Infrastructure-based localisation of automated coal mining equipment

Hargrave, Chad; James, Craig A.; Ralston, Jonathon

doi:10.1007/s40789-017-0180-3

Cited by 19 publications

(8 citation statements)

References 5 publications

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“…To solve the problem of safety and high-efficiency supporting for thin coal seam with unsteady thickness, we introduce intelligent coupling technology between hydraulic support and surrounding rock, automatic mining patter and supporting system cooperative control with automatic organization (Hargrave et al 2017). We develop the comprehensive multi-index intelligence adjusting height decisionmaking mechanism and three-dimensional navigation automatic adjusting straightness technology based on shearer cutting height memory association, cutting power parameters, vibration and video information, which solve the problem of the hydraulic support followed the coal cutter moving by automatic control and the coal cutter cleaning the float coal after beveling cutting the tringle coal automatically.…”

Section: Intelligent Fully Mechanized Mining Technology and Equipmentmentioning

confidence: 99%

Surrounding rock control theory and longwall mining technology innovation

Wang

Pang

2017

Int J Coal Sci Technol

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To accommodate surrounding rock structure stability control problem in underground mining, we study the coupling effect principle between hydraulic support and surrounding rock, and develop a series of longwall mining technology and equipment, which solves four common technical problems that significantly undermine coal mining safety, efficiency, and high recovery and extraction rates. Based on the coupling characteristic between mining-induced stress field and supporting stress field of hydraulic support, we identify six controllable factors in the application of hydraulic support to surrounding rock, and further reveal the relationship between hydraulic support and surrounding rock in terms of the strength, the stiffness, and the stability coupling. Our findings provide a plausible solution to the longwall mining technical problem with 6-8 m mining height. By analyzing the dynamic disequilibrium characteristics between hydraulic support and surrounding rock, we propose the intelligent top coal caving control method and the high-coal-recovery-rate technology for fully mechanized caving faces. With the invention of this technology, China is likely to lead the world in terms of the fully mechanized top coal caving mining technology. We are also the first to employ the intelligent coupling technology between hydraulic support and surrounding rock, and automated mining mode, and supporting system cooperative control with automatic organization. We develop the comprehensive multi-index intelligence adjusting height decision-making mechanism and three-dimensional navigation automatic adjusting straightness technology based on shearer cutting height memory association, cutting power parameters, vibration, and video information, leading to the first set of intelligent longwall mining technology and equipment for thin seam. Our innovation makes a solid contribution to the revolution of intelligence mining technology. With the innovative use of three-dimensional coupling control principle for surrounding rock, we successfully resolve the technological difficulties of longwall mining equipment and surrounding rock control for steep dipping seam, making a breakthrough of longwall mining technology with steep dipping seam.

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Section: Intelligent Fully Mechanized Mining Technology and Equipmentmentioning

confidence: 99%

Surrounding rock control theory and longwall mining technology innovation

Wang

Pang

2017

Int J Coal Sci Technol

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“…As a result, mining of some steep coal seams is getting more and more attention [2]. The drivage operation of roadway is one of the most important and difficult production links in coal mining, which is faced with great difficulty and risk in deep and steep coal seam [3]. Therefore, solutions of key basic problems in the fully mechanized excavation face is becoming more and more urgent [4].…”

Section: Introductionmentioning

confidence: 99%

Modeling and response analysis of the attitude angles of roadheader for steep coal seam

Zong

2021

SN Appl. Sci.

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This study presents a dynamical model of the attitude angles of boom-type roadheader, to reveal the response characteristics of the attitude angles in steep coal seam. Based on the Lagrange equation, the dynamical model of the attitude angles of roadheader is established, then the simulation system is constructed in Simulink, to solve the dynamical model. Afterwards, a calculating method of the cutting load is proposed, to formulate the external loads of the roadheader during cutting process. Focused on the steep coal seam, of which the dip angle is 30°, the dynamical model is solved, and the solving results influenced by different factors are obtained. The results show that, the variations of roadheader's attitude are affected greatly by the cutting load, while the influence of swing angle of the cutting arm is relatively slight. Among the three attitude angles, the pitch angle varies most greatly, which can reach up to 9.1° and 8.7° during horizontal and vertical cutting process respectively. Finally, the numerical simulation results are verified by experimental data. The dynamical model and response characteristics of roadheader's attitude angle presented in this paper, can provide useful basis for prediction of roadheader's operating status and rectification of roadheader's attitude in steep coal seam. Article Highlights1. The dynamical model of roadheader's attitude is established, to accurately describe dynamic behaviors of roadheader during cutting process.2. The response regularities of roadheader's attitude in steep coal seam, under effects of different factors, are revealed comprehensively. 3. A method to calculate the cutting load is proposed, upon which the three dimension forces on the cutting head can be obtained.

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“…erefore, it is necessary to monitor the longwall retreat and creep displacements. Recently, researchers have proposed three methods, including a laser radar [5], an Endress-Hauser FMR 250 radar [6][7][8], and the ultrawideband (UWB) positioning technology [9,10], to determine those two displacements.…”

Section: Introductionmentioning

confidence: 99%

Longwall Retreat and Creep Measurement Based on UWB Radar Imaging Method

Shijia

Wang

Liu

2020

Mathematical Problems in Engineering

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The measurement of longwall retreat and creep displacements is of great significance for the safety production of a coal mine. In order to reliably and accurately obtain the longwall retreat and creep displacements, this paper proposes an ultrawideband (UWB) radar imaging method. The bolt plates fixed in the roadway coal wall are imaged as the target points. First, a signal model is built, and a modified nonlinear chirp scaling (NLCS) imaging algorithm is designed to obtain the high-resolution image. Then, the retreat and creep displacements are estimated based on the imaging results. Finally, simulation and experiment are performed. The simulation results show that the radar imaging method is theoretically feasible to measure the retreat and creep displacements. The measurement errors in the experiment are 0.058 m and 0.040 m, respectively. In the experiment, the radar velocity fluctuation and signal attenuation cause the target azimuth and range errors in the imaging results, which makes the measurement errors in the experiment larger than that in the simulation. This method requires no additional roadway information except for the bolt plates fixed in the coal wall. In addition, the signal propagation of UWB radar is rarely affected by the dust and moisture in the harsh environment.

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Infrastructure-based localisation of automated coal mining equipment

Cited by 19 publications

References 5 publications

Surrounding rock control theory and longwall mining technology innovation

Surrounding rock control theory and longwall mining technology innovation

Modeling and response analysis of the attitude angles of roadheader for steep coal seam

Longwall Retreat and Creep Measurement Based on UWB Radar Imaging Method

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