Method and equipment for controlling ammunition delivering tube at tail end of working arm to be aligned to shot hole
The invention provides a method and equipment for controlling an ammunition delivering tube at the tail end of a working arm to be aligned to a shot hole. The method comprises the following steps: detecting an inclined angle of a rock wall; determining a first rotating angle adjusting amount of ever...
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| creator | GONG BING ZANG HUAIZHUANG CHI HONGPENG WANG MINGZHAO |
| description | The invention provides a method and equipment for controlling an ammunition delivering tube at the tail end of a working arm to be aligned to a shot hole. The method comprises the following steps: detecting an inclined angle of a rock wall; determining a first rotating angle adjusting amount of every joint of the working arm and a first retractable adjusting amount of a retractable pair of the working arm according to an inclination angle; controlling the working arm to move according to the first rotating angle adjusting amount and the first retractable adjusting amount; acquiring an image shot by a camera arranged at the tail end of the working arm; analyzing the image to determine the position of the shot hole in the image; detecting the vertical distance between the tail end of the working arm and the rock wall; determining a second rotating angle adjusting amount of every joint of the working arm and a second retractable adjusting amount of the retractable pair of the working armaccording to the position |
| format | Patent |
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The method comprises the following steps: detecting an inclined angle of a rock wall; determining a first rotating angle adjusting amount of every joint of the working arm and a first retractable adjusting amount of a retractable pair of the working arm according to an inclination angle; controlling the working arm to move according to the first rotating angle adjusting amount and the first retractable adjusting amount; acquiring an image shot by a camera arranged at the tail end of the working arm; analyzing the image to determine the position of the shot hole in the image; detecting the vertical distance between the tail end of the working arm and the rock wall; determining a second rotating angle adjusting amount of every joint of the working arm and a second retractable adjusting amount of the retractable pair of the working armaccording to the position</description><language>chi ; eng</language><subject>AMMUNITION ; BLASTING ; CONTROLLING ; HEATING ; LIGHTING ; MECHANICAL ENGINEERING ; PHYSICS ; REGULATING ; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ; WEAPONS</subject><creationdate>2018</creationdate><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20180504&DB=EPODOC&CC=CN&NR=107992098A$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,308,776,881,25542,76290</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20180504&DB=EPODOC&CC=CN&NR=107992098A$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>GONG BING</creatorcontrib><creatorcontrib>ZANG HUAIZHUANG</creatorcontrib><creatorcontrib>CHI HONGPENG</creatorcontrib><creatorcontrib>WANG MINGZHAO</creatorcontrib><title>Method and equipment for controlling ammunition delivering tube at tail end of working arm to be aligned to shot hole</title><description>The invention provides a method and equipment for controlling an ammunition delivering tube at the tail end of a working arm to be aligned to a shot hole. The method comprises the following steps: detecting an inclined angle of a rock wall; determining a first rotating angle adjusting amount of every joint of the working arm and a first retractable adjusting amount of a retractable pair of the working arm according to an inclination angle; controlling the working arm to move according to the first rotating angle adjusting amount and the first retractable adjusting amount; acquiring an image shot by a camera arranged at the tail end of the working arm; analyzing the image to determine the position of the shot hole in the image; detecting the vertical distance between the tail end of the working arm and the rock wall; determining a second rotating angle adjusting amount of every joint of the working arm and a second retractable adjusting amount of the retractable pair of the working armaccording to the position</description><subject>AMMUNITION</subject><subject>BLASTING</subject><subject>CONTROLLING</subject><subject>HEATING</subject><subject>LIGHTING</subject><subject>MECHANICAL ENGINEERING</subject><subject>PHYSICS</subject><subject>REGULATING</subject><subject>SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES</subject><subject>WEAPONS</subject><fulltext>true</fulltext><rsrctype>patent</rsrctype><creationdate>2018</creationdate><recordtype>patent</recordtype><sourceid>EVB</sourceid><recordid>eNqNjDEOwkAMBNNQIOAP5gFIAQpIiSIQDVT00cE5iYXPDhcffB-CeADValazO87SCa1VD0484CNRF1AMao1wU7GozCQNuBCSkJEKeGR6YhxaS1cEZ2COGPBzoDW8NN6_ixjAFAaBqRH0A_WtGrTKOM1GteMeZ7-cZPPD_lIeF9hphX3nbihoVXle5puiWOXFdrf-x3kDwD1E4Q</recordid><startdate>20180504</startdate><enddate>20180504</enddate><creator>GONG BING</creator><creator>ZANG HUAIZHUANG</creator><creator>CHI HONGPENG</creator><creator>WANG MINGZHAO</creator><scope>EVB</scope></search><sort><creationdate>20180504</creationdate><title>Method and equipment for controlling ammunition delivering tube at tail end of working arm to be aligned to shot hole</title><author>GONG BING ; ZANG HUAIZHUANG ; CHI HONGPENG ; WANG MINGZHAO</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-epo_espacenet_CN107992098A3</frbrgroupid><rsrctype>patents</rsrctype><prefilter>patents</prefilter><language>chi ; eng</language><creationdate>2018</creationdate><topic>AMMUNITION</topic><topic>BLASTING</topic><topic>CONTROLLING</topic><topic>HEATING</topic><topic>LIGHTING</topic><topic>MECHANICAL ENGINEERING</topic><topic>PHYSICS</topic><topic>REGULATING</topic><topic>SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES</topic><topic>WEAPONS</topic><toplevel>online_resources</toplevel><creatorcontrib>GONG BING</creatorcontrib><creatorcontrib>ZANG HUAIZHUANG</creatorcontrib><creatorcontrib>CHI HONGPENG</creatorcontrib><creatorcontrib>WANG MINGZHAO</creatorcontrib><collection>esp@cenet</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>GONG BING</au><au>ZANG HUAIZHUANG</au><au>CHI HONGPENG</au><au>WANG MINGZHAO</au><format>patent</format><genre>patent</genre><ristype>GEN</ristype><title>Method and equipment for controlling ammunition delivering tube at tail end of working arm to be aligned to shot hole</title><date>2018-05-04</date><risdate>2018</risdate><abstract>The invention provides a method and equipment for controlling an ammunition delivering tube at the tail end of a working arm to be aligned to a shot hole. The method comprises the following steps: detecting an inclined angle of a rock wall; determining a first rotating angle adjusting amount of every joint of the working arm and a first retractable adjusting amount of a retractable pair of the working arm according to an inclination angle; controlling the working arm to move according to the first rotating angle adjusting amount and the first retractable adjusting amount; acquiring an image shot by a camera arranged at the tail end of the working arm; analyzing the image to determine the position of the shot hole in the image; detecting the vertical distance between the tail end of the working arm and the rock wall; determining a second rotating angle adjusting amount of every joint of the working arm and a second retractable adjusting amount of the retractable pair of the working armaccording to the position</abstract><oa>free_for_read</oa></addata></record> |
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| language | chi ; eng |
| recordid | cdi_epo_espacenet_CN107992098A |
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| subjects | AMMUNITION BLASTING CONTROLLING HEATING LIGHTING MECHANICAL ENGINEERING PHYSICS REGULATING SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES WEAPONS |
| title | Method and equipment for controlling ammunition delivering tube at tail end of working arm to be aligned to shot hole |
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