Remote Control Techniques and Monitoring System for Roadheader

Abstract

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.

Optimization of the Cutting Process Parameters to Ensure High Efficiency of Drilling Tunnels and Use the Technical Potential of the Boom-Type Roadheader

“…For many years, researches have been carried out at various R&D centers to develop advisory systems to aid the operator in selecting optimal values of working parameters and automatic control systems for roadheaders. These have led to, among others, the development and implementation of remote control systems and diagnostics for roadheader working parameters [3,4], as well as systems that can support the operator in guiding the cutting heads within a given excavation contour and assist him in selecting the operating parameters [5,6]. An essential step towards the robotization of roadheaders is the research aimed at developing solutions enabling programmatic control of boom movement, which allows choosing the trajectory of the cutting heads or implementing their movement according to a given (learned) trajectory after a reference cut is performed [7][8][9][10].…”

Design of Transverse Boom-Type Roadheader Remote Control System

“…The operator operates the roadheader manually, and the cutting head positioning rely on his observation and feeling. It makes the cut overbreak and underbreak serious and cutting shape in poor quality [4].…”