CN203435028U - A remote control system for coal mine continuous miner - Google Patents
A remote control system for coal mine continuous miner Download PDFInfo
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- CN203435028U CN203435028U CN201320543824.4U CN201320543824U CN203435028U CN 203435028 U CN203435028 U CN 203435028U CN 201320543824 U CN201320543824 U CN 201320543824U CN 203435028 U CN203435028 U CN 203435028U
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Abstract
The utility model provides a remote control system for coal mine continuous miner. With observed images and data of an acquiring sensor, an operator may accurately know the operating condition of a device and achieves remote operation of the device with a remote controller. The remote control system accurately determines whether the forwarding direction of the device is deviated with a video navigation target and corrects the forwarding direction of the continuous miner according to the position of a light spot on the video navigation target. The remote control system for coal mine continuous miner resolves problems of incapable clear observation of laser navigation light spots and incapable observation of miner posture which exist in a remote control operating process of a continuous miner or fast mining machine.
Description
Technical field
The utility model relates to coal-winning machine field, and particularly a kind of colliery connects the system of the Long-distance Control of adopting machine or speedy drivage machine.
Background technology
In coal mine roadway headwork process, the detection data that the transducer that the video image that Lian Caiji driver provides by observation camera and device body are installed provides realize the Long-distance Control of adopting machine or speedy drivage machine to connecting, by the position of image observation laser navigation target, the angle of pitch of fuselage and roll angle, and then the attitude of judgment device; By sensing data, detect the angle of cutting arm and the degree of depth of slotting; At control desk, by the mode Long-distance Control of wired or wireless data communication, even adopt machine or speedy drivage machine, it is a kind of mode combining with Data Detection by image observation, providing on the basis of relevant information, operation driver Long-distance Control is even adopted control system or the method that machine or speedy drivage machine carry out operation.
Along with the development of technology, it is more and more urgent that requirement realizes the demand of driving face Remote, makes Lian Caiji driver connect the operation of adopting machine or speedy drivage machine by Remote.But the direction of advance of Lian Caiji need to be located by laser navigation, can only rely at present the on-the-spot range estimation of Lian Caiji driver laser to impinge upon the direction of advance that hot spot on the rib of the place ahead is controlled coal-winning machine, impact due to operation field dust and water smoke, visibility is very low, and remote range estimation is difficult to watch laser to impinge upon the accurate location of the hot spot on rib.Lian Caiji or speedy drivage machine driver by field observation regulate cutting drum height and with left and right rib relative position, control the width and height in tunnel, so operation driver can not be away from equipment.Only have Lian Caiji driver can in remote console, watch clearly the hot spot of Ear Mucosa Treated by He Ne Laser Irradiation and accurately the company of detection adopt relative position, the detection angle of cutting arm and the degree of depth of slotting in machine and tunnel, the attitude of fuselage, and shown in real time in long-range man-machine interface, could realize continuous miner remote control system.
Video frequency graphic monitoring combines with data monitoring accurately clearly, and that the Remote of machine or speedy drivage machine is adopted to by the company of realization is extremely important, because operation driver need to complete field operation by the combination of these two.Be subject to the impact of geology occurrence condition, coal seam there will be dipping and heaving to change, Lian Caiji or speedy drivage machine will keep tunnel trend to push ahead along the bottom in coal seam in the process of advancing, the direction that push ahead in tunnel requires the direction with appointment consistent as far as possible, and width and the requirement for height of drift section are consistent.This just need to these be detected to data by communication network and video image is presented in long-range man-machine interface in real time, make operating personnel away from scene, driver observes and shows that data and image are by the action of remote controller control device, and the attitude of adjustment equipment, completes Remote operation.
Utility model content
The utility model is adopted the laser navigation hot spot range estimation existing in machine or the speedy drivage machine Remote course of work and cannot be seen clearly in order to solve existing company, the problem that fuselage attitude cannot be observed, a kind of mining laser orientation instrument and video navigation target corollary apparatus are provided, sealed dustproof formula video level instrument observation case, the colliery continuous miner remote control system that data combine with data with the image that picture control main frame and communication network form, by the data of observed image and pick-up transducers, make operating personnel can accurately grasp equipment working condition, by remote controller, realize the remote operation operation to equipment.
The utility model proposes a kind of colliery continuous miner remote control system combining with data based on image, comprise: a colliery connects machine or the speedy drivage machine adopted, in colliery, connect to adopt on machine or speedy drivage machine a video navigation target is installed, this video navigation target comprises video camera, dust cover, laser target; Video camera is installed on dust cover inside, and to keep the clean of video camera camera lens, a mining laser orientation instrument (2) is fixed on the place vertical with laser target (25), for sending laser rays (4) with directions; Video camera is facing to the back side of laser target, for the image information of the facula position on laser target (25) and scale is transmitted and received to the operator station (9) that base station (10) is transferred to backstage by wireless telecommunications; One operator station, transmits and receives for receiving wireless telecommunications the image information that transmit base station (10), makes operator to connect image and the data of adopting machine or speedy drivage machine by remote observation, by operational order, realizes the Long-distance Control to equipment; The picture signal collecting can be presented on video terminal, make operating personnel by screen image signal, see colliery in operator station clearly and even adopt machine or the attitude of speedy drivage machine and the indicating positions of laser orientation instrument, and realize colliery is connected to the Long-distance Control of adopting machine or speedy drivage machine by control command.
According to an aspect of the present utility model, described colliery continuous miner remote control system also comprises: a sealed dustproof formula video level instrument observation case, is provided with level meter, video camera in described sealed dustproof formula video level instrument observation case; Camera lens is facing to level meter, for observing the deviation angle of level meter, with identification equipment inclination situation; Video camera and level meter are placed in same dust cover, for preventing the impact on video camera minute surface of coal dust and water smoke.
According to an aspect of the present utility model, in sealed dustproof formula video level instrument observation case, two level meter at right angle settings are set, one parallel with equipment fore-and-aft direction axis, and one parallel with equipment left and right directions axis, is respectively used to the angle of pitch and the roll angle of scope.
According to an aspect of the present utility model, the hot spot that mining laser orientation instrument penetrates can be point-like, shape word line or cross hairs.
According to an aspect of the present utility model, in the middle of the installation site of video navigation target and mining laser orientation instrument, there is no shelter.
According to an aspect of the present utility model, when colliery connects the machine of adopting or the work of speedy drivage machine, video camera gathers the picture signal on video navigation target in real time, and by wireless base station, picture signal is sent to operator station, by the video terminal in operator station (13), show, operator is according to the signal on the video navigation target demonstrating, the operating state of colliery even being adopted to machine or speedy drivage machine judges, and according to the signal on video navigation target, constantly control colliery and connect the direction of advance of adopting machine or speedy drivage machine.
Compared with prior art, the utility model makes the operator can long-range acquisition laser spot position and equipment attitude image clearly, reduced the impact on video camera of coal dust and water smoke, solved and relied on the mode of artificial on-the-spot range estimation completely, for operator's Long-distance Control provides condition.
Accompanying drawing explanation
In conjunction with accompanying drawing subsequently, from detailed description below, can apparently draw above-mentioned and other object of the present utility model, feature and advantage.In the accompanying drawings:
Fig. 1 shows the quick anchor driving machine tele-control system figure according to the utility model embodiment;
Fig. 2 shows according to the utility model embodiment video navigation target schematic diagram;
Fig. 3 shows according to the hot spot schematic diagram on the laser target of an embodiment of the present utility model;
Fig. 4 shows the video navigation target work schematic diagram according to an embodiment of the present utility model;
Fig. 5 shows according to system configuration of the present utility model and forms schematic diagram.
Embodiment
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein is only in order to explain the utility model, and be not used in restriction the utility model.
According to an embodiment of the present utility model, video navigation target and sealed dustproof formula video level instrument observation case are installed connecting to adopt on machine or speedy drivage fuselage, mining laser orientation instrument is installed in tunnel makes laser rays point to the direction of tunnelling, the laser target surface of video navigation target is relative with mining laser orientation instrument, there is not shelter centre, laser facula is just in time dropped on the target surface of graduated laser target, laser target adopts semi-transparent material, at the back side of laser target, just form laser facula like this, the brightness of hot spot is relevant with selected materials light transmission, can adopt frosted glass, thin bakelite plate etc., position by cameras view laser facula on target surface, form video image clearly, image information is transferred on the display screen of far-end operation person's observation by wired or wireless communication modes, judgement connects the machine of adopting or speedy drivage machine whether within the job area of regulation.The position that operator even adopts machine or speedy drivage machine by remote manipulator adjustment makes hot spot be in the centre position of laser target always.So just can make the tunnel of driving consistent with the direction of laser orientation instrument.Simultaneously in order to adapt to the needs of tunnel fluctuations, can adopt a word line or cross hairs laser, make the laser facula of vertical direction always on laser target, avoid due to equipment fluctuations, make the upper edge of the super super laser target of point-like laser hot spot or the scope of lower edge, reduce the design height of laser target.Sealed dustproof formula video level instrument observation case is fixed on Lian Caiji or speedy drivage fuselage, and mounting seat is provided with adjusting device, makes level meter can reflect the angle of pitch and the roll angle of equipment, and the data that level meter shows are consistent with equipment attitude.Video camera and level meter are arranged in an airtight casing, make video camera to not having water smoke and coal dust to impact video camera imaging between being observed a little, can obtain image clearly.The clear video image of monitoring is in real time sent on the video terminal of operator station by communication base station.
The utility model is concrete adopts following technical scheme to realize: a kind of mining laser orientation instrument and video navigation target corollary apparatus, the hot spot that changes original laser orientation instrument is radiated on rib, operation driver estimates the mode that operation is instructed in the position of hot spot on rib, the hot spot that is adjusted into laser orientation instrument is radiated on the video navigation target of installing on Lian Caiji or quick anchor driving machine fuselage, by the filtration to laser facula, be equipped with again applicable illumination, make the position of hot spot on navigation target and the observation of the applicable video camera of brightness, form video image clearly, image information is transferred on the display screen of far-end operation driver observation by wired or wireless communication modes, video signal by observation display screen instructs operation, described colliery connection miner remote control system comprises: the rib 5 in rib 1/ Fig. 4 in the 1(Fig. 1 of tunnel), mining laser orientation instrument 2, video navigation target 3, laser rays 4, rib cutting drum 5, quick anchor driving machine 6, rocking arm angular transducer 7, cut depth transducer 8, operator station 9, communication base station 10, power supply module 11, sealed dustproof formula video level instrument observation case 12, video terminal 13, data terminal 14, video server 15, data acquisition device 16, control cabinet 17, switch 18, fluid pressure motor 19, coal cutting motor 20, rocking arm angle electromagnetically operated valve 21, cut depth electromagnetically operated valve 22.Wherein video navigation target 3 inside are provided with video camera 23, and housing is dust cover 24, the graduated laser target 25 of mounting strap above.Sealed dustproof formula video level instrument observation case 12 and video camera 23, the image signal transmission of video camera being taken by communication base station is to the video terminal of operating desk, the data-signal of transducer collection is transferred to the data terminal of operating desk, the remote control commands that operating personnel are sent is sent to motor and electromagnetic valve actuating gear.
When colliery connection is adopted machine or the work of speedy drivage machine, video camera gathers the picture signal on video navigation target in real time, and by wireless base station, picture signal is sent to operator station, by the video terminal 13 in operator station, shows.Operator is according to the signal on the video navigation target demonstrating, and the operating state of colliery connection being adopted to machine or speedy drivage machine judges, and according to the signal on video navigation target, constantly controls the direction of advance that colliery connection is adopted machine or speedy drivage machine.
The utility model also provides a kind of sealed dustproof formula video level instrument observation case, adopts the deviation angle of cameras view level meter, identification equipment inclination situation.Video camera and level meter are placed in same dust cover, can effectively prevent coal dust and the impact of water smoke on video camera minute surface, level meter is installed the tilt variation state that can represent equipment, a level meter can be set two level meter at right angle settings also can be set, one parallel with equipment fore-and-aft direction axis, one parallel with equipment left and right directions axis, represents respectively the angle of pitch and the roll angle of equipment.
The utility model also provides a kind of mining laser orientation instrument, the hot spot that laser rays penetrates can be point-like, shape word line or cross hairs.
According to an aspect of the present utility model, the hot spot of laser orientation instrument can be the hot spot of point-like, also can be word line or a cross hairs, but the sensing laser rays of laser orientation instrument must accurately reflect the direction of the driving in tunnel, and hot spot can be radiated on the laser target of video navigation target.
The utility model also provides a kind of company to adopt machine or speedy drivage machine, in described company, adopt on machine or speedy drivage machine video navigation target, the observation of sealed dustproof formula video level instrument case, communication base station and transducer is as previously described installed, can also accept the operational order at teleoperator station.
The utility model also provides a kind of operator station, has configured wireless base station, video monitoring video terminal and Remote operation keyboard.
According to an aspect of the present utility model, sealed dustproof formula video level instrument observation case is arranged on level meter and video camera in an airtight case, avoids the impact on video camera minute surface of water smoke and coal dust.
A kind of method of relative position and equipment attitude when the utility model also provides company of acquisition to adopt the work of machine or speedy drivage machine and between the laser rays of laser orientation instrument, for at water smoke and coal dust environment, the image of the level meter of installing on the image of the long-range acquisition of operator is mining laser orientation instrument impinges upon facula position on Lian Caiji or speedy drivage machine and Lian Caiji or speedy drivage machine.
According to an embodiment of the present utility model, in video navigation target and sealed dustproof formula video level instrument observation case, be provided with camera and radio communication base station, camera is for gathering the video image of hot spot and the video image of level meter of laser navigation equipment, radio communication base station is for realizing the transfer of data between camera and operator station, video monitoring apparatus adopts the PowePC8548 type flush bonding processor of high reliability, operation Adroid operating system, unit power consumption is 8W only, in operating system, move Flash Media Server software, the video information of utilizing streaming media server technology to obtain camera is compressed and is processed, finally by radio communication base station, upload to the display screen of operator station.Operator station is also provided with corresponding radio communication base station, for carrying out transfer of data with the radio communication base station of video navigation target and sealed dustproof formula video level instrument observation case.
In a specific embodiment, in described radio communication base station, be provided with wireless base station and video monitoring video terminal, the transfer of data between machine or speedy drivage Ji Yu operator station is adopted for realizing colliery connection in wireless base station, video monitoring video terminal is for showing the video image that camera is uploaded, video monitoring video terminal is presented on screen by the program of working out based on Flash Media Server software by the video image obtaining in real time, for operating personnel's observation, video monitoring video terminal can adopt the Win7 operating system of Microsoft company, with 22 cun of LCDs, can be by single realization monitor to a plurality of camera head monitor image time, operator can be realized colliery connection is adopted to machine or speedy drivage machine remotely controlled operation by remote controller by video image.
Said system is in data handling procedure, and the vedio data of video camera collection is by being uploaded on the video terminal of operator station by base station.Monitoring remote video video terminal can directly use the Flash Media Server series of products of Adobe company to realize compression and the processing of video image, and special software need not be installed, and to the equipment performance of video acquisition terminal, requires low.
When the camera arranging in video navigation target and sealed dustproof formula video level instrument observation case carries out real-time photography to picture, communication base station is by the real-time video terminal that is transferred to operator station of picture signal of monitoring in real time, the communication base station of operator station receives described picture signal, and is showing screen display.Between video navigation target, sealed dustproof formula video level instrument observation Xiang He operator station, can adopt wired or wireless mode to communicate, while adopting radio communication, can adopt the communication protocols such as wifi to carry out telecommunication.Also can adopt the communication protocols such as bluetooth, WLAN to communicate.
In a specific embodiment, wireless base station can comprise: a radio-frequency module, for the signal after Channel Modulation is gone out by antenna transmission, or sends the signal of antenna reception to Channel Modulation demodulator; One Channel Modulation demodulator, receives the demodulation of signal or the modulation of transmitted signal for completing; One channel coding/decoding module, carries out channel-decoding or chnnel coding for the signal after the signal to after demodulation or modulation; One data encoding/decoding module, carries out data decode or data encoding for the data to after channel-decoding or chnnel coding; One microprocessor control module, for controlling Channel Modulation demodulation module, channel coding/decoding module, data encoding/decoding module, radio-frequency module.
When radio-frequency module receives alarm early warning information or other message, first through Channel Modulation demodulator, carry out to received signal demodulation, then through channel coding/decoding module, carry out channel signal decoding, then process data encoding/decoding module is to transmission data decode; Signal after data decode can show by display screen.Channel coding/decoding module is used for line signal to carry out error correction coding.The main control chip of channel coding/decoding module can adopt EPM3128A, its RXD0 is connected with the RS232 mouth of Channel Modulation demodulation module with TXD0, data/address bus line is in parallel with data encoding/decoding module and microprocessor control module, realizes the data interaction of channel coding/decoding module and data encoding/decoding module and microprocessor control module.
Chnnel coding adopts RS coding method, and the utility model has compared various RS coding methods, has revised deficiency and mistake wherein, has adopted the method for improved RS encoding and decoding.
For (n, k) RS code, message polynomial is m (x), and a is a primitive element, and RS code generator polynomial is:
G (x)=(x ten is (x+a a)
2) (x+a
3) ... (x+a
2t)
r(x)＝[x
n-k·m(x)modg(x)]
Code polynomial after coding is:
c(x)＝x
n-k·m(x)+r(x)
Data encoding/decoding module 3 is used for transmission data to be encrypted or to decipher, and its main control chip adopts single-chip microcomputer SM89C52 and peripheral circuit element to form.The LINK BUS bus parallel connection of the LINK BUS bus of singlechip chip SM89C52 and channel coding/decoding module and microprocessor control module 7, realizes the data interaction with channel coding/decoding module and microprocessor control module.The TXD_CTR of singlechip chip SM89C52, RXD_CTR are connected with RX1, the TX1 of the single-chip microcomputer SM89C51 of data voice I/O control unit, for transmitting audio data signal.Single-chip microcomputer SM89C52 adopts information stacking pseudorandom code encryption and deciphering.
In a specific embodiment, the utility model also provides a kind of operator station, has configured wireless base station, video monitoring video terminal and Remote operation keyboard.Operator station can comprise: a radio-frequency module, for the signal after Channel Modulation is gone out by antenna transmission, or sends the signal of antenna reception to Channel Modulation demodulator; One Channel Modulation demodulator, receives the demodulation of signal or the modulation of transmitted signal for completing; One channel coding/decoding module, carries out channel-decoding or chnnel coding for the signal after the signal to after demodulation or modulation; One data encoding/decoding module, carries out data decode or data encoding for the data to after channel-decoding or chnnel coding; One microprocessor control module, for controlling Channel Modulation demodulation module, channel coding/decoding module, data encoding/decoding module, radio-frequency module.
Although described embodiment of the present utility model and various functional unit thereof in specific embodiments, but be to be understood that, can realize embodiment of the present utility model with hardware, software, firmware, middleware or their combination, and embodiment of the present utility model can be used in multiple systems, subsystem, assembly or its sub-component.Each embodiment of the present utility model can with other embodiment in device mutually combine, rather than isolated, single embodiment, can mutually merge between all embodiment and form new embodiment or different solutions.Although the utility model has adopted different embodiment to solve corresponding technical problem, but, these different embodiment be not isolate for solving single technical problem, the common solution that these different embodiment can be combined needs the technical barrier that overcomes in mining device, different embodiment can be combined mutually, to obtain good performance, convenient operation personnel better complete the work in every under mine.
The above; it is only preferably embodiment of the utility model patent; but the protection range of the utility model patent is not limited to this; anyly be familiar with those skilled in the art in the technical scope that the utility model patent discloses; the variation that can expect easily or replacement, within all should being encompassed in the protection range of the utility model patent.
In addition, can apparently draw other advantages and modification for the person of ordinary skill of the art.Therefore the utility model that, has more extensive areas is not limited to shown and described illustrating and exemplary embodiment here.Therefore,, in the situation that do not depart from the spirit and scope by the defined general utility model design of claim and equivalents thereof subsequently, can make various modifications to it.
Claims (6)
1. the colliery continuous miner remote control system combining with data based on image, is characterized in that, comprising:
One colliery connects machine or the speedy drivage machine adopted, and connects to adopt on machine or speedy drivage machine a video navigation target is installed in colliery, and this video navigation target comprises video camera, dust cover, laser target; Video camera is installed on dust cover inside, and to keep the clean of video camera camera lens, a mining laser orientation instrument (2) is fixed on the place vertical with laser target (25), for sending laser rays (4) with directions; Video camera is facing to the back side of laser target, for the image information of the facula position on laser target (25) and scale is transmitted and received to the operator station (9) that base station (10) is transferred to backstage by wireless telecommunications;
One operator station, transmits and receives for receiving wireless telecommunications the image information that transmit base station (10), makes operator to connect image and the data of adopting machine or speedy drivage machine by remote observation, by operational order, realizes the Long-distance Control to equipment;
The picture signal collecting can be presented on video terminal, make operating personnel by screen image signal, see colliery in operator station clearly and even adopt machine or the attitude of speedy drivage machine and the indicating positions of laser orientation instrument, and realize colliery is connected to the Long-distance Control of adopting machine or speedy drivage machine by control command.
2. colliery as claimed in claim 1 continuous miner remote control system, is characterized in that, also comprises:
One sealed dustproof formula video level instrument observation case, is provided with level meter, video camera in described sealed dustproof formula video level instrument observation case;
Camera lens is facing to level meter, for observing the deviation angle of level meter, with identification equipment inclination situation;
Video camera and level meter are placed in same dust cover, for preventing the impact on video camera minute surface of coal dust and water smoke.
3. colliery as claimed in claim 1 continuous miner remote control system, is characterized in that:
In sealed dustproof formula video level instrument observation case, two level meter at right angle settings are set, one parallel with equipment fore-and-aft direction axis, and one parallel with equipment left and right directions axis, is respectively used to the angle of pitch and the roll angle of scope.
4.. colliery as claimed in claim 1 continuous miner remote control system, is characterized in that:
The hot spot that mining laser orientation instrument penetrates can be point-like, shape word line or cross hairs.
5. colliery as claimed in claim 1 continuous miner remote control system, is characterized in that:
In the middle of the installation site of video navigation target and mining laser orientation instrument, there is no shelter.
6. colliery as claimed in claim 1 continuous miner remote control system, is characterized in that:
When colliery connects the machine of adopting or the work of speedy drivage machine, video camera gathers the picture signal on video navigation target in real time, and by wireless base station, picture signal is sent to operator station, by the video terminal in operator station (13), show, operator is according to the signal on the video navigation target demonstrating, the operating state of colliery even being adopted to machine or speedy drivage machine judges, and according to the signal on video navigation target, constantly controls colliery and connect the direction of advance of adopting machine or speedy drivage machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320543824.4U CN203435028U (en) | 2013-09-03 | 2013-09-03 | A remote control system for coal mine continuous miner |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320543824.4U CN203435028U (en) | 2013-09-03 | 2013-09-03 | A remote control system for coal mine continuous miner |
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| Publication Number | Publication Date |
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| CN203435028U true CN203435028U (en) | 2014-02-12 |
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| CN201320543824.4U Expired - Lifetime CN203435028U (en) | 2013-09-03 | 2013-09-03 | A remote control system for coal mine continuous miner |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106535360A (en) * | 2015-09-15 | 2017-03-22 | 南京北路自动化系统有限责任公司 | Intelligent control terminal for voice communication based on WIFI technology |
| CN108388253A (en) * | 2018-04-17 | 2018-08-10 | 伊金霍洛旗瑞隆机械工程有限公司 | A kind of continuous milling machine quickly collimates control system |
| CN109639806A (en) * | 2018-12-19 | 2019-04-16 | 山东省田庄煤矿有限公司 | A kind of underground remote control development machine |
| CN109681203A (en) * | 2018-12-20 | 2019-04-26 | 江苏恒变电力设备有限公司 | A kind of remote control device for development machine |
| CN109763820A (en) * | 2018-12-19 | 2019-05-17 | 山东省田庄煤矿有限公司 | A kind of underground remote control coal plough |
| CN111140245A (en) * | 2020-01-14 | 2020-05-12 | 天地科技股份有限公司 | Intelligent tunnel digging and supporting machine and method for rapidly forming tunnel |
-
2013
- 2013-09-03 CN CN201320543824.4U patent/CN203435028U/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106535360A (en) * | 2015-09-15 | 2017-03-22 | 南京北路自动化系统有限责任公司 | Intelligent control terminal for voice communication based on WIFI technology |
| CN108388253A (en) * | 2018-04-17 | 2018-08-10 | 伊金霍洛旗瑞隆机械工程有限公司 | A kind of continuous milling machine quickly collimates control system |
| CN109639806A (en) * | 2018-12-19 | 2019-04-16 | 山东省田庄煤矿有限公司 | A kind of underground remote control development machine |
| CN109763820A (en) * | 2018-12-19 | 2019-05-17 | 山东省田庄煤矿有限公司 | A kind of underground remote control coal plough |
| CN109681203A (en) * | 2018-12-20 | 2019-04-26 | 江苏恒变电力设备有限公司 | A kind of remote control device for development machine |
| CN111140245A (en) * | 2020-01-14 | 2020-05-12 | 天地科技股份有限公司 | Intelligent tunnel digging and supporting machine and method for rapidly forming tunnel |
| CN111140245B (en) * | 2020-01-14 | 2021-08-24 | 天地科技股份有限公司 | Intelligent tunnel digging and supporting machine and method for rapidly forming tunnel |
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Effective date of registration: 20170814 Address after: 030600 Jinzhong Development Zone, Jinzhong, Shanxi province (Room 204, business building, Shanxi Hongji Polytron Technologies Inc) Patentee after: Shanxi Zhongke Mine Intelligent Control Technology Research Institute Co.,Ltd. Address before: 030006, Taiyuan, Shanxi province Taiyuan hi tech Zone, Changzhi Road, 227 high-tech international B block, Keda automatic control Patentee before: SHANXI KEDA AUTOMATION CONTROL Co.,Ltd. |
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Address after: 030600 Jinzhong Development Zone, Jinzhong, Shanxi province (Room 204, business building, Shanxi Hongji Polytron Technologies Inc) Patentee after: SHANXI ZHONGKE INTELLIGENT CONTROL TECHNOLOGY RESEARCH INSTITUTE Co.,Ltd. Address before: 030600 Jinzhong Development Zone, Jinzhong, Shanxi province (Room 204, business building, Shanxi Hongji Polytron Technologies Inc) Patentee before: Shanxi Zhongke Mine Intelligent Control Technology Research Institute Co.,Ltd. |
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Granted publication date: 20140212 |
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