CN116949907A - Automatic methane detection protection system for mining milling machine and implementation method - Google Patents
Automatic methane detection protection system for mining milling machine and implementation method Download PDFInfo
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- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 title claims abstract description 230
- 238000003801 milling Methods 0.000 title claims abstract description 68
- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000001514 detection method Methods 0.000 title claims abstract description 26
- 238000005065 mining Methods 0.000 title claims abstract description 16
- 238000012544 monitoring process Methods 0.000 claims abstract description 10
- 230000000007 visual effect Effects 0.000 claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 230000008569 process Effects 0.000 claims description 13
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 6
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 230000005856 abnormality Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 239000000498 cooling water Substances 0.000 claims description 3
- 230000001066 destructive effect Effects 0.000 claims description 3
- 238000002347 injection Methods 0.000 claims description 3
- 239000007924 injection Substances 0.000 claims description 3
- 230000008054 signal transmission Effects 0.000 claims description 3
- 239000007789 gas Substances 0.000 description 64
- 239000003245 coal Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
- E01C23/08—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades
- E01C23/085—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades using power-driven tools, e.g. vibratory tools
- E01C23/088—Rotary tools, e.g. milling drums
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/04—Introducing corrections for particular operating conditions
- F02D41/042—Introducing corrections for particular operating conditions for stopping the engine
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
- G01N33/0009—General constructional details of gas analysers, e.g. portable test equipment
- G01N33/0062—General constructional details of gas analysers, e.g. portable test equipment concerning the measuring method or the display, e.g. intermittent measurement or digital display
- G01N33/0063—General constructional details of gas analysers, e.g. portable test equipment concerning the measuring method or the display, e.g. intermittent measurement or digital display using a threshold to release an alarm or displaying means
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
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- Combined Controls Of Internal Combustion Engines (AREA)
Abstract
The invention discloses an automatic methane detection protection system for a mining milling machine and an implementation method thereof, which overcome the explosion-proof problem of the underground mining milling machine in the prior art. The invention comprises a methane gas monitoring protection closed-loop control system, which consists of a methane gas sensor, an engine ECU main controller, a milling machine main control system, a milling machine acousto-optic alarm system, a remote data transmission system and an engine flameout device; the methane gas sensor is arranged at the left side of the milling machine body operating table, the engine ECU main controller is arranged in the engine electric control system control box, and finally the milling machine is controlled to form a complete protection system; the milling machine main control system obtains the numerical value of a methane gas monitoring sensor from an engine ECU control board through a CAN bus, and judges whether the engine is flameout or not according to a gas concentration threshold; when the gas concentration exceeds a set threshold value, the milling machine audible and visual alarm system alarms; the electromagnetic valve is powered on when the engine is shut down; the remote data transmission system carries out alarm prompt.
Description
Technical field:
the invention belongs to the technical field of methane detection application, and relates to an automatic methane detection protection system for a mining milling machine and an implementation method.
The background technology is as follows:
the existing road surface type milling machine is usually used in an open and ventilated environment, no flammable gas or flammable and explosive use occasion exists, the specificity of the working environment of the underground explosion-proof ZHXB145 type milling machine must meet the working requirements of the underground high-level environment, and when the conditions of protruding gas and unsmooth ventilation and exceeding the standard gas are met, the equipment can automatically cut off an oil supply system and immediately execute a flameout program. The ZHXB145 type mining milling machine is used in a coal mine underground roadway, because gas hazard is always a relatively large problem in a coal mine, the health of a human body can be affected slightly, and the gas explosion is dangerous due to heavy factors, so that an automatic methane detection protection system is necessary for protecting operators in real time in the underground working process of equipment.
The invention comprises the following steps:
the invention aims to provide an automatic methane detection protection system for a mining milling machine and an implementation method thereof, which overcome the explosion-proof problem of the underground mining milling machine in the prior art. The invention can detect the methane content in the working environment, and once the methane content exceeds the standard, the main controller immediately cuts off the fuel system of the engine to cause the engine to flameout, thereby achieving the effect of protecting personal and property safety.
In order to achieve the above purpose, the invention adopts the following technical scheme:
an automatic methane detection protection system for a mining milling machine is characterized in that: the system comprises a methane gas monitoring protection closed-loop control system, a methane gas sensor, an engine ECU main controller, a milling machine main control system, a milling machine acousto-optic alarm system, a remote data transmission system and an engine flameout device; the methane gas sensor is arranged at the left side of the milling machine body operating table, the engine ECU main controller is arranged in the engine electric control system control box, and finally the milling machine is controlled to form a complete protection system; the milling machine main control system obtains the numerical value of a methane gas monitoring sensor from an engine ECU control board through a CAN bus, and judges whether the engine is flameout or not according to a gas concentration threshold; when the gas concentration exceeds a set threshold value, the milling machine audible and visual alarm system alarms; the electromagnetic valve is powered on when the engine is shut down; the remote data transmission system carries out alarm prompt.
The method for realizing the automatic methane detection protection system for the mining milling machine is characterized by comprising the following steps of: the method comprises the following steps:
when the milling machine is connected with the power supply of the explosion-proof storage battery, the methane gas sensor starts to detect work, detection data are transmitted back to the ECU control unit of the engine through the frequency signal, the self-checking program of the engine can automatically process the signal, the starting program of the engine is automatically blocked under the condition that the methane gas exceeds a standard value, and if the methane gas is in an operating state, the flameout program can be immediately executed, so that the safety of operators is ensured.
The method comprises the following steps:
(1) Displaying the methane gas concentration change through an engine data display, and setting a methane gas concentration limiting threshold value;
(2) The milling machine main control system acquires a methane gas concentration value acquired by an engine through a CAN bus, and sets a second-stage methane gas concentration alarm value through a milling machine control system;
(3) When the milling machine main control system monitors that the methane gas concentration exceeds the standard, the main control system controls the milling machine audible and visual alarm to carry out audible and visual alarm;
(4) When the milling machine main control system monitors that the concentration of methane gas exceeds the standard, the main control system controls a milling machine display to display that the methane exceeds the standard;
(5) When the milling machine main control system monitors that the methane gas concentration exceeds the standard, the main control system actively uploads a methane gas concentration abnormal signal to the central control hall through the remote data module.
The method comprises the following steps:
(1) Starting;
(2) Initializing a system;
(3) The self-checking flow is that the next step is entered; if not, returning to the previous step; if the continuous fault occurs, the fault alarm is given and the process is finished;
(4) Reading a methane gas sensor;
(5) Data checking, namely, entering the next step; if not, returning to the previous step;
(6) A methane number analysis algorithm;
(7) If the methane exceeds the standard, executing a flameout program, and ending; if not, entering the next step;
(8) Waiting for a main control ECU command;
(9) Executing a main control command;
(10) Waiting for a flameout command, namely waiting for a main control ECU command; if not, entering the next step;
(11) Executing a flameout program;
(12) And (5) ending.
Analyzing the methane number:
the engine control board sends data of gas concentration, engine surface temperature, exhaust temperature, cooling water temperature and water level of a water tank from a CAN bus ID of 0x15FF1501 at a frequency of 20ms, wherein the gas concentration value is a methane number; the main control ECU receives all data of the engine control board through the CAN bus, finds out the corresponding CAN bus ID of 0x15FF1501 through data inquiry, and inquires data of each data bit so as to acquire the methane gas value.
The method comprises the following steps:
(1) Firstly initializing related functional modules of the system, wherein the related functional modules comprise whether the power supply of the power supply system to the engine ECU meets the requirement, an input module output module, an AD/DA digital-to-analog conversion module and an electronic injection system module;
(2) The self-checking flow provides the final data judgment for the initialization task, if the lowest condition that the system is not started appears, the system is re-initialized in the last step, and if the starting requirement cannot be met after multiple times of detection, the control program executes the fault alarm task and ends the whole starting flow;
(3) After the self-checking flow is finished, the system firstly reads the frequency signal sent by the methane gas sensor and stores the data in a received data buffer area;
(4) The methane gas content data stored in the data buffer area are checked, the data abnormality caused by destructive electromagnetic interference is avoided in the process of receiving the frequency signal transmission, if the data is seriously damaged, the program flow for reading the methane gas sensor is circularly executed, and finally, the correctness of the data is ensured;
(5) Analyzing the methane gas data to obtain the methane content value measured by the sensor through a fixed formula;
(6) Judging whether the methane content exceeds the standard, if the methane gas content exceeds the warning value, directly calling a fault alarm program module and executing a flameout program by the process to ensure that the engine is closed at the first time so as to ensure the safety of personnel; if the methane content is normal, the following tasks are executed, and the command of the central control ECU is waited;
(7) Waiting for a start, throttle and torque control command sent by the main control ECU;
(8) Executing the related command sent by the main control ECU, calling a control program corresponding to the control command, and completing some actions of the engine; if the flameout command is received, the condition selection under the flameout command is processed;
(9) If the flameout command is received, the current control flow is directly ended after the flameout program is executed, and if the flameout command is not received, the main control ECU command waiting program is repeatedly executed in a circulating mode.
Compared with the prior art, the invention has the following advantages and effects:
1. the construction environment is suitable for places with dangerous gases such as coal mines and the like and MA coal safety explosion-proof requirements on explosion-proof grades, and the milling operation is carried out to effectively improve the productivity.
2. The invention can protect personnel and property safety in mine construction, and can block the occurrence of safety accidents at the first time when dangerous conditions occur.
3. The invention can help operators to monitor the gas content in the air when working and provide data reference for related personnel under the condition that the gas content in the air does not touch the parking standard, and if the gas content monitored by injured personnel occurs, the operators can automatically judge whether evacuation is needed.
Description of the drawings:
FIG. 1 is a schematic diagram of a methane detection protection system according to the present invention;
FIG. 2 is a schematic diagram of a process flow of the methane detection protection system of the present invention;
FIG. 3 is a wiring diagram of the methane detection protection system of the present invention.
The specific embodiment is as follows:
the present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The invention is based on the existing milling machine, an automatic methane detection protection system is added, the gas content in the air around the milling machine is monitored in real time during the use period, and once the gas content exceeds the standard, the gas is extinguished immediately and an alarm is triggered, so that an operator is prompted to withdraw immediately.
Referring to fig. 1, the invention relates to a methane gas monitoring protection closed-loop control system, which comprises a methane gas monitoring protection closed-loop control system, a milling machine sound and light alarm system, a remote data transmission system and an engine flameout device, wherein the methane gas monitoring protection closed-loop control system comprises a methane gas sensor, an engine ECU main controller and a milling machine main control system; the methane gas sensor is arranged at the left side of the milling machine body operating table, the engine ECU main controller is arranged in the engine electric control system control box, and finally the milling machine is controlled to form a complete protection system; the milling machine main control system obtains the numerical value of a methane gas monitoring sensor from an engine ECU control board through a CAN bus, and judges whether the engine is flameout or not according to a gas concentration threshold; when the gas concentration exceeds a set threshold value, the milling machine audible and visual alarm system alarms; the electromagnetic valve is powered on when the engine is shut down; the remote data transmission system carries out alarm prompt.
Referring to fig. 2, when the power supply of the explosion-proof storage battery is connected, the methane gas sensor starts to detect work, detection data is transmitted back to the engine ECU control unit through a frequency signal, the engine self-checking program can automatically process the signal, and under the condition that the methane gas exceeds a standard value, the engine starting program is automatically blocked, and if the engine starting program is in an operating state, the flameout program is immediately executed, so that the safety of operators is ensured.
The method specifically comprises the following steps:
(1) Displaying the methane gas concentration change through an engine data display, and setting a methane gas concentration limiting threshold value;
(2) The milling machine main control system acquires a methane gas concentration value acquired by an engine through a CAN bus, and sets a second-stage methane gas concentration alarm value through a milling machine control system;
(3) When the milling machine main control system monitors that the methane gas concentration exceeds the standard, the main control system controls the milling machine audible and visual alarm to carry out audible and visual alarm;
(4) When the milling machine main control system monitors that the concentration of methane gas exceeds the standard, the main control system controls a milling machine display to display that the methane exceeds the standard;
(5) When the milling machine main control system monitors that the methane gas concentration exceeds the standard, the main control system actively uploads a methane gas concentration abnormal signal to the central control hall through the remote data module.
The specific program execution flow is as follows:
(1) Firstly, initializing related functional modules of the system, wherein the functional modules comprise an input module output module, an AD/DA digital-to-analog conversion module, an electronic injection system and the like, and the power supply system is used for initializing whether the power supply of the engine ECU meets the requirements.
(2) And the self-checking flow provides the final data judgment for the initialization task, if the lowest condition that the system is not started appears, the system is re-initialized in the last step, and if the starting requirement cannot be met after multiple times of detection, the control program executes the fault alarm task and ends the whole starting flow.
(3) After the self-checking flow is finished, the system firstly reads the frequency signal sent by the methane gas sensor and stores the data in the received data buffer area.
(4) And (3) verifying the methane gas content data stored in the data buffer area, so that data abnormality caused by destructive electromagnetic interference is avoided in the process of receiving frequency signal transmission, and if the data is seriously damaged, the program flow for reading the methane gas sensor is circularly executed, and finally, the correctness of the data is ensured.
(5) And (3) carrying out an analysis algorithm of methane gas data, and calculating the methane content value measured by the sensor through a fixed formula. Among the ECU control boards of the engine, the model of the ECU control board of the engine is zdp 24G-Z.
(6) Judging whether the methane content exceeds the standard, if the methane gas content exceeds the warning value, directly calling a fault alarm program module and executing a flameout program by the process to ensure that the engine is closed at the first time so as to ensure the safety of personnel; if the methane content is normal, the following tasks are executed, and the command of the central control ECU is waited.
(7) Waiting for control commands such as start, throttle, torque and the like sent by the main control ECU.
(8) Executing the related command sent by the main control ECU, calling a control program corresponding to the control command, and completing some actions of the engine; if a flameout command is received, the following condition is selected for processing.
(9) And if the flameout command is received, directly ending the current control flow after the flameout program is executed, and if the flameout command is not received, repeatedly and circularly executing the waiting main control ECU command program.
Analyzing the methane number:
the engine control board sends the data of gas concentration, engine surface temperature, exhaust temperature, cooling water temperature and water level of the water tank from the CAN bus ID of 0x15FF1501 at a frequency of 20ms once; the CAN bus ID has the following related parameters. Wherein the gas concentration value is the methane number.
The main control ECU receives all data of the engine control board through the CAN bus, finds out the corresponding CAN bus ID of 0x15FF1501 through data inquiry, and inquires data of each data bit so as to acquire the methane gas value.
Resolving according to the listed chart: methane number = Byte1 x 0.1.
Referring to fig. 3, fig. 3 is a wiring diagram of the methane detection protection system of the present invention,
the foregoing description is only illustrative of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, and all changes that may be made in the equivalent structures described in the specification and drawings of the present invention are intended to be included in the scope of the invention.
Claims (6)
1. An automatic methane detection protection system for a mining milling machine is characterized in that: the system comprises a methane gas monitoring protection closed-loop control system, a methane gas sensor, an engine ECU main controller, a milling machine main control system, a milling machine acousto-optic alarm system, a remote data transmission system and an engine flameout device; the methane gas sensor is arranged at the left side of the milling machine body operating table, the engine ECU main controller is arranged in the engine electric control system control box, and finally the milling machine is controlled to form a complete protection system; the milling machine main control system obtains the numerical value of a methane gas monitoring sensor from an engine ECU control board through a CAN bus, and judges whether the engine is flameout or not according to a gas concentration threshold; when the gas concentration exceeds a set threshold value, the milling machine audible and visual alarm system alarms; the electromagnetic valve is powered on when the engine is shut down; the remote data transmission system carries out alarm prompt.
2. The method for implementing the automatic methane detection protection system for the mining milling machine according to claim 1, wherein the method comprises the following steps: the method comprises the following steps:
when the milling machine is connected with the power supply of the explosion-proof storage battery, the methane gas sensor starts to detect work, detection data are transmitted back to the ECU control unit of the engine through the frequency signal, the self-checking program of the engine can automatically process the signal, the starting program of the engine is automatically blocked under the condition that the methane gas exceeds a standard value, and if the methane gas is in an operating state, the flameout program can be immediately executed, so that the safety of operators is ensured.
3. The method for implementing the automatic methane detection protection system for the mining milling machine according to claim 2, wherein the method comprises the following steps: the method comprises the following steps:
(1) Displaying the methane gas concentration change through an engine data display, and setting a methane gas concentration limiting threshold value;
(2) The milling machine main control system acquires a methane gas concentration value acquired by an engine through a CAN bus, and sets a second-stage methane gas concentration alarm value through a milling machine control system;
(3) When the milling machine main control system monitors that the methane gas concentration exceeds the standard, the main control system controls the milling machine audible and visual alarm to carry out audible and visual alarm;
(4) When the milling machine main control system monitors that the concentration of methane gas exceeds the standard, the main control system controls a milling machine display to display that the methane exceeds the standard;
(5) When the milling machine main control system monitors that the methane gas concentration exceeds the standard, the main control system actively uploads a methane gas concentration abnormal signal to the central control hall through the remote data module.
4. The method for implementing an automatic methane detection protection system for a mining milling machine according to claim 3, wherein: the method comprises the following steps:
(1) Starting;
(2) Initializing a system;
(3) The self-checking flow is that the next step is entered; if not, returning to the previous step; if the continuous fault occurs, the fault alarm is given and the process is finished;
(4) Reading a methane gas sensor;
(5) Data checking, namely, entering the next step; if not, returning to the previous step;
(6) A methane number analysis algorithm;
(7) If the methane exceeds the standard, executing a flameout program, and ending; if not, entering the next step;
(8) Waiting for a main control ECU command;
(9) Executing a main control command;
(10) Waiting for a flameout command, namely waiting for a main control ECU command; if not, entering the next step;
(11) Executing a flameout program;
(12) And (5) ending.
5. The method for implementing the automatic methane detection protection system for the mining milling machine, as claimed in claim 4, wherein the method comprises the following steps: analyzing the methane number:
the engine control board sends data of gas concentration, engine surface temperature, exhaust temperature, cooling water temperature and water level of a water tank from a CAN bus ID of 0x15FF1501 at a frequency of 20ms, wherein the gas concentration value is a methane number; the main control ECU receives all data of the engine control board through the CAN bus, finds out the corresponding CAN bus ID of 0x15FF1501 through data inquiry, and inquires data of each data bit so as to acquire the methane gas value.
6. The method for implementing the automatic methane detection protection system for the mining milling machine, which is disclosed in claim 5, is characterized in that: the method comprises the following steps:
(1) Firstly initializing related functional modules of the system, wherein the related functional modules comprise whether the power supply of the power supply system to the engine ECU meets the requirement, an input module output module, an AD/DA digital-to-analog conversion module and an electronic injection system module;
(2) The self-checking flow provides the final data judgment for the initialization task, if the lowest condition that the system is not started appears, the system is re-initialized in the last step, and if the starting requirement cannot be met after multiple times of detection, the control program executes the fault alarm task and ends the whole starting flow;
(3) After the self-checking flow is finished, the system firstly reads the frequency signal sent by the methane gas sensor and stores the data in a received data buffer area;
(4) The methane gas content data stored in the data buffer area are checked, the data abnormality caused by destructive electromagnetic interference is avoided in the process of receiving the frequency signal transmission, if the data is seriously damaged, the program flow for reading the methane gas sensor is circularly executed, and finally, the correctness of the data is ensured;
(5) Analyzing the methane gas data to obtain the methane content value measured by the sensor through a fixed formula;
(6) Judging whether the methane content exceeds the standard, if the methane gas content exceeds the warning value, directly calling a fault alarm program module and executing a flameout program by the process to ensure that the engine is closed at the first time so as to ensure the safety of personnel; if the methane content is normal, the following tasks are executed, and the command of the central control ECU is waited;
(7) Waiting for a start, throttle and torque control command sent by the main control ECU;
(8) Executing the related command sent by the main control ECU, calling a control program corresponding to the control command, and completing some actions of the engine; if the flameout command is received, the condition selection under the flameout command is processed;
(9) If the flameout command is received, the current control flow is directly ended after the flameout program is executed, and if the flameout command is not received, the main control ECU command waiting program is repeatedly executed in a circulating mode.
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| CN204405540U (en) * | 2015-02-13 | 2015-06-17 | 四川省川煤科技有限公司 | A kind of infrared methane detection alarm instrument with magnetic sheet calibration function |
| CN106873534A (en) * | 2015-12-13 | 2017-06-20 | 韩会义 | A kind of all-hydraulic milling machine numerical control system |
| CN106248883A (en) * | 2016-08-22 | 2016-12-21 | 安徽工程大学机电学院 | A kind of firedamp sensor and control method thereof |
| US20210063304A1 (en) * | 2018-06-04 | 2021-03-04 | Daniel W. Chambers | Automated remote gas monitoring and flare control system |
| CN218090422U (en) * | 2022-08-26 | 2022-12-20 | 陕西中环机械有限责任公司 | Milling machine under ore deposit |
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