WO2017008393A1 - 一种综采工作面设备检测及控制方法 - Google Patents

一种综采工作面设备检测及控制方法 Download PDF

Info

Publication number
WO2017008393A1
WO2017008393A1 PCT/CN2015/090206 CN2015090206W WO2017008393A1 WO 2017008393 A1 WO2017008393 A1 WO 2017008393A1 CN 2015090206 W CN2015090206 W CN 2015090206W WO 2017008393 A1 WO2017008393 A1 WO 2017008393A1
Authority
WO
WIPO (PCT)
Prior art keywords
shearer
rocker arm
infrared imager
attitude
scraper
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.)
Ceased
Application number
PCT/CN2015/090206
Other languages
English (en)
French (fr)
Inventor
李伟
武倩平
朱真才
邱明权
周公博
彭玉兴
曹国华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
China University of Mining and Technology Beijing CUMTB
Original Assignee
China University of Mining and Technology Beijing CUMTB
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by China University of Mining and Technology Beijing CUMTB filed Critical China University of Mining and Technology Beijing CUMTB
Priority to AU2015383068A priority Critical patent/AU2015383068B2/en
Publication of WO2017008393A1 publication Critical patent/WO2017008393A1/zh
Priority to ZA201701240A priority patent/ZA201701240B/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
    • E21D23/12—Control, e.g. using remote control
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere

Definitions

  • the invention relates to a method for detecting and controlling a fully mechanized mining face equipment, in particular to a coal mining machine positioning and rocker attitude detection and a method for detecting and controlling a hydraulic support and a scraper machine in a fully mechanized mining face.
  • the operation status of the equipment is directly related to the normal mining of the mine and the safety of personnel.
  • the underground operating environment is also extremely complicated.
  • the original equipment inspection And the wiring involved in the positioning device, anti-interference and other problems, the complex wiring in the underground will cause safety hazards, so in summary, the completion of monitoring the fully mechanized mining face is a very critical link.
  • Infrared imaging technology has strong anti-interference ability, and its application in the world is relatively mature.
  • the combination of infrared imager and LED avoids direct contact detection, and is very suitable for mining equipment detection.
  • the fully mechanized mining face is one of the core areas of coal mine production. It consists of coal mining machine, scraper conveyor and hydraulic support.
  • the three machines are used as the core mining equipment for fully mechanized mining face, and undertake tasks such as coal breaking, coal loading and support. It is the key to the production of fully mechanized mining face.
  • the detection of the running state of the three machines is directly related to the normal operation of the mining work.
  • the coal mining machine is the main equipment for coal mining and coal loading in the fully mechanized mining face. In the process of comprehensive mechanized coal mining, to realize the automation of hydraulic support and machine, it is necessary to realize high-speed and precise positioning and navigation of the shearer.
  • the bracket control unit can timely issue corresponding control commands according to the obtained position information of the shearer, control the timely support and push-pull procedure of the bracket, and realize the three-machine cooperative automation.
  • the present invention provides a non-contact, anti-interference ability comprehensive detection and control method for fully mechanized mining face equipment.
  • a method for detecting and controlling equipment in fully mechanized mining face using infrared imaging principle to detect mechanical equipment that is easily damaged by infrared imager, and using the temperature indicating label together to determine the position of the shearer and the posture of the rocker arm;
  • the position of the coal machine and the attitude of the rocker arm are transmitted to the data processing module through the communication module, and the data processing module directly controls the action of the hydraulic bracket according to the received information.
  • the shearer is mounted on the scraper and reciprocally linearly moves relative to the scraper.
  • the hydraulic support is fixedly mounted relative to the scraper, the rocker arm is hinged on the shearer and reciprocally oscillates relative to the shearer, the scraper comprises a tube plate chain and a scraper;
  • the positioning and hydraulic support are fixed on the shearer to monitor the infrared Imager, scraper monitoring infrared imager and shearer attitude monitoring infrared imager; set the coal mining machine positioning temperature indicator on the hydraulic support, positioning and hydraulic support monitoring infrared imager to the shearer positioning temperature indication label
  • the detection is carried out, and the moving position of the shearer can be judged by intermittent collection (the temperature label is only used for identification, the label color on the hydraulic support is the same, there is no special requirement);
  • the shearer attitude monitoring temperature is set on the rocker arm Indication label, the shearer attitude monitoring infrared imager detects the temperature indication label of the shearer attitude monitoring, and
  • the manner of labeling the temperature indicator of the shearer and the attitude indicating temperature indicator of the shearer is not specifically limited, as long as it can be easily monitored by the corresponding infrared imager; the infrared imager is based on the result of the monitoring.
  • the relevant information may be calculated according to the arrangement manner of the temperature indicating label; preferably, the shearer positioning temperature indicating labels are arranged on each hydraulic bracket in a rectangular array; the shearer attitude monitoring temperature indication The labels are arranged in a straight line on each rocker arm.
  • the infrared imager Different functions of the infrared imager are installed at different locations, but the infrared imagers involved are fixedly placed on the shearer.
  • the power supply of the infrared imager will be completed by a rechargeable power source placed inside the shearer.
  • the information monitored by the infrared imager is transmitted to the data processing module through the communication module, and the data processing module displays the position of the shearer and the posture of the rocker arm in real time on the control screen; different positions of the shearer correspond to different actions of the hydraulic support, data
  • the processing module sends a command to the hydraulic bracket through the communication module to control the movement of the hydraulic bracket.
  • the shearer attitude monitoring infrared imager detects the temperature indication label of the shearer attitude monitoring, calculates an angle ⁇ between the rocker arm and the reference surface, and sets the angle ⁇ and the length of the rocker arm.
  • L is represented in a polar coordinate system to determine the attitude of the rocker arm.
  • the shearer positioning temperature indicating label and the shearer attitude monitoring temperature indicating label are implemented by using LED indicators.
  • the method for detecting and controlling the fully mechanized mining face equipment provided by the present invention has the following advantages over the prior art: 1.
  • the present invention utilizes the principle of infrared imaging to perform real-time wireless monitoring on the main equipment of the fully mechanized mining face simultaneously. Monitoring the positioning and attitude of the shearer, strengthening the detection level of the fully mechanized mining face, can reduce the consumption of the relevant staff; 2, the invention belongs to the infrared wireless monitoring method, and has strong anti-interference ability on the site; Using polar coordinates, stable positioning can be achieved without complicated calculations; 4.
  • the relevant equipment used is simple and reliable, and is not subject to the environment.
  • the effect of the invention is cheap and simple; 5.
  • the invention replaces the existing infrared receiving device for the hydraulic support, controls the action of the hydraulic support, and alleviates the problem that the hydraulic support can not receive infrared rays due to interference.
  • Figure 1 is a schematic view of a device used in the present invention
  • Figure 3 is a view showing the pasting position of the coal locating machine positioning temperature indicating label
  • FIG. 4 is a flow chart of a monitoring method of the present invention.
  • the picture includes: 1-hydraulic support, 2- shearer positioning temperature indication label, 3-scraper, 4-position and hydraulic support monitoring infrared imager, 5-scraper monitoring infrared imager, 6-scraper Chain, 7-scraper, 8-miner, 9-rocker, 10-miner attitude monitoring temperature indicator, 11-attitude monitoring infrared imager, 12-communication transmitter.
  • a method for detecting and controlling equipment in fully mechanized mining face using infrared imaging principle to detect mechanical equipment that is easily damaged by infrared imager, and using the temperature indicating label together to determine the position of the shearer and the posture of the rocker arm;
  • the position of the coal machine and the attitude of the rocker arm are transmitted to the data processing module through the communication module, and the data processing module directly controls the action of the hydraulic bracket according to the received information.
  • FIG 1 shows the apparatus used in the above method.
  • the shearer 8 is mounted on the scraper 3 and reciprocally linearly moved relative to the scraper 3
  • the hydraulic support 1 is fixedly mounted relative to the scraper 3
  • the rocker arm 9 is hinged to the shearer 8.
  • the reciprocating swing is performed with respect to the shearer 8, and the scraper 3 includes a tube sheet chain 6 and a scraper 7.
  • the design point of the invention lies in: fixed positioning and hydraulic support monitoring infrared imager 4 on the shearer 8, scraper monitoring infrared imager 5 and shearer attitude monitoring infrared imager 11; setting on the hydraulic support 1
  • the coal mining machine positioning temperature indication label 2 the positioning and the hydraulic support monitoring infrared imager 4 detect the coal mining machine positioning temperature indication label 2, and determine the position of the coal machine 8 according to this
  • the shearer 9 is provided with the shearer
  • the attitude monitoring temperature indicating label 10 detects the shearer attitude monitoring temperature indicating label 10, and determines the posture of the rocker arm 9 according to this
  • the scraper monitors the infrared imager 5 to the tube sheet chain 6 and the squeegee 7 perform infrared detection, and it is judged whether or not the tube sheet chain 6 and the squeegee 7 are abnormal.
  • the shearer attitude monitoring temperature indicating label 10 is arranged on each rocker arm 9 in a straight line, and the shearer attitude monitoring temperature indicating label 10 is realized by an LED indicator; the shearer The attitude monitoring infrared imager 11 detects the shearer attitude monitoring temperature indicating label 10, calculates the angle ⁇ between the rocker arm 9 and the reference surface, and sets the angle ⁇ and the length of the rocker arm to the polar coordinate system. A representation is made to determine the attitude of the rocker arm 9.
  • the shearer positioning temperature indicating labels 2 are arranged in a rectangular array in each hydraulic pressure.
  • the shearer positioning temperature indicating label 2 is realized by an LED indicator.
  • the data transmission system diagram of the present invention comprises five parts: a temperature indication label/fault monitoring imaging, an infrared imager, a wireless communication module, a data processing module, a data display module, and an instruction sending module.
  • the infrared imager senses the temperature indication label and the isothermal and isostatic pressure of the device components, and transmits the image data to the data processing module of the upper computer through the wireless communication module for data processing and calculation, and displays the result in the control room in real time.
  • the control of the hydraulic support action is completed by the command transmission module.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Radiation Pyrometers (AREA)
  • Investigating Or Analyzing Materials Using Thermal Means (AREA)

Abstract

一种综采工作面设备检测及控制方法被公开。该方法利用红外成像原理通过红外成像仪对主要容易损坏的机械设备进行检测，同时配合温度指示标签共同使用确定采煤机的位置和摇臂的姿态；采煤机的位置和摇臂的姿态通过通讯模块传输给数据处理模块，数据处理模块根据接收信息直接控制液压支架动作。该方法受现场环境因素干扰较小，实时性、效率较高，运行可靠。

Description

一种综采工作面设备检测及控制方法 技术领域
本发明涉及一种综采工作面设备检测及控制方法，尤其是一种综采工作面采煤机定位及摇臂姿态检测和液压支架、刮板机设备检测与控制的方法。
背景技术
随着科学技术的发展，少人或无人采煤工作面将是未来采煤技术发展的必然，现今的开采工作面的设备检测以及定位技术不高，没能形成成套的监管系统，实际的开采工作中都是依靠人工巡检完成对主要设备、主要部件的监控，这种方式的可靠度不高，对工作人员的技术以及劳动强度要求比较苛刻，往往在设备损坏的早期无法察觉。随着行业的发展，无人工作面成为矿山发展的方向，这就提高了对矿山设备在线检测、在线控制、实时定位的要求。同时，矿山设备多是大型成本较高，机械化程度高，工作强度高的大型设备，设备的运行状态直接关系到矿山的正常开采以及人员的安全，井下的运行环境也极为复杂，原始的设备检测和定位装置都涉及的布线，抗干扰等问题，在井下复杂的布线反而会造成安全的隐患，所以综上所述完成对综采工作面进行监测是非常关键的环节。红外成像技术的抗干扰能力强，在当今世界的应用已经比较成熟，红外成像仪与LED的结合使用更是避免了直接的接触检测，极适合应用于矿设备检测之中。
综采工作面是煤矿生产核心区域之一，由采煤机、刮板输送机和液压支架组成的，三机作为综采工作面核心采矿设备，承担着破煤、装煤以及支护等任务，是综采工作面生产的关键。对三机的运行转态进行检测直接关系到开采工作的正常进行。采煤机是综采工作面落煤和装煤的主要装备，在综合机械化采煤过程中，要实现液压支架跟机自动化，必须实现采煤机高速、精确定位导航。当采煤机实时位置和姿态能够确认时，支架控制单元才能及时根据获得的采煤机位置信息，发出相应的控制指令，控制支架的及时支护和推溜程序，实现三机协同自动化。
发明内容
发明目的：为了克服现有技术中对综采设备检测的不足，本发明提供一种非接触式、抗干扰能力强的综采工作面设备检测及控制方法。
技术方案：为实现上述目的，本发明采用的技术方案为：
一种综采工作面设备检测及控制方法，利用红外成像原理通过红外成像仪对主要容易损坏的机械设备进行检测，同时配合温度指示标签共同使用确定采煤机的位置和摇臂的姿态；采煤机的位置和摇臂的姿态通过通讯模块传输给数据处理模块，数据处理模块根据接收信息直接控制液压支架动作。
上述方法的具体结构为：采煤机安装在刮板机上并相对于刮板机进行往复直线移动， 液压支架相对于刮板机固定安装，摇臂铰接在采煤机上并相对于采煤机进行往复摆动，刮板机包括管板链和刮板；在采煤机上固定有定位及液压支架监测红外成像仪、刮板机监测红外成像仪和采煤机姿态监测红外成像仪；在液压支架上设置有采煤机定位温度指示标签，定位及液压支架监测红外成像仪对采煤机定位温度指示标签进行检测，通过间歇性的采集即可判断采煤机的移动位置(温度标签只是识别使用，液压支架上的标签颜色都一样，没有特殊要求)；在摇臂上设置有采煤机姿态监测温度指示标签，采煤机姿态监测红外成像仪对采煤机姿态监测温度指示标签进行检测，再结合上位机显示的温度指示标签的位置变动即可判断摇臂的姿态；刮板机监测红外成像仪对管板链和刮板进行红外检测，在异温、异压下管板链和刮板将呈现不一样的颜色，据此判断管板链和刮板是否发生异常。
在本发明方案中，对采煤机定位温度指示标签和采煤机姿态监测温度指示标签粘贴方式没有具体限定，只要能够便于被对应的红外成像仪监测到即可；红外成像仪根据监测的结果结合温度指示标签的排布方式即可计算出相关信息；优选的，所述采煤机定位温度指示标签以矩形阵列的形式排布在每一个液压支架上；所述采煤机姿态监测温度指示标签以直线形式排布在每一个摇臂上。
不同作用的红外成像仪安装的位置有所不同，但是所涉及的红外成像仪均固定设置在采煤机上，红外成像仪的供电将由安放于采煤机内部的可充电电源完成。红外成像仪监测到的信息通过通讯模块传输给数据处理模块，数据处理模块在控制屏幕上实时显示采煤机的位置以及摇臂的姿态；采煤机的不同位置对应液压支架的不同动作，数据处理模块通过通讯模块向液压支架发送指令控制液压支架动作。
优选的，所述采煤机姿态监测红外成像仪对采煤机姿态监测温度指示标签进行检测，计算出摇臂与参考面之间的夹角θ，将夹角θ和摇臂的长度定值L用极坐标系进行表示，以确定摇臂的姿态。
优选的，所述采煤机定位温度指示标签和采煤机姿态监测温度指示标签采用LED指示灯实现。
有益效果：本发明提供的综采工作面设备检测及控制方法，相对于现有技术，具有如下优势：1、本发明利用红外成像的原理对综采工作面的主要设备完成实时无线监测的同时对采煤机实现定位和姿态的监测，加强了综采工作面的检测水平，可以降低相关工作人员过的消耗；2、本发明属于红外无线监测方法，对现场的抗干扰能力强；3、使用极坐标，无需复杂计算即可实现稳定的定位；4、运用到的相关设备简单可靠，不受环境 的影响，价格便宜，简单易行；5、本发明的替代了现用的液压支架红外线接收装置，控制液压支架的动作，缓解了液压支架因干扰无法接收到红外线而产生错动作的问题。
附图说明
图1为本发明使用的装置示意图；
图2为本发明姿态计算原理简图；
图3为采煤机定位温度指示标签的粘贴位置图；
图4为本发明监测方法流程图；
图中包括：1-液压支架，2-采煤机定位温度指示标签，3-刮板机，4-定位及液压支架监测红外成像仪，5-刮板机监测红外成像仪，6-刮板链，7-刮板，8-采煤机，9-摇臂，10-采煤机姿态监测温度指示标签，11-姿态监测红外成像仪，12-通讯发射装置。
具体实施方式
下面结合附图对本发明作更进一步的说明。
一种综采工作面设备检测及控制方法，利用红外成像原理通过红外成像仪对主要容易损坏的机械设备进行检测，同时配合温度指示标签共同使用确定采煤机的位置和摇臂的姿态；采煤机的位置和摇臂的姿态通过通讯模块传输给数据处理模块，数据处理模块根据接收信息直接控制液压支架动作。
如图1所示为上述方法所使用的装置。如现有技术：采煤机8安装在刮板机3上并相对于刮板机3进行往复直线移动，液压支架1相对于刮板机3固定安装，摇臂9铰接在采煤机8上并相对于采煤机8进行往复摆动，刮板机3包括管板链6和刮板7。本发明的设计点在于：在采煤机8上固定有定位及液压支架监测红外成像仪4、刮板机监测红外成像仪5和采煤机姿态监测红外成像仪11；在液压支架1上设置有采煤机定位温度指示标签2，定位及液压支架监测红外成像仪4对采煤机定位温度指示标签2进行检测，据此判断煤机8的位置；在摇臂9上设置有采煤机姿态监测温度指示标签10，采煤机姿态监测红外成像仪11对采煤机姿态监测温度指示标签10进行检测，据此判断摇臂9的姿态；刮板机监测红外成像仪5对管板链6和刮板7进行红外检测，据此判断管板链6和刮板7是否发生异常。
如图2所示，所述采煤机姿态监测温度指示标签10以直线形式排布在每一个摇臂9上，采煤机姿态监测温度指示标签10采用LED指示灯实现；所述采煤机姿态监测红外成像仪11对采煤机姿态监测温度指示标签10进行检测，计算出摇臂9与参考面之间的夹角θ，将夹角θ和摇臂的长度定值L用极坐标系进行表示，以确定摇臂9的姿态。
如图3所示，所述采煤机定位温度指示标签2以矩形阵列的形式排布在每一个液压 支架1上，采煤机定位温度指示标签2采用LED指示灯实现。
如图4所示，本发明的数据传输系统图，包括五个部分：温度指示标签/故障监测成像、红外成像仪、无线通讯模块、数据处理模块、数据显示模块、指令发送模块。红外成像仪，感知观察温度指示标签以及设备部件的异温与异压，将图像数据经过无线通讯模块传于上位机的数据处理模块进行数据处理和计算，将结果实时的在控制室中显示，通过指令发送模块完成对液压支架动作的控制。
以上所述仅是本发明的优选实施方式，应当指出：对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。

Claims (5)

  1. 一种综采工作面设备检测及控制方法，其特征在于：利用红外成像原理通过红外成像仪对主要容易损坏的机械设备进行检测，同时配合温度指示标签共同使用确定采煤机的位置和摇臂的姿态；采煤机的位置和摇臂的姿态通过通讯模块传输给数据处理模块，数据处理模块根据接收信息直接控制液压支架动作。
  2. 根据权利要求1所述的综采工作面设备检测及控制方法，其特征在于：采煤机(8)安装在刮板机(3)上并相对于刮板机(3)进行往复直线移动，液压支架(1)相对于刮板机(3)固定安装，摇臂(9)铰接在采煤机(8)上并相对于采煤机(8)进行往复摆动，刮板机(3)包括管板链(6)和刮板(7)；在采煤机(8)上固定有定位及液压支架监测红外成像仪(4)、刮板机监测红外成像仪(5)和采煤机姿态监测红外成像仪(11)；在液压支架(1)上设置有采煤机定位温度指示标签(2)，定位及液压支架监测红外成像仪(4)对采煤机定位温度指示标签(2)进行检测，据此判断煤机(8)的位置；在摇臂(9)上设置有采煤机姿态监测温度指示标签(10)，采煤机姿态监测红外成像仪(11)对采煤机姿态监测温度指示标签(10)进行检测，据此判断摇臂(9)的姿态；刮板机监测红外成像仪(5)对管板链(6)和刮板(7)进行红外检测，据此判断管板链(6)和刮板(7)是否发生异常。
  3. 根据权利要求1所述的综采工作面设备检测及控制方法，其特征在于：所述采煤机定位温度指示标签(2)以矩形阵列的形式排布在每一个液压支架(1)上；所述采煤机姿态监测温度指示标签(10)以直线形式排布在每一个摇臂(9)上。
  4. 根据权利要求3所述的综采工作面设备检测及控制方法，其特征在于：所述采煤机姿态监测红外成像仪(11)对采煤机姿态监测温度指示标签(10)进行检测，计算出摇臂(9)与参考面之间的夹角θ，将夹角θ和摇臂的长度定值L用极坐标系进行表示，以确定摇臂(9)的姿态。
  5. 根据权利要求2所述的综采工作面设备检测及控制方法，其特征在于：所述采煤机定位温度指示标签(2)和采煤机姿态监测温度指示标签(10)采用LED指示灯实现。
PCT/CN2015/090206 2015-07-16 2015-09-22 一种综采工作面设备检测及控制方法 Ceased WO2017008393A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
AU2015383068A AU2015383068B2 (en) 2015-07-16 2015-09-22 Method for testing and controlling fully-mechanized-mining working-face device
ZA201701240A ZA201701240B (en) 2015-07-16 2017-02-20 Method for testing and controlling fully-mechanized-mining working-face device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201510419836.XA CN105156149B (zh) 2015-07-16 2015-07-16 一种综采工作面设备检测及控制方法
CN201510419836.X 2015-07-16

Publications (1)

Publication Number Publication Date
WO2017008393A1 true WO2017008393A1 (zh) 2017-01-19

Family

ID=54797151

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2015/090206 Ceased WO2017008393A1 (zh) 2015-07-16 2015-09-22 一种综采工作面设备检测及控制方法

Country Status (4)

Country Link
CN (1) CN105156149B (zh)
AU (1) AU2015383068B2 (zh)
WO (1) WO2017008393A1 (zh)
ZA (1) ZA201701240B (zh)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110043257A (zh) * 2019-06-05 2019-07-23 中国矿业大学(北京) 一种采煤机自动调头系统
US11286774B2 (en) * 2019-03-14 2022-03-29 China University Of Mining And Technology Interference protection device and method for hydraulic support and cutting part of shearer
CN115902769A (zh) * 2022-11-28 2023-04-04 中煤北京煤矿机械有限责任公司 一种矿用全数字红外接收器
CN116378768A (zh) * 2023-04-07 2023-07-04 开滦（集团）有限责任公司电信分公司 一种煤矿井下巡检装置及巡检方法

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107905846B (zh) * 2017-10-24 2020-03-20 北京天地玛珂电液控制系统有限公司 一种综采工作面推进度检测系统及方法
CN111104810B (zh) * 2019-12-16 2023-09-08 太原理工大学 一种基于射频识别的刮板机刮板结构断裂监测方法
US11555403B2 (en) 2020-03-13 2023-01-17 Joy Global Underground Mining Llc Cutting pick monitoring system and method for longwall mining system

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040211894A1 (en) * 2003-01-22 2004-10-28 Hother John Anthony Imaging sensor optical system
WO2010012286A1 (de) * 2008-07-28 2010-02-04 Eickhoff Bergbautechnik Gmbh Verfahren zur steuerung einer schneidenden gewinnungsmaschine
CN102291575A (zh) * 2011-09-01 2011-12-21 天地科技股份有限公司 智能化综采工作面视频监控系统
CN203241794U (zh) * 2013-04-22 2013-10-16 常州联力自动化科技有限公司 煤矿综采面智能化视频监视系统
CN103649451A (zh) * 2011-07-08 2014-03-19 普拉德研究及开发股份有限公司 用于确定井场设备的健康状况的系统和方法
CN104159069A (zh) * 2014-05-23 2014-11-19 南京智搜智能科技有限公司 井下作业视频监控系统
CN104165698A (zh) * 2014-08-21 2014-11-26 国家电网公司 基于红外热像仪的变电站电力变压器过热故障监测系统

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8866618B2 (en) * 2010-07-03 2014-10-21 Raytheon Company Mine personnel carrier integrated information display
US9650893B2 (en) * 2011-04-01 2017-05-16 Joy Mm Delaware, Inc. Imaging-based interface sensor and control device for mining machines
CN103133002B (zh) * 2013-02-05 2014-11-19 中国矿业大学 采煤机的转速控制方法及装置
CN103657089A (zh) * 2013-11-15 2014-03-26 青岛歌尔声学科技有限公司 一种判定设备姿态的系统和方法
CN103775080B (zh) * 2013-12-31 2015-09-23 中国矿业大学 一种薄煤层无人工作面采煤机姿态角调整模型的构建方法
CN103912296B (zh) * 2014-03-19 2016-08-17 北京天地玛珂电液控制系统有限公司 一种基于图像测量的工作面装备定位系统
CN103986913B (zh) * 2014-05-26 2017-08-11 中国矿业大学 一种综采工作面跟机视频动态切换监控系统

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040211894A1 (en) * 2003-01-22 2004-10-28 Hother John Anthony Imaging sensor optical system
WO2010012286A1 (de) * 2008-07-28 2010-02-04 Eickhoff Bergbautechnik Gmbh Verfahren zur steuerung einer schneidenden gewinnungsmaschine
CN103649451A (zh) * 2011-07-08 2014-03-19 普拉德研究及开发股份有限公司 用于确定井场设备的健康状况的系统和方法
CN102291575A (zh) * 2011-09-01 2011-12-21 天地科技股份有限公司 智能化综采工作面视频监控系统
CN203241794U (zh) * 2013-04-22 2013-10-16 常州联力自动化科技有限公司 煤矿综采面智能化视频监视系统
CN104159069A (zh) * 2014-05-23 2014-11-19 南京智搜智能科技有限公司 井下作业视频监控系统
CN104165698A (zh) * 2014-08-21 2014-11-26 国家电网公司 基于红外热像仪的变电站电力变压器过热故障监测系统

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11286774B2 (en) * 2019-03-14 2022-03-29 China University Of Mining And Technology Interference protection device and method for hydraulic support and cutting part of shearer
CN110043257A (zh) * 2019-06-05 2019-07-23 中国矿业大学(北京) 一种采煤机自动调头系统
CN115902769A (zh) * 2022-11-28 2023-04-04 中煤北京煤矿机械有限责任公司 一种矿用全数字红外接收器
CN116378768A (zh) * 2023-04-07 2023-07-04 开滦（集团）有限责任公司电信分公司 一种煤矿井下巡检装置及巡检方法

Also Published As

Publication number Publication date
ZA201701240B (en) 2020-11-25
CN105156149B (zh) 2017-12-05
AU2015383068B2 (en) 2017-10-12
AU2015383068A1 (en) 2017-02-02
CN105156149A (zh) 2015-12-16

Similar Documents

Publication Publication Date Title
CN105156149B (zh) 一种综采工作面设备检测及控制方法
CN101984382B (zh) 利用机器人进行变电站设备智能巡检的方法
CN101315337A (zh) 一种坯布表面疵点在线检测装置
CN103217106B (zh) 一种用于监测路轨横向位移的方法和装置
CN102591331A (zh) 自动化设备故障可视化诊断系统
CN103552073A (zh) 一种桥梁缆索检测机器人的控制系统
CN107203196A (zh) 工业设备检测系统及方法
CN112966799A (zh) 一种煤矿井下区域定位方法及装置
CN202443332U (zh) 变电站智能巡检机器人环境信息测控系统
CN115389716A (zh) 一种矿用防爆气体传感器标校方法及装置
CN103092176A (zh) 一种自动检测生产线控制系统
CN211876785U (zh) 一种铝电解槽漏炉智能巡检装置
CN205734942U (zh) 一种多工业机器人关节故障巡检诊断装置
CN216670540U (zh) 一种矿用巡检装置的控制器及矿用巡检系统
CN106990752A (zh) 基于手机app和PC平台的生产设备物联网系统
CN206370904U (zh) 一种远程在线监控机器人系统
CN203067252U (zh) 基于plc的煤矿井下注水泵智能控制系统
CN212296219U (zh) 一种综采工作面过断层智能钻孔系统
CN109986584B (zh) 一种用于隧道巡检的机器人系统
CN203518942U (zh) 刻度指示线提示信号发生装置
CN218493625U (zh) 一种液压支架用新型智能控制装置
CN216291460U (zh) 基于wifi和泄漏电缆的薄煤层工作面机器人巡检通讯系统
CN206757363U (zh) 基于激光扫描和超宽带定位的变电站作业安全检测系统
CN206164205U (zh) 一种基于zigbee技术监测调试配电终端设备
CN104653179A (zh) 基于机器视觉的煤矿自动掘进系统

Legal Events

Date Code Title Description
ENP Entry into the national phase

Ref document number: 2015383068

Country of ref document: AU

Date of ref document: 20150922

Kind code of ref document: A

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 15898120

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 15898120

Country of ref document: EP

Kind code of ref document: A1