CN1005786B - Remotely sensing of excavation cavity during mining - Google Patents
Remotely sensing of excavation cavity during mining Download PDFInfo
- Publication number
- CN1005786B CN1005786B CN85107582.7A CN85107582A CN1005786B CN 1005786 B CN1005786 B CN 1005786B CN 85107582 A CN85107582 A CN 85107582A CN 1005786 B CN1005786 B CN 1005786B
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- distance
- hydraulic giant
- control
- hydraulic
- process control
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- 238000005065 mining Methods 0.000 title claims abstract description 27
- 238000009412 basement excavation Methods 0.000 title 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 36
- 238000000034 method Methods 0.000 claims abstract description 21
- 239000000463 material Substances 0.000 claims abstract description 7
- 238000004886 process control Methods 0.000 claims description 28
- 238000005259 measurement Methods 0.000 claims description 14
- 239000007788 liquid Substances 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 abstract 2
- 229910052500 inorganic mineral Inorganic materials 0.000 description 19
- 239000011707 mineral Substances 0.000 description 19
- 239000003245 coal Substances 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 6
- 239000012530 fluid Substances 0.000 description 5
- 235000019994 cava Nutrition 0.000 description 4
- 238000005520 cutting process Methods 0.000 description 4
- 239000002245 particle Substances 0.000 description 4
- 238000000605 extraction Methods 0.000 description 3
- 239000004575 stone Substances 0.000 description 3
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 239000003818 cinder Substances 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
Images
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C45/00—Methods of hydraulic mining; Hydraulic monitors
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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)
- Excavating Of Shafts Or Tunnels (AREA)
- Perforating, Stamping-Out Or Severing By Means Other Than Cutting (AREA)
- Processing Of Solid Wastes (AREA)
- Drilling And Exploitation, And Mining Machines And Methods (AREA)
Abstract
Method and apparatus for hydraulically mining a location using a hydraulic monitor which has horizontal and vertical positionable control apparatus. The hydraulic monitor is connected to a source of high pressure water. Distance and direction measuring equipment are mounted on the monitor and controlled in a manner to scan the location. The output from the distance and direction measuring equipment is inputted to a computer and a visual video display monitor. The computer converts the information from the distance and direction measuring equipment to a visual representation of the cavity being mined. The hydraulic monitor includes a means for diverting the high velocity jet during the distance measuring period so that the water pressure is not varied in the high pressure pipe and the mined material is continuously washed toward the collection apparatus during the measuring period. All hydraulic monitor functions are controlled from remote operator location.
Description
Relevant prior art of the present invention belongs to three classes basically.The first kind comprises patent, wherein, gets used to laser beam as guiding device.For example United States Patent (USP) 4,142, and 763; 4,238,828; 4,261,617; 4,023,861 and 4,033,626 belong to the first kind, particularly utilize direction to control the excavating gear that leads there, for example excavate entry or mining.Second class of patent comprises display unit, for example television equipment.United States Patent (USP) 4,281,876 belong to this type.At this, television monitoring device is installed on the continuous digger, monitors the territory, goaf so that make the operator control digger according to the image on the TV pick-up attacnment.Patent the 3rd class belongs to the device with the actual cutting of machine mineral aggregate.United States Patent (USP) 4,120,534 disclose a device that uses nuclear sensor Cutting Control head, so that the position of cutting arrangement in the control coal seam.United States Patent (USP) 3,978,444 and patent 4,288,866 be to use sonar as a kind of device, this device is used for determining the state or the shape of sonar beam head.One piece of title for the paper teaches of " be used for monitoring warehouse capacity " use Principles of Radar to measure the horizontal plane of coal in underground warehouse.
The purpose of this invention is to provide a kind of hydraulic mining that is applicable to, promptly there, the method and apparatus in the digging coal seam that the particle of the broken pine that the cave is produced by high-speed jet is full of continuously.
The invention discloses the method and apparatus that a kind of hydraulic giant that uses hydraulic jet comes the digging coal seam.This hydraulic giant device is connected on the high-pressure water.Hydraulic giant comprises and is used for the horizontal level of remote control adjustment jet and the device of upright position, so that jet is aimed at by any position in the zone of digging.In the hydraulic pressure digging, a basic problem is on the digging position people to be had very big danger and device is had very big harm.High speed water, chip, roof fall and other danger all occur in such zone.The invention discloses the device of a position of a kind of remote control digging, the control fully of hydraulic giant is provided simultaneously, the direction of jet control and about when the mining processes, to the understanding of being moved by the mineral aggregate of digging.
A kind of remote control has the method for the mining position of base plate and sidewall to comprise with the waterpower digging: a, give in the time of determining earlier at one, the direct high pressure current are aimed at the position with waterpower digging material on said position; B, on said remote control position, said High-Pressure Water is transformed into the another location; C, measurement are by the distance of a known position to said wall; D, the said distance of having measured is delivered to a computer installation; E, owing to calculate by said computer installation and to demonstrate the said distance of having measured, produce said position display; Also said water is changed so that produce the in good time demonstration of said position with f, the said hydraulic mining operation of continuation.
Above-mentioned device is installed on the frame of hydraulic giant, measurement mechanism, and laser for example can be controlled to being scanned by a certain zone in the cave of digging.Come the information of self-scanning to be sent to computer.This computer shows the TV that this information is transformed on tv image display device.The operator of control hydraulic giant can determine the physical location of jet and the position of the jet of the reality of the operation in the cave of determine exploiting subsequently on tv image display device.Device comprises when being used for making jet to redirect to the device of other waterpower output device in the sweep time of reality.The liquid that is diverted provides two tangible advantages: the first, and continuous current provide and have been used for the needed liquid stream of the discharger of digging, and this liquid stream carries the mineral aggregate of being adopted and arrives storagetank or other the processing region in mine.The second, the water hammer in the pressure duct has been avoided in this measure when in scan operation, protects pipeline and personnel not to be subjected to like this because water hammer causes the harm that pipe breakage causes.The present invention moves by fine control mineral aggregate, has prevented that unexpected roof fall or mine top from collapsing, and has also increased the rate of extraction of mine.
Fig. 1 is the sectional drawing of hydraulic mining operation of the present invention.
Fig. 2 has the hydraulic giant cutting part in order to realize hydraulic giant elevation of the present invention, expresses its internal construction.
Fig. 3 is the schematic diagram of circuit of the present invention, comprises the control system of scan method and display packing and control hydraulic giant needs.
With reference to Fig. 1, illustrate a common mining and arrange that it consists essentially of a cave of representing with arrow 10, feeds in it by the entry of representing with arrow 11.Entry 11 comprises a base plate 12, sidewall 13 and top board (not shown).Entry generally includes a drain tank 14, so that transport mining water and adopt the mineral aggregate that gets off by high-speed jet.A hydraulic giant device of representing with arrow 15 generally includes a hydraulic giant 16 that is connected to muck transporter 17.Article one, pressure duct 18 usefulness connectors 19 link together several sections pipes.When 10 mining were expected from the cave, several sections high speed and high pressure pipes 18 were moved, so that adapt to the needs that hydraulic giant device 15 moves.A trough 20 is installed to muck transporter end, and this trough 20 is fixed to above the drain tank.Side plate 21 and 22 is contained between sidewall 13 and the hydraulic giant device 15, so that the mineral aggregate that digging is got off is directed in the muck conveying arrangement 17 goes.Hydraulic giant 16 has a high speed nozzle 23 that is mounted thereon, so as the jet 24 that makes water towards the cave 10 position 25.Hydraulic giant 16 also comprises distance-measuring device 26, and this measurement mechanism emission and acknowledge(ment) signal for example use arrow 27 indicated.This device and use thereof are with reference to structure represented among Fig. 2, and it will well be illustrated.Jet 24 impacts the position 25 in cave 10, adopts down mineral aggregate from ore bed 28, then, adopts the mineral aggregate that gets off and slides on the base plate 30 in cave along slope 29.When mineral aggregate is exploited continuously by a zone, by fully under the cave during extraction, cave 10 will no longer can be supported with the form of assorted stone 32 collapses by the ore bed 28 of digging, and this assorted stone is represented is material 32 above the cave 10.Hydraulic giant 15 controls (device) are to be connected to remote control 34 by cable 33 among Fig. 1, and this remote control comprises one and computer (not shown) tv image display device 35 and manual overvide 36 together.Watch an operator 37 of tv image display device 35 can pass through control device 36 remote control hydraulic giants 15.Cable 33 can with pin 38 periodic intervals be installed on the sidewall 13.Can use the device of any satisfaction of supporting cable, not cause it to be subjected to danger when operating with convenient digging.
Be used for realizing that the hydraulic giant 16 of reality of the present invention is disclosed among Fig. 2.Hydraulic giant 16 comprises a base, is fixed to by any way on the hydraulic giant device 15, for example uses screw.Pressure duct 18 is connected to valve 41 by joint 19, and this valve comprises an electrical control gear 42.Pipeline 18 continues into by pipeline 43 and arrives a vertically rotating connector 44 in the base 40, and this connector 44 is connected to a vertical duct 45 successively.It is rigid connection that connector 44 allows pipeline 43, but pipeline 45 can axially be rotated.Pipeline 45 usefulness hydraulic pistons 46 and chain 47 rotate, this chain 47 is around sprocket rotation, it is very clear that this represents in Fig. 3, and pipeline 45 is connected to " Y " shape part 48, should be connected to a connector that can rotate in the horizontal direction 49 successively by " Y " shape part 48.Connector 49 is connected to high speed nozzle 23 then.High speed nozzle 23 is positioned by means of hydraulic cylinder 50, and this hydraulic cylinder 50 is connected to high speed nozzle 23 by piston rod 51.It is very clear that this also represents in Fig. 3.
More than Xu Shu feature is common to most of hydraulic giant devices.Except common feature, the invention provides a pipeline 52, this pipeline 52 is connected to a conversion nozzle 53.What additional opening 54 was represented in the drawings is covered with, and it provides the another one installation site for nozzle 53.Other installation site like this is used under the following situation, promptly is damaged, breaks or unsatisfied special mining district at nozzle 53.Distance-measuring device 26 is installed on the hydraulic giant 16, each distance-measuring device comprises the waterproof case of a shell 55 preferably with cover 56,56 pairs of radiation from device 57 of this lid can be passed, and these device 57 emissions are used for determining hydraulic giant and coal or other are by the actual light beam of the distance between the material of digging.Device 57 is installed on a fork 58 and the axle 59, so that the motion of the vertical direction of generator 57 and horizontal direction.This device has the output area and the collecting region that are used for launching and accepting the distance measurement light beam.Because two measurement mechanisms are identical, therefore only described one.
Actual mining processes and device see figures.1.and.2, but also with reference to Fig. 3, particularly with reference to Fig. 3.A process control equipment can be a microprocessor 65, and a lead-in wire output 66 is arranged, and this lead-in wire output 66 is connected to tv image display device 35 by lead 67.A lead-in wire output 68 is connected to valve 70 by lead 69, the horizontal level of these valve 70 control hydraulic giants.A lead-in wire output 101 is connected to valve 92 by lead 102, the upright position of these valve 92 control high speed nozzles 23.Be connected to process control equipment 65 by each distance-measuring device 26 lead-in wire output by lead 71a and 71b.In order to determine the horizontal level of high speed nozzle 23, an electric position feedback device 72 is connected to pipeline 45 by axle 73.Be connected to the lead-in wire input of process control equipment 65 by lead 74 by the lead-in wire output of feedback device 72.Second electrical feedback device 75 determined the upright position of high speed nozzle 23.Feedback device 75 is connected to process control equipment 65 by lead.A manual overvide 36, this manual overvide 36 can comprise a joystick 77, is connected to process control equipment 65 by lead 78.Electrically operated valve 42 is controlled by the output 79 of process control equipment 65, and this process control equipment 65 is connected to the wire input end 81 of valve 42 by lead 80.The distance-measuring device of having discussed as the front 26 produces a light beam 27.Light beam 27 is by scanning wall with arrow 82 represented figures, and this light beam 27 passes through the other end 84 from an end 83.
The hydraulically operated power of various elements is supplied with by hydraulic power source 90, and this hydraulic power source 90 has connecting line 91 to be connected to hydraulic valve 92.This hydraulic valve 92 provides the pressure fluid of hydraulic work system, and this pressure fluid leads to hydraulic cylinder 50 by pipeline 93 or 94.As a pipeline, for example 93, in be the liquid that has been compressed, will be the liquid that turns back to valve 92 in another pipeline 94 so.Hydraulic valve 92 arrives by a pipeline 95 and returns the liquid tank (not shown).Pressure fluid also can supply to valve 70 by identical pipeline or another pipeline 96.Fluid pressure line 96 and 97 is connected among the hydraulic cylinder 46, and the second pair of pipeline 98 and 99 is connected to remaining hydraulic cylinder 46.Article one, return pipeline 100 is connected to the liquid tank (not shown) by valve 70.Lead-in wire output 101 by process control equipment 65 is connected to valve 92 by lead 102.
With reference to all figure, and Fig. 3 particularly describes the operation of hydraulic giant and control device specially.
For starting working of system, the cave of installation system must be seen on tv image display device 35.In order to finish this step, hydraulic giant device 15 is moved in the zone of carrying out the waterpower digging.Then hydraulic giant is connected on the pressure duct 18, cable 33 is connected between hydraulic giant 16 and the remote control 34.Before digging operation beginning, must constitute the cave.Owing to must scan whole caves, so that produce image at TV pick-up attacnment 35, the section start that scanning is preferably in the cave begins.Distance-measuring device 26, this device can be laser, are started and begin scanning process then.A kind of method that the major part in cave is scanned is to move both vertically and center on 59 mobile distance measuring device 57 around fork 58 mobile distance measuring devices 57 to move horizontally.Because two independent distance-measuring devices are arranged, two scanning means 26 can getable cave part be imported into process control equipment 65 by lead 71a and 71b.Information is stored in the process control equipment 65 or is displayed at once on the TV pick-up attacnment 35 then.For whole caves is shone upon out, by the operating grip 77 of manual overvide 36, corresponding signal is sent to process control equipment 65 by lead 78, hydraulic giant is rotated by the vertical axis around it.Process control equipment 65 will be sent to valve 70 to signal then, and this valve 70 promptly passes through suitably compression hydraulic cylinder 46 of pipeline 96,97,98 and 99.Will be from the pressure fluid of hydraulic cylinder and arrive the hopper (not shown) then by valve 70 and pipeline 100.Hydraulic cylinder 46 will make chain 47 rotating sprocket 47a, and this sprocket wheel 47a is installed on the pipe 45.Because shell 61 is installed on the pipe 45 by base 62, the rotation of sprocket wheel will make shell 61 rotate.Distance-measuring device 26 is installed on the shell 61.Any rotation of shell 61 will make distance-measuring device 26 do corresponding the rotation, therefore, shine upon and will show whole caves, and shell 61 is rotated in the actual arc position that is communicated to process control equipment 65 by feedback device 72.Scanning process is repeated or continues, and depends on the circumstances, and is mapped on the TV pick-up attacnment until whole caves along with hydraulic giant shell 61 rotates on its axis.In case the cave image has been finished, hydraulic power source 90 will provide power for mobile hydraulic cylinder 46 traction chains 47 then, so that hydraulic giant is located round its vertical axis once more.
Certainly it is apparent that initial cave measurement, do not need to use the distance-measuring device on hydraulic giant device 26.Independent measurement mechanism can be used, as long as it suitably is positioned in the zone, cave and survey data is sent to process control equipment 65 and data storage.
With reference to Fig. 1, initial mining processes is to begin by sliding or locating hydraulic giant device 15 on the position in the suitable digging cave of determining.Distance-measuring device 26 is energized with the position of hydraulic giant horizontal axis and vertical axis and passes toward corresponding lead 74 and 76 and process control equipment 65 by feedback device 72 and 75.This information is then with processed and locate a display highlighting 25a in display unit 35.Display highlighting 25a will indicate when hydraulic giant is opened to operator 37, the position that giant jet impacts.The operator is seeing that by mobile manual overvide liquid jet position, display highlighting 25a location is positioned on the position that begins to dig up mine up to it then.In case hydraulic giant is in position gone up, as looking the position that cursor 25a indicates with showing, then from process control equipment 65 be sent to control valve 41 by the initial signal of operator by lead 80 so that make water arrive rotating connector 44 by pipeline 18 and pipeline 43.Water upwards leads to Y shape arm 48 again by pipeline 45 and arrives high speed nozzle 23 then.High-speed water jet 24 will leave hydraulic giant 16 then, and the cave at impact position 25 places makes mineral aggregate be adopted down and sweep away in the slope 29, be collected by wallboard 21 and 22 at the there mineral aggregate, so that mineral aggregate is directed to the broken transporter of hydraulic giant device 15.Mineral aggregate will enter drain tank 14 by trough 20 then, and in drain tank, mineral aggregate will be by by transporting in the face.
The mineral aggregate of noticing of being transported is to be walked by the water transport of high-speed jet 24.When carrying out mining processes, a large amount of atomized water particles, coal cinder or other material are by blowing down on the wall of cave, and material and water will have the trend of filling up the cave, and therefore, the light beam of distance-measuring device 26 is very difficult by rubble and water.If in this case, in the operation cycle, must be closed water jet or current, still,, so just there is not water to wash away mineral aggregate from inclined slope 29, trough 20 and drain tank 14 by hydraulic giant device 15 if when in measuring period, closing current.So designed a kind of new device, therefore, valve 41 can be controlled second jet or conversion nozzle 53 by its collecting of electrical controls 42.This jet will be handled the identical water yield with high-speed jet 24, but not at a high speed, so no water particle and rubble will be kept in the cave.The conversion nozzle also provides the device that is used for not producing water hammer when closing high-speed water jet 24 in pipeline 18.This water hammer can damage pipeline or pipeline is split the personnel in the pipeline zone are formed harm, particularly because the water in the pipeline 18 is under extremely high pressure.
In case water has been switched to nozzle 53, remeasures the minery and such measurement result is communicated to process control equipment 65 by lead 71a and 71b.In case information has been given to process control equipment 65, TV pick-up attacnment 35 is readjusted, so that transmit the situation of change in mining cave 10.
When mining processes, accurately understand the position and the cave state of mining processes and can correct roof fall trend and wrong mining position.
Because to the height of digging up mine in cave control with to the accurate understanding of cave state, the mineral aggregate of significant percentage, coal for example can be by back production, thereby has in fact increased the output of the unit amount of money of mine investment.Become the danger of assorted stone 31 in case the cave has to collapse, hydraulic giant can be transferred and restart mining processes.As long as the coordinate that process control equipment 65 can calculate the reposition of hydraulic giant and can adjust hydraulic giant has carried out new measurement with regard to not needing to the cave so.
A kind of device of hydraulic mining of fabulous control cave is disclosed.This device provides a kind of and has utilized laser, measurement mechanism, and measurement result is sent to process control equipment, can be presented at information on the TV pick-up attacnment in the process control equipment there.TV pick-up attacnment can provide actual cave information when mining processes, so that cutter can control the position of hydraulic giant on remote position, reliability digging mineral aggregate with height, therefore, before new position must be fallen back on, in fact increased mineral aggregate at hydraulic giant by extraction in the mine.
It is evident that measurement can be installed on the other part of device separates with hydraulic giant; But in most preferred embodiment, measurement mechanism is directly to be contained on the hydraulic giant device.If rubble and water particle are such, promptly Zhuan Zhi light beam can not be enough to penetrate them when obtaining the correct scope in cave, can provide the conversion jet so, this conversion jet also provides one water is transferred to low-speed jet, and does not produce water hammer in the pipeline of supplying with high-speed jet.Above waterpower digging cave system provide the safety of height for the operator and when the mining processes to the height understanding of cave situation.
Claims (7)
1, a kind of remote control has the method for the mining position of base plate and sidewall to comprise with the waterpower digging: a, give in the time of determining earlier at one, the direct high pressure current are aimed at the position with waterpower digging material on said position; B, on said remote control position, said High-Pressure Water is transformed into the another location; C, measurement are by the distance of a known position to said wall; D, the said distance of having measured is delivered to a computer installation; E, owing to calculate by said computer installation and to demonstrate the said distance of having measured, produce said position display; Also said water is changed so that produce the in good time demonstration of said position with f, the said hydraulic mining operation of continuation.
2, according to the method for claim 1, the direction that it is characterized in that said High-Pressure Water is by computer control.
3, according to the method for claim 2, it is characterized in that said computer controlled be according to desired variation, as determining, be inserted in the said computer with the handgrip coordinator by said demonstration.
4, according to the method for claim 1 or 2 or 3, it is characterized in that comprising said position is scanned, measure said distance simultaneously, therefore, produce a position display completely.
5, a kind of device with a position of waterpower digging.Said device comprises a hydraulic giant device, said hydraulic giant device has the device that can control its horizontal level and upright position, high-pressure water and high-pressure water is connected to the device of said hydraulic giant device, an improved device comprises: a distance-measuring device has a beam device and a signal output apparatus; B, process control equipment have a signal input apparatus and signal output apparatus; C, the said distance-measuring device of connection arrive the signal input apparatus of said process control equipment; D, TV pick-up attacnment have a signal input apparatus and display unit; E, be used for said process control equipment is connected to device on the said hydraulic giant device; F, control device have an output to be connected to the said signal input apparatus of said process control equipment; G, the signal input that is connected to said horizontal level control device and upright position control device and the device of signal output apparatus are arranged, said signal input apparatus is connected to the said signal output apparatus of said process control equipment, therefore, the said light beam that is sent by said distance-measuring device is determined the profile of said mining position, the said TV that the profile of said mining position is displayed on said display unit shows that image operation interior and said control device makes said process control equipment expand to said position control to an output signal, so that locate said hydraulic giant.
6, according to the device of claim 5, it is characterized in that said distance-measuring device comprises a laser beam generating device, position of said laser-impact and by reflexing to said distance-measuring device on the said position, said distance-measuring device produces a corresponding signal of telecommunication at its output.
7, according to the device of claim 5, it is characterized in that being used for the device that high-pressure water is connected to said hydraulic giant device is comprised the control valve device that has a control input liquid drawing device, be used for said conversion equipment is connected to the device of said valve gear, with be used for the said control input information of said control valve is connected to the said signal output apparatus of said process control equipment, therefore, can work as when operating said distance-measuring device to the said high-pressure water of said hydraulic giant, be converted direction.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US66854384A | 1984-11-05 | 1984-11-05 | |
| US668543 | 1984-11-05 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN85107582A CN85107582A (en) | 1986-10-22 |
| CN1005786B true CN1005786B (en) | 1989-11-15 |
Family
ID=24682743
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN85107582.7A Expired CN1005786B (en) | 1984-11-05 | 1985-10-16 | Remotely sensing of excavation cavity during mining |
Country Status (8)
| Country | Link |
|---|---|
| CN (1) | CN1005786B (en) |
| AU (1) | AU557183B2 (en) |
| CA (1) | CA1241672A (en) |
| DE (1) | DE3538329A1 (en) |
| FR (1) | FR2589944B1 (en) |
| GB (1) | GB2166471B (en) |
| PL (1) | PL256103A1 (en) |
| ZA (1) | ZA857433B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AT503378B1 (en) * | 2006-01-19 | 2008-09-15 | Voest Alpine Bergtechnik | METHOD FOR REGULATING THE DRIVE OF AN OPERATOR OR MACHINE |
| DE102009026011A1 (en) * | 2009-06-23 | 2010-12-30 | Bucyrus Europe Gmbh | Method for determining the position or location of plant components in mining and extraction facilities |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU883419A1 (en) * | 1980-03-04 | 1981-11-23 | Научно-Производственное Объединение "Автоматгормаш" | Apparatus for programme control of the working member of coal-winning machine |
| GB2158486B (en) * | 1984-05-09 | 1987-09-23 | Nit Co Ltd | A method and apparatus for forming an underground solidification structure |
-
1985
- 1985-09-13 AU AU47428/85A patent/AU557183B2/en not_active Ceased
- 1985-09-20 GB GB08523322A patent/GB2166471B/en not_active Expired
- 1985-09-26 ZA ZA857433A patent/ZA857433B/en unknown
- 1985-10-04 CA CA000492355A patent/CA1241672A/en not_active Expired
- 1985-10-16 CN CN85107582.7A patent/CN1005786B/en not_active Expired
- 1985-10-28 DE DE19853538329 patent/DE3538329A1/en active Granted
- 1985-11-05 PL PL25610385A patent/PL256103A1/en unknown
- 1985-11-05 FR FR858516380A patent/FR2589944B1/en not_active Expired
Also Published As
| Publication number | Publication date |
|---|---|
| GB2166471B (en) | 1988-01-27 |
| AU557183B2 (en) | 1986-12-11 |
| CN85107582A (en) | 1986-10-22 |
| GB8523322D0 (en) | 1985-10-23 |
| DE3538329C2 (en) | 1990-02-22 |
| GB2166471A (en) | 1986-05-08 |
| AU4742885A (en) | 1986-05-15 |
| ZA857433B (en) | 1986-05-28 |
| DE3538329A1 (en) | 1986-05-22 |
| PL256103A1 (en) | 1987-07-27 |
| CA1241672A (en) | 1988-09-06 |
| FR2589944A1 (en) | 1987-05-15 |
| FR2589944B1 (en) | 1989-12-29 |
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