EP2242901B1 - Method and device for monitoring a cutting extraction machine - Google Patents
Method and device for monitoring a cutting extraction machine Download PDFInfo
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- EP2242901B1 EP2242901B1 EP08801555A EP08801555A EP2242901B1 EP 2242901 B1 EP2242901 B1 EP 2242901B1 EP 08801555 A EP08801555 A EP 08801555A EP 08801555 A EP08801555 A EP 08801555A EP 2242901 B1 EP2242901 B1 EP 2242901B1
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- Prior art keywords
- face
- extraction machine
- mining
- conveyor
- travel path
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- 238000000605 extraction Methods 0.000 title claims abstract description 30
- 238000005520 cutting process Methods 0.000 title claims abstract description 17
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000012544 monitoring process Methods 0.000 title claims description 9
- 238000005065 mining Methods 0.000 claims abstract description 68
- 230000001960 triggered effect Effects 0.000 claims abstract description 16
- 239000003245 coal Substances 0.000 claims abstract description 7
- 238000005259 measurement Methods 0.000 claims abstract description 5
- 238000007621 cluster analysis Methods 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- 230000001154 acute effect Effects 0.000 claims description 3
- 238000009412 basement excavation Methods 0.000 description 4
- 239000000428 dust Substances 0.000 description 4
- 238000002592 echocardiography Methods 0.000 description 3
- 238000011156 evaluation Methods 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 240000005893 Pteridium aquilinum Species 0.000 description 2
- 235000009936 Pteridium aquilinum Nutrition 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 239000003595 mist Substances 0.000 description 2
- 239000013072 incoming material Substances 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000037361 pathway Effects 0.000 description 1
- 206010037844 rash Diseases 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/08—Guiding the machine
- E21C35/12—Guiding the machine along a conveyor for the cut material
Definitions
- the invention relates to a method and a device for monitoring the travel path of a particular used in coal mining cutting extraction machine, which is movable along the mining front in Langfrontabbau in a equipped with longwall conveyor and striding expansion strut.
- the travel path of the cutting mining machine must be reliably monitored for the presence of such obstacles in order to be able to intervene in a timely manner, ie to stop the machine in good time or thus to control the cutting process, that overloading of the conveying run of the longwall conveyor can be avoided.
- Anti-collision devices for mining are off US 4330154 or off EP 0412400 known.
- the invention relates firstly to a method for monitoring the travel path of a cutting extraction machine used in particular in coal mining, which can be moved along the dismantling front in Langfrastabbau in a Streb blocker and strandering expansion longwall, this process being characterized in that the track of the mining machine means one of the extraction machine associated Radarmess réelles is scanned in the direction of travel of the mining machine and triggered upon detection of an obstacle in the track an alarm and / or intervene in the control of the mining machine.
- the scanning of the area below the Strebhangenden done with a distance of more than 6 m from the radar and scanning in the range of the conveying strand of the longwall conveyor with a distance of 0.5 m to 6 m from the radar.
- An expedient completion of the method according to the invention provides that another of the mining machine associated Radarmess réelle additionally scans the contours of the excavation front and any outbreaks of the hanging wall in view of the mining front entiang a vertical portion of the excavation front and that upon detection of irregularities in the contour of Abausdorfes or from outbreaks in the hanging wall the mining machine is controlled taking into account the irregularities or outbreaks. In this way, it is possible to take due account of these possible obstacles in the track of the mining machine and indeed largely without intervention of operating or auxiliary personnel.
- the measurement results of the scanning operations are entered as points in a previously created virtual model of the space to be monitored.
- the resulting current virtual model is triggered away or time-triggered by a cluster analysis. Depending on the result of this cluster analysis, an alarm is triggered or intervened in the control of the mining machine.
- a trip-triggered measurement with distances of about 10 cm is particularly suitable for detecting even more distant, low-profile expansion caps which are fixed with respect to the mining machine and emit a distinct radar echo.
- the Time-triggered sampling with time cycles of, for example, 1 second, in contrast, is particularly suitable for monitoring the rapidly moving conveyed material in the conveying run of the longwall conveyor in close proximity.
- the invention furthermore relates to a device for monitoring the travel path of a cutting extraction machine used in coal mining in particular, which can be moved along the mining front in long front dismantling in a longwall equipped with longwall conveyor and striding expansion, characterized by a radar measuring device assigned to the mining machine and movable with the mining machine, whose measuring lobe, as viewed in the direction of travel, scans the travel path of the mining machine for obstacles, and which, when an obstacle is detected, triggers an alarm and / or intervenes in the control of the mining machine.
- This device is intended to carry out the method explained above.
- a preferred embodiment of this device provides that the measuring lobe of Radarmess réelles is designed, arranged and aligned so that it detects the radar echo of expansion caps on the one hand in the area of Strebhangenden at a distance of more than 6 m from Radarmess réelle and on the other hand in the range of the delivery of the Strebumbleers at a distance of 0.5 m to 6 m from the radar device detects the radar echo of the lying on the longwall conveyor
- a radar device with such a measuring lobe thus detects on the one hand a long range of the guideway, where the risk emanates in particular from deep-set shield caps or drooping hinged caps or other attachments of the expansion, and on the other hand, the close range in front of the Radarmess réelle where the danger essentially emanating from overloads of the longwall conveyor ,
- the measuring lobe can additionally detect a vertical section of the excavation front and the adjacent hanging wall.
- the measuring lobe of Radarmess réelles is inclined at an angle of 2 ° to 4 ° against the excavation. This ensures that the radar measurement the It is easier to detect the mining impact and the adjacent hanging wall and, in particular in the long-range, is less distorted by radar echoes emanating from the stamps of the series and / or from the bracken of the longwall conveyor. It is expedient to continue the inclination of the axis of Radarmesss réelles from 2 ° to 10 ° in the direction of the Strebhangende. As a result, the Strebhangende can be detected in view of the symmetrical opening angle of the radar at a shorter distance.
- the drawing shows a designated in its entirety by the reference numeral 1 cutting extraction machine, which is designed here as a roller cutter.
- the mining machine has a machine body 2, which is provided at the front and rear with pivoting arms 3 and 4, on which cutting rollers 5 and 6 are mounted.
- the machine body 2 is supported by trolleys 7 and 8, which are movable on a simultaneously serving as a siding longwall conveyor 9.
- the longwall conveyor 9 is designed as a scraper conveyor whose upper run serve as a conveying strand and the lower run as sudlauftrum for the chains and the scratches.
- the machine body 2 is elevated in such a way on the trolleys 7 and 8, that the conveying strand of the longwall conveyor 9 is overlapped portal-like by the mining machine 1, so that the extraction material lying in the conveying strand of the longwall conveyor the recovery machine 1 can happen.
- Strebckener 9 Serving as the track for the mining machine 1 at the same time Strebckener 9 is laid along a mining front 10 in a longwall, the Strebhangendes 11 is supported by expansion caps 12, which in turn from Stamping 13 are worn. Of the expansion caps 12 and the punches 13 only a few are shown in the drawing.
- a radar device 14 is fastened to the machine body 2 of the mining machine 1 at its front side in the direction of travel, the measuring lobe 15 of which scans the track of the mining machine 1 kept free by the longwall structure 12, 13 for any obstacles present.
- the Radarmess réelle 14 and its measuring lobe 15 are formed, arranged and aligned so that the axis of the measuring lobe 15 at an acute angle of 2 ° to 4 ° inclined to the mining front 10 runs.
- the measuring lobe 15 detects on the one hand in the area of the headland a long range, which has a distance of more than 6 m from the radar gauge 14 and on the other hand, located directly above the conveying strand of the longwall conveyor 9 close range, a distance of 0.5 to 6 m from the radar 14th Has.
- an additional Radarmess réelle 16 is installed on the machine body 2 of the mining machine 1, the measuring lobe 17 is directed to the mining front 10 and a vertical portion of the mining front 10 and the adjacent Strebhangenden 11 scans for irregularities and eruptions.
- the measured radar echoes of each scan are each entered as points into a previously created virtual model of the space to be monitored.
- the resulting and constantly updated virtual model is continuously or periodically clustered.
- the presence of point clusters in this virtual model can then in each case conclude that there is an obstacle in the track of the mining machine 1 at the respectively measured location or the shield caps delimit the longwall to the hanging wall.
- the radar echoes from the far-field and near-range measured by the radar device 14 are stored in two different models according to near and far range and evaluated differently.
- the Evaluation in the remote area, where in particular the expansion caps 12 and 12a are to be detected works away-triggered with path distances of 10 cm each.
- the evaluation in the near zone, where in particular overloads of the conveying run of the longwall conveyor 9 are to be detected takes place in a time-triggered manner with clock cycles of, for example, one second.
- the radar may optionally also be mounted on the mining machine 1 that it can be turned depending on the direction of travel. It is equally possible to install two radar instruments on the mining machine 1, in each direction of travel.
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Control Of Conveyors (AREA)
- Sampling And Sample Adjustment (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
Description
Die Erfindung betrifft ein Verfahren und eine Einrichtung zur Überwachung des Fahrweges einer insbesondere im Kohlebergbau eingesetzten schneidenden Gewinnungsmaschine, die im Langfrontabbau in einem mit Strebförderer und schreitendem Ausbau ausgerüsteten Streb entlang der Abbaufront verfahrbar ist.The invention relates to a method and a device for monitoring the travel path of a particular used in coal mining cutting extraction machine, which is movable along the mining front in Langfrontabbau in a equipped with longwall conveyor and striding expansion strut.
Bei der automatischen Steuerung oder der Fernsteuerung von im Langfrontabbau eingesetzten schneidenden Gewinnungsmaschinen im Kohlebergbau hat es sich als außerordentlich schwierig herausgestellt, den Fahrweg der schneidenden Gewinnungsmaschine auf Hindernisse zu überwachen. Aus diesem Grund kommt es bei solchen Einsätzen von schneidenden Gewinnungsmaschinen immer wieder vor, dass die Schneidtrommel oder die Tragarmspitze der Gewinnungsmaschine mit tief stehenden Schildkappen oder herabhängenden Klappkappen, Schiebekappen oder sonstigen Anbauten des schreitenden Ausbaus kollidieren und/oder dass sich die Gewinnungsmaschine oder der Strebförderer fest fahren, weil das Fördertrum des Strebförderers derart überladen ist, dass der Tunnelquerschnitt unter der Gewinnungsmaschine blockiert wird, so dass nachkommendes Material in den Kabelkanal und über die Bracken in den Fahrweg gelangt. Um den auf diese Weise verursachten Betriebsstörungen und Beschädigungen zuvor zu kommen, muss der Fahrweg der schneidenden Gewinnungsmaschine zuverlässig auf das Vorhandensein von solchen Hindernissen überwacht werden, um rechtzeitig entsprechend eingreifen zu können, d. h. die Maschine rechtzeitig still zu setzen oder den Schneidvorgang so zu steuern, dass Überladungen des Fördertrums des Strebförderers vermieden werden.In automatic control or remote control of cutting mining machines used in long-range mining in coal mining, it has proven extremely difficult to monitor the travel path of the cutting mining machine to obstacles. For this reason, it often happens in such inserts of cutting extraction machines that the cutting drum or the Tragarmspitze the mining machine collide with low-lying shield caps or drooping hinged caps, sliding caps or other attachments of pending expansion and / or that the mining machine or the Strebförderer drive, because the conveying strand of the longwall conveyor is so overloaded that the tunnel cross-section is blocked under the mining machine, so that incoming material enters the cable channel and the bracken in the driveway. In order to prevent the malfunctions and damages caused in this way, the travel path of the cutting mining machine must be reliably monitored for the presence of such obstacles in order to be able to intervene in a timely manner, ie to stop the machine in good time or thus to control the cutting process, that overloading of the conveying run of the longwall conveyor can be avoided.
Herkömmlich erfolgt dies durch einen Maschinenführer, der die Gewinnungsmaschine bei ihren Fahrten durch den Streb begleitet.Traditionally, this is done by a machine operator accompanying the mining machine as they travel through the face.
Wegen der belastenden Arbeitsbedingungen in unmittelbarer Nähe der schneidenden Gewinnungsmaschine hat es natürlich nicht an Versuchen gefehlt, diese Überwachungsvorgänge zu automatisieren oder aus der Ferne mit großem Abstand zur Gewinnungsmaschine vorzunehmen. Die dabei zum Einsatz kommenden optischen Sichtgeräte haben sich allerdings insofern als problematisch erwiesen, als die Sichtverhältnisse in unmittelbarer Nähe der Gewinnungsmaschine wegen des dort entstehenden Staubes und wegen des dort zur Staubbekämpfung versprühten Wassernebels sehr ungünstig sind.Of course, due to the stressful working conditions in the immediate vicinity of the cutting mining machine, there has been no lack of attempts to automate these monitoring operations or remotely make them far from the mining machine. However, the optical viewing devices used have proven to be problematic insofar as the visibility in the immediate vicinity of the mining machine is very unfavorable because of the dust generated there and because of the water mist sprayed there for dust control.
Kollisionsschutzeinrichtungen für den Bergbau sind aus
Es ist deshalb Aufgabe der Erfindung, ein Verfahren und Einrichtungen zu schaffen, die trotz Staub und Wassernebel eine zuverlässige Überwachung des Fahrweges der Gewinnungsmaschine ermöglichen, ohne auf einen Maschinenführer angewiesen zu sein, der in unmittelbarer Nähe der Gewinnungsmaschine arbeitet.It is therefore an object of the invention to provide a method and devices that enable reliable monitoring of the route of the mining machine despite dust and water fog, without relying on a machine operator who works in the immediate vicinity of the mining machine.
Gegenstand der Erfindung ist zunächst ein Verfahren zur Überwachung des Fahrweges einer insbesondere im Kohlebergbau eingesetzten schneidenden Gewinnungsmaschine, die im Langfrontabbau in einem mit Strebförderer und schreitendem Ausbau ausgerüsteten Streb entlang der Abbaufront verfahrbar ist, wobei sich dieses Verfahren dadurch kennzeichnet, dass der Fahrweg der Gewinnungsmaschine mittels eines der Gewinnungsmaschine zugeordneten Radarmessgeräts in Fahrtrichtung der Gewinnungsmaschine abgetastet wird und bei Feststellung eines Hindernisses im Fahrweg ein Alarm ausgelöst und/oder in die Steuerung der Gewinnungsmaschine eingegriffen wird.The invention relates firstly to a method for monitoring the travel path of a cutting extraction machine used in particular in coal mining, which can be moved along the dismantling front in Langfrastabbau in a Strebförderer and strandering expansion longwall, this process being characterized in that the track of the mining machine means one of the extraction machine associated Radarmessgeräts is scanned in the direction of travel of the mining machine and triggered upon detection of an obstacle in the track an alarm and / or intervene in the control of the mining machine.
Es hat sich überraschenderweise herausgestellt, dass es möglich ist, den verhältnismäßig engen und von mindestens drei Seiten her von metallischen Gerätschaften (Kappen und Stempel des Ausbaus; Strebförderer) umgebenen Fahrweg der Gewinnungsmaschine mit einem Radarmessgerät derart abzutasten, dass Hindernisse im freien Querschnitt des Fahrwegs festgestellt werden können. Dabei wird dieser Messvorgang von Staub und Wassernebel kaum beeinträchtigt. Besteht das Hindernis beispielsweise aus einer tief stehenden Kappe des Ausbaus, wird ein Alarm ausgelöst und die Gewinnungsmaschine still gesetzt, bis dieses Hindernis beseitigt ist. Besteht das Hindernis demgegenüber nur in einer Überladung des Förderers, wird derart in die Steuerung der Gewinnungsmaschine eingegriffen, dass die losgeschnittene Menge an Gewinnungsgut soweit reduziert wird, dass Überladungen des Fördertrums des Strebförderers vermieden werden.It has surprisingly been found that it is possible to scan the relatively narrow pathway of the mining machine surrounded by metallic equipment (caps and punches of the expansion, longwall conveyor) with a radar measuring device such that obstacles are detected in the free cross section of the travel path can be. This measuring process is hardly affected by dust and water mist. For example, if the obstacle is one deep standing cap of the expansion, an alarm is triggered and the mining machine is stopped until this obstacle is removed. Conversely, if the obstacle only in an overload of the conveyor, intervened in the control of the extraction machine that the losgeschnittene amount of extraction material is reduced to the extent that overloads of the delivery of the longwall conveyor be avoided.
Zweckmäßig erfolgen die Abtastung des Bereichs unterhalb des Strebhangenden mit einem Abstand von mehr als 6 m vom Radargerät und die Abtastung im Bereich des Fördertrums des Strebförderers mit einem Abstand von 0,5 m bis 6 m vom Radarmessgerät.Appropriately, the scanning of the area below the Strebhangenden done with a distance of more than 6 m from the radar and scanning in the range of the conveying strand of the longwall conveyor with a distance of 0.5 m to 6 m from the radar.
Eine zweckmäßige Ergänzung des Verfahrens gemäß der Erfindung sieht vor, dass ein weiteres der Gewinnungsmaschine zugeordnetes Radarmessgerät zusätzlich mit Blickrichtung auf die Abbaufront entiang einem vertikalen Abschnitt der Abbaufront die Konturen der Abbaufront und etwaige Ausbrüche des Hangenden abtastet und dass bei Feststellung von Unregelmäßigkeiten in der Kontur des Abbaustoßes oder von Ausbrüchen im Hangenden die Gewinnungsmaschine unter Berücksichtigung der Unregelmäßigkeiten oder Ausbrüche gesteuert wird. Auf diese Weise ist es möglich, auch diese möglichen Hindernisse im Fahrweg der Gewinnungsmaschine gebührend zu berücksichtigen und zwar weitestgehend ohne Eingriff von Bedienungs- oder Hilfspersonal.An expedient completion of the method according to the invention provides that another of the mining machine associated Radarmessgerät additionally scans the contours of the excavation front and any outbreaks of the hanging wall in view of the mining front entiang a vertical portion of the excavation front and that upon detection of irregularities in the contour of Abausstoßes or from outbreaks in the hanging wall the mining machine is controlled taking into account the irregularities or outbreaks. In this way, it is possible to take due account of these possible obstacles in the track of the mining machine and indeed largely without intervention of operating or auxiliary personnel.
Zur Auswertung werden die Messergebnisse der Abtastvorgänge als Punkte in ein zuvor erstelltes virtuelles Modell des zu überwachenden Raums eingegeben. Das so zustande kommende aktuelle virtuelle Modell wird weggetriggert oder zeitgetriggert einer Clusteranalyse unterzogen. In Abhängigkeit vom Ergebnis dieser Clusteranalyse wird dann ein Alarm ausgelöst oder in die Steuerung der Gewinnungsmaschine eingegriffen.For evaluation, the measurement results of the scanning operations are entered as points in a previously created virtual model of the space to be monitored. The resulting current virtual model is triggered away or time-triggered by a cluster analysis. Depending on the result of this cluster analysis, an alarm is triggered or intervened in the control of the mining machine.
Eine weggetriggerte Messung mit Wegabständen von etwa 10 cm eignet sich besonders für die Erfassung von noch in größerer Entfernung befindlichen tief stehenden Ausbaukappen, die in Bezug auf die Gewinnungsmaschine feststehend sind und ein eindeutig unterscheidbares Radarecho abgeben. Die zeitgetriggerte Abtastung mit Zeitzyklen von beispielsweise 1 Sekunde ist demgegenüber besonders für die in kurzem Abstand erfolgende Überwachung des sich schnell bewegenden Förderguts im Fördertrum des Strebförderers geeignet.A trip-triggered measurement with distances of about 10 cm is particularly suitable for detecting even more distant, low-profile expansion caps which are fixed with respect to the mining machine and emit a distinct radar echo. The Time-triggered sampling with time cycles of, for example, 1 second, in contrast, is particularly suitable for monitoring the rapidly moving conveyed material in the conveying run of the longwall conveyor in close proximity.
Gegenstand der Erfindung ist weiterhin eine Einrichtung zur Überwachung des Fahrwegs einer insbesondere im Kohlebergbau eingesetzten schneidenden Gewinnungsmaschine, die im Langfrontabbau in einem mit Strebförderer und schreitendem Ausbau ausgerüsteten Streb entlang der Abbaufront verfahrbar ist, gekennzeichnet durch ein der Gewinnungsmaschine zugeordnetes und mit der Gewinnungsmaschine verfahrbares Radarmessgerät, dessen Messkeule den Fahrweg der Gewinnungsmaschine in Fahrtrichtung gesehen auf Hindernisse abtastet, und das bei Feststellung eines Hindernisses einen Alarm auslöst und/oder in die Steuerung der Gewinnungsmaschine eingreift. Diese Einrichtung ist dazu bestimmt, das oben erläuterte Verfahren auszuführen.The invention furthermore relates to a device for monitoring the travel path of a cutting extraction machine used in coal mining in particular, which can be moved along the mining front in long front dismantling in a longwall equipped with longwall conveyor and striding expansion, characterized by a radar measuring device assigned to the mining machine and movable with the mining machine, whose measuring lobe, as viewed in the direction of travel, scans the travel path of the mining machine for obstacles, and which, when an obstacle is detected, triggers an alarm and / or intervenes in the control of the mining machine. This device is intended to carry out the method explained above.
Eine bevorzugte Ausführungsform dieser Einrichtung sieht vor, dass die Messkeule des Radarmessgeräts so ausgebildet, angeordnet und ausgerichtet ist, dass sie einerseits im Bereich des Strebhangenden in einem Abstand von mehr als 6 m vom Radarmessgerät das Radarecho von Ausbaukappen erfasst und andererseits im Bereich des Fördertrums des Strebförderers in einem Abstand von 0,5 m bis 6 m vom Radarmessgerät das Radarecho des auf dem Strebförderer liegenden Förderguts erfasstA preferred embodiment of this device provides that the measuring lobe of Radarmessgeräts is designed, arranged and aligned so that it detects the radar echo of expansion caps on the one hand in the area of Strebhangenden at a distance of more than 6 m from Radarmessgerät and on the other hand in the range of the delivery of the Strebförderers at a distance of 0.5 m to 6 m from the radar device detects the radar echo of the lying on the longwall conveyor
Ein Radarmessgerät mit einer solchen Messkeule erfasst also einerseits einen Fernbereich des Fahrwegs, wo die Gefahr insbesondere von tief stehenden Schildkappen oder herabhängenden Klappkappen oder sonstigen Anbauten des Ausbaus ausgeht, und andererseits den Nahbereich vor dem Radarmessgerät, wo die Gefahr im Wesentlichen von Überladungen des Strebförderers ausgeht. Außerdem kann die Messkeule zusätzlich einen vertikalen Abschnitt der Abbaufront und des angrenzenden Hangenden erfassen.A radar device with such a measuring lobe thus detects on the one hand a long range of the guideway, where the risk emanates in particular from deep-set shield caps or drooping hinged caps or other attachments of the expansion, and on the other hand, the close range in front of the Radarmessgerät where the danger essentially emanating from overloads of the longwall conveyor , In addition, the measuring lobe can additionally detect a vertical section of the excavation front and the adjacent hanging wall.
Zweckmäßig ist weiterhin vorgesehen, dass die Messkeule des Radarmessgeräts in einem Winkel von 2° bis 4° gegen den Abbaustoß geneigt ausgerichtet ist. Hierdurch wird erreicht, dass die Radarmessung den Abbaustoß und das angrenzende Hangende besser erfassen kann und insbesondere im Fernbereich weniger von Radarechos verfälscht wird, die von den Stempeln der Ausbaureihe und/oder von den Bracken des Strebförderers ausgehen. Zweckmäßig ist weiterhin eine Neigung der Achse des Radarmesssgeräts von 2° bis 10° in Richtung auf das Strebhangende. Hierdurch kann das Strebhangende in Anbetracht des symmetrischen Öffnungswinkels des Radars in geringerer Entfernung erfasst werden.Expediently, it is further provided that the measuring lobe of Radarmessgeräts is inclined at an angle of 2 ° to 4 ° against the excavation. This ensures that the radar measurement the It is easier to detect the mining impact and the adjacent hanging wall and, in particular in the long-range, is less distorted by radar echoes emanating from the stamps of the series and / or from the bracken of the longwall conveyor. It is expedient to continue the inclination of the axis of Radarmesssgeräts from 2 ° to 10 ° in the direction of the Strebhangende. As a result, the Strebhangende can be detected in view of the symmetrical opening angle of the radar at a shorter distance.
Ein Ausführungsbeispiel der Erfindung wird im Folgenden anhand der Zeichnungen näher erläutert. Es zeigen:
- Fig. 1:
- Schematisch eine Seitenansicht einer schneidenden Gewinnungsmaschine und des Strebes in Seitenansicht;
- Fig. 2:
- Schematisch eine Draufsicht zu
Figur 1 .
- Fig. 1:
- Schematically a side view of a cutting mining machine and the strut in side view;
- Fig. 2:
- Schematically a top view too
FIG. 1 ,
Die Zeichnung zeigt eine in ihrer Gesamtheit mit dem Bezugszeichen 1 bezeichnete schneidende Gewinnungsmaschine, die hier als Walzenschrämlader ausgebildet ist. Die Gewinnungsmaschine hat einen Maschinenkörper 2, der vorne und hinten mit Schwenkarmen 3 und 4 versehen ist, an denen Schneidwalzen 5 und 6 gelagert sind. Der Maschinenkörper 2 wird von Fahrwerken 7 und 8 getragen, die auf einem zugleich als Fahrgleis dienenden Strebförderer 9 verfahrbar sind. Der Strebförderer 9 ist als Kratzerförderer ausgebildet, dessen Obertrum als Fördertrum und dessen Untertrum als Rücklauftrum für die Ketten und die Kratzer dienen. Der Maschinenkörper 2 ist derart auf den Fahrwerken 7 und 8 aufgeständert, dass das Fördertrum des Strebförderers 9 portalartig von der Gewinnungsmaschine 1 übergriffen wird, so dass das im Fördertrum des Strebförderers liegende Gewinnungsgut die Gewinnungsmaschine 1 passieren kann.The drawing shows a designated in its entirety by the reference numeral 1 cutting extraction machine, which is designed here as a roller cutter. The mining machine has a
Der zugleich als Fahrgleis für die Gewinnungsmaschine 1 dienende Strebförderer 9 ist entlang einer Abbaufront 10 in einem Streb verlegt, dessen Strebhangendes 11 von Ausbaukappen 12 abgestützt wird, die ihrerseits von Stempeln 13 getragen werden. Von den Ausbaukappen 12 und den Stempeln 13 sind in der Zeichnung nur einige dargestellt.Serving as the track for the mining machine 1 at the same time Strebförderer 9 is laid along a
Erfindungsgemäß ist an dem Maschinenkörper 2 der Gewinnungsmaschine 1 an deren in Fahrtrichtung vorne liegenden Seite ein Radarmessgerät 14 befestigt, dessen Messkeule 15 den vom Strebausbau 12, 13 frei gehaltenen Fahrweg der Gewinnungsmaschine 1 auf etwa vorhandene Hindernisse abtastet. Dabei sind das Radarmessgerät 14 und dessen Messkeule 15 so ausgebildet, angeordnet und ausgerichtet, dass die Achse der Messkeule 15 in einem spitzen Winkel von 2° bis 4 ° gegen die Abbaufront 10 geneigt läuft.According to the invention, a
Die Messkeule 15 erfasst einerseits im Bereich des Strebhangenden einen Fernbereich, der einen Abstand von mehr als 6 m vom Radarmessgerät 14 hat und andererseits einen unmittelbar über dem Fördertrum des Strebförderers 9 befindlichen Nahbereich, der einen Abstand von 0,5 bis 6 m vom Radarmessgerät 14 hat.The
Weiterhin ist auf dem Maschinenkörper 2 der Gewinnungsmaschine 1 ein zusätzliches Radarmessgerät 16 installiert, dessen Messkeule 17 auf die Abbaufront 10 gerichtet ist und einen vertikalen Abschnitt der Abbaufront 10 und des angrenzenden Strebhangenden 11 auf Unregelmäßigkeiten und Ausbrüche abtastet.Furthermore, an additional Radarmessgerät 16 is installed on the
Die gemessenen Radarechos eines jeden Abtastvorgangs werden jeweils als Punkte in ein zuvor erstelltes virtuelles Modell des zu überwachenden Raumes eingegeben. Das auf diese Weise zustandkommende und ständig aktualisierte virtuelle Modell wird kontinuierlich oder in regelmäßigen Abständen einer Clusteranalyse unterzogen. Das Vorhandensein von Punkteclustern in diesem virtuellen Modell lässt dann jeweils darauf schließen, dass an dem jeweils gemessenen Ort ein Hindernis im Fahrweg der Gewinnungsmaschine 1 vorliegt bzw. die Schildkappen den Strebraum zum Hangenden begrenzen.The measured radar echoes of each scan are each entered as points into a previously created virtual model of the space to be monitored. The resulting and constantly updated virtual model is continuously or periodically clustered. The presence of point clusters in this virtual model can then in each case conclude that there is an obstacle in the track of the mining machine 1 at the respectively measured location or the shield caps delimit the longwall to the hanging wall.
Die von dem Radarmessgerät 14 gemessenen Radarechos aus dem Fernbereich und dem Nahbereich werden in zwei unterschiedlichen Modellen nach Nah- und Fernbereich gespeichert und unterschiedlich ausgewertet. Die Auswertung im Fernbereich, wo insbesondere die Ausbaukappen 12 und 12a detektiert werden sollen, arbeitet weggetriggert mit Wegabständen von jeweils 10 cm. Die Auswertung im Nahbereich, wo insbesondere Überladungen des Fördertrums des Strebförderers 9 detektiert werden sollen, erfolgt demgegenüber zeitgetriggert mit Zeittakten von beispielsweise einer Sekunde.The radar echoes from the far-field and near-range measured by the
In Abhängigkeit von den jeweils festgestellten Hindernissen wird sodann ein Alarm ausgelöst und die Gewinnungsmaschine stillgelegt, oder es wird derart in die Steuerung der Gewinnungsmaschine eingegriffen, dass die zu befürchtenden Betriebsstörungen von vornherein vermieden werden.Depending on the obstacles detected in each case then an alarm is triggered and shut down the mining machine, or it is intervened in such a way in the control of the mining machine that the dangers to be feared are avoided from the outset.
Abweichend vom dargestellten Ausführungsbeispiel kann das Radarmessgerät ggf. auch derart auf der Gewinnungsmaschine 1 befestigt werden, dass es je nach Fahrtrichtung gewendet werden kann. Ebenso gut ist es möglich, auf der Gewinnungsmaschine 1 zwei Radarmessgeräte zu installieren, und zwar in jeder Fahrtrichtung eines.Notwithstanding the illustrated embodiment, the radar may optionally also be mounted on the mining machine 1 that it can be turned depending on the direction of travel. It is equally possible to install two radar instruments on the mining machine 1, in each direction of travel.
Claims (11)
- A method of monitoring the travel path of a cutting extraction machine (1) which is used in particular in coal mining and which is displaceable in longwall mining along the mining face (10) in a face equipped with a face conveyor (9) and advancing support (12, 13), characterised in that the travel path of the extraction machine (1) is scanned in the direction of travel of the extraction machine by means of a radar measuring device (14) associated with the extraction machine (1) and when an obstacle in the travel path is detected an alarm is triggered and/or intervention in the control of the extraction machine (1) is effected.
- A method according to claim 1 characterised in that the travel path of the extraction machine (1) is scanned in the region beneath the face roof for obstacles in the form of low-extending shield caps or hanging-down folding caps, sliding caps or other attachments of the advancing support (12, 13).
- A method according to claim 1 characterised in that the travel path of the extraction machine (1) is scanned in the region of the conveyor run of the face conveyor (9) for obstacles in the form of overloadings of the conveyor run of the face conveyor (9).
- A method according to claims 1 to 3 characterised in that scanning of the region beneath the face roof is effected at a spacing of more than 6 m from the radar measuring device (14) and scanning in the region of the conveyor run of the face conveyor (9) is effected at a spacing of 0.5 to 6 m from the radar measuring device (14).
- A method according to claim 1 characterised in that rhe contour of the mining face (10) and any outbreaks in the face roof (11) are scanned by means of an additional radar measuring device (14) associated with the extraction machine (1) with direction of view on to the mining face (10) along a vertical portion of the mining face (10) and when irregularities in the contour of the mining face (10) or outbreaks in the face root (11) are detected the extraction machine (1) is controlled having regard to said irregularities or outbreaks.
- A method according to one of claims 1 to 5 characterised in that the measurement results of each scanning operation are inputted as points into a previously established virtual model of the space to be monitored and the current virtual model that is produced in that way is subjected to cluster analysis in path-triggered or time-triggered mode and an alarm is triggered and/or intervention in the control of the extraction machine (1) is effected in dependence on the result of said cluster analysis.
- A device for monitoring the travel path of a cutting extraction machine (1) which is used in particular in coal mining and which is displaceable in longwall mining along a mining face (10) in a face equipped with a face conveyor (9) and advancing support (12, 13), characterised by a radar measuring device (14) which is associated with the extraction machine and which is displaceable therewith and whose measuring lobe (15) scans the travel path of the extraction machine (1) viewed in the travel direction and that an alarm is triggered and/or intervention in the control of the extraction machine is effected when an obstacle is detected in the travel path.
- A device according to claim 7 characterised in that the measuring lobe (15) of the radar measuring device (14) is of such a configuration, arrangement and orientation that on the one hand it scans the radar echo of support caps (12, 12a) in the region of the face roof in a far range from about 6 m from the radar measuring device (14) and on the other hand in the region of the conveyor run of the face conveyor (9) it detects the radar echo of the conveyed material on the face conveyor in the near range of about 0.5 to 5 m from the radar measuring device (14).
- A device according to claim 7 characterised in that the axis of the measuring lobe (15) of the radar measuring device (14) extends inclinedly at an acute angle of 2° to 4° relative to the mining face (10).
- A device according to claim 7 characterised in that the axis of the measuring lobe (15) of the radar measuring device (14) extends inclinedly at an acute angle of 2° to 10° relative to the ceiling.
- A device according to claim 7 characterised by an additional radar measuring device (14) which is associated with the extraction machine (1) and which is directed on to the mining face (10) and which scans the contour of the mining face (10) and any outbreaks of the adjoining face celling (11) along a vertical portion of the mining face (10).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PL08801555T PL2242901T3 (en) | 2008-08-09 | 2008-08-09 | Method and device for monitoring a cutting extraction machine |
| SI200830550T SI2242901T1 (en) | 2008-08-09 | 2008-08-09 | Method and device for monitoring a cutting extraction machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/EP2008/006589 WO2010017823A1 (en) | 2008-08-09 | 2008-08-09 | Method and device for monitoring a cutting extraction machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP2242901A1 EP2242901A1 (en) | 2010-10-27 |
| EP2242901B1 true EP2242901B1 (en) | 2011-11-16 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP08801555A Not-in-force EP2242901B1 (en) | 2008-08-09 | 2008-08-09 | Method and device for monitoring a cutting extraction machine |
Country Status (11)
| Country | Link |
|---|---|
| US (1) | US8474918B2 (en) |
| EP (1) | EP2242901B1 (en) |
| CN (1) | CN101778998B (en) |
| AT (1) | ATE533918T1 (en) |
| CA (1) | CA2697618A1 (en) |
| EA (1) | EA016425B1 (en) |
| HK (1) | HK1145529A1 (en) |
| MX (1) | MX2010000225A (en) |
| PL (1) | PL2242901T3 (en) |
| SI (1) | SI2242901T1 (en) |
| WO (1) | WO2010017823A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015031797A1 (en) * | 2013-08-29 | 2015-03-05 | Joy Mm Delaware, Inc. | Shearer anti-collision |
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| CN104718346B (en) | 2012-09-14 | 2019-02-22 | 久益环球地下采矿有限责任公司 | Cutter head for digger |
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| CN103835719B (en) * | 2014-02-27 | 2015-12-30 | 中国矿业大学 | A kind of coal-winning machine self adaptation cutting process based on non-holonomic constraint |
| RU2691793C2 (en) * | 2014-08-28 | 2019-06-18 | ДЖОЙ ГЛОБАЛ АНДЕРГРАУНД МАЙНИНГ ЭлЭлСи | Monitoring of roof fastening in solid development system |
| CN104500067B (en) * | 2014-12-31 | 2016-09-21 | 中国矿业大学 | The guide of a kind of coal rock for coal cutter self-adapting intelligent coal cutting control and method |
| PE20230920A1 (en) | 2016-01-27 | 2023-06-02 | Joy Global Underground Mining Llc | MINING MACHINE WITH MULTIPLE CUTTING HEADS |
| EP4273364A3 (en) | 2016-08-19 | 2024-03-13 | Joy Global Underground Mining LLC | Mining machine with articulating boom and independent material handling system |
| PE20190494A1 (en) | 2016-08-19 | 2019-04-09 | Joy Global Underground Mining Llc | CUTTING AND SUPPORT DEVICE FOR THE SAME |
| US11391149B2 (en) | 2016-08-19 | 2022-07-19 | Joy Global Underground Mining Llc | Mining machine with articulating boom and independent material handling system |
| FI3516169T3 (en) | 2016-09-23 | 2024-02-22 | Joy Global Underground Mining Llc | Machine supporting rock cutting device |
| US10883256B2 (en) | 2018-05-25 | 2021-01-05 | Deere & Company | Object responsive control system for a work machine |
| EP3814608A4 (en) | 2018-07-25 | 2022-03-23 | Joy Global Underground Mining LLC | Rock cutting assembly |
| US10794182B1 (en) * | 2019-03-20 | 2020-10-06 | Joy Global Underground Mining Llc | Systems and methods for controlling a longwall mining system based on a forward-looking mine profile |
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2008
- 2008-08-09 CN CN2008801002952A patent/CN101778998B/en active Active
- 2008-08-09 WO PCT/EP2008/006589 patent/WO2010017823A1/en active Application Filing
- 2008-08-09 CA CA2697618A patent/CA2697618A1/en not_active Abandoned
- 2008-08-09 SI SI200830550T patent/SI2242901T1/en unknown
- 2008-08-09 PL PL08801555T patent/PL2242901T3/en unknown
- 2008-08-09 AT AT08801555T patent/ATE533918T1/en active
- 2008-08-09 EA EA201070234A patent/EA016425B1/en not_active IP Right Cessation
- 2008-08-09 US US12/452,415 patent/US8474918B2/en active Active
- 2008-08-09 EP EP08801555A patent/EP2242901B1/en not_active Not-in-force
- 2008-08-09 MX MX2010000225A patent/MX2010000225A/en active IP Right Grant
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- 2010-12-23 HK HK10112040.3A patent/HK1145529A1/en not_active IP Right Cessation
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2015031797A1 (en) * | 2013-08-29 | 2015-03-05 | Joy Mm Delaware, Inc. | Shearer anti-collision |
Also Published As
| Publication number | Publication date |
|---|---|
| ATE533918T1 (en) | 2011-12-15 |
| AU2008356847B2 (en) | 2015-10-29 |
| HK1145529A1 (en) | 2011-04-21 |
| CN101778998B (en) | 2012-11-21 |
| US20100194175A1 (en) | 2010-08-05 |
| CN101778998A (en) | 2010-07-14 |
| EA201070234A1 (en) | 2010-06-30 |
| EA016425B1 (en) | 2012-04-30 |
| EP2242901A1 (en) | 2010-10-27 |
| US8474918B2 (en) | 2013-07-02 |
| PL2242901T3 (en) | 2012-05-31 |
| MX2010000225A (en) | 2010-07-20 |
| SI2242901T1 (en) | 2012-04-30 |
| AU2008356847A1 (en) | 2010-02-25 |
| CA2697618A1 (en) | 2010-02-18 |
| WO2010017823A1 (en) | 2010-02-18 |
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