CN111663943A - System and method for controlling mining machine, mining apparatus, storage medium - Google Patents
System and method for controlling mining machine, mining apparatus, storage medium Download PDFInfo
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- CN111663943A CN111663943A CN202010527719.6A CN202010527719A CN111663943A CN 111663943 A CN111663943 A CN 111663943A CN 202010527719 A CN202010527719 A CN 202010527719A CN 111663943 A CN111663943 A CN 111663943A
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- seam
- mining
- track
- miner
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- E—FIXED CONSTRUCTIONS
- E21—EARTH 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
- E21C35/08—Guiding the machine
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/1093—Devices for supporting, advancing or orientating the machine or the tool-carrier
Abstract
Systems and methods, mining devices, storage media for controlling a mining machine are provided. A system for controlling a mining machine includes a coordinate position determination device, at least one coordinate reference point, and a processor. The processor is connected to receive data relating to: an absolute coordinate position determined by the position determining means and at least one reference point. The data associated with the determined absolute coordinate position is corrected with reference to the at least one fiducial point. The processor is connected to generate further signals for activating the miner actuators, the track actuators and/or the extraction device actuators based on the corrected absolute coordinate positions, the processor being operated by at least one of the plurality of actuators such that the extraction device will cut or attempt to cut to a desired cutting profile.
Description
This application is a divisional application of the invention patent application having application number 201610366026.7 filed 2016, 5 and 27, entitled "system and method for controlling a mining machine, mining apparatus, storage medium".
Technical Field
The present invention relates to mining machines and methods by which the movement of the mining machine across a seam containing product to be mined may be controlled.
Background
In the mining of coal, a process known as longwall mining has been developed. In these processes, among other components, a movable rail is placed across the coal seam. The mining machine is provided with at least one mining head (mining head) and is moved to traverse the track from one side of the seam to the other and to manoeuvre the mining head upwardly and downwardly to mine coal from the face of the seam. The track is moved forward toward the seam behind the path of the mining machine throughout each pass. The mining machine is then caused to traverse the seam in the opposite direction in order to repeat the excavation process. During this return traverse, the mine head may also be steered upwardly and downwardly, if desired, to remove further coal from the seam. This process is repeated until all of the coal in the planned recovery panel is completed.
Thus, by advancing the track an appropriate distance forward toward the seam after each pass, it is possible to progressively move into the seam with approximately equal cutting depths with each pass.
In practice, inaccuracies are gradually created with each subsequent pass due to the slippage of the motorized top support advancing system that moves the track, which results in cutting depths varying over the seam level. This in turn leads to reduced product yield and unnecessary mechanical loads and stresses on the rails and the motorized top support advancement system. This error is largely attributable to the incremental amount by which the motorized top support advancement system moves the track forward in each pass. Thus, inaccuracies accumulate after multiple passes of the machine due to slippage of the motorized top support advancement system. It is desirable that the track extend in a straight line, but due to slippage, the track is progressively moved such that the track eventually has a curved or serpentine path. This in turn leads to downtime when attempting to reset the track to correct for these accumulated inaccuracies.
US6857705 addresses this problem by using a 2D coordinate determination positioning device to determine the absolute position of the mining machine at a plurality of locations as the mining machine moves across the face of the coal seam. While this approach addresses the problem of accumulation inaccuracies due to slippage of the motorized roof support advancement system, there is still room for further improvement in controlling the alignment of the miner as it moves transversely across the coal seam.
Disclosure of Invention
In a first aspect of the invention there is provided a system for controlling a mining machine through a mine excavation cycle, the system comprising:
A. a mining machine, the mining machine comprising:
(i) a mine cutting head mounted on a movable carriage for mining product from a seam as the movable carriage traverses across a mining face of the seam from side to side on tracks extending from side to side across the seam;
(ii) a track actuator for moving the track towards the seam;
(iii) a shearer head actuator for moving the shearer head toward the seam boundary;
(iv) at least 2D coordinate position determining means for determining an absolute coordinate position of the mining machine and/or the track in space at each of a plurality of positions along the track, the position determining means providing a current absolute coordinate position output data signal from the position determining means;
(v) a processor coupled to receive the output data signal and to generate a further signal for:
a. activating the track actuator to thereby displace or attempt to displace the track a distance toward the seam based on the determined current absolute coordinate position of the portion of the miner or track that is different from the desired coordinate position to obtain the coordinate position of the expected cutting profile; and/or
b. Activating the miner head actuator to shift or attempt to shift the miner head a distance toward the seam boundary based on the determined current absolute coordinate position of the miner or track set that is different from the desired coordinate position to obtain the coordinate position of the desired cutting curve.
The processor is operated by at least one of the actuators at different positions along the length of the track so the mining head will cut or attempt to cut to a desired cutting curve.
B. At least one coordinate reference point, each providing at least a 2D coordinate position, each reference point being disposed at a main panel gateway (gatead) and/or a tail panel gateway;
wherein the processor is connected to receive data relating to at least one coordinate reference point.
The miner or track actuator preferably displaces or attempts to displace the miner or track a distance in a generally horizontal plane toward the seam. An extraction device (e.g., a miner head) actuator preferably displaces or attempts to displace the extraction device (e.g., a miner head) a distance in a generally vertical plane.
The invention enables the mining machine and the extraction device to be positioned more accurately and with greater certainty as to its position relative to the seam to be mined.
At least one of the fiducials is preferably an absolute coordinate fiducial (or master fiducial).
The system of the present invention can reduce the accumulation of step-by-step error in the position determining means and enable a more accurately measured cutting curve to be established by providing a more accurate expected cutting curve. In addition, expected cutting curves may be better aligned in the seam model so that the miner may optimize the operational settings based on a better understanding of where the mining device (e.g., a miner head) is located with respect to the characteristics of the coal seam and the surrounding environment.
To improve the accuracy of the expected cutting curve, the input or output of the position determining means may be corrected. In one embodiment, the absolute coordinate position output signal from the position determination device is corrected with reference to one or more main fiducials. In an alternative embodiment, the absolute coordinate position of the determination means is corrected with reference to at least one absolute coordinate primary reference point.
The at least 2D coordinate position determination means may be located in any suitable position that allows the position of the mining machine, the movable carriage and/or the track to be determined. At least the 2D coordinate position determination device is preferably carried by the mining machine, the movable carriage and/or the track. At least the 2D coordinate position determination means is preferably a 3D coordinate position determination means.
Preferably, at least one absolute coordinate master fiducial is used to correct the expected clipping curve against one or more fiducials. The reference point is preferably a number of current absolute coordinate positions preferably extending along the main sector gateroad and/or the tail sector gateroad.
The at least one extraction device/mining head preferably comprises a rotary cutting device.
Mining machine
The miner may include a longwall miner (miner) (including associated rails, top supports, drives, conveyors, segment loaders, and crushers), a continuous miner, a ripper, a shuttle car, a flexible conveyor train (flexbile conveyor train), a plough, or any other machine equipment having an extraction device that removes material from the mineral seam.
Expected cutting curve
The expected cutting curve includes a horizontal plane and a vertical plane that may be represented in 3D cartesian coordinates in the (x, y) and (x, z) planes, respectively. Preferably, the expected cut curve in the horizontal plane is a straight line, which enables increased coal mining (e.g. for longwall mining the movable carriage travels along a straight line between the main and tailgating zones gateways). However, it will be appreciated that in some embodiments, a non-linear expected cutting curve is preferred depending on the seam configuration. Because the miner or track actuator may not be able to effectively correct the actual curve to a straight curve within a single cycle, the expected cutting curve may be an intermediate between the actual cutting curve and the straight line. In the vertical plane, the expected cut curve may be straight, or may follow the top and/or bottom boundaries of the coal seam. The sensor outputs identifying the seam boundaries are preferably input into the seam model to enable the processor to generate signals for the mine heading actuator to control the mine heading within the identified seam boundaries. This ensures improved coal extraction efficiency without the extraction device (e.g., mine excavation head) crossing outside the target coal seam. The expected cutting curve may also be used with reference to roadway development by continuous miners and roadheaders.
Interpolation and extrapolation
Preferably, the at least one reference point is used to correct the expected cutting curve at one or both ends of the target seam (i.e. at the main panel down-cut end or the tailpanel down-cut end of the target seam). The intermediate position of the expected cutting curve is preferably determined by means of interpolation or extrapolation. More preferably, the expected cutting curve is corrected directly at each end of the target seam using one or more absolute coordinate primary fiducials, and the intermediate positions of the expected cutting curve are corrected indirectly by extrapolation.
Linear interpolation or extrapolation may be used, or more complex analysis techniques may be employed as known to those skilled in the art.
Auxiliary reference point
The system preferably comprises one or more secondary reference points. The auxiliary reference point is a reference point generated by referring to the main reference point. The secondary reference points may include identifying features of the cutting seam face detected by one or more sensors on the miner, rail, or roof support system. For example, an infrared detector in combination with a position determining device provides input into the processor to generate a characteristic thermal image forming part of the seam model. The thermal image produced by the trailing miner head then corresponds to the thermal image produced by the leading miner head in the next cutting cycle. Any spatial matching errors between the two thermal images, as well as their absolute coordinate positions, may be used as input into the correction algorithm in the track movement control and/or the extraction device (e.g., the miner head) movement control.
Secondary datum points may be generated at the main and/or tailgating and/or mine cutplanes (i.e., along the measured cut curve).
Correction of the expected cutting curve preferably results in adjustment of the track movement actuator and/or the extraction device (e.g., the miner head) actuator.
In one embodiment, the correction of the one or more absolute coordinate primary fiducials includes both feedback and feed-forward corrections. Feedback corrections are preferably derived from one or more reference points (primary and/or secondary), and feedforward corrections are preferably derived from trends corrected during multiple cutting cycles. Feed forward correction provides correction compensation for time-dependent factors such as creep or systematic error drift in the position determining device. The use of feed forward correction overcomes the drawback of relying only on interpolation or extrapolation techniques to correct for intermediate points (intermediate points) within the clipping curve.
The correction may also include an input derived from measured distance variations between main reference points along the gateroad sounding distance. The change in the initial probe value measured in any one cutting cycle or the trend of said change during a series of cycles can be used as input into feedback and feed forward corrections, respectively.
The data relating to the at least one fiducial is preferably the absolute spatial coordinates of the fiducial (i.e. the primary fiducial) or spatial coordinates derived from the primary fiducial (e.g. the secondary fiducial). By determining the relative position of the mining machine to one or more reference points, the processor can compare the spatial position of the mining machine determined by using at least one reference point and compare the spatial position determined by the position determining device.
In a preferred embodiment, a laser ranging sensor is used to determine the relative position of the mining machine to one or more reference points. Those skilled in the art will appreciate that other suitable means may be used to collect data from one or more of the master reference points for input into the processor. In an alternative embodiment, the determination of the relative position of the reference point and the miner is estimated with knowledge of the cutting model (e.g., estimated track progress per recovery cycle). The fiducials may be determined via at least a 2D coordinate position determination device, or the fiducials may be detected independently. The difference between the two spatial positions resulting from the different methods can be used to correct the expected cutting curve of the mining machine. This is typically performed when the miner has completed a cross cut movement across the mined seam (i.e., at either the main panel gate or the tailgating). At this point, the processing means calculates an expected cutting profile (longwall mining embodiment) before returning across the mining face along the corrected path. The method is preferably repeated during each cycle (i.e. at the same gateroad) or half cycle (i.e. at each opposite gateroad).
The data is preferably the 2D or 3D spatial position of the main reference point. The master reference point may also include an identification member, such as a Radio Frequency Identification (RFID) tag, that enables the attachment of other information. Alternatively, the main reference point may be a reflective marker (e.g. a reflective disc or plate attached to the down-hole wall of the panel) that may be used in combination with a laser ranging sensor. In embodiments using retro-reflective markers, the detected coordinates are preferably entered into the processor prior to the start of a production campaign within the detected coordinates (e.g., after completion of the detection and prior to the start of the production campaign).
Conventional laser ranging sensors have disadvantages associated with safety requirements that prevent the conventional laser ranging sensors from being used effectively in underground coal mines. Preferably, the laser ranging sensors used in the present invention comply with the international standards IEC60079-0, IEC 60079-1, US standards: one or more of ANSI/UL 1203:2006, British Standard BS EN 60079-1:2007 and Australian Standard AS60079.1: 2007.
Preferably, the system further comprises one or more sensors, all carried by one of the movable carriage and the rail means, which collect mineral seam data fed into the mineral seam model.
It will be appreciated that optional features of the system for controlling a mining machine according to other aspects of the invention are also optional for the system according to the first aspect where appropriate.
In a second aspect of the invention there is provided a method for controlling a mining machine as defined hereinbefore, the method comprising the steps of:
A. moving the mining machine transversely across a mining face through the seam;
B. providing at least 2D coordinate positions to a processor according to at least one coordinate reference point, wherein each reference point is arranged at a main mining area crossheading and/or a tail mining area crossheading; and
C. correcting a current absolute coordinate position output signal from the position determining device with reference to at least one coordinate reference point; or correcting the current absolute coordinate position with reference to at least one coordinate reference point.
Preferably, the processor is provided with at least a 2D coordinate position in accordance with the at least one coordinate reference point as the mining machine completes a cross-cut movement across the mining face of the seam.
In a third aspect of the invention there is provided a system for controlling a mining machine, the system comprising:
(i) at least 2D coordinate position determination means for determining an absolute coordinate position in space of:
the mining machine; and/or
A track along which the mining means of the mining machine moves transversely across the face of the seam from side to side,
the absolute coordinate position is determined at each of a plurality of positions of the mining machine and/or the track along a mining face of a mineral seam;
(ii) at least one coordinate reference point, each providing at least a 2D coordinate position; and
(iii) a processor connected to receive data relating to: the determined absolute coordinate position of the mining machine and/or track; and the at least one coordinate reference point,
wherein data relating to the determined absolute coordinate position of the mining machine and/or the track is corrected with reference to the at least one coordinate reference point, and wherein the processor is connected to generate a further signal for:
a. activating a miner or track actuator for moving the miner or track toward the seam to thereby shift or attempt to shift the miner or track a distance toward the seam based on the corrected absolute coordinate position of the miner or track to obtain a coordinate position of an expected cutting profile; and/or
b. Activating a mining device actuator for moving the mining device towards a seam boundary to displace or attempt to displace the mining device a distance towards the seam boundary based on the corrected absolute coordinate position of the miner or track to obtain a coordinate position of an expected cutting curve,
the processor is operated by at least one of the actuators whereby the mining device will cut or attempt to cut to the desired cutting profile.
Preferably, the datum points are provided at the main panel gate and/or the tail panel gate.
Preferably, the absolute coordinate position is determined at each of a plurality of positions along the trajectory (i.e. along the face of the seam).
In one embodiment, the at least one datum comprises one or more primary datum. Additionally or alternatively, the at least one reference point comprises one or more secondary reference points.
Preferably, the at least one coordinate reference point is used to correct the expected clipping curve.
Preferably, the at least one reference point is used to correct the expected cutting curve at one or both ends of the target seam (i.e. at the main tailgating end or the tailgating end of the target seam). The intermediate position of the expected cutting curve is preferably determined by means of interpolation and extrapolation. More preferably, one or more absolute coordinate reference points are used to directly correct the expected cutting curve at each end of the target seam and to indirectly correct the intermediate position of the expected cutting curve by extrapolation.
Linear interpolation and extrapolation may be used, or more complex analysis techniques may be employed as known to those skilled in the art.
Preferably, the determined absolute coordinate position of the mining machine and/or the track is corrected with reference to at least two coordinate reference points.
In some embodiments, the absolute coordinate position of the miner and/or the track determined may be corrected with reference to at least one coordinate reference point located along the main panel gateway and at least one coordinate reference point located along the tail panel gateway. Preferably, the absolute coordinate position of the miner and/or the track determined may be corrected with reference to at least two coordinate reference points located along a main panel gateway and at least two coordinate reference points located along a tail panel gateway.
In one embodiment, the determined correction of the absolute coordinate position of the mining machine and/or the track includes both feedback and feed forward control mechanisms. Feedback corrections are preferably derived from one or more reference points (primary and/or secondary), and feedforward corrections are preferably derived from trends corrected during multiple cutting cycles. The feed forward control mechanism may be based on a comparison between the at least one current coordinate position and a correction of the current coordinate position made with reference to the at least one coordinate reference point during a plurality of cutting cycles. Feed forward correction provides correction compensation for time-dependent factors such as creep or systematic error drift in the position determining device. The use of feed forward correction overcomes the drawback of relying only on interpolation or extrapolation techniques to correct for intermediate points within the clipping curve.
Preferably, the data relating to the absolute coordinate position determined by the position determining means is corrected as the mining machine completes a transverse movement across the mining face of the seam.
In an embodiment, a laser ranging sensor is used to determine the relative position of the miner, the extraction device, the movable carriage and/or the track to at least one reference point. Those skilled in the art will appreciate that other suitable means may be used to collect data from one or more of the at least one reference points for input into the processor.
The at least one coordinate reference point may include an identification member, such as a Radio Frequency Identification (RFID) tag, that enables attachment of other information. Alternatively, the reference point may be a reflective marker (e.g. a reflective disc or plate attached to the down-hole wall of the panel) that may be used in combination with a laser ranging sensor. In embodiments using retro-reflective markers, the detected coordinates are preferably entered into the processor prior to the start of a production campaign within the detected coordinates (e.g., after completion of the detection and prior to the start of the production campaign).
Preferably, the at least one reference point is a 3D coordinate position.
The miner or track actuator preferably displaces or attempts to displace the miner or track a distance in a generally horizontal plane toward the seam. The extraction device actuator preferably displaces or attempts to displace the extraction device a distance in a substantially vertical plane.
The system may also include one or more sensors for collecting mineral seam data fed into the mineral seam model. One or more sensors may be used to generate the secondary reference points. The secondary reference points may be generated by means of identification features detected from one or more sensors and at least the 2D coordinate position determination device. The one or more sensors may be selected from the group consisting of infrared spectrometers, ground penetrating radars, gamma ray emission detectors, and ranging sensors.
The at least one coordinate reference point may also be used to align the cutting model with the seam model.
The mining machine is preferably a longwall mining machine, a continuous mining machine or a tunnel boring machine. The extraction device is preferably an ore cutter head or a cutting drum.
The processor is preferably operated by at least one of the actuators at different positions along the track or mining face.
It will be appreciated that optional features of the system for controlling a mining machine according to other aspects of the invention are also optional for the system according to the third aspect where appropriate.
In a fourth aspect of the invention there is provided a method for controlling a mining machine using a system according to the third aspect, the method comprising the steps of:
A. moving the mining machine transversely across a mining face of a mineral seam;
B. providing data relating to at least one coordinate reference point to the processor, the at least one coordinate reference point each providing at least a 2D coordinate position; and
C. the data relating to the absolute coordinate position determined by the position determining means is corrected with reference to the at least one coordinate reference point.
Preferably, the datum points are provided at the main panel gate and/or the tail panel gate.
Preferably, the data relating to the absolute coordinate position determined by the position determining means is corrected as the mining machine completes a transverse movement across the mining face of the seam.
In a fifth aspect of the invention, there is provided a system for controlling a mining machine, the system comprising:
(i) at least 2D coordinate position determination means for determining an absolute coordinate position in space of:
the mining machine; and/or
A track along which the mining means of the mining machine moves transversely across the face of the seam from side to side,
the absolute coordinate position is determined at each of a plurality of positions of the mining machine and/or the track along a mining face of a seam;
(ii) at least one coordinate reference point, each providing at least a 2D coordinate position;
(iii) one or more sensors for collecting seam data, wherein at least one secondary fiducial point is generated by means of identifying features detected from the one or more sensors in combination with at least a 2D coordinate position determination device and with reference to at least one coordinate fiducial point; and
(iv) a processor connected to receive data relating to: the determined absolute coordinate position of the mining machine and/or track, at least one coordinate reference point and at least one secondary reference point,
wherein data relating to the determined absolute coordinate position of the mining machine and/or track is corrected with reference to the at least one secondary reference point, and wherein the processor is connected to generate a further signal for:
a. activating a miner or track actuator for moving the miner or track toward the seam to thereby shift or attempt to shift the miner or track a distance toward the seam based on the corrected absolute coordinate position of the miner or track to obtain a coordinate position of an expected cutting profile; and/or
b. Activating a mining device actuator for moving the mining device towards a seam boundary to displace or attempt to displace the mining device a distance towards the seam boundary based on the corrected absolute coordinate position of the miner or track to obtain a coordinate position of an expected cutting curve,
the processor is operated by at least one of the actuators so the mining device will cut or attempt to cut to the desired cutting curve.
Preferably, the absolute coordinate position is determined at each of a plurality of positions along the trajectory (i.e. along the face of the seam).
The processor is preferably operated by at least one of the actuators at different positions along the track or mining face.
The generation of the secondary datum points by means of the identification features in the seam provides the possibility of calibrating more frequencies for the mining machine, thereby reducing the spatial positioning errors from extended periods of operation without calibration.
Preferably, the datum points are provided at the main panel gate and/or the tail panel gate.
In one embodiment, the miner is controlled throughout the excavation/cutting cycle as the miner (such as a longwall miner on a track) moves transversely along the seam. In an alternative embodiment, the mining machine is controlled when developing roadways, including the construction of main and/or tail gate roads.
The extraction device may be any suitable device for extracting material from a mineral seam, including a miner head or cutting drum.
The identification feature is preferably part of the marker band. The marker bands are layers of discriminating material that can produce a discriminating geological composition or structure, such as a different maceral.
Alternatively, the identified feature may be a geological fault. This may be identified by a discontinuity in the seam.
The identification feature preferably comprises a plurality of geometrically spaced geometric or geological identification features. Examples of geometrically spaced geometric identifying features may include intersections of a mining face with a gateroad. Examples of geometrically spaced geologic identifying features may include marker bands that include layers of material of different composition than adjacent layers.
In general, the greater the number of geometric or geological identifying features, the lower the likelihood of one or more sensors misidentifying the identifying feature.
The identifying feature may be located on or below a face of the seam, or on or below a wall or roof of a roadway (e.g., a tailgating or main gateroad).
While the identifying feature is preferably a naturally occurring seam feature, in some embodiments the identifying feature is an artificially constructed seam feature (such as the geometric configuration of the seam created by interaction with the mining device).
In other embodiments, the identification features may include artificial identification features introduced during the mining process.
The mining machine is preferably a longwall mining machine, a continuous mining machine or a tunnel boring machine. The extraction device is preferably an ore cutter head or a cutting drum.
The one or more sensors are preferably selected from the group consisting of IR sensors, vision cameras, laser rangefinders, densitometers, and ground penetrating probes.
It will be appreciated that optional features of the system for controlling a mining machine according to other aspects of the invention are also optional for the system according to the fifth aspect where appropriate.
In a sixth aspect of the invention there is provided a method for controlling a mining machine using a system according to the fifth aspect, the method comprising the steps of:
A. moving the mining machine transversely across a mining face of a mineral seam;
B. providing data relating to at least one secondary coordinate reference point to the processor, the at least one secondary reference point being generated by means of identifying features detected from one or more sensors combined with at least 2D coordinate position determination means and with reference to the at least one coordinate reference point; and
C. correcting data relating to the full coordinate position determined by the position determining means with reference to the at least one auxiliary reference point.
Preferably, the datum points are provided at the main panel gate and/or the tail panel gate.
Preferably, the data relating to the absolute coordinate position determined by the position determining means is corrected as the mining machine completes a transverse movement across the mining face of the seam.
In a seventh aspect of the invention, there is provided a system for controlling a mining machine, the system comprising:
(i) at least 2D coordinate position determination means for determining an absolute coordinate position in space of:
the mining machine; and/or
A track along which the mining means of the mining machine moves transversely across the face of the seam from side to side,
the absolute coordinate position is determined at each of a plurality of positions of the mining machine and/or the track along a mining face of a seam;
(ii) at least one coordinate reference point, each providing at least a 2D coordinate position;
(iii) ore layer model of ore layer to be cut
(iv) A cutting model for cutting the ore layer; and
(v) a processor connected to receive data relating to the determined absolute coordinate position of the mining machine and/or track, at least one coordinate reference point, a seam model and a cutting model,
wherein data relating to the determined absolute coordinate position of the mining machine and/or track is corrected with reference to the at least one coordinate reference point and the seam model and the cutting model are aligned with reference to the corrected absolute coordinate position, and wherein the processor is connected to generate further signals for:
a. activating a miner or track actuator for moving the miner or track toward the seam to thereby shift or attempt to shift the miner or track a distance toward the seam based on the corrected absolute coordinate position of the miner or track to obtain a coordinate position of an expected cutting profile; and/or
b. Activating a mining device actuator for moving the mining device towards a seam boundary to displace or attempt to displace the mining device a distance towards the seam boundary based on the corrected absolute coordinate position of the miner or track to obtain a coordinate position of an expected cutting curve,
the processor is operated by at least one of the actuators so that the mining device will cut or attempt to cut to the desired cutting curve
Preferably, the datum points are provided at the main panel gate and/or the tail panel gate.
Preferably, the absolute coordinate position is determined at each of a plurality of positions along the trajectory (i.e. along the face of the seam).
The processor is preferably operated by at least one of the above actuators at different positions along the track or mining face.
Preferably, the correction by the absolute coordinate position determining means occurs at a point where the mining face intersects a main gateroad or a tailgate gateroad.
Preferably, the correction of the absolute coordinate position determination means occurs at one or more points along the main or tail gateroad.
By aligning the cutting model with the seam model with reference to the corrected absolute coordinate position of the mining machine or track, the spatial location of the cutting model relative to the seam model is known, from which it follows that the spatial position of the mining machine can be known with greater certainty.
Alignment of the seam model and the cut model is preferably achieved at one gateroad, and more preferably at both gateroads (i.e. main and tail gateroads).
Because the cutting model is a representation of the mineral seam model after material has been extracted from the mineral seam, alignment between the cutting model and the mineral seam model enables the miner to orient and adjust its future path based on the miner's previous interaction with the mineral seam.
When the expected cutting curve coincides with the measured cutting curve and a common spatial or geological reference point, the data relating to the absolute coordinate position determination means of the miner and/or track determined is preferably corrected with reference to at least one coordinate reference point.
For embodiments using common spatial alignment, alignment of the cutting model with the mineral seam model preferably occurs where the position of the miner can be corrected or adjacent to a main panel gateway or tailgating, preferably with reference to a main datum (such as a probe marker) located along the panel gateway. At this point, the measured cutting profile just completed (the actual cutting profile of the mining machine for the expected cutting profile) shares a common boundary with the expected cutting profile along which the mining machine will advance.
For longwall mining embodiments, this correction of the absolute coordinate position determination means preferably occurs at the completion of a cycle of extracting material along the expected cut curve (e.g., at the point where the mining face intersects the main panel gateway or the tailpanel gateway). For continuous miner and roadheader embodiments, correction preferably occurs when the miner backs off at one or more datum points along the main or tailgating. The datum may be a primary datum or a secondary datum and may represent a spatial location to which the mining machine has advanced and to which the position of the mining machine has been corrected.
Preferably, the cutting curve is updated to correct the position of the measured cutting curve. The corrected measured clipping curve may then be compared to the expected clipping curve on which it is based.
The deviation between the expected cutting curve and the generated measured cutting curve is preferably used as an input into the updated expected cutting curve and/or the seam model. The deviation between the two curves may cause the expected cutting curve to be updated to reduce the deviation between the curves in advance during the subsequent cutting cycle.
With sequential cutting along the seam of the mining face, the cutting model includes an increased basis of information that can be used to determine an expected cutting curve, such that recovery efficiency can be improved.
Preferably, the cutting model comprises at least one measured cutting curve, preferably at least two measured cutting curves, and more preferably at least five measured cutting curves. The more measured cutting curves that represent cross-cut movement across the mining face, the greater the source of information that can be used to update the mineral seam model by extrapolation or other data processing techniques.
Preferably, the cutting model includes data characterizing the seam and/or data characterizing the miner performance marked to or offset from spatial coordinates.
In one embodiment, the cutting model includes the spatial location of the marker band of the mining face, and wherein the features of the marker band (i.e., the geological reference points) in the cutting model are used to align the cutting model with the mineral seam model. In doing so, the spatial location of the mining machine along the expected cutting curve may be referenced against the marker band features in the seam being cut and the marker band features of the cutting model. Preferably, the marker bands in the seam and cut model are referenced at equivalent points across the face. In particular, the vertical height of the marker band of the seam being cut may be compared to the vertical height of the marker band at an equivalent location when previously moved transversely across the mining face.
The marker band characteristics may include the path of the marker band along the seam plane, and such sensors on the mining machine may be capable of registering the location of the mining machine for the seam to be mined (e.g., starting from the cut model/seam model interface) and registering the relative position of the marker band for the position of the mining machine on the expected cut curve. Discriminating features, such as marker band discontinuities or inflection points or geological changes, may be applied from the cutting model to the seam model so that the expected cutting curve may be updated.
It will be appreciated that optional features of the system for controlling a mining machine according to other aspects of the invention are also optional for the system according to the seventh aspect where appropriate.
In an eighth aspect, there is provided a method for controlling a mining machine using a system according to the seventh aspect, the method comprising the steps of:
A. moving the mining machine transversely across a mining face of a mineral seam;
B. providing data relating to at least one coordinate reference point to the processor, the at least one coordinate reference point each providing at least a 2D coordinate position;
C. correcting data relating to the absolute coordinate position determined by the position determining means with reference to the at least one coordinate reference point; and
D. and aligning the ore bed model of the ore bed to be cut and the cutting model of the cut ore bed based on the corrected absolute coordinate position.
Preferably, the datum points are provided at the main panel gate and/or the tail panel gate.
In a ninth aspect of the invention, there is provided software which, when executed by a computer, causes the computer to perform a method according to the second, fourth, sixth or eighth aspect.
In a tenth aspect of the present invention, there is provided an apparatus comprising:
(i) the system according to the first, third, fifth or seventh aspect; and
(ii) a mining machine.
The mining machine may include a recovery device mounted on the movable carriage; the mining head for mining product from a seam as the moveable carriage traverses across the seam from side to side.
The miner may also include a track actuator, miner actuator and/or a mining device actuator. The miner or track actuator preferably displaces or attempts to displace the miner or track a distance in a generally horizontal plane toward the seam. The extraction device actuator preferably displaces or attempts to displace the extraction device a distance in a substantially vertical plane.
The mining machine may be a longwall mining machine, a continuous mining machine or a tunnel boring machine. The extraction device may be a miner head or a cutting drum.
Definition of
For the purposes of the present invention, references to a single feature also encompass multiple. For example, an embodiment in which the mining machine comprises two mine excavation heads is also encompassed by the mining machine comprising a mine excavation head.
Expected cutting curveA predetermined path of an extraction device (e.g., a miner) along or across a current mining face based on an input of a position determining device (e.g., an INS). The expected cutting curve is preferably derived from a model of the mineral seam. The expected cutting curve preferably extends for longwall mining applications up to the length of the mining face and extends for at least 10 meters, and more preferably extends for at least 50 meters in other applications (e.g., roadway development).
Measured cutting curveAn extraction device (e.g., a miner) is advanced across the mining face or traverses the path of the extraction device (e.g., the miner) as measured after the movement.
Cutting modelAt least a 2D (preferably 3D) model or map of the spatial coordinates of the mined seam. The model may also include characterizing mineral seam data and/or miner feature/performance data tagged to or offset from spatial coordinates (spatially registering the mineral seam characterization data).
The cutting model preferably represents at least 50%, more preferably at least 80%, and most preferably 100% of the mined material (i.e., the mining machine's historical path). Preferably, the cutting model represents material mined at least 2 meters behind the machine (i.e. not in the direction of mining), more preferably at least 5 meters behind the machine, and even more preferably at least 50 meters behind the machine.
Model of mineral layer: at least a 2D (preferably 3D) model or map of the mined mineral seam to be mined. The model is preferably initially built from survey data and can be refined via extrapolation with information from the cut model to mining in the seam that has not been cut. The seam data may include data derived from using at least a 2D coordinate position determination device forSurvey data (such as rock mass defects and fault structure, composition, hardness, propensity to collapse, surface and in-seam borehole data, geophysical log data and 2D and 3D seismic data, and topographical data of the seam prior to mining) produced from seismic signals that accurately locate the absolute position of the seismic source. The seam feature may be a surface feature or may be a feature of a seam within the seam that may be indicative of the thickness of one or more recovery cycles of the mining machine. The model may include characterizing seam data and/or machine characterization/performance data tagged to or offset from spatial coordinates. The model may also include spatial characterization data relating to material adjacent to the mineral seam to be mined (e.g., the underlying, intermediate, and/or overlying strata). The characterization data is preferably related to determining the boundaries and/or stability of the seam as it is mined by the mining machine.
Preferably, the mineral seam model represents a mineral seam at least 2 metres ahead of the mining machine (i.e. in the direction of extraction), more preferably at least 5 metres ahead of the mining machine, and even more preferably at least 50 metres ahead of the mining machine.
It is to be understood that throughout this disclosure, unless otherwise stated, the expected cutting curve, measured cutting curve, cutting model, seam model, etc., refer to a data structure that is physically stored on a data store or processed by a processor.
Extrapolation ofFor the purposes of the present invention, it is meant that the corrected spatial positions at both the main and tailgating gateroads of the cut plane are used to determine the intermediate spatial positions along the cut/seam model via prediction.
InterpolationFor the purposes of the present invention, it is meant that the corrected spatial position at the main panel gateway end or the tailgating end of the cut plane is used to determine the intermediate spatial position along the cut/seam model via prediction.
Main datum pointIs an identification point of an absolute coordinate position. The coordinate position is preferably 1D, more preferably 2D, and most preferably 3D. The reference points may be identified by using sensors. For this purpose, the referenceThe points may include reflective surfaces, RFID tags, or spatial location unique composition, physical or thermal characteristics that may be detected by onboard sensors of the mining machine or the track moving device.
Auxiliary reference pointIs an identification point determined by referring to the main reference point or the position determination means. Preferably, the secondary reference point is determined with reference to the primary reference point.
Reference toFor the purposes of the present invention, fiducial refers to the use of spatial coordinates of a fiducial, preferably in an algorithm executed by a processor.
Drawings
FIG. 1 is a schematic view of a longwall mining machine cutting a coal seam between a main mining area gateway and a tail mining area gateway, according to a top-down perspective.
FIG. 2 is a schematic illustration of control inputs to a miner head and a track.
Fig. 3a and 3b are schematic illustrations of a mine heading advancing toward a main gateroad (fig. 3a) and retreating toward a tailgating (fig. 3b) with onboard sensors mapping the spatial coordinates of unique coal seam features.
Figure 4 is a schematic diagram showing the marker band (solid line) within the seam together with the spatial position of the marker band (dashed line) during the previous cutting cycle.
Figure 5 is a schematic view of a continuous miner cutting the main mining zone gateway from the coal seam.
Detailed Description
Referring to fig. 1, there is an underground coal deposit 5 comprising a main gateroad 10 and a tailgating gateroad 15. The gateroads define the target coal seam 20 to be mined. The gateroad includes a number of fiducials or markers 25 which may be in the form of reflective markers/markers. The 3D coordinates of the reference points may be determined by detecting the gateroads prior to commencing the recovery of coal from the target seam. Probing is typically performed starting with a reference or zero plane 30.
The mining machine 35 is progressively moved transversely across the cutting face 40 with the roof support 45 progressively moved forwardly to support the newly exposed roof of the seam. The path of the mining machine is controlled by an expected cutting curve forming part of a model of the seam including a 3D spatial model of the seam to be mined. When the mining machine completes a cross-cut movement across the cut plane, a contained ranging laser mounted on the mining machine determines the 3D coordinate space position (3D position) of the mining machine by determining the distance between the mining machine and one or more reference points. Preferably, the 3D position of the mining machine is determined by using two reference points. The 3D position is preferably calculated using triangulation and/or trilateration. The measured 3D position is compared against the current 3D position determined by the position determining device also mounted on the mining machine 35 (fig. 2).
The position determining device is preferably an inertial navigation device (INS) including a gyroscope and an accelerometer.
The difference (Δ) between the measured 3D position and the current 3D position1) Is input into a correction algorithm operating within the processor. The output of the correction algorithm is input into the mine head and/or track movement control and, therefore, determines actuator movement which is used to control the spatial coordinates (e.g. the miner head position) of the track or miner (including its components).
As the mining machine completes each traverse movement or cycle of the cut plane 40, the cutting model, including the 3D spatial model of the mined seam, is updated. The cutting model is capable of storing spatial and seam characterization data over multiple cutting cycles such that trends can be analyzed for correcting the seam model. In one embodiment, a trend (Δ) of error between the measured 3D position and the current 3D position1、Δ2、Δ3、Δ4… …) is used as an input into the correction algorithm. Detection of trends in the time-dependent spatial error may be used to reduce errors due to creep and/or drift in the INS. For example, if the spatial error of the miner measured at the gateroad progressively increases, this observation can be used to correct the error in advance. This may be performed by means of a learning algorithm.
While the 3D position of the miner can be corrected at the intersection of the cut plane with the tailgating and/or main gateroads, correction of the miner position is preferably achieved at multiple locations along the length of the cut plane. This is preferably achieved by using gateroad correction in combination with interpolation or extrapolation techniques. The cutting model and the seam model are also preferably updated at the same point where the position of the mining machine is corrected. Using these techniques, an updated expected cutting profile is generated that contains calculated corrections to the current miner position determined by the INS alone.
When the miner completes the intended cutting profile at either the tailcut or main panel gateway, the top support 45 performs a sequential maneuver (called "snaking") in which the top support is pushed forward a fraction of the full web distance depending on the updated intended cutting profile. The distance the roof support is moved forward is used to determine the relative distance between the cutting model (the face at the end of the cycle) and the seam model (the face after the expected cutting profile is started). By establishing the relative spatial positions of the cutting model and the mineral seam model, the cutting model can be used to update the mineral seam model and to adjust the expected cutting curve in advance. For example, a comparison between the expected cutting curve across the mining face and the measured cutting curve may confirm that one or more top supports repeatedly deviate from their desired web-pushing distance. The cutting model may be able to detect such systematic or time-dependent deviations and as input to the algorithm, update the seam model so that future expected cutting curves take these top support anomalies into account.
Alternatively, or additionally, intermediate points along the cut seam plane may be determined by using secondary reference points. As illustrated in fig. 3a, the miner 50 moves transversely towards the main gateroad 55. As the machine progresses down the main panel, the sensors 60 in combination with the INS 65 map the characteristics of the trailing cut coal seam 70 onto the seam model. The seam model may include a seam boundary such that the expected cutting curve may include a path such that the processor signals the miner head movement actuator to move the miner head within the seam boundary.
At the end of the cycle, the current 3D spatial position determined by the INS is compared against the measured 3D spatial position determined by the enclosed laser rangefinder 75 with reference to one or more main datum points 80. Any corrective adjustments are determined by an on-board processing unit (not shown). As the miner moves transversely towards the tailgating zone crosscut (fig. 3b), the sensors 60 in combination with INS 65 map out the coal seam features on the guiding face (i.e. in front of the leading head of the miner). Data from the sensors is provided to the seam model and the differences in the spatial positioning of the feature identifiers 70 are used as inputs to a correction algorithm within the processing unit, as a result of which the expected cutting profile of the mining machine is adjusted if necessary.
The use of secondary fiducial points may also be used at intermediate positions (intermediatepositions) between the primary fiducial points.
The preferred sensor 60 for determining coal seam characteristics is an IR sensor or a thermal sensor. One or more sensors may be used. The position of the sensor may be varied to ensure that sufficient quality data is available from the seam during coal seam mapping in both the tow and lead positions.
One suitable IR or thermal sensor is described in US8622479, which is incorporated herein by reference. In an alternative embodiment, and where circumstances warrant, the physical features of the located coal seam are used as referenced points/identifiers using instant location and mapping (SLAM).
Figure 4 illustrates a marker band 195 in a coal seam representing the interface between a coal seam model (coal to be recovered) and a cutting model (coal recovered). The marker band includes geological features 220. By aligning the cutting model with the mineral seam model, the mineral seam model may be updated with the location of changes in the geological features during the previous cutting cycle so that the location of the geological features may be predicted in the mineral seam model. In order to accurately predict geologic features in the seam model, the spatial location of the geologic features should be corrected during each cutting cycle.
Fig. 5 illustrates a continuous miner 200 recovering material as a roadway, such as the main mining zone gateway 10, is formed. The gateroads may form part of a longwall mining operation, or may form part of a pillar mining system. The expected cutting curve for the continuous miner is determined from a mineral seam model that includes seam details from drilling data within the seam. The continuous miner includes INS corrected by reference to the sounding markers 25 which provide absolute 3D spatial positions.
To form the main mining zone gateway, the continuous miner progressively withdraws material from the mining zone gateway. The INS of the continuous miner may be periodically corrected with reference to the sounding markers. After correcting the spatial position of the mining machine, the seam model including the expected cutting curve is updated. The cutting model including the measured profile of the mined material is also updated.
The processor provides an output signal to the actuator to signal the cutting drum to move upward toward the seam boundary. The processor references the virtual seam boundary locations from the seam model by calculating the relative position of the cutting drum within the seam model.
Periodically, the continuous miner may back down the mining area and position itself near the signature to compare the spatial positions of the miner derived from the INS and from the signature and correct the INS accordingly. The updated expected cutting curve preferably partially overlaps the measured cutting curve portion because the miner folds its path back into the cutting model over the curve that was mined before reaching the seam level, which serves as a reference point as the interface between the cutting model and the seam model.
In the same or a different embodiment, the continuous miner is preferably calibrated against the sounding markers (e.g., by using ranging sensors) before backing down the gateroad so that upon returning to the same position adjacent the mine face, the INS readings can be compared to the previously calibrated known positions of the INS. Repeated measurements of the deviations of the compared spatial positions may be used to measure the accuracy and precision of the INS, so that calibration or adjustment of the sampling rate may be used to improve the INS performance.
Similar to the method used with respect to the longwall miner illustrated in fig. 3a and 3b, the continuous miner may include marker band detection sensors (such as IR sensors) so that the continuous miner may identify features in the mineral seam that may be used as secondary markers against which to correct the INS spatial position.
Claims (20)
1. A system for controlling a mining machine, the system comprising:
(i) at least 2D coordinate position determination means for determining an absolute coordinate position in space of:
the mining machine; and/or
A track along which the mining means of the mining machine traverses a face of the seam from side to side,
the absolute coordinate position is determined at each of a plurality of positions of the mining machine and/or the track along a mining face of a mineral seam;
(ii) the system comprises at least one coordinate reference point, at least one controller and a controller, wherein the at least one coordinate reference point provides at least a 2D coordinate position, and each coordinate reference point is arranged at a main mining area crossheading and/or a tail mining area crossheading; and
(iii) a processor connected to receive data relating to: the determined absolute coordinate position of the mining machine and/or the track; and the at least one coordinate reference point,
wherein data relating to the determined absolute coordinate position of the mining machine and/or the track is corrected with reference to the at least one coordinate reference point, and wherein the processor is connected to generate a further signal for:
a. activating a miner actuator or a track actuator to move the miner or track toward the seam to shift or attempt to shift the miner or track a distance toward the seam based on the corrected absolute coordinate position of the miner or track to obtain a coordinate position of an expected cutting profile; and/or
b. Activating an extraction device actuator to move the extraction device towards a seam boundary to displace or attempt to displace the extraction device a distance towards the seam boundary based on the corrected absolute coordinate position of the miner or the track to obtain a coordinate position of an expected cutting curve,
the processor is operated by at least one of the miner actuator or the track actuator, and the extraction device actuator, whereby the extraction device will cut or attempt to cut to the desired cutting profile.
2. The system of claim 1, wherein the at least one coordinate reference point comprises: one or more primary reference points and/or one or more secondary reference points.
3. The system of claim 1 or 2, wherein the at least one coordinate reference point is used to correct the expected clipping curve.
4. The system of claim 3, wherein the at least one coordinate reference point is used to directly correct the expected cutting curve at one or both ends of the seam and indirectly correct the intermediate position of the expected cutting curve by interpolation or extrapolation.
5. The system of any preceding claim, wherein the determined absolute coordinate position of the mining machine and/or the track is corrected with reference to at least two coordinate reference points.
6. The system of any one of the preceding claims, wherein the determined absolute coordinate position of the miner and/or the track is corrected with reference to at least one coordinate reference point located along the main panel gateway and at least one coordinate reference point located along the tail panel gateway.
7. The system of any one of the preceding claims, wherein the determined absolute coordinate position of the miner and/or the track is corrected using feedback and feed forward control mechanisms.
8. The system of claim 7, wherein the feed forward control mechanism is derived from a comparison between at least one current coordinate position and a correction to the at least one current coordinate position made with reference to the at least one coordinate reference point during a plurality of cutting cycles.
9. The system of any preceding claim, wherein the relative position of the miner, extraction device, movable carriage and/or rail to the at least one co-ordinate reference point is determined using a laser ranging sensor.
10. The system of any preceding claim, wherein the at least one coordinate reference point is a 3D coordinate location.
11. The system according to any one of the preceding claims, wherein the system further comprises one or more sensors for collecting mineral seam data fed into the mineral seam model.
12. The system of claim 11, wherein the one or more sensors are selected from the group consisting of an infrared spectrometer, a ground penetrating radar, a gamma ray emission detector, and a ranging sensor.
13. The system of any one of the preceding claims, wherein the mining machine is a longwall mining machine.
14. The system of any one of claims 1 to 12, wherein the mining machine is a continuous miner or a tunnel boring machine.
15. The system of any one of the preceding claims, wherein the recovery device is a mine excavation head.
16. The system of any one of claims 1 to 14, wherein the mining device is a cutting drum.
17. The system of any one of the preceding claims, wherein the processor is operated by at least one of the miner actuator or the track actuator, and the recovery device actuator at different locations along the track or face.
18. A method for controlling a mining machine using a system according to any one of the preceding claims, the method comprising the steps of:
A. traversing the miner across a mining face through a mineral seam;
B. providing data relating to at least one coordinate reference point to the processor, the at least one coordinate reference point each providing at least a 2D coordinate position, wherein each reference point is disposed in the main panel gateway and/or the tail panel gateway; and
C. the data relating to the absolute coordinate position determined by the position determining means is corrected with reference to the at least one coordinate reference point.
19. A computer-readable storage medium storing a computer program which, when executed on a computer, performs the method of claim 18.
20. A mining apparatus, comprising:
(i) the system of any one of claims 1 to 16; and
(ii) a mining machine.
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106194177B (en) | 2020-07-07 |
| CN111663943B (en) | 2022-07-05 |
| AU2016200784B1 (en) | 2016-06-16 |
| AU2016200783B1 (en) | 2016-04-21 |
| CN106194177A (en) | 2016-12-07 |
| AU2016200781B1 (en) | 2016-05-19 |
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