CN103244164B - A kind of hydraulic support group with video control system - Google Patents
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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
技术领域technical field
本发明涉及一种带有视频控制系统的液压支架组，尤其涉及一种用于煤矿井下综采液压支架组，其带有远程控制的视频系统，为煤矿井下实现顺槽集中液压支架的远程控制提供相关的视频信息。The present invention relates to a hydraulic support group with a video control system, in particular to a hydraulic support group for fully mechanized underground mining in coal mines, which is equipped with a remote-controlled video system, and realizes remote control of centralized hydraulic supports along the trough in coal mines Provide relevant video information.
背景技术Background technique
综采工作面有采煤机、刮板运输机和液压支架等设备构成。采煤机工作面是由多台液压支架依次排列组成。液压支架在工作面受到刮板运输机约束，是一个相互之间没有约束的浮动系统。通过液压支架的顺序移架、推溜动作控制，实现采煤工作面的整体推移。由于工作面的液压支架是一个浮动的系统，液压支架在移架过程中由于工作面顶底板条件和工作面倾角等限制，在进行液压支架的自动化移架过程中，液压支架在移动过程中存在扎底、卡、别等现象，经常会出现液压支架移架不到位等问题，为此，在无人化工作面实施过程中，需要在顺槽监控中心使用远程操作台，通过视频监视器观察液压支架动作情况，并对移架不到位液压支架，通过视频监视器观察液压支架的动作情况，采用远程操作台进行液压支架的补架操作。但综采工作面现有的视频系统，多数视频摄像仪镜头不能移动，无法看到液压支架的整个运动过程，即使有控制云台的也是通过手动设置调整，在工作面液压支架移动过程中不能自动完成跟随液压支架运动，实现液压支架运动对象实施跟踪观察，因此，液压支架视频系统的成功应用成为实现无人化工作面技术瓶颈。The fully mechanized mining face is composed of shearer, scraper conveyor, hydraulic support and other equipment. The working face of the coal mining machine is composed of multiple hydraulic supports arranged in sequence. The hydraulic support is constrained by the scraper conveyor on the working face, which is a floating system without mutual restraint. Through the sequential moving and pushing action control of the hydraulic support, the overall moving of the coal mining face is realized. Since the hydraulic support on the working face is a floating system, during the moving process of the hydraulic support, due to the limitations of the top and bottom plate conditions of the working face and the inclination angle of the working face, during the automatic moving of the hydraulic support, the hydraulic support will exist during the moving process. Phenomena such as bottoming, jamming, and other phenomena often cause problems such as the failure of the hydraulic support to move in place. Therefore, during the implementation of the unmanned working face, it is necessary to use the remote operation console in the monitoring center along the slot to observe through the video monitor. Check the movement of the hydraulic support, and observe the movement of the hydraulic support through the video monitor if the hydraulic support is not in place, and use the remote operation console to perform the replacement operation of the hydraulic support. However, in the existing video system of the fully mechanized mining face, the lens of most video cameras cannot be moved, and the entire movement process of the hydraulic support cannot be seen. Automatically follow the movement of the hydraulic support, and realize the tracking and observation of the moving objects of the hydraulic support. Therefore, the successful application of the hydraulic support video system has become a technical bottleneck for realizing the unmanned working face.
发明内容Contents of the invention
针对上述问题，本发明提出的液压支架组带有视频控制系统，所述视频摄像仪具有除尘装置，并安装在液压支架上，视频摄像仪配置有控制云台，通过支架控制器控制，可以使其上下，左右旋转。所述视频定位装置，安装在液压支架顶梁上，通过支架控制器控制射频定位装置实现视频摄像仪镜头定位。所述视频摄像仪可以通过综合接入器把工作面视频信号传送到顺槽监控中心的监控主机上进行工作面液压支架动作的监视。通过顺槽监控中心的视频监控主机实施对运动的液压支架实时视频监测。In view of the problems referred to above, the hydraulic support group proposed by the present invention has a video control system, and the video camera has a dust removal device and is installed on the hydraulic support. The video camera is equipped with a control platform, controlled by a support controller, which can make It rotates up and down, left and right. The video positioning device is installed on the top beam of the hydraulic support, and the radio frequency positioning device is controlled by the support controller to realize the positioning of the video camera lens. The video camera can transmit the video signal of the working face to the monitoring host in the down-trough monitoring center through the integrated connector to monitor the hydraulic support on the working face. The real-time video monitoring of the moving hydraulic support is implemented through the video monitoring host computer of the Shun Tunnel Monitoring Center.
通过液压支架视频控制系统实现在顺槽监控中心对工作面液压支架的运动情况实时视频监测，以往的视频系统均采用固定摄像仪镜头对液压支架进行观察，即便有控制云台，也是临时调整，无法实现自动跟随运动的液压支架来观察液压支架的动作情况。为此，需要寻找能够自动跟随液压支架运动的视频系统，采用带云台的摄像仪，摄像仪可以自动化对焦、调焦，摄像仪具有除尘装置，并可以通过支架控制器进行除尘控制，由于在配置有电液控制系统的液压支架动作是由支架控制器实现液压支架动作控制的，因此，通过计算可以知道离动作液压支架最近的摄像仪在那台液压支架上安装的，并可以通过支架控制器进行摄像仪的云台控制，并能够确定摄像仪旋转的角度，实现摄像仪镜头的粗略定位，同时在动作架上安装视频定位信号发射装置，在视频摄像仪上安装有视频定位信号接收装置，可以实现视频信号的精细化定位，同时，也能适时调整摄像仪对运动的液压支架上的视频定位发射信号进行跟踪运动，实现对运动的液压支架的自动追踪。由于采用了支架控制器进行摄像仪的云台控制，可以通过动作的液压支架计算出摄像仪控制云台的位置，及控制云台能够正常观察到动作支架的角度，从而通过控制云台旋转的角度，可以自动旋转的动作目标架上。通过摄像仪定位装置，可以使液压支架在移动过程中，随着目标靶位的移动，实时调整云台旋转角度，实现视频系统对液压支架运动过程追踪监视，使液压支架视频控制系统具有自动化、智能化特点。Through the hydraulic support video control system, real-time video monitoring of the movement of the hydraulic support on the working face is realized in the monitoring center along the trough. In the past, the video system used a fixed camera lens to observe the hydraulic support. Even if there is a control pan/tilt, it is temporarily adjusted. It is impossible to automatically follow the moving hydraulic support to observe the movement of the hydraulic support. To this end, it is necessary to find a video system that can automatically follow the movement of the hydraulic support. Using a camera with a pan-tilt, the camera can automatically focus and adjust the focus. The camera has a dust removal device and can be controlled by the bracket controller. The action of the hydraulic support equipped with the electro-hydraulic control system is controlled by the support controller. Therefore, through calculation, it can be known that the camera closest to the hydraulic support is installed on that hydraulic support and can be controlled by the support. The device is used to control the pan/tilt of the camera, determine the rotation angle of the camera, and realize the rough positioning of the camera lens. At the same time, a video positioning signal transmitting device is installed on the action frame, and a video positioning signal receiving device is installed on the video camera. , can realize the refined positioning of the video signal, and at the same time, can also adjust the camera in time to track the video positioning emission signal on the moving hydraulic support, and realize the automatic tracking of the moving hydraulic support. Since the bracket controller is used to control the pan/tilt of the camera, the position of the camera to control the pan/tilt can be calculated through the moving hydraulic bracket, and the control pan/tilt can normally observe the angle of the moving bracket, so that the angle of the pan/tilt can be controlled by controlling the rotation of the pan/tilt Angle, can automatically rotate the action target rack. Through the camera positioning device, the hydraulic support can be adjusted in real time with the movement of the target position during the moving process, and the rotation angle of the pan/tilt can be adjusted in real time, so that the video system can track and monitor the hydraulic support movement process, so that the hydraulic support video control system has automation, Intelligent features.
本发明的技术方案如下：Technical scheme of the present invention is as follows:
一种带有视频控制系统的液压支架组，包括多架液压支架和视频监控主机和显示器，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，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；所述综合接入器安装在液压支架上，用于传输摄像仪视频数据；所述视频监控主机的一端通过综合接入器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 multiple hydraulic supports and video monitoring hosts and monitors, each hydraulic support includes a support controller, a video positioning device, a video camera, a control platform, and an integrated connector, The bracket controller is electrically connected to the video positioning device, and the video positioning device includes a signal transmitting part and a signal receiving part, and the bracket controller controls the sending and receiving of signals of the video positioning device, so as to realize the rotation positioning of the control platform , the video camera is fixedly installed on the control platform for realizing the target tracking of the moving hydraulic support; the integrated access device is installed on the hydraulic support for transmitting video data of the camera; One end of the video monitoring host is connected to the video camera through the integrated connector, and the other end is connected to the display.
优选所述信号发射部设置在所述液压支架的顶梁上；所述信号接收部设置在所述控制云台上。Preferably, the signal transmitting part is arranged on the top beam of the hydraulic support; the signal receiving part is arranged on the control platform.
优选所述信号发射部设置在所述液压支架的顶梁下部。Preferably, the signal transmitting part is arranged at the lower part of the top beam of the hydraulic support.
优选所述控制云台可在所述支架控制器的控制下进行上下旋转和/或左右旋转。Preferably, the control platform can be rotated up and down and/or left and right under the control of the support controller.
优选所述视频摄像仪上设有专用除尘装置，所述支架控制器控制所述专用除尘装置进行所述视频摄像仪的除尘。Preferably, the video camera is provided with a special dust removal device, and the bracket controller controls the special dust removal device to remove dust from the video camera.
优选所述视频摄像仪的除尘仅在所述控制云台不旋转的情况下执行。Preferably, the dust removal of the video camera is only performed when the control platform does not rotate.
优选所述综合接入器安装在液压支架上，一端与视频摄像仪连接，另一端与顺槽的视频监控主机连接。Preferably, the integrated connector is installed on a hydraulic support, one end is connected to the video camera, and the other end is connected to the video monitoring host along the slot.
优选所述视频监控主机和所述显示器安装在煤矿井下顺槽监控中心。Preferably, the video monitoring host computer and the display are installed in the monitoring center of the underground coal mine.
本发明的优点在于：根据动作的液压支架确定摄像仪的旋转角度，确定视频摄像仪观察动作的液压支架初始位置；通过视频定位装置实现液压支架运动过程中视频摄像仪云台的自动跟随旋转控制；视频摄像仪控制系统具有自动化、智能化控制等功能特点。The invention has the advantages of: determining the rotation angle of the camera according to the hydraulic support in action, and determining the initial position of the hydraulic support for the video camera to observe the action; realizing the automatic following rotation control of the video camera pan/tilt during the movement of the hydraulic support through the video positioning device ; The video camera control system has functional characteristics such as automation and intelligent control.
附图说明Description of drawings
附图1为本发明所述带有视频控制系统的液压支架组的功能结构示意图(示出多个液压支架)。Accompanying drawing 1 is the functional structure diagram of the hydraulic support group with video control system according to the present invention (showing a plurality of hydraulic supports).
附图标记如下：The reference signs are as follows:
1-液压支架；2-支架控制器；3-信号发射部；4-信号接收部；5-视频摄像仪；6-控制云台；7-综合接入器；8-顺槽监控中心；9-视频监控主机；10-显示器。1-Hydraulic support; 2-Bracket controller; 3-Signal transmitting part; 4-Signal receiving part; 5-Video camera; - video surveillance host; 10 - monitor.
具体实施方式Detailed ways
参见附图1，其描述了一种根据本发明所述带有视频控制系统的液压支架组的优选实施例，每架液压支架都包括支架控制器、视频定位装置、视频摄像仪、控制云台、综合接入器，视频控制系统包括还包括设置在顺槽监控中心的视频监控主机及显示器等。Referring to accompanying drawing 1, it has described a kind of preferred embodiment of the hydraulic support group that has video control system according to the present invention, and each hydraulic support all comprises support controller, video positioning device, video camera, control platform , integrated access device, the video control system also includes the video monitoring host computer and monitor set in the Shuncao monitoring center.
采煤工作面上有多台液压支架顺序排列而成，在每台液压支架上安装有支架控制器，用于进行液压支架的动作控制，同时可以控制云台，进而控制摄像仪旋转，使摄像仪对准需要观察的液压支架(一般来说是邻架)，还可以控制摄像仪定位装置，使摄像仪能够跟随液压支架运动。There are multiple hydraulic supports arranged in sequence on the coal mining working face. A support controller is installed on each hydraulic support to control the movement of the hydraulic support. The instrument is aligned with the hydraulic support to be observed (generally, the adjacent frame), and the camera positioning device can also be controlled so that the camera can follow the movement of the hydraulic support.
支架控制器电气连接视频定位装置，视频定位装置包括信号发射部和信号接收部，用于发射和接收定位信号，其中信号发射部用于监测液压支架的位置信息，由于液压支架的安装空间较为狭窄，同时如立柱、底板等的运动较多，因此可以将其设置在液压支架的顶梁上，以能准确的标识液压支架的实际位置并尽量不妨碍液压支架的其它功能，另外，考虑到液压支架起支撑作用，顶梁的上部有煤石垮落的风险，因此可以将其设置在顶梁下部，信号接收部设置在控制云台上，并将其以无线信号的形式向外发送，信号接收部接收上述无线信号，并将该无线信号发送至支架控制器，支架控制器通过上述无线信号的信息，决定控制云台的运动角度和方式，并直接或通过信号接收部来控制云台的运动，支架控制器同时控制视频定位装置何时收发信号和收发信号的频率，实现对控制云台的旋转定位的精确控制，视频摄像仪固定安装在控制云台上，用于实现对运动的液压支架的目标跟踪；视频摄像仪通过综合接入器把视频信号送到视频监控主机上；考虑到液压支架的工作区域通常环境较差，为了工作人员的安全，通常将视频监控主机设置在环境较好的顺槽监控中心，其一端通过综合接入器连接视频摄像仪，另一端连接显示器，用于接收视频摄像仪的视频信号并通过显示器播放，综合接入器对视频信号进行信号转换和初步处理，以使信号适于从工作面到顺槽监控中心的远距离传输。The support controller is electrically connected to the video positioning device. The video positioning device includes a signal transmitting part and a signal receiving part for transmitting and receiving positioning signals. The signal transmitting part is used to monitor the position information of the hydraulic support. Since the installation space of the hydraulic support is relatively narrow , at the same time, there are many movements such as columns and bottom plates, so it can be set on the top beam of the hydraulic support to accurately mark the actual position of the hydraulic support and try not to hinder other functions of the hydraulic support. In addition, considering the hydraulic support The bracket acts as a support, and the upper part of the top beam has the risk of collapsing coal, so it can be installed on the lower part of the top beam, and the signal receiving part is set on the control platform, and it is sent out in the form of a wireless signal. The receiving part receives the above-mentioned wireless signal, and sends the wireless signal to the stand controller, and the stand controller determines the movement angle and mode of controlling the pan-tilt through the information of the above-mentioned wireless signal, and controls the movement of the pan-tilt directly or through the signal receiving part. Movement, the bracket controller simultaneously controls when the video positioning device sends and receives signals and the frequency of sending and receiving signals, and realizes precise control of the rotation and positioning of the control pan/tilt. The target tracking of the support; the video camera sends the video signal to the video monitoring host through the integrated connector; A good trough monitoring center, one end of which is connected to the video camera through the integrated connector, and the other end is connected to the monitor, which is used to receive the video signal of the video camera and play it through the monitor, and the integrated connector performs signal conversion and preliminary Processing, so that the signal is suitable for long-distance transmission from the working face to the monitoring center of the trough.
由于井下的粉尘较大，视频摄像仪上需要设置专用除尘装置，可以通过支架控制器控制安装在摄像仪上的专用除尘装置进行视频摄像仪的除尘，可以定期对视频摄像仪进行除尘控制，也可以根据监控中心排查视频摄像仪图像过程中图像有问题的时候，由监控中心视频监控主机通知相应视频摄像仪对应的支架控制器进行除尘控制，视频摄像仪的除尘优选仅在控制云台不旋转的情况下执行。Due to the large dust in the underground, a special dust removal device needs to be installed on the video camera. The special dust removal device installed on the camera can be controlled by the bracket controller to remove dust from the video camera. The dust removal control of the video camera can be carried out regularly. When there is an image problem in the process of checking the image of the video camera according to the monitoring center, the video monitoring host in the monitoring center will notify the bracket controller corresponding to the corresponding video camera to perform dust removal control. The dust removal of the video camera is preferably only controlled when the pan/tilt does not rotate. executed under the circumstances.
在液压支架电液控制系统综采工作面，液压支架的动作均由支架控制器发出指令进行控制，液压支架上配置的摄像仪及其控制云台的安装位置都一样，因此，动作支架与摄像仪的位置相对确定，可以通过计算得出摄像仪与所观察的液压支架的角度计算得出。通过控制器控制摄像仪按照计算出来的角度控制云台旋转，从而达到摄像仪有效观察准备动作的液压支架的视频情况。在顺槽监控中心的视频监控主机上，依据选定的视频摄像仪自动进行视频画面的切换，可以同时选择多个视频摄像仪，从不同的角度观察液压支架的运动情况。在准备动作的液压支架上的视频信号发射装置通过支架控制器发射视频定位信号，同时在观察该支架动作的液压支架的支架控制器控制其视频定位信号接收装置，并通过云台对视频摄像仪进行微调，对准需要观察的液压支架的固定靶位，并随着液压支架的运动，调整视频摄像仪云台，使其视频接收装置持续接收到视频定位信号，从而实现视频摄像仪对运动支架的视频信息自动追踪。上述液压支架组视频控制系统的工作方法，包括以下内容：In the fully mechanized mining working face of the electro-hydraulic control system of the hydraulic support, the movements of the hydraulic support are controlled by commands issued by the support controller. The position of the camera is relatively determined, which can be calculated by calculating the angle between the camera and the observed hydraulic support. The camera is controlled by the controller to control the rotation of the pan/tilt according to the calculated angle, so that the camera can effectively observe the video situation of the hydraulic support ready for action. On the video monitoring host computer in the Shun Tunnel Monitoring Center, the video screen is automatically switched according to the selected video camera, and multiple video cameras can be selected at the same time to observe the movement of the hydraulic support from different angles. The video signal transmitting device on the hydraulic support that is ready to move transmits a video positioning signal through the support controller, and at the same time, the support controller of the hydraulic support that is observing the movement of the support controls its video positioning signal receiving device, and monitors the video camera through the pan/tilt Carry out fine-tuning, aim at the fixed target position of the hydraulic support that needs to be observed, and adjust the pan/tilt of the video camera with the movement of the hydraulic support, so that the video receiving device can continuously receive the video positioning signal, so that the video camera can monitor the movement of the support video information automatically tracked. The working method of the video control system of the above-mentioned hydraulic support group includes the following contents:
①准备动作的液压支架上支架控制器控制视频定位装置发射定位信号；① The bracket controller on the hydraulic support that is ready to move controls the video positioning device to emit positioning signals;
②液压支架开始动作前计算能够观察到该液压支架动作的摄像仪位置；②Calculate the position of the camera that can observe the action of the hydraulic support before the hydraulic support starts to move;
③计算选定的安装有摄像仪的液压支架上的摄像仪云台需要旋转的角度；③Calculate the angle at which the pan/tilt of the camera on the hydraulic support on which the camera is installed needs to be rotated;
④支架控制器控制摄像仪云台按照计算出来的角度进行云台的旋转控制；④The bracket controller controls the camera pan-tilt to control the rotation of the pan-tilt according to the calculated angle;
⑤支架控制器控制摄像仪云台按照视频定位装置接收定位信号进行微调，准确的定位在液压支架的固定位置上；⑤ The bracket controller controls the camera pan/tilt to make fine adjustments according to the positioning signal received by the video positioning device, and accurately locates on the fixed position of the hydraulic support;
⑥顺槽监控中心视频监控主机进行液压支架摄像仪位置切换，显示准备动作液压支架的视频图像，也可以选定多个摄像仪从不同角度观察运动过程中的液压支架；⑥The video monitoring host of the monitoring center along the trough switches the position of the camera of the hydraulic support to display the video image of the hydraulic support in preparation for action, and multiple cameras can also be selected to observe the hydraulic support during movement from different angles;
⑦在液压支架运动过程中，用于观察运动支架的液压支架上的支架控制器控制摄像仪云台旋转，跟随运动的液压支架进行视频监视。⑦ During the movement of the hydraulic support, the support controller on the hydraulic support used to observe the moving support controls the rotation of the camera pan-tilt, and follows the moving hydraulic support for video monitoring.
以上所述，仅为本发明专利较佳的具体实施方式，但本发明专利的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明专利揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明专利的保护范围之内。The above is only a preferred embodiment of the patent of the present invention, but the scope of protection of the patent of the present invention is not limited thereto. Anyone familiar with the technical field can easily think of All changes or replacements should be covered within the protection scope of the patent for the present invention.
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