CN109681207A - Mine management method and device - Google Patents

Mine management method and device Download PDF

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Publication number
CN109681207A
CN109681207A CN201811553651.8A CN201811553651A CN109681207A CN 109681207 A CN109681207 A CN 109681207A CN 201811553651 A CN201811553651 A CN 201811553651A CN 109681207 A CN109681207 A CN 109681207A
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CN
China
Prior art keywords
data
production
production equipment
production line
mining
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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
Application number
CN201811553651.8A
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Chinese (zh)
Inventor
张治民
马钰博
李鑫
李金亮
杨乾乾
任雷雷
王承江
郝建森
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Henan Zhongyu Dingli Intelligent Equipment Co Ltd
Xinxiang Zhongyu Dingli Software Technology Co Ltd
Original Assignee
Henan Zhongyu Dingli Intelligent Equipment Co Ltd
Xinxiang Zhongyu Dingli Software Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Henan Zhongyu Dingli Intelligent Equipment Co Ltd, Xinxiang Zhongyu Dingli Software Technology Co Ltd filed Critical Henan Zhongyu Dingli Intelligent Equipment Co Ltd
Priority to CN201811553651.8A priority Critical patent/CN109681207A/en
Publication of CN109681207A publication Critical patent/CN109681207A/en
Pending legal-status Critical Current

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Classifications

    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21CMINING OR QUARRYING
    • E21C47/00Machines for obtaining or the removal of materials in open-pit mines
    • E21C47/10Machines for obtaining or the removal of materials in open-pit mines for quarrying stone, sand, gravel, or clay

Abstract

The present invention provides a kind of mine management method and device, it is related to information technology field, this method comprises: obtaining the environmental data of multiple positions and/or the device data of multiple production equipments on mining production line, environmental data includes at least one of image data, smoke monitoring data and vibration monitoring data, and device data includes current operating parameter;Based on environmental data and/or device data, mining production line is controlled.Since environmental data and/or device data can be based on; control mining production line; realize the integrated management to mining production line; it eliminates the reliance on and manually mining production line is managed; also with regard to being checked one by one without periodically shutdown to production equipment; to save management cost, the accuracy and efficiency to mining production wire management is improved.

Description

Mine management method and device
Technical field
The present invention relates to information technology fields, in particular to a kind of mine management method and device.
Background technique
Mining production is one of industrial important component in China, with the demand of socio-economic development, mine Output is increasing year by year, and just to the work progress management and safety management of mining production, more stringent requirements are proposed for this.
The existing method for mine management is by being manually managed mostly, and maintenance personnel is periodically to production Management system is checked, but production equipment needs shutdown inspection during artificial investigation, wastes a large amount of device resource And time cost, in addition, it is lower to be manually managed efficiency to equipment, it is lower so as to cause mining production line production efficiency.
Summary of the invention
It is an object of the present invention in view of the deficiency of the prior art, provide a kind of mine management method and Device manually carries out pipe to production equipment due to not needing to rely on again to be managed to the production equipment on mining production line Reason, therefore improve the efficiency of management.
To achieve the above object, technical solution used in the embodiment of the present invention is as follows:
In a first aspect, the embodiment of the invention provides a kind of mine management methods, comprising: obtain on mining production line The device data of the environmental data of multiple positions and/or multiple production equipments, environmental data include image data, smoke monitoring number According at least one of with vibration monitoring data, device data includes current operating parameter;Based on environmental data and/or number of devices According to control mining production line.
Optionally, it should be based on environmental data and/or device data, if the step of control mining production line includes: based on ring Border data and/or device data determine mining production line production development accident, then alarm for mining production line.
Optionally, it should be based on environmental data and/or device data, if the step of control mining production line includes: to be based on setting Standby data, determine any production equipment failure in multiple production equipments, then in multiple production equipments, the determining production with failure The associated production equipment of equipment;According to the production equipment of preset order closing fault and the associated production of failure production equipment Equipment.
Optionally, device data further includes default operational factor, correspondingly, it should be based on environmental data and/or device data, The step of controlling mining production line includes: the default operational factor based on any production equipment, control production equipment operation.
Optionally, device data further includes historical operating parameter, correspondingly, it should be based on environmental data and/or device data, The step of controlling mining production line includes: historical operating parameter and current operating parameter based on any production equipment, determines life Produce the statistical data of equipment;Statistical data is shown.
Second aspect, the embodiment of the invention also provides a kind of mine management device, which includes: acquisition mould Block, for obtaining the environmental data of multiple positions and/or the device data of multiple production equipments, environmental data on mining production line Including at least one of image data, smoke monitoring data and vibration monitoring data, device data includes current operating parameter; Control module is based on environmental data and/or device data, controls mining production line.
Optionally, control module is specifically used for: if being based on environmental data and/or device data, determining that mining production line is sent out Raw production accident, then alarm for mining production line.
Optionally, control module is specifically used for: if being based on device data, determining any production equipment in multiple production equipments Failure determines production equipment associated with the production equipment of failure then in multiple production equipments;It is closed according to preset order The production equipment of failure and the associated production equipment of the production equipment of failure.
Optionally, device data further includes default operational factor, and control module is specifically used for: based on any production equipment Default operational factor, control production equipment operation.
Optionally, device data further includes historical operating parameter, and control module is specifically used for: based on any production equipment Historical operating parameter and current operating parameter determine the statistical data of production equipment;Statistical data is shown.
The beneficial effects of the present invention are: providing a kind of mine management method, comprising: obtain more on mining production line The device data of the environmental data of a position and/or multiple production equipments, environmental data include image data, smoke monitoring data At least one of with vibration monitoring data, device data includes current operating parameter;Based on environmental data and/or number of devices According to control mining production line.Since environmental data and/or device data can be based on, mining production line is controlled, is realized to mine The integrated management of production line is eliminated the reliance on and is manually managed to mining production line, also just without periodically shutting down to production equipment It is checked one by one, also saves management cost, improve the accuracy and efficiency to mining production wire management.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this A little attached drawings obtain other relevant attached drawings.
Fig. 1 is a kind of flow chart of mine management method provided in an embodiment of the present invention;
Fig. 2 is a kind of displaying interface of mine management provided in an embodiment of the present invention;
Fig. 3 is a kind of module diagram of mine management device provided in an embodiment of the present invention;
Fig. 4 is the module diagram of another mine management device provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is A part of the embodiment of the present invention, instead of all the embodiments.
Fig. 1 is please referred to, is a kind of flow chart of mine management method provided in an embodiment of the present invention.
Step S101 obtains the environmental data of multiple positions and/or the number of devices of multiple production equipments on mining production line According to environmental data includes at least one of image data, smoke monitoring data and vibration monitoring data, and device data includes working as Preceding operating parameter.
Since environmental data and device data are the key data sources on mining production line, in order to eliminate the reliance on Manually mining production line is managed, production equipment needs to shut down inspection when solving manually periodically to check mining production line The problem of wasting large number of equipment resource and time cost is looked into, the environment of multiple positions on acquisition mining production line can be passed through The device data of data and/or multiple production equipments realizes the automatic management to mining production line, improves the efficiency of management, drop Low time cost.
Wherein, the route that mining production line is passed through by ore production process enters production scene from ore raw materials and opens Begin, the route constituted by a series of production line activities such as processing, transport, assembly, inspection.
Environmental data is the data for embodying production equipment ambient conditions on mining production line, and environmental data includes image At least one of data, smoke monitoring data and vibration monitoring data, certainly, in practical applications, also available mine It is other kinds of for embodying the data of production equipment ambient conditions on mining production line on production line.
Image data is that the data being monitored to mining production line can be adopted in practical applications by image Acquisition means obtain image data.
Smoke monitoring data are the smokescope data on mining production line, in practical applications, can be passed using smog Sensor obtains Smoke Detection data.
Vibration monitoring data are to illustrate monitoring data relevant to earthquake on mining production line, which can be with Including noise data, in practical applications, vibration monitoring data can be obtained using vibration monitoring device.
Production equipment is the mechanical equipment on a series of mining production lines such as processing, transport, assembly, inspection, including feed The mechanical equipments such as machine, feed bin, crusher, dust removal machine, belt feeder, lubricating machine and vibrating screen.
Device data is the data for showing production equipment operating status, and device data includes current operating parameter.
Current operating parameter is the parameter information of production equipment real-time running state, and parameter information can be production equipment reality When operating status the information such as temperature information, current information, information of voltage and velocity information.
It should be noted that the environmental data of multiple positions and/or multiple production equipments on obtaining mining production line When device data, corresponding environmental data and device data can be obtained using different types of detection device, for example can adopt Smoke Detection data are obtained with smoke sensor device, image data can be obtained by image collecting device, it can be using shake Dynamic monitoring device obtains vibration monitoring data.Certainly, in practical applications, it is raw that mine can also be obtained by other means The environmental data of multiple positions and/or the device data of multiple production equipments in producing line.
Step S102 is based on environmental data and/or device data, controls mining production line.
Due to can by different types of detection device obtain mining production line on multiple positions environmental data and/or The device data of multiple production equipments, therefore it can be based on environmental data and/or device data, mining production line is controlled, is realized Integrated management to mining production line greatly improved the accuracy and efficiency to mining production wire management, save management Time cost.
Wherein it is possible to the control to mining production line is realized by being managed to detection device, it can also be by working as Preceding operating parameter, controls production equipment, to realize the control to mining production line.
It certainly, in practical applications, can also include other kinds of control mode, such as when device data includes production , can be based on the booting duration of production equipment when the booting duration of equipment, the corresponding lubricating machine of Auto-matching, which can To be maintained production equipment to extend the service life of production equipment.For another example, when device data includes in production equipment When the material position state of feed bin, it can be based on material position state, by Robust Control Algorithm, realized to batcher feeding in production equipment The automatic adjustment of speed, to guarantee that production equipment is in efficient operation always.
Wherein, Robust Control Algorithm be it is a kind of solution control system due to working condition change and external disturbance influence Under lead to system itself there are a kind of control algolithms when uncertainty.
In embodiments of the present invention, a kind of mine management method is provided, comprising: obtain multiple on mining production line The device data of the environmental data of position and/or multiple production equipments, environmental data include image data, smoke monitoring data and At least one of vibration monitoring data, device data include current operating parameter;Based on environmental data and/or device data, Control mining production line.Since environmental data and/or device data can be based on, mining production line is controlled, is realized raw to mine The integrated management of producing line is eliminated the reliance on and is manually managed to mining production line, also just without periodically shut down to production equipment into Row is checked one by one, is also saved management cost, is improved the accuracy and efficiency to mining production wire management.
Optionally, it should be based on environmental data and/or device data, if the step of control mining production line includes: based on ring Border data and/or device data determine mining production line production development accident, then alarm for mining production line.
To be based on environmental data, for controlling mining production line, it can determine that mining production line occurs based on environmental data Production accident is alarmed for mining production line.Specifically, since environmental data includes image data, smoke monitoring data At least one of with vibration monitoring data, correspondingly, image data, smoke monitoring data and vibration monitoring data can be based on At least one of determine mining production line production development accident, alarm for mining production line.
Specifically, it is based on image data, if discovery monitored picture is abnormal when monitoring in real time to mining production line, It can determine mining production line production development accident, and alarm for mining production line;It, can be with based on smoke monitoring data Judge whether the smokescope of production equipment ambient enviroment on mining production line is normal, if smokescope is dense higher than default smog Degree, may thereby determine that mining production line whether production development accident, and alarm for production accident;Based on vibration monitoring Data determine the noise decibel of production equipment ambient enviroment on mining production line, can be with if the noise decibel is higher than default decibel Judge mining production line whether production development accident, and alarm for production accident.
Can also the device datas such as temperature, electric current, voltage and speed based on production equipment real-time running state, determine mine Mountain production line production development accident, and alarm for mining production line, by taking temperature as an example, if temperature is not at preset temperature Range can then determine mining production line production development accident, and alarm for mining production line.Certainly, it is actually answering In, in order to more accurately judge mining production line whether production development accident, can be by production equipment real-time running state Device datas and the image data, smoke monitoring data and vibration such as temperature information, current information, information of voltage and velocity information Monitoring data in a manner of staff's self-defining in conjunction with determining mining production line production development accident, and it is for mine raw Producing line is alarmed.
It should be noted that default smokescope, default decibel or preset temperature range, it can be by being determined in advance It arrives.
In practical applications, mining production line production development accident can be also determined by other means, and is directed to mine Production line is alarmed, for example, can be by being monitored to the conveyer in production equipment, if the conveyer monitored is in Sideslip state can then determine mining production line production development accident, and alarm for mining production line.
Based on environmental data and/or device data, mining production line production development accident is determined, it can real-time accurate judgement Mining production line production development accident, and alarm for mining production line, to notify mine basic skill or training in production development accident Make personnel to withdraw in time, avoiding cannot check at the first time when there is accident to accident edge when being manually managed equipment By so as to avoid because checking less than casualties brought by accident edge or property loss.
Optionally, it should be based on environmental data and/or device data, if the step of control mining production line includes: to be based on setting Standby data, determine any production equipment failure in multiple production equipments, then in multiple production equipments, the determining production with failure The associated production equipment of equipment;According to the associated life of the production equipment of the production equipment of preset order closing fault and failure Produce equipment.
Wherein, preset order is to put in order according to what the correlation degree with failure production equipment was manually set.
Since mining production equipment has very much, there is a possibility that failure in each production equipment, in addition, multiple mines are raw It produces there may be certain association between equipment, some production equipment will affect the operation for being associated with production equipment after breaking down State, so as to cause security risk.Therefore, if being based on device data, any production equipment failure in multiple production equipments is determined, Production equipment associated with the production equipment that this breaks down is determined simultaneously, and according to the production of preset order closing fault The associated production equipment of the production equipment of equipment and failure, to avoid security risk.
It should be noted that it is based on device data, it, can be with when determining any production equipment failure in multiple production equipments Reference environment data, to be determined more accurately whether production equipment breaks down.
Optionally, device data further includes default operational factor, correspondingly, it should be based on environmental data and/or device data, The step of controlling mining production line includes: the default operational factor based on any production equipment, control production equipment operation.
Wherein, parameter when default operational factor operates normally for the equipment that staff is previously set presets operation ginseng Number may include temperature, electric current, voltage and speed.
Specifically, current operating parameter can illustrate that mining production line is in normal operation shape within the scope of operating parameter State.If the difference not in difference range, illustrates that production equipment operating status is abnormal in mining production line, can combine at this time Environmental data, determine production equipment with the presence or absence of failure, so that it is determined that mining production line whether production development accident, however, it is determined that hair Raw production accident, then alarm, and close production equipment for mining production line.
Wherein, which can be by being determined in advance.
Since environmental data and device data can reflect the operating status of production equipment, in order to more accurate Efficiently mining production line is controlled, default operational factor can be set, the default operation based on any production equipment Parameter, in conjunction with default operational factor corresponding with any production equipment, to control production equipment operation, thus to mining production Line carries out integrated management.
Optionally, the step of should being based on environmental data and/or device data, and controlling mining production line includes: based on any The historical operating parameter and current operating parameter of production equipment, determine the statistical data of production equipment;Statistical data is opened up Show.
The operating parameter of production equipment before historical operating parameter is current time.
Statistical data is the continuity data in certain time determined according to current operating parameter, and statistical data can be Form, broken line diagram form or curve form.
In embodiments of the present invention, statistical data include for temperature, electric current, voltage and any statistical data of speed, In addition, statistical data can also include the statistics of the electricity consumption for being directed to any production equipment, yield, maintenance record and no-load ratio Data.Certainly, in practical applications, statistical data can also include other can be with the continuity number of consersion unit operating status According to.
Specifically, current operating parameter and historical operating parameter can be counted in same table or figure, determines production The statistical data of equipment obtains the more production equipment that broke down within the time in past section, and statistical result is showed Staff refers to for staff.As shown in Fig. 2, being a kind of displaying of mine management provided in an embodiment of the present invention Interface, wherein the displaying interface can show above-mentioned current operating parameter, historical operating parameter and statistical data.The exhibition Show that interface further includes promoter region, which is used for the start and stop by some production equipment of process control, for example 1-1 can To be used to start dust removal machine, the dust in production equipment is cleared up with realizing.In addition, the displaying interface further includes quickly opening Dynamic area, quick start area includes start and stop button, for controlling the start and stop of entire mining production line.If it is determined that mine Mountain production line production development accident can stop the operation of mining production line by the emergency stop button in the displaying interface. In addition, the displaying interface can also show the operating status of any production equipment in real-time or some determination time in the past point, And the operating status of production equipment associated there is shown in main interface.
For convenience by showing that the operating status of production equipment in mining production line is showed staff by interface, just It, can be with to be managed collectively to mining production line in the operating status for checking production equipment that staff is concise Based on the current operating parameter of any production equipment, determines the statistical data of production equipment, be then shown statistical data.
It referring to figure 3., is a kind of module diagram of mine management device provided in an embodiment of the present invention, the device It include: to obtain module 301, for obtaining setting for the environmental data of multiple positions on mining production line and/or multiple production equipments Standby data, environmental data includes at least one of image data, smoke monitoring data and vibration monitoring data, device package Include current operating parameter;Control module 302 is based on environmental data and/or device data, controls mining production line.
Optionally, control module 302 is specifically used for: if being based on environmental data and/or device data, determining mining production line Production development accident is then alarmed for mining production line.
Optionally, control module 302 is specifically used for: if being based on device data, determining any production in multiple production equipments Equipment fault determines production equipment associated with the production equipment of failure then in multiple production equipments;According to preset order The production equipment of closing fault and the associated production equipment of the production equipment of failure.
Optionally, device data further includes default operational factor, and control module 302 is specifically used for: being set based on any production Standby default operational factor, control production equipment operation.
Optionally, device data further includes historical operating parameter, and control module 302 is specifically used for: being set based on any production Standby historical operating parameter and current operating parameter, determines the statistical data of production equipment;Statistical data is shown.
The method that above-mentioned apparatus is used to execute previous embodiment offer, it is similar that the realization principle and technical effect are similar, herein not It repeats again.
The above module can be arranged to implement one or more integrated circuits of above method, such as: one Or multiple specific integrated circuits (Application Specific Integrated Circuit, abbreviation ASIC), or, one Or multi-microprocessor (digital singnal processor, abbreviation DSP), or, one or more field programmable gate Array (Field Programmable Gate Array, abbreviation FPGA) etc..For another example, when some above module passes through processing elements When the form of part scheduler program code is realized, which can be general processor, such as central processing unit (Central Processing Unit, abbreviation CPU) or other can be with the processor of caller code.For another example, these modules can integrate Together, it is realized in the form of system on chip (system-on-a-chip, abbreviation SOC).
Fig. 4 is the module diagram for another mine management device that one embodiment of the invention provides, which can To be integrated in the chip of terminal device or terminal device, which can be the computer equipment for having management function.
The device includes: memory 401, processor 402.
Memory 401 is for storing program, the program that processor 402 calls memory 401 to store, to execute the above method Embodiment.Specific implementation is similar with technical effect, and which is not described herein again.
The present invention also provides a kind of program product, such as computer readable storage medium, including program, which is being located For executing above method embodiment when reason device executes.
In several embodiments provided by the present invention, it should be understood that disclosed device and method can pass through it His mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be tied Another system is closed or is desirably integrated into, or some features can be ignored or not executed.Another point, it is shown or discussed Mutual coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or logical of device or unit Letter connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme 's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list Member both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can store and computer-readable deposit at one In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer Equipment (can be personal computer, server or the network equipment etc.) or processor (English: processor) execute this hair The part steps of bright each embodiment the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (English: Read-Only Memory, abbreviation: ROM), random access memory (English: Random Access Memory, letter Claim: RAM), the various media that can store program code such as magnetic or disk.

Claims (10)

1. a kind of mine management method, which is characterized in that the described method includes:
Obtain the environmental data of multiple positions and/or the device data of multiple production equipments on mining production line, the environment number According to including at least one of image data, smoke monitoring data and vibration monitoring data, the device data includes current fortune Row parameter;
Based on the environmental data and/or the device data, the mining production line is controlled.
2. mine management method as described in claim 1, which is characterized in that it is described based on the environmental data and/or The device data controls the mining production line, comprising:
If being based on the environmental data and/or the device data, determines the mining production line production development accident, be then directed to The mining production line is alarmed.
3. mine management method as described in claim 1, which is characterized in that it is described based on the environmental data and/or The device data controls the mining production line, comprising:
If being based on the device data, any production equipment failure in multiple production equipments is determined, then described more In a production equipment, production equipment associated with the production equipment of failure is determined;
According to the associated production equipment of the production equipment of the production equipment and failure of preset order closing fault.
4. mine management method as described in claim 1, which is characterized in that the device data further includes default operation Parameter, it is described to be based on the environmental data and/or the device data, control the mining production line, comprising:
Based on the default operational factor of any production equipment, the production equipment operation is controlled.
5. mine management method as described in claim 1, which is characterized in that the device data further includes history run Parameter, it is described to be based on the environmental data and/or the device data, control the mining production line, comprising:
Based on the historical operating parameter and current operating parameter of any production equipment, the statistical number of the production equipment is determined According to;
The statistical data is shown.
6. a kind of mine management device, which is characterized in that described device includes:
Module is obtained, for obtaining the number of devices of the environmental data of multiple positions and/or multiple production equipments on mining production line According to the environmental data includes at least one of image data, smoke monitoring data and vibration monitoring data, the number of devices According to including current operating parameter;
Control module is based on the environmental data and/or the device data, controls the mining production line.
7. mine management device as claimed in claim 6, which is characterized in that the control module is specifically used for:
If being based on the environmental data and/or the device data, determines the mining production line production development accident, be then directed to The mining production line is alarmed.
8. mine management device as claimed in claim 6, which is characterized in that the control module is specifically used for:
If being based on the device data, any production equipment failure in multiple production equipments is determined, then described more In a production equipment, production equipment associated with the production equipment of failure is determined;
According to the associated production equipment of the production equipment of the production equipment and failure of preset order closing fault.
9. mine management device as claimed in claim 6, which is characterized in that the device data further includes default operation Parameter, the control module are specifically used for:
Based on the default operational factor of any production equipment, the production equipment operation is controlled.
10. mine management device as claimed in claim 6, which is characterized in that the control module is specifically used for:
Based on the current operating parameter of any production equipment, the statistical data of the production equipment is determined;
The statistical data is shown.
CN201811553651.8A 2018-12-18 2018-12-18 Mine management method and device Pending CN109681207A (en)

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CN112198852B (en) * 2020-10-09 2022-03-08 北京北矿智能科技有限公司 Exception handling method and device, storage medium and electronic equipment
CN113225384A (en) * 2021-04-16 2021-08-06 深圳市艾赛克科技有限公司 Construction site safety monitoring system and method

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