CN112360558A - Fully mechanized coal mining face visual control system and method - Google Patents
Fully mechanized coal mining face visual control system and method Download PDFInfo
- Publication number
- CN112360558A CN112360558A CN202011099423.5A CN202011099423A CN112360558A CN 112360558 A CN112360558 A CN 112360558A CN 202011099423 A CN202011099423 A CN 202011099423A CN 112360558 A CN112360558 A CN 112360558A
- Authority
- CN
- China
- Prior art keywords
- video
- coal mining
- monitoring center
- fully mechanized
- face
- 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
- 238000005065 mining Methods 0.000 title claims abstract description 110
- 239000003245 coal Substances 0.000 title claims abstract description 84
- 238000000034 method Methods 0.000 title claims abstract description 47
- 230000000007 visual effect Effects 0.000 title claims abstract description 44
- 238000012544 monitoring process Methods 0.000 claims abstract description 35
- 238000012800 visualization Methods 0.000 claims abstract description 25
- 238000001514 detection method Methods 0.000 claims abstract description 24
- 230000008569 process Effects 0.000 claims description 17
- 230000000694 effects Effects 0.000 claims description 15
- 230000006870 function Effects 0.000 claims description 14
- 230000004927 fusion Effects 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 8
- 238000006243 chemical reaction Methods 0.000 claims description 8
- 238000007499 fusion processing Methods 0.000 claims description 8
- 239000007788 liquid Substances 0.000 claims description 6
- 238000012795 verification Methods 0.000 claims description 6
- 239000000523 sample Substances 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000013499 data model Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000002708 enhancing effect Effects 0.000 description 2
- 238000007526 fusion splicing Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 206010011985 Decubitus ulcer Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000012634 fragment Substances 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- -1 narrow space Substances 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000004901 spalling Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Mining & Mineral Resources (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Physics & Mathematics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The fully mechanized coal mining face visualization control system comprises an gateway monitoring center, and a mixed visualization display unit, a video monitoring unit and a sensor detection unit which are connected with the gateway monitoring center. The mixed visual display unit feeds back according to an actual cutting result, iterative drawing of a next cutting base line is carried out, and the final guiding base line is drawn on a video model and displayed in the crossheading monitoring center. The method can realize the purpose that the fully mechanized coal mining face does not need manual operation under complex fluctuating complex geological conditions.
Description
Technical Field
The application relates to the technical field of coal mining, in particular to a fully mechanized coal mining face visual control system and method.
Background
The fully mechanized coal mining face is a comprehensive mechanized coal mining face, and is a coal mining face with a hydraulic support, a high-power scraper conveyor and a double-drum coal mining machine. The working procedures of the method comprise the steps of breaking coal, loading coal, transporting coal, supporting, processing a goaf, specially supporting two ends and the like, and are mostly mechanized. The technology is suitable for the mining of the medium and thick coal seams with stable coal seams, hard top plates, no fault and slow inclination and the layered longwall method of the thick coal seams. A hydraulic support, a scraper conveyor and a roller coal cutter are arranged on a longwall fully-mechanized mining face, and a gate-way reversed loader, a telescopic belt conveyor and the like are arranged on a transportation roadway. The fully-mechanized coal mining face is arranged in an overlong way, namely the face length is arranged according to the length of two fully-mechanized coal mining faces. Two coal mining machines ride on the same scraper conveyor and respectively cut coal walls of the upper half face and the lower half face. A middle lane can be arranged in the middle of the overlength fully mechanized mining face to serve as a transportation lane; and respectively arranging a scraper conveyor on the upper half working surface and the lower half working surface of the fully mechanized mining surface for opposite transportation to form a counter-pulling fully mechanized mining working surface.
In most of the actual mining of the fully mechanized mining face at the present stage, the face resident operators are still used for manual identification and short-distance control equipment mining. The coal mining working face has the potential safety hazards of high harmful gas content, high noise, high dust, narrow space, coal rock fragment splashing, frequent movement of large equipment where personnel are located, irregular roof fall, floor heave, rib spalling, periodic pressure coming and the like in the environment. The problems of severe working environment and more potential safety hazards exist.
In order to solve the problems, a memory cutting technology is mostly used in the mainstream construction of the fully mechanized mining face, and the technology mainly uses a first cutter cutting strategy of learning manual operation to repeatedly cut the coal wall according to manual setting. However, due to the limitations of unpredictable underground geological condition changes, insufficient precision of equipment detection sensors and the like, operators of main equipment still need to stay on the site of a mining working face to control mining.
Disclosure of Invention
The application provides a combine and adopt working face visual control system to realize the purpose that combine and adopt working face top bottom plate to combine and adopt the working face need not artifical the controlling under the complicated geological condition of complicated undulation.
The technical scheme adopted by the application for solving the technical problems is as follows:
the fully mechanized coal mining face visual control system comprises an gateway monitoring center, and a mixed visual display unit, a video monitoring unit and a sensor detection unit which are connected with the gateway monitoring center;
the mixed visual display unit is used for carrying out mining strategy key guide line marking after fusion calculation of various data of a cutting site of the working face is provided, and transmitting the result to the crossheading monitoring center;
the video monitoring unit is used for providing actual video images of a cutting site of the working face, performing video data fusion processing, tracking equipment, establishing video model conversion and transmitting result information to the crossheading monitoring center;
the sensor detection unit is used for measuring and verifying the actual cutting effect of the cutting site of the working face and transmitting a verification result and a related process to the crossheading monitoring center;
the crossheading monitoring center is used for drawing and marking a cutting guide baseline according to the mixed visual display unit, measuring and verifying the actual cutting effect through the video monitoring unit and the sensor detection unit, receiving the actual cutting result of the mixed visual display unit, performing the next iteration drawing of the cutting baseline according to the result, and drawing the final guide baseline on the video model and displaying the final guide baseline in the crossheading monitoring center.
Optionally, the gate way monitoring center comprises an electro-hydraulic control device, a coal mining machine, a scraper conveyor, a reversed loader, a belt conveyor and an integrated liquid supply device, wherein the electro-hydraulic control device, the coal mining machine, the scraper conveyor, the reversed loader, the belt conveyor and the integrated liquid supply device are connected with a main control computer in the gate way monitoring center.
Optionally, the hybrid visualization display unit includes analysis and display of geological data, a coal mining process, an equipment posture and a running track.
Optionally, the sensor detection unit comprises a multi-line radar or inertial navigation instrument.
Optionally, the working face cutting site includes an operation device, a video probe, a functional sensor and a ground database, which are connected to each other.
The fully mechanized coal mining face visualization control method comprises the following steps:
acquiring actual video images of a cutting site of a working face provided by a video monitoring unit, and result information of video data fusion processing, equipment tracking and video model conversion establishment;
acquiring various data fusion calculation of a cutting site of a working face provided by a mixed visual display unit, and then carrying out mining strategy key guideline marking information;
obtaining a verification result of measuring and verifying the actual cutting effect of the working face cutting site by the sensor detection unit;
the crossheading monitoring center draws and marks a cutting guide baseline according to the mixed visual display unit, measures and verifies the actual cutting effect through the video monitoring unit and the sensor detection unit, receives the actual cutting result of the mixed visual display unit, performs the iteration drawing of the next cutting baseline according to the result, and draws the final guide baseline on the video model to be displayed in the crossheading monitoring center.
Optionally, the method further includes:
and designing a fully mechanized mining automatic working face looped network according to the fully mechanized mining working face process, building a data and video monitoring environment, and realizing the real-time remote monitoring and control functions of the gateway monitoring center.
Optionally, the method further includes:
the crossheading monitoring center builds an attitude and trajectory model of the equipment in the motion process by adopting a hybrid modeling method aiming at a complex working face based on real-time intelligent sensing data feedback of a fully mechanized mining face equipment coal mining machine and a hydraulic support.
Optionally, the method further includes:
and the enhanced mixed visual display unit guides the remote control of the working face equipment through the operation table in real time, so that intelligent remote mining of the unmanned working face of the complex geology is realized.
Optionally, the method further includes:
the gateway monitoring center combines the video monitoring unit and the sensor detection unit to realize remote control auxiliary automatic tracking and perform the functions of positioning and calibrating the target posture.
The technical scheme provided by the application comprises the following beneficial technical effects:
the fully mechanized coal mining face visualization control system comprises an gateway monitoring center, and a mixed visualization display unit, a video monitoring unit and a sensor detection unit which are connected with the gateway monitoring center. The video monitoring unit provides actual video images of a stope, performs video data fusion processing, tracks equipment and establishes video model conversion; after the mixed visual display unit provides various data fusion calculation, the mining strategy key guide line marking is carried out; and the sensor module is used for measuring and verifying the actual cutting effect. The mixed visual display unit feeds back according to an actual cutting result, iterative drawing of a next cutting base line is carried out, and the final guiding base line is drawn on a video model and displayed in the crossheading monitoring center. The method provided by the application can achieve the purpose that the top and bottom plates of the fully mechanized mining face do not need manual operation and control under complex and fluctuating complex geological conditions.
Drawings
In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without any creative effort.
Fig. 1 is an architecture diagram of a fully mechanized coal mining face visualization control system according to an embodiment of the present disclosure.
Detailed Description
In order to make the technical solutions in the present application better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application; it is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, fig. 1 is a schematic diagram of a visual control system of a fully mechanized coal mining face according to an embodiment of the present disclosure. As shown in fig. 1, a fully mechanized coal mining face visualization control system provided by an embodiment of the present application includes a gateway monitoring center, and a hybrid visualization display unit, a video monitoring unit, and a sensor detection unit connected to the gateway monitoring center;
the mixed visual display unit is used for carrying out mining strategy key guide line marking after fusion calculation of various data of a cutting site of the working face is provided, and transmitting the result to the crossheading monitoring center;
the video monitoring unit is used for providing actual video images of a cutting site of the working face, performing video data fusion processing, tracking equipment, establishing video model conversion and transmitting result information to the crossheading monitoring center;
the sensor detection unit is used for measuring and verifying the actual cutting effect of the cutting site of the working face and transmitting a verification result and a related process to the crossheading monitoring center;
the crossheading monitoring center is used for drawing and marking a cutting guide baseline according to the mixed visual display unit, measuring and verifying the actual cutting effect through the video monitoring unit and the sensor detection unit, receiving the actual cutting result of the mixed visual display unit, performing the next iteration drawing of the cutting baseline according to the result, and drawing the final guide baseline on the video model and displaying the final guide baseline in the crossheading monitoring center.
Specifically, a video monitoring unit provides an actual video image of a stope, video data fusion processing, equipment tracking and video model conversion establishment; after the mixed visual display unit provides various data fusion calculation, the mining strategy key guide line marking is carried out; and the sensor module is used for measuring and verifying the actual cutting effect. The mixed visual display unit feeds back according to an actual cutting result, iterative drawing of a next cutting base line is carried out, and the final guiding base line is drawn on a video model and displayed in the crossheading monitoring center.
Optionally, the gate way monitoring center comprises an electro-hydraulic control device, a coal mining machine, a scraper conveyor, a reversed loader, a belt conveyor and an integrated liquid supply device, wherein the electro-hydraulic control device, the coal mining machine, the scraper conveyor, the reversed loader, the belt conveyor and the integrated liquid supply device are connected with a main control computer in the gate way monitoring center.
Optionally, the hybrid visualization display unit includes analysis and display of geological data, a coal mining process, an equipment posture and a running track.
Optionally, the sensor detection unit comprises a multi-line radar or inertial navigation instrument.
Optionally, the working face cutting site includes an operation device, a video probe, a functional sensor and a ground database, which are connected to each other.
By the aid of the system, unmanned control of the fully mechanized working face under complex geological conditions of complex fluctuation of the top and bottom plates of the fully mechanized working face can be realized, the mining mode of remote intelligent visual cooperative control of the crossheading is realized, workers are transferred to a relatively safe crossheading centralized control center from dangerous working faces with machine control, and remote monitoring of fully mechanized mining equipment is realized, so that one-key starting and stopping, fault early warning, interlocking control and cloud service intelligent management and control of all equipment of the working face under the complex geological conditions are realized. When the automatic conditions of the working face are met, the system can achieve the purpose of full-automatic mining of the working face with three machines (a scraper conveyor, a reversed loader and a belt conveyor) for automatic coal mining and cooperative work.
The specific installation mode can be implemented by the following embodiments:
(1) fully mechanized coal mining face equipment data communication looped network construction
And establishing a working face kilomega ring network, and communicating the main control computer of the monitoring center with the data of the electro-hydraulic control system, the coal mining machine, the three machines (the scraper conveyor, the reversed loader and the belt conveyor) and the integrated liquid supply system according to the communication protocol and the data point table of each subsystem to realize the monitoring of the running state of the related equipment. Therefore, a system independent ring network is established and mainly connected with main equipment, video probes, various sensors and a ground database which are distributed on a working face.
(2) Intelligent vision system establishment
The mounting positions and the irradiation angles of the supports and the coal wall videos are adjusted, the optimal mounting scheme is searched, all support top plates or stand columns are required to be seen, meanwhile, the working face video monitoring unit provides a visual basis, the coal mining machine video intelligent acquisition position of the coal mining machine is achieved, and automatic switching of the follow-up coal mining machine video is achieved. Panoramic video splicing is realized through a multi-video fusion splicing technology, and non-blind-area coverage of video panoramic presentation is realized. Optionally, the video camera is installed on the hydraulic support, and the installation position of the camera is formulated according to the distance between the hydraulic support and the coal wall, the height of the coal wall and the effective monitoring range of the video camera. The video tracking is realized according to the model identification of the coal mining machine, and the tracking of the coal mining machine on a video monitoring picture is switched; and carrying out multi-video fusion splicing by using a video algorithm deployed in the underground explosion-proof host of the crossheading monitoring center.
(3) Realization of enhanced perception visual remote control system for fully mechanized coal mining face equipment
The control system of the gateway monitoring center can obtain the posture of the baffle by calculating the point cloud distance information of different positions of the baffle. And transmitting the attitude to a main control computer, and establishing a working face model, wherein the working face model can be preset or can be detected in real time. And the control software in the master control computer fuses the information and the video data fed back by the video monitoring unit, and the information is converted into a control command of a remote control system for controlling the hydraulic pressure of the coal mining machine, so that the coal mining machine and the hydraulic support are commanded to perform adjustment compensation movement, and the visual remote control function of the working face is enhanced.
The embodiment of the application also provides a fully mechanized coal mining face visualization control method, which comprises the following steps:
acquiring actual video images of a cutting site of a working face provided by a video monitoring unit, and result information of video data fusion processing, equipment tracking and video model conversion establishment;
acquiring various data fusion calculation of a cutting site of a working face provided by a mixed visual display unit, and then carrying out mining strategy key guideline marking information;
obtaining a verification result of measuring and verifying the actual cutting effect of the working face cutting site by the sensor detection unit;
the crossheading monitoring center draws and marks a cutting guide baseline according to the mixed visual display unit, measures and verifies the actual cutting effect through the video monitoring unit and the sensor detection unit, receives the actual cutting result of the mixed visual display unit, performs the iteration drawing of the next cutting baseline according to the result, and draws the final guide baseline on the video model to be displayed in the crossheading monitoring center.
Optionally, the method further includes:
and designing a fully mechanized mining automatic working face looped network according to the fully mechanized mining working face process, building a data and video monitoring environment, and realizing the real-time remote monitoring and control functions of the gateway monitoring center.
Optionally, the method further includes:
the crossheading monitoring center builds an attitude and trajectory model of the equipment in the motion process by adopting a hybrid modeling method aiming at a complex working face based on real-time intelligent sensing data feedback of a fully mechanized mining face equipment coal mining machine and a hydraulic support.
Optionally, the method further includes:
and the enhanced mixed visual display unit guides the remote control of the working face equipment through the operation table in real time, so that intelligent remote mining of the unmanned working face of the complex geology is realized.
Optionally, the method further includes:
the gateway monitoring center combines the video monitoring unit and the sensor detection unit to realize remote control auxiliary automatic tracking and perform the functions of positioning and calibrating the target posture.
Specifically, the following is explained as a specific embodiment:
1. remote control mode for enhanced visualization model
The enhanced visual remote control mode is suitable for establishing the following mining modes and functions on the basis of research on an automatic mining process of coal mine fully-mechanized mining and an automatic cutting model, an electric hydraulic control automatic follower model and a three-machine frame cooperative control model of a working face coal mining machine:
(1) remote control of the coal mining machine based on the enhanced visualization model;
(2) electro-hydraulic control remote control based on an enhanced visualization model;
(3) and the intelligent video enhancement auxiliary control senses and positions the safety of the fully mechanized mining equipment.
2. Intelligent video enhancement auxiliary control
(1) Machine and locate function are followed to intelligence video: the position of the coal mining machine is obtained, meanwhile, the video image recognition technology is used for carrying out equipment positioning on other equipment such as a working face coal mining machine and a scraper conveyor, and the video camera is automatically switched along with the coal mining machine and has the positioning auxiliary control function.
(2) Panorama video concatenation intelligence auxiliary function: the method comprises the steps that a plurality of cameras deployed on a working face are installed on a support, and a plurality of groups of video information of cameras facing the coal mining machine and the coal wall direction are spliced out through modules such as video distortion correction, image geometric transformation, image registration and video fusion to form a complete spliced video and a panoramic image of the coal mining machine.
The video key frames with the overlapped areas are further obtained through the video information of the coal mining machine of the camera arranged on the working face, and then the videos are spliced out through the multiple groups of video information of the coal mining machine through an image panoramic splicing technology by obtaining the characteristic points of the coal mining machine, so that panoramic images and videos of the coal mining machine are formed.
3. Enhancing visual control functionality
(1) Enhancing the remote control of the visual hydraulic support:
the method comprises the steps of defining model data of a pushing and sliding frame, a pulling frame and a lifting column by establishing a support and model (a red frame data model is fused with a video enhancement model), controlling feedback data of a monitoring sensor in real time, and carrying out calibration by combining video visualization;
and the data of the auxiliary bracket sensor and the electro-hydraulic control group data are remotely controlled, so that the capacity of remotely operating the electro-hydraulic control of the hydraulic bracket to mine under a complex geological process is achieved. Realize the remote control to hydraulic support through operation support remote operation platform, the remote control function includes that hydraulic support pushes away the swift current in groups, stretches in groups to receive and protects actions such as group.
(2) Enhanced visual coal mining machine remote control
1) Real-time control is carried out on the model definition mining height and the decubitus data model, and calibration is carried out by combining video visualization;
2) the remote control of measurement models such as sensor data of the coal mining machine is assisted, and the coal mining machine can be operated remotely to mine under a complex geological process. The remote control of the coal mining machine is realized by operating the remote operation table of the coal mining machine, and the remote control function comprises the action control functions of lifting, descending, left traction, right traction, emergency stop and the like of a roller of the coal mining machine.
It is to be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
It will be understood that the present application is not limited to what has been described above and shown in the accompanying drawings, and that various modifications and changes can be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (10)
1. The fully mechanized coal mining face visual control system is characterized by comprising an gateway monitoring center, and a mixed visual display unit, a video monitoring unit and a sensor detection unit which are connected with the gateway monitoring center;
the mixed visual display unit is used for carrying out mining strategy key guide line marking after fusion calculation of various data of a cutting site of the working face is provided, and transmitting the result to the crossheading monitoring center;
the video monitoring unit is used for providing actual video images of a cutting site of the working face, performing video data fusion processing, tracking equipment, establishing video model conversion and transmitting result information to the crossheading monitoring center;
the sensor detection unit is used for measuring and verifying the actual cutting effect of the cutting site of the working face and transmitting a verification result and a related process to the crossheading monitoring center;
the crossheading monitoring center is used for drawing and marking a cutting guide baseline according to the mixed visual display unit, measuring and verifying the actual cutting effect through the video monitoring unit and the sensor detection unit, receiving the actual cutting result of the mixed visual display unit, performing the next iteration drawing of the cutting baseline according to the result, and drawing the final guide baseline on the video model and displaying the final guide baseline in the crossheading monitoring center.
2. The fully mechanized coal mining face visual control system of claim 1, wherein the gateway monitoring center comprises an electro-hydraulic control device, a coal mining machine, a scraper conveyor, a reversed loader, a belt conveyor and an integrated liquid supply device which are connected with a main control computer in the gateway monitoring center.
3. The fully mechanized coal mining face visualization control system of claim 1, wherein the hybrid visualization presentation unit includes an analytical presentation of geological data, coal mining processes, equipment attitude, and travel trajectories.
4. The enhanced fully mechanized mining face visualization control system of claim 1, wherein the sensor detection unit comprises a multi-line radar or inertial navigation instrument.
5. The fully mechanized coal mining face visualization control system of claim 1, wherein the face cutting site includes interconnected operational equipment, video probes, functional sensors, and a ground database.
6. The fully mechanized coal mining face visualization control method is characterized by comprising the following steps:
acquiring actual video images of a cutting site of a working face provided by a video monitoring unit, and result information of video data fusion processing, equipment tracking and video model conversion establishment;
acquiring various data fusion calculation of a cutting site of a working face provided by a mixed visual display unit, and then carrying out mining strategy key guideline marking information;
obtaining a verification result of measuring and verifying the actual cutting effect of the working face cutting site by the sensor detection unit;
the crossheading monitoring center draws and marks a cutting guide baseline according to the mixed visual display unit, measures and verifies the actual cutting effect through the video monitoring unit and the sensor detection unit, receives the actual cutting result of the mixed visual display unit, performs the iteration drawing of the next cutting baseline according to the result, and draws the final guide baseline on the video model to be displayed in the crossheading monitoring center.
7. The fully mechanized coal mining face visualization control method of claim 6, further comprising:
and designing a fully mechanized mining automatic working face looped network according to the fully mechanized mining working face process, building a data and video monitoring environment, and realizing the real-time remote monitoring and control functions of the gateway monitoring center.
8. The fully mechanized coal mining face visualization control method of claim 6, further comprising:
the crossheading monitoring center builds an attitude and trajectory model of the equipment in the motion process by adopting a hybrid modeling method aiming at a complex working face based on real-time intelligent sensing data feedback of a fully mechanized mining face equipment coal mining machine and a hydraulic support.
9. The fully mechanized coal mining face visualization control method of claim 6, further comprising:
and the enhanced mixed visual display unit guides the remote control of the working face equipment through the operation table in real time, so that intelligent remote mining of the unmanned working face of the complex geology is realized.
10. The fully mechanized coal mining face visualization control method of claim 6, further comprising:
the gateway monitoring center combines the video monitoring unit and the sensor detection unit to realize remote control auxiliary automatic tracking and perform the functions of positioning and calibrating the target posture.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011099423.5A CN112360558A (en) | 2020-10-14 | 2020-10-14 | Fully mechanized coal mining face visual control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011099423.5A CN112360558A (en) | 2020-10-14 | 2020-10-14 | Fully mechanized coal mining face visual control system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112360558A true CN112360558A (en) | 2021-02-12 |
Family
ID=74506779
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011099423.5A Pending CN112360558A (en) | 2020-10-14 | 2020-10-14 | Fully mechanized coal mining face visual control system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112360558A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113379909A (en) * | 2021-05-08 | 2021-09-10 | 华北科技学院(中国煤矿安全技术培训中心) | Transparent working face intelligent mining big data analysis decision method and system |
| CN113513315A (en) * | 2021-08-13 | 2021-10-19 | 中煤科工开采研究院有限公司 | Cutting visualization and adjustment method for top and bottom plates of fully mechanized coal mining face |
| CN114779978A (en) * | 2022-04-27 | 2022-07-22 | 天津大学 | Fusion method, system, device and medium for data visualization |
| CN118110514A (en) * | 2024-01-25 | 2024-05-31 | 枣庄矿业(集团)付村煤业有限公司 | Intelligent control system based on thick coal seam large mining height |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102628362A (en) * | 2012-04-18 | 2012-08-08 | 中国煤矿机械装备有限责任公司 | Automatic working face complete equipment for thin seam drum shearer |
| 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 |
| CN203241794U (en) * | 2013-04-22 | 2013-10-16 | 常州联力自动化科技有限公司 | Coal mine fully-mechanized surface intelligentized video monitoring system |
| CN204703903U (en) * | 2015-05-14 | 2015-10-14 | 中煤张家口煤矿机械有限责任公司 | The unmanned automated mining system of a kind of fully-mechanized mining working |
| CN111173510A (en) * | 2020-03-14 | 2020-05-19 | 天地科技股份有限公司 | Intelligent control method and system for fully mechanized mining equipment for complex condition working face |
-
2020
- 2020-10-14 CN CN202011099423.5A patent/CN112360558A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102628362A (en) * | 2012-04-18 | 2012-08-08 | 中国煤矿机械装备有限责任公司 | Automatic working face complete equipment for thin seam drum shearer |
| 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 |
| CN203241794U (en) * | 2013-04-22 | 2013-10-16 | 常州联力自动化科技有限公司 | Coal mine fully-mechanized surface intelligentized video monitoring system |
| CN204703903U (en) * | 2015-05-14 | 2015-10-14 | 中煤张家口煤矿机械有限责任公司 | The unmanned automated mining system of a kind of fully-mechanized mining working |
| CN111173510A (en) * | 2020-03-14 | 2020-05-19 | 天地科技股份有限公司 | Intelligent control method and system for fully mechanized mining equipment for complex condition working face |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113379909A (en) * | 2021-05-08 | 2021-09-10 | 华北科技学院(中国煤矿安全技术培训中心) | Transparent working face intelligent mining big data analysis decision method and system |
| CN113379909B (en) * | 2021-05-08 | 2023-10-27 | 华北科技学院(中国煤矿安全技术培训中心) | Transparent working face intelligent mining big data analysis decision-making method and system |
| CN113513315A (en) * | 2021-08-13 | 2021-10-19 | 中煤科工开采研究院有限公司 | Cutting visualization and adjustment method for top and bottom plates of fully mechanized coal mining face |
| CN113513315B (en) * | 2021-08-13 | 2023-12-08 | 中煤科工开采研究院有限公司 | Cutting visualization and adjusting method for top and bottom plates of fully mechanized mining face |
| CN114779978A (en) * | 2022-04-27 | 2022-07-22 | 天津大学 | Fusion method, system, device and medium for data visualization |
| CN118110514A (en) * | 2024-01-25 | 2024-05-31 | 枣庄矿业(集团)付村煤业有限公司 | Intelligent control system based on thick coal seam large mining height |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112360558A (en) | Fully mechanized coal mining face visual control system and method | |
| CN103867205B (en) | A kind of development machine tele-control system and method | |
| CN102063746B (en) | Program-controlled patrol machine and program-controlled patrol method for transformer station | |
| CN107390676B (en) | Tunnel inspection robot and tunnel inspection system | |
| CN105680364A (en) | Orbit-change mechanism control system for electric power tunnel inspection robot and method | |
| AU2015233890B2 (en) | Longwall face support in an underground mine | |
| CN104133476B (en) | Self-adaption path tracking method of inspection robot | |
| JP6083520B2 (en) | Robot guidance method and apparatus | |
| CN102854838A (en) | Tunnel self-adaptation cutting system and self-adaptation remote control method for roadheader | |
| SE2130149A1 (en) | Wellbore inspection system and method for ultra-deep vertical shaft | |
| CN105819339A (en) | Virtual command module for large lifting operations and working method of virtual command module | |
| KR102430038B1 (en) | System monitoring and removing the abnormality of an object and method thereof | |
| CN109753081A (en) | A kind of patrol unmanned machine system in tunnel based on machine vision and air navigation aid | |
| KR20120076494A (en) | Mine safety surveilance system | |
| CN113389592B (en) | Intelligent filling mining method for mine solids | |
| CN108539858A (en) | It is a kind of for automation of transformation substations intelligent patrol detection device | |
| CN106996303A (en) | Coal face hydraulic support monitoring and alarming system based on laser survey scale | |
| CN103217948A (en) | Cable laying long-range control system | |
| CN113313428A (en) | AI fault monitoring method and system of smart mine based on big data | |
| CN205352389U (en) | System for realize subway shield tunnel earth's surface displacement real -time supervision through high definition video | |
| CN107461204A (en) | Development machine tunnels automatic orientation system and its control method | |
| DE112021001934T5 (en) | Crane, crane body and program | |
| CN116736809A (en) | Linkage control system of working face equipment based on ambient pressure sensing | |
| CN112746864A (en) | Fully-mechanized mining advanced support intelligent robot group | |
| CN110430538B (en) | Tunnel production command cockpit |
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 |