CN103244164B - A kind of hydraulic support group with video control system - Google Patents
A kind of hydraulic support group with video control system Download PDFInfo
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- CN103244164B CN103244164B CN201310192453.4A CN201310192453A CN103244164B CN 103244164 B CN103244164 B CN 103244164B CN 201310192453 A CN201310192453 A CN 201310192453A CN 103244164 B CN103244164 B CN 103244164B
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Abstract
A kind of hydraulic support group with video control system, comprise multi rack hydraulic support, every frame hydraulic support comprises bracket controller, video positioning apparatus, video camera, control The Cloud Terrace, Integrated access device, also comprise video monitoring main frame and display, described bracket controller is electrically connected described video positioning apparatus, described video positioning apparatus comprises signal emission part and signal receiving part, described bracket controller controls the transmitting-receiving of the signal of described video positioning apparatus, realize the rotation location controlling The Cloud Terrace, described video camera is fixedly mounted on described control The Cloud Terrace, for realizing the target following of the hydraulic support to motion, described Integrated access device is for transmitting video camera video data, described video monitoring main frame connects described video camera by Integrated access device one end, and the other end connects described display.
Description
Technical field
The present invention relates to a kind of hydraulic support group with video control system, particularly relate to a kind of for underground coal mine comprehensive mining hydraulic bracket group, it is with the video system of Long-distance Control, for underground coal mine realizes the video information that crossheading concentrates the Long-distance Control of hydraulic support to provide relevant.
Background technology
Fully-mechanized mining working has the equipment such as coal-winning machine, scratch board conveyor and hydraulic support to form.Coal-winning machine work plane is arranged in order by multiple stage hydraulic support and forms.Hydraulic support is subject to 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 the monolithic push of coal-face.Hydraulic support due to work plane is a floating system, hydraulic support is moving in frame process due to restrictions such as work plane roof and floor condition and work plane inclination angles, in the automatic moving frame process of carrying out hydraulic support, hydraulic support exists in moving process pricks the end, card, the phenomenon such as not, often there will be the problems such as hydraulic moving stand is not in place, for this reason, in unmanned work plane implementation process, need to use remote console in crossheading Surveillance center, hydraulic support action situation is observed by video-frequency monitor, and to moving frame hydraulic support not in place, the action situation of hydraulic support is observed by video-frequency monitor, remote console is adopted to carry out the after frame operation of hydraulic support.But the existing video system of fully-mechanized mining working, most video camera camera lens can not move, the whole motion process of hydraulic support cannot be seen, even if what have control The Cloud Terrace is also manually arrange adjustment, automatically can not complete in working surface hydraulic support moving process and follow hydraulic support movement, realize hydraulic support movement object and implement tracing observation, therefore, the successful Application of hydraulic support video system becomes and realizes unmanned work plane technical bottleneck.
Summary of the invention
For the problems referred to above, the hydraulic support group that the present invention proposes is with video control system, and described video camera has dust arrester, and being arranged on hydraulic support, video camera is configured with control The Cloud Terrace, is controlled by bracket controller, it can be made upper and lower, left rotation and right rotation.Described video positioning apparatus, is arranged on hydraulic support top beam, controls radio frequency positioner realize video camera camera lens location by bracket controller.The monitoring host computer that described video camera can be sent to work plane vision signal crossheading Surveillance center by Integrated access device carries out the supervision of working surface hydraulic support action.By the video monitoring host implementation of crossheading Surveillance center, the hydraulic support real-time video of motion is monitored.
Realize monitoring the motion conditions real-time video of working surface hydraulic support in crossheading Surveillance center by hydraulic support video control system, video system in the past all adopts fixing video camera camera lens to observe hydraulic support, even if there is control The Cloud Terrace, also be interim adjustment, the hydraulic support of automatic accompany movement cannot be realized to observe the action situation of hydraulic support.For this reason, need to find the video system automatically can following hydraulic support movement, adopt the video camera of band The Cloud Terrace, video camera can be focused in automation, focusing, video camera has dust arrester, and dedusting control can be carried out by bracket controller, owing to realizing hydraulic support action control in the hydraulic support action being configured with electrohydraulic control system by bracket controller, therefore, can know to install on that hydraulic support from the video camera that action hydraulic support is nearest by calculating, and the cradle head control of video camera can be carried out by bracket controller, and the angle that video camera rotates can be determined, realize the coarse localization of video camera camera lens, video framing signal emitter is installed on action frame simultaneously, video camera is provided with video positioning signal reception device, the location that becomes more meticulous of vision signal can be realized, simultaneously, also can adjust video camera in good time and pursuit movement is carried out to the video localizing emission signal on the hydraulic support of motion, realize the automatic tracing of the hydraulic support to motion.The cradle head control of video camera is carried out owing to have employed bracket controller, the position that video camera controls The Cloud Terrace can be calculated by the hydraulic support of action, and control The Cloud Terrace can normal observation to the angle of action support, thus by controlling the angle that The Cloud Terrace rotates, can on the action target frame of automatic rotation.By video camera positioner, can make hydraulic support in moving process, along with the movement of target target position, the adjustment The Cloud Terrace anglec of rotation in real time, realize video system to monitor hydraulic support movement process trace, make hydraulic support video control system have automation, intelligent feature.
Technical scheme of the present invention is as follows:
A kind of hydraulic support group with video control system, comprise multi rack hydraulic support and video monitoring main frame and display, every frame hydraulic support comprises bracket controller, video positioning apparatus, video camera, control The Cloud Terrace, Integrated access device, described bracket controller is electrically connected described video positioning apparatus, described video positioning apparatus comprises signal emission part and signal receiving part, described bracket controller controls the transmitting-receiving of the signal of described video positioning apparatus, realize the rotation location controlling The Cloud Terrace, described video camera is fixedly mounted on described control The Cloud Terrace, for realizing the target following of the hydraulic support to motion, described Integrated access device is arranged on hydraulic support, for transmitting video camera video data, one end of described video monitoring main frame connects described video camera by Integrated 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 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 dedusting device, and described bracket controller controls the dedusting that described Special dedusting device carries out described video camera.
The dedusting of preferred described video camera only performs in the non-rotary situation of described control The Cloud Terrace.
Preferred described Integrated access device is arranged on hydraulic support, and one 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 arranged on coal mine downhole crossheading Surveillance center.
The invention has the advantages that: according to the anglec of rotation of the hydraulic support determination video camera of action, determine that video camera observes the hydraulic support initial position of action; Realize automatically following of video camera The Cloud Terrace in hydraulic support movement process by video positioning apparatus and rotate control; Video camera control system has the functional characteristics such as automation, intelligentized control method.
Accompanying drawing explanation
Accompanying drawing 1 is the illustrative view of functional configuration (multiple hydraulic support is shown) of the hydraulic support group with video control system of the present invention.
Reference numeral is as follows:
1-hydraulic support; 2-bracket controller; 3-signal emission part; 4-signal receiving part; 5-video camera; 6-controls The Cloud Terrace; 7-Integrated access device; 8-crossheading Surveillance center; 9-video monitoring main frame; 10-display.
Detailed description of the invention
See accompanying drawing 1, which depict a kind of preferred embodiment according to the hydraulic support group with video control system of the present invention, every frame hydraulic support all comprises bracket controller, video positioning apparatus, video camera, control The Cloud Terrace, Integrated access device, and video control system comprises the video monitoring main frame and display etc. that also comprise and be arranged on crossheading Surveillance center.
Coal-face there is the arrangement of multiple stage hydraulic support order form, every platform hydraulic support is provided with bracket controller, for carrying out the action control of hydraulic support, The Cloud Terrace can be controlled simultaneously, and then control video camera rotation, make video camera aim at the hydraulic support (being in general adjacent frame) needing observation, video camera positioner can also be controlled, enable video camera follow hydraulic support movement.
Bracket controller electrical connection video positioning apparatus, video positioning apparatus comprises signal emission part and signal receiving part, for transmitting and receiving framing signal, wherein signal emission part is for monitoring the positional information of hydraulic support, because the installing space of hydraulic support is comparatively narrow, simultaneously as column, the motion of base plate etc. is more, therefore can be arranged on the back timber of hydraulic support, also do not hinder other function of hydraulic support with the physical location that can accurately identify 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 be caving, therefore back timber bottom can be arranged on, signal receiving part is arranged on and controls on The Cloud Terrace, and it is outwards sent with the form of wireless signal, 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 the movement angle and the mode that control The Cloud Terrace, and directly or controlled the motion of The Cloud Terrace by signal receiving part, bracket controller controls the frequency of video positioning apparatus when receiving and transmitting signal and receiving and transmitting signal simultaneously, realize the accurate control to the rotation location controlling The Cloud Terrace, video camera is fixedly mounted on and controls on The Cloud Terrace, for realizing the target following of the hydraulic support to motion, video camera is delivered to vision signal on video monitoring main frame by Integrated access device, consider that the usual environment in the working region of hydraulic support is poor, in order to the safety of staff, usually video monitoring main frame is arranged on the good crossheading Surveillance center of environment, its one end connects video camera by Integrated access device, the other end connects display, for receiving the vision signal of video camera and being play by display, Integrated access device carries out signal conversion and preliminary treatment to vision signal, the long-distance transmissions being suitable for from work plane to crossheading Surveillance center to make signal.
Because the dust of down-hole is larger, video camera needs arrange Special dedusting device, the dedusting that the Special dedusting device be arranged on video camera carries out video camera can be controlled by bracket controller, regularly can carry out dedusting control to video camera, when also can investigate that in video camera image process, image is problematic according to Surveillance center, carry out dedusting by the bracket controller that Surveillance center's video monitoring host notification corresponding video video camera is corresponding to control, the dedusting of video camera preferably only performs in the non-rotary situation of control The Cloud Terrace.
At hydraulic support electrohydraulic control system fully-mechanized mining working, the action of hydraulic support sends instruction by bracket controller and controls, the installation site of the video camera that hydraulic support configures and control The Cloud Terrace thereof is all the same, therefore, action support is relative with the position of video camera to be determined, can be drawn by the angle calculation calculating video camera and observed hydraulic support.Control video camera by controller to rotate according to the Angle ambiguity The Cloud Terrace calculated, thus reach the video situation that video camera effectively observes the hydraulic support of warming-up exercise.On the video monitoring main frame of crossheading Surveillance center, automatically carry out the switching of video pictures according to selected video camera, multiple video camera can be selected, from the motion conditions of different angle views hydraulic supports simultaneously.Vision signal emitter on the hydraulic support of warming-up exercise is by bracket controller emission video framing signal, control its video positioning signal reception device at the bracket controller of the hydraulic support observing this support action simultaneously, and by The Cloud Terrace, video camera is finely tuned, aim at the fixing target position needing the hydraulic support observed, and along with the motion of hydraulic support, adjustment video camera The Cloud Terrace, make its video receiving apparatus continuous reception to video framing signal, thus realize the video information automatic tracing of video camera to 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 controls video positioning apparatus transmitting framing signal;
2. the video camera position can observing this hydraulic support action is calculated before hydraulic support starts action;
3. the angle that the selected video camera The Cloud Terrace be provided with on the hydraulic support of video camera needs to rotate is calculated;
4. bracket controller controls video camera The Cloud Terrace carries out The Cloud Terrace rotation control according to the angle calculated;
5. bracket controller control video camera The Cloud Terrace is finely tuned according to video positioning apparatus reception framing signal, is positioned on the permanent position of hydraulic support accurately;
6. crossheading Surveillance center video monitoring main frame carries out hydraulic support video camera position and switches, the video image of display warming-up exercise hydraulic support, also can select multiple video camera and observe hydraulic support in motion process from different perspectives;
7., in hydraulic support movement process, the bracket controller on the hydraulic support observing motion bracket controls video camera The Cloud Terrace and rotates, and the hydraulic support of accompany movement carries out video monitor.
The above; be only patent of the present invention preferably detailed description of the 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 of patent diselosesll of the present invention; the change that can expect easily or replacement, within the protection domain that all should be encompassed in patent of the present invention.
Claims (6)
1. the hydraulic support group with video control system, comprise multi rack hydraulic support, it is characterized in that: every frame hydraulic support comprises bracket controller, video positioning apparatus, video camera, control The Cloud Terrace, Integrated access device, also comprise video monitoring main frame and display, described bracket controller is electrically connected described video positioning apparatus, described video positioning apparatus comprises signal emission part and signal receiving part, described bracket controller controls the transmitting-receiving of the signal of described video positioning apparatus, realize the rotation location controlling The Cloud Terrace, described control The Cloud Terrace can rotate up and down and/or left rotation and right rotation under the control of described bracket controller, described video camera is fixedly mounted on described control The Cloud Terrace, for realizing the target following of the hydraulic support to motion, described Integrated access device is arranged on hydraulic support, described video monitoring main frame is arranged on crossheading Surveillance center, and its one end connects described video camera by described Integrated access device, and the other end connects described display.
2., as claimed in claim 1 with the hydraulic support group of video control system, 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 described control The Cloud Terrace.
3., as claimed in claim 2 with the hydraulic support group of video control system, it is characterized in that: described signal emission part is arranged on the back timber bottom of described hydraulic support.
4., as claimed in claim 1 with the hydraulic support group of video control system, it is characterized in that: described video camera is provided with Special dedusting device, described bracket controller controls the dedusting that described Special dedusting device carries out described video camera.
5., as claimed in claim 4 with the hydraulic support group of video control system, it is characterized in that: the dedusting of described video camera only performs in the non-rotary situation of described control The Cloud Terrace.
6. the hydraulic support group with video control system as described in as wherein arbitrary in claim 1-5, is characterized in that: described video monitoring main frame and described display are arranged on 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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| CN103244164B true CN103244164B (en) | 2015-07-29 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| CN107943108B (en) * | 2017-12-11 | 2021-03-23 | 日立楼宇技术（广州）有限公司 | Automatic tracking shooting method, device and system for fully mechanized coal mining face |
| 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 |
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Address after: 100013, Beijing, Chaoyang District, Hepingli Youth ditch East Road, building 5, one floor Patentee after: Beijing Tianma Zhikong Technology Co.,Ltd. Address before: 100013, Beijing, Chaoyang District, Hepingli Youth ditch East Road, building 5, one floor Patentee before: BEIJING TIANDI-MARCO ELECTRO-HYDRAULIC CONTROL SYSTEM Co.,Ltd. |