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Full-Text Articles in Engineering
Development Of Remote Control System For Automatic Drilling Rig Used In Coal Mine, Dong Hongbo, Yao Ningping, Wang Tianlong, Ma Bin, Peng Guangyu
Development Of Remote Control System For Automatic Drilling Rig Used In Coal Mine, Dong Hongbo, Yao Ningping, Wang Tianlong, Ma Bin, Peng Guangyu
Coal Geology & Exploration
In response to the problems of high labor intensity and great safety risk of drilling rig under the complex construction environment, a set of remote monitoring system for automatic drilling rig of coal mine was developed using the electronic circuit, measurement sensing, remote control, video monitoring and big data technologies. The system, based on ZDY4500LFK coal mine drilling rig, has implemented the three control modes: in-line-of-sight control, underground centralized control and ground remote monitoring. Besides, a cloud automatic drilling rig management and control platform was established. Specifically, the in-line-of-sight monitoring is used to realize the accurate operation of drilling rig …
Research On Digital Twin-Driven Tracking, Positioning And Collision Detection Method Of Excavating And Anchoring Equipment, Yang Wenjuan, Zhao Dian, Zhang Xuhui, Chen Xin, Zheng Xili, Liu Yanhui, Zhang Ran, Wan Jicheng
Research On Digital Twin-Driven Tracking, Positioning And Collision Detection Method Of Excavating And Anchoring Equipment, Yang Wenjuan, Zhao Dian, Zhang Xuhui, Chen Xin, Zheng Xili, Liu Yanhui, Zhang Ran, Wan Jicheng
Coal Geology & Exploration
The automation of excavating and anchoring operation is critical for intelligent excavation of coal mine roadway. Aiming at the challenges of relative pose measurement and collision detection during the alternating operation of the current excavating and anchoring equipment, a digital twin-driven tracking, positioning and collision detection method was proposed. Firstly, in order to overcome the influence of low illumination, high dust and complex background interference in the underground excavating face, the multi-point infrared LED target is taken as the information source, the infrared LED feature point image is collected by industrial camera, the center of the spot is extracted using …
Research On Path Planning Methods For Underground Roadheader Robots, Zhang Xuhui, Zheng Xili, Yang Wenjuan, Li Yuyang, Ma Bing, Dong Zheng, Chen Xin
Research On Path Planning Methods For Underground Roadheader Robots, Zhang Xuhui, Zheng Xili, Yang Wenjuan, Li Yuyang, Ma Bing, Dong Zheng, Chen Xin
Coal Geology & Exploration
In order to solve the problems of difficulty and low efficiency in the movement of robotic roadheaders under conditions of non-full-section roadways in coal mines, the characteristics of unstructured environments in coal mines and the motion characteristics of robotic roadheaders were analyzed, and a path planning method for robotic roadheaders based on deep reinforcement learning was proposed. The tunnel environment was constructed in real time using depth cameras, a virtual model for detecting roadheader-tunnel collisions was established, collision detection was performed in a virtual environment using the hierarchical bounding box method, and an obstacle avoidance strategy under the restrictions of …
Intelligent Identification Method For Overburden Three Zones Of A Goaf, Li Jianwen, Zhao Wen, Wu Zhenkun, Xu Xiaobing, Wang Qingtao, Duan Longchen
Intelligent Identification Method For Overburden Three Zones Of A Goaf, Li Jianwen, Zhao Wen, Wu Zhenkun, Xu Xiaobing, Wang Qingtao, Duan Longchen
Coal Geology & Exploration
In this paper, an intelligent identification method was proposed to ascertain overlying strata failure types and fracture development in the overlying strata of a goaf, and identify three zones (sagging zone, fractured zone and caving zone) quickly and accurately. This method is expected to be a basis in later development of goaf treatment plans. A coal mine goaf in Shandong Province was introduced for case study, where the Bayesian Online Changepoint Detection (BOCD) algorithm was employed to analyze the changes and response characteristics of the drilling fluid loss and drilling rate over the drilling process at the boundaries of three …
Edge Detection Of Low Illumination Image In Cutting Unit Of Shearer, Jia Pengtao, Jin Luwei, Wang Bin, Guo Fengjing, Li Na
Edge Detection Of Low Illumination Image In Cutting Unit Of Shearer, Jia Pengtao, Jin Luwei, Wang Bin, Guo Fengjing, Li Na
Coal Geology & Exploration
In this paper, a fractional differentiation-based edge detection algorithm named Lif is proposed to address the edge detection problems of missing edge and fuzzy details in the cutting unit of shearers working in low-light underground environments. First, the initial fractional mask operator was built using a larger detection template according to the Grünwald-Letnikov definition of the fractional derivative. Then, the weight coefficients at various positions of the mask operator were determined according to the theory of Pascal’s triangle, and the mask operator was extended to four different directions. Finally, the mask operator was convolved with the image, and the local …
Exploring Dynamic Parameters And Tooth Structure Of Self-Propelled Borehole Repairing Drill Bits, Liu Yong, Li Yang, Wei Jianping, Yuan Yongwang, Dai Shuo, Li Linyu
Exploring Dynamic Parameters And Tooth Structure Of Self-Propelled Borehole Repairing Drill Bits, Liu Yong, Li Yang, Wei Jianping, Yuan Yongwang, Dai Shuo, Li Linyu
Coal Geology & Exploration
Self-propelled borehole repairing drill bits provide an effective technique for repairing long boreholes that have failed. In order to further improve the borehole repair speed and gas drainage efficiency, based on the theory of jet recoil, the relationship between the jet recoil force and nozzle parameters was analyzed, and a theoretical model was established for rotational mechanics of self-propelled borehole repairing drill bits. Subsequently, the coal-breaking processes of drill bits with different tooth structures were simulated using LS-DYNA, the failure modes in coal mass broken by cutting teeth and the rules of variation in the volume of coal broken by …
Operation Process Identification For Intelligent Drill Rig Base On Analytic Hierarchy Process, Zhu Qianxiang, Luo Pengping, Wang Longpeng, Xing Wang, Wang Tianlong
Operation Process Identification For Intelligent Drill Rig Base On Analytic Hierarchy Process, Zhu Qianxiang, Luo Pengping, Wang Longpeng, Xing Wang, Wang Tianlong
Coal Geology & Exploration
It is very difficult to automatically identify the current process during the intelligent construction of coal mine drill rigs. In response to this, an operation process identification method was proposed, which includes hierarchical modeling of drill rig operation and probability inference of process execution. Firstly, the coupling process among the components of different granularity during the operation of drill rig is described and modeled based on the hierarchical analysis method, which reveals the interactive characteristics between equipment, function and system during the execution of each process. Secondly, Bayesian probabilistic reasoning method is introduced based on the above research to establish …
Positioning Error Compensation Of Drilling Robot Arm For Coal Mine, Liang Chunmiao, Yao Ningping, Yao Yafeng, Peng Tao
Positioning Error Compensation Of Drilling Robot Arm For Coal Mine, Liang Chunmiao, Yao Ningping, Yao Yafeng, Peng Tao
Coal Geology & Exploration
At present, the pose of drilling robots is mostly adjusted by manual remote control and manual retest in combination. Full automatic adjustment has not been achieved. Besides, due to the low precision of open-loop control and inadequate automation capability, the accurate hole positioning and automatic construction of hole groups cannot be realized by drilling robots with water exploration and discharge, outburst prevention and punching prevention in coal mines. Herein, the kinematic model of drilling arm was established by analyzing the structure and action of the drilling robot’s drilling arm. Meanwhile, the dip angle factors such as machining error, body deformation …