine critical piece, and the infrared remote receiver on hydraulic support is responsible for receiving hair
The infrared encoded signal of emitter transmitting, data acquisition is realized by the A/D modular converters of hydraulic bracket controller (106).
4. pressure sensor (203) is used to detect cavity pressure under each column of hydraulic support, GPD60 type mineral pressures can be used
Sensor, data acquisition is realized by the A/D modular converters of hydraulic bracket controller (106).
5. travel switch (201) is used to detect hydraulic support unit status, output switch amount is directly connected to hydraulic support control
The input port of device (106) processed.
6. the orbit motor of camera tracks (115) is directly connected to hydraulic bracket controller (106).
7. generating laser (114) is connected by cable with hydraulic bracket controller (106).
Fig. 4 is coal-face device location schematic diagram.As illustrated, in coal-face air intake lane and the lane of return airway
On road wall, camera tracks (115) are respectively mounted parallel to tunnel, video camera (113) and generating laser (114) are installed on shooting
Machine track, video camera (113) should be able to collect the fixed signal of laser beam and hydraulic support, and fixed signal is by with particular color
Fluorescent material draw, particular color includes red, green, yellow, white etc..In this example, coal-winning machine from air intake lane to
Return airway direction is moved, and needs first to move the video camera of air intake lane side before moving frame, then from air intake lane side successively movable hydraulic branch
Frame.
Move frame process as shown in Figure 5：
1. (501) hydraulic bracket controller (106) collection coal-winning machine (111) operation related data, including running status, adopt
Coal seat in the plane is put, and sends data to hydraulic support monitoring server (101).
2. (502) hydraulic support monitoring server (101) analysis coal-winning machine (111) state and position data, work as coal-winning machine
Since coal face one end to the other end move when, pass through hydraulic bracket controller (106) control camera tracks motor
Rotate the distance for driving video camera to move coal-winning machine this time feed to working face direction.
3. (503) hydraulic support monitoring server (101) by hydraulic bracket controller (106) control scratch board conveyor to
The segmentation movement of coal face direction.
4. (504) hydraulic bracket controller (106) directly controls hydraulic support (109) to drop post.
5. (505) hydraulic support monitoring server (101) controls hydraulic support by hydraulic bracket controller (106)
(109) moved to coal face direction.
6. (506) hydraulic bracket controller (106) control generating laser (114) transmitting laser.
7. (507) hydraulic support monitoring server (101) gathers the video image of support while mobile support.
8. (508) hydraulic support monitoring server (101) carries out pattern match identification to the mark in image.
9. (509) hydraulic support monitoring server (101) determines the hydraulic support position that pattern match is obtained.
10. (510) hydraulic support monitoring server (101) judges whether hydraulic support has reached target location, do not arrive such as
Support is continued to move to up to execution (504) is then returned；As reached target location, then (511) are performed.
11. (511) hydraulic support monitoring server (101) determines whether to have completed the shifting frame work of the support of predetermined quantity
Make, as completed, terminate this time to move frame work；Then return as unfinished and perform (501).
Hydraulic support monitoring server (101) is as shown in Figure 6 to hydraulic support pattern-recognition and handling process：
1. (601) transfer template image data, the liquid of the hydraulic support fixed signal in current camera institute monitoring range
Relative target position and the operating angle data of support and laser beam are pressed, mark described in this example is red fluorescence material people
For specific " ten " the font mark done, special characteristic point is the central point that " ten " font is marked.
2. (602) color characteristic in the color extraction digital picture of fluorescent material, this example markup is using red
Fluorescent material, laser beam is green, i.e., red and green characteristic is extracted.
3. (603) being filtered processing to image with filtering algorithm, remove the disturbing factors such as electromagnetic interference, dust and cause
Picture noise, strengthen image information, processing can be filtered to image using a variety of filtering algorithms.
4. (604) carrying out rim detection to digital picture, image edge information is obtained.
5. (605) with the template image data and the digitized map Jing Guo rim detection of the hydraulic support fixation mark transferred
As carrying out pattern match processing, in this example, row mode can be entered for the vertex position relation of " ten " font fixation mark
Match somebody with somebody；And laser beam is identified.
6. (606) pattern match result and laser beam recognition result are judged, if the match is successful and laser beam is known
Not Cheng Gong, then reset mode matching timer, continue executing with (609)；Otherwise during pattern match timer, and (607) are performed.
7. (607) value to pattern match timer judges, performed (608) if value exceedes given threshold；It is no
(602) are then returned to continue to handle freshly harvested digital picture.
8. (608) output hydraulic pressure support movement failure signal, stops moving frame.
9. (609) calculating the angle of matching target and laser beam, summit line and and laser beam can be calculated in this example
The angle of straight line.
10. (610) compare angle and the difference of the hydraulic support operating angle data of storage that (609) are obtained, if angle
Degree difference is more than given threshold, then illustrates that hydraulic support is tilted and perform (611)；As do not tilted, continue executing with (612).
11. (611) output hydraulic pressure support alarm signal, stops moving frame.
12. (612) judging the position of the special characteristic point of the fixation mark of matching target, this example special characteristic point is
The central point of " ten " font mark.
13. (613) calculate the special characteristic point of matching target and the distance of laser beam.Calculate the range data and storage
The difference of the hydraulic support relative target position data.
14. (614) judging the size of the difference that (613) are obtained, then performed if less than given threshold (615)；Otherwise perform
(616)。
15. (615) output hydraulic pressure support moves and puts up function signal.
16. whether (616) judge from starting to move frame to current elapsed time more than given threshold；If it exceeds setting
Threshold value is then performed (617)；Otherwise (602) are returned to continue to handle freshly harvested digital picture.
17. (617) output hydraulic pressure support movement failure signal, stops moving frame.
Claims (7)
1. the coal face hydraulic support monitoring and alarming system based on laser survey scale, its feature is：The system is mainly wrapped
Include generating laser, video camera, hydraulic support control device, hydraulic support monitoring device；The generating laser is used to launch
It is used as the laser beam of scale；The video camera is installed on coal-face tunnel sidewall locations, includes at least one for gathering
At least one fixed signal of laser beam and at least one hydraulic support；The hydraulic support control device is responsible for hydraulic support
It is controlled, and gathers hydraulic pressure shelf-like state；The video that the hydraulic support monitoring device passes through camera acquisition hydraulic support
Image, includes the relative of hydraulic support and laser beam by being obtained to the identification of the fixed signal of laser beam in image and hydraulic support
Position and the data of angle, and data are compared with having stored with the relative target position of laser beam and operating angle data
It is right, hydraulic support is controlled automatically by hydraulic support control device according to comparison result, control hydraulic support move to
The position of setting；The hydraulic support monitoring device then sends alarm when monitoring that hydraulic support angle is abnormal to monitor terminal
Data.
2. hydraulic support monitoring and alarming system as claimed in claim 1, it is characterised in that：The hydraulic support monitoring device is deposited
Storing up data includes the template image data of at least one hydraulic support fixed signal in camera acquisition image-region.
3. hydraulic support monitoring and alarming system as claimed in claim 1, it is characterised in that：The hydraulic support monitoring device is deposited
Storing up data includes relative target position and the operating angle data of hydraulic support and laser beam；The relative target position and work
Angle-data is measured in the state of video camera and hydraulic support are in operating position and obtained, relative target position data
The distance of special characteristic point and laser beam including hydraulic support fixed signal.
4. hydraulic support monitoring and alarming system as claimed in claim 1, it is characterised in that：Hydraulic moving stand job step bag
Include:
The first step：Generating laser and video camera are moved to new operating position along coal mining direction；
Second step：Hydraulic support monitoring device drops post by hydraulic support control device control pressure support, then to coal-face
Move in direction；
3rd step：Hydraulic support monitoring device carries out mould to the video image of camera acquisition with hydraulic support fixed signal template
Formula is matched, and recognizes laser beam, is such as found matching target in setting time and is identified laser beam, then carries out the 4th step, otherwise
Stop moving frame and send shifting frame failure signal；
4th step：The angle of matching target and laser beam is calculated, and seeks this angle-data work relative with the hydraulic support stored
Make the difference data of angle, carry out the 5th step if obtained poor absolute value is less than given threshold, otherwise stop movable hydraulic
Support simultaneously sends alarm signal；
5th step：Calculate obtain matching target special characteristic point, calculate matching target special characteristic point and laser beam away from
From, calculate the range data and the hydraulic support relative target position of storage, such as distance more than continuing to move to if given threshold
Hydraulic support, and the 3rd to the 5th step is repeated, until apart from less than given threshold, then stopping mobile hydraulic support and rising
Post；
In mobile camera monitoring range during multiple hydraulic supports, second step is repeated to the 5th step, until completing video camera prison
The mobile working of all hydraulic support in the range of survey.
5. hydraulic support monitoring and alarming system as claimed in claim 1, it is characterised in that：The video camera and generating laser
Installation site includes the trapped orbit device installed perpendicular to coal face；The trapped orbit device is filled including controllable moving track
Put；The controllable moving track device mainly includes track and motor；The motor is used to control video camera to move in orbit；
The motor is controlled by hydraulic support control device.
6. hydraulic support monitoring and alarming system as claimed in claim 1, it is characterised in that：The material of the fixed signal includes
Fluorescent material.
7. hydraulic support monitoring and alarming system as claimed in claim 1, it is characterised in that：The fixed signal includes " ten " word
Shape is marked.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710440595.6A CN106996303A (en) | 2017-06-13 | 2017-06-13 | Coal face hydraulic support monitoring and alarming system based on laser survey scale |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710440595.6A CN106996303A (en) | 2017-06-13 | 2017-06-13 | Coal face hydraulic support monitoring and alarming system based on laser survey scale |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106996303A true CN106996303A (en) | 2017-08-01 |
Family
ID=59436149
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710440595.6A Pending CN106996303A (en) | 2017-06-13 | 2017-06-13 | Coal face hydraulic support monitoring and alarming system based on laser survey scale |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106996303A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110231626A (en) * | 2019-06-10 | 2019-09-13 | 中国矿业大学 | A kind of coalcutter positioning monitoring system and its monitoring method |
| CN110232676A (en) * | 2019-04-28 | 2019-09-13 | 北京航空航天大学 | Installation condition detection method, device, equipment and the system of aircraft cable support |
| CN110318796A (en) * | 2019-07-18 | 2019-10-11 | 精英数智科技股份有限公司 | A kind of method, apparatus and system identifying hydraulic moving stand state |
| CN110426016A (en) * | 2019-07-30 | 2019-11-08 | 精英数智科技股份有限公司 | A kind of alignment householder method and system for moving frame for fully-mechanized mining working surface hydraulic support |
| CN112324483A (en) * | 2020-11-03 | 2021-02-05 | 山东科技大学 | Automatic hydraulic support straightening system, follow-up straightening system of scraper conveyor and application of follow-up straightening system |
| CN113236364A (en) * | 2021-04-28 | 2021-08-10 | 深圳市利拓光电有限公司 | Mine safety early warning method, device, storage medium and device based on laser |
| CN114415624A (en) * | 2021-12-21 | 2022-04-29 | 煤炭科学技术研究院有限公司 | Simulation test system of electro-hydraulic controller |
| CN114415624B (en) * | 2021-12-21 | 2024-04-19 | 煤科(北京)检测技术有限公司 | Simulation test system of electrohydraulic controller |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4829418A (en) * | 1987-04-24 | 1989-05-09 | Laser Alignment, Inc. | Apparatus and method for controlling a hydraulic excavator |
| US6056481A (en) * | 1996-09-07 | 2000-05-02 | Dbt Automation Gmbh | Method and device for monitoring the load on hydraulic powered shield supports for underground mining |
| CN202694116U (en) * | 2012-07-03 | 2013-01-23 | 河北天择重型机械有限公司 | Intelligent digital unmanned working face complete equipment for fully mechanized mining |
| CN103912275A (en) * | 2014-03-19 | 2014-07-09 | 北京天地玛珂电液控制系统有限公司 | Working face equipment positioning method based on image measurement |
-
2017
- 2017-06-13 CN CN201710440595.6A patent/CN106996303A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4829418A (en) * | 1987-04-24 | 1989-05-09 | Laser Alignment, Inc. | Apparatus and method for controlling a hydraulic excavator |
| US6056481A (en) * | 1996-09-07 | 2000-05-02 | Dbt Automation Gmbh | Method and device for monitoring the load on hydraulic powered shield supports for underground mining |
| CN202694116U (en) * | 2012-07-03 | 2013-01-23 | 河北天择重型机械有限公司 | Intelligent digital unmanned working face complete equipment for fully mechanized mining |
| CN103912275A (en) * | 2014-03-19 | 2014-07-09 | 北京天地玛珂电液控制系统有限公司 | Working face equipment positioning method based on image measurement |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110232676A (en) * | 2019-04-28 | 2019-09-13 | 北京航空航天大学 | Installation condition detection method, device, equipment and the system of aircraft cable support |
| CN110232676B (en) * | 2019-04-28 | 2021-06-29 | 北京航空航天大学 | Method, device, equipment and system for detecting installation state of aircraft cable bracket |
| CN110231626A (en) * | 2019-06-10 | 2019-09-13 | 中国矿业大学 | A kind of coalcutter positioning monitoring system and its monitoring method |
| CN110231626B (en) * | 2019-06-10 | 2023-04-18 | 中国矿业大学 | Positioning monitoring system and monitoring method for coal mining machine |
| CN110318796A (en) * | 2019-07-18 | 2019-10-11 | 精英数智科技股份有限公司 | A kind of method, apparatus and system identifying hydraulic moving stand state |
| CN110426016A (en) * | 2019-07-30 | 2019-11-08 | 精英数智科技股份有限公司 | A kind of alignment householder method and system for moving frame for fully-mechanized mining working surface hydraulic support |
| CN112324483A (en) * | 2020-11-03 | 2021-02-05 | 山东科技大学 | Automatic hydraulic support straightening system, follow-up straightening system of scraper conveyor and application of follow-up straightening system |
| CN112324483B (en) * | 2020-11-03 | 2022-03-25 | 山东科技大学 | Automatic hydraulic support straightening system, follow-up straightening system of scraper conveyor and application of follow-up straightening system |
| CN113236364A (en) * | 2021-04-28 | 2021-08-10 | 深圳市利拓光电有限公司 | Mine safety early warning method, device, storage medium and device based on laser |
| CN113236364B (en) * | 2021-04-28 | 2024-01-12 | 深圳市利拓光电有限公司 | Mine safety early warning method, device, storage medium and device based on laser |
| CN114415624A (en) * | 2021-12-21 | 2022-04-29 | 煤炭科学技术研究院有限公司 | Simulation test system of electro-hydraulic controller |
| CN114415624B (en) * | 2021-12-21 | 2024-04-19 | 煤科(北京)检测技术有限公司 | Simulation test system of electrohydraulic controller |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106996303A (en) | Coal face hydraulic support monitoring and alarming system based on laser survey scale | |
| CN108190749A (en) | A kind of remote control apparatus of tower crane, control method and intelligent tower crane | |
| CN210377085U (en) | Underground water pump house inspection system for coal mine | |
| CN111341068B (en) | Construction method of drilling site dangerous area early warning system based on deep learning | |
| CN107919627B (en) | Intelligent box transformer substation 'monitoring-detecting-maintaining' integrated system based on robot | |
| CN102063746B (en) | Program-controlled patrol machine and program-controlled patrol method for transformer station | |
| CN108590664B (en) | Multi-functional unattended intelligent tunnel digging change system based on trinocular vision identification technology | |
| CN107060848A (en) | Coal face hydraulic support monitoring and alarming system based on image | |
| CN109683609A (en) | A kind of electric intelligent inspection system and method | |
| CN104454011A (en) | Coal face rock burst alarming method based on images | |
| CN106949042B (en) | A kind of intelligence control system for air compressor machine | |
| CN113027530A (en) | Coal mine safety monitoring system and monitoring method based on internet data interaction | |
| CN207418144U (en) | Intelligent tower crane | |
| CN108539858A (en) | It is a kind of for automation of transformation substations intelligent patrol detection device | |
| CN104385274B (en) | For tackling the emergency disposal robot of Metro Emergency Event | |
| CN107100658A (en) | Coal-face top plate warning system based on image | |
| CN103863784B (en) | A kind of image capturing system for belt connector fault under monitor well | |
| CN110885019A (en) | Tower crane monitoring and real-time alarm system based on BIM model | |
| CN206598281U (en) | A kind of mechanical automation grabbing device | |
| CN206370904U (en) | A kind of remote on-line monitoring robot system | |
| CN113246152A (en) | Intelligent inspection robot for underground substation for mine | |
| CN206962973U (en) | A kind of centralized control system for substation inspection | |
| CN208112335U (en) | It is a kind of for automation of transformation substations intelligent patrol detection device | |
| CN207957557U (en) | A kind of remote control apparatus and intelligent tower crane of tower crane | |
| CN109613900B (en) | Coal plough operation comprehensive monitoring system and coal plough operation comprehensive monitoring center |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170801 |