Experimental Study on Reflection Superiority of Multisensors Measurement-While-Drilling of Roof Bolter

Zhang, Wenlong; Zhang, Yongjun; Zhu, Fan; Liang, Zheng Zhao

doi:10.1109/tim.2022.3206834

Cited by 2 publications

(1 citation statement)

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“…Coal mining mainly adopts the underground mining method, and a large number of roadways need to be excavated to ensure the efficient production of coal, so it can be said that roadway tunneling is the premise of coal mining [4,5]. The main corollary equipment for roadway excavation in coal mines in China is an anchor drilling machine and cantilever roadheader, and the cantilever roadheader integrates the functions of cutting, walking, transportation and dust reduction [6]. However, the tunneling of domestic underground roadways is mainly realized by the manual operation of the driver, and the forming accuracy of the roadway section and the efficiency of the excavation will inevitably be affected by the factors of the roadheader driver.…”

Section: Introductionmentioning

confidence: 99%

Research on Path Planning and Control Method for Secondary Autonomous Cutting of Cantilever Roadheader in a Large-Section Coal Roadway

Fang

et al. 2022

Sustainability

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A cantilever roadheader is the main tunneling equipment for underground coal mine roadways. The key to the safe, efficient and intelligent development of coal enterprises is to achieve the autonomous cutting and intelligent control of the cantilever roadheader. In order to realize the automatic cutting shaping control of a large-section coal roadway, the path planning and control method of secondary automatic cutting of a cantilever roadheader were studied. The Wangjialing 12307 belt roadway was used as the engineering background, the vertical displacement law of the roadway roof under different cutting paths was simulated with the FLAC 3D software, the reasonable cutting path was determined according to the actual situation, and the underground industrial test was carried out. The simplified model and spatial position and attitude coordinate system of the roadheader were established, the kinematics of the roadheader was analyzed, and the position and attitude expression of the cutting head center in the roadway coordinate system was obtained. The simplified model of the cutting head was established, the position expression of the pick in the roadway coordinate system was derived, the position coordinate of the inflection point and the cutting step distance were determined according to the relationship between the cutting head and the roadway boundary, and the cutting path control flow was designed. Finally, the reliability of the cutting path control method was verified with a MATLAB simulation. The research works provide a theoretical foundation for path planning and control to realize “secondary autonomous cutting of cantilever roadheader”.

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Section: Introductionmentioning

confidence: 99%