WO2010017823A1 - Verfahren und einrichtung zur überwachung einer schneidenden gewinnungsmaschine - Google Patents
Verfahren und einrichtung zur überwachung einer schneidenden gewinnungsmaschine Download PDFInfo
- Publication number
- WO2010017823A1 WO2010017823A1 PCT/EP2008/006589 EP2008006589W WO2010017823A1 WO 2010017823 A1 WO2010017823 A1 WO 2010017823A1 EP 2008006589 W EP2008006589 W EP 2008006589W WO 2010017823 A1 WO2010017823 A1 WO 2010017823A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- mining
- machine
- track
- extraction machine
- mining machine
- Prior art date
Links
- 238000000605 extraction Methods 0.000 title claims abstract description 24
- 238000005520 cutting process Methods 0.000 title claims abstract description 18
- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000012544 monitoring process Methods 0.000 title claims abstract description 11
- 238000005065 mining Methods 0.000 claims abstract description 69
- 230000001960 triggered effect Effects 0.000 claims abstract description 14
- 239000003245 coal Substances 0.000 claims abstract description 7
- 238000001514 detection method Methods 0.000 claims abstract description 5
- 238000009412 basement excavation Methods 0.000 claims description 9
- 238000007621 cluster analysis Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 4
- 230000001154 acute effect Effects 0.000 claims description 3
- 206010037844 rash Diseases 0.000 claims description 2
- 238000005070 sampling Methods 0.000 claims description 2
- 238000004804 winding Methods 0.000 claims 1
- 238000007792 addition Methods 0.000 abstract 1
- 239000000428 dust Substances 0.000 description 4
- 238000002592 echocardiography Methods 0.000 description 3
- 238000011156 evaluation Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 239000003595 mist Substances 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 240000005893 Pteridium aquilinum Species 0.000 description 2
- 235000009936 Pteridium aquilinum Nutrition 0.000 description 2
- 239000013072 incoming material Substances 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000037361 pathway Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH 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 DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/08—Guiding the machine
- E21C35/12—Guiding the machine along a conveyor for the cut material
Definitions
- the invention relates to a method and a device for monitoring the travel path of a particular used in coal mining cutting extraction machine, which is movable along the mining front in Langfrontabbau in a equipped with longwall conveyor and striding expansion strut.
- the travel path of the cutting mining machine must be reliably monitored for the presence of such obstacles in order to be able to intervene in a timely manner, ie to stop the machine in good time or thus to control the cutting process, that overloading of the conveying run of the longwall conveyor can be avoided.
- this is done by a machine operator accompanying the mining machine as they travel through the face.
- Extraction machine are very unfavorable because of the resulting dust and because of sprayed there for dust control water mist.
- the invention relates firstly to a method for monitoring the travel path of a cutting extraction machine used in particular in coal mining, which can be moved along the dismantling front in Langfrastabbau in a Streb blocker and strandering expansion longwall, this process being characterized in that the track of the mining machine means one of the extraction machine associated Radarmess réelles is scanned in the direction of travel of the mining machine and triggered upon detection of an obstacle in the track an alarm and / or intervene in the control of the mining machine.
- the scanning of the area below the Strebhangenden done with a distance of more than 6 m from the radar and scanning in the range of the conveying strand of the longwall conveyor with a distance of 0.5 m to 6 m from the radar.
- An expedient completion of the method according to the invention provides that another of the mining machine associated Radarmess réelle additionally scans the contours of the excavation front and any outbreaks of the hanging wall in view of the mining front entiang a vertical portion of the excavation front and that upon detection of irregularities in the contour of Abausdorfes or from outbreaks in the hanging wall the mining machine is controlled taking into account the irregularities or outbreaks. In this way, it is possible to take due account of these possible obstacles in the track of the mining machine and indeed largely without intervention of operating or auxiliary personnel.
- the measurement results of the scanning operations are entered as points in a previously created virtual model of the space to be monitored.
- the resulting current virtual model is triggered away or time-triggered by a cluster analysis. Depending on the result of this cluster analysis, an alarm is triggered or intervened in the control of the mining machine.
- a trip-triggered measurement with distances of about 10 cm is particularly suitable for detecting even more distant, low-profile expansion caps which are fixed with respect to the mining machine and emit a distinct radar echo.
- the Time-triggered sampling with time cycles of, for example, 1 second, in contrast, is particularly suitable for monitoring the rapidly moving conveyed material in the conveying run of the longwall conveyor in close proximity.
- the invention furthermore relates to a device for monitoring the travel path of a cutting extraction machine used in coal mining in particular, which can be moved along the mining front in long front dismantling in a longwall equipped with longwall conveyor and striding expansion, characterized by a radar measuring device assigned to the mining machine and movable with the mining machine, whose measuring lobe, as viewed in the direction of travel, scans the travel path of the mining machine for obstacles, and which, when an obstacle is detected, triggers an alarm and / or intervenes in the control of the mining machine.
- This device is intended to carry out the method explained above.
- a preferred embodiment of this device provides that the measuring lobe of Radarmess réelles is designed, arranged and aligned so that it detects the radar echo of expansion caps on the one hand in the area of Strebhangenden at a distance of more than 6 m from Radarmess réelle and on the other hand in the range of the delivery of the Streb reduceers at a distance of 0.5 m to 6 m from the radar gauge the radar echo of the on the
- a radar device with such a measuring lobe thus detects on the one hand a long range of the guideway, where the risk emanates in particular from deep-set shield caps or drooping hinged caps or other attachments of the expansion, and on the other hand, the close range in front of the Radarmess réelle where the danger essentially emanating from overloads of the longwall conveyor ,
- the measuring lobe can additionally detect a vertical section of the excavation front and the adjacent hanging wall.
- the measuring lobe of Radarmess réelles is inclined at an angle of 2 ° to 4 ° against the excavation. This ensures that the radar measurement the It is easier to detect the mining impact and the adjacent hanging wall and, in particular in the long-range, is less distorted by radar echoes emanating from the stamps of the series and / or from the bracken of the longwall conveyor.
- a further inclination of the axis of the Radarmesss réelles of 2 ° to 10 ° in the direction of the end of the curtain. As a result, the Strebhangende can be detected in view of the symmetrical opening angle of the radar at a shorter distance.
- Fig. 1 Schematically a side view of a cutting mining machine and the strut in side view;
- the drawing shows a designated in its entirety by the reference numeral 1 cutting extraction machine, here as
- the mining machine has one
- Machine body 2 which is provided at the front and rear with pivoting arms 3 and 4, on which cutting rollers 5 and 6 are mounted.
- the machine body 2 is supported by trolleys 7 and 8, which are movable on a simultaneously serving as a siding longwall conveyor 9.
- the longwall conveyor 9 is as
- Machine body 2 is elevated in such a way on the trolleys 7 and 8, that the conveying strand of the longwall conveyor 9 is overlapped portal-like by the mining machine 1, so that lying in the conveying strand of the longwall conveyor
- Extraction material the mining machine 1 can happen.
- Strebckener 9 Serving as the track for the mining machine 1 at the same time Strebckener 9 is laid along a mining front 10 in a longwall, the Strebhangendes 11 is supported by expansion caps 12, which in turn from Stamping 13 are worn. Of the expansion caps 12 and the Stempein 13 only a few are shown in the drawing.
- a radar device 14 is fastened to the machine body 2 of the mining machine 1 at its front side in the direction of travel, the measuring lobe 15 of which scans the track of the mining machine 1 kept free by the longwall structure 12, 13 for any obstacles present.
- the Radarmess réelle 14 and its measuring lobe 15 are formed, arranged and aligned so that the axis of the measuring lobe 15 at an acute angle of 2 ° to 4 ° inclined to the mining front 10 runs.
- the measuring lobe 15 detects on the one hand in the area of the headland a long range, which has a distance of more than 6 m from the radar gauge 14 and on the other hand, located directly above the conveying strand of the longwall conveyor 9 close range, a distance of 0.5 to 6 m from the radar 14th Has.
- an additional Radarmess réelle 16 is installed on the machine body 2 of the mining machine 1, the measuring lobe 17 is directed to the mining front 10 and a vertical portion of the mining front 10 and the adjacent Strebhangenden 11 scans for irregularities and eruptions.
- the measured radar echoes of each scan are each entered as points into a previously created virtual model of the space to be monitored.
- the resulting and constantly updated virtual model is continuously or periodically clustered.
- the presence of point clusters in this virtual model can then in each case conclude that there is an obstacle in the track of the mining machine 1 at the respectively measured location or the shield caps delimit the longwall to the hanging wall.
- the radar may optionally also be mounted on the mining machine 1, that it can be turned depending on the direction of travel. It is equally possible to install two radar instruments on the mining machine 1, in each direction of travel.
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Control Of Conveyors (AREA)
- Sampling And Sample Adjustment (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
Description
Claims
Priority Applications (12)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CA2697618A CA2697618A1 (en) | 2008-08-09 | 2008-08-09 | Method and device for monitoring a cutting extraction machine |
PL08801555T PL2242901T3 (pl) | 2008-08-09 | 2008-08-09 | Sposób i urządzenie do monitorowania urabiarki wrębowej |
US12/452,415 US8474918B2 (en) | 2008-08-09 | 2008-08-09 | Method and device for monitoring a cutting extraction machine |
EP08801555A EP2242901B1 (de) | 2008-08-09 | 2008-08-09 | Verfahren und einrichtung zur überwachung einer schneidenden gewinnungsmaschine |
SI200830550T SI2242901T1 (sl) | 2008-08-09 | 2008-08-09 | Postopek in naprava za nadzor rezalnega odkopnega stroja |
AT08801555T ATE533918T1 (de) | 2008-08-09 | 2008-08-09 | Verfahren und einrichtung zur überwachung einer schneidenden gewinnungsmaschine |
MX2010000225A MX2010000225A (es) | 2008-08-09 | 2008-08-09 | Metodo y dispositivo para la supervision de una maquina para extraccion de cortes. |
CN2008801002952A CN101778998B (zh) | 2008-08-09 | 2008-08-09 | 用于监控切割式采矿机的方法和装置 |
PCT/EP2008/006589 WO2010017823A1 (de) | 2008-08-09 | 2008-08-09 | Verfahren und einrichtung zur überwachung einer schneidenden gewinnungsmaschine |
AU2008356847A AU2008356847B9 (en) | 2008-08-09 | Method and device for monitoring a cutting extraction machine | |
EA201070234A EA016425B1 (ru) | 2008-08-09 | 2008-08-09 | Способ контролирования пути движения режущей очистной машины |
HK10112040.3A HK1145529A1 (en) | 2008-08-09 | 2010-12-23 | Method and device for monitoring a cutting extraction machine |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/EP2008/006589 WO2010017823A1 (de) | 2008-08-09 | 2008-08-09 | Verfahren und einrichtung zur überwachung einer schneidenden gewinnungsmaschine |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2010017823A1 true WO2010017823A1 (de) | 2010-02-18 |
Family
ID=40815893
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2008/006589 WO2010017823A1 (de) | 2008-08-09 | 2008-08-09 | Verfahren und einrichtung zur überwachung einer schneidenden gewinnungsmaschine |
Country Status (11)
Country | Link |
---|---|
US (1) | US8474918B2 (de) |
EP (1) | EP2242901B1 (de) |
CN (1) | CN101778998B (de) |
AT (1) | ATE533918T1 (de) |
CA (1) | CA2697618A1 (de) |
EA (1) | EA016425B1 (de) |
HK (1) | HK1145529A1 (de) |
MX (1) | MX2010000225A (de) |
PL (1) | PL2242901T3 (de) |
SI (1) | SI2242901T1 (de) |
WO (1) | WO2010017823A1 (de) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102009030130B3 (de) * | 2009-06-24 | 2011-02-03 | Rag Aktiengesellschaft | Verfahren zur automatisierten Herstellung einer definierten Streböffnung durch neigungsgestützte Radarnavigation der Walze bei einem Walzenschrämlader und eine Vorrichtung hierfür |
Families Citing this family (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
AU2014202349A1 (en) | 2012-08-02 | 2014-05-22 | Harnischfeger Technologies, Inc. | Depth-related help functions for a wheel loader training simulator |
US9574326B2 (en) | 2012-08-02 | 2017-02-21 | Harnischfeger Technologies, Inc. | Depth-related help functions for a shovel training simulator |
EP3306034B1 (de) | 2012-09-14 | 2020-01-01 | Joy Global Underground Mining LLC | Schneidkopf für bergbaumaschine |
US8985699B2 (en) | 2013-03-14 | 2015-03-24 | Seneca Industries Inc. | Mining methods and equipment |
WO2015031797A1 (en) * | 2013-08-29 | 2015-03-05 | Joy Mm Delaware, Inc. | Shearer anti-collision |
CN103835719B (zh) * | 2014-02-27 | 2015-12-30 | 中国矿业大学 | 一种基于虚拟轨迹控制的采煤机自适应截割方法 |
RU2691793C2 (ru) * | 2014-08-28 | 2019-06-18 | ДЖОЙ ГЛОБАЛ АНДЕРГРАУНД МАЙНИНГ ЭлЭлСи | Мониторинг крепления кровли в системе сплошной разработки |
CN104500067B (zh) * | 2014-12-31 | 2016-09-21 | 中国矿业大学 | 一种采煤机煤岩自适应智能割煤控制的引导装置及方法 |
CA3012831A1 (en) | 2016-01-27 | 2017-08-03 | Joy Global Underground Mining Llc | Mining machine with multiple cutter heads |
AU2017312142B2 (en) | 2016-08-19 | 2023-03-16 | Joy Global Underground Mining Llc | Cutting device and support for same |
WO2018035425A1 (en) | 2016-08-19 | 2018-02-22 | Joy Mm Delaware, Inc. | Mining machine with articulating boom and independent material handling system |
US11391149B2 (en) | 2016-08-19 | 2022-07-19 | Joy Global Underground Mining Llc | Mining machine with articulating boom and independent material handling system |
EP4293195A3 (de) | 2016-09-23 | 2024-01-31 | Joy Global Underground Mining LLC | Maschine zur unterstützung einer gesteinsschneidevorrichtung |
US10883256B2 (en) * | 2018-05-25 | 2021-01-05 | Deere & Company | Object responsive control system for a work machine |
AU2019309886A1 (en) | 2018-07-25 | 2021-03-04 | Joy Global Underground Mining Llc | Rock cutting assembly |
US10794182B1 (en) * | 2019-03-20 | 2020-10-06 | Joy Global Underground Mining Llc | Systems and methods for controlling a longwall mining system based on a forward-looking mine profile |
Citations (8)
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US4330154A (en) * | 1979-11-22 | 1982-05-18 | Dowty Mining Equipment Limited | Mining apparatus |
DE8224441U1 (de) * | 1982-08-30 | 1983-02-17 | Gewerkschaft Eisenhütte Westfalia, 4670 Lünen | Untertaegiges schreitendes ausbaugestell |
GB2129032A (en) * | 1982-10-21 | 1984-05-10 | Dobson Park Ind | Monitoring apparatus |
US4715657A (en) * | 1984-02-23 | 1987-12-29 | Zaidan Hojin Sekitan Gijutsu Kenkyusho | Double ranging drum cutter having bedrock sensor based on video image processing system |
DE3806224A1 (de) * | 1988-02-26 | 1989-09-07 | Siemens Ag | Vorrichtung zur wegverfolgung eines bewegten objektes, insbesondere einer gewinnungsmaschine im bergbau |
SU1523661A1 (ru) * | 1988-02-15 | 1989-11-23 | Московский Горный Институт | Способ управлени очистным комплексом |
EP0412400A1 (de) * | 1989-08-08 | 1991-02-13 | Siemens Aktiengesellschaft | Kollisionsschutzeinrichtung für Fördergeräte |
DE102005005869A1 (de) * | 2005-02-09 | 2006-08-17 | Rag Ag | Verfahren zum Steuern einer Gewinnungsmaschine in Betrieben des untertägigen Steinkohlenbergbaus |
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US4465155A (en) * | 1981-06-17 | 1984-08-14 | Collins Marshall S | Automated operatorless vehicles |
GB2216358A (en) * | 1988-02-26 | 1989-10-04 | Siemens Ag | Tracking moving object |
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CA2681710A1 (en) * | 2008-07-28 | 2010-01-28 | Eickhoff Bergbautechnik Gmbh | Method for controlling a cutting extraction machine |
-
2008
- 2008-08-09 WO PCT/EP2008/006589 patent/WO2010017823A1/de active Application Filing
- 2008-08-09 EA EA201070234A patent/EA016425B1/ru not_active IP Right Cessation
- 2008-08-09 US US12/452,415 patent/US8474918B2/en active Active
- 2008-08-09 SI SI200830550T patent/SI2242901T1/sl unknown
- 2008-08-09 AT AT08801555T patent/ATE533918T1/de active
- 2008-08-09 CN CN2008801002952A patent/CN101778998B/zh active Active
- 2008-08-09 EP EP08801555A patent/EP2242901B1/de not_active Not-in-force
- 2008-08-09 MX MX2010000225A patent/MX2010000225A/es active IP Right Grant
- 2008-08-09 CA CA2697618A patent/CA2697618A1/en not_active Abandoned
- 2008-08-09 PL PL08801555T patent/PL2242901T3/pl unknown
-
2010
- 2010-12-23 HK HK10112040.3A patent/HK1145529A1/xx not_active IP Right Cessation
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4330154A (en) * | 1979-11-22 | 1982-05-18 | Dowty Mining Equipment Limited | Mining apparatus |
DE8224441U1 (de) * | 1982-08-30 | 1983-02-17 | Gewerkschaft Eisenhütte Westfalia, 4670 Lünen | Untertaegiges schreitendes ausbaugestell |
GB2129032A (en) * | 1982-10-21 | 1984-05-10 | Dobson Park Ind | Monitoring apparatus |
US4715657A (en) * | 1984-02-23 | 1987-12-29 | Zaidan Hojin Sekitan Gijutsu Kenkyusho | Double ranging drum cutter having bedrock sensor based on video image processing system |
SU1523661A1 (ru) * | 1988-02-15 | 1989-11-23 | Московский Горный Институт | Способ управлени очистным комплексом |
DE3806224A1 (de) * | 1988-02-26 | 1989-09-07 | Siemens Ag | Vorrichtung zur wegverfolgung eines bewegten objektes, insbesondere einer gewinnungsmaschine im bergbau |
EP0412400A1 (de) * | 1989-08-08 | 1991-02-13 | Siemens Aktiengesellschaft | Kollisionsschutzeinrichtung für Fördergeräte |
DE102005005869A1 (de) * | 2005-02-09 | 2006-08-17 | Rag Ag | Verfahren zum Steuern einer Gewinnungsmaschine in Betrieben des untertägigen Steinkohlenbergbaus |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102009030130B3 (de) * | 2009-06-24 | 2011-02-03 | Rag Aktiengesellschaft | Verfahren zur automatisierten Herstellung einer definierten Streböffnung durch neigungsgestützte Radarnavigation der Walze bei einem Walzenschrämlader und eine Vorrichtung hierfür |
DE102009030130B9 (de) * | 2009-06-24 | 2011-06-09 | Rag Aktiengesellschaft | Verfahren zur automatisierten Herstellung einer definierten Streböffnung durch neigungsgestützte Radarnavigation der Walze bei einem Walzenschrämlader und eine Vorrichtung hierfür |
WO2010149315A3 (de) * | 2009-06-24 | 2011-09-22 | Rag Aktiengesellschaft | Verfahren zur automatisierten herstellung einer definierten streböffnung durch neigungsgestützte radarnavigation der walze bei einem walzenschrämlader |
Also Published As
Publication number | Publication date |
---|---|
EP2242901A1 (de) | 2010-10-27 |
CA2697618A1 (en) | 2010-02-18 |
SI2242901T1 (sl) | 2012-04-30 |
AU2008356847A1 (en) | 2010-02-25 |
EP2242901B1 (de) | 2011-11-16 |
AU2008356847B2 (en) | 2015-10-29 |
MX2010000225A (es) | 2010-07-20 |
PL2242901T3 (pl) | 2012-05-31 |
EA201070234A1 (ru) | 2010-06-30 |
CN101778998B (zh) | 2012-11-21 |
ATE533918T1 (de) | 2011-12-15 |
US20100194175A1 (en) | 2010-08-05 |
CN101778998A (zh) | 2010-07-14 |
EA016425B1 (ru) | 2012-04-30 |
HK1145529A1 (en) | 2011-04-21 |
US8474918B2 (en) | 2013-07-02 |
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