WO2002075361A2 - Geodirection de machines d'exploitation de mineraux solides - Google Patents

Geodirection de machines d'exploitation de mineraux solides Download PDF

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Publication number
WO2002075361A2
WO2002075361A2 PCT/US2002/008299 US0208299W WO02075361A2 WO 2002075361 A2 WO2002075361 A2 WO 2002075361A2 US 0208299 W US0208299 W US 0208299W WO 02075361 A2 WO02075361 A2 WO 02075361A2
Authority
WO
WIPO (PCT)
Prior art keywords
rock
die
cutter
coal
control system
Prior art date
Application number
PCT/US2002/008299
Other languages
English (en)
Other versions
WO2002075361A3 (fr
Inventor
Larry D. Frederick
Dwight Medley
Original Assignee
Geosteering Mining Services, Llc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Geosteering Mining Services, Llc filed Critical Geosteering Mining Services, Llc
Priority to CA2441621A priority Critical patent/CA2441621C/fr
Priority to AU2002255809A priority patent/AU2002255809A1/en
Publication of WO2002075361A2 publication Critical patent/WO2002075361A2/fr
Publication of WO2002075361A3 publication Critical patent/WO2002075361A3/fr

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V5/00—Prospecting or detecting by the use of ionising radiation, e.g. of natural or induced radioactivity
    • G01V5/04—Prospecting or detecting by the use of ionising radiation, e.g. of natural or induced radioactivity specially adapted for well-logging
    • G01V5/06—Prospecting or detecting by the use of ionising radiation, e.g. of natural or induced radioactivity specially adapted for well-logging for detecting naturally radioactive minerals
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C39/00—Devices for testing in situ the hardness or other properties of minerals, e.g. for giving information as to the selection of suitable mining tools

Definitions

  • the present invention generally relates to a method and apparatus for
  • One approach utilizes a memory system to log the
  • rock face profile on one pass does not exactly reflect the needed rock face profile of
  • control system with various other sensors added.
  • a horizon control system A horizon control
  • system typically uses the gravity-referenced sensors or inertial-referenced sensors that
  • a mining control system that incorporates such
  • rock avoidance systems can help cut the floor of the mine very smoothly and simplify
  • rock avoidance system for use on long- wall mining equipment as well as continuous
  • An armored rock detector so configured,
  • rock detector are transmitted directiy to the miner control system to slow or stop
  • the change in attenuation is determined, and the
  • thickness of the remaining coal is calculated by measuring the rate at which the
  • the rock detector is outfitted with die required logic elements and
  • a method of geosteering is provided on a continuous
  • miner is for a shearing down to be slowed slightiy as the floor is approached.
  • the shearing is accomplished by signals from the rock detector which operate the solenoids that control the hydraulic system. Following the shearing stroke, the miner
  • die rock detector is placed near the cutter on a
  • the detector moves with the
  • the rock detector is placed near the cutter on a long-
  • the divergence rock detector is positioned close to the picks so that
  • the cutter can be biased toward divergence without concern for leaving coal
  • a convergence rock detector is used on the trailing drum, and positioned close enough
  • a geosteering system that includes an
  • an accelerometer is incorporated into the rock detector.
  • the geosteering syst m includes a
  • control and display panel that keeps the operator informed about the cutting
  • This panel accepts data and
  • a solid-state accelerometer in the form of a
  • This accelerometer acquires
  • gamma data is correlated to
  • control and display panel for at least ten cutting cycles.
  • automatic analysis of this data allows refinement of the logical
  • an encoder and/or a potentiometer are provided.
  • Such auxiliary devices provide supporting information to the rock detector, to the
  • This preferred embodiment includes a
  • cutter motion indicator containing an optical encoder and a potentiometer, at the
  • rock detectors are used to steer the cutting of
  • both the leading drum and the leading drum are a long- wall mining system.
  • both the leading drum and the leading drum are a long- wall mining system.
  • trailing drum of a long -wall shearing system are geo-steered by use of rock detectors.
  • the armored rock detector is placed near the bottom of the cowl for
  • the trailing drum and allows direct view of the surface being cut by the drum.
  • rock detector begins by slowly raising the drum until die rock detector determines
  • detector is accomplished by operating the solenoids that control the hydraulic system. Upon recognition that a
  • FIG. 1 is a schematic view of a continuous miner including a pair of rock
  • detectors constructed in accordance with a preferred embodiment of the invention.
  • FIG. 2 is a graph showing a typical equilibrium energy spectrum for a
  • FIG. 3 is a graph showing the effects of coal on a typical equilibrium
  • FIG. 4 is a partial cross-sectional view of one of the armored rock detectors
  • FIG. 5 is a cross-sectional view of one of the rock detectors of FIG. 4.
  • FIG. 6 is a view taken along section line VI-NI of FIG. 5, at the
  • FIG. 7 is a view taken along section line VII-NII of FIG. 5, at the photo-
  • FIG. 8 is a view taken along section line VHI-Nffl of FIG. 5, at the
  • FIGS. 9a and 9b are graphs of gamma ray counts versus time and versus
  • FIG. 10 is a schematic drawing of a logic element used with a rock
  • FIG. 11 is a schematic drawing of a logic element and digital signal
  • FIG. 12 is a schematic drawing of a logic element and digital signal
  • FIG. 13 is a schematic drawing of a junction box and cables used in an
  • FIG. 14 is a schematic drawing of a control and display panel and cables
  • FIG. 15 is a schematic drawing of a control and display panel
  • FIG. 16a is a view of a cutter motion indicator used with a rock detector in
  • FIG. 16b is a cross-sectional view of the cutter motion indicator of FIG.
  • FIG. 17 is a cross-sectional view of a linkage mechanism used with cutter
  • FIG. 18 is a schematic view of a longwall shearing system in accordance
  • FIG. 19 is a schematic of a pair of rock detectors on die trailing shear of
  • FIG. 20 is a graph of predicted and measured floor depth versus distance
  • FIG. 21 is a graph of detected gamma ray counts versus coal/rock
  • FIG. 22 is a graph like FIG. 21.
  • FIG. 23 is a graph like FIG. 21.
  • FIG. 24 is a cross-sectional view of a rock detector constructed in
  • FIG. 25 is a cross-sectional view taken along line XXV-XXV of FIG. 24.
  • the present invention provides a more accurate and faster solid mineral
  • the distance to the oilfield bed boundary is measured while in the
  • control functions at any moment must be accomplished by signals from sensors that are measuring relevant parameters for the formation just ahead, where the
  • Directional control systems such as horizon control, used in solid
  • derived from data acquired while performing geosteering may be of some
  • Coal is located in a formation between other materials, generally classified
  • the shale has a
  • coal results in less attenuation so that the gamma radiation reaching the detector
  • curve-fitting techniques are employed by correlating the gamma
  • the system includes
  • radioactive potassium radioactive potassium, uranium, or thorium that are within the rock.
  • rays are down-scattered and decreases in magnitude as die gamma rays are absorbed.
  • die coal typically ranges from 2-5 barnes/electron.
  • coal is at a higher energy than die down-scatter peak for coal.
  • coal is much lower than that of the rock. As more coal is added, the gamma rays are
  • FIG. 3 shows an example of this phenomenon, presenting the spectrum at
  • Geosteering accomplishes the steering for solid mineral rnining through
  • Inertial reference systems Inertial reference systems, attitudinal reference systems or guidance
  • Another preferred embodiment includes increasing the computational
  • FIG. 20 shows the estimates of the position of the coal/rock interface at the
  • the measurement can be used to extend the present cut to the newly cut. Also, the measurement can be used to extend the present cut to the newly cut. Also, the measurement can be used to extend the present cut to the newly cut. Also, the measurement can be used to extend the present cut to the newly cut. Also, the measurement can be used to extend the present cut to the newly cut.
  • Anodier feature that should be noted is die ability of such a system to
  • response function can be assumed to be a constant. But, over longer periods, a
  • Another preferred embodiment involves a system with two detectors: one
  • the roof rock is five times as hot as the floor rock. Examples of the relative signals for
  • the floor detector Even with shielding, the floor detector still has some sensitivity to the
  • the roof radiation is
  • die background radiation level from the roof is not a constant.
  • die cutter and die armored rock detectors is typically level or tilted slightly upwards.
  • the floor detector will not add to the accuracy of the measurement.
  • FIG. 23 shows a step function change in
  • Armored rock detectors may be used for geosteering at the floor and at the
  • FIG. 1 shows a continuous miner 10 that has been
  • detectors 20, 120 is to determine when the cutter picks 14 are approaching the coal-
  • rock interface 15, 16 to slow the movement of the boom 11, and to stop the
  • Each of these detectors 20, 120 has been strategically positioned to allow
  • pile 21 behind die cutter gives an immediate rise in gamma counts, an indication that
  • die cutter 12 has gone too far and die shearing is stopped before a significant amount
  • rock detectors 20, 120 By making the rock detectors 20, 120 faster and more
  • the cutter 12 can be stopped before cutting into the coal-rock interface 15.
  • armor 70 that surrounds, shields, and supports them at a critical location near the
  • a challenge in designing the armored rock detector 20, 120 is the
  • FIGS. 6-8 which are cross-sectional views of FIG. 5, show the various elements
  • FIG. 4 pass through a non-metalHc window 71, preferably formed of poly-ether,
  • a gap 65' is provided in a flexible
  • the gaps 65', 64 are aHgned to minimize the amount of metal
  • a scintillation element 50 responds to gamma rays 28 that
  • optical coupler 53 into the faceplate of a Hght detecting element, shown here as a
  • photo-multipfier tube 55 An electrical pulse is generated by the photo-multipHer
  • the photo-multipfier tube 55 and sent to electronics element 57.
  • a photo-metric module 58 Since components within the photo-metric module 58
  • FIGS. 6-8 Better details of the protective elements are shown in FIGS. 6-8. The first
  • FIG. 6 shows a flexible support sleeve 61 surrounding the scintiUation
  • the outer support system consists of the flexible support sleeve 68
  • appHcation is 1.4 inches in diameter by 10 inches in length, but may be as large as 2
  • FIG. 7 iHustrates a view of the photo-multipfier tube 55, which is inside
  • the photo-metric module 58 which in turn is within the explosion-proof housing 59.
  • a flexible support sleeve 75 surrounds the photo-multipfier tube 55, another flexible
  • sleeve 69 surrounds the photo-metric module 58, and die flexible sleeve 68 extends
  • die sheatii 81 is to prevent water or dust from entering dirough the window in the
  • FIG. 8 iHustrates the accelerometer module 60, which is afforded the same
  • objective is to provide incremental motion inforrnation, not absolute orientation or
  • gamma data could be correlated with time.
  • diere are many operational
  • Movement of the boom directiy relates to the
  • the general scatter is a result of gamma radiation being statistical
  • weU behaved data that has a statistical component; that is, to correlate the
  • the change in the count rate is a
  • the same data may produce a more useful curve such as curve 2 in FIG. 9b.
  • die better behaved curve 2 is that it can be used to predict the point at
  • a logic element 57 is functionaUy depicted in FIG. 10. As explained
  • explosion-proof housing 59 that is dynamicaUy isolated by a support system.
  • metafile housing 59 also protects against electromagnetic interference with the miner
  • the logic element 57 receives electrical pulses from an
  • pulses from the photo-multipfier tube 55 may have amplitudes as low as 30 mN, and
  • the duration may be as smaU as a few hundred nanoseconds. They are routed
  • the ampfifier 91 increases the
  • the ampfifier gain may be on the order of twenty.
  • the amplified signal may serve as a trigger signal to inform the microcontroUer 93 that a new pulse is ready for processing. Since the pulse is
  • the counts in each energy spectrum, for each segment of time such as
  • a power supply 56 provides high voltage to the photo-multipfier tube 55.
  • explosion- proof housing 59 protects the circuitry from electricafiy induced noise
  • the housing 59 also protects against this high voltage accidentafiy igniting gas and/or coal dust in the
  • the protocol for the data stream can be changed by selection of components
  • data stream includes a time stamp, gross counts per time increment, a running
  • display panel 130 may also be used to track the stop positions of the cutter 12 at the
  • motion information is avafiable so that die logic can determine that the stop decision
  • processor such as a digital signal processor 104 (FIGS. 11-12) can be used.
  • a digital signal processor 104 FIGS. 11-12
  • the digital signal processor 104 can execute multiple algorithms in
  • the processor can caU up other algorithms and take other actions before
  • current technology can perform 80 million instructions per second (MIPS) or more.
  • microcontroUer 93 is generaUy limited by current
  • the armored rock detectors 20, 120 can be accommodated electronicaUy
  • the decision on that cut can be based on the last cut at the
  • die logic element 57 can elect to slow down the cut in
  • rock interfaces 15, 16 can be determined in various ways.
  • sensor may be used to determine actual incremental vertical movements of the rock
  • Such a sensor might be a mechanical
  • the geosteering control system strategy are not dependent upon the source of the
  • An object is to utilize an accelerometer design that has
  • the accelerometer 60 shown in FIG. 8, is oriented so
  • the direction of sensitivity of the accelerometer would be paraUel to the
  • die accelerometer 60 would ideaUy indicate a zero reading.
  • angle can be made very precisely by tiiis method.
  • FIG. 9b is a diagrammatic representation of FIG. 9b.
  • the cutter 12 rotates to cut the coal, vibrations are induced into the boom 11.
  • the logic element 57 (FIGS. 10-12) issues a pause command when the
  • boom 11 reaches a desired angular position, even if the operator does not do so.
  • the logic element 57 recognizes that the boom 11 has stopped moving
  • the primary objective is to correlate the gamma counts
  • the front of the miner 10 may be raised a few inches due to the high force
  • die cutter 12 being applied to die cutter 12 so that die cutter is physicaUy higher than the angle
  • die cutter 12 wUl continue to lower, after hydraulic flow has stopped, until the pre ⁇
  • the rock detector will calculate die approximate number of
  • shearing pulses based on the position of the cutter 12 relative to the previous shear
  • die duration of die pulses may be reduced
  • the effect is to increase speed because only coal is being mined.
  • logic element 57 wiU issue a stop command and signal die operator that the shearing
  • this stop signal can, instead, be sent to the automated control system.
  • tiiis angular measurement can be used to correlate
  • the miner control center 100 can be configured to respond to
  • a smaU acceleration micro-chip 131 may be included
  • accelerometer 131 is mounted on a smaU circuit board tiiat measures the tilt of the
  • d e length is the distance from the pivot pin 22 to d e point on the crawler about
  • angle is the tilt of the miner frame as measured by the accelerometer 131 in the
  • control and display panel 130 may be configured as needed for the
  • LCD liquid crystal display
  • LED light emitting diodes
  • LEDs would provide visual indication of the miner status such as
  • control and display panel 130 there is a need for the control and display panel 130 to be
  • Penetrations other than for standard cable entries, can be
  • switch wiU trip. Switches may be momentary or may toggle on/off.
  • Easier to use configurations include incorporation of the wand into a compound
  • control and display panel may also be operated remotely by an
  • a separate cutter motion indicator can be added to the system to provide
  • a separate cutter motion indicator 300 (FIGS. 16a, 16b,
  • the indicator 300 is positioned at the pivot of the boom.
  • the cutter motion indicator 300 can be configured in different ways,
  • an accelerometer 60 is
  • An explosion proof housing 302 is used to contain an optical encoder 303
  • Thick steel walls 319 of the enclosure 302 are
  • ring seal (not shown) provides the primary seal between the fid 304 and the housing
  • Dual seals 312 preferably are high pressure seals made of PEEK.
  • a bushing 317 around the shaft 321 is provided as added protection.
  • the optical encoder 303 indicates
  • Optical encoders such as the optical encoder 303, are commerciaUy available that are
  • the optical encoder 303 representing the amount of rotation are received by a
  • Incremental movement of the cutter 12 toward the rock interface 15, 16 is calculated by determining the product of the length of the boom
  • die optical encoder 303 does not indicate the actual
  • die information tiiat can be known to high precision through the use of
  • the cutter motion indicator 300 is the incremental changes in position as determined
  • armored gamma detector 20, 120 determines the distance to the rock 15, 16
  • the accelerometer 60 is such a
  • the accelerometer 60 determines if its angle relative to gravity changes,
  • control and display panel 130 made in the control and display panel 130 to override die rock detector 20, 120 or
  • Logic can be included in the control and display panel
  • the decision could be to slow the cutter until the rock detector
  • a suitable structure must be provided for transferring the rotation of the
  • the cutter motion indicator 300 is a precise
  • a dual universal joint 340, 341 is provided. With these joints 340, 341, 342
  • One method is to attach a shaft at d e center of the pin upon
  • a lever (not
  • Cafibration of the optical encoder 303 may be accompfished occasionaUy if
  • the cutter 12 is flat, not necessarfiy level, prior to start of the cutting operation.
  • the cutter 12 is
  • a cafibration command is sent to the cutter motion indicator 300 from the

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mining & Mineral Resources (AREA)
  • Geology (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Environmental & Geological Engineering (AREA)
  • High Energy & Nuclear Physics (AREA)
  • General Physics & Mathematics (AREA)
  • Geophysics (AREA)
  • Geophysics And Detection Of Objects (AREA)
  • Length-Measuring Devices Using Wave Or Particle Radiation (AREA)

Abstract

L'invention concerne un système de commande permettant d'éviter la roche non voulue, destiné à l'exploitation de minéraux solides, faisant appel à un détecteur de roche/interface minérale à balayage frontal, et permettant de commander au mineur d'exploiter la roche/interface minérale détectée. Un ou plusieurs détecteurs blindés à rayons gamma sont positionnés à proximité du mécanisme d'exploitation, et se déplacent avec le mécanisme d'exploitation de sorte que la taille angulaire du champ de vision ne soit pas réduite. Des déplacements angulaires des mécanismes d'exploitation sont mesurés et utilisés pour calculer l'emplacement de la roche/interface minérale. Un dispositif est intégré à l'intérieur d'un détecteur de roche blindé, pour détecter des déplacements angulaires du bras du mécanisme d'exploitation, et pour mettre en corrélation les changements au niveau du rayonnement gamma avec les déplacements angulaires, à l'intérieur de plages d'énergie sélectionnées. L'épaisseur du charbon restant est calculée au moyen de la mesure du taux auquel le rayonnement gamma augmente. Dans un mode de réalisation, des détecteurs de roche sont utilisés pour diriger l'exploitation du tambour de treuil avant et/ou du tambour de treuil arrière d'un système d'exploitation par longue taille.
PCT/US2002/008299 2001-03-20 2002-03-20 Geodirection de machines d'exploitation de mineraux solides WO2002075361A2 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CA2441621A CA2441621C (fr) 2001-03-20 2002-03-20 Geodirection de machines d'exploitation de mineraux solides
AU2002255809A AU2002255809A1 (en) 2001-03-20 2002-03-20 Geosteering of solid mineral mining machines

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US27689601P 2001-03-20 2001-03-20
US60/276,896 2001-03-20

Publications (2)

Publication Number Publication Date
WO2002075361A2 true WO2002075361A2 (fr) 2002-09-26
WO2002075361A3 WO2002075361A3 (fr) 2003-01-16

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CA (1) CA2441621C (fr)
WO (1) WO2002075361A2 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005012944A3 (fr) * 2003-07-29 2005-12-08 Frederick Mining Controls Llc Detecteurs de pilotage geologique destines a des machines de creusement continues de type perforation
WO2018192678A1 (fr) * 2017-04-18 2018-10-25 Caterpillar Global Mining Europe Gmbh Système de commande et procédé de commande de fonctionnement d'une machine d'exploitation minière souterraine
CN109184690A (zh) * 2018-07-30 2019-01-11 中国神华能源股份有限公司 采煤机煤岩识别用支撑装置、采煤系统及采煤方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4879463A (en) * 1987-12-14 1989-11-07 Schlumberger Technology Corporation Method and apparatus for subsurface formation evaluation
US5120963A (en) * 1991-01-15 1992-06-09 Teleco Oilfield Services Inc. Radiation detector assembly for formation logging apparatus
US5705812A (en) * 1996-05-31 1998-01-06 Western Atlas International, Inc. Compaction monitoring instrument system
US5931000A (en) * 1998-04-23 1999-08-03 Turner; William Evans Cooled electrical system for use downhole

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4879463A (en) * 1987-12-14 1989-11-07 Schlumberger Technology Corporation Method and apparatus for subsurface formation evaluation
US5120963A (en) * 1991-01-15 1992-06-09 Teleco Oilfield Services Inc. Radiation detector assembly for formation logging apparatus
US5705812A (en) * 1996-05-31 1998-01-06 Western Atlas International, Inc. Compaction monitoring instrument system
US5931000A (en) * 1998-04-23 1999-08-03 Turner; William Evans Cooled electrical system for use downhole

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005012944A3 (fr) * 2003-07-29 2005-12-08 Frederick Mining Controls Llc Detecteurs de pilotage geologique destines a des machines de creusement continues de type perforation
US7360844B2 (en) 2003-07-29 2008-04-22 The Mosaic Company Geosteering detectors for boring-type continuous miners
US7686400B2 (en) 2003-07-29 2010-03-30 The Mosaic Company Geosteering detectors for rotary-type continuous miners
WO2018192678A1 (fr) * 2017-04-18 2018-10-25 Caterpillar Global Mining Europe Gmbh Système de commande et procédé de commande de fonctionnement d'une machine d'exploitation minière souterraine
CN109184690A (zh) * 2018-07-30 2019-01-11 中国神华能源股份有限公司 采煤机煤岩识别用支撑装置、采煤系统及采煤方法

Also Published As

Publication number Publication date
CA2441621C (fr) 2014-02-18
AU2002255809A1 (en) 2002-10-03
CA2441621A1 (fr) 2002-09-26
WO2002075361A3 (fr) 2003-01-16

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