Integrated ground control system for fully mechanized mining working face

Abstract

The present application proposes an integrated ground control system for a fully mechanized mining face, which includes a ground control center and a data processing cabinet. The ground control center includes a load-bearing platform, at least one monitoring system, and at least one load-bearing device suitable for operators. The data processing cabinet is used to realize data exchange between the underground fully mechanized mining face and the ground control center; the load-bearing platform is used to provide an installation base for other components; the monitoring system includes at least one monitor, which is used to adjust the position and angle of the monitor according to the operator's posture and provide monitoring images; the load-bearing device is used to provide a seat and enable the operator to remotely control the fully mechanized mining face. The system enables operators to comfortably perform remote operation of the fully mechanized mining equipment, improving the accuracy of remote control.

Description

Technical Field

[0001] The present application relates to the field of underground remote control technology, and in particular to an integrated ground control system for a fully mechanized mining working face. Background Art

[0002] With growing awareness of underground safety, unmanned remote coal mining control is gaining increasing attention. Due to the complex geological conditions and harsh environments of fully mechanized coal mining faces in underground coal mines, safety risks are prominent. Therefore, improving the level of intelligent and automated coal mining technology, enabling unmanned operations within the face, and improving underground safety have become key goals in the development of fully mechanized coal mining face mining technology. Intelligent, unmanned mining models for fully mechanized coal mining faces based on visual remote intervention control are gradually being promoted.

[0003] In related technologies, when unmanned mining is carried out, monitors and operating consoles are usually set up in the chute monitoring center or the ground dispatching room to control the automated operation of the equipment in the underground fully-mechanized mining working face, monitor the operating status of the fully-mechanized mining equipment, intervene and control abnormal situations that occur during the automated operation of the working face, and remotely control the fully-mechanized mining equipment by issuing control instructions on the operating console to ensure continuous operation of the working face production.

[0004] However, due to the long operating time of each production shift in the production method adopted by the comprehensive mining working face, ground operators are required to be on duty to continuously monitor and operate the equipment. The remote control solution for the comprehensive mining working face in the relevant technology can easily cause fatigue of the ground operators and is not suitable for long-term remote control. In addition, the accuracy of remote monitoring is low, and it is easy to miss operations. Summary of the Invention

[0005] The present application aims to solve one of the technical problems in the related art at least to a certain extent.

[0006] To this end, the purpose of this application is to propose an integrated ground control system for a fully mechanized mining face, which provides a good interaction method between the underground fully mechanized mining face and the surface control center, so that operators can comfortably perform remote operation of the fully mechanized mining equipment, thereby improving the comfort and accuracy of remote control of the fully mechanized mining equipment.

[0007] To achieve the above-mentioned purpose, an embodiment of the present application is to propose an integrated ground control system for a fully mechanized mining face, the system comprising: a ground control center and a data processing cabinet, the ground control center comprising: a carrying platform, at least one monitoring system and at least one load-bearing device suitable for an operator, wherein:

[0008] The data processing cabinet is connected to the communication network of the underground fully-mechanized mining working face, and is used to process the data of the fully-mechanized mining working face and transmit the processed data to the ground control center;

[0009] The carrying platform is used to provide an installation base for other components in the ground control center;

[0010] The monitoring system includes: at least one monitor, the monitor motion platform is used to adjust the position and angle of the monitor according to the posture of the operator, and provide the monitoring image to the operator through the adjusted monitor;

[0011] The load-bearing equipment is used to provide a seat for the operator and enable the operator to remotely control the fully mechanized mining working face.

[0012] Optionally, in one embodiment of the present application, the data processing cabinet includes: at least one workstation, a server and a network switch, wherein the input end of the network switch is connected to the communication network of the comprehensive mining working face, the output end of the network switch is connected to the input end of the server, the output end of the server is connected to the input end of the at least one workstation, and the output end of each workstation is connected to the ground control center; the network switch is used to communicate with the downhole control system to obtain the data of the comprehensive mining working face collected by the downhole control system; the server is used to perform calculations on the data of the comprehensive mining working face to generate multiple types of monitoring data; the at least one workstation is used to provide corresponding monitoring data to the at least one monitoring system and the at least one load-bearing equipment suitable for operators.

[0013] Optionally, in one embodiment of the present application, each of the monitoring systems further includes: an auxiliary motion mechanism and an adaptive control device, the auxiliary motion mechanism includes: a six-degree-of-freedom adjustment platform and a two-axis motion mechanism, the six-degree-of-freedom adjustment platform includes a front platform, a rear platform and six drive rods, wherein the six drive rods are connected between the front platform and the rear platform, and the six-degree-of-freedom adjustment platform is used to control the six drive rods to adjust the six degrees of freedom of the monitor, namely, front and back, horizontal and pitch, according to a first control instruction.

[0014] Optionally, in one embodiment of the present application, the two-axis motion mechanism includes: a horizontal left and right mechanism, a horizontal up and down mechanism and a drive motor, and the two-axis motion mechanism is used to adjust the position of the six-degree-of-freedom adjustment platform according to the second control instruction.

[0015] Optionally, in one embodiment of the present application, the adaptive control device includes: a depth camera, a video camera, a processor and a driver, wherein the depth camera is used to detect the relative position between the operator's head and the monitor; the video camera is used to identify the operator's head posture and visual angle; the processor is used to analyze the relative position, the head posture and the visual angle, determine the target position and target angle of the monitor adapted to the operator, and generate the first control instruction and the second control instruction; the driver is used to send the first control instruction and the second control instruction to the six-degree-of-freedom adjustment platform and the two-axis motion mechanism, respectively.

[0016] Optionally, in one embodiment of the present application, the adaptive control device is further used to: detect whether there is an abnormal head posture through the video camera to identify the working status of the operator, and issue a reminder message when an abnormal working status is identified.

[0017] Optionally, in one embodiment of the present application, each of the load-bearing equipment includes: multiple supporting components, a support frame mechanism and a rotating base, wherein the support frame mechanism includes an electric adjustment structure, an operation panel and an electronic memory locking device, and the support frame mechanism is used to splice and assemble the multiple supporting components and adjust the multiple supporting components, wherein the electronic memory locking device is used to record the setting information of different operators on the posture of the load-bearing equipment, and control the electric adjustment structure to adjust the multiple supporting components according to the setting information of the current operator; the rotating base is used to realize 360° rotation of the load-bearing equipment.

[0018] Optionally, in one embodiment of the present application, the load-bearing equipment further includes: a touch operation screen or an operation handle, which is used to receive operation instructions issued by the operator through a touch screen or buttons, and transmit the operation instructions to the communication network of the underground comprehensive mining working face through the data processing cabinet, so as to enable the operator to remotely control the comprehensive mining working face.

[0019] Optionally, in one embodiment of the present application, the load-bearing equipment further includes: a voice interaction device for playing the sound data of the fully mechanized mining working face and realizing voice communication between the operator and the underground workers.

[0020] Optionally, in one embodiment of the present application, a central control device is further included, and the central control device is specifically used to: manually adjust the position and angle of the monitor; and restore the at least one monitoring system to an initial state after the remote control ends.

[0021] The technical solution provided by the embodiments of the present application brings at least the following beneficial effects: the present application interconnects the monitoring system in the ground control center, the load-bearing equipment used by the operator, and the operator. By adjusting the posture of the ergonomic load-bearing equipment to meet the needs of different operators, and controlling the monitor to automatically follow the posture changes of the operator, it can provide a more comfortable operation method for the remote operator on the ground, improve the operator's operating experience, thereby delaying the operator's fatigue, meeting long-term monitoring requirements, and ensuring the accuracy of remote monitoring. On the basis of providing video monitoring, it integrates functions such as production sound playback and voice calls, enriching the functions of ground remote control and improving the comprehensiveness and accuracy of remote control. At the same time, the working status of the operator is perceived through intelligent recognition technology, which enhances the understanding of the working status of the ground operator and facilitates the monitoring of the operator. As a result, the ground control system not only improves the comfort of ground remote operation, but also improves the accuracy of ground remote operation.

[0022] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0024] Figure 1 This is a structural diagram of an integrated ground control system for a fully mechanized mining face proposed in an embodiment of the present application;

[0025] Figure 2 A schematic diagram of the structure of a data processing cabinet proposed in an embodiment of the present application;

[0026] Figure 3 A schematic diagram of the structure of a monitoring system proposed in an embodiment of the present application;

[0027] Figure 4 This is a schematic structural diagram of a load-bearing device suitable for operators proposed in an embodiment of the present application;

[0028] Figure 5 This is a schematic diagram of the structure of a specific ground control center proposed in an embodiment of the present application. DETAILED DESCRIPTION

[0029] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0030] It should be noted that in the related art, when remote intervention control is performed on the fully-mechanized mining working face, the monitor and the operating console are usually fixed at the corresponding positions of the ground control center, and the operator sits on the operating chair and remotely controls the fully-mechanized mining equipment by observing the monitor and operating the operating console. Alternatively, the operator wears a VR helmet to obtain the monitoring screen. However. In the above-mentioned control method, the arrangement of the fixed monitor and the operating console makes it easy for the ground monitoring personnel to become fatigued when observing the monitor and using the console for a long time, resulting in inadequate remote monitoring, inaccurate monitoring, and missed operations. In addition, the VR helmet is heavy and not suitable for long-term wear. Therefore, the current remote control solution for the fully-mechanized mining working face does not meet the needs of long-term control, and the operator is prone to fatigue.

[0031] To this end, this application proposes an integrated ground control system for the comprehensive mining working face, which enables operators to comfortably perform remote operation of the comprehensive mining equipment, helps operators maintain a good working state, and can be suitable for long-term remote control tasks.

[0032] An integrated ground control system for a fully mechanized mining face according to an embodiment of the present invention will be described below with reference to the accompanying drawings.

[0033] Figure 1 This is a structural diagram of an integrated ground control system for a fully mechanized mining working face proposed in an embodiment of the present application, as shown in FIG. Figure 1 As shown, the control system includes: a data processing cabinet 100 and a ground control center 200, and the ground control center 200 includes: a carrying platform 210, at least one monitoring system 230 and at least one load-bearing device 240 suitable for operators.

[0034] Specifically, the ground control center 200, that is, the operation island for remote control, can provide multiple ground operators with multiple types of monitoring data such as video surveillance images of the underground comprehensive mining working face and audio of the mining field production, and provide the operators with a comprehensive mining equipment operation platform to realize centralized monitoring of the comprehensive mining equipment. Therefore, the operation island is composed of at least one monitoring system 230, at least one load-bearing equipment 240 used by the operator, and a bearing platform 210 for carrying each of the above-mentioned equipment. The layout position of each equipment in the ground control center 200 can be determined according to multiple factors such as actual site conditions and the habits of the operators, and is not limited here. It should be noted that in the present application, at least one represents the number of corresponding equipment, which can be one or more.

[0035] The data processing cabinet 100 realizes data interaction between the underground fully-mechanized mining working face and the ground control center 200 above ground, including uploading the data to be monitored on the fully-mechanized mining working face to the ground control center 200, and transmitting the control instructions issued by the operator at the ground control center 200 to the corresponding equipment on the fully-mechanized mining working face.

[0036] It should be noted that the data processing cabinet 100 and the ground control center 200 are arranged in the same area, forming a relatively independent and integrated operating space. A set of integrated ground control systems proposed in this application can be arranged for each working face of the mine, thereby avoiding the mutual influence between the remote controls of multiple working faces and reducing the impact of the outside world on the remote control of the fully mechanized mining working face. For example, the integrated ground control system can be arranged in the coal mine dispatching room or the fully mechanized mining team control room, that is, an operating island and an integrated control cabinet are arranged in the dispatching room or the control room to form an integrated ground control system.

[0037] The data processing cabinet 100 is connected to the communication network of the underground fully-mechanized mining working face. The data processing cabinet 100 is used to process the data of the fully-mechanized mining working face and transmit the processed data to multiple monitor motion platforms and multiple ergonomic seats.

[0038] Specifically, the data required for monitoring at the fully mechanized mining face includes multiple types of data, including video surveillance images of the mining site, audio from mining site production, and operational monitoring images of fully mechanized mining equipment. The data processing cabinet 100 transmits the processed data to corresponding devices in the ground control center 200 for display in various ways. For example, video surveillance images are transmitted to multiple monitor motion platforms 230 for display, and audio from mining site production is transmitted to multiple ergonomic chairs 240 for playback.

[0039] In one embodiment of the present application, Figure 2 As shown, the data processing cabinet 100 includes: multiple workstations 110, a server 120, and a network switch 130. It should be noted that in other embodiments of the present application, the number of workstations 110 can also be one, and the specific number is determined based on the actual need for remote control. Among them, the input end of the network switch 130 is connected to the communication network of the fully mechanized mining face, the output end of the network switch 130 is connected to the input end of the server 120, the output end of the server 120 is connected to the input end of multiple workstations 110, and the output end of each workstation 110 is connected to the ground control center 200.

[0040] In this embodiment, the network switch 130 is used to communicate with the downhole control system and obtain data collected by the downhole control system on the fully-mechanized mining face. Specifically, the downhole control system obtains data collected by various collection devices at different locations on the fully-mechanized mining face and then transmits the data to the network switch 130 via the communication network.

[0041] Server 120 is used to perform operations on data from the fully-mechanized mining face and generate multiple types of monitoring data. Specifically, server 120 aggregates, analyzes, and performs operations on the fully-mechanized mining face data transmitted by network switch 130 to generate multiple types of monitoring data suitable for display on different devices, such as video image data suitable for display on monitors or audio files suitable for playback on speakers.

[0042] Multiple workstations 130 are used to provide corresponding monitoring data to multiple monitoring systems 230 and multiple load-bearing equipment 240. The corresponding monitoring data, namely the data processed by the server 120, includes video image data playable by the monitors in the monitoring systems 230 and audio data playable by the load-bearing equipment 240. The workstations 130 provide the monitoring data that can be displayed by the different devices, enabling the monitors to display monitoring images and the speakers in the ergonomic chairs to play audio. As a possible implementation, since multiple workstations are provided in this embodiment, each workstation can provide monitoring data to a corresponding device.

[0043] Therefore, the workstations and servers of the data processing cabinet are connected to the unified network and the communication network of the underground fully mechanized mining working face through the network switch, realizing real-time data communication between the ground data processing cabinet and the underground control system.

[0044] The carrier platform 210 provides a mounting base for other components in the ground control center. These other components refer to all equipment in the ground control center 200 except the carrier platform 210. The carrier platform 210 serves as the mounting base for the other components of the control island and is therefore located on the ground.

[0045] In one embodiment of the present application, the mounting base provided by the carrier platform 210 for other components must ensure that the other components can be stably and securely mounted on the carrier platform 210. Therefore, devices for securing and supporting the other components may also be provided on the carrier platform 210. As an example, as shown in Figure 1, the system further includes a base 220, which is provided on the carrier platform 210 and is used to support at least one monitoring system 230. Each monitoring system 230 may be provided on the base 220.

[0046] The monitoring system 230 includes at least one monitor 231. The monitoring system 230 is used to adjust the position and angle of the monitor according to the posture of the operator, and provide monitoring images to the operator through the adjusted monitor.

[0047] Specifically, in this application, the ground control center 200 may be equipped with one or more monitoring systems 230. Each monitoring system 230 may include at least one monitor. The number of monitors may be adjusted based on the operator's position. The monitors 231 provide the operator with the required monitoring images, including video surveillance images of the mining site and fully mechanized mining equipment operating condition monitoring images. Furthermore, the position and angle of the monitors may be adjusted accordingly based on the operator's current position and posture, so that the position and angle of the monitors match the operator's current posture, allowing the operator to perform remote monitoring more comfortably.

[0048] In one embodiment of the present application, Figure 3 As shown, each monitoring system 230 also includes: an auxiliary motion mechanism 232 and an adaptive control device 233. The auxiliary motion mechanism 232 can be used to accurately adjust the position and angle of the monitor 231. The adaptive control device 233 can determine the corresponding adjustment method based on the collected current posture of the operator, and then control the auxiliary motion mechanism 232 to make adjustments.

[0049] Specifically, in this embodiment, the auxiliary motion mechanism 232 includes a six-degree-of-freedom adjustment platform and a two-axis motion mechanism. The six-degree-of-freedom adjustment platform includes a front platform, a rear platform, and six drive rods connected between the front and rear platforms. The six-degree-of-freedom adjustment platform controls the six drive rods according to a first control command to adjust the six degrees of freedom (fore / aft, pan, and pitch) of the monitor 231. The two-axis motion mechanism includes a horizontal left / right mechanism, a horizontal up / down mechanism, and a drive motor. The two-axis motion mechanism adjusts the position of the six-degree-of-freedom adjustment platform according to a second control command.

[0050] The first control command adjusts the angle of monitor 231, while the second control command adjusts the position of monitor 231. Monitor 231 can be placed on the corresponding adjustment platform of auxiliary motion mechanism 232. The six drive rods are freely retractable, and each drive rod is connected to the front and rear platforms via hinged structures at both ends.

[0051] When executing adjustment commands, the auxiliary motion mechanism 232 controls the extension and retraction of one or more corresponding drive rods to adjust the monitor's six degrees of freedom (DFO), namely, forward, backward, horizontal, and pitch, thereby maintaining a favorable viewing angle between the monitor 231 and the operator. When adjusting the monitor's position, the drive motors in the two-axis motion mechanism drive the horizontal left-right mechanism or the horizontal up-down mechanism to adjust the position of the six-DOF adjustment platform, thereby maintaining a suitable viewing distance between the monitor 231 and the operator.

[0052] The embodiment of the present application also configures each monitoring system 230 with an adaptive control device 233 for operator perspective acquisition and platform adjustment. The adaptive control device 233 includes: a depth camera, a video camera, a processor, and a driver, and each device is deployed at a fixed point.

[0053] The depth camera is used to detect the relative position between the operator's head and the monitor. Specifically, the depth camera collects depth information between the operator's head and the monitor, and uses triangulation to detect the relative position of the operator's head and the monitor on the ergonomic load-bearing device corresponding to the monitor motion platform (i.e., the load-bearing device used by the operator).

[0054] The video camera is used to identify the operator's head posture and visual angle. Specifically, the video camera can capture images of the operator's head, including the operator's eye condition. Then, combined with image recognition and other technologies, the operator's head posture and visual angle, including the horizontal and vertical angles of the operator's head and the direction of the operator's eyes, can be identified from the captured images.

[0055] The processor is configured to analyze the relative position, head posture, and viewing angle obtained above to determine a target monitor position and angle suitable for the current operator. Specifically, the target position and angle are the monitor position and angle suitable for the current operator viewing the monitoring image. The processor analyzes the operator's head relative position, posture, and viewing angle obtained by detection, combines ergonomic analysis with the most suitable monitor position and angle for the operator's viewing, and compares the position and angle with the current monitor position and angle to determine the second control instruction and the first control instruction for adjusting the monitor position and angle.

[0056] The driver is used to send the first and second control instructions to the six-degree-of-freedom adjustment platform and the two-axis motion mechanism, respectively. Specifically, the driver issues control instructions to the corresponding auxiliary motion mechanism 232 of the monitoring system 230. The drive device in the auxiliary motion mechanism 232 performs the adjustment action, adjusting the position and angle of the monitor 231 to automatically adapt to the operator.

[0057] In one embodiment of the present application, in order to further ensure that the operator is in a normal working state and ensure the accuracy of remote control, the working state of the operator can also be identified through the adaptive control device 233. The adaptive control device 233 is also used to detect whether there is an abnormal head posture through a video camera to identify the working state of the operator and issue a reminder message when an abnormal working state is identified.

[0058] Specifically, the adaptive control device 233 also has an intelligent personnel status recognition function. It can identify abnormal working conditions of operators and determine whether the operator has an abnormal head posture based on images captured by the video camera. Abnormal head postures include being away from work, not looking at the monitor for a long time, and dozing off. The above-mentioned method of identifying the operator's head posture and visual angle can be used to detect whether the operator is seated, whether their eyes are facing the monitor, and the operator's facial expression to determine whether the operator has an abnormal head posture. If an abnormal working state is detected, a warning message will be issued to remind the operator to properly monitor the ground.

[0059] For example, if an abnormal operating state is detected, the adaptive control device 233 can send a reminder command to the operator's ergonomic chair, which will then play a voice message saying "Please pay attention to monitoring." For another example, the adaptive control device 233 can also send a reminder command to the operator's pre-connected mobile terminal. By controlling the mobile terminal to vibrate and issuing text or voice reminders, the operator can be reminded at any time if the operator is absent from their post or dozing off.

[0060] The load-bearing equipment 240 is suitable for the operator, and is used to provide a seat for the operator and enable the operator to remotely control the fully mechanized mining working face.

[0061] Specifically, the load-bearing equipment 240 suitable for the operator can be a chair, stool or sofa or other equipment on which the operator sits, and the posture of the load-bearing equipment 240 is fixed or adjustable. Preferably, in an embodiment of the present application, in order to improve the comfort of the operator, the posture of the load-bearing equipment 240 is adjustable. The posture of the load-bearing equipment 240 includes the posture of each component in the seat, such as the height and angle of the seat cushion and the angle of the chair back. The various components in the load-bearing equipment 240 can be freely adjusted to meet the needs of different users. In addition, a remote operation device is also provided in the load-bearing equipment 240, and the operator can operate the remote operation device on the seat to remotely control the comprehensive mining working face.

[0062] In one embodiment of the present application, Figure 4As shown, each load-bearing device 240 includes: multiple support components 241, a support frame mechanism 242, a rotating base 243, a remote control device 244, and a voice interaction device 245. The support frame mechanism 242 includes an electric adjustment structure, a control panel, and an electronic memory lock device. The support frame mechanism is used to assemble and adjust multiple seat components. The electronic memory lock device is used to record the seat posture settings of different operators and control the electric adjustment structure to adjust the multiple seat components based on the current operator's settings. The rotating base 234 is used to achieve 360° rotation of the ergonomic chair.

[0063] Specifically, in this embodiment, multiple support components 241 include a headrest, backrest, lumbar support, and seat cushion. A support frame mechanism 242 assembles and connects these load-bearing components. The support frame mechanism also includes a control panel, electric height and angle adjustment mechanisms, and an electronic memory lock. As an adjustment method, the operator can issue adjustment commands to the electric height and angle adjustment mechanisms through the control panel, which then adjusts the various components.

[0064] As another adjustment method, the seat posture can be adjusted using an electronic memory lock device. The electronic memory lock device can record the seat posture settings of different users. When specific user information is entered, the electronic memory lock device adjusts the corresponding electric adjustment mechanism to adjust the seat posture to suit the specific user's needs.

[0065] The rotating base 243 is connected to the carrying platform 210 of the operating island, which can realize 360-degree rotation of the load-bearing equipment, ensuring temporary adjustment of the sitting orientation of personnel during the production process.

[0066] In this embodiment, a one-button restoration to initial state function button is also provided on the control panel of the seat. When the remote control operation is completed or the ergonomic seat needs to be restored to the general state in other circumstances, automatic restoration can be achieved by pressing this button, thereby improving the convenience of seat posture recovery.

[0067] The remote operating device 244 can be a device such as a touch screen or operating handle. The touch screen or operating handle is used to receive operating instructions issued by the operator via a touch screen or keypad, and transmit the operating instructions to the communication network of the underground fully-mechanized mining face via the data processing cabinet 100, thereby enabling the operator to remotely control the fully-mechanized mining face. In this embodiment, human-computer interaction can be achieved through both a touch screen and physical keys. Both operating devices are equipped with a foldable and concealed mechanism. When needed, the remote operating device 244 can be placed in front of the operator by folding the foldable and concealed mechanism, allowing the operator to remotely intervene and control the fully-mechanized mining face from the operator's seat.

[0068] The voice interaction device 245 is used to play audio data from the fully mechanized mining face and facilitate voice communication between operators and underground workers. In this embodiment, the voice interaction device 245 is built into the headrest component of the human body load-bearing device 240. This device integrates a speaker, a microphone, and data communication equipment. When it receives audio files such as mining sounds from the working face and the voices of underground workers from the data processing cabinet 100, it can play the mining sounds in real time. At the same time, it combines the speaker and data communication equipment to transmit the voice information emitted by the operator, enabling voice communication between ground operators and underground workers.

[0069] Based on the above embodiment, in order to enrich the adjustment method and adjust the monitoring system 230 more conveniently, in one embodiment of the present application, as shown in FIG. Figure 1 As shown, the system further includes: a central control device 250 for adjusting multiple monitoring systems.

[0070] In this embodiment, the adjustment performed by the central control device 250 on the monitoring system 230 includes: manually adjusting the position and angle of the monitor 231, and restoring the multiple monitoring systems 230 to the initial state after the remote control ends.

[0071] Specifically, in this embodiment, a centralized control panel for the monitoring systems 230 is configured on the central control device 250. This panel includes buttons, whose signals are fed into the drive structure of the monitor motion platform 230. Manually pressing these buttons allows for manual adjustment of the monitor motion platform. This centralized control panel allows operators to manually adjust the position and angle of the monitors as needed, thereby improving the accuracy and specificity of monitor adjustments. Furthermore, after the remote control session ends, the multiple systems 230 can be restored to their original configuration by pressing the restore button on the lower centralized control panel.

[0072] Therefore, the integrated ground control system of the present application provides a good interaction mode between the underground fully-mechanized mining working face and the surface control center, so that the operator can comfortably perform remote operation of the fully-mechanized mining equipment.

[0073] Based on the above embodiments, in order to more clearly describe the application process of the integrated ground control system of the present application in actual applications, a specific ground control center proposed in an embodiment of the present application is used as an operating island of the control system for exemplary explanation below.

[0074] Figure 5 This is a schematic diagram of a specific ground control center structure proposed in the embodiment of the present application, such as Figure 5As shown, the ground control center includes: 2 sets of monitoring systems 10, a base 20 that can carry the monitoring system, 2 ergonomic chairs 30, a central control device 40 and a carrying platform 50, forming a relatively independent and integrated operating space.

[0075] Among them, the carrying platform is set on the ground of the ground control center, and the base, two sets of monitor motion platforms, two ergonomic seats and central control equipment are installed on the carrying platform. The base is set in front of the two ergonomic seats and is connected to two sets of monitoring systems. Each monitor motion platform includes: a monitor, an auxiliary motion mechanism and an adaptive control device. The monitor is set on the auxiliary motion mechanism. The monitoring system provides ground operators with video surveillance images and comprehensive mining equipment working condition monitoring pictures. Each monitoring system corresponds to an ergonomic seat, and each ergonomic seat is set in the direction of the corresponding monitor. The two ergonomic seats provide ground operators with two seats, comprehensive mining equipment operating platforms, production scene sound playback and voice calls, etc., to realize centralized monitoring of comprehensive mining equipment. The central control equipment is arranged between the two seats. The function of the central control equipment is to achieve isolation between the seats on the one hand, and to realize the storage of corresponding items on the other hand.

[0076] In this embodiment, each monitor motion platform consists of four parts: three monitors, a six-degree-of-freedom adjustment platform, a two-axis motion mechanism, and an adaptive control device for capturing the operator's perspective. The three monitors provide the operator with different video surveillance images and comprehensive mining equipment operating condition monitoring screens. The three monitors are assembled in a specific manner to form an arc, creating a visual focal point. This allows the operator to more easily view the monitors if their vision is within this focal point. The six-degree-of-freedom adjustment platform, the two-axis motion mechanism, and the adaptive control device for capturing the operator's perspective work together to adjust the monitors to a position and angle suitable for the operator's viewing.

[0077] During actual remote control, the operator selects an ergonomic chair and sits down. They then adjust the various components of the chair to suit their desired posture using the control panel or by inputting their personal information into the electronic memory lock device. The six-degree-of-freedom adjustment platform, two-axis motion mechanism, and adaptive control device then coordinate to adjust the monitor to the desired viewing position and angle. There are multiple ways to adjust the monitor.

[0078] As a first example, the adjustment is achieved through manual direct adjustment by an operator directly adjusting the connection mode of the motion mechanism of the monitor motion platform.

[0079] As a second example, the adjustment is performed by driving the electric mechanism through a key. The operator drives the electric mechanism of the monitor motion platform through the monitor motion mechanism centralized control panel configured on the central control device to achieve the adjustment.

[0080] As a third example, automatic adjustment is performed through the automatic recognition function of the adaptive control device. The automatic adjustment process is as follows: First, the operator takes position, sits in the ergonomic chair, and adjusts the chair to a comfortable position for the head. Second, the operator's perspective acquisition adaptive control device automatically activates. The depth camera uses triangulation to detect the relative position of the operator's head and the monitor on the ergonomic chair corresponding to the monitor motion platform. The video camera intelligently identifies the head posture and viewing angle. The processor analyzes the operator's head relative position, posture, and viewing angle obtained, and combines ergonomic analysis to determine the monitor position and angle that best suits the operator's viewing angle at this time. The driver then issues control commands to the motion mechanism of the monitor motion platform. Third, the two-axis motion mechanism receives the control commands and drives the motor to adjust the left and right and horizontal positions of the six-degree-of-freedom adjustment platform to maintain an appropriate viewing distance between the monitor and the operator. Finally, the six drive rods of the six-degree-of-freedom adjustment platform are adjusted to drive the drive rods to extend and retract the six degrees of freedom of the monitor, namely, forward, backward, horizontal, and pitch, to maintain a good viewing angle between the monitor and the operator.

[0081] Furthermore, after adjustment of the motion mechanism, the monitor and the operator are in a good viewing position and angle. During the actual remote monitoring process, when the operator readjusts his sitting posture, the operator's perspective acquisition adaptive control device recognizes that the operator's head position and posture have changed, and adjusts the motion mechanism again to adapt to the operator's new sitting posture. In addition, during the operator's remote monitoring process, the adaptive control device recognizes the operator's abnormal working state and issues an alarm signal when an abnormal working state occurs. The remote operator monitors the comprehensive mining working face by viewing the monitoring screen and listening to the audio played on the seat. When intervention control is required, the folding hidden mechanism is folded, and the touch screen on the seat or the operating handle is turned on to issue an operating instruction. The data processing cabinet transmits the operator's instructions to the underground comprehensive mining working face.

[0082] Furthermore, when the production shift is over, the monitoring system can be restored to its original state by pressing the restore button on the central control device, which restores the multiple monitoring systems to a neatly arranged state. Furthermore, by pressing the one-touch restore button on the seat control panel, the currently used ergonomic chair can be restored to its normal state.

[0083] In summary, the integrated ground control system of the comprehensive mining working face of the embodiment of the present application interconnects the load-bearing equipment used by the monitoring system operator in the ground control center and the operator. By adjusting the posture of the ergonomic load-bearing equipment to meet the use needs of different operators, and controlling the monitor to automatically follow the posture changes of the operator, it can provide a more comfortable operation method for the remote operator on the ground, improve the operator's operating experience, thereby delaying the operator's fatigue, meeting long-term monitoring requirements, and helping to ensure the accuracy of remote monitoring. On the basis of providing video monitoring, it integrates functions such as production sound playback and voice calls, enriches the functions of ground remote control, and improves the comprehensiveness and accuracy of remote control. At the same time, the working status of the operator is perceived through intelligent recognition technology, which enhances the understanding of the working status of the ground operator and facilitates monitoring of the operator. Therefore, the ground control system not only improves the comfort of ground remote operation, but also improves the accuracy of ground remote operation.

[0084] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0085] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0086] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0087] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0088] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. An integrated ground control system for a fully mechanized mining face, characterized in that: include: A ground control center and a data processing cabinet, wherein the ground control center includes: a load-bearing platform, at least one monitoring system and at least one load-bearing device suitable for an operator, wherein: The data processing cabinet is connected to the communication network of the underground fully-mechanized mining working face, and is used to process the data of the fully-mechanized mining working face and transmit the processed data to the ground control center; The carrying platform is used to provide an installation base for other components in the ground control center; The monitoring system includes: at least one monitor, the monitoring system is used to adjust the position and angle of the monitor according to the posture of the operator, and provide a monitoring image to the operator through the adjusted monitor; The load-bearing equipment is used to provide a seat for the operator and enable the operator to remotely control the fully mechanized mining working face. Each of the load-bearing equipment includes: a plurality of supporting components, a support frame mechanism and a rotating base, wherein: The support frame mechanism includes an electric adjustment structure, a control panel and an electronic memory locking device. The support frame mechanism is used to assemble and assemble the multiple support components and adjust the multiple support components, wherein: The electronic memory locking device is used to record the setting information of different operators on the posture of the load-bearing equipment, and control the electric adjustment structure to adjust the multiple support components according to the setting information of the current operator; The rotating base is used to realize 360° rotation of the load-bearing equipment.

2. The ground control system according to claim 1, characterized in that: The data processing cabinet includes: at least one workstation, a server and a network switch, wherein: The input end of the network switch is connected to the communication network of the fully mechanized mining working face, the output end of the network switch is connected to the input end of the server, the output end of the server is connected to the input end of the at least one workstation, and the output end of each workstation is connected to the ground control center; The network switch is used to communicate with the downhole control system and obtain the data of the fully mechanized mining face collected by the downhole control system; The server is used to calculate the data of the fully mechanized mining working face and generate multiple types of monitoring data; The at least one workstation is used to provide corresponding monitoring data to the at least one monitoring system and the at least one load-bearing equipment suitable for an operator respectively.

3. The ground control system according to claim 1 or 2, characterized in that: Each of the monitoring systems further includes: an auxiliary motion mechanism and an adaptive control device, wherein the auxiliary motion mechanism includes: a six-degree-of-freedom adjustment platform and a two-axis motion mechanism. The six-degree-of-freedom adjustment platform includes a front platform, a rear platform and six driving rods, wherein the six driving rods are connected between the front platform and the rear platform. The six-degree-of-freedom adjustment platform is used to control the six driving rods to adjust the six degrees of freedom of the monitor, namely, front and back, horizontal and pitch, according to a first control instruction.

4. The ground control system according to claim 3, characterized in that: The two-axis motion mechanism includes: a horizontal left-right mechanism, a horizontal up-down mechanism and a drive motor. The two-axis motion mechanism is used to adjust the position of the six-degree-of-freedom adjustment platform according to the second control instruction.

5. The ground control system according to claim 4, characterized in that: The adaptive control device includes: a depth camera, a video camera, a processor and a driver, wherein: The depth camera is used to detect the relative position between the operator's head and the monitor; The video camera is used to identify the operator's head posture and visual angle; The processor is configured to analyze the relative position, the head posture, and the visual angle, determine a target position and a target angle of the monitor adapted to the operator, and generate the first control instruction and the second control instruction; The driver is used to send the first control instruction and the second control instruction to the six-degree-of-freedom adjustment platform and the two-axis motion mechanism respectively.

6. The ground control system according to claim 5, characterized in that: The adaptive control device is further used for: The video camera detects whether there is an abnormal head posture to identify the working status of the operator, and issues a reminder message when an abnormal working status is identified.

7. The ground control system according to claim 1, characterized in that: The load-bearing equipment further includes: The touch operation screen or operating handle is used to receive the operation instructions issued by the operator through the touch screen or buttons, and transmit the operation instructions to the communication network of the underground comprehensive mining working face through the data processing cabinet, so as to enable the operator to remotely control the comprehensive mining working face.

8. The ground control system according to claim 1, characterized in that: The load-bearing equipment further includes: The voice interaction device is used to play the sound data of the fully mechanized mining working face and realize voice communication between the operator and the underground workers.

9. The ground control system according to claim 1, characterized in that: It also includes a central control device, which is specifically used to: Manually adjusting the position and angle of the monitor; After the remote control ends, the at least one monitoring system is restored to an initial state.

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