Shearer Guidance: A Major Advance in Longwall Mining

Reid, David; Hainsworth, D.W.; Ralston, John; McPhee, Ronald J.

doi:10.1007/10991459_45

Cited by 22 publications

(16 citation statements)

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“…In comprehensive development of coal mine roadheader, there is extensive research in the pose measurement, remote control, automatic cutting and equipment improvement. 6,7 In Germany, VMT Company designed the SLS-T real-time measurement system for the pose of roadheader by laser, and Atlas-Copco-Eickoff Company developed automatic forming method of roadway based on information feedback of tilt sensor. Carnegie Mellon University of USA developed a guidance system of roadheader based on machine vision technology.…”

Section: Introductionmentioning

confidence: 99%

Modelling and response analysis of multibody large-scale displacement of boom-type roadheader

Zong

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part K:

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Boom-type roadheader is the most widely used equipment in the fully mechanized excavation face of coal mine. Under complicated operation conditions of underground coal mine, multibody large-scale displacement phenomenon of roadheader will occur during cutting process. Specifically, the position and attitude of the body are changing continuously, and radial runout phenomenon of the cutting arm will take place, which will seriously reduce the overall stability of roadheader and drivage efficiency of the roadway. Focused on the vertical cutting condition, the coupling dynamical model of position and attitude of the body is established based on Lagrange equation. Combined with the calculated cutting load, the dynamical model is solved through Simulink simulation method, and the solving results are analysed under different influence factors. Consequently, the response regularities of position and attitude of the body under influence of different factors are obtained. In the similar way, the dynamical model of radial runout quantity of the cutting arm is established, and the dynamic response of radial runout of the cutting arm during vertical cutting process is obtained as well. Finally, the simulation analysis results are validated through field experiments. The research work of this paper provides useful theoretical basis for deviation rectification control of the multibody structures of roadheader, fills the vacancy of theoretical study in this aspect, and contributes to improving the dynamics theory of mining machinery.

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Section: Introductionmentioning

confidence: 99%

Modelling and response analysis of multibody large-scale displacement of boom-type roadheader

Zong

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part K:

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“…Therefore, precise positioning of the shearer is one of the most important technologies in intelligent mining. However, because most coal mines are underground in China, conventional ground positioning methods, such as radio navigation, satellite positioning, and astronomical navigation, cannot function [11,12]. Conventional shearer positioning methods, such as infrared radiation, ultrasonic reflection, gear counting, and wireless sensor network methods, do not meet the accuracy requirements for automated mining [13,14].…”

Section: Appl Sci 2019 12 X For Peer Reviewmentioning

confidence: 99%

Positioning Accuracy of the Shearer Based on a Strapdown Inertial Navigation System in Underground Coal Mining

Fang

Zhang

et al. 2020

Applied Sciences

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Automation and intelligent coal mining comprise the most important fields in coal mining technology research. The key to automation and intelligent coal mining is the automated mining of the working face, and accurate positioning of the shearer is one of the most important technologies in the automated mining process. However, significant defects in non-inertial navigation system (INS)-based methods have led to low positioning accuracy. In this paper, we propose a new shearer positioning technology to further improve the positioning accuracy of the shearer and monitor the shearer position in real time. The shearer positioning system proposed is based on the strapdown inertial navigation system (SINS). We conducted shearer positioning experiments with gyroscopes, accelerometers, and other inertial navigation instruments. The experimental results are thoroughly studied on the basis of error compensation techniques such as inertial instrument zero bias compensation and Kalman filter compensation. Compared with traditional shearer positioning technology, the experimental results show that the shearer positioning system based on SINS can achieve more accurate positioning of the shearer and can accurately reflect the running characteristics of the shearer working the mining face.

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“…Therefore, considerable research effort has been focused on this topic recently. Reid et al [ 8 ] described recent advances in the development of an integrated inertial guidance system for the automation of the longwall coal mining process and represents a breakthrough in achieving practical and reliable automated face alignment. Fan et al [ 9 ] proposed a strap-down inertial navigation system for dynamic shearer positioning and established a shearer inertial navigation model.…”

Section: Introductionmentioning

confidence: 99%

Research on the Strategy of Motion Constraint-Aided ZUPT for the SINS Positioning System of a Shearer

Yang

Luo

et al. 2017

Micromachines

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The accurate measurement of position and orientation for shearers is a key technology in realizing an automated, fully-mechanized, coal mining face. Since Global Positioning System (GPS) signal cannot arrive at the coal mine underground, wireless sensor network positioning system cannot operate stably in the coal mine; thus a strap-down inertial navigation system (SINS) is used to measure the position and orientation of the shearer. Aiming at the problem of the SINS accumulative error, this paper proposes a positioning error correction method based on the motion constraint-aided SINS zero velocity updated (ZUPT) model. First of all, a stationary state detection model of the shearer is built with median filter based on the acceleration and angular rate measured by the SINS. Secondly, the motion of the shearer is analyzed using coal mining technology, then the motion constraint model of the shearer is established. In addition, the alternate action between the motion constraint model and the ZUPT model is analyzed at the process of movement and cessation of the shearer, respectively; hence, the motion constraint-aided SINS ZUPT model is built. Finally, by means of the experimental platform of the SINS for the shearer, the experimental results show that the maximum position error with the positioning model proposed in this paper is 1.6 m in 180 s, and increases by 92.0% and 88.1% compared with the single motion constraint model and single ZUPT model, respectively. It can then restrain the accumulative error of the SINS effectively.

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Shearer Guidance: A Major Advance in Longwall Mining

Cited by 22 publications

References 0 publications

Modelling and response analysis of multibody large-scale displacement of boom-type roadheader

Modelling and response analysis of multibody large-scale displacement of boom-type roadheader

Positioning Accuracy of the Shearer Based on a Strapdown Inertial Navigation System in Underground Coal Mining

Research on the Strategy of Motion Constraint-Aided ZUPT for the SINS Positioning System of a Shearer

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