Self-positioning of a shearer is the key technology for mining with a man-less working face. In an underground coal mine all radio navigation; satellite positioning or celestial navigation methods have their limitatio...Self-positioning of a shearer is the key technology for mining with a man-less working face. In an underground coal mine all radio navigation; satellite positioning or celestial navigation methods have their limitations. We analyzed an inertial navi-gation system intended to guide the movement a shearer and designed a self-positioning device for the shearer. Simulation tests were also performed on the system. We analyzed the errors observed in these tests to show that the main reason for the low preci-sion of the self-positioning system is accumulated error in the inertial sensor. A Kalman filtering algorithm used in combination with the shearer motion model effectively reduces the measurement errors of the self-positioning system by compensating for gyroscopic drift. Finally, we built an error compensation model to reduce accumulated errors using continuous correction to provide self-positioning of the shearer within a certain range of accuracy.展开更多
Aiming to effectively solve the problem of deep mining with safety and high efficiency, according to geological conditions, production and stress analysis in roadway surrounding rock, experimental studies on roadway s...Aiming to effectively solve the problem of deep mining with safety and high efficiency, according to geological conditions, production and stress analysis in roadway surrounding rock, experimental studies on roadway supporting of workface 103 under three types of roof conditions with different supporting technologies and parameters were carried out based on the theory of supporting technology of gob-side entry. The results show the supporting of gob-side entry retaining is successful, and the deep surrounding rock is effectively controlled by field monitoring and drilling-hole photos. After stress in surrounding rock of roadways restores stable, the final roadway deformation of surrounding rock of haulage roadway and air-roadway are both about 300 mm; width of gob-side entry is 3.8-4.0 m and average height is 2.0-2.2 m; roadway section is above 8.0 m^2, which solves the problems of gob-side entry retaining support strength and safe mining; necessary conditions of mining safety in workface 103 are met.展开更多
基金Financial support for this work, provided by the National Natural Science Foundation of China (No.50504014), is gratefully acknowledged
文摘Self-positioning of a shearer is the key technology for mining with a man-less working face. In an underground coal mine all radio navigation; satellite positioning or celestial navigation methods have their limitations. We analyzed an inertial navi-gation system intended to guide the movement a shearer and designed a self-positioning device for the shearer. Simulation tests were also performed on the system. We analyzed the errors observed in these tests to show that the main reason for the low preci-sion of the self-positioning system is accumulated error in the inertial sensor. A Kalman filtering algorithm used in combination with the shearer motion model effectively reduces the measurement errors of the self-positioning system by compensating for gyroscopic drift. Finally, we built an error compensation model to reduce accumulated errors using continuous correction to provide self-positioning of the shearer within a certain range of accuracy.
文摘Aiming to effectively solve the problem of deep mining with safety and high efficiency, according to geological conditions, production and stress analysis in roadway surrounding rock, experimental studies on roadway supporting of workface 103 under three types of roof conditions with different supporting technologies and parameters were carried out based on the theory of supporting technology of gob-side entry. The results show the supporting of gob-side entry retaining is successful, and the deep surrounding rock is effectively controlled by field monitoring and drilling-hole photos. After stress in surrounding rock of roadways restores stable, the final roadway deformation of surrounding rock of haulage roadway and air-roadway are both about 300 mm; width of gob-side entry is 3.8-4.0 m and average height is 2.0-2.2 m; roadway section is above 8.0 m^2, which solves the problems of gob-side entry retaining support strength and safe mining; necessary conditions of mining safety in workface 103 are met.
