The system which could be described as "trinity, seven subsystems" has realized automatic remote control of the machine working process with orientation, localization and formalization. At local place, it realized automatic position and pose online detection, automatic orientation tunneling, automatic section cutting and forming and adaptive control of cutting arm swaying speed. It was the first time that realized absolute measuring of roadheader frame position and pose error under coal mine working condition in our country which could avoid error accumulation in relative measuring and guarantee the high precision of orientation tunneling. In underground remote, it realized remote monitoring, wireless remote control and video surveillance, thus realized remote control with multiple angles, visualization and one-button control under the condition of dustiness and vibration. At any network access point on ground using mining ring network, it realized real-time monitoring and displaying of roadheader running state parameters, and realized the functions of remote fault diagnosis and alarming. The whole system has been tested many times underground. The application results show that it is stable and reliable. With the development of automation, intellectualization, and informatization and other high technology, this system will be more and more suitable for fully mechanized excavation face.
The nanoporous silica with silica content more than 96% can be obtained, which based on the glass phase separation technology, the boron rich phase can be removed by acid leaching which according to control the stable and uniform phase separation of borosilicate glass (SiO2-B2O3-Na2O). The porous glass has strong adsorption capacity and large surface area, in particular, the abundant broken bonds on the surface of porous glass channels provide enough non-bridging oxygen bonds. So that a new active fiber with high gain and uniformity can be obtained by drawing the rare earth doped nanoporous glass which is potential for fiber amplifiers and fiber lasers. However, nanoporous glass is doped in solution, hydroxyl groups will be retained after the sintering, which will increase the background loss of the material. Because Si-F bond energy is greater and bonding is stronger than Si-OH, Fbonds with Si replaced OHby fluoride doping so as to reduce the loss caused by hydroxyl. In this paper, nanoporous glass is soaked in the solution with a certain concentration of fluoride, and sintered it at high temperature in helium atmosphere to reduce loss. The experimental results show that the hydroxyl content in porous glass gradually decreases with the increase of fluoride concentration, the raman peak at 935 cm -1 in the raman spectrum also confirms the existence of Si-F bond, and the lowest hydroxyl content is only 3.31ppm. In this case, the refractive index of glass will decrease uniformly with the increase of fluoride doping concentration, which provides a new method for preparing low loss nanoporous glass fiber materials.
To eliminate the effects for section automatic cutting because of roadheader pose error, Control system of pose error compensation for roadheader was proposed. First, make the control strategy according to the coal mine actual working condition and the working ability of machine each actuator; Hardware system structure is proposed based on the control system and the corresponding sensors are installed; Last, according to the working way of roadheader, put forward the specific control methods of pitch attitude compensation control and cutting boundary compensation control. The above system has been tested on EBZ200 type roadheader and the testing results show that the system function is correct and reliable and the control precision is high. This system could eliminate the effects for section automatic cutting because of roadheader pose error efficiently and lays a foundation for remote control of roadheaders.
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