AU2020286316B2 - Automatic Control Method of the Coal Shearer and Powered Roof Support Based on the Data of Two Roadways - Google Patents
Automatic Control Method of the Coal Shearer and Powered Roof Support Based on the Data of Two Roadways Download PDFInfo
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- AU2020286316B2 AU2020286316B2 AU2020286316A AU2020286316A AU2020286316B2 AU 2020286316 B2 AU2020286316 B2 AU 2020286316B2 AU 2020286316 A AU2020286316 A AU 2020286316A AU 2020286316 A AU2020286316 A AU 2020286316A AU 2020286316 B2 AU2020286316 B2 AU 2020286316B2
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- sensor
- maingate
- tailgate
- coal
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/20—General features of equipment for removal of chippings, e.g. for loading on conveyor
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/16—Hydraulic or pneumatic features, e.g. circuits, arrangement or adaptation of valves, setting or retracting devices
- E21D23/26—Hydraulic or pneumatic control
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Control Of Conveyors (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
An automatic control method of the coal shearer and Powered Roof Support based on
the data of two roadways, specifically comprising: installing a maingate sensor and
measuring data; installing a mounting bracket at the tailgate of Armoured Face
Conveyor in the air return roadway, and mounting the sensor on the bracket to
measure data; measuring in advance a shortest linear distance from the maingate
sensor and tailgate sensor to Armoured Face Conveyor, and the height of the maingate
sensor and tailgate sensor from the floor of the roadway, and the height of the
maingate sensor and tailgate sensor from the floor of the roadway are stable and
unchanged; and sending the measured data of the maingate sensor and tailgate sensor
to the controller of the coal shearer and Powered Roof Support so that the controller
of the coal shearer and Powered Roof Support can adjust the floor-cut quantity and
the roof-cut quality according to those data, and further adjust pitch and roll angles of
the coal shearer and Powered Roof Support.
11/1
CO)
Aroue Fac Coveo
Figure1I
Description
11/1
Aroue Fac Coveo
Figure1I
Automatic Control Method of the Coal Shearer and Powered Roof Support Based on the Data of Two Roadways
Related Applications
[001] This application claims priority from Chinese patent application no. 202010525863.6 filed on 10 June 2020, the contents of which are incorporated by reference.
Technical Field
[002] The present invention relates to an automatic control method of the coal shearer and Powered Roof Support based on the data of two roadways, and belongs to the technical field of coal mine automation.
Background
[003] At present, in coal mines, the shape of coal seams is constantly changing under the influence of geological conditions. When coal miners operate equipment to cut coal, the pitch and roll angles of the coal shearer and Powered Roof Support also change with changes in geological conditions. Because the changes in the coal seam to be mined cannot be predicted, the pitch and roll angles of the coal shearer and Powered Roof Support are difficult to be controlled automatically, which greatly limits the technological progress in coal mine automation.
[004] In view of the above shortcomings, the designer actively researches and innovates in order to create an automatic control method of the coal shearer and Powered Roof Support based on the data of two roadways, so as to make it more industrially valuable.
Summary
[005] In accordance with a first aspect there is provided, an automatic control method of the shearer and Powered Roof Support based on the data of two roadways. The automatic control method measures the height and inclination angle of the coal seam at the maingate and tailgate of two roadways and the distance between the coal seam and the measurement point through a maingate sensor and a tailgate sensor, further obtaining the height and inclination angle of the coal seam to be mined at the maingate and tailgate in advance. The automatic control method can also measure the change in the flatness of Armoured Face Conveyor (commonly known in the industry: up-and-down shift), thereby controlling the coal shearer and Powered Roof Support to adjust the pitch and roll angles, and adjust the flatness. The automatic control method can greatly improve the degree of automation of a fully mechanized mining face.
[006] The automatic control method of the coal shearer and Powered Roof Support based on the data of two roadways includes: (1) installing a maingate sensor on Beam Stage Loader in the air intake roadway and measuring data; (2) installing a mounting bracket at the tailgate of Armoured Face Conveyor in the air return roadway, and mounting a tailgate sensor on the bracket to measure data; (3) measuring in advance a shortest linear distance from the maingate sensor and tailgate sensor to Armoured Face Conveyor, and the height of the maingate sensor and tailgate sensor from the floor of the roadway, ensuring that the shortest linear distance from the installed maingate sensor and tailgate sensor to Armoured Face Conveyor, and the height of the maingate sensor and tailgate sensor from the floor of the roadway are stable and unchanged; and(4) sending the measured data of the maingate sensor and tailgate sensor to the controller of the coal shearer and Powered Roof Support, so that the controller of the coal shearer and Powered Roof Support can adjust the floor-cut quantity and the roof-cut quantity according to those data, and further adjust pitch and roll angles of the coal shearer and Powered Roof Support.
[007] Further, the maingate sensor and tailgate sensor are respectively mounted to the Beam Stage Loader and tailgate of Armoured Face Conveyor, and move together with the maingate and tailgate of Armoured Face Conveyor. Further, the data measured by the maingate sensor in step (1) includes: (a) the distance from the maingate sensor to the coal wall to be mined; (b) the pitch and roll angles of the Beam
Stage Loader; and (c) the distance from the maingate sensor to the roof of the air intake roadway.
[008] Further, the data measured by the tailgate sensor in step (2) includes: (a) the distance from the tailgate sensor to the coal wall to be mined; (b) the pitch and roll angles of the mounting bracket; and (c) the distance from the tailgate sensor to the roof of the air return roadway.
[009] Further, according to changes in the distances from installation points of the maingate sensor and tailgate sensor to the coal wall, the change in the flatness of Armoured Face Conveyor can be measured, and then the controller of the coal shearer and Powered Roof Support controls the shearer and Powered Roof Support to correct the flatness of the working face according to those data.
[0010] Further, the controller of the coal shearer and Powered Roof Support can adjust the position of the cut-through point of the coal shearer according to the change in the flatness of the working face in order that the coal shearer accurately cuts through the coal face and prevents the accidents caused by incomplete cutting or failure to stop after cutting through.
[0011] Further, according to the height of the roof measured by the maingate sensor and tailgate sensor, the controller of the coal shearer and Powered Roof Support can analyze the data, so that the cutting quantity of the coal shearer at the maingate and tailgate is accurately controlled, and reasonable connection between the working face and the two roadways is ensured.
[0012] Further, the maingate sensor and the tailgate sensor can be replaced by an ultrasonic rangefinder and a two-dimensional inclinometer, the ultrasonic rangefinder is used to measure the distance, and the two-dimensional inclinometer is used to measure the pitch and roll angles.
[0013] With the above solution, the present invention may have the following advantages: (1) The automatic control method of the coal shearer and Powered Roof Support based on the data of two roadways disclosed by the present invention can measure the inclination angle and height of the coal seam to be mined in the air intake roadway and air return roadway, thereby controlling the pitch and roll angles of the coal shearer and Powered Roof Support on that basis. (2) The automatic control method of the coal shearer and Powered Roof Support based on the data of two roadways disclosed by the present invention can measure the change in the flatness of Armoured Face Conveyor (commonly known in the industry: up-and-down shift), and then control the coal shearer and Powered Roof Support to correct the flatness of the working face. (3) The automatic control method of the coal shearer and Powered Roof Support based on the data of two roadways disclosed by the present invention can adjust the position of the cut-through point of the coal shearer according to the change in the flatness, thereby ensuring that the coal shearer accurately cuts through the coal face, and preventing accidents caused by incomplete cutting or failure to stop after cutting through.
[0014] The above description is only an overview of the technical solution of the present invention. In order to understand the technical means of the present invention more clearly and implement it in accordance with the content of the description, the preferred embodiment of the present invention is illustrated in detail below with attached drawing.
Brief Description of the Figures
[0015] The invention is described, by way of non-limiting example only, by reference to the accompanying figures, in which;
[0016] In order to illustrate the technical solutions of an embodiment of the present invention more clearly, the drawing needed in the embodiment will be briefly introduced below. It should be understood that the following drawing only shows a certain embodiment of the present invention, and therefore should not be regarded as the limitation of the scope. For those of ordinary skill in the art, without creative work, other related drawings can be obtained based on that drawing.
[0017] Figure 1 is the diagram of installation positions of the maingate sensor and tailgate sensor of the present invention. In the diagram, 1 Tailgate sensor; 2 Sensor mounting bracket; and 3 Maingate sensor.
Detailed Description
[0018] The specific implementations of the present invention will be described in further detail below in conjunction with the drawing and embodiment. The following embodiment is used to illustrate the present invention, but not to limit the scope of the present invention. Referring to Figure 1, a preferred embodiment of the present invention is an automatic control method of the coal shearer and Powered Roof Support based on the data of two roadways.
[0019] In the embodiment of the present invention, the implementation process is as follows: (1) A maingate sensor is installed on Beam Stage Loader in an air intake roadway and the data is measured. The data measured includes: (a) the distance from the maingate sensor to coal wall to be mined; (b) the pitch and roll angles of Beam Stage Loader; and (c) the distance from the maingate sensor to the roof of the air intake roadway.
[0020] (2) A mounting bracket is made, and the mounting bracket is fixed to the tailgate of Armoured Face Conveyor to move together with Armoured Face Conveyor. A tailgate sensor is installed on the mounting bracket, and the data is measured. The data measured includes: (a) the distance from the tailgate sensor to the coal wall to be mined; (b) the pitch and roll angles of the mounting bracket; and (c) the distance from the tailgate sensor to the roof of the air return roadway.
[0021] (3) The shortest linear distance from the maingate sensor and tailgate sensor to Armoured Face Conveyor, and the height of the maingate sensor and tailgate sensor from the floor of the roadway are measured in advance, ensuring that the shortest linear distance from the installed maingate sensor and tailgate sensor to Armoured Face Conveyor, and the height of the maingate sensor and tailgate sensor from the floor of the roadway are stable and unchanged.
[0022] (4) The measured data of the maingate sensor and tailgate sensor is sent to the controller of the coal shearer and Powered Roof Support, so that the controller of the coal shearer and Powered Roof Support adjusts a floor-cut quantity and the roof-cut quantity according to the data, and further adjusts pitch and roll angles of the coal shearer and Powered Roof Support.
[0023] (5) According to changes in the distances from installation points of the maingate sensor and tailgate sensor to the coal wall, change in the flatness of Armoured Face Conveyor can be measured, and further the controller of the coal shearer and Powered Roof Support controls the coal shearer and Powered Roof Support to correct the flatness of the working face according to those data.
[0024] (6) The controller of the coal shearer and Powered Roof Support can adjust the position of a cut-through point of the coal shearer according to change in the flatness of the working face, further ensuring that the coal shearer accurately cuts through the coal wall, and preventing accidents caused by incomplete cutting or failure to stop after cutting through.
[0025] (7) According to the height of the roof measured by the maingate sensor and tailgate sensor, the controller of the coal shearer and Powered Roof Support can analyze the data, so that the cutting quantity of the coal shearer at the maingate and tailgate is accurately controlled, and reasonable connection between the working face and the two roadways is ensured. In the present embodiment, the distance is measured by an ultrasonic rangefinder, and the pitch and roll angles are measured by a two dimensional inclinometer. Other types of sensors are also applicable as long as they can measure the distance and the pitch and roll angles of two roadways, and do not affect the implementation effect.
[0026] The embodiment above is only a preferred implementation of the present invention and is not used to limit the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and modifications can be made, and those improvements and modifications should also be considered in the protection scope of the present invention.
[0027] Throughout this specification and the claims which follow, unless the context requires otherwise, the word "comprise", and variations such as "comprises" and "comprising", will be understood to imply the inclusion of a stated integer or step or group of integers or steps but not the exclusion of any other integer or step or group of integers or steps.
[0028] The reference in this specification to any known matter or any prior publication is not, and should not be taken to be, an acknowledgment or admission or suggestion that the known matter or prior art publication forms part of the common general knowledge in the field to which this specification relates.
Claims (8)
1. An automatic control method of a coal shearer and a Powered Roof Support based on data of two roadways, comprising: (1) installing a maingate sensor on a Beam Stage Loader in an air intake roadway to measure data including pitch, roll angle and a roof height of the air intake roadway, and to measure data including a distance from the maingate sensor to a coal wall to be mined; (2) installing a mounting bracket on a tailgate of Armoured Face Conveyor in an air return roadway, and mounting a tailgate sensor on the mounting bracket to measure data including pitch, roll angle and a roof height of the air return roadway, and to measure data including a distance from the tailgate sensor to the coal wall to be mined; (3) measuring in advance a shortest linear distance from the maingate sensor and the tailgate sensor to the Armoured Face Conveyor, and a height of the maingate sensor and a height of the tailgate sensor from the floors of the respective air intake roadway and air return roadway, ensuring that the shortest linear distance from the installed maingate sensor and the tailgate sensor to the Armoured Face Conveyor, and the height of the maingate sensor and the height of the tailgate sensor from the floors are stable and unchanged; and (4) sending the above-mentioned measured data of the maingate sensor and the tailgate sensor to a controller of the coal shearer, so that the controller of coal shearer can adjust floor-cut quantity and roof-cut quantity according to the measured data, and sending the above-mentioned measured data of the maingate sensor and the tailgate sensor to a controller of Powered Roof Support, so that the Powered Roof Support can adjust the pitch and roll angle of shearer through adjusting push distance of the Armoured Face Conveyor.
2. The automatic control method of the coal shearer and the Powered Roof Support based on the data of two roadways according to claim 1, wherein the maingate sensor and the tailgate sensor are respectively mounted to the Beam Stage Loader and the tailgate of the Armoured Face Conveyor, and move together with a maingate and the tailgate of the Armoured Face Conveyor.
3. The automatic control method of the coal shearer and the Powered Roof Support based on the data of two roadways according to claim 1, wherein the data measured by the maingate sensor in step (1) comprises: (a) the distance from the maingate sensor to the coal wall to be mined; (b) the pitch and roll angles of the Beam Stage Loader; and (c) a distance from the maingate sensor to the roof height of the air intake roadway.
4. The automatic control method of the coal shearer and the Powered Roof Support based on the data of two roadways according to claim 1, wherein the data measured by the tailgate sensor in step (2) comprises: (a) the distance from the tailgate sensor to the coal wall to be mined; (b) the pitch and roll angles of the mounting bracket; and (c) a distance from the tailgate sensor to the roof height of the air return roadway.
5. The automatic control method of the coal shearer and the Powered Roof Support based on the data of two roadways according to claim 3 and 4, wherein according to changes in distances from installation points of the maingate sensor and tailgate sensor to the coal wall to be mined, a change in a flatness of Armoured Face Conveyor can be measured, and then the controller of the coal shearer and the Powered Roof Support controls the shearer and Powered Roof Support to correct the flatness of a working face.
6. The automatic control method of the coal shearer and Powered Roof Support based on the data of two roadways according to claim 5, wherein the controller of the coal shearer and the Powered Roof Support can adjust a position of a cut-through point of the coal shearer according to the change in the flatness of the working face in order that the coal shearer accurately cuts through the coal face and prevents accidents caused by incomplete cutting or failure to stop after cutting through.
7. The automatic control method of a coal shearer and a Powered Roof Support based on the data of two roadways according claim 3 and claim 4, wherein according to the height of the roof measured by the maingate sensor and the tailgate sensor, the controller of the coal shearer and the Powered Roof Support can analyze data, so that a cutting quantity of the coal shearer at the maingate and the tailgate is accurately controlled, and reasonable connection between the working face and the two roadways is ensured.
8. The automatic control method of the coal shearer and Powered Roof Support based on the data of two roadways according to claim 1, wherein the maingate sensor and the tailgate sensor can be replaced by an ultrasonic rangefinder and a two dimensional inclinometer, the ultrasonic rangefinder is used to measure the distance, and the two-dimensional inclinometer is used to measure the pitch and roll angles.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010525863.6A CN111878078A (en) | 2020-06-10 | 2020-06-10 | Automatic control method for coal mining machine and hydraulic support based on two-roadway data |
| CN202010525863.6 | 2020-06-10 |
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| AU2020286316A1 AU2020286316A1 (en) | 2022-01-06 |
| AU2020286316B2 true AU2020286316B2 (en) | 2022-07-07 |
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| CN112360457B (en) * | 2020-12-11 | 2022-11-08 | 深圳市翌日科技有限公司 | Coal mining machine positioning method based on triangular coal cutting principle |
| CN114562264B (en) * | 2022-03-01 | 2025-08-29 | 付钢 | Intelligent adjustment system and method for fully mechanized mining working face |
| CN116253119A (en) * | 2023-03-14 | 2023-06-13 | 北京天玛智控科技股份有限公司 | Detection method, device and electronic equipment for moving up and down of transport plane |
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|---|---|---|---|---|
| US5020860A (en) * | 1988-10-31 | 1991-06-04 | Consolidation Coal Company | Methods and apparatus for maintaining longwall face alignment |
| US20170275993A1 (en) * | 2016-03-24 | 2017-09-28 | Joy Mm Delaware, Inc. | Longwall system face alignment detection and steering |
| US20180347357A1 (en) * | 2017-06-02 | 2018-12-06 | Joy Global Underground Mining Llc | Adaptive pitch steering in a longwall shearing system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101307690A (en) * | 2007-12-22 | 2008-11-19 | 肖自立 | Combined automatic control coal cutter |
| CN102661162B (en) * | 2012-05-10 | 2015-02-18 | 北京天地玛珂电液控制系统有限公司 | Coalface straightness control method |
| CN103899358B (en) * | 2014-03-19 | 2016-03-02 | 北京天地玛珂电液控制系统有限公司 | Downslide automatic control system altered by a kind of transporter |
| CN204060754U (en) * | 2014-06-27 | 2014-12-31 | 华亭煤业集团有限责任公司 | Antiskid adjusting device |
| CN105000328B (en) * | 2015-07-01 | 2017-03-08 | 中国矿业大学 | Device and method for automatic straightening of scraper conveyor body in fully mechanized mining face |
| CN107305732A (en) * | 2016-04-20 | 2017-10-31 | 中煤张家口煤矿机械有限责任公司 | A kind of underground coal mine conveying equipment intelligent monitor system |
| CN111169939A (en) * | 2020-03-12 | 2020-05-19 | 中国矿业大学(北京) | A system and method for detecting the straightness of a scraper conveyor in a fully mechanized mining face |
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2020
- 2020-06-10 CN CN202010525863.6A patent/CN111878078A/en active Pending
- 2020-12-11 AU AU2020286316A patent/AU2020286316B2/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5020860A (en) * | 1988-10-31 | 1991-06-04 | Consolidation Coal Company | Methods and apparatus for maintaining longwall face alignment |
| US20170275993A1 (en) * | 2016-03-24 | 2017-09-28 | Joy Mm Delaware, Inc. | Longwall system face alignment detection and steering |
| US20180347357A1 (en) * | 2017-06-02 | 2018-12-06 | Joy Global Underground Mining Llc | Adaptive pitch steering in a longwall shearing system |
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| CN111878078A (en) | 2020-11-03 |
| AU2020286316A1 (en) | 2022-01-06 |
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