Method for obtaining bottom-hole region via automation system use

FIELD: mining.

SUBSTANCE: there proposed is the method of automatic obtaining of specified bottom-hole region in the acting working faces in underground mining of bituminous coal, where by means of tilt sensors mounted on, at least, three out of four main structural details of movable shield framing there defined is the tilting of shield details relatively the horizontal, and calculation machine unit calculates the height of shield framing corresponding to the formation. Besides, there performed is the recording of step movement of each framing of movable shield and there defined is the depth of shearer cut with drum executive mechanism at each winning step. Also by means of sensors mounted on shearer there recorded is the height of shearer cut. By means of bottom-hole area geometry calculated on the basis of the obtained data at each movable shield framing there mounted is the angle of bed top passing and the setting of shearer cut height with drum executive mechanism is sent to the corresponding angle of bed top passing for obtaining the specified bottom-hole region.

EFFECT: automation of mining and fixing works in relation to the specified bottom-hole region.

20 cl, 10 dwg

The invention relates to a method of automatically obtaining the specified bottom hole space with the AFC Shearer drum by the Executive authority as the mining machine, and hydraulic consisting of a control room shoring active Stopes in underground mining of coal.

The problem with automatic management of existing treatment faces towards the development and direction of sewage extraction of the Shearer drum Executive body is, among other things, that, on the one hand to obtain a sufficiently large bottom space in order to ensure the passage of downhole equipment, such as, without collision between the treatment combine with the drum by the Executive body and the cores shield lining when passing by them of the Shearer drum-Executive body, and on the other hand, to maintain as low as possible output of waste rock during mining operations, it is possible to limit mining the work of the horizon of the reservoir without having to at the same time to cut too much of the side of the breed. Essentially available before treatment notch data field on the capacity of the reservoir, the soil level of the reservoir or the roof of the reservoir and the presence of saddles and/or depressions, as in the example is in relation to the development, and in the longitudinal direction of the downhole equipment, i.e. in the direction of sewage extraction, too inaccurate for this can be found automated control of mining and mounting works.

Therefore, the basis of the invention lies in the task of developing a method of the specified first type, which based on downhole equipment data is possible automation of mining and attachment in relation to a given wellbore space.

The solution to this problem should, including favorable options for implementation and improvements of the invention, the content of the claims, which set forth for this description.

In its basic idea, the invention provides a way of cutting production of the Shearer drum by the Executive body, through which at least one of the installed on the ceiling of the roof of the formation of cores shield lining tilt sensors is determined by the slope of the overlap of the roof of the reservoir relative to the horizontal in the direction of development and/or in the direction of sewage extraction of the Shearer drum-Executive body, and thus determined, the angles of the passage of the roof layer on the cores shield roof support is installed the passage of the horizon of the roof of the reservoir, and inwhich due to the registration step motion of each frame shield lining with located on the supporting skid frame shield roof support device to measure displacement is determined by the depth of the cut treatment combine with the drum by the Executive body at each production process, and in which, in addition, by located on a mining combine with drum Executive body sensors registered the cutting height of the Shearer drum-Executive body, thus setting the height of cut of the Shearer drum Executive body is sent to the appropriate transmission angle of the roof of the reservoir for a given wellbore space.

With the invention involves the advantage that first defined with a relatively low cost of the corners of the passage of the roof layer on the cores shield lining provides a parameter to control the bottom hole with sufficient accuracy and reliability. Other employed according to the invention, the parameters are in registration of doing cutting mining machine by installing its absolute height of cut, on the one hand, and the corresponding depth of cut, on the other hand, which can be deduced from registration step motion of individual cores shield lining. Based on the thus obtained data horizon of the roof of the reservoir can be used as a reference parameter for cutting.

The operation of cutting is additional improved due to the fact that through established for men is her least three of the four main construction details of each frame shield lining, such as the anchor runner, goaf shield, reference guide levers and the overlap of the roof of the reservoir, tilt sensors is determined by the slope of the overlap of the roof of the reservoir relative to the horizontal, and from the measured data in the unit of a computing machine by comparing with put in it that specifies the geometric orientation of the parts and their movement during the walking movement of the underlying data is determined in each case corresponds to a layer height of the shield in the area between the ceiling of the roof of the reservoir and the base runner, and from this, taking into account the constructive height of the overlap of the roof of the reservoir and the supporting skid is determined corresponding to the layer height freely cut cleaning machine drum-the Executive body of the downhole space, and in which on the basis of the received data is determined by the geometry of the freely cut downhole space on each frame of a shield roof support. By raising the height of the shield as an additional parameter or setpoint value is calculated geometry respectively established cleaning machine drum-the Executive body of the downhole space, which for several successive mining moves makes it possible to create a model of the passage of horizon formation in the direction of development, which can be adjusted with OSU available data fields. Using these data it is possible to considerably better to ask and keep in operation is automatically executed during one production of the turn of the Shearer drum-Executive body, as and for several successive mining moves the profile for cutting of the Shearer drum by the Executive body.

According to the example embodiment of the invention provides that the height of the cut making the cut for the roof of the reservoir ahead of the drum at the roof of the reservoir and making the cut soil layer lagging drum in soil formation are determined on the basis of the recording position of the brackets drums sensors, and with the passage of the Shearer drum Executive body by each of the skeleton of the shield supports the overall height of the cutter is brought into relation with installed with computers on the corresponding skeleton shield lining size of the bottom space. Thus, it is possible coordination of the movement of the Shearer drum Executive body through the bottom with the position of the individual cores used shield lining.

According to the example embodiment of the invention, the control method according to the invention improved due to the fact that the slope of the conveyor and/or Shearer drum Executive of the gun relative to the horizontal in the direction of the step motion of cores shield roof support is installed by installed on the conveyor and/or a mining combine with drum Executive body of the tilt sensors. At first it is sufficient to install the tilt sensor on a mining combine with the drum by the Executive body. While moving on the face conveyor and sent to him Shearer drum Executive body to a certain extent forms a node with the face conveyer, to improve accuracy, it may be desirable to record the inclination of the face conveyor means mounted on it tilt sensor. Under certain conditions, for management purposes, enough already install the tilt sensor is only on the downhole Assembly line.

In particular, it may be provided that the angle of inclination of the conveyor and/or of the Shearer drum Executive body is provided with the proportion mounted on the supporting skid frame shield lining and/or covering of the roof seam angle, and educated from this differential angle involved in the calculation resulting in several successive production moves of the Shearer drum-the Executive body of the bottom space. Related to this is the advantage that due to this is better controlled accumulation basins of the reservoir or the saddles of the reservoir, so as to control can be applied historical becoming defined up front treatment works the passage of the layer, t is to that through timely input control mining activities may be affected by the position and cross-section, and thus the geometry of the downhole space in the horizon of the formation.

Comparison of a given height to the actual height of the shield can feel the emergence of convergence, which reduces free cut bottom space against the base of the steps applied shield lining. Thus, According to the example embodiment of the invention provides that at lower values for height cut below the height of the shield is determined by the onset of convergence, and convergence is compensated by adjusting the height of cut of the Shearer drum-Executive body, preferably by raising the so-called cutting in which the drum at the soil layer into the horizon soil layer, as in the normal case, incision into the horizon of the roof of the reservoir should be avoided. Due to this measure may be deliberately offset the impact of convergence on the height of the face space. This can also be provided that in case of planned downtime bottom space increases by the value expected for the downtime convergence.

Because to be breaking the horizon of the reservoir often towards the development has a pronounced depression and/or saddle, these depressions and the saddle over the horizon of the reservoir can also be set on the basis of the e data to the provisions of cores shield lining, and this may be oriented mining operation of the Shearer drum by the Executive body. So, for example, hit the saddle governs the change in the slope adjacent to the roof of the seam overlap of the roof shield layer lining. From the magnitude of change of the slope between the two steps of movement of the skeleton of the shield supports forward can be calculated change in height in the sense of decreasing height for each of the next step of advancement of the corresponding frame panel lining. In order to maintain the bottomhole space at the desired predetermined level and to prevent the reduction of the size of the bottom space on the mining machine must be performed by a control movement for cutting, i.e. cutting the horizon soil layer. Then, exceeding the high-rise point of the saddle is a recognizable change in the slope of the overlap of the roof of the reservoir relative to horizontal. It must be held that, in order to control the operation of cutting the allotment made by the time of cutting, so that when passing the saddle followed the specified height of the bottom space. Appropriate control of the operation, but with the opposite sign, should be produced and with the passage of the basin, which is dominated by, in principle, the same is upravleniya.

Installed on the shell of the shield supports tilt sensors also give a measure of the slope of cores shield lining across the direction of development, so as in the direction of sewage extraction of the Shearer drum Executive authority over the bottom of the saddle and depression can be pronounced. Since the passage of the roof layer and the soil layer in the longitudinal direction of the downhole equipment is inferred from the slope of cores shield lining, there is a possibility to control the advancing drum at the roof of the reservoir and the bottom of the drum in soil layer of the Shearer drum Executive body in the ongoing direction of the cut so as to avoid undesirable cutting of the roof of the reservoir or under certain conditions exceeding the desired value of the cutting into the soil layer, so as to avoid unnecessary sampling of waste rock or abandonment of coal or bottlenecks between the treatment combine with drum Executive body and shield lining.

In industrial practice, the development of coal fields approach to automation of mining is that before production managed to carry out manually the training course of the Shearer drum-Executive body, which results in hand the direction of the bar, the ANOVA on the horizon roofing layer and relative to the horizon soil layer. Used in the training course profile cutting is logged and entered into the memory unit of the computer, while following the training course of the mining tunnels of the Shearer drum Executive body automatically executes the stored profile cutting. Related to this is the disadvantage that when the emerging changes of horizon formation, such as changing the capacity of the reservoir or the appearance of wavy bedding with saddles and valleys in at least partial areas of the face, the stored profile cutting is still observing the treatment combine with drum Executive body, which very quickly leads to undesirable working conditions and requires a new manual training course. Another disadvantage is that the profile of the cut always comes from remaining the same cutting depth of the drums, and therefore changing over the face of the cutting depth remain unaccounted for subsequent determination of the mining operation.

Additional involvement of this course of action when setting the height of cut of the Shearer drum by the Executive body on the basis of a certain transmission angle of the roof of the reservoir or calculated from the recorded data geometry obtained downhole space gives the opportunity will determine what, whether the specified profile cut of the Shearer drum Executive body is still actual geological conditions, and emerging deviations to intervene in the conduct of cutting drums, including adaptation of the depth of their cut before you experience unwanted operating States. Thus the cutting direction can longer be held in the horizon of the reservoir, so less need to conduct a new training course to determine the modified profile cutting. In addition, correspondingly updated on geological conditions the profile of the cut allows for the passage areas of the face with chips roof of the reservoir, in which the measurement of the inclination of the beams of the roof shield layer lining inevitably leads to false assumptions regarding the overall passing the horizon of the roof of the reservoir, the last time the profile of the cut to hold it up until after the passage area of the chip overlaps the roof of the reservoir corresponding to the skeleton of the shield lining again will not have contact with safe horizon of the roof seam.

The above sharing offices also applies to the engagement of the inclined position of the Shearer drums with drum Executive body due to the fact that during the training course of the Shearer drum-Executive authority is to be the scarfing angle of longitudinal inclination and/or the transverse angle of the Shearer drums with drum Executive body relative to the vertical and is involved in the establishment subject to subsequent execution profile cutting, thus resulting in the subsequent production moves angular deviations are compensated. As the drum in soil formation creates a bearing surface for the AFC and shield supports, deflection angular position, the first drum in soil formation, result in rotation of the plane of cut of the Shearer drum-Executive body, with the turn at successive production moves progressively increased, i.e. when the required undercuts drum, the effect of immersion downhole equipment, and if necessary to adapt to changes in the passage of the roof of the reservoir cross-cut drum, the effect of climbing downhole equipment. Therefore, provided at prescribed angular deviations to be corrected.

Another, also known in industrial practice approach to automation is that on the basis of the data installed on a mining combine with drum Executive body and aimed at the coal face of infrared cameras is determined by the embedded position in the reservoir rock prosloyku, and on the basis of the intrinsic layer, the known position of the rock layer relative to the horizon of the roof of the reservoir during production of the turn is determined by the passage of the horizon of the roof of the reservoir in the direction the AI sewage extraction, and this goes a position ahead of the drum at the top of formation during subsequent mining course of the Shearer drum-Executive body, and the lagging position of the drum at the soil layer is determined on the assumptions remaining the same layer thickness. The disadvantage of this technique is that the detection of the rock prosloyku using the infrared camera is in very adverse environmental conditions such as dust, heat, vibration, so that accurate detection lived rock prosloyku in the horizon of the reservoir is not always possible. After detection and localization lived rock prosloyku maintenance section drum is controlled in accordance with the distance to the roof of the reservoir and soil formation. First of all, deviations from behind the capacity of the reservoir can lead to deviations in the direction of cutting lagging drum in the soil layer from passing through the boundary layer. In addition, should always play the maximum power in order not to leave a stack of coal under the roof. Because the Geology of the distance based on the underlying lived rock prosloyku direction of the cut as the nominal values up to the roof of the reservoir and to the ground layer varies due to system deviation direction of the cut are n the streams, as distances lived rock prosloyku to the top of formation and soil formation are taken constant.

Since in accordance with this subject in the breaking of the reservoir there is a fairly pronounced veins of rock prosloyku, with the involvement of these rock prosloyku as specifying values for the direction of the cutting drum at the top of formation in the control according to the invention can be due to the advantage that the position of the horizon of the roof of the reservoir can be checked on the basis of the position of the nodes shield supports data so that incorrect operation of the cutting is preventable.

In this regard, it may be provided that certain of the defined corners of the passage of the roof of the reservoir in the field of cores shield lining the passage of the roof of the reservoir compared to the set via a training course and/or on the basis of determining the position of a rock layer profile cut of the Shearer on the drum by the Executive body, and when installed with a computing machine direction of the Shearer drum-the Executive organ in the roof of the reservoir correction of the direction of cutting ahead of the drum at the top of formation for adaptation to the passage of the roof of the reservoir, however, also be adapted to the direction of cutting attayde what about the drum in soil layer to the correction direction cutting ahead of the drum at the top of formation for a given wellbore space.

In addition, DE 202007014710 U1 stated the proposal is installed on the machine body of the Shearer drum Executive body between his drums and aimed at the coal face of the radar sensor during the mining progress to determine the passage of the horizon of the roof of the reservoir in the direction of sewage extraction, which is installed the passage of the horizon of the roof of the reservoir. And this measure is also used in the management framework according to the invention, however, the establishment of a radar passage horizon roofing layer is compared with the output from the carcasses of the shield supports and, thus, from certain angles passing through the roof of the reservoir passing through the horizon of the roof of the reservoir and, if necessary, correction of the height of cut of the Shearer drum by the Executive body. In addition, the radar sensor may optionally defined passage horizon soil layer in the direction of sewage extraction of the Shearer drum Executive body and installed the lagging position of the drum in soil formation in relation to the position of the horizon soil layer and, if necessary, adjusted the position of the drum. Due to this, it can be generally superior precision cutting acitng the harvester with the drum by the Executive body.

Finally, from the publication "Inertial Navigation: Enabling Technology for Longwall Mining Automation" author D.C. Reid (Di. Si. Ride the "onboard navigation system: high-performance technology for automation mechanized slaughter") from D.W. Hainsworth, J.C. Ralston, R.J. McPhee & S.O. Hargrave, CSIRO, Mining Automation, 1 Technology Court, Pullenvale, Old, Australia 4069 known by installed on reels suitable for inertial navigation sensors to continuously register the position of the drums downhole in the form of spatial coordinates and in the number of registered during the mining course of spatial coordinates to model in three-dimensional space freely cut reel production channel. It is possible to ensure a constant quality of the cutting direction of the Shearer drums with drum Executive authority and formerly known changes of reservoir parameters by setting subject to the achievement of the spatial coordinates to adapt the cutting direction of the drums. However, with this known method, similarly to the aforementioned method training course, connected the disadvantage that it does not provide automatic orientation direction of the Shearer cutting drum by the Executive body on the horizon of the reservoir, and the actual passage of the horizon of the roof of the reservoir, not PR is uvlekaetsja as a controlling variable for the direction of the cut. These deficiencies by additional consideration of the above registration provisions of the drums by spatial coordinates to the control according to the invention can be eliminated due to the fact that simulated in three-dimensional space mining channel is compared with the calculated involving the provisions of cores shield lining the geometry of the face space. Because when calculating the geometry of the downhole space position of the AFC when advancing a mining face continues to be recorded by measuring the movements of the walking cylinder, occur due to system errors, which can continuously accumulate, so as adopted in the downhole position of the AFC significantly deviates from the actual position of the AFC. Due to the registration provisions of the drums and, thereby, also the provisions of the AFC on the basis of obtained using the inertial navigation spatial coordinates could each mining course additionally record the absolute position of the AFC and synchronize it with the adopted position of the AFC in the geometry of the face space, so that, for example, surveying the corrective measure is no longer necessary, and the Osh the BKA no longer accumulate over many cycles of movement of the cores shield lining.

This should be moved to that by locating in the number of simulated for several successive mining moves production channels in three-dimensional space to create a model for the passage of horizon formation in the direction of development and compared with those calculated on the basis of the calculations for a sequence of several mining moves respectively in their geometry downhole spaces model the passage of horizon formation.

In addition, according to the embodiment of the invention, the complementary management measures can be provided that by means of at least one installed on the main body of the Shearer drums with drum Executive body of the radar sensor measures the distance between the upper edge of the main body of the drums and the bottom side of the inlet support during mining the overlap of the roof of the formation of the skeleton of the shield supports and as the actual value for the wall height of the Shearer drum Executive body under the shell of the shield lining is inserted in the block of the computer and is compared there with laid in his memory a specified value, while when the deviation of the generated control commands to adjust the cutting height at m is d one or both of the Shearer drums with drum Executive body.

Related to this is the advantage that the management goal is the preservation of a given size bottom space during the mining of the Shearer moves with the drum by the Executive body can be achieved with relatively low cost. Measured as the distance between the upper edge of the housing of the machine and the underside of the overlap of the roof of the formation of cores shield lining the gate height is a direct measure for the bottom space as bottom space consists of wall height and employed downhole equipment and thus constant distance to the top of formation, on the one hand, and to the soil layer or freely cut the drum in soil reservoir horizon soil layer, on the other hand. So, beyond the wall height the distance to the roof of the reservoir defined by the size of the overlap of the roof of the reservoir, while the distance of radar sensors to horizon soil layer constructive set height set on the horizon soil layer AFC and moved it a machine body of the Shearer drum by the Executive body. Thus, appropriately sized for the wall height value may be directly involved as a synonym for the height of the bottom space. the ri operations management can be carried out faster. Predefined unit computer set value for the bottom space set, or data field, that is, first of all, the capacity of the reservoir, or is determined by the minimum wall height of downhole equipment. Also, a given value, depending on the design data downhole equipment, can be represented as a set value for the entry doorway.

According to the example embodiment of the invention provides that the assessed based on the radar measurements the determination of the height of the face may be supplemented by that obtained from the cores shield lining of the data is calculated in each case corresponds to a layer height of each frame shield lining on the front end of the overlap of the roof of the reservoir as a measure for the actual size of the bottom space, and so determined actual values of the calculation of the height of the shield are fed to the processing of the actual value of the measure wall height unit computing machine. While radar measurement gives the data in each case only during the passage of the mining machine under the appropriate skeleton shield lining, and therefore too small passage height cannot be determined in advance and taken into account when establishing the parameters of production, complemented with the General definition of the size of the bottom space on the front end of the overlap of the roof of the reservoir is connected the advantage that obtained on separate cores shield supports data further clarify the behavior of individual sections of the front of the treatment works or the entire front of the treatment works when moving on stoping.

Thus, from the ratio of the calculated and the measured size of the bottom space to the current for the corresponding stope data fields, such as, for example, under certain conditions, changing the length of the bottom of the layer thickness, we can make a conclusion about whether there is a danger of collision within the downhole equipment in connection with the loading of the skeleton of the shield lining the roof of the reservoir, or is there a danger of exceeding the upper limit of permutations of cores shield lining if desired automatic operation. These higher moments of risk relate primarily to the passage of saddles or depressions in the form of passage of the reservoir, which can pre-empt by appropriate installation height of cut of the Shearer drum by the Executive body. In addition, relevant data bottom space can explain the possible collapse of the roof of the reservoir, the occurrence of stenosis of the reservoir, the movement of coal" of the Shearer drum-Executive body, or the possible cutting of the Shearer with baraban the m Executive body in the soil layer.

Thus, check the height of the shield gives the data for the expected size of the bottom space in the forecast, which can then be compared with the measured ones combine with the drum by the Executive body at its passage data. This improves the accuracy of both methods. Both methods form a complementarity in the sense that when checking the appropriate size bottom space has redundancy. Another advantage is that in case of failure of one of the two systems determine the size of the bottom space extraction can be continued on the basis of the remaining measuring system.

Because in one embodiment of the invention provides that the additionally installed respectively formed management teams in successive production moves correction values for the height of cut drum compared with each other, and a certain quantity of correction of the total value involved in measures for the outbreak of convergence, which has been factored into future production moves when determining the necessary adjustment of the height of cut drum, thus can be made of the conclusion of hostility between the convergence. If during the first mining course there is a necessity journalist who work for the height of cut, then for the next production progress can be checked if a given cut bottom space after correction. If, however, this again raises the need for correction, it can be invoked only begun meanwhile convergence.

The drawing shows embodiments of the invention, which are described below. Shown:

Figure 1: the skeleton shield lining with attached tilt sensors in connection with downhole pipeline and treatment combine with the drum by the Executive body as a mining machine in schematic side view,

Figure 2: downhole equipment according to figure 1 when operating in the diagrammatic representation,

Figa: downhole equipment according to figure 1 during the upward tilt of the mining machine,

Figb: downhole equipment according to figure 1 in a downward slope mining machine,

Figa-In: downhole equipment according to figure 1 with the passage of depressions and the passage of the saddles in the diagrammatic representation,

Figure 5: the clerk to set profile cutting training course of the Shearer drum Executive body in the diagrammatic representation,

Figa, B.: the influence of changes in the reservoir defined by the profile cut in the diagrammatic representation,

Fig.7: downhole equipment with cleaning harvester with drum will perform is determined as being the body and is shown only with their beams of the roof strata cores shield lining in operation schematic front view, when considering in the direction of development,

Fig: downhole equipment according to Fig.7. in the side view.

To explain further, the figures explains the basics of the method according to the invention in its providing the possibility of registering the height of the shield variant implementation.

Presented in figure 1 downhole equipment includes, first of all, the frame 10 shield roof support with a support carrier 11 on which the parallel arrangement has two racks 12, of which figure 1 is visible only one, and which at its upper end are overlapping 13 of the roof of the reservoir. While the ceiling 13 of the roof of the reservoir at its front (left) end is still subject to the description of the Shearer drum by the Executive body at its rear (right) end of the slab 13 of the roof of the reservoir by means of a hinge 15 is connected goaf shield 14, while the dam shield relies on in the form of two side resting on the supporting skid 11 reference guide arm 16. In the example implementation on the frame 10 shield lining has three tilt sensor 17, namely one tilt sensor 17 provided on the support skid 11, one tilt sensor 17 in the rear overlap region 13 of the roof of the reservoir near the hinge 15, and one tilt sensor 17 on the goaf shield 14.

As further shown, the fourth movable part of the skeleton of the 10 shield lining, pornih guide levers 16, also there may be a tilt sensor, with four possible sensor 17 tilt must be built accordingly the three tilt sensor in order to use certain of their values of the slope to determine the position of the skeleton of the shield supports in a mining space. In this respect, the invention is not limited presents specifically to figure 1 location of the tilt sensors, and covers all possible combinations of the three tilt sensors on the four movable parts of the skeleton of the shield supports.

Shown in figure 1 skeleton shield lining attached to the face conveyor 20, which also has a sensor 21 tilt, so that in relation to the management of downhole equipment, in General, there can be obtained data relative to the position of the conveyor. On the face conveyor 20 is installed Shearer 22 with the drum by the Executive body with the upper drum 23 and the lower drum 24, and in the area of the Shearer 22 with the drum by the Executive body mounted sensor 25 tilt, the sensor 26 to register the corresponding location of the Shearer 22 with the drum by the Executive body in the mine, as well as measuring rods 27 for measuring the height of cut of the Shearer 22 with the drum by the Executive body, Measuring equipment downhole equipment Ni is aetsa installing sensors 18 on the racks 12, with the help of which it is possible to change the level of overlap 13 of the roof of the reservoir by setting the height extension of the uprights 12. In addition, the supporting skid integrated measuring system 19, which is set corresponding to the stepping stroke of the skeleton 10 shield supports in relation to the face conveyor 20. As the face conveyor 20 moves forward in the direction of the coal face by leaning on the frame 10 shield roof support cylinders running frame 10 shield lining when pulling up walking the course in each case must be equal to the cutting depth of the Shearer drums with drum 22 by the Executive body. As mentioned, the placement of the sensors 21 tilt on the face conveyor 20 is not urgently needed, if a clearing processor 22 from the drum by the Executive body mounted sensor 25 tilt. In this case, the sensor 21 of the tilt may be additionally provided to increase the accuracy of the measurements.

When working downhole equipment in accordance with figure 1 in the normal case, there is a working situation, as it is in the example shown in figure 2. Undisturbed between the roof 30 of the reservoir and the soil layer 31 horizon layer 32 is developed treatment combine with drum 22 by the Executive body, at the height of 33 cut Prodigy is located in the direction 34 of sewage extraction of the Shearer 22 with the drum by the Executive body set that the lower drum 24 is the insert 35 in the soil layer. With this front upper drum 23 is mounted so that it is under the roof 30 of the reservoir leaves a narrow stack of coal (in the reservoir), which is due to the work of cutting spontaneously detaches from the roof of the reservoir. In this figure 2 plotted installed height 33 Reza. It turns out that in this case, the height 36 of the shield is set greater than the height 33 of the cut, so we must proceed from free from collisions pass of the Shearer 22 with drum Executive body under the cores 10 shield lining.

In order, on the basis of figure 2, to clarify the possible different behavior of downhole equipment during mining operation, figures 3A and 3B shows the conditions that are obtained if Shearer 22 with the drum by the Executive body has an upward inclination relative to the frame 10 shield lining (figa), which is reflected in the formation of the corner 37 of the difference between the reference runner 11 and the upper drum 24 of the Shearer 22 with the drum by the Executive body. It is seen that in this case, the danger of collision between the treatment combine with drum 22 by the Executive body and the cores 10 shield lining increases, and this risk can be taken into account by changing the height of cut. Appropriate refers to is shown in figb situation in which clear the Oh harvester with drum 22 by the Executive body has a downward slope. Also here there is the appropriate angle 37 of the difference, which is determined by the registered sensors 17 or 25 and 21 tilt the provisions of the Shearer 22 with the drum by the Executive body and frame 10 shield lining, and in each case arising corners 37 of the difference should be taken into account when managing the slaughter.

Additionally, figures 4A-4B presents conditions that occur when the passages depressions or crossing the saddle in the reservoir. As primarily stems from the comparison of figure 4B with figure 4A, impact on depression (figure 4B) leads to the inclined position of the face conveyor 20 and of the Shearer 22 with the drum by the Executive body, which is recorded using the installed thereon sensor 21 or 25 slope. The resulting values of the slope can be contrasted with that obtained on the frame 10 shield lining of the magnitude of the slope, and it makes the angle difference, which can be correlated with the corresponding bearing surface of frame 10 shield lining and the AFC 20 mining machine 22 on the soil layer 31. When shown on figb travel trough it turns out the angle difference is less than 180 degrees, and this leads to what is still available on figa the distance between the end of the slab 13 of the roof of the reservoir from the coal face and istim combine with drum 22 by the Executive body decreases. To eliminate the associated risk of collision, can be provided that in such a situation, the frame 10 shield lining pulls not at full size, and a few behind the AFC 20 with cleaning harvester with drum 22 by the Executive body that they kept passing distance.

The reverse situation is obtained by crossing the saddle, as it is shown on figv in comparison with figa. This gives the angle difference is greater than 180 degrees, which means that in the field of the roof of the reservoir, the distance between the ceiling 13 of the roof of the reservoir and the treatment combine with drum 22 by the Executive body is broken. To prevent adverse working situation provided that in automatic mode the frame 10 shield lining moves forward at full step, but the depth of cut of the Shearer 22 with the drum by the Executive body decreases.

As above, respectively, described the involvement of the installed height of the shield in control, you must specify that you install one tilt sensor on the ceiling 13 of the roof of the formation of the cores 10 shield roof support may be sufficient to suitably set the transmission angle of the roof of the reservoir in the direction of development and/or in the direction of sewage extraction of the Shearer 22 with drum will perform the d body if you already have a passing knowledge horizon 30 of the roof of the reservoir and its use as a setting value for cutting is sufficient.

In figures 5 and 6A, B shows the involvement of management techniques, in which at the beginning of the extraction of longwall Shearer loader 22 with the drum by the Executive body performs so-called training course, in which the drum 23 at the roof of the reservoir and the drum 24 at the soil layer, respectively, are sent manually along the respective horizon 30 of the roof layer or horizon soil layer. The resulting profile is stored as profile cutting and repeated in subsequent production courses. As, moreover, it follows from figure 5, Shearer 22 with the drum by the Executive body with the drums 23 and 24 is moved in the direction (arrow 38) of the movement, while the drums 23, 24 move accordingly on the horizon 30 of the roof of the reservoir and the horizon 31 soil layer. Meanwhile, the line 39 shows the profile of the cut, which is stored in memory for subsequent production courses.

As you can see by the simplified image on figures 6A, B, preserving shown in figa lines 39 profile cutting at offset wavy bedding right according figb leads to repeated without change profile cutting and passing the horizon 32 of the reservoir diverge. It is well visible that in this way p is the moving of the Shearer 22 with the drum by the Executive body share of the cut together with coal gangue is greatly increased, the share left under the roof of a pack of coal increases. When this offset wavy bedding in the horizon layer 32 is detected by means not shown here, the registration of the tilt position of the cores 10 shield lining that follow, first of all, the passage horizon 30 of the roof of the reservoir as the nominal value, so that with these values the difference between the actual passage of the reservoir and set profile cutting becomes clear and can be adjusted accordingly.

As further shown, in addition to the determination of the height of the face, thereby defining a passage horizon of the roof of the reservoir, as described in connection with figures 1-4, is provided to determine the actual passage of the horizon of the roof of the reservoir by using installed on a clearing processor 22 from the drum by the Executive body and aimed at the coal face of the infrared camera is determined by the embedded position in the horizon of the reservoir rock prosloyku and based on the characteristic of the formation, the known position of the rock layer relative to the horizon of the roof of the reservoir concludes the passage of the horizon of the roof of the reservoir in the direction of sewage extraction. Thus, it is possible to check and, if necessary, correction obtained from the determination of the height of the face of the knowledge of the passer is the situation of the horizon of the roof of the reservoir. An alternative possibility is that installed on the machine body of the Shearer drum Executive body between his drums and aimed at the coal face of the radar sensor during the mining of a course is determined by the passage of the horizon of the roof of the reservoir in the direction of sewage extraction, and thus can be installed the actual passage of the horizon of the roof of the reservoir and, if necessary, raised as correction values.

The use of radar equipment to determine the height of the face is also possible in accordance with the described in figures 7 and 8 an example implementation.

In this connection, it should, first of all, from Fig.7 that exists between the roof 30 of the reservoir and the soil layer 31 horizon layer 32 is developed with the help of the Shearer 22 with the drum by the Executive body, which is held by brackets 40 on the machine housing 41 of the cutting drums 23 and 24. When indicated by the arrow 38, the direction of movement of the Shearer 22 with the drum by the Executive body along the horizon 32 of the reservoir cutting drum 23 operates as cutting on the horizon 30 of the roof of the reservoir ahead of the cutting drum, while cutting on the horizon 31 soil formation cutting drum 24 operates as a backward cutting the reel. The area of the roof of the reservoir horizon 32 of the reservoir built to be directed perpendicularly to the direction 38 of the movement of the Shearer 22 with the drum of the Executive body of the cores shield lining, of which 7 are visible only 13 overlap the top of formation.

In order to measure the checkpoint height between the upper edge of the machine casing 41 and the lower side respectively of the inlet support during mining operation 13 overlap the top of formation of the corresponding skeleton shield roof support on the machine housing 41 there are two radar sensor 42, which are flush mounted in the surface of the machine housing 41. Radar sensors 42 send straight up towards the ceiling 13 of the roof layer signals again and receive the reflected signals, so that the distance between the beams 11 of the roof of the reservoir and the engine housing 14 can be determined in a simple way, namely, even in advance during the production of the turn of the Shearer 22 with the drum by the Executive body. In the present exemplary embodiment, both the radar sensor 42 located respectively on the front and rear end of the machine housing 41 and flush mounted in the surface of the machine housing 41. As further shown, can be provided by the respective cleaning devices in the form of mechanical scrapers or device is to flush with water under high pressure.

As follows from Fig.7, indicated by the arrow 43, the thickness of the horizon 32 of the reservoir is less than indicated by the arrow 44 minimum passage height downhole equipment, so obtain or maintain the minimum wall height of 20 lagging behind the cutting drum 24, respectively, performs the insert 35 in the soil layer.

If you know certain through the use of radar sensors 42 communicating height of 45 (figure 8) between the beams 13 of the roof of the reservoir and the engine housing 41, from her simple way is determined and the actual height of the bottom space as the distance between the top edge of the machine housing 41 and the horizon of 31 soil layer is set to a fixed value consisting of a set on the horizon soil layer AFC 20 and moving of the Shearer 22 with the drum by the Executive body steel construction.

As further shown in Fig during mining works by using radar sensors 42 is determined by the arrow 45 passage height between the ceiling 13 of the roof of the reservoir and the engine housing 41, which is defined existing between the roof 30 of the reservoir and the soil layer 31, the actual height of the bottom space. On Fig seen that the actual height of the bottom space is less than the minimal is I continuous height 44 downhole equipment, so lagging behind the cutting drum 24 at each mining course must complete one additional cutting in the soil layer, in order to gradually increase in shared freely cut the height of the bottom space. Because without any delay in time is determined actually to freely cut the height of the bottom space at each mining course of the Shearer 22 with the drum by the Executive body, at the same time taken into account and short-term due to the convergence recovery of the soil layer 31, so as in each case there is a focus on actually freely cut the height of the face in the light.

Disclosed in the foregoing description, claims, abstract and drawing characteristics of the subject of these documents can be separately and in any combination with each other are essential for carrying out the invention in various forms of its implementation.

1. Method of automatically obtaining the specified bottom hole space with the face conveyor (20), Shearer (22) with the drum by the Executive authority as the mining machine, and hydraulic consisting of a control room shoring active Stopes in underground mining of coal, through which at least one is installed on the ceiling (13) roofing square is one hundred cores (10) shield lining of the sensor (17) slope determine the slope of the floor (13) of the roof of the reservoir relative to the horizontal in the direction of development and/or in the direction of sewage extraction of the Shearer (22) with drum Executive body, and thus determined, the angles of the passage of the roof layer on the cores (10) shield roof support unit of the computer to ascertain the passage of the horizon (30) of the roof of the reservoir, and in which due to the registration path of step motion of each frame (10) shield roof support means located on the support skid (11) of the frame (10) shield lining measuring device (19) of the path determines the cutting depth of the Shearer (22) with the drum by the Executive body at each production process, and in which, furthermore, are installed on a mining combine (22) with drum Executive body sensors (27) register the cutting height of the Shearer (22) with drum Executive body, with the installation height of cut of the Shearer (22) with drum Executive body directed to the appropriate transmission angle of the roof of the reservoir for a given wellbore space.

2. The method according to claim 1, in which means are installed in at least three of the four main construction details of each frame (10) shield supports, such as support runner (11), goaf shield (14), reference guide levers (16) and overlap (13) of the roof of the reservoir, sensors (17) slope determine the slope of the floor (13) of the roof of the reservoir relative to the horizontal, and from the measured data in the block vychislitel the forming machine by comparing with stored sets of geometric orientation of structural parts and their movement during the walking movement of the main data determine in each case the corresponding the layer height of the shield in the area between the ceiling (13) of the roof of the reservoir and the base runner (11), and taking into account the constructive height of cover (13) of the roof of the reservoir and the supporting skid (11) establish appropriate stratum height freely cut cleaning unit (22) with drum Executive body of the downhole space, and in which on the basis of the obtained data to determine the geometry of the freely cut downhole space on each frame (10) shield lining.

3. The method according to claim 1 or 2, in which the height of the cut that make the cut on the roof of the reservoir ahead of the drum (22) at the roof of the reservoir and that make the cut at the soil layer lagging drum (24) in the soil layer is determined on the basis of the recording position of the bracket (40) drums sensors, and with the passage of the Shearer (22) with drum Executive body by each frame (10) shield supports the overall height of cut lead in correlation with a particular by means of the computer at the appropriate frame (10) shield lining size of the bottom space.

4. The method according to claim 1 or 2, in which the inclination of the face conveyor (20) and/or of the Shearer (22) with drum Executive body relative to the horizontal in the direction of the step motion of the cores (10) shield supports are determined by installed on the AFC is (20) and/or a mining combine (22) with drum Executive body of the tilt sensors.

5. The method according to claim 4, in which the angle of inclination of the face conveyor (20) and/or of the Shearer (22) with drum Executive body of the lead in the proportion mounted on the supporting runner (11) of the frame (10) shield supports and/or on the covering (13) roof seam angle, and educated from this angle difference is involved in the calculation resulting in several successive production moves of the Shearer drum-the Executive body of the bottom space.

6. The method according to claim 1, in which at lower values for the height of cut of the Shearer (22) with drum Executive body below the height of the shield determines the beginning of the convergence, and compensate for convergence by adjusting the height of cut.

7. The method according to claim 2, in which by determining the slope of the floor (13) of the roof of the formation of the cores (10) shield lining in the direction of development to ascertain the passage of depressions and/or saddles in the direction of development, and at the expense of the established changes of the slope of the floor (13) of the roof of the reservoir within a predetermined period of time pre-calculate the change in the bottom space and accordingly regulate the operation of the cutting of the Shearer (22) with the drum by the Executive body.

8. The method according to claim 2, in which by determining the slope of the individual cores (10) shield is rape across the direction of development to ascertain the passage of depressions and/or saddles in the direction of sewage extraction of the Shearer (22) with drum Executive body, and the position of the drums (23, 24) of the Shearer (22) with drum Executive body of the downhole control so that the drums (23, 24) follow a set passage of depressions or saddles.

9. The method according to claim 1, in which before the beginning of mining operations and/or during production, while changing the passage of a seam running managed manually training course of the Shearer (22) with drum Executive body with manual direction of the drums on the horizon (30) of the roof of the reservoir and to the horizon (31) of the soil layer, and profile cutting training course register and injected into the memory unit of the computing machine so that Shearer (22) with drum executing Agency for the following training course of mining moves automatically executes the stored profile of the cut.

10. The method according to claim 9, in which when the training course of the Shearer (22) with drum Executive body determine the caster angle and/or the transverse angle of the drums (23, 24) of the Shearer (22) with drum Executive body relative to the vertical and attract when establishing subject to the revision of the profile cut, with smooth arising during subsequent mining moves angular deviation.

11. The method according to claim 1 or 2, wherein on the basis of data set in a clearing to the-Bains (22) with the drum by the Executive body and aimed at the coal face infrared camera sets the position is embedded in a layer of rock prosloyku, and on the basis of the inherent formation known position of the rock layer relative to the horizon (30) of the roof of the reservoir determined during the mining progress passing horizon (30) of the roof of the reservoir in the direction of sewage extraction, and therefore Orient the position of the advancing drum (23) at the roof of the reservoir for subsequent mining course of the Shearer (22) with the drum by the Executive body, and the lagging position of the drum (24) in the soil layer set with the assumption remains the same layer thickness.

12. The method according to claim 1 or 2, in which certain of the defined corners of the passage of the roof of the reservoir in the area of the cores (10) shield lining the passage of the roof of the reservoir compared to the set via a training course and/or on the basis of determining the position of a rock layer profile cut of the Shearer (22) with the drum by the Executive body, and when installed with a computing machine cutting of the Shearer (22) with drum Executive organ in the roof of the reservoir correction of the direction of cutting ahead of the drum (23) at the roof of the reservoir to accommodate passage of the roof (30) of the reservoir.

13. The method according to item 12, which are adapted direction Reza lagging drum (24) in the soil layer to the correction of the direction of cutting ahead of the drum (23) at the roof of the reservoir to obtain backside the frame bottom space.

14. The method according to claim 1 or 2, in which the means mounted on the machine housing (41) of the Shearer (22) with drum Executive body between his drums (23, 24) and aimed at the coal face of the radar sensor during the mining of turn determine the passage of the horizon (30) of the roof of the reservoir in the direction of sewage extraction and compared with the derived from the corners of the passage of the roof of the reservoir passing through the horizon of the roof of the reservoir and, if necessary, correction of the height of cut drum (23, 24) of the Shearer (22) with the drum by the Executive body.

15. The method according to 14, in which by means of a radar sensor further define the passage horizon (31) of the soil layer in the direction of sewage extraction of the Shearer (22) with drum Executive body, establish and, if necessary, correct the lagging position of the drum (24) in the soil layer relative to the horizon (31) of the soil layer.

16. The method according to claim 1 or 2, in which means are installed on the reels (23, 24) suitable for inertial navigation sensors corresponding to the position of the drum downhole permanently recorded in the form of spatial coordinates, and in the number of registered during the mining course of spatial coordinates simulate the COO is responsible freely carved drums (23, 24) mining the channel in three-dimensional space and compared with those calculated with the involvement of the provisions of the cores (10) shield lining geometry downhole space.

17. The method according to clause 16, in which due to the location in the number of simulated for several successive mining moves production channels in three-dimensional space create a model for the passage of the horizon (32) of the reservoir in the direction of development and compare with the model passage horizon formation, calculated on the basis of downhole spaces, respectively, calculated according to its geometry, for a series of several mining moves.

18. The method according to claim 1 or 2, in which by means of at least one installed at the machine body (41) of the Shearer (22) with drum Executive body of the radar sensor (42) measure the distance between the top edge of the machine housing (41) and the bottom side of the inlet support during mining operation overlap (13) top of formation of the skeleton (10) shield lining, and as the actual value for the wall height of the Shearer (22) with drum Executive body under the shell (10) shield lining is introduced into the unit computing machine and compared there with stored in memory preset value, while when the deviation form the control commands for adjusting the height of cut on minority who she least one or both of the Shearer drums with drum Executive body.

19. The method according to p, which is obtained from the cores (10) shield supports data calculated in each case corresponds to a layer height of each frame (10) shield lining on the front end of the cover (13) of the roof of the reservoir as a measure for the actual bottom-hole space, and so determined actual values of the calculation of the height of the shield serves to processing the actual value of the measure wall height unit computing machine.

20. The method according to p in which optionally installed with the following one after the other mining moves through respectively generated control commands correction values for the height of cut drum (23, 24) are compared among themselves, and a certain quantity of correction of the total value attract as measures for the outbreak of convergence, which in future mining moves into account when determining the necessary adjustment of the height of cut drum (23, 24).