JPS5980899A - Apparatus for positional determination of cutting leading end part of new pit drilling and mining machine - Google Patents
Apparatus for positional determination of cutting leading end part of new pit drilling and mining machineInfo
- Publication number
- JPS5980899A JPS5980899A JP58174453A JP17445383A JPS5980899A JP S5980899 A JPS5980899 A JP S5980899A JP 58174453 A JP58174453 A JP 58174453A JP 17445383 A JP17445383 A JP 17445383A JP S5980899 A JPS5980899 A JP S5980899A
- Authority
- JP
- Japan
- Prior art keywords
- cutting tip
- machine
- mining machine
- cutting
- shaft
- 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.)
- Pending
Links
- 238000005520 cutting process Methods 0.000 title claims description 97
- 238000005065 mining Methods 0.000 title claims description 33
- 238000005553 drilling Methods 0.000 title 1
- 238000009412 basement excavation Methods 0.000 claims description 15
- 230000005855 radiation Effects 0.000 claims description 6
- 230000005670 electromagnetic radiation Effects 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 claims description 3
- 238000007430 reference method Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000002253 acid Substances 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000010287 polarization Effects 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
-
- 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
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Environmental & Geological Engineering (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Radiation Pyrometers (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Machine Tool Sensing Apparatuses (AREA)
- Laser Beam Processing (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
本発明は坑道先進機械即ち新坑開削採鉱機械（長壁セン
断機酸部ち坑道機械）の切削先端部位置決定装置に関す
る。開削されるべき基準輪郭に関して坑道先進機械の即
ち新坑開削採鉱機械の切削先端部位置決定に就いては、
切削採鉱機械の縦軸の空間座標を坑道中に定置的に配備
された発信機の信号と協同して決定することを可能にす
る放射線レシーバ−を切削採鉱機械の台枠上に配備する
ことは既によく知られている。このようにして決定され
た切削採鉱機械の縦軸と切削採鉱機械の台枠の座標に、
それぞれ、基づいて、切削先端部の座標は、追加信号の
助力でそして、就中、切削採鉱機械に関して切削腕の枢
軸位置を決定する為にもう１つの装置の信号を用いるこ
とによって決定された。そのような切削採鉱機械に於い
ては切削先端部が基準輪郭に関して空間的或は平面的表
示で描かれる表示装置ｌを設備することは既に知られて
いる。切削先端部の位置はそれ白シでは決して直接的に
決定され得ないということと、従って切削先端部の実際
的空間座標は水平及び垂直方向からの平行偏差と切削採
鉱機械の回転角と同様に坑道軸に関しての傾斜と傾斜位
置とから決定され相当の技術的費用を伴うということは
すべての公知の構造にとっては普通一般のことであった
。多数の必要とされる構成部品の為に、そのよう゛な装
置は故障には高度の敏感度を示し故障し易かった。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an apparatus for determining the position of a cutting tip of an advanced mine shaft machine, that is, a new pit excavation mining machine (a long wall shearing machine, an acid section, a mine shaft machine). Regarding the positioning of the cutting tip of an advanced mine shaft machine, that is, a new pit excavation mining machine, with respect to the reference contour to be excavated,
The provision of a radiation receiver on the underframe of the cutting-mining machine makes it possible to determine the spatial coordinates of the longitudinal axis of the cutting-mining machine in cooperation with the signals of transmitters placed stationary in the mine shaft. Already well known. Based on the coordinates of the vertical axis of the cutting mining machine and the underframe of the cutting mining machine determined in this way,
Based on each, the coordinates of the cutting tip were determined with the aid of additional signals and, inter alia, by using the signal of another device to determine the pivot position of the cutting arm with respect to the cutting and mining machine. It is already known in such cutting and mining machines to be equipped with a display device l in which the cutting tip is depicted in a spatial or planar representation with respect to a reference contour. It is important to note that the position of the cutting tip can never be determined directly on its own and therefore the actual spatial coordinates of the cutting tip are determined by the parallel deviation from the horizontal and vertical directions as well as the rotation angle of the cutting mining machine. It is common for all known constructions that the inclination and inclination position with respect to the shaft axis are determined with considerable technical outlay. Because of the large number of required components, such devices exhibited a high degree of susceptibility to failure and were prone to failure.
本発明は今や切ｎＩＩ採鉱機械のシャシの位置を決定す
ることなしに直接切削先端部の位置と坑道に関しての部
分的切削の切削採鉱機械の切削先端部とを、それぞれ、
決定することを目指している。The present invention now allows the position of the cutting tip directly without determining the position of the chassis of the cutting nII mining machine and the cutting tip of the cutting mining machine of partial cutting with respect to the mine shaft, respectively.
aiming to decide.
この課題を解決する為に、本発明に係る坑道先進機械の
即ち新抗開削採鉱機械の切削先端部位置決定装置は、坑
道の縦軸に関して方位つけられかつ坑道内に装着される
べく適用されてなるレシーバ−と、切削先端部上に及び
／或は切削腕上に配備されｌＸｌ０−’ｃＩｒＬから１
０ｃＴＬの波長範囲内の電磁放射線用発信機と、レシー
バ−から切削先端部上の及び／′或は切削腕上の少くと
も１つの基ｒｖｓ点の距離を決定する測遠機と、その上
、好ましくは、開削されるべき基準輪郭に関しての切削
先端部の位置用表示装置と、を含有していることを特徴
としている。切削先端部上に或は切削腕上の基準点に今
や設けられた電磁放射線用発信機によって、切削先端ｌ
ｌ？ｆ≦の位置は坑道中に定置的に配備されたレシーバ
−からの該基準点の距離を同時に考慮した角度という屯
−の決定による枢軸極座標で正確に表現され得る。そし
て該位置の表現は表示装置の中に於いて及び坑道先進即
ち新坑開削採鉱機械を自動的に制御する為の制御信号と
して、それぞれ、用いられ得る。坑道面の部分に於いて
適過されるほこりの多い環境とそしてそれ故にすぐ近く
の切削先端部を考えるとき、この目的の為には可視光線
よりは吐い程度に於いて散乱されかつより高い透過能力
を持つ選ばれた放射線、即ち、好ましくは可視光線より
長い波長を含有する１×１０−４ｃｍから１０ｃＴＬの
波長範囲内の電磁放射線が良い。In order to solve this problem, the cutting tip positioning device of the advanced mine shaft machine, i.e. the new trenchless mining machine, according to the present invention is adapted to be oriented with respect to the longitudinal axis of the mine shaft and installed in the mine shaft. a receiver disposed on the cutting tip and/or on the cutting arm,
a transmitter for electromagnetic radiation in the wavelength range of 0 cTL; a distance meter for determining the distance of at least one base point on the cutting tip and/or on the cutting arm from the receiver; Preferably, it is characterized in that it contains an indicator for the position of the cutting tip with respect to the reference contour to be cut. By means of a transmitter for electromagnetic radiation now provided on the cutting tip or at a reference point on the cutting arm, the cutting tip l
l? The position of f≦ can be accurately expressed in axis-polar coordinates by determining the angle, taking into account at the same time the distance of the reference point from a receiver stationary in the mine shaft. The representation of the position can then be used in a display device and as a control signal for automatically controlling the shaft advance or trench mining machine, respectively. Considering the dusty environment that is permeated in the area of the shaft face and therefore the immediate cutting tip, for this purpose it is necessary to use a method that is scattered at the exhalation level and has a higher transmission than visible light. Selected capable radiations are preferred, ie electromagnetic radiation in the wavelength range of 1x10-4 cm to 10 cTL, preferably containing wavelengths longer than visible light.
特に便利な方法に於いては、切削作業の間に発生した熱
が利用される。というのは、切削先端部と刃とは周囲よ
りも実質的により高い温度を有しそしてそれゆえに赤外
線の発信機として作用する。In a particularly convenient method, the heat generated during the cutting operation is utilized. This is because the cutting tip and blade have a substantially higher temperature than the surroundings and therefore act as an emitter of infrared radiation.
すＪ画先端部の熱い刃と該刃の周囲との間の顕著な＋’
１′＋Ａ度差の！、、５に比ｊ咬的感受性の鈍いレシー
バ−の使用が可能になった。そして、一般に、高価なレ
シーバ−冷却装置が省略され得ることに注目してほしい
。There is a noticeable +' between the hot blade at the tip and the surrounding area of the blade.
1'+A degree difference! It has become possible to use a receiver with less occlusal sensitivity compared to . And note that, in general, expensive receiver cooling equipment can be omitted.
好ましくは、レシーバ−は、坑道内に定置的に配備され
かつ、例えば、一般的に用いられるレーデ−光線である
案内導射線からなる坑道の縦軸に関し、て方位づけられ
てなる熱温カメラとして設計されているのが良い。その
ような熱温カメラは水平回線走査を行う。Preferably, the receiver is a thermal camera arranged stationary within the mine shaft and oriented with respect to the longitudinal axis of the shaft consisting of a guiding line, e.g. a commonly used radar beam. Good design. Such thermal cameras perform horizontal line scanning.
そしてこうして得られた映像信号は公知の電子装置に直
接用いられ得るし、テレビのスクリーンで見れるように
でき及び／或は制御１装置へ供給され得る。しかし、配
列は亦以下のようでもよい。即ち、レシーバ−が旋回作
動向きに配置されかつ、坑道の縦軸に関して平行に延伸
している線と切削先端部の基準点（の位置ベクトル）と
の間の角度を決定するという目的の為に、切削先端部の
、発信機で形成された、少くとも１つの基準点に対して
方位を収らされていてもよい。本質的に公知の方法で、
例えば赤外線を用いることにより言１測された距離との
結合により、切削先端部の位置は直接表示され得る。The video signal thus obtained can then be used directly in known electronic devices, can be viewed on a television screen and/or can be supplied to a control 1 device. However, the array may be as follows: That is, for the purpose of determining the angle between a line in which the receiver is arranged in a swiveling orientation and extends parallel to the longitudinal axis of the shaft and (the position vector of) the reference point of the cutting tip. , of the cutting tip may be oriented with respect to at least one reference point formed by the transmitter. in a manner known per se;
In combination with the measured distance, for example by using infrared radiation, the position of the cutting tip can be directly indicated.
もしもただ１つの基準点が発信機として用いられるなら
、該基準点を切削先端部の回転軸に接近して配置するこ
とが推奨されるべきである。何故ならそうすれば切削先
端部の既知の大きさと切削先端Ｆ’；Ｉｓの既知の幾何
学的形状により及び計測された距離との結合で切削腕の
枢軸位置の如何なる位置に於ける切削腕でも正確な位置
を決定することが可能となるがらである。坑道面切削採
鉱に径小している切削先端部がある故に坑道面それ自身
と定置的に配備されたレシーバ−との間の距離が亦計測
され得る。If only one reference point is used as a transmitter, it should be recommended to place it close to the axis of rotation of the cutting tip. This is because the known size of the cutting tip and the known geometry of the cutting tip F'; This makes it possible to determine the exact position. Because of the reduced diameter cutting tip in the shaft face cutting, the distance between the shaft face itself and the stationary receiver can also be measured.
特に熱温カメラを用いているときにはもしも赤外線発信
機として設計されている発信機が到達された動作温度を
有する切削先端部それ自身で形成されるならばそれは特
に便利である。この場合に於いては、切削先端部の全輪
郭はレシーバ−によって受けとめられそしてこの場合に
於ける距離の計測は切削先端部の示された大きさで切削
先端部の輪郭は熱温カメラからの切削先端部の変化する
距離につれて熱温カメラの中に於いてより大ぎい映像或
はより小さい映像をそれぜれ示すという事実を考慮する
ことにより果され得るであろう。熱温カメラの固定され
た焦点距離で計測されたときの切削先端部輪郭の大きさ
の如何なる減少も熱温カメラからのより遠い距離に対応
している。Particularly when using thermal cameras, it is particularly convenient if the transmitter designed as an infrared transmitter is formed by the cutting tip itself with the operating temperature reached. In this case, the entire contour of the cutting tip is received by the receiver and the distance measurement in this case is based on the indicated size of the cutting tip and the contour of the cutting tip from the thermal camera. This could be done by taking into account the fact that as the distance of the cutting tip changes, it will respectively show a larger or smaller image in the thermal camera. Any decrease in the size of the cutting tip profile when measured at a fixed focal length of the thermal camera corresponds to a greater distance from the thermal camera.
便利な方法に於いては、表示装置はテレビのスクリーン
を有していて該スクリーン上に基準輪郭と切削先端部と
の相対的位置が表示され得る。そして、基準輪郭の表示
或は切削先端部の表示は、それぞれ、赤外線レシーバ−
即ち熱温カメラからの距離に応じて大きさに於いて変え
られ得るということに注目してほしい。この方法に於い
て、テレビのスクリーン上の表示の尺度は変えないで残
し得る。それは、もしも熱温カメラが１−ＩＪ度無焦点
レンズ有しているなら、該可変焦点レンズの焦点距離を
切削先端部の距離を調節するという聞弔な方法で実現さ
れ得る。In a convenient manner, the display device comprises a television screen on which the relative position of the reference contour and the cutting tip can be displayed. The reference contour and cutting tip are displayed using an infrared receiver, respectively.
Note that it can be changed in size depending on the distance from the thermal camera. In this way, the scale of the display on the television screen may remain unchanged. It can be accomplished in a trivial manner by adjusting the focal length of the variable focus lens to the distance of the cutting tip if the thermal camera has a 1-IJ degree afocal lens.
本発明に係る坑通先進機戚の１４ｉＪぢ新坑開削１工鉱
機械の切削先端部位置決定装置の好ましい具体例では、
熱温カメラが方位づけをされて坑道内に定置的に配備さ
れ、熱温が本質的に公知の方法で回線に沿って走査され
、かくして得られた映像信号が表示装置へ及び／或は切
削先端部の動きを制御装置へ供給される。In a preferred specific example of the cutting tip position determination device for a 14iJ new pit excavation 1 mining machine of the advanced mining equipment category according to the present invention,
A thermal camera is oriented and placed stationary in the mine shaft, the thermal temperature is scanned along the line in a manner known per se, and the video signal thus obtained is transmitted to a display device and/or to a cutting device. The movement of the tip is fed to a control device.
以下に於いて、本発明は図面に示された具体例を参考に
して更に説明される。In the following, the invention will be further explained with reference to embodiments shown in the drawings.
第１図には坑道２の中に部分的切削の切削採鉱機械１が
示されている。この坑道先進の即ち新坑開削採鉱機械１
の切削先端部４の位置を決定する本発明に係る装置は定
置的に配列されたレシーバ−８、特に熱温カメラを有し
ている。光信機６が切削先端部４上か或は切削腕３上に
配列されている。レシーバ−８の座標ｘ、ｙ、ｚに関し
ての角位栖、たけでなくレシーバ−８からの発信機６の
距離も計測される。この部分的切削採鉱機械１の切削腕
は３で示されそしてその端部に該切削腕の軸に関して横
方向に延伸している軸５の回りでの回転の為に回転可能
に支承されてなる切削先端部４を有する。赤外線発信機
から成る基準点６は切削腕３上の前記軸５に密接して配
備されている。熱温カメラ８は定置的に強化枠７上に配
備されそしてレーず一光線から成る坑道案内導射線に関
して適当な方法で方位づけされている。定置レシーバ−
８は該レシーバ−８と赤外線発信機から成る切削腕上の
基準点６との間の距離を決定する。レシーバ−の基準方
式の直角座標はＸ、ｙ及び２で示され、そして２つの角
度は第２図及び第６図によって説明される如くこの座標
に関して計測される。FIG. 1 shows a partially cut cutting mining machine 1 in a mine shaft 2. FIG. This advanced tunnel mining machine 1
The device according to the invention for determining the position of the cutting tip 4 of has a stationary array of receivers 8, in particular a thermal camera. An optical transmitter 6 is arranged on the cutting tip 4 or on the cutting arm 3. Not only the angular position with respect to the coordinates x, y, z of the receiver 8, but also the distance of the transmitter 6 from the receiver 8 is measured. The cutting arm of this part-cutting mining machine 1 is indicated at 3 and is rotatably supported at its end for rotation about an axis 5 extending transversely with respect to the axis of the cutting arm. It has a cutting tip 4. A reference point 6 consisting of an infrared transmitter is arranged close to said shaft 5 on the cutting arm 3. Thermal camera 8 is mounted stationary on the reinforcement frame 7 and oriented in a suitable manner with respect to the tunnel guide line consisting of a laser beam. stationary receiver
8 determines the distance between the receiver 8 and a reference point 6 on the cutting arm consisting of an infrared transmitter. The rectangular coordinates of the receiver's reference system are designated X, Y, and 2, and the two angles are measured with respect to these coordinates as illustrated by FIGS. 2 and 6.
第２図に於いて、基準方式の直角座標は熱温カメラ８と
いう計測点にその原点かあるものとして示されている。In FIG. 2, the orthogonal coordinates of the reference method are shown with their origin at the measurement point of the thermal camera 8.
ｘ−ｙ一平面は簡単な方法で坑道案内導射線９に関して
平行に方位づけられている。The x-y plane is oriented parallel to the shaft guide ray 9 in a simple manner.
熱温カメラの基準方式のそのような方位づけに基づいて
、切削腕の基準点及び切削先！ＩＷ部の基準点は、それ
ぞれ、角度θ、ψと距離１による極座標で表示される。Based on such orientation of the thermal camera reference method, the reference point of the cutting arm and the cutting destination! The reference points of the IW section are respectively displayed in polar coordinates with angles θ and ψ and distance 1.
熱温カメラ８という基準方式の原点と切削先端部上の基
準点或は切削腕上の基準点との間の距離及び２つの角度
は、それぞれ、Ｊ１測される。同様に良く適した方法で
亦、切削先端部の、第１図に１０で示された、外側輪郭
は全体として熱温カメラによって走査され得る。第３図
には計測されるべき角度θ、ψが示されてい小。The distance and two angles between the origin of the reference method of thermal camera 8 and the reference point on the cutting tip or the reference point on the cutting arm are measured J1, respectively. In an equally well-suited manner, the entire outer contour of the cutting tip, indicated at 10 in FIG. 1, can be scanned by a thermal camera. In Figure 3, the angles θ and ψ to be measured are shown.
亦第４図に於いては、レシーバ−８は定置的に配備され
そして坑道の縦軸に関して方位づけられている。そして
、該レシーバ−は強化枠７に固着されている。この場合
に於いて、角度θ１ はレシーバ−の基準方式のｘ−ｙ
一平面に関して計測されるので第６図の角度θから９０
°差しづ［いたものとなる。似ている方法で、角度ψは
、上記の平面的図には示されていないが、レシーバ−の
基準方式のＸ−軸から出発している。切削腕上の基準点
６とレシーバ−８という計測点との間の距離Ｉの代りに
レシーバ−８と坑道面１１との間の距離ａが甜測されて
も良い。何故ならばこの距離は、ｉｒ’ｒ ”／靭范６
からのレシーバ−８のより大ぎい距離と比べて、該距離
１から無意味なくらいほんの少し異っているたけである
からである。Also in FIG. 4, the receiver 8 is stationary and oriented with respect to the longitudinal axis of the shaft. The receiver is fixed to the reinforcing frame 7. In this case, the angle θ1 is x-y of the receiver reference system.
Since it is measured on one plane, it is 90 degrees from the angle θ in Figure 6.
°It becomes something that is present. In a similar manner, the angle ψ, which is not shown in the above plan view, starts from the X-axis of the receiver's reference system. Instead of the distance I between the reference point 6 on the cutting arm and the measuring point of the receiver 8, the distance a between the receiver 8 and the tunnel surface 11 may be measured. This is because this distance is
This is because the distance 1 differs so little that it is meaningless compared to the larger distance of the receiver 8 from the distance 1.
さて、仮に切削腕上に或は切削先端部上に位置しかつ赤
外線発信機から成る成る基準点６０代りに、切削先端部
４の全体外側輪馴５１０が熱温カメラによって描出され
たとしても、第５図に示されている如く、熱温カメラの
映像信号からテレビのスクリーン上に直ちに表示が得ら
れる。表示装置１２のスクリーンは１３で示されそして
先進されるべき坑道の基準輪郭１４を示している。切削
先端部４の映像は基準輪郭１４内に見られる。そして回
転刃の軌跡は実質的に垂１五に延伸する往復運動として
鮮明に描出される。Now, even if instead of the reference point 60 located on the cutting arm or on the cutting tip and consisting of an infrared transmitter, the entire outer ring 510 of the cutting tip 4 is imaged by a thermal camera, As shown in FIG. 5, a display is immediately obtained on the television screen from the video signal of the thermothermal camera. The screen of the display device 12 is indicated at 13 and shows a reference contour 14 of the mine shaft to be advanced. An image of the cutting tip 4 is seen within the reference contour 14. The locus of the rotary blade is clearly depicted as a reciprocating motion extending substantially vertically.
熱温カメラの映像信号を走査するのに適した回路が第６
図に結線図的に示されている。レジ−／Ｎ”１−とじて
の熱温カメラは８で示されている。垂直及び水平ビーム
偏光用信号が電線管１５及び１６を、それぞれ、介して
熱ズカメラに供給される。The sixth circuit is suitable for scanning the video signal of a thermal camera.
It is shown diagrammatically in the figure. A thermal camera with a register/N"1 is shown at 8. Signals for vertical and horizontal beam polarization are supplied to the thermal camera via conduits 15 and 16, respectively.
映像信号は回線１７と微分要素１８を介してコンパレー
タ１９へ到着し直ちに表示装置１２という監視装置に供
給され得る。The video signal arrives at a comparator 19 via a line 17 and a differentiating element 18 and can immediately be supplied to a monitoring device called a display device 12.
Claims (8)
内に装着されるべく適用されてなるレシーバ−（８）と
、切削先端部（４）上に及び／或は切削腕（３）上に配
備されたＩ Ｘ １０ ’ａｎから１０ＣｎＬの波長範
囲内の電磁放射線用発信１（６）と、レシーバ−（８）
から切削先端部（４）及び或は切削腕（３）上の基準点
の距離Ｃｒ）を決定する為の？１Ｉｌｌ遠機と、その上
、好ましくは、開削されるべき基ｒ￥輪郭に関する切削
先端部（４）の位置用表示装置と、を含有することを特
徴とする坑道先進機械の即ち新坑開削採鉱機械の先側先
端部位置決定装置。(1) a receiver (8) positioned with respect to the longitudinal axis of the shaft and adapted to be mounted within the shaft, and arranged on the cutting tip (4) and/or on the cutting arm (3); transmitter 1 (6) and receiver (8) for electromagnetic radiation in the wavelength range from I x 10 'an to 10 CnL
to determine the distance Cr) of the reference point on the cutting tip (4) and/or the cutting arm (3) from ? A tunnel advanced machine, i.e., a new shaft excavation mining machine, characterized in that it contains a telescope and, additionally, preferably an indicator for the position of the cutting tip (4) with respect to the base contour to be excavated. A device for determining the position of the leading end of the machine.
機械のｋｌｌち新坑開削採鉱機械の切削先端部位置決定
装置に於いて； ｎｉ：記レシーバ−（８）が熱温カメ
ラとして設置１されていることを特徴とする坑道先進機
械の即ち新坑開削採鉱機械の切削先端部位置決定装置。(2) Scope of Patent Wj'7 In the cutting tip position determination device of the advanced mine tunnel machine kll or the new pit excavation mining machine as stated in paragraph 1 of the clause 1; A device for determining the position of a cutting tip of an advanced mine shaft machine, that is, a new pit excavation mining machine, characterized in that it is installed as a temperature camera.
進機械の即ち新坑開削採鉱機械の切削先端部位置決定装
置に於いて；前記レシーバ−（８）が旋回作動向きに配
置されかつ、坑道の縦軸に関して平行に延伸している線
と切削先端部（４）の基準点（の位置ベクトル）との間
の角度（θ）を決定するという目的の為に、切削先端部
（４）について発信機（６）で形成された少くとも１つ
の基準点の方向に方位を取り得ることを特徴とする坑道
先進機械の即ち新坑開削採鉱機械の切削先端部位置決定
装置。(3) In the cutting tip position determining device of an advanced mine shaft machine, that is, a new pit excavation mining machine, as set forth in claim 1 or 2; For the purpose of determining the angle (θ) between a line located and extending parallel to the longitudinal axis of the shaft and (the position vector of) the reference point of the cutting tip (4), the cutting tip (4) A device for determining the position of a cutting tip of an advanced mine shaft machine, i.e. an open-cut mining machine, characterized in that the part (4) can be oriented in the direction of at least one reference point formed by a transmitter (6).
ち新坑開削採鉱機械の切削先端部位置決定装置に於いて
；切削先端部（４）に設けられた前記基準点が切削先端
部（４）の回転の軸（５）の附近に配備されていること
を特徴とする坑道先進機械の即ち新坑開削採鉱機械の切
削先端部位置決定装置。(4) In the cutting tip position determining device for an advanced mine shaft machine, that is, a new pit excavation mining machine, as set forth in claim 6; the reference point provided on the cutting tip (4) is the cutting tip. A cutting tip position determining device for an advanced mine tunnel machine, that is, a new pit excavation mining machine, characterized in that the device is disposed near the rotation axis (5) of the section (4).
に記載の坑道先進機械の即ち新坑開削採鉱機械の切削先
端部位置決定装置に於いて；前記発信機（６）が赤外線
の発信機として設計されそして好ましくは到達される運
転温度を有する切削先端部から形成されることを特徴と
する坑道先進機械の即ち新坑開削採鉱機械の切削先端部
位置決定装置。(5) Permissible range of claims In the cutting tip position determining device of an advanced mine shaft machine, that is, a new pit excavation mining machine, as set forth in any one of claims 1 to 4; ) is formed from a cutting tip designed as a transmitter of infrared radiation and preferably having an operating temperature reached.
に記載の坑道先進機械の即ち新坑開削採鉱機械の切削先
端部位置決定装置に於いて；前記表示装置（１２）が基
準輪郭（１４）に関して切削先端部（４）の位置が表示
され得るテレビのスクリーン（１３）を含有し、基準輪
郭の表示或は切削先端部の表示が赤外線放射に対してレ
シーバ−（８）からの、即ち、それぞれ熱図カメラがら
の切削先端部（４）の距離（１）に依って大きさに於い
て変えられ得ることを特徴とする坑道先進機１への即ぢ
新坑開削採鉱機械の切削先端部位１Ｍ決定装置胤。(6) In the cutting tip position determining device for an advanced mine shaft machine, that is, a new pit excavation mining machine, as set forth in any one of claims 1 to 5; the display device (12); contains a television screen (13) on which the position of the cutting tip (4) with respect to the reference contour (14) can be displayed, and the display of the reference contour or the display of the cutting tip is directed to the receiver (8) for infrared radiation. ), i.e., the immediate opening of a new shaft into the tunnel advanced machine 1, characterized in that it can be varied in size depending on the distance (1) of the cutting tip (4) of the thermal map camera, respectively. Mining machine cutting tip part 1M determination device seed.
進機械の即ち新坑開削採鉱機械の切削先端部位置決定装
置に於いて；前記熱図カメラ（８）が可変焦点レンズを
含有し、該可変焦点レンズの焦点距離が切削先端部の距
離（ｒ）によってｍｉＡ整可能であることを特徴とする
坑道先進機械の即ち新坑開削採鉱機械の切削先端部位置
決定装置。(7) In the cutting tip position determining device of an advanced mine shaft machine, that is, a new pit excavation mining machine, as set forth in claim 2 or 6; the thermal map camera (8) is a variable focus lens. A cutting tip position determining device for an advanced mine shaft machine, that is, a new pit excavation mining machine, characterized in that the focal length of the variable focus lens can be adjusted by miA depending on the distance (r) of the cutting tip.
の坑道先進機械の即ち新坑開削採鉱機械の切削先端部位
置決電装ｆｆに於いて；前記熱図カメラ（８）が方位づ
けをされて坑道内に定置的に配備され、熱図が本質的に
公知の方法で回線に沿って走査され、かくして得られた
映像信号が表示装置（１２）へ及び／或は切削先端部の
動きを制御する制御装置へ供給されることを特徴とする
坑道先進機械の即ち新坑開削採鉱機械の切削先端部位置
決定装置。(8) In the cutting tip positioning device ff of the advanced mine shaft machine, that is, the new pit excavation mining machine, as set forth in claim 2, 6, or 7; ) is oriented and placed stationary in the mine shaft, the thermal map is scanned along the line in a manner known per se and the video signal thus obtained is transmitted to a display device (12) and/or A device for determining the position of a cutting tip of an advanced mine tunnel machine, that is, a new pit excavation mining machine, characterized in that the device is supplied to a control device for controlling the movement of the cutting tip.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| AT3548/82 | 1982-09-23 | ||
| AT0354882A AT375153B (en) | 1982-09-23 | 1982-09-23 | DEVICE FOR DETECTING THE POSITION OF THE CUTTING HEAD OF A PITCHING OR RECOVERY MACHINE |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS5980899A true JPS5980899A (en) | 1984-05-10 |
Family
ID=3552036
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58174453A Pending JPS5980899A (en) | 1982-09-23 | 1983-09-22 | Apparatus for positional determination of cutting leading end part of new pit drilling and mining machine |
Country Status (12)
| Country | Link |
|---|---|
| EP (1) | EP0105867B1 (en) |
| JP (1) | JPS5980899A (en) |
| AT (1) | AT375153B (en) |
| AU (1) | AU563232B2 (en) |
| CA (1) | CA1229675A (en) |
| CS (1) | CS687583A2 (en) |
| DE (1) | DE3375595D1 (en) |
| HU (1) | HU191876B (en) |
| IN (1) | IN159093B (en) |
| PL (1) | PL142733B1 (en) |
| RO (1) | RO89261A (en) |
| ZA (1) | ZA836472B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103195433A (en) * | 2013-03-20 | 2013-07-10 | 中国矿业大学(北京) | Method for speedy drivage in large section coal road |
| CN108655821A (en) * | 2018-05-20 | 2018-10-16 | 余静远 | Centralizer and application method |
| CN112963165A (en) * | 2021-03-17 | 2021-06-15 | 大连理工大学 | Design method of full-face rock tunnel boring machine cutter system guiding positioning interface based on machine operation |
| CN114658429A (en) * | 2022-03-01 | 2022-06-24 | 河海大学 | High-temperature high-pressure fluid hole internal circulation impact energy release advanced pre-splitting rock breaking device and method |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3806224A1 (en) * | 1988-02-26 | 1989-09-07 | Siemens Ag | Device for tracking the movement of a moving object, especially of a getter machine in mining |
| KR930007231A (en) * | 1991-09-13 | 1993-04-22 | 강진구 | Object tracking device and method of camcorder |
| PL2307669T3 (en) | 2008-07-28 | 2017-10-31 | Eickhoff Bergbautechnik Gmbh | Method for controlling a cutting extraction machine |
| EP2474808A1 (en) | 2011-01-10 | 2012-07-11 | Leica Geosystems AG | Geodesic measuring device with thermographic camera |
| CN102587911B (en) * | 2012-03-08 | 2014-04-23 | 三一重型装备有限公司 | Tunneling control system and method for tunneling machine and tunneling machine |
| CN109356653B (en) * | 2018-11-01 | 2023-10-24 | 云南昆钢电子信息科技有限公司 | Drop shaft depth measuring device and method |
| CN109538208A (en) * | 2018-12-21 | 2019-03-29 | 冀中能源峰峰集团有限公司 | A kind of compound positioning system of cutting head of roadheader and method |
| CN111472841B (en) * | 2020-03-05 | 2021-11-05 | 天地科技股份有限公司 | Fully mechanized coal mining face equipment group pose unifying method |
| CN115711157B (en) * | 2022-11-14 | 2023-08-01 | 北京科技大学 | Mining magnetic field distributed monitoring-based coal seam outburst dangerous area identification method |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2901598C2 (en) * | 1979-01-17 | 1986-03-20 | Gebr. Eickhoff Maschinenfabrik U. Eisengiesserei Mbh, 4630 Bochum | Device for checking the position of a partial cutting machine |
| DE3016592A1 (en) * | 1980-04-30 | 1981-11-05 | Gewerkschaft Eisenhütte Westfalia, 4670 Lünen | METHOD AND DEVICE FOR PROFILE-PRECISION CUTTING OF THE DRIVE CROSS SECTION IN DRIVING UNDERGROUND CONSTRUCTIONS |
| DE3120010A1 (en) * | 1981-05-20 | 1982-12-09 | Ed. Züblin AG, 7000 Stuttgart | METHOD FOR DETERMINING THE POSITION OF A PREPRESSED HOLLOW PROFILE STRAND AND DEVICE FOR IMPLEMENTING THE METHOD |
-
1982
- 1982-09-23 AT AT0354882A patent/AT375153B/en not_active IP Right Cessation
-
1983
- 1983-08-24 IN IN1035/CAL/83A patent/IN159093B/en unknown
- 1983-08-25 PL PL1983243526A patent/PL142733B1/en unknown
- 1983-08-25 AU AU18428/83A patent/AU563232B2/en not_active Ceased
- 1983-08-31 ZA ZA836472A patent/ZA836472B/en unknown
- 1983-09-02 HU HU833073A patent/HU191876B/en unknown
- 1983-09-08 CA CA000436256A patent/CA1229675A/en not_active Expired
- 1983-09-12 RO RO83112039A patent/RO89261A/en unknown
- 1983-09-21 CS CS836875A patent/CS687583A2/en unknown
- 1983-09-22 DE DE8383890168T patent/DE3375595D1/en not_active Expired
- 1983-09-22 EP EP83890168A patent/EP0105867B1/en not_active Expired
- 1983-09-22 JP JP58174453A patent/JPS5980899A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103195433A (en) * | 2013-03-20 | 2013-07-10 | 中国矿业大学(北京) | Method for speedy drivage in large section coal road |
| CN108655821A (en) * | 2018-05-20 | 2018-10-16 | 余静远 | Centralizer and application method |
| CN112963165A (en) * | 2021-03-17 | 2021-06-15 | 大连理工大学 | Design method of full-face rock tunnel boring machine cutter system guiding positioning interface based on machine operation |
| CN114658429A (en) * | 2022-03-01 | 2022-06-24 | 河海大学 | High-temperature high-pressure fluid hole internal circulation impact energy release advanced pre-splitting rock breaking device and method |
Also Published As
| Publication number | Publication date |
|---|---|
| ZA836472B (en) | 1984-04-25 |
| ATA354882A (en) | 1983-11-15 |
| EP0105867A3 (en) | 1985-12-27 |
| DE3375595D1 (en) | 1988-03-10 |
| EP0105867B1 (en) | 1988-02-03 |
| RO89261A (en) | 1986-03-15 |
| HU191876B (en) | 1987-04-28 |
| AU563232B2 (en) | 1987-07-02 |
| AT375153B (en) | 1984-07-10 |
| IN159093B (en) | 1987-03-21 |
| CS687583A2 (en) | 1988-09-16 |
| AU1842883A (en) | 1984-03-29 |
| PL243526A1 (en) | 1984-04-09 |
| PL142733B1 (en) | 1987-11-30 |
| EP0105867A2 (en) | 1984-04-18 |
| CA1229675A (en) | 1987-11-24 |
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