US20120098325A1 - Method for the Automated Production of a Defined Face Opening by Means of Slope-Assisted Radar Navigation of the Roller of a Roller Cutter Loader - Google Patents

Method for the Automated Production of a Defined Face Opening by Means of Slope-Assisted Radar Navigation of the Roller of a Roller Cutter Loader Download PDF

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Publication number
US20120098325A1
US20120098325A1 US13/380,692 US201013380692A US2012098325A1 US 20120098325 A1 US20120098325 A1 US 20120098325A1 US 201013380692 A US201013380692 A US 201013380692A US 2012098325 A1 US2012098325 A1 US 2012098325A1
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United States
Prior art keywords
disk
main body
support frame
disk shearer
shield support
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Abandoned
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US13/380,692
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English (en)
Inventor
Martin Junker
Armin Mozar
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RAG AG
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Individual
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Publication date
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Assigned to RAG AKTIENGESSELLSCHAFT reassignment RAG AKTIENGESSELLSCHAFT ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: MOZAR, ARMIN, JUNKER, MARTIN
Publication of US20120098325A1 publication Critical patent/US20120098325A1/en
Abandoned legal-status Critical Current

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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
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
    • E21D23/0004—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor along the working face
    • E21D23/0034—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor along the working face comprising a goaf shield articulated to a base member
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
    • E21D23/12—Control, e.g. using remote control
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
    • E21D23/12—Control, e.g. using remote control
    • E21D23/14—Effecting automatic sequential movement of supports, e.g. one behind the other
    • E21D23/144—Measuring the advance of support units with respect to internal points of reference, e.g. with respect to neighboring support units or extension of a cylinder

Definitions

  • the present invention relates to a method for the automated production of a defined face opening for longwall mining operations comprising a face conveyor, a roller cutter loader or disk shearer as an extraction machine, and a hydraulic shield support in underground coal mining.
  • One problem with the automation of longwall mining controls includes, among others, being able to ensure that in the forward region of the top canopy of each individual shield support frame, there is an adequate vertical height, in other words, an adequate face opening, in order to ensure that the disk shearer can travel by in a manner free of interference, since each collision of the disk shearer with the top canopy of a shield support frame because of a face opening that is too small leads to corresponding disruptions in operation or even damage to the equipment.
  • the invention provides a method wherein the distance between the top or upper edge of the roller or disk base or main body and the bottom side or underside of the slope end cap or top canopy of the shield support below which the main body respectively travels during extraction work, i.e. below which the extraction work takes place, is measured by means of at least one radar sensor mounted on the roller or disk base body of the roller cutter loader or disk shearer, wherein the measured distance is entered into a computer as the actual value of the passage height of the roller cutter loader or disk shearer under the shield support and is then compared to a target value stored in the computer, wherein control commands for adapting the cutting height of at least one of the two cutter rollers or disks of the roller cutting loader or disk shearer are generated if a deviation is determined.
  • the invention has the advantage that the control objective of maintaining a defined face opening during the extraction travels of the disk shearer can be achieved with a relatively low expenditure.
  • the passage height which is measured as the distance between the upper edge of the main body of the disk shearer and the underside of the top canopy of the shield support, is also a direct measure for the face opening, since the face opening is composed of the passage height and the distances to the roof or overlying stratum assumed by the longwall equipment, and hence unalterable, on the one hand, and to the footwall or the footwall layer cut free by the footwall disk on the other hand.
  • the distance to the overlying stratum that goes beyond the passage height is prescribed by the dimensions of the top canopy, while the distance of the radar sensors to the footwall layer is prescribed by the overall height of the face conveyor that rests upon the footwall layer and the main body of the disk shearer that can travel thereon.
  • the value respectively measured for the passage height is used directly as a synonym for the height of the face opening.
  • the control operations can thus be carried out more rapidly.
  • the target value for the face opening prescribed in the computer is either prescribed by the deposit data, in other words in particular by the thickness of the seam, or is determined by the minimum passage height of the longwall equipment. As a function of the construction data of the longwall equipment, the target value can also be represented as the target travel for the passage opening.
  • the alteration of the cutting height at the conclusion of an extraction travel of the disk shearer is undertaken along the face, so that the conditions during an extraction travel respectively remain constant and are respectively available for comparison purposes.
  • the alteration of the cutting height of the cutting disks can also be continuously effected as a reaction to the target value deviations detected in the computer; this results in an adaption to position changes of the longwall equipment at any given time.
  • a respective radar sensor is disposed at the additional ends of the main body of the disk shearer, whereby that radar sensor that is respectively toward the front as viewed in the direction of travel delivers the actual signals for the measured distance.
  • the signals received by the two radar sensors can be continuously conveyed to the computer, where they are evaluated, whereby in the event that a deviation of the passage height measured by that radar sensor that is toward the front in the direction of travel from the target value is determined, a control command is immediately generated for the rear cutting disk of the disk shearer as viewed in the direction of travel.
  • the correction value of the cutting height of the cutting disks established during successive extraction travels by the respectively generated control commands are compared with one another for adjustment purposes, and the total value determined from the correction values is used as a measure for an input convergence and is taken into account with future extraction travels when a necessary cutting height adaptation is determined, it is possible in this manner to draw conclusions regarding a convergence that commences in the meantime. If during a first extraction travel there is a need for correcting the cutting height, it is possible to check for the next extraction travel whether after carrying out the correction the prescribed face opening is cut free. If in so doing a new requirement for correction results, this can be brought about only by a convergence that commences in the meantime.
  • the face height determination via the radar measurement is supplemented in that by means of the inclination sensors mounted on at least three of the four main components of each shield support frame, such as floor skid, gob shield, supporting connection rods, and that region on the top canopy of the side of the gob shield, the inclination of the shield support components relative to the horizontal are determined in the direction of advancement, and from the measured data, in a computer, by comparison with base data that is stored therein and that defines the geometrical orientation of the components and their movement during the advancement, the respective perpendicular height of the shield support frame at the front end of the top canopy is calculated as a measure for the actual face opening, and the thus determined actual values of the shield height calculation are conveyed to the computer, which processes the actual values from the passage height measurement.
  • the inclination sensors mounted on at least three of the four main components of each shield support frame such as floor skid, gob shield, supporting connection rods, and that region on the top canopy of the side of the gob shield
  • the supplemental determination of the face opening by means of the determination of the shield support height has the advantage that the data thus obtained at individual shield support frames provides additional information regarding the condition of individual sections of the face front, or the entire face front as extraction progresses, thus enabling an integral process control of the respective mining operation.
  • the aforesaid moments of danger are particularly applicable when traveling through saddles or troughs in the contour of the seam or bed, which can be taken into account right from the beginning by means of an appropriate setting of the cutting height of the disk shearer.
  • the corresponding face opening data can provide information about a possible caving from the roof or overlying stratum, the occurrence of narrowings of the seam, the “traveling-on-coal” by the disk shearer and/or a possible cutting of the disk shearer into the footwall.
  • the determination of the shield height delivers data for the face opening that is to be anticipated, which can then be compared with the data measured from the disk shearer as it passes through.
  • the precisions of both manners of proceeding can be better estimated.
  • the two manners of proceeding complement one another, thus providing a redundancy when checking the respective face opening.
  • a further advantage is that even if one of the two systems for determining the face opening fails, the extraction can continue on the basis of the remaining measurement system.
  • the actual values from the passage height measurement taking into account the overall height of the top canopy and the construction of the face conveyor and the main body of the disk shearer, are converted into an actual face opening and are compared with the actual face opening as the product of the shield height calculation.
  • the inclination of the cutting disks of the disk shearer relative to the coal face in the direction of mining can have a considerable part in the alteration of the face opening by the cutting work.
  • This inclination results from the fact that with a correction of the cutting height in particular of the footwall disk, traveling over the step that thereby results in the footwall layer leads to a tilting of the face conveyor relative to the footwall or even relative to the overlying stratum upon advancement of the face conveyor in the direction of mining due to the cutting width of the cutting disks, which is less than the width of the face conveyor with the main body of the disk shearer traveling thereon.
  • the inclination of the face conveyor and/or disk shearer relative to the horizontal in the direction of mining is determined by means of inclination sensors mounted on the face conveyor and/or disk shearer, whereby the angle of inclination of the face conveyor and/or the disk shearer in a relationship to the angle of inclination determined at the top canopy of the shield support frame and/or at the floor skid thereof can be set, and the differential angle formed thereby can be taken into account in the calculation of the actual face opening that is to be established with successively following advancement cycles of the shield support frame.
  • the radar sensors are set flushly into the surface of the main body of the disk shearer, so that as a result an exact value for the face opening can be measured.
  • a high pressure water rinsing device for the radar sensors is arranged on the main body of the disk shearer, and pursuant to a specific embodiment of the invention is time-controlled.
  • the high pressure water rinsing device can be event-controlled, i.e. for example the degree of fouling or dirt-accumulation is recognized, and when the dirt accumulation limits the precision of measurement, activation of the high pressure water rinsing device is effected.
  • a mechanically operating scraping device for the cleaning of the radar sensors a mechanically operating scraping device can be provided.
  • a time-controlled or event-controlled activation of the scraping device can be provided.
  • the radar sensors that are disposed in the region of the surface of the main body of the disk shearer are disposed in the main dirt-accumulation region of the main body, to reduce the dirt accumulation alternatively the radar sensors can be disposed laterally on the path of travel side of the main body of the disk shearer, whereby the radar sensors can preferably be provided between the winches that are disposed on the main body of the disk shearer, and hence in a region that is also mechanically protected.
  • the radar sensors can be disposed at an angle relative to the surface of the main body of the disk shearer, so that the thus inclined surface of the radar sensors is less susceptible to dirt.
  • the measured longer path of the radar signals must be converted to a perpendicular distance between the upper edge of the main body of the disk shearer and the underside of the top canopy of the shield support frame.
  • two radar sensors can be disposed on the main body of the disk shearer at a distance from one another and with a beam direction that is opposite to one another; in such a case, both signal transmission durations can be converted into the desired spacing or distance determination, and the distances resulting therefrom can be established in relationship to one another.
  • FIG. 1 is a schematic front view, seen in the direction of mining, of longwall equipment, including extraction machine and shield support frames illustrated only with their top canopies,
  • FIGS. 2 a - c are side views of the longwall equipment of FIG. 1 with an enlargement of the actual heights of the face opening carried out in two successive extraction travels, and
  • FIG. 3 is a schematic side view showing a shield support frame having inclination sensors disposed thereon.
  • a seam or layer 12 which is disposed between a roof or overlying stratum 10 and a footwall 11 , is extracted by means of a disk shearer 13 , which is provided with two cutting disks 16 a and 16 b that are mounted via support arms 15 on a main body 14 of the disk shearer.
  • the cutting disk 16 a With a direction of movement of the disk shearer 13 along the seam 12 , as is indicated by the arrow 17 , the cutting disk 16 a operates as a leading cutting disk that cuts along the layer at the overlying stratum, while the cutting disk 16 b that cuts along the layer at the footwall operates as a trailing cutting disk.
  • the overlying stratum portion of the seam 12 is supported by shield supports 25 ( FIG. 2 ) that are oriented perpendicular to the direction of movement 17 of the disk shearer 13 ; only the top canopies 28 of the shield supports can be recognized in FIG. 1 .
  • two radar sensors 18 are disposed on the main body set flushly in the upper surface of the main body 14 ; the radar sensors 18 emit signals perpendicularly and upwardly in the direction of the top canopies 28 , and again receive the reflected signals, so that the distance between the top canopies 28 and the main body 14 can be determined in a straightforward manner, and in particular already early during the extraction travel of the disk shearer 13 .
  • the two radar sensors 18 are disposed at the front and rear ends of the main body 14 respectively, and are set flushly into the upper surface of the main body.
  • appropriate cleaning devices in the form of mechanical scrapers or high pressure water rinsing devices can be provided.
  • the thickness of the seam or layer 12 which is indicated by the arrow 19 , is less than the minimum passage height of the longwall equipment indicated by the arrow 20 , so that for the production or maintenance of the minimum passage height 20 , the trailing cutting disk 16 b respectively carries out a cut 21 into the footwall.
  • the passage height 22 ( FIG. 2 a ) that is determined by the use of the radar sensors 18 and is disposed between the top canopies 28 and the main body 14 of the disk shearer is known, it is possible therefrom in a straightforward manner to also determine the actual height of the face opening, since the distance between the upper edge of the main body 14 and the footwall 11 has a fixed value due to the steel construction comprised of the face conveyor 23 that rests upon the footwall and the disk shearer 13 that travels thereon.
  • the passage height (arrow 22 ) between the top canopy 28 and the main body 14 is determined by the radar sensors 18 , and from this the actual value of the face opening that exists between the overlying stratum 10 and footwall 11 can be determined.
  • the actual height of the face opening is less than the minimum passage height 20 of the longwall equipment, so that during each extraction travel, the trailing cutting disk 16 b must respectively carry out an additional cut into the footwall in order to step by step increase the overall height of the face opening that is cut free or exposed.
  • a height of the face opening determined at the shield support frames 25 is still classified as too low relative to the minimum passage height of the longwall equipment, with the result that further additional cuts into the footwall at the disk shearer 13 would be initiated in order to increase the supposedly still too low actual height of the face opening, although the target height of the face opening is already achieved starting with the position of the main body 14 of the disk shearer illustrated in FIG. 2 c.
  • the face height control can be supplemented beyond the use of the radar sensors on the disk shearer 13 , and can be checked and improved with respect to its control performance, by additionally carrying out a determination of the actual height of the face opening also in the region of the shield frame support 25 .
  • mounted on each shield support frame 25 are inclination sensors, so that it is possible merely on the basis of the geometrical conditions when the shield support frame 25 is used and which can be determined with a relatively small expenditure, to determine the face opening, in the form of the perpendicular height (h 1 ) that exists at the front end of the canopy 28 .
  • a shield support frame 25 is provided with a floor skid 26 on which are placed two parallel props 27 , only one of which can be recognized in FIG. 3 ; at their upper ends, these props support a top canopy 28 . While at its front (left) end the top canopy 28 projects in the direction of the disk shearer 13 , at the rear (right) end of the top canopy 28 a gob shield 29 is hinged on by means of a joint 30 , whereby as viewed from the side, the gob shield is supported by two supporting connection rods 31 that rest upon the floor skid 26 .
  • inclination sensors 32 mounted on the shield support frame 25 are three inclination sensors 32 , in particular one inclination sensor 32 on the floor skid 26 , one inclination sensor 32 in the rear region of the top canopy 28 in the vicinity of the joint 30 , and one inclination sensor 32 on the gob shield 29 .
  • an inclination sensor can also be provided on the fourth moveable component of the shield support frame 25 , namely the supporting connection rods 31 , whereby of the four possible inclination sensors 32 , in each case three inclination sensors must be installed in order to be able to determine with the inclination values determined thereby the position of the shield support frame in a working area.
  • the invention can be shifted to the front region of the canopy if a protected space is available in the canopy configuration.
  • the invention is not limited to the arrangement of the inclination sensors concretely illustrated in FIG. 3 ; rather, the invention includes all possible combinations of three inclination sensors on the four moveable components of the shield frame.
  • the shield support frame 25 due to the known kinematics of the shield support frame 25 , it is possible depending upon the position of the floor skid 26 , the gob shield 29 and the top canopy 28 relative to one another to determine the heights h 1 , h 2 and h 3 , whereby the height h 1 is applicable for the determination of the perpendicular height of the face opening, whereas the height h 2 forms a measure for a possible excessive height when the shield support frame is completely extended, or for a danger of superimposition or striking, while the height h 3 can be used for the observation of the convergence.
  • the determination of the heights h 1 , h 2 and h 3 can be effected with the aid of the measurement values of the inclination sensors 17 , whereby the values measured by these sensors 17 are compared in a non-illustrated computer with the base data stored therein for the geometrical orientation of the components and their movement characteristics relative to one another.
  • the individual shield support frames 25 are calibrated into the longwall equipment after their installation by locating the position of the top canopy 28 , the gob shield 29 and the floor skid 26 in the installed state by means of a manual inclinometer, and entering the measured values into the appropriate control of the shield support frame 25 .
  • these height values can be measured with measuring tapes and subsequently the inclination sensors can be correspondingly calibrated.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)
  • Control Of Conveyors (AREA)
  • Radar Systems Or Details Thereof (AREA)
US13/380,692 2009-06-24 2010-06-18 Method for the Automated Production of a Defined Face Opening by Means of Slope-Assisted Radar Navigation of the Roller of a Roller Cutter Loader Abandoned US20120098325A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102009030130A DE102009030130B9 (de) 2009-06-24 2009-06-24 Verfahren zur automatisierten Herstellung einer definierten Streböffnung durch neigungsgestützte Radarnavigation der Walze bei einem Walzenschrämlader und eine Vorrichtung hierfür
DE102009030130.5 2009-06-24
PCT/EP2010/003699 WO2010149315A2 (de) 2009-06-24 2010-06-18 Verfahren zur automatisierten herstellung einer definierten streböffnung durch neigungsgestützte radarnavigation der walze bei einem walzenschrämlader

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US20120098325A1 true US20120098325A1 (en) 2012-04-26

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US13/380,692 Abandoned US20120098325A1 (en) 2009-06-24 2010-06-18 Method for the Automated Production of a Defined Face Opening by Means of Slope-Assisted Radar Navigation of the Roller of a Roller Cutter Loader

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US (1) US20120098325A1 (de)
CN (1) CN102482941B (de)
AU (1) AU2010265133B2 (de)
DE (1) DE102009030130B9 (de)
RU (1) RU2495243C2 (de)
WO (1) WO2010149315A2 (de)

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RU2011152484A (ru) 2013-06-27
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DE102009030130B9 (de) 2011-06-09
WO2010149315A2 (de) 2010-12-29
CN102482941A (zh) 2012-05-30
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RU2495243C2 (ru) 2013-10-10
DE102009030130B3 (de) 2011-02-03

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