Selection of position or location of components at mining excavator points and mining excavator

FIELD: mining.

SUBSTANCE: invention relates to mining, particularly, to coal-mining industry. Proposed method of determination of location of position of mixing excavator comprising at least one face conveyor (8), shield support system (1) including multiple frames (2) and excavator (6) displacing along face conveyor (8). Note here that at least the position of one component is defined with the help of evaluation system. Note also the said evaluation system comprises at least one detection unit (25). To define position of at least one plant component, even in dynamic excavation, at least one detection (25) unit comprises one image pickup that allows detection of object four points (21) located at preset distance from each other to be detected in wavelengths of optical band. Plant component position can be defined with the help of the system of evaluation by the object projection points detected by image sensor.

EFFECT: possibility to measure absolute and relative location of excavator components.

27 cl, 9 dwg

 

[1] the Invention relates to a method of determining position and/or location of the components of mining and extraction installation, in particular, excavation and installation of coal mining, which as components contains at least one face conveyor to remove recoverable materials, system shield lining with plenty of RAM shield lining to save face open, moving device to move the AFC and shield roof support during active use and extraction machine moving along the AFC, while the position and/or location of at least one component of the installation is determined using an evaluation system, comprising at least one detection unit. The invention also relates to excavation and installation of mining, in particular, excavation and installation of coal mining, with the AFC to remove recoverable materials, system shield lining, with lots of RAM shield lining to save face open, moving device to move the AFC and system shield roof support during active use, and extraction machine as components of the mining installation, the assessment system includes at least one detection unit adapted for determining the position and location of at least one component of the mining of the mouth of the hall. The invention also relates to a method and extraction installation, configured to implement the method by which it is possible to detect a change of place or change the position of a component of the installation in relation to the surrounding area to make it possible, where applicable, to make conclusions from this, for example related to the movement of slaughter.

[2] In modern underground mining (dredging) of mineral raw materials in the face sending more work on the surface. Such works include, among other things, monitoring and management of the production process. To enable visualization of the production process with the help of the mining installation on the surface and optimization of the production process may require more accurate knowledge of the respective current position of the greatest possible number of installation components, such as, in particular, as the AFC installed, where applicable, on a mining machine control unit excavation machinery and, where applicable, also frames lining system panel lining, with which the bottom or underground treatment development remains open and is provided with a movement component extraction position in the direction of the excavation or mining. During the dynamic process, for example in coal mining, there is a change in position and place the AK technical systems removal and transport to the slaughter, and installation components located on sidings, so for a long time searching an efficient solution for measuring and positioning, where possible, all data of the installation components in three-dimensional space (3D) and/or to measure and determine the location of the installation components relative to each other.

[3] In document EP 1276969 the proposed move with the mining machine measuring system with an inertial navigation system for obtaining two-dimensional space positioning a guide rail AFC and mining machines are directed by him. Signals actuate the moving devices are produced, in turn, based on the position data recorded by the inertial system, to obtain control, excavation, installation or guiding means in three-dimensional space. Using inertial navigation systems, where the change of the location is determined with reference to the initial or starting point, is possible if the starting point of the well-known surveyor, to determine the absolute coordinates in three dimensions arithmetically on the relative displacements defined inertial navigation system. Measurement data prepared by the inertial navigation system, soedinaytes is moving the mining machine.

[4] For frame shield lining the well-known installation of inclinometers on the frame panel lining, such as on safety caps shield, the shield zone cracks, levers or backing, such inclinometers determine the location of the components of the shield relative to each other or absolute location of the components of the shield. Material DE 102007035848 B4 sensor with dimension of multiple axes of the acceleration sensors is proposed as a sensor of the angle of detection, in combination with independently moving the sensor coordinates in space and time frame shield lining relative to the face conveyor and improve the automation of the development of the coal face.

[5] the Known method and device for distance measurement optical devices for geodetic works (see also DE 19840049). Method triangulation is often used for land surveying where the use of sensors, called triangulation sensors or scanners reflected light. The light emitting device emits light, which after reflection from the object lens is served on the local critical, often optoelectronic image sensor to derive conclusions on the distance to the object based on the known geometry of the sensor.

[6] object of the invention is the creation of the method and evaluation system for the excavation units, which even in the variant of the dynamic process mining of mineral raw materials, where there is a change in the absolute location and relative location of the technical installation components caused by the promotion of mining and/or wear and/or position of at least one component installation can be identified by position and location specific mechanical parts of the installation or change of place or change of position in relation to the surrounding area.

[7] This task is solved according to the basic concept of the invention using the method of determining the place or position in which at least one detection unit includes an image sensor which detects at least four points of an object located at a given distance from each other and detected at wavelengths in the optical range, at least one of the measurement object associated with one of the installation components, while the position and/or location of the component installation or, at least, one specific part of the machine, component installation, which is linked to the object of measurement is determined using an evaluation system for the projection of points of the object detected by the image sensor.

[8] In the method according to the invention use is the fact that what version of the measurement object, which has at least four distinct points of an object located at a given or known in advance a fixed distance from each other and that, for example, attached to a component installation or specific details of the machine of one of the installation components, such as wall-Board the AFC, the safety cap of the shield or frame of the mining machine, the position, the inclination and/or position, i.e. the distance between installation components, can be reconstructed in three-dimensional space, at least with respect to the image sensor or the detection unit on the projection of points of the measurement object, at least one two-dimensional image plane is detected using the image sensor. To restore the spatial position on the projection of points of the object can, for example, to use numerical solution methods.

[9] the Main area of application of the method according to the invention refers to the application of the definition of place and position the AFC or the mining machine relative to the system panel lining along the bottom. Because the AFC under normal conditions includes guides or rails rails for mining machines, where applicable, information about the place and position that is are one of the two components of the installation is sufficient. This information provides, for example, the prevention of clashes between the mining machine which can be operated on the face, such as urbanamerica machine with relatively large rock cutting cone, and a safety cap shield shield frame lining. Here is a possible implementation of, or changing the way in various alternative embodiments according to the invention.

[10] According to a possible development, point object, at least one or exactly one dimension object that moves together with the mining machine can be detected by using multiple detection blocks installed distribution system shield supports and stationary.

[11] In the case of this first variant of the method, at least one object of measurement at least four points of the object moves along with the mining machine, and plenty of RAM shield roof support installed on the system panel lining at some distance from each other, is set in each case at least one detection unit with the image sensor for object detection or measurement point of the measurement object by using the image sensor when passing by him mining machines. The object of the measurement, as explained in more detail below, for example, be about atovan four active radiation sources, such as light emitting diodes (LEDs), but also distinct points on the mining machine. The more RAM shield lining is equipped with a detection blocks, the more accurately you can detect and determine the course of the face in relation to the system panel lining. Detection units can be installed at regular or irregular distances from each other, and the measurement object can be detected optically at least four points with one block detection, but also with multiple detection blocks. You can also move multiple objects of measurement together with the mining machine to detect two or more pairs estimated simultaneously with its passage by, for example, using multiple detection blocks mounted on the corresponding frame panel lining, through which you can determine the estimated pair status or place the AFC or the mining machine relative to the system panel lining. Possible variant of the method can ensure the formation of the measurement object by the display of the display device or control device mounted on the mining machine. The display of such a display device in most cases forms a rectangular surface, contrasting on the wall mining machines and other parts mA is in the individual components of the installation. The display on the whole, therefore, must form a light field or, for example, however, especially bright light point, forming in each case one of the points of the object to be scanned by the image sensor must be formed in the corner of the display. Since many display devices or control devices with multiple displays present on the excavation machine, you can scan either a single detection unit, or by using different blocks of detection. In the case of a rectangular display, for example, the image sensor, depending on the distance to the mining machine and its angle of inclination to discover the projection of the rectangular surface of the measurement object, and the size of the projection can be detected distances from the display, i.e. the display position and, consequently, the mining machine relative to the detection unit and also angle, i.e. the position of the measurement object.

[12] Another variant of the method may include the detection points of the object, at least one or exactly one dimension object moving over the face conveyer regardless mining machines, using multiple detection blocks installed distribution system shield supports and stationary. This dimension object moving independent is from the mining machine, can move, for example, together with the face conveyor or may also contain a dimension object that moves forward and back separately from the mining machine. It is obvious that variants of the method can also be combined, it is also possible, where applicable, using the same detection unit in each embodiment, for detection of the measurement object on the mining machine and to detect a dimension object that moves independently from the mining machine.

[13] Another alternative method may be the detection of points of interest measurement, set the direction of the face conveyor and stationary, with many blocks detection of installed distributed system shield supports and stationary. For this option, for example, each frame panel lining system panel lining or just an arbitrary number, in principle, RAM shield lining can be equipped with one or multiple detection blocks, in turn, detects the point of one object or many objects of measurement established in each case, for example, on the respective pan AFC.

[14] As an alternative to this or in addition, the point of many stationary objects of measurement, established distribution systems the shield lining, can be detected by using at least one or with exactly one detection unit, moving the mining machine. In the case of this variant of the method the detection unit, therefore, moves with the mining machine and fixed objects measurement set distributed by shield lining, are scanned using a moving detection unit. In this case also only the required resolution and accuracy depends on the decision whether to equip each of the frames panel lining or only individual frame panel lining system panel supports at least one dimension object. When working this way, for example, the display device control supports each frame shield lining can also create a dimension object is found using the detection unit, passing it together with the mining machine to determine where the frame shield roof support system shield lining with one hand and finding the mining machine on the other. Instead of moving the detection unit together with the mining machine unit can also move independently of the excavation machine.

[15] In addition, in many stationary objects of measurement, established distribution system shield lining, can also be found through the th multiple detection blocks, installed with the distribution of the face conveyor and stationary. In this embodiment of the method can also be created stationary object of measurement, for example, using the display device control supports each frame shield lining, but also with a visual signal from the light-emitting diodes installed, such as corner points of the rectangle on the specified part of the machine. The point of the measurement object can be formed by light emitting diodes (LED), emitting, for example, in the wavelength range of visible light. Point object can be formed by a display or other radiation sources or LEDs, such as LEDs emitting in the wavelength range of ultraviolet or infrared radiation, if possible scan points using an optical image sensor, such as sensor with two-dimensional matrix or linear sensor.

[16] the Aforementioned problem is solved by using extraction installation, in which at least one detection unit includes an image sensor, and at least one of the installation components, or a specific detail of the machine of one of the installation components is associated with a dimension object that contains at least four points of an object located at a given distance from each on the UGA and detected at wavelengths in the optical range using the image sensor. At least one detection unit with the image sensor, therefore, is installed on the main excavation installation, using this image sensor are detected point of the object, which can be detected at wavelengths in the optical range, such as radiation sources in the form of an LED or a display or similar other component installation.

[17] evaluation System should preferably include software image processing, which is the position or location of the components installed on the projection of points of the object detected by the image sensor.

[18] To minimize the number of detection blocks in the case of a particularly preferred development of the method or extraction installation according to the invention it is possible to create blocks detection or image sensor, hinged, rotatable or pivoted, or hinged, pivotable or rotatable optical system, associated in each case with the image sensor units detect. Articulated pivoting or rotatable block detection or hinged, rotatable lens can be used to scan as many stationary objects measurement using a single detection unit, and, in particular, in the case of moving is bhakta measurement for scanning the measurement object with the same detection unit in different positions when passing by the mining machine. Because stationary objects measurement set, for example, in each case on the relevant pans in the AFC, the United moving beam with a corresponding frame panel lining, it is also possible to scan using the hinge of the swing axis detection unit dimension objects that are installed on adjacent pans. As articulated pivoting the detection unit installed on the downhole side, therefore, for example, downhole pipeline objects measurements on multiple frames panel lining can be scanned by a single detection unit. Creating a hinge pivoting of the detection unit or the lens can also be used to fit on a single component installed numerous dimension objects that are scanned one after the other using a single detection unit.

[19] Point of the measurement object preferably contain radiation sources, in particular LEDs, emitting at wavelengths in the optical range and installed at a specified distance from each other. To minimize the time and costs for the following measurements, calculations, especially preferred is to install LED at fixed distances from each other and forming, for example, field measurements of simple geometric shapes, such as Pramogu is INIC. The greater the distance selected between the individual objects of measurement, the better the spatial resolution can have an evaluation system. To ensure a fixed distance between the individual points of the measurement object, in particular preferably, when the point of the measurement object is set distributed on one part of the machine of one of the installation components. Given the large existing space such specific detail of the machine may be, in particular, the hinged side of pan AFC, the wall of the casing urbonavicius machine or the safety cap or shield zone cracks shield frame supports.

[20] To increase the accuracy of the system many blocks detection can be set in different positions in each case on the frame panel lining system panel lining or pan the AFC, at least two of the measuring unit at that designate, according to one variant, for detection of the same dimension object. As an alternative, numerous dimension objects or multiple detection blocks can be set in different positions in each case on the frame panel lining or pan the AFC, in each case, one object of measurement and a single detection unit dimension objects and blocks detection evaluation forms a couple. In case the this option may in particular, work with non-roaming blocks detection. If many objects of measurement are scanning one detection unit, pivotally rotating the detection unit or the detection unit articulated pivoting lens is particularly suitable.

[21] the coordinates of the location and/or position coordinates of one of the installation components or specific details of the machine component unit is determined iteratively, using the device valuation on projected point of the object is detected using the image sensor. In this case, the coordinates of the location or position coordinates AFC preferably determined, in particular calculated.

[22] More preferably, at least one installation component, preferably the AFC frames or supports, can be associated, at least one inclinometer to detect not only the relative location, for example the AFC in relation to the system panel lining, but also to determine the absolute location. The signals from the inclinometer can also replace the optical system of evaluation and this can be used, for example, to determine the position, if the inclinometer is connected simultaneously to the corresponding component of the installation and the face conveyor. Inclinometers to measure p is two or three axes, includes the corresponding acceleration sensor, are particularly suitable for this purpose, appropriate inclinometers with acceleration sensors are known and currently used in many areas of engineering, including underground mining.

[23] the Concept underlying the invention can also be used only to obtain information about the actual change of place or component installation in relation to the surrounding area. With regard to automatically move forward, excavation and installation all installation components are moved in the operating mode. Thus, for example, support frame must not be mounted in the bottom or the breed. If the sole production sharply goes down, or given other circumstances, might be moved excavation installation. To detect this can be used a method according to the invention by p. 18 claims, if there is not a separate dimension object, but instead, at least one detection unit includes an image sensor which detects at least four points of an object located at a given distance from each other and detected at wavelengths in the optical range, while the measuring unit is associated with one of the installation components and changing the position and/or treason is their designated component of the installation is determined using an evaluation system for the projection of points of the object, detected by the image sensor. Particularly preferably, if you find a natural point of an object at the bottom for excavation using mining machines. It is obvious that the scanning points of the object should be conducted at two points in time when a face has not been changed excavation machine. To determine the change of the location or position changes, there is no need to know the absolute distance between the points of the object, but rather, when comparing the use of the point object in the absence of any change of the distance between them and, consequently, a given fixed.

[24] In a variant, excavation and installation, respectively, adapted for the method according to the invention results from the evaluation system that includes at least one detection unit adapted for determining the position or location or change in location or change the location of at least one component extraction installation, and at least one detection unit that includes an image sensor mounted on one of the installation components, and using the image sensor detects at least four points of the object, fixedly mounted at a specified distance from each other and detected at wavelengths in the optical range. Especially predpochtitel is about, when the appraisal system includes software image processing, which is the change in position and/or change the component installed on the projection of points of the object detected by the image sensor. Also in a variant, excavation and installation of natural point of an object, in particular, can be found on the face, to be hollow, with the mining machine.

[25] the latter method and the corresponding extraction installation are particularly suitable preferably for the detection of moving, excavation and installation by determining changes in the position and location of the component installation.

[26] further advantages and developments of the method and excavation units according to the invention are given in the following description and explanation of examples of embodiments and the following drawings are simplified and schematic for measuring principle for mining installations for the mining of mineral raw materials.

[27] In Fig.1 shows, as a first variant example of implementation, the schema extraction installation according to the invention with the evaluation system according to the invention.

[28] In Fig.2 shows the measuring principle underlying the invention, by using the model.

[29] In Fig.3 shows the mining installation according to the second variationbetween.

[30] In Fig.4 shows the mining installation according to the third variant of implementation.

[31] In Fig.5 shows the mining installation according to the fourth variant implementation.

[32] In Fig.6 shows the mining installation according to the fifth variant implementation.

[33] In Fig.7 shows the extraction installation according to the sixth variant implementation.

[34] In Fig.8 shows the mining installation according to the seventh variant implementation.

[35] Fig.9 shows the mining installation according to the eighth variant implementation.

[36] the Position 10 in Fig.1 shows a very simplified diagram of the mining installation according to the first variant example of the embodiment of the invention. Excavation installation 10 comprises, essentially, a well-known system 1 shield lining, with many frames 2 lining installed next to each other in an underground pit, only one frame 2 panel lining system 1 shield roof support shown in figures. Frame 2 shield lining provides, essentially, a well-known pickup 3 on the sole production, the shield 4 zones of cracks and the safety cap 5 of the shield, in which case the application may be equipped ahead of the front protective cap, which can be folded. The safety cap 5 of the shield and the shield 4 zone cracks are moving essentially in a known manner relative to podhu the 3 on the sole output, and the slaughter is maintained open by the system 1 shield lining so that the mining machine 6, in this case represented urbonavicius machine can move forward and backward in the bottom for the development in it of such minerals, such as coal. Mining machine 6 is directed along the guides AFC 8, which is shown schematically in the form of only one pan 7, but which, in principle, can be constructed arbitrarily and, in fact, in the known form may be made from a variety of relevant pans in spaced rows. The plunger 9 is provided in each case between each frame 2 shield supports and each pan 7 AFC 8, this pusher or face conveyor 8 can be moved relative to the frame 2 shield lining, if the frame 2 shield lining is not attached to the bottom, or frame 2 shield lining can move forward manner known to the person skilled in the art. Different distance between the object 20 measurement and detection unit 25 is created depending on the length of the extension shearing device 9. Because the basic design of excavation installation 10 is known to the person skilled in the art, further description is not provided here. The invention can be used, in principle, on all types of excavation of the mouth of the mode.

[37] In the variant example of implementation shown in Fig.1, the object 20 measurement installed on the wall 11 of the casing mining machine 6, specifically, in this case on the wall 11 of the casing opposite to the cutting cones 12 and turned from them to the frame 2 shield lining, the measurement object includes four corner points as points 21 of the object in each case formed, for example, light-emitting diodes. A dimension object forms a rectangular field measuring. Light emitting diodes form the point 21 of the object 20 to be measured, and light-emitting diodes containing sources of radiation that can be detected using a suitable detection block 25. In Fig.1, it is preferable for illustration only, the detection unit 25 presents as a video camera, which is essentially, as you know, includes a lens and an image sensor such as a CCD image sensor, installed in the casing. However, the detection block 25 can also be constructed in a completely different form, if suitable for visual differentiation between the points of emission of the object 20 measurements, in this case, light emitting diodes, and the surrounding areas. In the case of excavation installation 10 object 20 measurement carries extraction machine 6, and the detection unit 25 has mounted stationary on the frame 2 shield lining. Can about the hack at each frame 2 panel lining system 1 shield lining the corresponding blocks 25 detection or fewer frames panel lining 2 can be equipped with corresponding blocks 25 detection with regular or, where applicable, irregular distances between the blocks 25 detection. The more use blocks 25 detection, more accurate measurement is possible by using the evaluation system established by the detection unit 25 and the object 20 measurement and a suitable computer or processor with the software, the distance between them and the mining machine 6 or the face conveyer 7 and also tilt excavation installation 6 or AFC 8 against the block 25 detection or to an arbitrary anchor point. The slope of the excavation and installation of 6 or AFC 7 with respect to the horizontal direction shown in Fig.1 by the angle α. The method of measurement used according to the invention described below and shown in Fig.2.

[38] Perspective projection space on the image plane formed preferably by the sensor 30 of the two-dimensional image can be described using the model, schematically shown in Fig.2, and the recovery of three-dimensional space can be performed by processing data of two-dimensional projections. X, Y and Z are coordinately axes for points P of the measurement object in three-dimensional space (spatial coordinates), whereas u and v are coordinately axes of the projection Q of the image in two-dimensional space (coordinate system of the image). f is the parameter, depending on the detection unit. In the model shown in Fig.2, the starting position of the coordinate system image installed at the point (0, 0, f) system of spatial coordinates, and the plane (u, v) are set parallel to the plane (x, y). In Fig.2 clearly shows that in this case there are exactly four points P1, P2, P3, P4 suitable dimension object P on the image plane of the sensor 30 of the image. Four points P1, P2, P3, P4 of the object in this case are to simplify so that they form a rectangle with lengths a and b sides. You need at least four points that make the solution clear. The coordinates (ui,vi) of the points Q1, Q2, Q3, Q4 on the image, find progressive scan using 30 gauge image, such as a CCD sensor, the parameter f and the length of the a and b sides of the rectangle covered by the object P measurements are known variables.

[39] Applies is the following:

[40]

[41], we obtain the following nonlinear system of equations:

[42]

[43] the next assumption

[44] the System of equations can be solved, for example, using the multidimensional Newton method.

[45] we Form the Jacobian matrix

Select a suitable initial value

Iterate: solving

To

and formed

Interrupted the execution of the method, if

less than the given accuracy or reached a specified number of iteration steps.

[46] the Following applies for coordinates x and y of points in the image:

[47]

and

where i=1, 2, 3, 4.

[48] the Individual calculation steps or iterations can be performed using the corresponding suitable microprocessors and software evaluation system. The microprocessor may, for example, be a component of the management system work on the face a higher grade component in each case, the device management support, component control device, moving the mining machine or can reside on a separate computer management and evaluation.

[49] using the above described measuring method, it is therefore possible positioning of the measurement object in three-dimensional space by its projection on the image plane in two-dimensional space. Restore coordinates of points P1, P2, P3, P4 of the object points in the image, of course, is not trivial, since we need to solve a nonlinear system is the equations; however, using numerical methods to solve the problem does not pose any problems, especially in the presence of suitable microprocessors and software.

[50] the First opportunity for the implementation of this method has already been described above and schematically shown in Fig.1 in the form of excavation installation 10 with the object 20 measurements, scanned here with many blocks 25 detection when moving past them. The greater the distance between the points 21 of the object on the object 20 measurements in this case, the more accurate the actual position and place the mining machine 6 or pans 7 AFC 8 can be restored by the distance between points Q of the image.

[51] the video Camera can be used, in particular, as the detection block 25, as shown in Fig.1. However, any other detection unit using a suitable image sensor as the detecting device can be used. The image sensors are preferably sensors with sensing elements in the form of a two-dimensional matrix, such as a CCD or a CMOS structure. Used the image sensor 25 and the lens correspond to the wavelength range of points. Point object can give radiation not only in the visible range, but also in the infrared or ultraviolet ranges and may present with the battle LED visible light, ultraviolet, infrared or other radiation sources, and the image sensor, respectively, should be suitable for detection of the corresponding radiation. Together with active radiation sources, such as LEDs, you can also scan other points, however, there must be sufficient contrast between the points of the object to be scanned, and the surrounding space or background.

[52] Fig.3 shows a first possible alternative method. In Fig.3 shows a diagram similar to the diagram in Fig.1 excavation installation 60, which also includes system 51 shield lining, with many frames 52 shield roof support installed adjacent to each other to maintain the underground bottom open. Extraction machine 56 is moved along the face conveyor 58, the individual pans 57 AFC 58 only the pan 57, mounted directly in front of the frame 52 shield lining, shown together with a side mounted flange 63 on the dam side, that is converted to the frame 52 of the shield supports. The face conveyor 58 may be, in particular, the scraper chain conveyor, by which material is removed regardless of the movement of the mining machine 56. In a variant, excavation and installation of 60 detection unit 75 mounted on the mining machine 56 and is moved forward by the ed and back in the pit with the mining machine. In each case, at least one object 70 measuring at least four points 71 of the object, as schematically shown in Fig.3, mounted on individual or all frames 52 shield lining. Using the image sensor unit 75 detection, formed in this case again, a camera, a visual signal emitted by the point 71 of the object is detected and recorded as a projection for the detection of this place, as described above and shown in Fig.2, the actual distance from the excavation machine 56 to the frame 52 of the shield supports and tilt of the machine relative to the frame. The object 70 measurement is schematically represented here in the form of an irregular quadrangle, as actually recorded by the image sensor unit 75 detection. The object 70 measurements may include, for example, four LEDs, fixed at a given distance from each other and at right angles to each other on the shield 54 zone cracks of the frame 52 of the shield supports. However, the object 70 measurement can be mounted at another location, such as on a safety cap 55 of the shield or horizontal pickup 53. Preferably, if at least all the points 71 of the object 70 dimension is fixed on one part of the machine, in this case, the shield 54 zone cracks, because it is secured rigidly fixed relative positions of the points 71 of the object relative to each the Ruga. At the same time, it is necessary to consider that the passage past the detection unit four point 71 of the measurement object can of course be detected simultaneously in a specific time using the detection unit 75 without interference from the hoses and cables or similar, hindering the detection points 71 of the object detection unit 75.

[53] Fig.4 shows additional possible option, excavation and installation of 110 for a method that also includes a frame 102 shield lining, excavation machine 106 and the face conveyor 108. In a variant, excavation and installation 110, as in the previous variant example of implementation, the object 120 measurement points 121 object fixedly mounted on the frame 102 shield lining. Depending on the time and cost of the measurement process and the required accuracy of each frame 102 shield lining can be equipped with the appropriate object 120 measurements at the same location and similarly exposed, or only some of the frames 102 shield lining can be fitted with the appropriate objects 120 measurements. Block 125 detection is also moved forward and backward on the bottom option, excavation and installation 110, in this case, however, regardless of the mining machine 106. Block 125 detection can be fastened, for example, on a separate rail and can be moved forward and backward by using a separate drive for the ska is investing objects 120 measurements in each case during their displacement and, thus, detection signals from the object that is projected on the image sensor in block 125 detection, the distance between the face conveyor 108 and the frame 102 of the shield supports and the location of the conveyor relative to the frame.

[54] In a variant, excavation and installation of 160 shown in Fig.5, is used as a fixed detection units 175 and fixed objects 170 measurements, again in this case with four points 171 object. Block 175 detection fixedly mounted on the frame 152 of the shield supports, for example on the shield 154 zone cracks, as shown, or also in the correct place on the safety cap 155 shield. The object 170 measurement is selected, preferably, on the largest possible surface on the side mount Board 163 AFC 158. Thus two points of the object 171 can be set, for example, near the bottom and the other two points of the object 171 is close to the upper side edges of the hinged side 163. Place of installation also depends on the location of the block 175 detection on the frame 152 shield lining, because there should be no interference of light waves on the way from points 171 from rocks or similar, located around the directions of the optical system block 175 detection. In the case of which a variant example of implementation shown in Fig.5, block 175 detection can communicate in ka the house version with the measurement object 170. However, it is also possible fixing unit 175 detection on rotating hinge on the frame 152 of the shield supports or use block 175 detection with rotating lens, to perform discovery in a different zone by rotating the lens. Using such a block 175 detection, which is either bigger, or includes a rotatable optical system that can detect not only on a single dimension object 170, but on many objects 170 measurements. It is also possible, if necessary, installing a set of objects 170 measurement on one part of the machine, in this case, for example, on a hanging Board 163 of a single pan, or you may scan objects 170 measurement set, for example, on adjacent pans. Also, you may scan the entire system shield lining along the bottom with a smaller number of detection blocks.

[55] In a variant, excavation and installation 210 in Fig.6, similar to the previous variant example of implementation, at least one object 220 measurement points 221 of the object is fixed in each case on a hanging Board 213 AFC 208. Objects 220 measurements also fixed associated with each or at least individual pans AFC 208. One and the same object 220 detect with the help of not one but Dan is th case with many units 225A, 225B, 225C detection, thus possible to provide, for example, in the absence of one of the blocks 225 detect an unobstructed view of the object 220 measuring, transmitting at least one additional block 225 detection signal measurements, which can be measured to determine the distance between the elements and their location.

[56] In a variant, excavation and installation of 260 in Fig.7, similarly to the previous, which is a variant example of implementation, also use three unit 275A, 275B, 275C detection installed in different places on the frame 252 shield lining. Each unit 275A, 275B, 275C detection is associated here with a different object 270A, 270B, 270C measurement. The object 270C measurement can move, for example, regardless of the mining machine 256 on the guiding device 264 mount Board 263. Each hinged Board 263 can be additionally equipped with a fixed object 270B measurement signals which are recorded by video camera 275B. The object 270A measurements detect using unit 275A detection installed on a safety cap 255 shield, the measuring object is moved to the bottom together with the mining machine 256. In a variant, excavation and installation 260, time and money on data collection and processing is spent, respectively, more, because sometimes, in some points of time, for determining the Oia relative position of the frame 252 shield lining and the AFC 258, many signals or pairs of signals necessary to assess the unit A locator associated with the object 270A measurement and so on

[57] In a variant, excavation and installation 310, shown in Fig.8, similarly to the previous, which is an example alternative implementation, using three blocks 325A, 325b choose close, 325C detection and three object 320A, 320B, 320C measurement, which in this embodiment, however, found in different places, namely on the pick-up 303 on the sole production, on the shield 304 zone cracks and on the safety cap 305 of the frame 302 shield lining. The signal from one object 320A, 320B, 320C measurement is scanned in each case with a separate unit 325A, 325b choose close, 325C detection. In this case, the block 325A detection with fixed related object 320A measure evaluation form a couple. Block 325A detection can move independently of the excavation machine 306, unit 325b choose close detection installed stationary mount Board 313 and block 325C detection moves from the mining machine 306.

[58] Fig.9 shows additionally modified, which is an example, an implementation option, excavation and installation 410 according to the invention. Block 425 detection, which may also be aimed, at least on the face 440 attached to the frame 402 panel lining system panel lining (not shown separately), for example, for relief to which the hood 405 shield. The detection unit in this case is fixedly mounted on the frame 402 shield lining, but, for example, can also be rotated on the hinge to perform various tasks in a single block 425 detection or to scan different areas. Extraction machine 406 is moved between the frame 402 shield lining and face to face conveyor 408, which is transported by the transporting beams (not shown). Using block 425 detection becomes possible detection of objects 421, 422, 423, 424 dimensions that are not on the object of measurement, but in this case defined natural points on the face, such as marks on the face, clusters of reflective minerals, open spaces in the rock, stone crushings or etc.

[59] When working each frame 402 shield lining is removed for automatic development of reverse swing and moves forward with moving beams, after passing excavation machines 406 and, for example, move forward a certain number of frames lining. At the first stage of the scan before removing and second scanning stage, in the best case, when the frame 402 lining installed, objects, 421, 422, 423, 424 measurements can be scanned using block 425 detection. Because the block 425 detection is not moved relative to the frame between lining scanning stages, according to projections about erogenic objects of measurement you can measure the change of place and change of position of block 425 detection in relation to the slaughter 440 using the four natural objects 421-424 measurement, pinned on it. Data modification and place a block detection it is possible to calculate the change in position and place the component 402 installation with block 425 detection between two scanning stages, and hence, for example, you can define how the component installation and, consequently, also the mining installation as a whole has moved into the area of the corresponding block 425 detection. Distributed on the face, only individual support frame can be equipped in each case by the detection unit. The relevant data, however, you can also record using the detection unit moving along the excavation installation, using the detection unit, short stay, for example, until the operation completes move forward. The distance between the object of measurement may vary from one operation measurement to another measurement operation, and it is not necessary to know the absolute distance, but it should not change between one measurement operation, but must be supported (of course) a specified distance, at least on the respective scanning stages. A dimension object or point object can, in principle, be arbitrary and may also be present or to be put on the roof and other places in the surrounding area.

[60] the Expert is given the nogo above descriptions can get numerous modifications, falling under the scope of protection of the attached claims. It is obvious that the individual variants of the method can also be combined. The already mentioned that the dimension objects can also include more than four points. A display control unit that moves, for example, with the mining machine, or the display control lining can also be used as a dimension object. Individual frame shield supports and/or pans can not equip blocks detection or measurement objects, and other frame shield roof support blocks detection can also include in each case, the set of dimension objects and/or multiple detection blocks.

1. The method of determining the position and/or location of the components of mining and extraction installation, in particular, excavation and installation of coal mining in which the components of the unit contain at least one face conveyor (8) to remove recoverable materials, the system (1) shield lining with multiple frames (2) shield lining to save face open, move the device (9) to move the AFC (8) and system (1) shield roof support during active use, and extraction machine (6) moving along the face conveyor (8), in this case the position and/or location of at least one component of the unit is determined by the system of assessment is key, containing at least one unit (25) detection, characterized in that at least one unit (25) detection includes an image sensor which detects at least four points (21) of an object located at a given distance from each other and detected at wavelengths in the optical range, at least one object (20) dimension associated with one of the installation components, in this case the position and/or location of the component unit is determined using the evaluation system of the projection of points of the object detected by the image sensor, at this point of the object, at least one or exactly one object (270P) measurement displaced along the AFC regardless excavation machine (256), find with many blocks (C) detection of installed distribution panel lining and is stationary.

2. The method according to p. 1, characterized in that the points of the object, at least one or exactly one object (20; A) measurement, moving the mining machine (6; 256), find with many blocks (25; A) detection of installed distribution panel lining and is stationary.

3. The method according to p. 2, characterized in that the measurement object is formed by the display device, display or device control is to be placed, mounted on the mining machine.

4. The method according to any of paragraphs. 1-3, characterized in that the points of the object of interest (170; V) measure installed with the distribution of downhole pipe (158; 258) and is stationary, find with many blocks (175; V) detection of installed distribution panel lining and is stationary.

5. The method according to any of paragraphs. 1-3, characterized in that point, many stationary objects (S) measurements established distribution system shield roof support (301) find using at least one or with exactly one block (S) detection, moving the mining machine.

6. The method according to any of paragraphs. 1-3, characterized in that point, many stationary objects (120) measurements established distribution system shield lining, find using at least one or with just one unit (125) detection of moving over the face conveyer (108) regardless of the mining machine.

7. The method according to any of paragraphs. 1-3, characterized in that point, many stationary objects (320V) measurements established distribution system shield lining, find with many blocks (V) detection installed with the distribution is receiving on the face conveyor and stationary.

8. The method according to any of paragraphs. 1-3, characterized in that the blocks (175) detection or optical system, associated in each case with the image sensor units detect, is pivoted or rotated on the hinge.

9. The method according to any of paragraphs. 1-3, characterized in that at least a plurality, preferably all blocks (V) detection or objects (170; V) measurement set with the distribution of the face conveyor, mounted in each case on a hanging Board (163; 263; 303) on the goaf side of the AFC.

10. The method according to any of paragraphs. 1-3, characterized in that the points of the measurement object is made in the form of radiation sources, in particular LEDs, emitting at wavelengths in the optical range and installed at a specified distance from each other, and/or that point of the measurement object is set apart on one side of the machine one of the installation components.

11. The method according to any of paragraphs. 1-3, characterized in that the set of objects (320S, 320V, S) measurement or multiple blocks (A, B, C) detection installed in each case in different positions on the frame panel lining system panel lining or pan the AFC, in each case one measurement object and one unit of the object detection measurement and detection units form a estimated pair.

12. The way what about any of paragraphs. 1-3, characterized in that the multiple detection blocks mounted in different positions in each case on the frame panel lining system panel lining or pan the AFC, with at least two detection unit is installed to detect the same dimension object.

13. The method according to any of paragraphs. 1-3, characterized in that the coordinates of the location or position coordinates of one of the installation components, preferably the AFC, determined, in particular calculated iteratively using the device valuation on projected points of the object detected by the image sensors.

14. The method according to any of paragraphs. 1-3, characterized in that at least one installation component, preferably the AFC has an associated at least one inclinometer signals which can be transmitted in the system of evaluation and/or can be evaluated using the evaluation system, with the inclinometer, preferably, includes many acceleration sensors.

15. Excavation and installation of mining, in particular, excavation and installation of coal mining, with a face conveyor (8) to remove recoverable materials, the system (1) shield lining with multiple frames (2) shield lining to save face open, move the device (9) to move the AFC (8) and the shield is howling lining (1) during active use and extraction machine (6), which components extraction installation, which is equipped with a system of evaluation that contains at least one detection unit for determining the position and location of at least one component extraction installation, characterized in that at least one unit (25) detection includes the image sensor, and that at least one of the installation components has an associated object (20) dimension that contains at least four points (21) of the object, located at a given distance from each other and detected at wavelengths in the optical range using the image sensor, in this case, at least a plurality, preferably all blocks (V) detection or objects (170; V) measurement set with the distribution of the face conveyor, mounted in each case on a hanging Board (163; 263; 303) on the goaf side of the AFC.

16. Mining installation according to p. 15, characterized in that the evaluation system includes software image processing, by which the determined position and/or location of the component installed on the projection of points of the object detected by the image sensor.

17. Mining installation according to any one of paragraphs. 15 or 16, characterized in that the blocks (175) detection or optical system, associated in each case with what etzikom image block detection is pivoted or rotated on the hinge.

18. Mining installation according to any one of paragraphs. 15 or 16, characterized in that the points of the measurement object is made in the form of radiation sources, in particular LEDs, emitting at wavelengths in the optical range and installed at a specified distance from each other, and/or that point of the measurement object is set apart on one side of the machine one of the installation components.

19. Mining installation according to any one of paragraphs. 15 or 16, characterized in that the set of objects (320S, 320V, S) measurement or multiple blocks (A, B, C) detection installed in each case in different positions on the frame panel lining system panel lining or pan the AFC, in each case one measurement object and one unit of the object detection measurement and detection units form a estimated pair.

20. Mining installation according to any one of paragraphs. 15 or 16, characterized in that the multiple detection blocks mounted in different positions in each case on the frame panel lining system panel lining or pan the AFC, with at least two detection unit is installed to detect the same dimension object.

21. Mining installation according to any one of paragraphs. 15 or 16, characterized in that the coordinates of the location or coordinates put the I one of the installation components, preferably the AFC, determined, in particular calculated iteratively using the device valuation on projected points of the object detected by the image sensors.

22. Mining installation according to any one of paragraphs. 15 or 16, characterized in that at least one installation component, preferably the AFC has an associated at least one inclinometer signals which can be transmitted in the system of evaluation and/or can be evaluated using the evaluation system, with the inclinometer, preferably, includes many acceleration sensors.

23. The method of determining changes in position and/or location of the components of mining and extraction installation, in particular, excavation and installation of coal mining, where the components of the unit include at least one face conveyor (408) to remove recoverable materials, one system shield lining with multiple frames (402) shield lining to save face open, moving device to move the AFC (408) and system shield roof support during active use and extraction machine (406) moving along the AFC (408), however, changing a position and/or change at least one component of the installation is determined using an evaluation system that includes at least one block (425) is the detection, characterized in that at least one block (425) detection includes an image sensor which detects at least four points (421, 422, 423, 424) of an object located at a given distance from each other and detected at wavelengths in the optical range, and the detection unit (425) associated with one of the installation components, and changing the position and/or to change the installation component is determined using an evaluation system for projection detected by the image sensor points, thus discover the natural point of the object on the bottom (440) subject extraction using extraction machine.

24. The method according to p. 23, characterized in that the movement of the mining installation is measured by determining the change of position and place the component installation.

25. Excavation and installation of mining, in particular, excavation and installation of coal mining, with a face conveyor (408) to remove recoverable materials, system shield lining with multiple frames (402) shield lining to save face open, moving device to move the AFC (408) and system shield roof support during active use, and extraction machine (406) as components of the mining installation, which is equipped with a system of evaluation that includes at least one block is obnarujenia for determining the position or location or change in location or change the location at least one component extraction installation, characterized in that at least one block (425) detection includes an image sensor mounted on one of the installation components, and the fact that using the image sensor to detect at least four points (421, 422, 423, 424) of the object fixedly mounted at a specified distance from each other and detected at wavelengths in the optical range, while discover the natural point of the object on the bottom (440) for excavation using mining machines.

26. Mining installation according to p. 25, characterized in that the evaluation system includes software image processing, which determine, using the image sensor, the change in position and/or location of the component installed on the projection of the detected points of the object.

27. Mining installation according to any one of paragraphs. 25 or 26, characterized in that the movement of the mining installation is measured by determining the change of position and place the component installation.



 

Same patents:

Screen display // 2519527

FIELD: physics, computer engineering.

SUBSTANCE: invention relates to computer engineering and specifically to a screen display for computing devices which control production processes of complex installations. The installation for extracting coal from the bottom of a mine includes devices for extracting coal from the bottom of a mine, which include a winning machine, a plurality of support units mounted along the bottom and a support control device. The support control device includes a ground-based control device, a computing device for the installation, control devices for the support units, a screen display for rendering instructions, functions, operating conditions, positions and/or functional conditions of the installation. The screen display comprises multiple independent and separate partial screen displays, each associated with a terminal control device which is independent of other control devices of partial screen displays.

EFFECT: facilitating simultaneous display of multiple images parallel each other with arbitrary change and arbitrary sequence next to each other and without mutual influence and overlapping.

3 cl, 2 dwg

FIELD: mining.

SUBSTANCE: invention refers to mining industry and namely to control method of powered shield support. Method of controlled observance of a gap, preferably considering mine rock mechanics, between upper covering and coal face in mining faces is performed in the following way: during excavation of bituminous coal by means of underground method using slope sensors arranged at least on three of four main elements of each section of powered shield support there determined is slope of supporting covering and support slide in the cavity direction. On the basis of the measurement data, when changes in slope angle of supporting covering appear, influences on the gap between upper covering and coal face are determined in the calculation unit. Then, operating cycle of section of powered shield support, which includes unloading, supply and bracing, is controlled automatically to define an optimum gap between covering and coal face. Besides, slope sensors can be installed on support slide, goaf shield, load-carrying hinged cantilevers and in goaf area of supporting covering.

EFFECT: method allows monitoring and adjusting the gap between covering and coal face at advancing of extraction front; at that, hazard risk of formation roof destruction is minimised.

18 cl, 10 dwg

FIELD: mining.

SUBSTANCE: section of powered shield support for underground development includes sliding base and upper covering between which at least one prop is installed. At least one inclination compass is provided on the section, by means of which inclination of upper covering is measured. Inclination compass includes at least two, and preferably three acceleration sensors the measuring axes of which are orthogonal relative to each other. Height of support section retraction is calculated by means of inclination compasses provided on the lever and goaf enclosure. Longitudinal and/or transverse inclination of upper covering, as well as squeezing pressure of the main roof is measured during installation of support section. At increase in squeezing pressure of roof and at simultaneous change of longitudinal and/or transverse inclination above the pre-determined threshold value, the process is stopped. Besides, mine shock risk analysis is carried out during underground development.

EFFECT: damage risk of powered support section is reduced; thus, optimum roof support is provided.

25 cl, 2 dwg

FIELD: mining.

SUBSTANCE: method to control a section of a powered support, which is designed for this section to realise its functions as a longwall face is fixed in a mine, and to which a distribution device is connected in front of a group of functional elements of the section. Each functional element of the powered support section has its own address code word assigned, and condition of the inner connection between the control unit and functional elements of the powered support section depends on how it is addressed. The distribution device is located in proximity to functional elements. Functional elements may be valves or sensors.

EFFECT: reduced labour intensiveness, complexity and cabling cost.

12 cl, 6 dwg

FIELD: mining.

SUBSTANCE: method for automatic development of specified bottom-hole space is realised during operation of treatment complex consisting of face conveyor, at least one cleanout machine and hydraulic shield powered support. In underground extraction of hard coil slope of support units in relation to horizontal is determined by means of slope sensors. Height of section of shield powered support being respective perpendicular to formation dip is calculated in computing unit. Besides height of cleanout machine penetration as bottom-hole space is recorded, and height of cleanout machine penetration is synchronised with height of section of shield powered support. At that slope sensors are arranged on at least three of four primary support units, in particular: on supporting bearer, rock-dammed shield, bearing hinged arms and rock-dammed part of supporting coverage.

EFFECT: providing automatic positioning of work equipment of complex for control and development of specified bottom-hole space.

14 cl, 16 dwg

FIELD: mining.

SUBSTANCE: in control method of drum actuating element equipped at least with one lever of drum actuating element each electric hydraulic section of the support is equipped with its own electric hydraulic control instrument. Control commands are entered for correction of lever position of drum actuating element from control instrument of support section. And they are supplied from there to control system of drum actuating element.

EFFECT: improving control efficiency of the cut by means of drum actuating element.

8 cl

FIELD: mining.

SUBSTANCE: extraction device of coal in longwall face of underground mine working consists of the following: many sections of powered support, which are installed near each other throughout the length of longwall face between gates; plough machine; chute and conveyor located in it with possibility of movement, which are located throughout the length of longwall face between extraction machine and support sections; several deflecting devices and control device. Plough machine is provided with possibility of being moved along the line of the mining face and equipped with rock detection sensor which is provided with possibility of transmitting radio data of the detected rock to the control device of the support by means of the transmitter installed on the plough and the radio receivers installed along the longwall face. Group of adjacent support sections and sections of the chute corresponds to each deflecting device. Deflecting device is connected to control unit of one of the support sections of the appropriate group, and depending on the data of the detected rock, it provides the possibility of lifting the chute sections of the appropriate group, which is accompanied with lowering of the tools of the plough machine, and lowering of the chute sections, which is accompanied with lifting of plough machine tools. Control device includes the following: bottomhole control unit located at the end of longwall face for control of functions of support sections in relation to unloading, transportation and bracing of the support; control units of sections, each of which is put into spatial and functional compliance with the appropriate support section for performing and further transmitting the commands from bottomhole control unit; and the bus connecting mainly in series the bottomhole control unit to control units of support sections. At that, rock sensor when moving beside each support section is provided with possibility of generating the measurement signal characterising the detected rock only for several, mainly not more than two measurement points. Measurement signals received at neighbouring measurement points are subject to analysis with a view to predominance of rock or coal. Depending on analysis results, there generated is deviation signal supplied to the common deflecting device common for all measurement points, and namely to the deflection of the chute sections, which causes the lifting of plough machine tools if analysis results show the predominance of rock at the analysed measurement points, and to deflection of the chute sections, which causes the lowering of the plough machine tools if the analysis results show coal predominance at the analysed measurement points.

EFFECT: possible quick correction of the plough machine position during the coal extraction, which causes the lifting and lowering of the plough.

9 cl, 2 dwg

FIELD: mining.

SUBSTANCE: equipment consists of electric-hydraulic driven sections of lining with corresponding facility for lining control. Additionally, there is foreseen at least one doubled block of power source, which provides current for at least two means of lining control of different sections of lining independently from each other. A double-sided element of communication is installed between the power source block and at least two means of lining control; this element performs galvanic separation between the power source block and means of lining control and/or groups of means of lining control. Also the element of communication forms a galvanic separated data transmitting channel which facilitates communicating between two means of lining control and/or groups of means of lining control. Notably, double-sided element of communication is in-built into the power source block or is flange mounted directly on the case of power source block.

EFFECT: simplification of design of face equipment.

4 cl, 2 dwg

FIELD: mining.

SUBSTANCE: invention relates to control system over underground face support with transport. The control system for underground walking face support consists of transporter, winning machine, plurality of panels each equipped with a block of functional control with a corresponding panel, of a facility connecting control blocks between themselves, of a central station located outside long wall face and communicating means for transmitting data between control blocks in the long wall face and the central station outside long wall face. The communicating means include at least one radio transmitting device from the side of the long wall face and one radio transmitting device from the side of the central station with receiving and transmitting modules to facilitate wireless and cable less two-directional data transmitting at the long wall face end.

EFFECT: minimisation of costs for cable laying for underground control system over face support and increase of reliability of face support control.

7 cl, 2 dwg

FIELD: mining.

SUBSTANCE: support control system to control shield support section movement in breakage face of mine contains central device of control (CDC) and set of control units (CU) each of those is located at corresponding section and functionally coupled with this section. At that CU of sections are connected with CDC and between each other with two bus bars and designed so as to facilitate a call of CU of any section from CDC or from CU of the neighbour section to control command input. Also CU of each section is programmed so as to transmit received control commands via the bus bar; the said commands, equipped with a code word assigned to the CU called at that moment, are transmitted to this particular CU for execution. Owing to the second analog bus bar (a parallel one) received signals not equipped with the code word assigned to the CU called at the moment, are transferred to CU of the neighbour section.

EFFECT: upgraded reliability of excavating machine and mechanised support due to safe and trouble free operation of their work with insignificant costs for maintenance.

2 cl, 3 dwg

FIELD: mining.

SUBSTANCE: method of development comprises preparing of the extraction column carrying out conveyor and ventilation drifts, preparing of winning band by performing off end and near slopes along the downwards line at the soil of layer from the conveyor to the ventilation drift on both sides of the band, performing the mounting chamber at the ventilation drift, mounting of sections of aggregated timber in it, coal extraction with low-inclined layers by the shearer of front action and transportation of coal along the bottom hole of self-propelled car to off end slope , in inclination of the extracted layer towards the near slope, or to the near coal chute slope, in inclination of the extracted layer towards the off end slope, change in the direction of inclination of the layer and turn of the combine in the chamber, which is carried out outside of the winning band. And the self-propelled car is equipped with an automated control system. At that from the overlap of each section of the aggregated timber towards the soil layer a signal is given, corresponding to the order number of the timber section, this signal is received by the receiving device mounted on the self-propelled car, and is transmitted to the automated control system. After changing the direction of inclination of the layer setting up of the control system of the self-propelled car is carried out, which, depending on the combination of numbers of the received signals and the degree of loading the body, ensures actuation of actuators of the self-propelled car - movement back and forth, drive-brake, loading-unloading, stop.

EFFECT: increased efficiency and safety of the development of powerful steeply inclined layers due to organisation of the automated control system of the self-propelled car for transporting loosened coal.

3 dwg

FIELD: mining.

SUBSTANCE: control method of a shield of a tunnel boring complex consists in the fact that the shield is controlled in two planes by means of control systems in vertical and horizontal planes. By means of measurement equipment there determined are inclination angles of an actuating element relative to vertical and horizontal planes, signals as per speed of change of the inclination angle relative to vertical and horizontal planes, linear displacements in vertical and horizontal planes, and speeds of change of linear displacement in vertical and horizontal planes. The above signals are supplied to a control unit as per four coordinates, where they are compared to the task; after that, based on error signals, a relay control law of the actuating element is created. The invention also proposes a tracking control system of the shield of the tunnel boring complex, which includes the following in-series connected components: an optic direction setting device, a beam deviation unit, a membrane, a photoelectric receiving device and a four-coordinate control unit the input of which is connected to an inclination angle measurement unit. In addition, the device includes a state observer unit the input of which is connected to the inclination angle measurement unit and the output of which is connected to the control unit.

EFFECT: improving accurate and reliable control of movement of a shield of a tunnel boring complex.

2 cl, 4 dwg

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

FIELD: mining.

SUBSTANCE: method for automatic production of specified width of bottomhole space consists in determination of a distance between the upper edge of the drum base and the lower side during mining, accordingly, bringing the rest of the shield support bed top cover. At the same time the specified distance is measured by means of at least one radiolocating sensor fixed on the base of the shearer-loader drums. The actual value for tunnelling height of the shearer-loader with a drum actuator under the shield support is introduced into a unit of a computing machine and compared with the specified value stored in it. At the same time, if a deviation is established, control commands are generated for adaptation of cut height of at least one of two cutting drums of the shearer-loader. Also a device is disclosed for realisation of the proposed method, where radiolocating sensors are arranged at the side of the drum base manhole and may be installed aflush into the surface of the drum base.

EFFECT: exclusion of collision of a shearer-loader working element drum and frame of a shield mechanised support.

21 cl, 5 dwg

Tunnelling combine // 2494253

FIELD: mining.

SUBSTANCE: tunnelling combine is proposed, comprising a cutting element, hydromotors of a movement mechanism, controlled by a hydraulic distributor, and outriggers kinematically connected to hydraulic cylinders equipped with hydraulic locks and controlled by a separate hydraulic distributor. Besides, the tunnelling combine additionally comprises an "or" valve, one inlet of which is connected to one of manifolds of hydromotors of the movement mechanism, and the other one is connected with their second manifold, and a check valve, the under-valve cavity of which is connected to the outlet of the "or" valve, and the above-valve cavity is connected via the hydraulic locks of hydraulic cylinders with their stem cavities. Besides, in the neutral position of the separate hydraulic distributor of hydraulic cylinders control, their piston cavities are connected with a drain manifold via hydraulic locks.

EFFECT: expansion of capabilities of tunnelling combine control and higher safety.

2 dwg

FIELD: mining.

SUBSTANCE: method is proposed to control cutting height of stripping combine drums, in which they register parameters of drums cutting-in into a side rock, and drum cutting height is set with control signals produced from the measured values. At the same time in process of mining works the measured values, which are registered, include consumption (ISM) of current by cutting motors that drive the drums, and also speed (VM) of stripping combine motion with the drum actuator. From these measured values in a computer they determine the appropriate specific energy (ESP) of cutting as the ratio of current consumption (ISM) to motion speed (VM). Besides, for various conditions of extraction, depending on hardness of coal to be produced and side rock deposited nearby, they set a characteristic value for specific energy (ESP) of cutting, which, when exceeded, results in cutting-in of drums into the side rock, and appropriate control signals are formed for correction of drum cutting height.

EFFECT: higher accuracy of combine drum cutting height adjustment.

3 cl

FIELD: mining.

SUBSTANCE: in the proposed method for adjustment of automatic control of plough level in existing breaking faces for each plough stage they register depth of cutting and angle of longitudinal inclination produced as a difference angle between the inclination of the shield support frame bed roof slab and inclination of the face conveyor in direction of mining. In the calculation device they calculate variation of face height per plough stage so that in the calculation device with each position of the face conveyor corresponding to one plough stage they correlate face height as the plan height. At the same time in process of achievement of the corresponding position in the face with the shield support frame following the plough with a delay in time, they calculate actual height of the face on the basis of values taken by inclination sensors installed on the shield support frame and compare them with the plan height stored in the memory. The value of heights difference determined for the appropriate position in the face between the plan height and actual height during the following plough stages is taken into account in the sense of effect of self-training by the calculation device in process of setting of the angle of longitudinal inclination adjustment in the plough stage for achievement of the plan height of the face.

EFFECT: higher accuracy and reliability of plough control in a bed profile.

23 cl, 10 dwg

FIELD: mining.

SUBSTANCE: invention refers to mining industry and namely to control method of powered shield support. Method of controlled observance of a gap, preferably considering mine rock mechanics, between upper covering and coal face in mining faces is performed in the following way: during excavation of bituminous coal by means of underground method using slope sensors arranged at least on three of four main elements of each section of powered shield support there determined is slope of supporting covering and support slide in the cavity direction. On the basis of the measurement data, when changes in slope angle of supporting covering appear, influences on the gap between upper covering and coal face are determined in the calculation unit. Then, operating cycle of section of powered shield support, which includes unloading, supply and bracing, is controlled automatically to define an optimum gap between covering and coal face. Besides, slope sensors can be installed on support slide, goaf shield, load-carrying hinged cantilevers and in goaf area of supporting covering.

EFFECT: method allows monitoring and adjusting the gap between covering and coal face at advancing of extraction front; at that, hazard risk of formation roof destruction is minimised.

18 cl, 10 dwg

FIELD: construction.

SUBSTANCE: adaptive system for movement of a construction machine measures counteracting forces applied by soil surface to a milling drum, and in response to measured changes of these counteracting forces it controls a moving force fed to a moving drive of the machine, or moderates speed of lowering of a rotary milling drum.

EFFECT: early and quick detection of such changes in counteracting forces makes it possible for a control system to assist in prevention of forward or backward list phenomena accordingly in a construction machine.

21 cl, 9 dwg

FIELD: miningo.

SUBSTANCE: invention relates to mining, particularly, to mining machine displacing along conveyor. Proposed machine comprises sensor system arranged on machine frame 11 to perceive boundary zone mineral wealth/host rock. Note here that machine frame front side has sensor system mount. Note also that geological radar is used as the sensor system. Said mount can be adjusted over height. Besides, it is composed of several parts and comprises main box with to and/or bottom holes to house geological radar. Deflectors are arranged on both sides of said main box.

EFFECT: possibility to sound entire front of second working.

12 cl, 5 dwg

FIELD: mining industry.

SUBSTANCE: device has two asynchronous electric engines, connected via reducers to drive sprockets of continuous traction chain, provided with plane carriages with their possible displacement along the guide, and hydraulic cylinders for displacing guide on pit-face. To windings of stators of first and second electric engines connected respectively are outputs of first and second frequency converters, inputs of which are connected to power grid and control inputs of which are connected respectively to outputs of first and second frequency adjusters. To frequency adjusters also connected are inputs of load detectors, to outputs of which load balancing block is connected, outputs of which are connected to inputs of first frequency adjuster. To inputs of both frequency adjusters output of load adjuster is connected, inputs of which are connected to load-setting block and load sensor for second engine. To output of second frequency converter connected are input of control block, other input of which is connected to signal block of base plant, and stator winding of third asynchronous engine, which via mechanical link is connected to first and second hydraulic pumps, having constant working volumes. Output of first hydraulic pump is connected to force hydro-main and input of second preventing hydraulic valve and to first inputs of two-position hydraulic distributors with electromagnetic control, to electromagnets of which outputs of control block are connected. Second inputs of two-positional hydraulic distributors with electromagnetic control are connected to control chambers of hydro-controlled two-positional hydro-distributors, which are part of hydro-blocks. Outputs of hydro-controlled two-positional distributors are connected to opposite hollows of volumetric dosing device of each hydro-block, and their inputs are connected respectively to outputs of hydro-distributors for controlling hydro-cylinder for moving the guide on pit-face, inputs of each of which are connected to force and drain hydro-mains, and outputs are connected to piston and rod hollows of appropriate hydro-cylinder.

EFFECT: higher efficiency.

1 dwg

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