EP2307669B1 - Method for controlling a cutting extraction machine - Google Patents

Method for controlling a cutting extraction machine Download PDF

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Publication number
EP2307669B1
EP2307669B1 EP08785154.9A EP08785154A EP2307669B1 EP 2307669 B1 EP2307669 B1 EP 2307669B1 EP 08785154 A EP08785154 A EP 08785154A EP 2307669 B1 EP2307669 B1 EP 2307669B1
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Prior art keywords
extraction
heat
machine
working face
infrared camera
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EP08785154.9A
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German (de)
French (fr)
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EP2307669A1 (en
Inventor
Bernhard HACKELBÖRGER
Fiona Mavroudis
Reik Winkel
Karl Nienhaus
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Eickhoff Bergbautechnik GmbH
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Eickhoff Bergbautechnik GmbH
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Priority to PL08785154T priority Critical patent/PL2307669T3/en
Priority to SI200831811A priority patent/SI2307669T1/en
Publication of EP2307669A1 publication Critical patent/EP2307669A1/en
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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E21C35/08—Guiding the machine
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C27/00—Machines which completely free the mineral from the seam
    • E21C27/20—Mineral freed by means not involving slitting
    • E21C27/32—Mineral freed by means not involving slitting by adjustable or non-adjustable planing means with or without loading arrangements
    • E21C27/34—Machine propelled along the working face by cable or chain
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C41/00—Methods of underground or surface mining; Layouts therefor
    • E21C41/16—Methods of underground mining; Layouts therefor
    • E21C41/18—Methods of underground mining; Layouts therefor for brown or hard coal

Definitions

  • the invention relates to a method for controlling a cutting extraction machine used in coal mining, which can be moved in a longwall front along a mining front, in which by means of at least one arranged on the machine body of the mining machine infrared camera, the heat radiation of each newly excavated by the mining machine mining Production of thermal images is observed, which is determined at the end of each extraction trip on the basis of the mining record taken during this mining trip the course of a Leit Mrsunes with respect to the upper and / or lower boundary surface of the strut and based on this course of the light layer package control data for the next extraction of the Extraction machine to be generated.
  • Such a method is known from WO 2006/119534 A1 known.
  • the known method is based on the phenomenon known to every miner or geologist that in seamed deposits, for example in coal deposits, thin rock layers are often embedded in the mining material to be excavated, which run parallel to the hanging and lying edges of the seam. Based on this, the above-mentioned method is based on the idea that the use of cutting extraction machines in seams with such embedded rock layers in these rock layers in the extraction processing more energy (frictional heat) is registered, as in the surrounding coal, and that therefore these stored Rock strata warm more strongly than the surrounding coal.
  • This increased heating should in the known methods using a Infrared camera are detected in order to measure in this way the distance of these stored rock layers to the lower and / or upper boundary surface to the struts and to control the mining machine during the next extraction journey based on this measurement. So that as little as possible of the registered heat is lost between the engagement region of the extraction tools and the measurement with the infrared camera, the heat radiation should be measured as close as possible and immediately adjacent to the engagement region of the extraction tools of the mining machine.
  • the known method is in need of improvement for various reasons.
  • the heating due to the registered cutting work in particular for thin rock layers or layers of soft or brittle rock, is not significantly higher than for the surrounding coal.
  • the optical axis of the infrared camera must first be arranged at an angle to the excavation, which results in a trapezoidal distortion of the measuring field.
  • this distorted measuring field is in the range of very high dust load, where in addition also for the purpose of dust precipitation water is sprayed.
  • the method according to the invention is no longer oriented to embedded in the coal seam harder rock layers, but on the layer structure of the coal seam itself.
  • Coal seams are known to be not homogeneous due to their history, but consist of several successive, deposited in different thickness strip These are called macerates (eg Vitrit, Durit, Clarit or Fusit) and have different physical and chemical properties in coal petrography.
  • the different physical properties include, among other things, the thermal conductivity.
  • Particularly characteristic is the sequence of interfaces between layers of different thermal conductivity. These interfaces can be seen in the observation of the mining impact with an infrared camera from the fact that in the area of these interfaces over a small M Schweizerkeits Scheme a relatively large temperature difference is measured. In this way it is possible to define within the coal seam a conductive layer package with a particularly characteristic sequence of boundary surfaces between layers of different thermal conductivity and to use the position of this conductive layer package within the seam to generate control data.
  • the thermal images during the journey along the quarry are path-dependent taken at regular intervals and assembled at the end of the mining trip to form a total heat image of the quarry, which the course of the Leit Wegpes with respect shows upper and / or lower boundary surface of the strut, and that then based on this total heat image automatically or with human assistance, the control data for the next extraction trip of the mining machine are generated.
  • the joining of the individual thermal images to form a total thermal image of the mining wall has the advantage that individual incorrect measurements can be eliminated in a simple manner by interpolation.
  • An evaluation of the total heat image with human assistance has the additional Advantage that mining experiential knowledge about the probable course of the seam can possibly also be taken into account when generating the control data.
  • the interfaces between the layers of different thermal conductivity are expediently determined by edge detection (Hough transformation).
  • edge detection Hough transformation
  • a particularly advantageous development of the method according to the invention provides that with the help of at least one further infrared camera additionally a thermal image of each newly cut free upper boundary surface of the strut is made and that this additional thermal image with respect to the presence of coal or rock analyzed and Generation of control data for the next extraction run the mining machine is used.
  • This additional infrared camera only provides a probability that coal or host rocks have been cut. The data obtained with this camera are used to generate the control data for the next mining trip.
  • the machine body of a cutting extraction machine here a roll skid loader, designated by the reference numeral 1.
  • This machine body is provided below with skids 2, which are movable on a longwall conveyor 3 along the mining face 4 of the strut.
  • the longwall conveyor 3 is thus at the same time track for the cutting mining machine.
  • pivot arms 5 and 6 are mounted on the machine body, each carrying cutting rollers 7 and 8, which are occupied on the periphery with cutting tools.
  • a camera support 9 Approximately in the middle of the machine body 1 is a camera support 9, on which an infrared camera 10 is mounted, whose optical axis 11 is perpendicular to the removal nozzle 4.
  • the infrared camera 10 detects at the excavation a rectangular measuring field 12, which in FIG. 1 shown in dash-dotted lines.
  • the lateral edges of this measuring field 12 have seen in the longitudinal direction of the cutting tools of the extraction machine a distance corresponding to at least half the width of the measuring field 12.
  • the course of the optical axis 11 perpendicular to the excavation 4 and this minimum distance ensures that the heat measurement of the infrared camera 10 is not distorted by the cutting work of the cutting tools, by dust or by sprayed water mist. It is best, of course, if the distance between the cutting tools of the mining machine and the measuring field 12 of the infrared camera 10 is as large as possible.
  • the infrared camera 10 is arranged approximately centrally on the machine body 1.
  • the measuring field 12 of the infrared camera 10 of all cutting tools of the mining machine has the greatest possible distance, and that a distance that is significantly greater than the entire width of the measuring field 12th
  • the infrared camera 10 generates during the extraction drive of the mining machine at regular intervals along the mining area 4 thermal images, each covering the entire field of view and overlap seen in the longitudinal direction of the stripe.
  • the individual thermal images are stitched together at the end of the mining trip to form a total thermal image 13, of which in FIG. 3 a section is shown.
  • a total thermal image 13 of which in FIG. 3 a section is shown.
  • edge detection Hough transformation
  • a conductive layer package is picked out within the seam thickness, which has a particularly characteristic sequence of interfaces between layers of different thermal conductivity.
  • Such a Leit MrsMP is in FIG. 1 of the embodiment referred to as X.
  • Such a Leit MrsMP runs normally equidistant to the hanging and footwall of the seam. For this reason, it can be determined from the measured distances between the Leit MrsMP X and cut by the extraction machine upper and lower boundary surfaces of the strut whether the course of the strut follows the course of the seam or not. If differences arise in these two courses, control data can be generated for the next production run of the mining machine, which control the mining machine so that the two courses converge again, ie the course of the string follows the course of the seam as closely as possible.
  • the control explained above can also be improved by installing, on the machine body 1 of the mining machine, another infrared camera 14, which is directed at the newly exposed upper boundary surface of the strut and additionally generates thermal images from this upper boundary surface.
  • thermal images are with regard to The presence of coal or rock analyzed in order to gain control data, with the help of which you can additionally control the mining machine in the next mining trip so that the course of the upper boundary surface of the strut as closely as possible and without coal losses following the course of the tail.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Geology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Investigating Or Analyzing Materials Using Thermal Means (AREA)
  • Radiation Pyrometers (AREA)
  • Drilling And Exploitation, And Mining Machines And Methods (AREA)
  • Cleaning By Liquid Or Steam (AREA)
  • Investigating Or Analysing Materials By Optical Means (AREA)

Description

Die Erfindung betrifft ein Verfahren zur Steuerung einer im Kohlebergbau eingesetzten schneidenden Gewinnungsmaschine, die im Langfrontabbau in einem Streb entlang einer Abbaufront verfahrbar ist, bei welchem mit Hilfe mindestens einer auf dem Maschinenkörper der Gewinnungsmaschine angeordneten Infrarotkamera die Wärmeabstrahlung des jeweils von der Gewinnungsmaschine neu freigelegten Abbaustoßes durch Herstellung von Wärmebildern beobachtet wird, wobei am Ende jeder Gewinnungsfahrt anhand der bei dieser Gewinnungsfahrt aufgenommenen Wärmebilder des Abbaustoßes der Verlauf eines Leitschichtpaketes in Bezug auf die obere und/oder untere Begrenzungsfläche des Strebes ermittelt wird und anhand dieses Verlaufes des Leichtschichtpaketes Steuerungsdaten für die nächste Gewinnungsfahrt der Gewinnungsmaschine generiert werden.The invention relates to a method for controlling a cutting extraction machine used in coal mining, which can be moved in a longwall front along a mining front, in which by means of at least one arranged on the machine body of the mining machine infrared camera, the heat radiation of each newly excavated by the mining machine mining Production of thermal images is observed, which is determined at the end of each extraction trip on the basis of the mining record taken during this mining trip the course of a Leitschichtpaketes with respect to the upper and / or lower boundary surface of the strut and based on this course of the light layer package control data for the next extraction of the Extraction machine to be generated.

Ein derartiges Verfahren ist aus der WO 2006/119534 A1 bekannt. Das bekannte Verfahren geht von dem jedem Bergmann oder Geologen bekannten Phänomen aus, dass in Flözlagerstätten, zum Beispiel in Kohlelagerstätten, in das abzubauende Gewinnungsgut oft dünne Gesteinsschichten eingelagert sind, die parallel zum Hangenden und Liegenden des Flözes verlaufen. Hieran anknüpfend geht das oben genannte Verfahren von der Vorstellung aus, dass beim Einsatz von schneidenden Gewinnungsmaschinen in Flözen mit solchen eingelagerten Gesteinsschichten in diese Gesteinsschichten bei der Gewinnungsverarbeitung mehr Energie (Reibungswärme) eingetragen wird, als in die umliegende Kohle, und dass sich deshalb diese eingelagerten Gesteinsschichten stärker erwärmen, als die umliegende Kohle. Diese verstärkte Erwärmung soll bei den bekannten Verfahren mit Hilfe einer Infrarotkamera detektiert werden, um auf diese Weise den Abstand dieser eingelagerten Gesteinsschichten zur unteren und/oder oberen Begrenzungsfläche zu den Streben messen und anhand dieser Messung die Gewinnungsmaschine während der nächsten Gewinnungsfahrt zu steuern. Damit zwischen dem Eingriffsbereich der Gewinnungswerkzeuge und der Messung mit der Infrarotkamera möglichst wenig von der eingetragenen Wärme verloren geht, soll die Wärmeabstrahlung möglichst nahe und unmittelbar angrenzend an den Eingriffsbereich der Gewinnungswerkzeuge der Gewinnungsmaschine gemessen werden.Such a method is known from WO 2006/119534 A1 known. The known method is based on the phenomenon known to every miner or geologist that in seamed deposits, for example in coal deposits, thin rock layers are often embedded in the mining material to be excavated, which run parallel to the hanging and lying edges of the seam. Based on this, the above-mentioned method is based on the idea that the use of cutting extraction machines in seams with such embedded rock layers in these rock layers in the extraction processing more energy (frictional heat) is registered, as in the surrounding coal, and that therefore these stored Rock strata warm more strongly than the surrounding coal. This increased heating should in the known methods using a Infrared camera are detected in order to measure in this way the distance of these stored rock layers to the lower and / or upper boundary surface to the struts and to control the mining machine during the next extraction journey based on this measurement. So that as little as possible of the registered heat is lost between the engagement region of the extraction tools and the measurement with the infrared camera, the heat radiation should be measured as close as possible and immediately adjacent to the engagement region of the extraction tools of the mining machine.

Das bekannte Verfahren ist aus verschiedenen Gründen verbesserungsbedürftig. Zum einen ist die Erwärmung durch die eingetragene Zerspanungsarbeit, insbesondere bei dünnen Gesteinsschichten oder Schichten aus weichem oder brüchigem Gestein nicht signifikant höher, als bei der umliegenden Kohle. Zum anderen ergeben sich bei einer Messung im unmittel an die Schneidzone der Gewinnungsmaschine angrenzenden Bereich eine Reihe von Problemen, die eine hinreichend exakte Bestimmung der Wärmeabstrahlung nahezu unmöglich machen. Zunächst muss aus Platzgründen die optische Achse der Infrarotkamera schräg zum Abbaustoß angeordnet werden, wodurch sich eine trapezförmige Verzerrung des Messfeldes ergibt. Hinzu kommt, dass sich dieses verzerrte Messfeld im Bereich sehr starker Staubbelastung befindet, wo außerdem noch zum Zwecke der Staubniederschlagung Wasser versprüht wird. Auch Staub und Wassernebel behindern die Messung der Wärmeausstrahlung des neu freigelegten Abbaustoßes erheblich. Schließlich kann es vorkommen, dass eine eingelagerte Gesteinsschicht im Verlauf des Flözes auskeilt oder sich sonst wie verliert. In diesem Fall würde eine sich an dieser Gesteinsschicht orientierende Steuerung orientierungslos.The known method is in need of improvement for various reasons. On the one hand, the heating due to the registered cutting work, in particular for thin rock layers or layers of soft or brittle rock, is not significantly higher than for the surrounding coal. On the other hand, in a measurement in the immediate vicinity of the cutting zone of the mining machine adjacent area a number of problems that make a sufficiently accurate determination of the heat radiation almost impossible. For reasons of space, the optical axis of the infrared camera must first be arranged at an angle to the excavation, which results in a trapezoidal distortion of the measuring field. In addition, this distorted measuring field is in the range of very high dust load, where in addition also for the purpose of dust precipitation water is sprayed. Dust and water mist also considerably hinder the measurement of the heat radiation of the newly exposed mining impact. Finally, it can happen that an embedded rock layer wedges out in the course of the seam or otherwise loses itself. In this case, a control based on this layer of rock would be disoriented.

Es ist deshalb Aufgabe der Erfindung, ein genaueres Messverfahren zur Verfügung zu stellen, welches weniger von Staub und Wassernebel beeinträchtigt wird.It is therefore an object of the invention to provide a more accurate measuring method which is less affected by dust and water mist.

Zur Lösung dieser Aufgabe schlägt die Erfindung ausgehend vom Verfahren der eingangs genannten Art vor,

  1. a) dass am Abbaustoß der Abfluss von Wärme aus dem wärmeren Gebirgskörper in den Strebraum gemessen wird und anhand dieses Wärmeabflusses ein Leitschichtpaket aus unterschiedlichen Mazeralen mit einer charakteristischen Abfolge von Grenzflächen zwischen Mazeralen unterschiedlicher Wärmeleitfähigkeit ermittelt wird,
  2. b) und dass die Beobachtung der Wärmeabstrahlung des Abbaustoßes senkrecht zum Abbaustoß erfolgt, wobei die Infrarotkamera derart auf dem Maschinenkörper der Gewinnungsmaschine angeordnet ist, dass ihr Messfeld in Streblängsrichtung gesehen den größtmöglichen Abstand von den Schneidwerkzeugen der Gewinnungsmaschine hat.
To solve this problem, the invention proposes starting from the method of the type mentioned,
  1. a) that the effluent of heat from the warmer mountain body is measured in the face of the mining area and determined by this heat flow a Leitschichtpaket of different Mazeralen with a characteristic sequence of interfaces between Mazeralen different thermal conductivity,
  2. b) and that the observation of the heat radiation of the excavation wall is perpendicular to the mining face, wherein the infrared camera is arranged on the machine body of the mining machine, that their field of view in the longitudinal direction has the greatest possible distance from the cutting tools of the mining machine.

Abweichend vom vorbekannten Verfahren orientiert sich das Verfahren gemäß der Erfindung nicht mehr an im Kohleflöz eingelagerten härteren Gesteinsschichten, sondern an der Schichtstruktur des Kohleflözes selbst. Kohleflöze sind bekanntlich aufgrund ihrer Entstehungsgeschichte nicht homogen aufgebaut, sondern bestehen aus verschiedenen aufeinander folgenden, in unterschiedlicher Dicke abgelagerten Streifen, die in der Kohlenpetrographie Mazerale (z.B. Vitrit, Durit, Clarit oder Fusit) genannt werden und unterschiedliche physikalische und chemische Eigenschaften haben. Zu den unterschiedlichen physikalischen Eigenschaften zählt unter anderem die Wärmeleitfähigkeit.Notwithstanding the previously known method, the method according to the invention is no longer oriented to embedded in the coal seam harder rock layers, but on the layer structure of the coal seam itself. Coal seams are known to be not homogeneous due to their history, but consist of several successive, deposited in different thickness strip These are called macerates (eg Vitrit, Durit, Clarit or Fusit) and have different physical and chemical properties in coal petrography. The different physical properties include, among other things, the thermal conductivity.

Am jeweils neu freigelegten Abbaustoß findet ein Abfluss von Wärme aus dem wärmeren Gebirgskörper in die kühleren Wetter des Strebraumes statt. Dieser Wärmeabfluss ist über die Mächtigkeit des Flözes jedoch nicht gleichmäßig, sondern dort intensiver, wo die anstehende Kohle eine höhere Wärmeleitfähigkeit hat und dort geringer, wo die Wärmeleitfähigkeit der anstehenden Kohle kleiner ist. Insgesamt ergibt sich also über die gesamte Mächtigkeit des Kohleflözes gesehen ein spezielles Temperaturprofil, welches - ähnlich wie ein Fingerabdruck - für dieses Kohleflöz charakteristisch ist.On the newly exposed mining lava an outflow of heat from the warmer mountain body takes place in the cooler weather of the longwall. However, this heat flow is not uniform across the thickness of the seam, but more intense where the upcoming coal has a higher thermal conductivity and lower where the thermal conductivity of the upcoming coal is smaller. All in all, therefore, a specific temperature profile, which is characteristic of this coal seam, similar to a fingerprint, results over the entire thickness of the coal seam.

Besonders charakteristisch ist die Abfolge von Grenzflächen zwischen Schichten unterschiedlicher Wärmeleitfähigkeit. Diese Grenzflächen erkennt man bei der Beobachtung des Abbaustoßes mit einer Infrarotkamera daraus, dass im Bereich dieser Grenzflächen über einen kleinen Mächtigkeitsbereich eine verhältnismäßig große Temperaturdifferenz gemessen wird. Auf diese Weise ist es möglich, innerhalb des Kohleflözes ein Leitschichtenpaket mit einer besonders charakteristischen Abfolge von Grenzenflächen zwischen Schichten unterschiedlicher Wärmeleitfähigkeit zu definieren und die Position dieses Leitschichtenpaketes innerhalb des Flözes zur Generierung von Steuerdaten zu verwenden.Particularly characteristic is the sequence of interfaces between layers of different thermal conductivity. These interfaces can be seen in the observation of the mining impact with an infrared camera from the fact that in the area of these interfaces over a small Mächtigkeitsbereich a relatively large temperature difference is measured. In this way it is possible to define within the coal seam a conductive layer package with a particularly characteristic sequence of boundary surfaces between layers of different thermal conductivity and to use the position of this conductive layer package within the seam to generate control data.

Diese grundsätzlich neuartige Ermittlung eines Leitschichtenpaketes ermöglichst es, die Infrarotkamera in einem solchen Abstand von der Schneidzone der Gewinnungsmaschine anzuordnen, dass die Messung nicht mehr durch eine Verzerrung des Messfeldes, durch Staub oder Wassernebel beeinträchtigt werden kann. Hierdurch ist es insbesondere möglich, ein wesentlich genaueres und fein differenziertes Wärmebild des Kohlestoßes zu erstellen und anhand dieses Wärmebildes das oben angesprochene Leitschichtenpaket im Kohleflöz zu definieren.This fundamentally novel determination of a conductive layer package makes it possible to arrange the infrared camera at such a distance from the cutting zone of the mining machine that the measurement can no longer be affected by a distortion of the measuring field, dust or water mist. This makes it possible in particular to create a much more accurate and finely differentiated thermal image of the coal impact and to define on the basis of this thermal image the above-mentioned Leitschichtenpaket in the coal seam.

Nach einer besonders bevorzugten Ausführungsform des Verfahrens gemäß der Erfindung ist vorgesehen, dass die Wärmebilder während der Gewinnungsfahrt entlang dem Abbaustoß wegabhängig in regelmäßigen Abständen aufgenommen werden und am Ende der Gewinnungsfahrt zu einem Gesamtwärmebild des Abbaustoßes zusammengefügt werden, welches den Verlauf des Leitschichtpaketes in Bezug auf die obere und/oder untere Begrenzungsfläche des Strebes zeigt, und dass anschließend anhand dieses Gesamtwärmebildes automatisch oder mit menschlicher Assistenz die Steuerdaten für die nächste Gewinnungsfahrt der Gewinnungsmaschine generiert werden.According to a particularly preferred embodiment of the method according to the invention, it is provided that the thermal images during the journey along the quarry are path-dependent taken at regular intervals and assembled at the end of the mining trip to form a total heat image of the quarry, which the course of the Leitschichtpaketes with respect shows upper and / or lower boundary surface of the strut, and that then based on this total heat image automatically or with human assistance, the control data for the next extraction trip of the mining machine are generated.

Das Zusammenfügen der einzelnen Wärmebilder zu einem Gesamtwärmebild des Abbaustoßes hat den Vorteil, dass einzelne Fehlmessungen auf einfache Art und Weise durch Interpolation eliminiert werden können. Eine Auswertung des Gesamtwärmebildes mit menschlicher Assistenz hat den zusätzlichen Vorteil, dass bergmännisches Erfahrungswissen über den vermutlichen Verlauf des Flözes ggf. zusätzlich bei der Generierung der Steuerungsdaten berücksichtigt werden kann.The joining of the individual thermal images to form a total thermal image of the mining wall has the advantage that individual incorrect measurements can be eliminated in a simple manner by interpolation. An evaluation of the total heat image with human assistance has the additional Advantage that mining experiential knowledge about the probable course of the seam can possibly also be taken into account when generating the control data.

Zweckmäßig werden bei der Ermittlung des Leitschichtenpaketes die Grenzflächen zwischen den Schichten unterschiedlicher Wärmeleitfähigkeit durch Kantendetektion (Hough-Transformation) ermittelt. Mit diesem Verfahren können aus der extrem großen Zahl der Daten der einzelnen Wärmebilder und des Gesamtwärmebildes auf einfache Weise die Grenzflächen zwischen Schichten unterschiedlicher Wärmeleitfähigkeit ermittelt werden und das oben erläuterte Leitschichtenpaket mit einer charakteristischen Abfolge von solchen Grenzflächen definiert werden.In the determination of the conductive layer package, the interfaces between the layers of different thermal conductivity are expediently determined by edge detection (Hough transformation). With this method, it is possible to easily determine the interfaces between layers of different thermal conductivity from the extremely large number of data of the individual thermal images and of the total thermal image and to define the conductive layer package explained above with a characteristic sequence of such boundary surfaces.

Eine besonders vorteilhafte Weiterbildung des Verfahrens gemäß der Erfindung sieht vor, dass mit Hilfe mindestens einer weiteren Infrarotkamera zusätzlich ein Wärmebild der jeweils neu frei geschnittenen oberen Begrenzungsfläche des Strebes hergestellt wird und dass dieses zusätzliche Wärmebild im Hinblick auf das Vorhandensein von Kohle oder Gestein analysiert und zur Generierung von Steuerdaten für die nächste Gewinnungsfahrt der Gewinnungsmaschine herangezogen wird. Diese weitere Infrarotkamera liefert lediglich einen Wahrscheinlichkeitswert, dass Kohle oder Nebengestein geschnitten worden sind. Die mit dieser Kamera gewonnenen Daten fließen in die Generierung der Steuerungsdaten für die nächste Gewinnungsfahrt mit ein.A particularly advantageous development of the method according to the invention provides that with the help of at least one further infrared camera additionally a thermal image of each newly cut free upper boundary surface of the strut is made and that this additional thermal image with respect to the presence of coal or rock analyzed and Generation of control data for the next extraction run the mining machine is used. This additional infrared camera only provides a probability that coal or host rocks have been cut. The data obtained with this camera are used to generate the control data for the next mining trip.

Ein Ausführungsbeispiel der Erfindung wird im Folgenden anhand der beiliegenden Zeichnung näher erläutert. Es zeigen:

Fig. 1:
eine Ansicht der schneidenden Gewinnungsmaschine und der Kameraanordnung senkrecht zum Abbaustoß gesehen,
Fig. 2:
einen Schnitt entlang der Linie II in Figur 1 und
Fig. 3:
einen Abschnitt eines Gesamtwärmebildes des Abbaustoßes.
An embodiment of the invention will be explained in more detail below with reference to the accompanying drawings. Show it:
Fig. 1:
seen a view of the cutting mining machine and the camera assembly perpendicular to the working face,
Fig. 2:
a section along the line II in FIG. 1 and
3:
a section of a total heat image of the mining wall.

In der Zeichnung ist der Maschinenkörper einer schneidenden Gewinnungsmaschine, hier eines Walzenschrämladers, mit dem Bezugszeichen 1 bezeichnet. Dieser Maschinenkörper ist unten mit Gleitkufen 2 versehen, die auf einem Strebförderer 3 entlang dem Abbaustoß 4 des Strebes verfahrbar sind. Der Strebförderer 3 ist somit zugleich Fahrgleis für die schneidende Gewinnungsmaschine.In the drawing, the machine body of a cutting extraction machine, here a roll skid loader, designated by the reference numeral 1. This machine body is provided below with skids 2, which are movable on a longwall conveyor 3 along the mining face 4 of the strut. The longwall conveyor 3 is thus at the same time track for the cutting mining machine.

An den in Fahrtrichtung vorne und hinten liegenden Enden sind an dem Maschinenkörper 1 Schwenkarme 5 und 6 gelagert, die jeweils Schneidwalzen 7 und 8 tragen, die am Umfang mit Schneidwerkzeugen besetzt sind.At the front and rear ends in the direction of travel 1 pivot arms 5 and 6 are mounted on the machine body, each carrying cutting rollers 7 and 8, which are occupied on the periphery with cutting tools.

Etwa mittig an dem Maschinenkörper 1 befindet sich ein Kameraträger 9, auf welchem eine Infrarotkamera 10 montiert ist, deren optische Achse 11 senkrecht zum Abbaustoße 4 verläuft.Approximately in the middle of the machine body 1 is a camera support 9, on which an infrared camera 10 is mounted, whose optical axis 11 is perpendicular to the removal nozzle 4.

Die Infrarotkamera 10 erfasst am Abbaustoß ein rechteckiges Messfeld 12, welches in Figur 1 in strichpunktierten Linien dargestellt ist. Die seitlichen Ränder dieses Messfeldes 12 haben in Streblängsrichtung gesehen von den Schneidwerkzeugen der Gewinnungsmaschine einen Abstand, der mindestens der halben Breite des Messfeldes 12 entspricht. Durch den Verlauf der optischen Achse 11 senkrecht zum Abbaustoß 4 und diesem Mindestabstand wird sichergestellt, dass die Wärmemessung der Infrarotkamera 10 von der Schneidarbeit der Schneidwerkzeuge, durch Staubentwicklung oder durch eingesprühten Wassernebel nicht verfälscht wird. Am besten ist es natürlich, wenn der Abstand zwischen den Schneidwerkzeugen der Gewinnungsmaschine und dem Messfeld 12 der Infrarotkamera 10 möglichst groß ist. Aus diesem Grund ist beim Ausführungsbeispiel die Infrarotkamera 10 etwa mittig auf dem Maschinenkörper 1 angeordnet. Auf diese Weise hat das Messfeld 12 der Infrarotkamera 10 von allen Schneidwerkzeugen der Gewinnungsmaschine den größtmöglichen Abstand, und zwar einen Abstand, der deutlich größer ist, als die gesamte Breite des Messfeldes 12.The infrared camera 10 detects at the excavation a rectangular measuring field 12, which in FIG. 1 shown in dash-dotted lines. The lateral edges of this measuring field 12 have seen in the longitudinal direction of the cutting tools of the extraction machine a distance corresponding to at least half the width of the measuring field 12. The course of the optical axis 11 perpendicular to the excavation 4 and this minimum distance ensures that the heat measurement of the infrared camera 10 is not distorted by the cutting work of the cutting tools, by dust or by sprayed water mist. It is best, of course, if the distance between the cutting tools of the mining machine and the measuring field 12 of the infrared camera 10 is as large as possible. For this reason, in the embodiment, the infrared camera 10 is arranged approximately centrally on the machine body 1. In this way, the measuring field 12 of the infrared camera 10 of all cutting tools of the mining machine has the greatest possible distance, and that a distance that is significantly greater than the entire width of the measuring field 12th

Die Infrarotkamera 10 erzeugt während der Gewinnungsfahrt der Gewinnungsmaschine in regelmäßigen Abständen entlang dem Abbaustoß 4 Wärmebilder, die jeweils das gesamte Messfeld erfassen und sich in Streblängsrichtung gesehen überschneiden. Die einzelnen Wärmebilder werden am Ende der Gewinnungsfahrt durch Stitching zu einem Gesamtwärmebild 13 zusammengefügt, von welchem in Figur 3 ein Abschnitt dargestellt ist. Auf diesem Gesamtwärmebild 13 erkennt man deutlich die für dieses Flöz charakteristische Schichtenfolge von Mazeralen unterschiedlicher Wärmeleitfähigkeit. Dabei werden durch Kantendetektion (Hough-Transformation) die Grenzflächen zwischen Schichten unterschiedlicher Wärmeleitfähigkeit betont, so dass auch kleine Unterschiede in der Wärmeleitfähigkeit der einzelnen Mazerale deutlich zu sehen sind.The infrared camera 10 generates during the extraction drive of the mining machine at regular intervals along the mining area 4 thermal images, each covering the entire field of view and overlap seen in the longitudinal direction of the stripe. The individual thermal images are stitched together at the end of the mining trip to form a total thermal image 13, of which in FIG. 3 a section is shown. On this overall heat image 13, one can clearly see the layer sequence of mazals of different thermal conductivity that is characteristic of this seam. In this case, the boundary surfaces between layers of different thermal conductivity are emphasized by edge detection (Hough transformation), so that even small differences in the thermal conductivity of the individual macerates can be clearly seen.

Bei der Auswertung des Gesamtwärmebildes 13 wird innerhalb der Flözmächtigkeit ein Leitschichtpaket herausgegriffen, welches eine besonders charakteristische Abfolge von Grenzflächen zwischen Schichten unterschiedlicher Wärmeleitfähigkeit hat. Ein solches Leitschichtpaket ist in Figur 1 des Ausführungsbeispieles als X bezeichnet. Ein solches Leitschichtpaket verläuft im Normalfall äquidistant zum Hangenden und Liegenden des Flözes. Aus diesem Grund kann man anhand der gemessenen Abstände zwischen dem Leitschichtpaket X und den von der Gewinnungsmaschine freigeschnittenen oberen und unteren Begrenzungsflächen des Strebes feststellen, ob der Verlauf des Strebes dem Verlauf des Flözes folgt oder nicht. Falls sich in diesen beiden Verläufen Unterschiede ergeben, können Steuerungsdaten für die nächste Gewinnungsfahrt der Gewinnungsmaschine generiert werden, welche die Gewinnungsmaschine so steuern, dass sich die beiden Verläufe wieder annähern, d. h. dass der Verlauf des Strebes möglichst genau dem Verlauf des Flözes folgt.In the evaluation of the total heat image 13, a conductive layer package is picked out within the seam thickness, which has a particularly characteristic sequence of interfaces between layers of different thermal conductivity. Such a Leitschichtpaket is in FIG. 1 of the embodiment referred to as X. Such a Leitschichtpaket runs normally equidistant to the hanging and footwall of the seam. For this reason, it can be determined from the measured distances between the Leitschichtpaket X and cut by the extraction machine upper and lower boundary surfaces of the strut whether the course of the strut follows the course of the seam or not. If differences arise in these two courses, control data can be generated for the next production run of the mining machine, which control the mining machine so that the two courses converge again, ie the course of the string follows the course of the seam as closely as possible.

Die oben erläuterte Steuerung kann auch dadurch verbessert werden, dass an dem Maschinenkörper 1 der Gewinnungsmaschine eine weitere Infrarotkamera 14 installiert wird, die auf die neu freigelegte obere Begrenzungsfläche des Strebes gerichtet ist und zusätzlich Wärmebilder von dieser oberen Begrenzungsfläche erzeugt. Diese Wärmebilder werden im Hinblick auf das Vorhandensein von Kohle oder Gestein analysiert, um Steuerungsdaten zu gewinnen, mit deren Hilfe man die Gewinnungsmaschine bei der nächsten Gewinnungsfahrt zusätzlich so steuern kann, dass der Verlauf der oberen Begrenzungsfläche des Strebes möglichst genau und ohne Kohleverluste dem Verlauf des Flözhangenden folgt.The control explained above can also be improved by installing, on the machine body 1 of the mining machine, another infrared camera 14, which is directed at the newly exposed upper boundary surface of the strut and additionally generates thermal images from this upper boundary surface. These thermal images are with regard to The presence of coal or rock analyzed in order to gain control data, with the help of which you can additionally control the mining machine in the next mining trip so that the course of the upper boundary surface of the strut as closely as possible and without coal losses following the course of the tail.

Claims (4)

  1. Method for controlling a cutting extraction machine used in coal mining, which can be moved in a longwall along a working font, in which method the heat radiation of the working face (4) newly exposed by the extraction machine, in each instance, is observed by creating heat images with the help of at least one infrared camera arranged on the machine body (1) of the extraction machine, whereby at the end of each extraction run the progression of a key bed package (X) is detected with reference to the upper and/or lower delimination surface of the seam by means of heat images of the working face taken during this extraction run, and control data for the next extraction run of the extraction machine are generated on base of the progression of the key bed package (X),
    characterised in,
    a.) that the flow of heat from the warm rock body into the longwall space is measured at the working face, and that by means of this flow of heat a key bed package (X) is detected consisting of macerals with a characteristic sequence of border layers between macerals having different heat conductivity,
    b.) and that of the observation of the heat radiation from the working face (4) is executed perpendicular to the working face (4), whereby the infrared camera (10) is so arranged on the machine body (1) of the extraction machine, that the measurement field (12) of the infrared camera(10) has in the longitudinal direction of the longwall the greatest possible distance from the cutting tools (7,8) of the extraction machine.
  2. Method according to claim 1, characterized in that the heat images are recorded during the extraction run along the working face (4), at regular intervals, as a function of the path, and that they are joined together, at the end of the extraction run, to produce an overall heat image (13) of the working face (4), which shows the progression of the key bed package (X) with reference to the upper and/or lower delimitation surface of the longwall, and that subsequently, the control data for the next extraction run of the extraction machine are generated on the basis of this overall heat image (13), automatically or with human assistance.
  3. Method according to claim 1, characterized in that in the determination of the key bed package (X), the border surfaces between the layers having different heat conductivity are determined by means of edge detection (Hough transformation).
  4. Method according to claim 1, characterized in that in addition, a heat image of the newly exposed upper delimitation surface of the longwall, in each instance, is produced using at least one additional infrared camera (14), and that this additional heat image is analyzed with regard to the presence of coal or rock, and used for generating control data for the next extraction run.
EP08785154.9A 2008-07-28 2008-07-28 Method for controlling a cutting extraction machine Active EP2307669B1 (en)

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PL08785154T PL2307669T3 (en) 2008-07-28 2008-07-28 Method for controlling a cutting extraction machine
SI200831811A SI2307669T1 (en) 2008-07-28 2008-07-28 Method for controlling a cutting extraction machine

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HK (1) HK1145530A1 (en)
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PL2307669T3 (en) 2017-10-31
CN101828004B (en) 2013-03-27
CN101828004A (en) 2010-09-08
SI2307669T1 (en) 2017-07-31
CA2681710A1 (en) 2010-01-28
WO2010012286A1 (en) 2010-02-04
EA200970716A1 (en) 2010-02-26
EP2307669A1 (en) 2011-04-13
EA014851B1 (en) 2011-02-28
US20100259091A1 (en) 2010-10-14
MX2010002257A (en) 2010-05-03
US8469455B2 (en) 2013-06-25
AU2008339514A1 (en) 2010-02-11
AU2008339514B2 (en) 2013-05-23
HK1145530A1 (en) 2011-04-21

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