[go: up one dir, main page]

WO2014121646A1 - Method and apparatus for controlling rotational speed of shearer drum - Google Patents

Method and apparatus for controlling rotational speed of shearer drum Download PDF

Info

Publication number
WO2014121646A1
WO2014121646A1 PCT/CN2013/090675 CN2013090675W WO2014121646A1 WO 2014121646 A1 WO2014121646 A1 WO 2014121646A1 CN 2013090675 W CN2013090675 W CN 2013090675W WO 2014121646 A1 WO2014121646 A1 WO 2014121646A1
Authority
WO
WIPO (PCT)
Prior art keywords
drum
camera
coal
shearer
image processor
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/CN2013/090675
Other languages
French (fr)
Chinese (zh)
Inventor
童紫原
童敏明
李猛
唐守锋
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 CUMT
China University of Mining and Technology Beijing CUMTB
Original Assignee
China University of Mining and Technology CUMT
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 CUMT, China University of Mining and Technology Beijing CUMTB filed Critical China University of Mining and Technology CUMT
Publication of WO2014121646A1 publication Critical patent/WO2014121646A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • E21F9/00—Devices preventing sparking of machines or apparatus
    • 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
    • E21C35/04—Safety devices

Definitions

  • the invention relates to a method and a device for controlling the rotation speed of a coal mining machine, in particular to a control method and a device for a drum type coal mining machine which are suitable for use in a coal mine underground fully mechanized mining working face.
  • the shearer is the necessary production equipment for the coal mine.
  • miners have high labor intensity, poor safety, and low productivity. Therefore, coal mining automation control is the development trend of coal mining industry.
  • various shearers are still in a mechanized state, lacking effective real-time automatic control devices. Due to the high concentration of coal dust in the coal face, the environment is harsh, which limits the progress of automatic control of the shearer.
  • the control of the shearer mainly includes the control of the movement control and the speed of the coal cutting drum. The latter is a key issue affecting the efficiency and safety of coal mining. There is no good solution at present.
  • the control of the speed of the coal cutting drum is mainly controlled according to the magnitude of the current of the drum driving motor, mainly to avoid overload damage of the driving motor. How to prevent excessive sparking by cutting coal and avoid detonating gas and coal dust through the control of drum speed, there is no relevant technology and research.
  • the object of the present invention is to overcome the deficiencies of the existing coal mining machine control technology, and to provide a method and a device for controlling the rotational speed of a shearer drum with a simple structure and convenient facts.
  • the method for controlling the rotation speed of the shearer drum of the present invention is as follows: a camera is arranged on the upper part of the fuselage of the shearer, and the camera is provided with a camera dustproof device, and the camera is used for coal mining when the shearer is working.
  • the spark image generated by the coal mining drum picking coal is collected, and the collected image information is sent to the image processor, and the image processor distributes the brightness and the spot distribution area of the spark in the image information collected by the camera.
  • the product value is compared with the product of the preset image brightness and the spark spot distribution area to determine the size of the spark.
  • the image processor sends a message to the drum speed controller to make the drum speed controller Decrease the speed of the coal mining drum of the shearer.
  • the image processor sends a message to the drum speed controller, so that the drum speed controller increases the speed of the drum, thereby avoiding the work efficiency while avoiding Cutting coal drum picks hit coal gangue to produce excessive spark detonating tiles Or coal dust;
  • a coal mining machine drum rotation speed control device used in the above method comprising a camera disposed on the upper part of the shearer body, a camera dustproof device on the camera, a camera connected to the image processor, an image processor and a roller
  • the speed controller is connected;
  • the camera dustproof device comprises a protection screen, the protection screen is provided with a reel motor, the reel motor is connected with a motor driver, and the reel motor is provided with a protection screen reel on both sides, and the two sides of the protection screen are respectively provided
  • the output end of the camera is connected to the input end of the image processor, the output end of the image processor is connected to the input of the drum speed controller, and the camera anti-dust device avoids the camera It is polluted by coal dust.
  • the camera dustproof device comprises two protective screen reels and a protective screen wound on both ends thereof, the protective screen is a long transparent film, and the two protective screen reels are provided with gears, and the gears on the screen reel are protected.
  • the reel motor is a stepping motor, connected to and controlled by the motor driver, and can drive two protection screen reels to rotate, the cleaning roller is two sets of brushed Rollers, fixed on both sides of the front of the screen.
  • the adaptive control of the speed of the shearer drum is solved, on the one hand, it can avoid the gas coal dust explosion accident caused by the spark in the coal mining process, and on the other hand, it is beneficial to avoid the drum encountering the coal.
  • the drum picking caused by the rock is too fast, and the drum rotation speed control based on the friction spark monitoring in the drum cutting coal solves the problem of coal rock identification and control, and has good use value.
  • Figure 1 is a block diagram showing the structure of the apparatus of the present invention.
  • FIG. 2 is a schematic block diagram of a dustproof device for a camera according to the present invention.
  • 1-camera 2-image processor; 3-drum speed controller; 4-camera dustproof device; 5-protective screen; 6-cleaning roller; 7-protective screen reel; 8-reel motor; -motor driver.
  • Embodiment 1 As shown in FIG. 1 , the steps of the method for controlling the speed of the shearer drum of the present invention are as follows: a camera 1 is arranged on the upper part of the fuselage of the shearer, and the camera 1 is provided with a camera dustproof device 4 When the coal machine is working, the camera 1 collects the spark image generated when the coal mining drum of the coal mining machine cuts the coal, and sends the collected image information to the image processor 2, and the image processor 2 collects the camera 1 The product value of the brightness in the image information and the spot area of the spark spot is compared with the product of the preset image brightness and the spot area of the spark spot to determine the size of the spark.
  • the image processor 2 Sending information to the drum rotation speed controller 3, causing the drum rotation speed controller 3 to reduce the rotation speed of the coal mining drum of the shearer, and when the size of the spark does not exceed the safety value, the image processor 2 sends a message to the drum rotation speed controller 3, so that The drum speed controller 3 increases the rotation speed of the drum, thereby avoiding the excessive production of the coal gangue when the cutting coal cylinder picks hit the coal gangue while ensuring the working efficiency.
  • the coal mining machine drum speed control device suitable for the above method comprises a camera 1 disposed on the upper part of the shearer body, and the camera 1 is provided with a camera dustproof device 4, the camera 1 and the image processing
  • the camera 2 is connected, the image processor 2 is connected to the drum speed controller 3;
  • the camera dustproof device 4 includes a protective screen 5, the protective screen 5 is provided with a reel motor 8, and the reel motor 8 is connected with a motor driver 9, a reel
  • protection screen reels 7 on both sides of the motor 8, and the two sides of the protection screen 5 are divided
  • There are two sets of cleaning rollers 6, two sets of cleaning rollers 6 are arranged to clamp the protection screen 5;
  • the output end of the camera 1 is connected to the input end of the image processor 2, and the output end of the image processor 2 is connected to the drum rotation speed control.
  • the camera anti-dust device 4 prevents the camera 1 from being contaminated by coal dust.
  • the camera dustproof device 4 includes two protective screen reels 7 and a protective screen 5 wound on both ends thereof.
  • the protective screen 5 is an elongated transparent film, and the two ends thereof are respectively wound up.
  • two protective screen reels 7 are provided with gears, and the gears on the protective screen reel 7 are engaged with the gears provided on the rotating shaft of the reel motor 8, and the two protective screen reels 7 and the reel motor 8 pass through the gears.
  • the reel motor 8 is a stepping motor, which is connected to and controlled by the motor driver 9, and can drive the two protective screen reels 7 to rotate.
  • the cleaning roller 6 is two sets of rollers with brushes, two in each group. The roller is fixed at both ends of the front of the camera lens, and the protective screen 5 is clamped, and the dust of the protective screen 5 is cleaned by the friction between the protective screen 5 and the cleaning roller 6.

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)
  • Studio Devices (AREA)
  • Friction Gearing (AREA)

Abstract

Disclosed are a method and an apparatus for controlling the rotational speed of a shearer drum, comprising a camera (1), an image processor (2), a drum rotational speed controller (3) and a camera dust prevention apparatus (4). In the process of cutting coal, the camera (1) aiming at the coal cutting position of the shearer drum continuously collects images of sparks produced by the coal cutting of the drum, brightness identification processing is performed by the image processor (2), the rotational speed of the drum is controlled by the drum rotational speed controller (3) according to the magnitude and range of the brightness produced by the coal cutting of the drum, and when the sparks produced by the coal cutting are large, the speed of the drum is controlled to decrease; and when the sparks produced by the coal cutting are small, the drum can be controlled to rotate at a normal high speed. In this way, on the one hand, accidents involving gas and coal-dust explosions created by overly large sparks in the coal cutting process can be avoided, and on the other hand, this benefits avoidance of overly fast wear of drum picks caused by the drum running into coal, guaranteeing safe and highly effective mining.

Description

采煤机滚筒转速控制方法及装置 技术领域  Shearer drum rotation speed control method and device

本发明涉及一种采煤机的转速控制方法及装置， 尤其是一种适用于煤矿井下综采工 作面使用的滚筒式采煤机的控制方法及装置。  The invention relates to a method and a device for controlling the rotation speed of a coal mining machine, in particular to a control method and a device for a drum type coal mining machine which are suitable for use in a coal mine underground fully mechanized mining working face.

技术背景 technical background

采煤机是煤矿必需的生产设备。 目前的机械化开采过程中，矿工劳动强度大、 安全性 差、 生产率低。 因此采煤自动化控制是煤矿工业发展的趋势。 目前的各种采煤机还处于 机械化状态， 缺乏有效的实时自动化控制装置， 由于采煤工作面煤尘浓度高， 环境恶劣， 限制了采煤机的自动化控制的进展。 采煤机的控制主要包括移动控制和割煤滚筒速度的 控制， 后者是影响采煤效率和安全的关键问题， 目前尚无较好的解决办法。 目前割煤滚 筒速度的控制主要是根据滚筒驱动电机电流的大小进行控制， 主要是避免驱动电机过载 损坏。 如何通过滚筒速度的控制防止割煤产生过大的火花， 避免引爆瓦斯和煤尘， 这方 面目前尚无相关技术和研究。  The shearer is the necessary production equipment for the coal mine. In the current mechanized mining process, miners have high labor intensity, poor safety, and low productivity. Therefore, coal mining automation control is the development trend of coal mining industry. At present, various shearers are still in a mechanized state, lacking effective real-time automatic control devices. Due to the high concentration of coal dust in the coal face, the environment is harsh, which limits the progress of automatic control of the shearer. The control of the shearer mainly includes the control of the movement control and the speed of the coal cutting drum. The latter is a key issue affecting the efficiency and safety of coal mining. There is no good solution at present. At present, the control of the speed of the coal cutting drum is mainly controlled according to the magnitude of the current of the drum driving motor, mainly to avoid overload damage of the driving motor. How to prevent excessive sparking by cutting coal and avoid detonating gas and coal dust through the control of drum speed, there is no relevant technology and research.

发明内容 Summary of the invention

本发明的目的在于克服现有采煤机控制技术的不足， 提供一种结构简单， 事实方便 的采煤机滚筒转速控制的方法及装置。  The object of the present invention is to overcome the deficiencies of the existing coal mining machine control technology, and to provide a method and a device for controlling the rotational speed of a shearer drum with a simple structure and convenient facts.

为实现上述目的， 本发明的采煤机滚筒转速控制方法步骤为： 在采煤机的机身上部 设置摄像头， 所述摄像头上设有摄像头防尘装置， 在采煤机工作时摄像头对采煤机的采 煤滚筒截齿割煤时产生的火花图像进行采集，并将采集到的图像信息发送给图像处理器， 图像处理器通过将摄像头采集到的图像信息中的亮度和火花的光斑分布面积的乘积数值 与预先设置的图像亮度和火花斑分布面积的乘积进行对比， 从而判断火花的大小， 当火 花的大小超过安全数值时， 图像处理器向滚筒转速控制器发送信息， 使滚筒转速控制器 降低采煤机的采煤滚筒的转速， 当火花的大小未超过安全数值时， 图像处理器向滚筒转 速控制器发送信息， 使滚筒转速控制器提高滚筒的转速， 从而在保证工作效率的同时避 免割采煤滚筒截齿碰到煤矸石产生过大的火花引爆瓦斯或煤尘；  In order to achieve the above object, the method for controlling the rotation speed of the shearer drum of the present invention is as follows: a camera is arranged on the upper part of the fuselage of the shearer, and the camera is provided with a camera dustproof device, and the camera is used for coal mining when the shearer is working. The spark image generated by the coal mining drum picking coal is collected, and the collected image information is sent to the image processor, and the image processor distributes the brightness and the spot distribution area of the spark in the image information collected by the camera. The product value is compared with the product of the preset image brightness and the spark spot distribution area to determine the size of the spark. When the spark size exceeds the safe value, the image processor sends a message to the drum speed controller to make the drum speed controller Decrease the speed of the coal mining drum of the shearer. When the size of the spark does not exceed the safe value, the image processor sends a message to the drum speed controller, so that the drum speed controller increases the speed of the drum, thereby avoiding the work efficiency while avoiding Cutting coal drum picks hit coal gangue to produce excessive spark detonating tiles Or coal dust;

一种用于上述方法的采煤机滚筒转速控制装置， 包括设在采煤机的机身上部的摄像 头， 摄像头上设有摄像头防尘装置， 摄像头与图像处理器相连接， 图像处理器与滚筒转 速控制器相连接； 所述摄像头防尘装置包括保护屏， 保护屏上设有卷轴电机， 卷轴电机 连接有电机驱动器， 卷轴电机两侧设有保护屏卷轴， 保护屏上的两侧上分别设有两组清 扫滚轴， 每组设置 2个清扫滚轴夹住保护屏； 摄像头的输出端接图像处理器的输入端， 图像处理器的输出端接滚筒转速控制器输入端， 摄像头防煤尘装置避免摄像头被煤尘污 染。 A coal mining machine drum rotation speed control device used in the above method, comprising a camera disposed on the upper part of the shearer body, a camera dustproof device on the camera, a camera connected to the image processor, an image processor and a roller The speed controller is connected; the camera dustproof device comprises a protection screen, the protection screen is provided with a reel motor, the reel motor is connected with a motor driver, and the reel motor is provided with a protection screen reel on both sides, and the two sides of the protection screen are respectively provided There are two groups of clear Sweeping the shaft, each set of 2 cleaning rollers clamps the protection screen; the output end of the camera is connected to the input end of the image processor, the output end of the image processor is connected to the input of the drum speed controller, and the camera anti-dust device avoids the camera It is polluted by coal dust.

所述的摄像头防尘装置包括两个保护屏卷轴和两端卷在其上的保护屏， 保护屏是长 条状的透明薄膜， 两个保护屏卷轴上设有齿轮， 保护屏卷轴上的齿轮与卷轴电机转轴上 设置的齿轮相互咬合， 所述卷轴电机是步进电机， 与电机驱动器连接并受其控制， 可以 带动两个保护屏卷轴转动， 所述清扫滚轴是两组带毛刷的滚轴， 固定在保护屏前的两侧。  The camera dustproof device comprises two protective screen reels and a protective screen wound on both ends thereof, the protective screen is a long transparent film, and the two protective screen reels are provided with gears, and the gears on the screen reel are protected. Interlocking with a gear provided on a reel motor shaft, the reel motor is a stepping motor, connected to and controlled by the motor driver, and can drive two protection screen reels to rotate, the cleaning roller is two sets of brushed Rollers, fixed on both sides of the front of the screen.

有益效果： 由于采用了上述方案， 解决了采煤机滚筒转速的自适应控制， 一方面可 以避免采煤过程火花太大引起的瓦斯煤尘爆炸事故， 另一方面也有利于避免滚筒遇到煤 岩造成的滚筒截齿磨损过快现象，采用的基于滚筒割煤中摩擦火花监测的滚筒转速控制， 解决了煤岩识别与控制的问题， 具有良好的使用价值。  Beneficial effects: Due to the above scheme, the adaptive control of the speed of the shearer drum is solved, on the one hand, it can avoid the gas coal dust explosion accident caused by the spark in the coal mining process, and on the other hand, it is beneficial to avoid the drum encountering the coal. The drum picking caused by the rock is too fast, and the drum rotation speed control based on the friction spark monitoring in the drum cutting coal solves the problem of coal rock identification and control, and has good use value.

附图说明 DRAWINGS

图 1是本发明的装置原理结构框图。  BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a block diagram showing the structure of the apparatus of the present invention.

图 2为本发明摄像头防尘装置原理框图。  2 is a schematic block diagram of a dustproof device for a camera according to the present invention.

图中， 1-摄像头； 2-图像处理器； 3-滚筒转速控制器； 4-摄像头防尘装置； 5-保护 屏； 6-清扫滚轴； 7-保护屏卷轴； 8-卷轴电机； 9-电机驱动器。  In the figure, 1-camera; 2-image processor; 3-drum speed controller; 4-camera dustproof device; 5-protective screen; 6-cleaning roller; 7-protective screen reel; 8-reel motor; -motor driver.

具体实施方式 detailed description

实施例 1 : 如图 1所示， 本发明的采煤机滚筒转速控制方法步骤如下： 在采煤机的机 身上部设置摄像头 1， 所述摄像头 1上设有摄像头防尘装置 4， 在采煤机工作时摄像头 1对 采煤机的采煤滚筒截齿割煤时产生的火花图像进行采集， 并将采集到的图像信息发送给 图像处理器 2， 图像处理器 2通过将摄像头 1采集到的图像信息中的亮度和火花的光斑分布 面积的乘积数值与预先设置的图像亮度和火花斑分布面积的乘积进行对比， 从而判断火 花的大小， 当火花的大小超过安全数值时， 图像处理器 2向滚筒转速控制器 3发送信息， 使滚筒转速控制器 3降低采煤机的采煤滚筒的转速， 当火花的大小未超过安全数值时， 图 像处理器 2向滚筒转速控制器 3发送信息， 使滚筒转速控制器 3提高滚筒的转速， 从而在保 证工作效率的同时避免割采煤滚筒截齿碰到煤矸石产生过大的火花引爆瓦斯或煤尘； 适用于上述方法的采煤机滚筒转速控制装置， 包括设在采煤机的机身上部的摄像头 1， 摄像头 1上设有摄像头防尘装置 4， 摄像头 1与图像处理器 2相连接， 图像处理器 2与滚 筒转速控制器 3相连接； 所述摄像头防尘装置 4包括保护屏 5， 保护屏 5上设有卷轴电机 8， 卷轴电机 8连接有电机驱动器 9， 卷轴电机 8两侧设有保护屏卷轴 7， 保护屏 5上的两侧上分 别设有两组清扫滚轴 6， 每组设置 2个清扫滚轴 6夹住保护屏 5; 摄像头 1的输出端接图像处 理器 2的输入端， 图像处理器 2的输出端接滚筒转速控制器 3输入端， 摄像头防煤尘装置 4 避免摄像头 1被煤尘污染。 Embodiment 1 : As shown in FIG. 1 , the steps of the method for controlling the speed of the shearer drum of the present invention are as follows: a camera 1 is arranged on the upper part of the fuselage of the shearer, and the camera 1 is provided with a camera dustproof device 4 When the coal machine is working, the camera 1 collects the spark image generated when the coal mining drum of the coal mining machine cuts the coal, and sends the collected image information to the image processor 2, and the image processor 2 collects the camera 1 The product value of the brightness in the image information and the spot area of the spark spot is compared with the product of the preset image brightness and the spot area of the spark spot to determine the size of the spark. When the size of the spark exceeds the safe value, the image processor 2 Sending information to the drum rotation speed controller 3, causing the drum rotation speed controller 3 to reduce the rotation speed of the coal mining drum of the shearer, and when the size of the spark does not exceed the safety value, the image processor 2 sends a message to the drum rotation speed controller 3, so that The drum speed controller 3 increases the rotation speed of the drum, thereby avoiding the excessive production of the coal gangue when the cutting coal cylinder picks hit the coal gangue while ensuring the working efficiency. Flower detonating gas or coal dust; the coal mining machine drum speed control device suitable for the above method comprises a camera 1 disposed on the upper part of the shearer body, and the camera 1 is provided with a camera dustproof device 4, the camera 1 and the image processing The camera 2 is connected, the image processor 2 is connected to the drum speed controller 3; the camera dustproof device 4 includes a protective screen 5, the protective screen 5 is provided with a reel motor 8, and the reel motor 8 is connected with a motor driver 9, a reel There are protection screen reels 7 on both sides of the motor 8, and the two sides of the protection screen 5 are divided There are two sets of cleaning rollers 6, two sets of cleaning rollers 6 are arranged to clamp the protection screen 5; the output end of the camera 1 is connected to the input end of the image processor 2, and the output end of the image processor 2 is connected to the drum rotation speed control. At the input of the device 3, the camera anti-dust device 4 prevents the camera 1 from being contaminated by coal dust.

如图 2所示，所述的摄像头防尘装置 4包括两个保护屏卷轴 7和两端卷在其上的保护屏 5， 保护屏 5是长条状的透明薄膜， 其两端分别卷在两个保护屏卷轴 7上， 两个保护屏卷轴 7上设有齿轮， 保护屏卷轴 7上的齿轮与卷轴电机 8转轴上设置的齿轮相互咬合， 两个保护 屏卷轴 7与卷轴电机 8通过齿轮传动， 所述卷轴电机 8是步进电机， 与电机驱动器 9连接并 受其控制， 可以带动两个保护屏卷轴 7转动， 清扫滚轴 6是两组带毛刷的滚轴， 每组 2个滚 轴， 固定在摄像头镜头前的两端， 夹住保护屏 5， 通过保护屏 5与清扫滚轴 6的摩擦， 实现 清扫保护屏 5上煤尘的作用。  As shown in FIG. 2, the camera dustproof device 4 includes two protective screen reels 7 and a protective screen 5 wound on both ends thereof. The protective screen 5 is an elongated transparent film, and the two ends thereof are respectively wound up. On the two protective screen reels 7, two protective screen reels 7 are provided with gears, and the gears on the protective screen reel 7 are engaged with the gears provided on the rotating shaft of the reel motor 8, and the two protective screen reels 7 and the reel motor 8 pass through the gears. The reel motor 8 is a stepping motor, which is connected to and controlled by the motor driver 9, and can drive the two protective screen reels 7 to rotate. The cleaning roller 6 is two sets of rollers with brushes, two in each group. The roller is fixed at both ends of the front of the camera lens, and the protective screen 5 is clamped, and the dust of the protective screen 5 is cleaned by the friction between the protective screen 5 and the cleaning roller 6.

Claims

权利要求书 Claim 1.一种采煤机滚筒转速控制方法， 其特征在于：在采煤机的机身上部设置摄像头 (1)， 当采煤机工作时， 摄像头 （1) 对采煤机的采煤滚筒截齿割煤时产生的火花图像进 行采集， 并将采集到的图像信息发送给图像处理器 （2)， 图像处理器 （2) 通过将摄像头 (1) 采集到的图像信息中的亮度和火花的光斑分布面积的乘积数值与预先设置的图像亮 度和火花斑分布面积的乘积进行对比， 从而判断火花的大小， 当火花的大小超过安全数 值时， 图像处理器 （2) 向滚筒转速控制器 （3) 发送信息， 使滚筒转速控制器 （3) 降低 采煤机的采煤滚筒的转速， 当火花的大小未超过安全数值时， 图像处理器 （2) 向滚筒转 速控制器 （3) 发送信息， 使滚筒转速控制器 （3) 提高滚筒的转速， 从而在保证工作效 率的同时避免割采煤滚筒截齿碰到煤矸石产生过大的火花引爆瓦斯或煤尘； A method for controlling the rotation speed of a shearer drum, characterized in that: a camera (1) is arranged on the upper part of the shearer body, and when the shearer is working, the camera (1) cuts the coal mining drum of the shearer The spark image generated by the tooth cutting coal is collected, and the collected image information is sent to the image processor (2), and the image processor (2) passes the brightness and the spark in the image information collected by the camera (1). The product of the spot distribution area is compared with the product of the preset image brightness and the spark spot distribution area to determine the size of the spark. When the size of the spark exceeds the safe value, the image processor (2) is directed to the drum speed controller (3). Sending information to cause the drum speed controller (3) to reduce the speed of the coal mining drum of the shearer. When the size of the spark does not exceed the safe value, the image processor (2) sends a message to the drum speed controller (3). The drum speed controller (3) is used to increase the rotation speed of the drum, so as to ensure the working efficiency and avoid the excessive sparking of the coal mining drum picks hitting the coal gangue. Gas or coal dust; 2.—种实现权利要求 1 所述方法的采煤机滚筒转速控制装置， 其特征在于： 它包括 设在采煤机的机身上部的摄像头 （1)， 摄像头 （1) 上设有摄像头防尘装置 （4)， 摄像头 2. A shearer drum rotation speed control device for implementing the method of claim 1, characterized in that it comprises a camera (1) arranged on the upper part of the shearer body, and a camera (1) is provided with a camera protection Dust device (4), camera (1) 与图像处理器 （2) 相连接， 图像处理器 （2) 与滚筒转速控制器 （3) 相连接； 所 述摄像头防尘装置 （4) 包括保护屏 (5)， 保护屏 （5) 上设有卷轴电机 （8)， 卷轴电机(1) connected to the image processor (2), the image processor (2) is connected to the drum speed controller (3); the camera dustproof device (4) includes a protective screen (5), a protective screen (5) ) with reel motor (8), reel motor (8) 连接有电机驱动器 （9)， 卷轴电机 （8) 两侧设有保护屏卷轴 （7)， 保护屏 （5) 上 的两侧上分别设有两组清扫滚轴 （6)， 每组设置 2 个清扫滚轴 （6) 夹住保护屏 （5); 摄 像头 （1) 的输出端接图像处理器 （2) 的输入端， 图像处理器 （2) 的输出端接滚筒转速 控制器 （3) 输入端， 摄像头防煤尘装置 （4) 避免摄像头 （1) 被煤尘污染。 (8) The motor driver (9) is connected, and the reel motor (8) is provided with protective screen reels (7) on both sides. On both sides of the protection screen (5), there are two sets of cleaning rollers (6), each The group sets 2 cleaning rollers (6) to clamp the protection screen (5); the output end of the camera (1) is connected to the input of the image processor (2), and the output of the image processor (2) is connected to the roller speed controller. (3) Input, camera anti-dust device (4) Avoid camera (1) contamination by coal dust. 3.根据权利要求 2 所述的采煤机滚筒转速控制装置， 其特征在于： 所述的摄像头防 尘装置 （4) 包括两个保护屏卷轴 （7) 和两端卷在其上的保护屏 （5)， 保护屏 （5) 是长 条状的透明薄膜， 两个保护屏卷轴 （7) 上设有齿轮， 保护屏卷轴 （7) 上的齿轮与卷轴 电机 （8) 转轴上设置的齿轮相互咬合， 所述卷轴电机 （8) 是步进电机， 与电机驱动器 3. The shearer drum rotation speed control device according to claim 2, wherein: the camera dustproof device (4) comprises two protective screen reels (7) and a protective screen on which both ends are wound (5), the protective screen (5) is a long strip of transparent film, two protective screen reels (7) are provided with gears, and the gears on the screen reel (7) and the reel motor (8) are provided on the reel Interacting with each other, the reel motor (8) is a stepper motor, and a motor driver (9) 连接并受其控制， 可以带动两个保护屏卷轴 （7) 转动， 所述清扫滚轴 （6) 是两组 带毛刷的滚轴， 固定在保护屏 （5) 前的两侧。 (9) Connected and controlled by it, the two protective screen reels (7) can be rotated. The cleaning roller (6) is two sets of rollers with brushes, fixed on both sides in front of the protective screen (5) .
PCT/CN2013/090675 2013-02-05 2013-12-27 Method and apparatus for controlling rotational speed of shearer drum Ceased WO2014121646A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201310047016.3 2013-02-05
CN201310047016.3A CN103133002B (en) 2013-02-05 2013-02-05 Coal shearer speed control method and device

Publications (1)

Publication Number Publication Date
WO2014121646A1 true WO2014121646A1 (en) 2014-08-14

Family

ID=48493382

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2013/090675 Ceased WO2014121646A1 (en) 2013-02-05 2013-12-27 Method and apparatus for controlling rotational speed of shearer drum

Country Status (2)

Country Link
CN (1) CN103133002B (en)
WO (1) WO2014121646A1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11331758B2 (en) 2018-08-10 2022-05-17 Walmart Apollo, Llc Systems and methods for altering high throughput cutting of sealing elements on packages
US11904490B2 (en) 2018-08-10 2024-02-20 Walmart Apollo, Llc Systems and methods for high throughput cutting of sealing elements on packages

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103133002B (en) * 2013-02-05 2014-11-19 中国矿业大学 Coal shearer speed control method and device
CN103411637B (en) * 2013-07-24 2015-12-16 南通神华电气有限公司 The automatic dustproof anti-fouler of optical window
CN105156149B (en) * 2015-07-16 2017-12-05 中国矿业大学 A kind of fully-mechanized mining working equipment detection and control method
CN108615327A (en) * 2018-06-11 2018-10-02 广州市景彤机电设备有限公司 Mobile terminal visual control pipeline spark method and mobile terminal
CN119456628B (en) * 2024-12-06 2025-12-19 中国矿业大学 Laser radar dustproof defogging device

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA2263251A1 (en) * 1998-03-10 1999-09-10 Patrick E. Retzer Fire suppression system for an automated mining system
US6168240B1 (en) * 1998-03-10 2001-01-02 Archveyor Pty Ltd. Atmospheric detection system for an automated mining system
CN101737048A (en) * 2008-11-25 2010-06-16 卢泉生 Remote control monitoring coal mining method
CN102108862A (en) * 2010-12-30 2011-06-29 三一重型装备有限公司 Coal mining equipment and roller electrical speed regulating system
CN102168559A (en) * 2011-03-15 2011-08-31 太原矿山机器集团有限公司 Active explosion suppression type coal mining machine
CN103133002A (en) * 2013-02-05 2013-06-05 中国矿业大学 Coal mining machine rotary drum rotary speed control method and coal mining machine rotary drum rotary speed control system

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1067035A (en) * 1963-04-16 1967-04-26 Coal Industry Patents Ltd Improvements in mineral mining machines
GB1592354A (en) * 1976-11-11 1981-07-08 Anderson Strathclyde Ltd Mineral mining machine cutter driving mechanism having a load sensing device to regulate the haulage speed of the machine when the cutter driving mechanism is overloaded
SU701708A1 (en) * 1977-03-29 1979-12-05 Всесоюзный Научно-Исследовательский И Проектно-Конструкторский Институт По Автоматизации Предприятий Промышленности Строительных Материалов System for automatic control of a grinding process in a closed-cycle mill having a throughput separator
SU911028A1 (en) * 1977-11-01 1982-03-07 Государственный Макеевский Ордена Октябрьской Революции Научно-Исследовательский Институт По Безопасности Работ В Горной Промышленности Working member of mining cutter-loader
JPS60175697A (en) * 1984-02-23 1985-09-09 財団法人石炭技術研究所 Double ranging drum cutter having rock sensor by imaging treatment system
DE3441397C3 (en) * 1984-11-13 1994-04-14 Eickhoff Geb Control device for applying liquid to the nozzles of a cutting roller
CN201007872Y (en) * 2007-03-06 2008-01-16 中国矿业大学 Experimental device for detonating gas by rock friction
CN101456159B (en) * 2008-08-15 2012-02-29 齐齐哈尔华工机床制造有限公司 Spark identification tool-setting method and abrasive machining automatic system
CN102134996A (en) * 2011-03-15 2011-07-27 太原矿山机器集团有限公司 Safety type active explosion suppression heading machine
CN202372451U (en) * 2011-11-11 2012-08-08 三一集团有限公司 Current collector monitoring device

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA2263251A1 (en) * 1998-03-10 1999-09-10 Patrick E. Retzer Fire suppression system for an automated mining system
US6168240B1 (en) * 1998-03-10 2001-01-02 Archveyor Pty Ltd. Atmospheric detection system for an automated mining system
CN101737048A (en) * 2008-11-25 2010-06-16 卢泉生 Remote control monitoring coal mining method
CN102108862A (en) * 2010-12-30 2011-06-29 三一重型装备有限公司 Coal mining equipment and roller electrical speed regulating system
CN102168559A (en) * 2011-03-15 2011-08-31 太原矿山机器集团有限公司 Active explosion suppression type coal mining machine
CN103133002A (en) * 2013-02-05 2013-06-05 中国矿业大学 Coal mining machine rotary drum rotary speed control method and coal mining machine rotary drum rotary speed control system

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11331758B2 (en) 2018-08-10 2022-05-17 Walmart Apollo, Llc Systems and methods for altering high throughput cutting of sealing elements on packages
US11904490B2 (en) 2018-08-10 2024-02-20 Walmart Apollo, Llc Systems and methods for high throughput cutting of sealing elements on packages
US12172335B2 (en) 2018-08-10 2024-12-24 Walmart Apollo, Llc Systems and methods for high throughput cutting of sealing elements on packages

Also Published As

Publication number Publication date
CN103133002A (en) 2013-06-05
CN103133002B (en) 2014-11-19

Similar Documents

Publication Publication Date Title
WO2014121646A1 (en) Method and apparatus for controlling rotational speed of shearer drum
CN102412523A (en) Remote-control detection device for overhead line
CN105048395A (en) Coal cutter cable clamping plate dragging device
CN204148976U (en) Full-automatic round tube burr removes machine
CN204673001U (en) A kind of drilling machine
CN103982636A (en) Sealing transmission mechanism
CN105328213A (en) Chip tracking type automatic telescopic chip remover
CN104944215A (en) Automatic winding machine
CN201922109U (en) Shearing machine for brazing filler metal
CN205166187U (en) Laser cutting machine change table
CN204657114U (en) Position guiding device of steel belt cold milling machine
CN204607430U (en) A kind of overhead traveling crane warning steel cable slot disengaging
CN202197050U (en) Remote-control inspection device for overhead lines
CN103286864B (en) Multi-wire sawing machine
CN203359460U (en) Automatic stall protection device of belt conveyor
CN205200226U (en) Straightening machine with safe round pin cuts off automatic checkout device
CN104227858A (en) Rope breaking protection device for multi-wire sawing machine
CN209986002U (en) Feeding system of waste oil pipe hot mill
KR101465952B1 (en) Lug remaining Milling Machine
CN203471128U (en) Stainless steel pipe cutting machine
CN210132122U (en) Electric clamp type cold cutting flying saw machine
CN101920845B (en) Horizontal transmission rotating wheel-type conveying device
CN202702422U (en) Automatic control ceramic tile cutting machine
CN208532275U (en) A kind of rotary grid maker with safety guard
CN214600598U (en) Mine safety real-time online monitoring device for quarry stone exploitation

Legal Events

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

Ref document number: 13874258

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

WA Withdrawal of international application
122 Ep: pct application non-entry in european phase

Ref document number: 13874258

Country of ref document: EP

Kind code of ref document: A1