CN103244164A - Hydraulic support group with video control system - Google Patents
Hydraulic support group with video control system Download PDFInfo
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- CN103244164A CN103244164A CN2013101924534A CN201310192453A CN103244164A CN 103244164 A CN103244164 A CN 103244164A CN 2013101924534 A CN2013101924534 A CN 2013101924534A CN 201310192453 A CN201310192453 A CN 201310192453A CN 103244164 A CN103244164 A CN 103244164A
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- 238000012544 monitoring process Methods 0.000 claims abstract description 19
- 230000033001 locomotion Effects 0.000 claims description 26
- 239000000428 dust Substances 0.000 claims description 9
- 239000003245 coal Substances 0.000 claims description 5
- 238000000034 method Methods 0.000 description 13
- 238000009432 framing Methods 0.000 description 8
- 238000005065 mining Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000009017 pursuit movement Effects 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 230000003319 supportive effect Effects 0.000 description 1
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Abstract
一种带有视频控制系统的液压支架组，包括多架液压支架，每架液压支架包括支架控制器、视频定位装置、视频摄像仪、控制云台、综合接入器，还包括视频监控主机和显示器，所述支架控制器电气连接所述视频定位装置，所述视频定位装置包括信号发射部和信号接收部，所述支架控制器控制所述视频定位装置的信号的收发，实现控制云台的旋转定位，所述视频摄像仪固定安装在所述控制云台上，用于实现对运动的液压支架的目标跟踪；所述综合接入器用于传输摄像仪视频数据；所述视频监控主机通过综合接入器一端连接所述视频摄像仪，另一端连接所述显示器。
A hydraulic support group with a video control system, including a plurality of hydraulic supports, each hydraulic support includes a support controller, a video positioning device, a video camera, a control platform, an integrated access device, and a video monitoring host and display, the bracket controller is electrically connected to the video positioning device, the video positioning device includes a signal transmitting part and a signal receiving part, the bracket controller controls the sending and receiving of signals of the video positioning device, and realizes the control of the pan-tilt Rotation positioning, the video camera is fixedly installed on the control platform, used to realize the target tracking of the moving hydraulic support; the integrated connector is used to transmit the video data of the camera; One end of the connector is connected to the video camera, and the other end is connected to the display.
Description
Technical field
The present invention relates to a kind of hydraulic support group that has video control system, relate in particular to a kind of for comprehensive mining hydraulic bracket group under the coal mine, it has the video system of Long-distance Control, concentrates the Long-distance Control of hydraulic support that relevant video information is provided for realizing crossheading under the coal mine.
Background technology
Fully-mechanized mining working has equipment such as coal-winning machine, scratch board conveyor and hydraulic support to constitute.The coal-winning machine work plane is arranged in order by many hydraulic supports to be formed.Hydraulic support is subjected to the scratch board conveyor constraint at work plane, is an abandoned floating system each other.Move frame, pushing and sliding action control by the order of hydraulic support, realize that the integral body of coal-face is passed.Because the hydraulic support of work plane is a unsteady system; hydraulic support in moving the frame process because restrictions such as work plane roof and floor condition and work plane inclination angles; move in the frame process in the automation of carrying out hydraulic support; hydraulic support exists in moving process to be pricked at the end; card; do not wait phenomenon; hydraulic support occurs through regular meeting and move problems such as frame is not in place; for this reason; in unmanned work plane implementation process; need use remote console in crossheading Surveillance center; observe hydraulic support action situation by video-frequency monitor; and to moving frame hydraulic support not in place; by the action situation that video-frequency monitor is observed hydraulic support, adopt remote console to carry out the after frame operation of hydraulic support.But the existing video system of fully-mechanized mining working, most video camera camera lenses can not move, can't see the whole motion process of hydraulic support, even what the control The Cloud Terrace was arranged also is by adjustment manually is set, in the working surface hydraulic support moving process, can not finish automatically and follow hydraulic support movement, realize hydraulic support movement object enforcement tracing observation, therefore, the successful Application of hydraulic support video system becomes the unmanned work plane technical bottleneck of realization.
Summary of the invention
At the problems referred to above, the hydraulic support group that the present invention proposes has video control system, and described video camera has dust arrester, and be installed on the hydraulic support, video camera disposes the control The Cloud Terrace, controls by bracket controller, can make about it left rotation and right rotation.Described video positioner is installed on the hydraulic support back timber, realizes video camera camera lens location by bracket controller control radio frequency positioner.Described video camera can be sent to the work plane vision signal supervision of carrying out the working surface hydraulic support action on the monitoring host computer of crossheading Surveillance center by comprehensive access device.Video monitoring host implementation by crossheading Surveillance center is monitored the hydraulic support real-time video of motion.
Be implemented in crossheading Surveillance center to the motion conditions real-time video monitoring of working surface hydraulic support by the hydraulic support video control system, video system in the past all adopts fixedly the video camera camera lens that hydraulic support is observed, even if the control The Cloud Terrace is arranged, also be interim adjustment, can't realize that the hydraulic support of automatic accompany movement observes the action situation of hydraulic support.For this reason, need to seek the video system that to follow hydraulic support movement automatically, adopt the video camera of band cloud platform, video camera can be focused in automation, focusing, video camera has dust arrester, and can carry out dedusting control by bracket controller, owing to realize hydraulic support action control in the hydraulic support action of disposing electrohydraulic control system by bracket controller, therefore, can know and install at that hydraulic support from the nearest video camera of action hydraulic support by calculating, and can carry out the cradle head control of video camera by bracket controller, and can determine the angle that video camera rotates, realize the coarse localization of video camera camera lens, at action frame video framing signal emitter is installed simultaneously, in video camera video framing signal receiving system is installed, can realize the location that becomes more meticulous of vision signal, simultaneously, also can adjust video camera in good time and the video location on the hydraulic support of motion is transmitted carry out pursuit movement, realize the automatic tracking to the hydraulic support of motion.Owing to adopted bracket controller to carry out the cradle head control of video camera, can calculate the position of video camera control The Cloud Terrace by the hydraulic support of action, and the control The Cloud Terrace can normally be observed the angle of action support, thereby by the angle of control The Cloud Terrace rotation, on the action target frame that can rotate automatically.By the video camera positioner, can make hydraulic support in moving process, along with the movement of target target position, adjust the The Cloud Terrace anglec of rotation in real time, realize that video system monitors the hydraulic support movement process trace, makes the hydraulic support video control system have automation, intelligent characteristics.
Technical scheme of the present invention is as follows:
A kind of hydraulic support group that has video control system, comprise many hydraulic supports and video monitoring main frame and display, every hydraulic support comprises bracket controller, the video positioner, video camera, the control The Cloud Terrace, comprehensive access device, described bracket controller is electrically connected described video positioner, described video positioner comprises signal emission part and signal receiving part, described bracket controller is controlled the transmitting-receiving of the signal of described video positioner, realize the rotation location of control The Cloud Terrace, described video camera is fixedly mounted on the described control The Cloud Terrace, is used for realization to the target following of the hydraulic support of motion; Described comprehensive access device is installed on the hydraulic support, is used for transmission video camera video data; One end of described video monitoring main frame connects described video camera by comprehensive access device, and the other end connects described display.
Preferred described signal emission part is arranged on the back timber of described hydraulic support; Described signal receiving part is arranged on the described control The Cloud Terrace.
Preferred described signal emission part is arranged on the back timber bottom of described hydraulic support.
Preferred described control The Cloud Terrace can rotate up and down and/or left rotation and right rotation under the control of described bracket controller.
Preferred described video camera is provided with special-purpose dust arrester, and described bracket controller is controlled described special-purpose dust arrester and carried out the dedusting of described video camera.
The dedusting of preferred described video camera is only carried out under the non-rotary situation of described control The Cloud Terrace.
Preferred described comprehensive access device is installed on the hydraulic support, and an end is connected with video camera, and the other end is connected with the video monitoring main frame of crossheading.
Preferred described video monitoring main frame and described display are installed in coal mine downhole crossheading Surveillance center.
The invention has the advantages that: determine the anglec of rotation of video camera according to the hydraulic support of action, determine that video camera observes the hydraulic support initial position of action; Realize that by the video positioner rotation of following automatically of video camera The Cloud Terrace is controlled in the hydraulic support movement process; The video camera control system has functional characteristics such as automation, intelligent control.
Description of drawings
Accompanying drawing 1 is the illustrative view of functional configuration (a plurality of hydraulic supports are shown) that has the hydraulic support group of video control system of the present invention.
Reference numeral is as follows:
The 1-hydraulic support; The 2-bracket controller; 3-signal emission part; The 4-signal receiving part; The 5-video camera; 6-controls The Cloud Terrace; The comprehensive access device of 7-; 8-crossheading Surveillance center; 9-video monitoring main frame; The 10-display.
The specific embodiment
Referring to accompanying drawing 1, it has described a kind of according to the preferred embodiment that has the hydraulic support group of video control system of the present invention, every hydraulic support all comprises bracket controller, video positioner, video camera, control The Cloud Terrace, comprehensive access device, and video control system comprises and also comprises the video monitoring main frame that is arranged on crossheading Surveillance center and display etc.
Having many hydraulic supports to arrange in proper order on the coal-face forms, at every hydraulic support bracket controller is installed, be used for carrying out the action control of hydraulic support, simultaneously can control The Cloud Terrace, and then control video camera rotation, make the hydraulic support (in general being adjacent frame) that video camera is aimed at needs observation, can also control the video camera positioner, make video camera can follow hydraulic support movement.
Bracket controller is electrically connected the video positioner, the video positioner comprises signal emission part and signal receiving part, be used for transmitting and receiving framing signal, wherein the signal emission part is used for the positional information of monitoring hydraulic support, because the installing space of hydraulic support is comparatively narrow, simultaneously as column, the motion of base plate etc. is more, therefore it can be arranged on the back timber of hydraulic support, with the physical location that can accurately identify hydraulic support and other function that does not hinder hydraulic support as far as possible, in addition, consider that hydraulic support plays a supportive role, the risk that the top of back timber has coal stone to collapse to fall, therefore it can be arranged on the back timber bottom, signal receiving part is arranged on the control The Cloud Terrace, and its form with wireless signal outwards sent, signal receiving part receives above-mentioned wireless signal, and this wireless signal is sent to bracket controller, bracket controller is by the information of above-mentioned wireless signal, determine movement angle and the mode of control The Cloud Terrace, and directly or control the motion of The Cloud Terrace by signal receiving part, bracket controller is controlled the when frequency of receiving and transmitting signal and receiving and transmitting signal of video positioner simultaneously, realization is to the accurate control of the rotation location of control The Cloud Terrace, video camera is fixedly mounted on the control The Cloud Terrace, is used for realization to the target following of the hydraulic support of motion; Video camera is delivered to vision signal on the video monitoring main frame by comprehensive access device; The common environment in working region of considering hydraulic support is relatively poor; safety for the staff; usually the video monitoring main frame is arranged on environment crossheading Surveillance center preferably; the one end connects video camera by comprehensive access device; the other end connects display; play for the vision signal of receiver, video video camera and by display, comprehensive access device carries out signal conversion and preliminary treatment to vision signal, so that signal is suitable for the long-distance transmissions from work plane to crossheading Surveillance center.
Because the dust of down-hole is bigger, need to arrange special-purpose dust arrester on the video camera, can carry out the dedusting of video camera by the special-purpose dust arrester that bracket controller control is installed on the video camera, can regularly carry out dedusting control to video camera, when also can investigate that image is problematic in the video camera image process according to Surveillance center, bracket controller by Surveillance center's video monitoring host notification corresponding video video camera correspondence carries out dedusting control, and the dedusting of video camera is preferably only carried out under the non-rotary situation of control The Cloud Terrace.
At the hydraulic support electrohydraulic control system fully-mechanized mining working, the action of hydraulic support is sent instruction by bracket controller and is controlled, the installation site of the video camera that disposes on the hydraulic support and control The Cloud Terrace thereof is all the same, therefore, the action support is relative with the position of video camera definite, can draw by the angle calculation that calculates video camera and observed hydraulic support.Rotate according to the angle control The Cloud Terrace that calculates by controller control video camera, thereby reach the video situation that video camera is effectively observed the hydraulic support of warming-up exercise.On the video monitoring main frame of crossheading Surveillance center, carry out the switching of video pictures automatically according to selected video camera, can select a plurality of video camera simultaneously, observe the motion conditions of hydraulic support from different angles.Vision signal emitter on the hydraulic support of warming-up exercise is by bracket controller emission video framing signal, control its video framing signal receiving system at the bracket controller of the hydraulic support of observing this support action simultaneously, and by The Cloud Terrace video camera is finely tuned, aim at the fixedly target position of the hydraulic support that needs observation, and along with the motion of hydraulic support, adjust the video camera The Cloud Terrace, make its video receiving apparatus continue to receive the video framing signal, thereby the realization video camera is followed the trail of automatically to the video information of motion bracket.The method of work of above-mentioned hydraulic support group video control system comprises following content:
1. the hydraulic support upper bracket controller of warming-up exercise control video positioner is launched framing signal;
2. calculating can be observed the video camera position of this hydraulic support action before hydraulic support began to move;
3. calculate the angle that the video camera The Cloud Terrace on the selected hydraulic support that video camera is installed need rotate;
4. bracket controller control video camera The Cloud Terrace carries out the rotation control of The Cloud Terrace according to the angle of calculating;
5. bracket controller control video camera The Cloud Terrace is finely tuned according to video positioner reception framing signal, and accurate in locating is on the permanent position of hydraulic support;
6. crossheading Surveillance center video monitoring main frame carries out hydraulic support video camera position and switches, and shows the video image of warming-up exercise hydraulic support, also can select a plurality of video cameras and observe hydraulic support in the motion process from different perspectives;
7. in the hydraulic support movement process, for the rotation of the control of the bracket controller on the hydraulic support of observing motion bracket video camera The Cloud Terrace, the hydraulic support of accompany movement carries out video monitor.
The above; only be the preferable specific embodiment of patent of the present invention; but the protection domain of patent of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that patent of the present invention discloses; the variation that can expect easily or replacement all should be encompassed within the protection domain of patent of the present invention.
Claims (7)
1. hydraulic support group that has video control system, comprise many hydraulic supports, it is characterized in that: every hydraulic support comprises bracket controller, the video positioner, video camera, the control The Cloud Terrace, comprehensive access device, also comprise video monitoring main frame and display, described bracket controller is electrically connected described video positioner, described video positioner comprises signal emission part and signal receiving part, described bracket controller is controlled the transmitting-receiving of the signal of described video positioner, realize the rotation location of control The Cloud Terrace, described video camera is fixedly mounted on the described control The Cloud Terrace, is used for realization to the target following of the hydraulic support of motion; Described comprehensive access device is installed on the hydraulic support; Described video monitoring main frame is arranged on crossheading Surveillance center, and the one end connects described video camera by described comprehensive access device, and the other end connects described display.
2. the hydraulic support group that has video control system as claimed in claim 1, it is characterized in that: described signal emission part is arranged on the back timber of described hydraulic support; Described signal receiving part is arranged on the described control The Cloud Terrace.
3. the hydraulic support group that has video control system as claimed in claim 2, it is characterized in that: described signal emission part is arranged on the back timber bottom of described hydraulic support.
4. the hydraulic support group that has video control system as claimed in claim 1, it is characterized in that: described control The Cloud Terrace can rotate up and down and/or left rotation and right rotation under the control of described bracket controller.
5. the hydraulic support group that has video control system as claimed in claim 1, it is characterized in that: described video camera is provided with special-purpose dust arrester, and described bracket controller is controlled described special-purpose dust arrester and is carried out the dedusting of described video camera.
6. the hydraulic support group that has video control system as claimed in claim 5, it is characterized in that: the dedusting of described video camera is only carried out under the non-rotary situation of described control The Cloud Terrace.
7. as claim 1-6 arbitrary described hydraulic support group that has video control system wherein, it is characterized in that: described video monitoring main frame and described display are installed in coal mine downhole crossheading Surveillance center.
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| CN201310192453.4A CN103244164B (en) | 2013-05-23 | 2013-05-23 | A kind of hydraulic support group with video control system |
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| CN201310192453.4A CN103244164B (en) | 2013-05-23 | 2013-05-23 | A kind of hydraulic support group with video control system |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103452571A (en) * | 2013-09-12 | 2013-12-18 | 北京天地玛珂电液控制系统有限公司 | Mining spherical-camera instrument set video surveillance system provided with holder and used for coal face |
| CN103912296A (en) * | 2014-03-19 | 2014-07-09 | 北京天地玛珂电液控制系统有限公司 | Working face equipment positioning system based on image measurement |
| CN103912275A (en) * | 2014-03-19 | 2014-07-09 | 北京天地玛珂电液控制系统有限公司 | Working face equipment positioning method based on image measurement |
| CN103986855A (en) * | 2014-03-19 | 2014-08-13 | 北京天地玛珂电液控制系统有限公司 | A camera with self-dust removal function for fully mechanized coal mining face |
| CN104453968A (en) * | 2014-11-28 | 2015-03-25 | 贵州盘江矿山机械有限公司 | Operating and mounting structure for adjacent hydraulic supports |
| CN105370308A (en) * | 2015-09-24 | 2016-03-02 | 北京天地玛珂电液控制系统有限公司 | Gob-side entry retaining hydraulic support system |
| CN107943108A (en) * | 2017-12-11 | 2018-04-20 | 日立楼宇技术（广州）有限公司 | Fully-mechanized mining working it is automatic with machine image pickup method, device and system |
| CN109915193A (en) * | 2019-04-02 | 2019-06-21 | 北京天地玛珂电液控制系统有限公司 | Hydraulic support control system |
| CN114856669A (en) * | 2022-05-05 | 2022-08-05 | 中煤科工开采研究院有限公司 | Self-moving support visual positioning navigation method based on non-repeated support system |
| WO2024149001A1 (en) * | 2023-01-13 | 2024-07-18 | 北京天玛智控科技股份有限公司 | Video monitoring method and apparatus for coal mine fully mechanized mining face, electronic device and medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103452571A (en) * | 2013-09-12 | 2013-12-18 | 北京天地玛珂电液控制系统有限公司 | Mining spherical-camera instrument set video surveillance system provided with holder and used for coal face |
| CN103452571B (en) * | 2013-09-12 | 2016-03-02 | 北京天地玛珂电液控制系统有限公司 | The mining spherical camera group video monitoring system of the band The Cloud Terrace that a kind of coal-face uses |
| CN103912296B (en) * | 2014-03-19 | 2016-08-17 | 北京天地玛珂电液控制系统有限公司 | A kind of mining face equipment alignment system based on image measurement |
| CN103912296A (en) * | 2014-03-19 | 2014-07-09 | 北京天地玛珂电液控制系统有限公司 | Working face equipment positioning system based on image measurement |
| CN103912275A (en) * | 2014-03-19 | 2014-07-09 | 北京天地玛珂电液控制系统有限公司 | Working face equipment positioning method based on image measurement |
| CN103986855A (en) * | 2014-03-19 | 2014-08-13 | 北京天地玛珂电液控制系统有限公司 | A camera with self-dust removal function for fully mechanized coal mining face |
| CN103986855B (en) * | 2014-03-19 | 2017-05-17 | 北京天地玛珂电液控制系统有限公司 | Coal mine fully mechanized coal mining face vidicon having automatic dust removal function |
| CN103912275B (en) * | 2014-03-19 | 2016-05-18 | 北京天地玛珂电液控制系统有限公司 | A kind of mining face equipment localization method based on image measurement |
| CN104453968A (en) * | 2014-11-28 | 2015-03-25 | 贵州盘江矿山机械有限公司 | Operating and mounting structure for adjacent hydraulic supports |
| CN105370308A (en) * | 2015-09-24 | 2016-03-02 | 北京天地玛珂电液控制系统有限公司 | Gob-side entry retaining hydraulic support system |
| CN105370308B (en) * | 2015-09-24 | 2018-03-09 | 北京天地玛珂电液控制系统有限公司 | Along lane hydraulic support stand system of leaving blank |
| CN107943108A (en) * | 2017-12-11 | 2018-04-20 | 日立楼宇技术（广州）有限公司 | Fully-mechanized mining working it is automatic with machine image pickup method, device and system |
| CN107943108B (en) * | 2017-12-11 | 2021-03-23 | 日立楼宇技术（广州）有限公司 | Automatic camera-following shooting method, device and system for fully mechanized mining face |
| CN109915193A (en) * | 2019-04-02 | 2019-06-21 | 北京天地玛珂电液控制系统有限公司 | Hydraulic support control system |
| CN109915193B (en) * | 2019-04-02 | 2020-12-22 | 北京天地玛珂电液控制系统有限公司 | Hydraulic support control system |
| CN114856669A (en) * | 2022-05-05 | 2022-08-05 | 中煤科工开采研究院有限公司 | Self-moving support visual positioning navigation method based on non-repeated support system |
| WO2024149001A1 (en) * | 2023-01-13 | 2024-07-18 | 北京天玛智控科技股份有限公司 | Video monitoring method and apparatus for coal mine fully mechanized mining face, electronic device and medium |
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