EP2242901B1 - Verfahren und einrichtung zur überwachung einer schneidenden gewinnungsmaschine - Google Patents

Verfahren und einrichtung zur überwachung einer schneidenden gewinnungsmaschine Download PDF

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Publication number
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
Authority
EP
European Patent Office
Prior art keywords
face
extraction machine
mining
conveyor
travel path
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Not-in-force
Application number
EP08801555A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP2242901A1 (de
Inventor
Bernhard HACKELBÖRGER
Arnold Schymonski
Reik Winkel
Karl Nienhaus
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Eickhoff Bergbautechnik GmbH
Original Assignee
Eickhoff Bergbautechnik GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Eickhoff Bergbautechnik GmbH filed Critical Eickhoff Bergbautechnik GmbH
Priority to PL08801555T priority Critical patent/PL2242901T3/pl
Priority to SI200830550T priority patent/SI2242901T1/sl
Publication of EP2242901A1 publication Critical patent/EP2242901A1/de
Application granted granted Critical
Publication of EP2242901B1 publication Critical patent/EP2242901B1/de
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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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.

Landscapes

  • 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)
EP08801555A 2008-08-09 2008-08-09 Verfahren und einrichtung zur überwachung einer schneidenden gewinnungsmaschine Not-in-force EP2242901B1 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PL08801555T PL2242901T3 (pl) 2008-08-09 2008-08-09 Sposób i urządzenie do monitorowania urabiarki wrębowej
SI200830550T SI2242901T1 (sl) 2008-08-09 2008-08-09 Postopek in naprava za nadzor rezalnega odkopnega stroja

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2008/006589 WO2010017823A1 (de) 2008-08-09 2008-08-09 Verfahren und einrichtung zur überwachung einer schneidenden gewinnungsmaschine

Publications (2)

Publication Number Publication Date
EP2242901A1 EP2242901A1 (de) 2010-10-27
EP2242901B1 true EP2242901B1 (de) 2011-11-16

Family

ID=40815893

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08801555A Not-in-force EP2242901B1 (de) 2008-08-09 2008-08-09 Verfahren und einrichtung zur überwachung einer schneidenden gewinnungsmaschine

Country Status (11)

Country Link
US (1) US8474918B2 (ru)
EP (1) EP2242901B1 (ru)
CN (1) CN101778998B (ru)
AT (1) ATE533918T1 (ru)
CA (1) CA2697618A1 (ru)
EA (1) EA016425B1 (ru)
HK (1) HK1145529A1 (ru)
MX (1) MX2010000225A (ru)
PL (1) PL2242901T3 (ru)
SI (1) SI2242901T1 (ru)
WO (1) WO2010017823A1 (ru)

Cited By (1)

* Cited by examiner, † Cited by third party
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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DE102009030130B9 (de) * 2009-06-24 2011-06-09 Rag Aktiengesellschaft Verfahren zur automatisierten Herstellung einer definierten Streböffnung durch neigungsgestützte Radarnavigation der Walze bei einem Walzenschrämlader und eine Vorrichtung hierfür
US9574326B2 (en) 2012-08-02 2017-02-21 Harnischfeger Technologies, Inc. Depth-related help functions for a shovel training simulator
AU2014202349A1 (en) 2012-08-02 2014-05-22 Harnischfeger Technologies, Inc. Depth-related help functions for a wheel loader training simulator
CN104718346B (zh) 2012-09-14 2019-02-22 久益环球地下采矿有限责任公司 用于采掘机的刀头
US8985699B2 (en) 2013-03-14 2015-03-24 Seneca Industries Inc. Mining methods and equipment
CN103835719B (zh) * 2014-02-27 2015-12-30 中国矿业大学 一种基于虚拟轨迹控制的采煤机自适应截割方法
RU2691793C2 (ru) * 2014-08-28 2019-06-18 ДЖОЙ ГЛОБАЛ АНДЕРГРАУНД МАЙНИНГ ЭлЭлСи Мониторинг крепления кровли в системе сплошной разработки
CN104500067B (zh) * 2014-12-31 2016-09-21 中国矿业大学 一种采煤机煤岩自适应智能割煤控制的引导装置及方法
PE20230920A1 (es) 2016-01-27 2023-06-02 Joy Global Underground Mining Llc Maquina de mineria con multiples cabezales cortadores
EP4273364A3 (en) 2016-08-19 2024-03-13 Joy Global Underground Mining LLC Mining machine with articulating boom and independent material handling system
PE20190494A1 (es) 2016-08-19 2019-04-09 Joy Global Underground Mining Llc Dispositivo de corte y soporte para el mismo
US11391149B2 (en) 2016-08-19 2022-07-19 Joy Global Underground Mining Llc Mining machine with articulating boom and independent material handling system
FI3516169T3 (fi) 2016-09-23 2024-02-22 Joy Global Underground Mining Llc Kallionleikkauslaitetta tukeva kone
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 ARRANGEMENT
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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Publication number Priority date Publication date Assignee Title
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Also Published As

Publication number Publication date
ATE533918T1 (de) 2011-12-15
AU2008356847B2 (en) 2015-10-29
HK1145529A1 (en) 2011-04-21
CN101778998B (zh) 2012-11-21
US20100194175A1 (en) 2010-08-05
CN101778998A (zh) 2010-07-14
EA201070234A1 (ru) 2010-06-30
EA016425B1 (ru) 2012-04-30
EP2242901A1 (de) 2010-10-27
US8474918B2 (en) 2013-07-02
PL2242901T3 (pl) 2012-05-31
MX2010000225A (es) 2010-07-20
SI2242901T1 (sl) 2012-04-30
AU2008356847A1 (en) 2010-02-25
CA2697618A1 (en) 2010-02-18
WO2010017823A1 (de) 2010-02-18

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