CN114407020B - Mining robot methane locking control device and control method - Google Patents
Mining robot methane locking control device and control method Download PDFInfo
- Publication number
- CN114407020B CN114407020B CN202210170199.7A CN202210170199A CN114407020B CN 114407020 B CN114407020 B CN 114407020B CN 202210170199 A CN202210170199 A CN 202210170199A CN 114407020 B CN114407020 B CN 114407020B
- Authority
- CN
- China
- Prior art keywords
- methane
- module
- locking device
- branch
- mining robot
- 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.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Abstract
The invention provides a methane locking control device and a control method for a mining robot, and relates to the field of robot control, wherein the device comprises a visible light imaging module, a thermal imaging module, a methane sensor module, a wireless transmission module, a motor driving module with an output end connected with the motor, a power module, a methane locking device and a battery pack, wherein the output end of the methane sensor module is in communication connection with the methane locking device, and the battery pack supplies power to the mining robot through the methane locking device; the control method of the device is that when the methane gas content in the working environment of the mining robot detected by the methane sensor module is not lower than the protection alarm threshold value, DO signals are output to the methane locking device, so that the methane locking device immediately cuts off the output of the battery pack to enter a locking state after monitoring the DO signals, and the locking is timely and reliable without being controlled by upper computer software.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a mining robot methane locking control device and a mining robot methane locking control method.
Background
In the existing mining robot, methane blocking generally detects methane concentration through a methane sensor module, the methane concentration is reported to a host computer software through a network, the host computer software issues a blocking command, and the robot executes the methane blocking command after receiving the command.
While robots work downhole, the host computer is typically uphole. The methane concentration data is detected by the methane reporting sensor module and reported to the upper computer software, and the upper computer software sends a locking command to the robot to lock methane when judging the locking of methane.
Disclosure of Invention
The invention aims to provide a methane locking control device and a methane locking control method for a mining robot, which are used for realizing direct control of the underground mining robot by directly inputting DO signals into the methane locking device, and the problem that the mining robot cannot execute a locking command of an upper computer to cause the timely locking when a complex underground network fails is solved.
In order to achieve the above purpose, the present invention proposes the following technical scheme: the methane locking control device of the mining robot comprises a visible light imaging module, a thermal imaging module, a methane sensor module, a wireless transmission module, a motor driving module, a power module, a methane locking device and a battery pack, wherein the output end of the motor driving module is connected with the motor, and the battery pack is used for supplying power to the mining robot;
the power supply module is used for converting a non-safety power supply output by the battery pack into an intrinsic safety power supply, the input end of the power supply module is connected with the output end of the methane locking device, and the output end of the power supply module is respectively connected with the motor driving module, the visible light imaging module, the thermal imaging module and the methane sensor module; the visible light imaging module, the thermal imaging module and the methane sensor module are respectively connected with the motor driving module through wireless transmission modules in a communication way, and the motor driving module receives a control mining robot action command generated according to data and state information of each module to control motor action;
the output end of the methane sensor module is in communication connection with a methane locking device, a protection alarm threshold value of methane gas content is preset in the methane sensor module, the methane sensor module is used for detecting the methane gas content in the mining robot working environment, and a DO signal is output to the methane locking device when the detected methane gas content is not lower than the protection alarm threshold value; the visible light imaging module and the thermal imaging module are used for video monitoring imaging and have a network video transmission function;
the methane locking device is electrically connected to the battery pack, when the methane locking device monitors DO signals, the output of the battery pack is immediately disconnected to enter a locking state, and meanwhile, the motor band-type brake brakes.
Further, the methane locking device comprises a first branch, a second branch and a third branch which are connected in parallel;
the first branch circuit comprises a first scram switch and a normally closed switch which are connected in series, the first scram switch is in a normally closed state, and the first branch circuit is electrically connected with the power supply module; the second branch comprises a second scram switch and a coil A which are connected in series, and the third branch comprises a relay and a coil B which are connected in series;
when the methane locking device monitors DO signals, the relay of the third branch is conducted, the coil B is electrified, the normally closed switch of the first branch acts and keeps an off state, the first branch is opened, the battery pack is disconnected to supply power to the power unit module, and the methane locking device enters a locking state.
Further, after the methane locking device enters a locking state, the first emergency stop switch is firstly opened and then the first emergency stop switch and the second emergency stop switch are sequentially closed when the methane locking device is unlocked;
the first emergency stop switch and the second emergency stop switch are closed, the coil A is powered, the normally closed switch is restored to a normally closed state, and the battery pack is connected to supply power to the power module.
Further, the mining robot methane locking control device also comprises an upper computer which is connected with the motor driving module, the visible light imaging module, the thermal imaging module and the methane sensor module in a communication mode through the wireless transmission module and is used for generating and controlling the mining robot action command according to the monitoring data and the state information of the visible light imaging module, the thermal imaging module and the methane sensor module and sending the command to the motor driving module.
The invention further discloses a mining robot methane locking control method, which comprises the following steps:
(1) After the mining robot is electrified, each module is subjected to self-checking, the methane locking device is in an unlocking state, and DO signals of the methane sensor module are waited;
(2) The methane sensor module monitors that the methane gas content in the working environment of the mining robot is not lower than a protection alarm threshold value, and outputs DO signals;
(3) And after receiving the DO signal, the methane locking device immediately disconnects the output of the battery pack to enter a locking state, and simultaneously, the motor band-type brake brakes.
Further, the method further comprises an unlocking step:
(4) After the methane locking device is locked, when the methane gas content in the mining robot working environment is detected to be lower than a protection alarm threshold value, the methane locking device is manually unlocked;
(5) After the methane locking device is unlocked and returns to the unlocking state, the mining robot is electrified and continues to wait for the methane sensor module to output the DO signal.
Further, the methane locking device comprises a first branch, a second branch and a third branch which are connected in parallel; the first branch circuit comprises a first scram switch and a normally closed switch which are connected in series, the first scram switch is in a normally closed state, and the first branch circuit is electrically connected with the power supply module; the second branch comprises a second scram switch and a coil A which are connected in series, and the third branch comprises a relay and a coil B which are connected in series;
the methane locking device receives the DO signal to enter a locking state: the relay of the third branch is conducted, the coil B is electrified, the normally closed switch of the first branch acts and keeps an off state, the first branch is disconnected, and the battery pack cuts off power supply to the power supply module.
Further, the process of manually unlocking the methane locking device comprises the following steps: the first scram switch is firstly opened, and then the first scram switch and the second scram switch are sequentially closed for action; and the first emergency stop switch and the second emergency stop switch are closed, the coil A is electrified, the normally closed switch is restored to a normally closed state, and the connection battery pack is restored to supply power to the power supply module.
According to the technical scheme, the following beneficial effects are achieved:
the invention provides a methane locking control device and a control method of a mining robot, and relates to the field of robot control, wherein the device comprises a visible light imaging module, a thermal imaging module, a methane sensor module, a wireless transmission module, a motor driving module with an output end connected with the motor, a power module, a methane locking device and a battery pack, wherein the output end of the methane sensor module is in communication connection with the methane locking device, and the battery pack supplies power to the mining robot through the methane locking device; when the wireless sensor system is in operation, the wireless transmission module reports data of each module of the mining robot in a wireless transmission mode to receive and control action commands of the mining robot, the methane sensor module detects methane gas content data in the working environment of the mining robot and reports the methane gas content data to the upper computer software in real time, and outputs DO signals to the methane locking device when the methane gas content in the working environment is not lower than a protection alarm threshold value, the methane locking device directly locks after receiving the DO signals, the output of the battery pack is immediately disconnected, the control of the upper computer software is not needed, and the locking process of the methane locking device is not influenced by a complex network environment in the pit.
Meanwhile, the methane locking device is unlocked manually; specifically, the methane locking device comprises a first branch, a second branch and a third branch which are connected in parallel; the first branch circuit comprises a first scram switch and a normally closed switch which are connected in series, wherein the first scram switch is in a normally closed state, and the first branch circuit is electrically connected with the power module; the second branch comprises a second scram switch and a coil A which are connected in series, and the third branch comprises a relay and a coil B which are connected in series; when the DO signal is received and locked, a relay of the third branch is conducted, a coil B is electrified, a normally closed switch of the first branch acts and keeps an off state, and the first branch is disconnected; when the methane locking device is unlocked, on one hand, the robot working environment is required to reach an unlocking state, and on the other hand, the methane locking device is required to be unlocked manually, namely, the first emergency stop switch is required to be opened manually, and then the first emergency stop switch and the second emergency stop switch are required to be closed in sequence; at the moment, the second branch is conducted, the coil A is electrified, the normally closed switch is restored to be in a normally closed state, and the battery pack is restored to supply power to the power supply module; the manual intervention and the operation party can unlock according to the regulations, so that the safety is greatly improved.
It should be understood that all combinations of the foregoing concepts, as well as additional concepts described in more detail below, may be considered a part of the inventive subject matter of the present disclosure as long as such concepts are not mutually inconsistent.
The foregoing and other aspects, embodiments, and features of the present teachings will be more fully understood from the following description, taken together with the accompanying drawings. Other additional aspects of the invention, such as features and/or advantages of the exemplary embodiments, will be apparent from the description which follows, or may be learned by practice of the embodiments according to the teachings of the invention.
Drawings
The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the invention will now be described, by way of example, with reference to the accompanying drawings, in which:
FIG. 1 is a block diagram of the device connection of the present invention;
FIG. 2 is a circuit diagram of a methane latch;
FIG. 3 is a schematic diagram of the operation flow of the methane latch-up control device provided by the implementation of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without creative efforts, based on the described embodiments of the present invention fall within the protection scope of the present invention. Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs.
The terms "first," "second," and the like in the description and in the claims, are not used for any order, quantity, or importance, but are used for distinguishing between different elements. Also, unless the context clearly indicates otherwise, singular forms "a," "an," or "the" and similar terms do not denote a limitation of quantity, but rather denote the presence of at least one. The terms "comprises," "comprising," or the like are intended to cover a feature, integer, step, operation, element, and/or component recited as being present in the element or article that "comprises" or "comprising" does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
Based on the scheme of controlling the underground robot to work by adopting an uphole upper computer in the prior art, the phenomenon of delayed execution exists when the methane locking function is realized, and the problems are that the underground network environment is complex, network faults are easy to occur, and the robot cannot execute locking commands sent by upper computer software when the network faults occur. Therefore, the invention aims at solving the problem that potential safety hazards are caused by delayed execution or incapability of executing the command, and provides the mining robot methane locking control device and the control method.
The invention discloses a mining robot methane locking control device and a control method, which are further specifically described below with reference to the embodiment shown in the drawings.
Referring to fig. 1, the methane locking control device of the mining robot provided by the invention comprises a visible light imaging module, a thermal imaging module, a methane sensor module, a wireless transmission module, a motor driving module with an output end connected with the motor, a power module, a methane locking device and a battery pack;
the electric connection relation of each module of the control device is as follows: the output end of the electric battery pack is connected with the methane locking device and is used for supplying power to the mining robot; the input end of the power supply module is connected with the output end of the methane locking device, and the output end of the power supply module is respectively connected with the motor driving module, the visible light imaging module, the thermal imaging module and the methane sensor module and is used for converting a non-safety power supply output by the battery pack into an intrinsic safety power supply; the data transmission relation of the control device is as follows: the visible light imaging module, the thermal imaging module and the methane sensor module are respectively connected with the motor driving module through wireless transmission modules in a communication way, and the motor driving module receives a mining robot motion control command generated according to data and state information of each module to control motor motion; when the visible light imaging module and the thermal imaging module work, the visible light imaging module is used for video monitoring imaging, video data are obtained, and the network video transmission function is realized; when the mining robot methane locking control device is specifically implemented, the mining robot methane locking control device further comprises an upper computer located on the well, the upper computer is connected with the motor driving module, the visible light imaging module, the thermal imaging module and the methane sensor module through the wireless transmission module in a communication mode, control software of the upper computer receives monitoring data and state information of the modules, and a control robot action command is generated and transmitted to the motor driving module through the wireless transmission module. The wireless transmission module is a mobile network, WIFI, bluetooth or ZigBee.
The methane locking control device of the mining robot is characterized in that a protection alarm threshold value of methane gas content is preset in a methane sensor module, an output end of the methane sensor module is connected to the methane locking device in a communication mode and used for detecting the methane gas content in the mining robot working environment, and DO signals are output to the methane locking device when the detected methane gas content is not lower than the protection alarm threshold value, so that the methane locking device immediately cuts off the output of a battery pack to enter a locking state after the DO signals are detected, and meanwhile, the motor band-type brake brakes; the methane sensor module and the methane locking device realize the methane locking function of the mining robot in a linkage manner, command control is not required through upper computer software, the methane sensor module and the methane locking device are not interfered by a complex network environment in the pit, and the methane sensor module and the methane locking device are timely and reliable.
In the embodiment shown in fig. 2, the methane blocking device comprises a first branch, a second branch and a third branch which are connected in parallel; as illustrated, the first branch includes a first scram switch and a normally closed switch connected in series, the first scram switch is in a normally closed state, and the first branch is electrically connected to the power module; the second branch comprises a second scram switch and a coil A which are connected in series, and the third branch comprises a relay and a coil B which are connected in series; when the methane locking device monitors the DO signal, the relay of the third branch is conducted, the coil B is electrified, at the moment, the normally closed switch of the first branch acts and keeps an off state, so that the first branch is disconnected, the battery pack is disconnected to supply power to the power unit module, and the methane locking device enters a locking state; the mining robot is connected with no power supply, and the motor band-type brake brakes.
In order to ensure that the mining robot is safely used underground, the methane locking control device disclosed by the invention not only requires that the methane content in the underground environment is lower than a protection alarm threshold value on the premise of unlocking after locking, but also can unlock the mining robot only by manual intervention and operation according to regulations, so that the use safety of the mining robot is greatly improved.
Specifically, as shown in fig. 2, when the methane locking device enters a locking state, the first emergency stop switch of the first branch is manually opened and then the second emergency stop switch of the second branch is sequentially closed when the methane locking device is unlocked; specifically, when the first emergency stop switch and the second emergency stop switch are closed, the coil A of the second branch is electrified, the normally closed switch of the first branch is restored to be in a normally closed state, the first branch is conducted, and the battery pack is restored to supply power to the power module.
Referring to fig. 3, the invention provides a mining robot methane locking control method based on the mining robot methane locking control device, which comprises the following steps:
(1) After the mining robot is electrified, each module is subjected to self-checking, the methane locking device is in an unlocking state, and DO signals of the methane sensor module are waited;
(2) The methane sensor module monitors that the methane gas content in the working environment of the mining robot is not lower than a protection alarm threshold value, and outputs DO signals;
(3) And after receiving the DO signal, the methane locking device immediately disconnects the output of the battery pack to enter a locking state, and simultaneously, the motor band-type brake brakes.
Firstly, a mining robot is powered on for self-detection, and a methane sensor module detects the concentration of methane in the environment; secondly, judging whether the detected methane concentration reaches a protection alarm threshold value or not; if the speed of the mining robot is not reached, the mining robot normally operates; if the signal is reached, a DO signal is directly output to lock the methane locking device, and the mining robot is powered off and the band-type brake is stopped after locking.
In conjunction with the circuit diagram of the methane latch-up device shown in the embodiment of fig. 2, the process of the methane latch-up device receiving the DO signal into the latch-up state is as follows: the relay of the third branch is conducted, the coil B is electrified, the normally closed switch of the first branch acts and keeps an off state, the first branch is disconnected, and the battery pack cuts off power supply to the power supply module.
The embodiment further provides an unlocking method for the methane locking control method of the mining robot when the mining robot is restarted to work under a proper environment, and the unlocking method comprises the following steps:
(4) After the methane locking device is locked, when the methane gas content in the mining robot working environment is detected to be lower than a protection alarm threshold value, the methane locking device is manually unlocked;
(5) After the methane locking device is unlocked and returns to the unlocking state, the mining robot is electrified and continues to wait for the methane sensor module to output the DO signal.
In order to ensure the safety of the mining robot working underground, the mining robot needs to manually participate in the unlocking process because the mining robot is powered off as a whole when the step (4) is specifically executed. For the methane latch device embodiment shown in fig. 2, the process of manually unlocking the methane latch device to the unlocked state is as follows: the first scram switch of the first branch is firstly opened, and then the first scram switch and the second scram switch are sequentially closed for action; when the first emergency stop switch and the second emergency stop switch are closed, the coil A of the second branch is electrified, and the normally closed switch of the first branch is restored to a normally closed state, so that the battery pack is restored to supply power to the power module. And finally, restarting the mining robot, entering a working state after self-checking is normal, and waiting for the methane sensor module to output a DO signal to enter the next locking program by the methane locking device. In the embodiment, the normally closed switch is selected to be a holding relay, and when the circuit receives the DO signal, the normally closed switch formed by the holding relay is opened and held, so that the mining robot is powered off as a whole.
When the mining robot methane locking control method disclosed by the invention is applied to the mining robot, the methane locking control device is controlled to lock by the alarm protection signal output by the methane sensor and the DO signal, and then the locking is released by closing the switch and then opening the switch by the scram switch; the process of realizing the methane locking function is timely and efficient, and the process of realizing the methane unlocking function is safe and reliable.
While the invention has been described with reference to preferred embodiments, it is not intended to be limiting. Those skilled in the art will appreciate that various modifications and adaptations can be made without departing from the spirit and scope of the present invention. Accordingly, the scope of the invention is defined by the appended claims.
Claims (6)
1. The methane locking control device of the mining robot is characterized by comprising a visible light imaging module, a thermal imaging module, a methane sensor module, a wireless transmission module, a motor driving module with an output end connected to the motor, a power module, a methane locking device and a battery pack, wherein the battery pack is used for supplying power to the mining robot;
the power supply module is used for converting a non-safety power supply output by the battery pack into an intrinsic safety power supply, the input end of the power supply module is connected with the output end of the methane locking device, and the output end of the power supply module is respectively connected with the motor driving module, the visible light imaging module, the thermal imaging module and the methane sensor module; the visible light imaging module, the thermal imaging module and the methane sensor module are respectively connected with the motor driving module through wireless transmission modules in a communication way, and the motor driving module receives a control mining robot action command generated according to data and state information of each module to control motor action;
the output end of the methane sensor module is in communication connection with a methane locking device, a protection alarm threshold value of methane gas content is preset in the methane sensor module, the methane sensor module is used for detecting the methane gas content in the mining robot working environment, and a DO signal is output to the methane locking device when the detected methane gas content is not lower than the protection alarm threshold value; the visible light imaging module and the thermal imaging module are used for video monitoring imaging and have a network video transmission function;
the methane locking device is electrically connected with the battery pack, when the methane locking device monitors DO signals, the output of the battery pack is immediately disconnected to enter a locking state, and meanwhile, the motor band-type brake brakes;
specifically, the methane locking device comprises a first branch, a second branch and a third branch which are connected in parallel;
the first branch circuit comprises a first scram switch and a normally closed switch which are connected in series, the first scram switch is in a normally closed state, and the first branch circuit is electrically connected with the power supply module; the second branch comprises a second scram switch and a coil A which are connected in series, and the third branch comprises a relay and a coil B which are connected in series;
when the methane locking device monitors DO signals, the relay of the third branch is conducted, the coil B is electrified, the normally closed switch of the first branch acts and keeps an off state, the first branch is opened, the battery pack is disconnected to supply power to the power unit module, and the methane locking device enters a locking state.
2. The methane locking control device of the mining robot according to claim 1, wherein after the methane locking device enters a locking state, the first emergency stop switch is opened and then the first emergency stop switch and the second emergency stop switch are sequentially closed when the methane locking device is unlocked;
the first emergency stop switch and the second emergency stop switch are closed, the coil A is powered, the normally closed switch is restored to a normally closed state, and the battery pack is connected to supply power to the power module.
3. The mining robot methane locking control device according to claim 2, further comprising a host computer, wherein the host computer is in communication connection with the motor driving module, the visible light imaging module, the thermal imaging module and the methane sensor module through the wireless transmission module, and is used for generating and sending a mining robot action control command to the motor driving module according to monitoring data and state information of the visible light imaging module, the thermal imaging module and the methane sensor module.
4. The mining robot methane locking control method is characterized by comprising the following steps of:
(1) After the mining robot is electrified, each module is subjected to self-checking, the methane locking device is in an unlocking state, and DO signals of the methane sensor module are waited;
(2) The methane sensor module monitors that the methane gas content in the working environment of the mining robot is not lower than a protection alarm threshold value, and outputs DO signals;
(3) After receiving the DO signal, the methane locking device immediately disconnects the output of the battery pack to enter a locking state, and simultaneously, the motor band-type brake brakes;
the methane locking device comprises a first branch, a second branch and a third branch which are connected in parallel;
the first branch circuit comprises a first scram switch and a normally closed switch which are connected in series, the first scram switch is in a normally closed state, and the first branch circuit is electrically connected with the power supply module; the second branch comprises a second scram switch and a coil A which are connected in series, and the third branch comprises a relay and a coil B which are connected in series;
the methane locking device receives the DO signal to enter a locking state: the relay of the third branch is conducted, the coil B is electrified, the normally closed switch of the first branch acts and keeps an off state, the first branch is disconnected, and the battery pack cuts off power supply to the power supply module.
5. The mining robot methane latch-up control method according to claim 4, further comprising:
(4) After the methane locking device is locked, when the methane gas content in the mining robot working environment is detected to be lower than a protection alarm threshold value, the methane locking device is manually unlocked;
(5) After the methane locking device is unlocked and returns to the unlocking state, the mining robot is electrified and continues to wait for the methane sensor module to output the DO signal.
6. The mining robot methane locking control method according to claim 5, wherein the process of manually unlocking the methane locking device is as follows: the first scram switch is firstly opened, and then the first scram switch and the second scram switch are sequentially closed for action; and the first emergency stop switch and the second emergency stop switch are closed, the coil A is electrified, the normally closed switch is restored to a normally closed state, and the connection battery pack is restored to supply power to the power supply module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210170199.7A CN114407020B (en) | 2022-02-24 | 2022-02-24 | Mining robot methane locking control device and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210170199.7A CN114407020B (en) | 2022-02-24 | 2022-02-24 | Mining robot methane locking control device and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114407020A CN114407020A (en) | 2022-04-29 |
| CN114407020B true CN114407020B (en) | 2023-07-25 |
Family
ID=81261538
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210170199.7A Active CN114407020B (en) | 2022-02-24 | 2022-02-24 | Mining robot methane locking control device and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114407020B (en) |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3603001B2 (en) * | 2000-02-09 | 2004-12-15 | 矢崎総業株式会社 | Gas alarm |
| CN103967633B (en) * | 2014-05-23 | 2016-04-27 | 中国水利水电第七工程局有限公司 | A kind of diesel locomotive autocontrol method for highway gas tunnel |
| CN204357487U (en) * | 2014-12-22 | 2015-05-27 | 四川达竹煤电（集团）有限责任公司铁山南煤矿 | Mine wind-powered electricity generation and gas electric shutting control system |
| CN205827276U (en) * | 2016-03-04 | 2016-12-21 | 宁夏艾德数据可视化有限公司 | A kind of Mine Ventilator intelligent monitor system based on Ethernet |
| AU2016411926B2 (en) * | 2016-06-17 | 2020-02-13 | Wuhan Easy-Sight Technology Co., Ltd. | Pipeline robot, pipeline video-signal acquisition and transmission device and pipeline detection system and method |
| CN206293008U (en) * | 2016-07-13 | 2017-06-30 | 太原煤炭气化（集团）有限责任公司技工学校 | A kind of coal mine safety monitoring monitoring " three lockings " demonstration checking device |
| CN106205258B (en) * | 2016-07-13 | 2019-02-01 | 太原煤炭气化（集团）有限责任公司技工学校 | Coal mine safety monitoring monitoring " three lockings " demonstration checking system and its operating method |
| CN109975635B (en) * | 2019-03-19 | 2021-09-07 | 光力科技股份有限公司 | Methane electric locking function test method and system |
| CN110733019A (en) * | 2019-10-30 | 2020-01-31 | 中国煤炭科工集团太原研究院有限公司 | mining rail-mounted gas monitoring robot |
| CN215245178U (en) * | 2021-05-20 | 2021-12-21 | 安徽理工大学 | Mining rescue robot |
| CN113246152A (en) * | 2021-05-31 | 2021-08-13 | 中煤科工集团沈阳研究院有限公司 | Intelligent inspection robot for underground substation for mine |
-
2022
- 2022-02-24 CN CN202210170199.7A patent/CN114407020B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN114407020A (en) | 2022-04-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103195303B (en) | Electric unlocking system and operation method thereof | |
| CN102864984B (en) | Smart door lock, unlocking system and unlocking method | |
| CN101834471B (en) | Transformer substation dynamic anti-maloperation locking system realized on basis of integrated online five-prevention | |
| CN106600782B (en) | A kind of control intelligent bicycle lock shuts method, apparatus, intelligent bicycle lock and bicycle | |
| CN106585417A (en) | Electric automobile charging port electronic lock control method and system | |
| CN110103881A (en) | A kind of remote de-locking is without key activation system | |
| CN108320983B (en) | Electronic ring main unit grounding switch multiple protection device and control method | |
| CN101951032A (en) | Method of realizing dynamic error-prevention function of transformer substation by monitoring and controlling unit | |
| CN214154147U (en) | Intelligent anti-misoperation system for switching operation | |
| CN112627280A (en) | Safety control method suitable for remote control excavator | |
| KR20180121039A (en) | Method for determining failure in charging connector locking system | |
| CN107482772B (en) | Measurement and control device and anti-misoperation lockout logic display method thereof | |
| CN109802355B (en) | Method and device for preventing misoperation of relay protection soft pressing plate | |
| CN101661842A (en) | Integrated mis-logical locking prevention system of digital substation | |
| CN114407020B (en) | Mining robot methane locking control device and control method | |
| CN104979900B (en) | Substation programmed operation anti-misoperation system and method | |
| CN103523030B (en) | The control setup of HSCB automatic re-operation under subway train VVVF fault work condition and method | |
| CN107959351B (en) | Dual-mode unlocking monitoring device, anti-misoperation management system of transformer substation and operation method of anti-misoperation management system | |
| CN108879663B (en) | One-key sequence control method and system for electric power system with exception handling | |
| CN209443959U (en) | A kind of reservoir dam gate hoist ring current Crypto Control Unit | |
| CN206237406U (en) | Cable's Fault monitoring system based on OTDR | |
| CN109166209A (en) | A kind of online five anti-intelligent lock system | |
| CN209617128U (en) | Multiply the two platform controlling device for doors for taking two frameworks based on two | |
| CN100458617C (en) | Computer monitoring anti-misoperation system | |
| CN104732625A (en) | Method and device for unlocking key management box on basis of fingerprint identification technology |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |