CN111691908B - Automatic coal caving control system for fully mechanized caving face - Google Patents
Automatic coal caving control system for fully mechanized caving face Download PDFInfo
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- CN111691908B CN111691908B CN202010561142.0A CN202010561142A CN111691908B CN 111691908 B CN111691908 B CN 111691908B CN 202010561142 A CN202010561142 A CN 202010561142A CN 111691908 B CN111691908 B CN 111691908B
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK 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
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK 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
- E21D23/04—Structural features of the supporting construction, e.g. linking members between adjacent frames or sets of props; Means for counteracting lateral sliding on inclined floor
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK 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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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Abstract
The invention provides an automatic coal caving control system for a fully mechanized caving face, which is characterized in that a video camera is integrally and embedded on a tail beam of a hydraulic support, wherein a support controller of the hydraulic support at the position of an upper air head of one hydraulic support controls the video camera to be screwed out when coal is caving, the air at the upper air head is clean, the definition of a video signal acquired by the video camera is high, the coal caving process of the hydraulic support which executes the coal caving operation is monitored, the video camera is controlled to be screwed in when the coal caving is finished, the problems that the video camera is smashed, collided and fallen by a large coal block and the pollution of a camera lens by dust is serious in the use process of the top coal caving face of the video camera are solved, meanwhile, the support controller can automatically control the coal caving operation of the hydraulic support according to video information shot by a first camera and a second camera in the video camera, and unmanned control is realized, the automation degree and the safety of the coal discharging process are improved.
Description
Technical Field
The invention relates to the technical field of automatic coal mining, in particular to an automatic coal caving control system for a fully mechanized caving face.
Background
In coal mine production, the production environment of a working face is severe, the health and safety of workers are often not guaranteed, and the body and mind of the workers on the working face are greatly damaged by a large amount of dust generated in the mining process of the working face. At present, the coal face is automatically controlled by a hydraulic support and a coal mining machine, and few people or even no people are exploited on the face. The major technical problems of coal and gangue identification and the like of a coal caving working face are not solved, the coal is not observed in a rear coal caving method, a camera installed on a tail beam is often scraped and broken by materials on a rear scraper conveyor, the camera is polluted by dust, the image quality of transmission is poor, the variation condition of top coal is difficult to master, the transparency of the coal caving working process is low, the coal caving working process is high in dust concentration and complex in production environment, the coal caving working face is still operated on the spot by means of manpower according to feeling and experience, the coal caving effect is poor, the production efficiency is low, the cost is high, the recovery rate is low and the like, and meanwhile, personal injury is easily caused by improper control in the coal caving process, and the major potential safety hazard is faced.
Disclosure of Invention
The embodiment of the invention aims to provide an automatic coal caving control system for a fully mechanized caving face, and aims to solve the technical problems of low automation degree and poor safety in the coal caving process in the prior art.
Therefore, the invention provides an automatic coal caving control system for a fully mechanized caving face, which comprises:
the camera fixing part comprises a groove and a rotating mechanism; the groove is formed in the tail beam of the hydraulic support; the rotating mechanism is arranged in the groove;
the video camera is arranged at the end part of the rotating mechanism; the video camera comprises a first camera and a second camera;
the support controller and the coal and gangue identification processor are arranged on the hydraulic support; the coal caving system comprises a first hydraulic support, a second hydraulic support, a support controller, a first camera, a second camera, a first video signal and a second video signal, wherein the support controller on the first hydraulic support controls the first hydraulic support to execute coal caving operation, the support controller on the second hydraulic support controls a rotating mechanism on the second hydraulic support to rotate out of a groove and start the first camera and the second camera on the second hydraulic support; the second hydraulic support is positioned at the upper wind head position of the first hydraulic support, and at least two hydraulic supports are arranged between the second hydraulic support and the first hydraulic support at intervals;
the coal and gangue identification processor on the second hydraulic support receives the first video signal and the second video signal; determining the coal and gangue rate of the coal flow in the coal discharge process according to the first video signal to obtain a first coal and gangue rate, and determining the coal and gangue rate of the coal flow on the scraper conveyor according to the second video signal to obtain a second coal and gangue rate; determining the coal discharge gangue content rate according to the first gangue rate and the second gangue rate;
and the support controller on the first hydraulic support receives the coal discharge gangue content, and if the coal discharge gangue content is greater than a set threshold value, the first hydraulic support is controlled to stop the coal discharge operation, and meanwhile, the support controller on the second hydraulic support controls the rotating mechanism on the second hydraulic support to be screwed into the groove and close the first camera and the second camera on the second hydraulic support.
Optionally, the automatic coal caving control system for a fully mechanized caving face further includes a remote control host:
the remote control host is in communication connection with the support controller, receives the first video signal and the second video signal forwarded by the support controller, and remotely controls the support controller to start or finish the coal caving operation according to the first video signal and the second video signal.
Optionally, the above automatic coal caving control system for fully mechanized caving face further includes:
the sealed dustproof curtain is arranged at the opening of the groove, and when the video camera is screwed into the groove, the sealed dustproof curtain is sealed and shielded at the opening.
Optionally, in the above automatic coal caving control system for fully mechanized caving face, the rotating mechanism includes:
the base is fixed at the bottom of the groove;
and the electric push rod is fixedly arranged on the base, the controlled end of the electric push rod is in communication connection with the support controller, and the electric push rod extends out of the push rod or retracts into the push rod under the control of the support controller.
Optionally, in the above automatic coal caving control system for fully mechanized caving face, the base includes:
the fixing frame is fixedly arranged at the bottom of the groove;
the electric turntable is arranged in the middle of the fixed frame, the electric push rod is fixed on the electric turntable, and the electric turntable is controlled by the support controller to rotate or be static.
Optionally, the above automatic coal caving control system for fully mechanized caving face:
the first camera and the second camera are both fixed at the end part of the electric push rod through a holder;
and the cradle head is used for adjusting the shooting angles of the first camera and the second camera under the control of the support controller.
Optionally, the above automatic coal caving control system for fully mechanized caving face:
and the bracket controller receives an adjusting signal sent by the remote control host and controls the electric push rod, the electric turntable and the holder to act according to the adjusting signal.
Optionally, in the automatic coal caving control system for a fully mechanized caving face, the coal gangue identification processor obtains the coal gangue content in the coal caving according to the following method:
MG＝(a1×MG1+a2×MG2)/(a1+a2)；
wherein MG is the gangue content of coal discharge, MG1Is the first coal gangue rate, a1Is a first weight value, MG2Is the second coal gangue rate, a2Is the second weight value.
Optionally, in the automatic coal caving control system for a fully mechanized caving face, the coal gangue identification processor obtains the coal gangue content in the coal caving according to the following method:
according to the historical first coal and gangue rate and the historical second coal and gangue rate in the historical coal caving process, taking the historical coal and gangue containing rate corresponding to the same moment as an output sample;
training a preselected machine learning model according to the input sample and the output sample, and taking the machine learning model after training as a coal and gangue rate acquisition model;
and taking the first coal and gangue rate and the second coal and gangue rate as input parameters of the coal and gangue rate acquisition model, and taking the output of the coal and gangue rate acquisition model as the coal discharge gangue content.
Optionally, the above automatic coal caving control system for fully mechanized caving face:
the coal and gangue discharge rate obtained by the coal and gangue identification processor is a number between 0 and 100, and the set threshold value is a number between 0 and 100.
Compared with the prior art, the technical scheme provided by the embodiment of the invention at least has the following beneficial effects:
the automatic coal caving control system for the fully mechanized caving face provided by the embodiment of the invention integrally and embedded arranges the video cameras on the tail beam of the hydraulic support, wherein one hydraulic support is arranged on the support controller of the hydraulic support at the position of the upper air head of the hydraulic support when coal is caving, the video cameras are controlled to be screwed out, the air at the upper air head is clean, the definition of video signals acquired by the video cameras is high, the coal caving process of the hydraulic support executing the coal caving operation is monitored, the video cameras are controlled to be screwed in when the coal caving is finished, the problems that the video cameras are smashed, collided and fallen by large coal and the pollution of the camera lens by dust is serious in the using process of the caving face of the fully mechanized caving face is solved, meanwhile, the support controller can automatically control the coal caving operation of the hydraulic support according to the video information shot by the first camera and the second camera in the video cameras, and realizes unmanned control, the automation degree and the safety of the coal discharging process are improved.
Drawings
FIG. 1 is a block diagram of an automatic coal caving control system of a fully mechanized caving face according to an embodiment of the invention;
fig. 2 is a schematic structural view of a fixing portion of the image pickup apparatus according to an embodiment of the present invention;
fig. 3 is a block diagram of an automatic coal caving control system of a fully mechanized caving face according to another embodiment of the invention.
Detailed Description
The embodiments of the present invention will be further described with reference to the accompanying drawings. In the description of the present invention, it should be noted that the terms "first", "second", and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The technical schemes in the following embodiments provided by the invention can be combined with each other unless contradictory to each other, and technical features in different schemes can be replaced with each other.
The embodiment provides an automatic coal caving control system for a fully mechanized caving face, as shown in fig. 1 and 2, the system comprises:
the camera fixing part comprises a groove 201 and a rotating mechanism; the groove 201 is formed in the tail beam of the hydraulic support 102; the rotating mechanism is arranged in the groove 201; the video camera is arranged at the end part of the rotating mechanism; the video camera comprises a first camera 104 and a second camera 105; the bracket controller 101 and the coal and gangue identification processor 106 are arranged on the hydraulic bracket 102; the coal caving system comprises a first hydraulic support, a second hydraulic support, a support controller, a first camera, a second camera, a first video signal and a second video signal, wherein the support controller on the first hydraulic support controls the first hydraulic support to execute coal caving operation, the support controller on the second hydraulic support controls a rotating mechanism on the second hydraulic support to rotate out of a groove and start the first camera and the second camera on the second hydraulic support; the second hydraulic support is positioned at the upper wind head position of the first hydraulic support, and at least two hydraulic supports are arranged between the second hydraulic support and the first hydraulic support at intervals; the coal and gangue identification processor on the second hydraulic support receives the first video signal and the second video signal; determining the coal and gangue rate of the coal flow in the coal discharge process of the first hydraulic support according to the first video signal to obtain a first coal and gangue rate, and determining the coal and gangue rate of the coal flow on the scraper conveyor according to the second video signal to obtain a second coal and gangue rate; determining the coal discharge gangue content rate according to the first gangue rate and the second gangue rate; and the support controller on the first hydraulic support receives the coal discharge gangue content, and if the coal discharge gangue content is greater than a set threshold value, the first hydraulic support is controlled to stop the coal discharge operation, and meanwhile, the support controller on the second hydraulic support controls the rotating mechanism on the second hydraulic support to be screwed into the groove and close the first camera and the second camera on the second hydraulic support.
In the scheme, the video camera is integrally and embedded on the tail beam of the hydraulic bracket 102, wherein, when coal is put, the bracket controller of the hydraulic bracket at the upper wind head of one hydraulic bracket controls the video camera to rotate out, the air at the upper wind head is clean, the definition of the video signal collected by the video camera is high, the coal caving process of the hydraulic support which is executing the coal caving operation is monitored, the video camera is controlled to be screwed in when the coal caving is finished, the problems that the video camera is smashed, crashed and knocked down by a large coal block and the camera lens of the video camera is seriously polluted by dust and the like in the use process of the caving coal working face are solved, meanwhile, the support controller can automatically control the coal caving operation of the hydraulic support according to video information shot by the first camera and the second camera in the video camera, unmanned control is achieved, and the automation degree and the safety of the coal caving process are improved. When two hydraulic supports are spaced between the second hydraulic support and the first hydraulic support, the position where the second hydraulic support is located can be prevented from being polluted by dust, and the two hydraulic supports can be selected to be spaced between the second hydraulic support and the first hydraulic support in order to guarantee the instantaneity of coal flow signal monitoring. In addition, the upwind head means the upstream direction along the wind direction, namely the dust generated when the first hydraulic support puts coal is not blown to the position of the second hydraulic support.
In the above scheme, the support controllers of all the hydraulic supports in the fully mechanized mining face can be in communication connection, so that signals can be transmitted between the support controllers of different hydraulic supports. Further, as shown in fig. 3, the system may further include a remote control host 200, where the remote control host 200 is communicatively connected to the rack controller 101, receives the first video signal and the second video signal forwarded by the rack controller 101, and remotely controls the rack controller 101 to start or end the coal caving operation according to the first video signal and the second video signal. The remote control host 200 can be arranged in a ground dispatching room, can be used for observing and analyzing the coal caving condition of the fully mechanized top coal caving working face, and can perform remote intervention on the coal caving process of the working face.
In the above scheme, the device further comprises a sealed dustproof curtain arranged at the opening of the groove 201, and when the video camera is screwed into the groove 201, the sealed dustproof curtain is sealed and shielded at the opening. Through setting up sealed dustproof construction, make the camera lens of appearance of making a video recording avoid dust pollution.
As shown in fig. 2, the rotation mechanism includes: the base is fixed at the bottom of the groove 201; and the electric push rod 202 is fixedly arranged on the base, the controlled end of the electric push rod is in communication connection with the bracket controller 101, and the electric push rod extends out of the push rod or retracts back the push rod under the control of the bracket controller 101. The electric push rod 202 can be realized by adopting an electric control telescopic oil cylinder. When the support controller 101 controls the hydraulic support to put coal, the electric push rod 202 is controlled to stretch out, so that the video camera instrument is driven to stretch out of the groove, and when the support controller 101 controls the hydraulic support to stop putting coal, the electric push rod 202 is controlled to retract, so that the video camera instrument is driven to be recovered into the groove.
The base in the above aspect includes: the fixing frame 203 is fixedly arranged at the bottom of the groove 201; the electric rotating disc 204 is arranged in the middle of the fixed frame 203, the electric push rod 202 is fixed on the electric rotating disc 204, and the electric rotating disc 204 rotates or is static under the control of the support controller 101. By controlling the electric turntable 204 to rotate, the electric push rod 202 can be controlled to rotate, and then the shooting angle of the video camera is adjusted.
Further, in the above scheme, the first camera 104 and the second camera 105 are both fixed to the end of the electric push rod 202 through a pan-tilt; the pan-tilt adjusts the shooting angles of the first camera 104 and the second camera 105 under the control of the support controller 101. The tripod head can be arranged at 360 degrees。And rotating within the range, so as to drive the first camera 104 and the second camera 105 to rotate. After receiving the video signals of the first camera 104 and the second camera 105, the cradle controller 101 can determine whether the cameras are tilted according to the images recorded in the video signals, for example, the tilt angle of the cameras, for example, the position of a scraper in a scraper conveyor, the position of a tail beam of a hydraulic cradle, and the like can be determined according to the position of an existing object in the video signals.
In the above scheme, the angle of the camera can also be controlled in the following manner. The support controller 101 receives an adjusting signal sent by the remote control host 200, and controls the electric push rod 202, the electric turntable 204 and the holder to move according to the adjusting signal. Remote control host computer 200 sets up in the ground control room, and operating personnel can observe the video signal that first camera 104 and second camera 105 gathered through display device to confirm whether need adjust the angle of two cameras, through to remote control host computer 200 input operation signal and then control electric putter 202 electric turntable 204 with the cloud platform, the image that shoots up to the camera accords with observation angle.
In the above scheme, the rack controller 101 obtains the coal discharge gangue content rate according to the following method: MG ═ a1×MG1+a2×MG2)/(a1+a2) (ii) a Wherein MG is the gangue content of coal discharge, MG1Is the first coal gangue rate, a1Is a first weight value, MG2Is the second coal gangue rate, a2Is the second weight value. a is1And a2The acquisition can be carried out using empirical values, preferably a1+a2＝1。
As another mode, the rack controller 101 obtains the coal discharge gangue content according to the following modes: according to the historical first coal and gangue rate and the historical second coal and gangue rate in the historical coal caving process, taking the historical coal and gangue containing rate corresponding to the same moment as an output sample; training a preselected machine learning model according to the input sample and the output sample, and taking the machine learning model after training as a coal and gangue rate acquisition model; and taking the first coal and gangue rate and the second coal and gangue rate as input parameters of the coal and gangue rate acquisition model, and taking the output of the coal and gangue rate acquisition model as the coal discharge gangue content. Accurate analysis results can be obtained through a machine learning mode.
In addition, in order to improve the control efficiency of the support controller, the coal gangue discharge ratio obtained by the coal gangue identification processor is preferably a number between 0 and 100, and the set threshold value is preferably a number between 0 and 100. The gangue percentage is directly identified in a digital form, so that the identification processing of data is easier compared with the percentage form.
The operation steps of the automatic coal caving control system of the fully mechanized caving face in the scheme are as follows:
(1) and (5) initializing. After a working face hydraulic support electrohydraulic control system is powered on, all support coal-discharging video cameras configured on a working face are rotated to enter a protection state through a support controller, the cameras are completely hidden in a groove structure of a tail beam, the whole camera should not exceed a tail beam structural member after the camera rotates, and meanwhile, a camera shell uses a steel plate, can bear rebound collision of coal blocks and gangue and is not damaged, and the rotation of a rotating mechanism is not influenced. The direction of a blast head on a working face is defined, and the safety distance from the coal outlet to video monitoring is set, namely, the video monitoring is carried out by a plurality of supports.
(2) When the coal caving is started, firstly, the number of the coal caving support (namely the number of the selected first hydraulic support) is issued to a working face, the hydraulic support where the camera is located (namely the number of the second hydraulic support is determined, preferably two hydraulic supports are arranged between the second hydraulic support and the first hydraulic support at intervals) is determined according to the direction of an upper wind head and the safety distance of video monitoring, the support controller of the second hydraulic support is used for controlling the camera rotating mechanism, the camera is enabled to rotate out of a tail beam structure and is adjusted to a proper angle, the materials uploaded by the rear scraper conveyor are conveniently shot, and the coal caving and gangue caving conditions of the coal port of the first hydraulic support are monitored.
(3) In the coal discharging process, a camera vertically arranged on a camera on the second hydraulic support sends a shot coal and gangue image on the rear scraper conveyor to coal and gangue identification processing for model calculation analysis processing to obtain coal and gangue mixing degree proportion data, and the coal and gangue mixing degree proportion data is reported to a second hydraulic support controller, if the coal and gangue mixing ratio reaches the set coal and gangue threshold value, the bracket controller of the second hydraulic bracket reports the coal and gangue mixing ratio data to the bracket controller of the first hydraulic bracket under coal discharge through the bracket electro-hydraulic control system, the bracket controller of the first hydraulic bracket sends a coal discharge stopping instruction according to the information to stop the coal discharge of the bracket, meanwhile, the bracket controller of the second hydraulic bracket sends a control instruction to the camera in a working state, and controls the rotating mechanism to withdraw the camera into the tail beam structural part, so that the camera is in a protected state again. The camera horizontally arranged on the camera sends the shot coal caving process image of the first hydraulic support to the working face communication system, and the image information is reported to the monitoring center computer for displaying so as to monitor the coal caving process of the whole working face.
(4) And a remote control host computer of the monitoring center displays the coal caving monitoring video of the working face, the state of the coal caving port of the working face, the coal caving support and the coal and gangue mixing proportion thereof on a computer screen, and an operator can perform remote intervention control on the coal caving process of the working face through an operation console to start or stop coal caving.
Above scheme designs in embedding the tail boom structure of hydraulic support with the video camera appearance, and the camera appearance is confirmed to rotate and is gone out from the tail boom structure when will work, and when not needing work, withdraws again and makes it be in by the protection state in the tail boom structure. Thereby very big improvement the barrier propterty of appearance of making a video recording, no matter be the during operation simultaneously or the instrument of making a video recording when out of work is in the safe state all the time, avoid the dust pollution camera lens, avoid the casing to produce mechanical damage, improved the reliability and the usability of appearance of making a video recording greatly. The coal and gangue identification processor can realize automatic coal caving control based on coal and gangue identification, realize remote centralized intervention control based on video monitoring of a monitoring center coal caving process, state monitoring of a coal caving port of a working face and fusion of multiple information of coal and gangue information, and realize an unmanned mining production mode of a fully mechanized top coal caving working face based on automatic coal caving of the working face and remote intervention of a remote control host.
Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present invention, but not to limit the present invention; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An automatic coal caving control system for a fully mechanized caving face is characterized by comprising:
the camera fixing part comprises a groove and a rotating mechanism; the groove is formed in the tail beam of the hydraulic support; the rotating mechanism is arranged in the groove;
the video camera is arranged at the end part of the rotating mechanism; the video camera comprises a first camera and a second camera; the support controller and the coal and gangue identification processor are arranged on the hydraulic support; the coal caving system comprises a first hydraulic support, a second hydraulic support, a support controller, a first camera, a second camera, a first video signal and a second video signal, wherein the support controller on the first hydraulic support controls the first hydraulic support to execute coal caving operation, the support controller on the second hydraulic support controls a rotating mechanism on the second hydraulic support to rotate out of a groove and start the first camera and the second camera on the second hydraulic support; the second hydraulic support is positioned at the upper wind head position of the first hydraulic support, and at least two hydraulic supports are arranged between the second hydraulic support and the first hydraulic support at intervals; the upper wind head is in the upstream direction of the wind direction, namely dust generated when the first hydraulic support discharges coal cannot blow to the position of the second hydraulic support;
the coal and gangue identification processor on the second hydraulic support receives the first video signal and the second video signal; determining the coal and gangue rate of the coal flow in the coal discharge process according to the first video signal to obtain a first coal and gangue rate, and determining the coal and gangue rate of the coal flow on the scraper conveyor according to the second video signal to obtain a second coal and gangue rate; determining the coal discharge gangue content rate according to the first gangue rate and the second gangue rate;
and the support controller on the first hydraulic support receives the coal discharge gangue content, and if the coal discharge gangue content is greater than a set threshold value, the first hydraulic support is controlled to stop the coal discharge operation, and meanwhile, the support controller on the second hydraulic support controls the rotating mechanism on the second hydraulic support to be screwed into the groove and close the first camera and the second camera on the second hydraulic support.
2. The automatic coal caving control system for the fully mechanized caving face of claim 1, further comprising a remote control host:
the remote control host is in communication connection with the support controller, receives the first video signal and the second video signal forwarded by the support controller, and remotely controls the support controller to start or finish the coal caving operation according to the first video signal and the second video signal.
3. The automatic coal caving control system for fully mechanized caving face according to claim 1, further comprising:
the sealed dustproof curtain is arranged at the opening of the groove, and when the video camera is screwed into the groove, the sealed dustproof curtain is sealed and shielded at the opening.
4. The automatic coal caving control system for a fully mechanized caving face according to claim 2, wherein the rotating mechanism comprises:
the base is fixed at the bottom of the groove;
and the electric push rod is fixedly arranged on the base, the controlled end of the electric push rod is in communication connection with the support controller, and the electric push rod extends out of the push rod or retracts into the push rod under the control of the support controller.
5. The automatic coal caving control system for fully mechanized caving face according to claim 4, wherein the base comprises:
the fixing frame is fixedly arranged at the bottom of the groove;
the electric turntable is arranged in the middle of the fixed frame, the electric push rod is fixed on the electric turntable, and the electric turntable is controlled by the support controller to rotate or be static.
6. The automatic coal caving control system for the fully mechanized caving face of claim 5, wherein:
the first camera and the second camera are both fixed at the end part of the electric push rod through a holder;
and the cradle head is used for adjusting the shooting angles of the first camera and the second camera under the control of the support controller.
7. The automatic coal caving control system for the fully mechanized caving face of claim 6, wherein:
and the bracket controller receives an adjusting signal sent by the remote control host and controls the electric push rod, the electric turntable and the holder to act according to the adjusting signal.
8. The automatic coal caving control system for the fully mechanized caving face according to any one of claims 1 to 7, wherein the gangue identification processor obtains the gangue loading rate of the coal caving according to the following manner:
MG＝(a1×MG1+a2×MG2)/(a1+a2)；
wherein MG is the gangue content of coal discharge, MG1Is the first coal gangue rate, a1Is a first weight value, MG2Is the second coal gangue rate, a2Is the second weight value.
9. The automatic coal caving control system for the fully mechanized caving face according to any one of claims 1 to 7, wherein the gangue identification processor obtains the gangue loading rate of the coal caving according to the following manner:
according to the historical first coal and gangue rate and the historical second coal and gangue rate in the historical coal caving process, taking the historical coal and gangue containing rate corresponding to the same moment as an output sample;
training a preselected machine learning model according to the input sample and the output sample, and taking the machine learning model after training as a coal and gangue rate acquisition model;
and taking the first coal and gangue rate and the second coal and gangue rate as input parameters of the coal and gangue rate acquisition model, and taking the output of the coal and gangue rate acquisition model as the coal discharge gangue content.
10. The automatic coal caving control system for the fully mechanized caving face according to any one of claims 1 to 7, which is characterized in that:
the coal and gangue discharge rate obtained by the coal and gangue identification processor is a number between 0 and 100, and the set threshold value is a number between 0 and 100.
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| CN113137231B (en) * | 2021-05-24 | 2023-03-17 | 天津美腾科技股份有限公司 | Control method, system and device for automatic coal caving and electronic equipment |
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