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Full-Text Articles in Engineering
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 …
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 …
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 …
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 …
Obstacle-Avoidance Trajectory Planning Of Mine Drilling Robot During Drill Pipe Loading And Unloading, Yao Yafeng, Yao Ningping, Peng Tao, Liang Chunmiao, Peng Guangyu
Obstacle-Avoidance Trajectory Planning Of Mine Drilling Robot During Drill Pipe Loading And Unloading, Yao Yafeng, Yao Ningping, Peng Tao, Liang Chunmiao, Peng Guangyu
Coal Geology & Exploration
The position of drill pipe loading and unloading by mine drilling robot will change with the attitude adjustment of the host machine, and obstacles are present in the loading and unloading path of drill pipe. Therefore, there is a problem of obstacle-avoidance trajectory planning with variable targets in the loading and unloading of drill pipe. For this reason, the DH parameter table was created according to the performance parameters of the explosion-proof 6-DOF manipulator, and the function relation of the change in loading and unloading position of drill pipe before and after the attitude adjustment of the 3-DOF host machine …
A Simulation Study On The Suspension And Transport Patterns Of Proppants In Long Distance Pipelines For Integrated Well And Ground Fracturing, Li Haozhe, Jiang Zaibing, Sun Siqing, Zhu Chuanyong, Fan Yao, Guo Yong, Cheng Bin
A Simulation Study On The Suspension And Transport Patterns Of Proppants In Long Distance Pipelines For Integrated Well And Ground Fracturing, Li Haozhe, Jiang Zaibing, Sun Siqing, Zhu Chuanyong, Fan Yao, Guo Yong, Cheng Bin
Coal Geology & Exploration
Integrated well and ground fracturing is a developmental trend for the staged fracturing of underground long boreholes in coal mines. Using the integrated fracturing technology, the fracturing fluids, after being pressurized using a ground fracturing pump, enter long boreholes in underground coal mines through ground penetrating wells and long distance pipelines, aiming to achieve fracturing with high injection rates of fracturing fluids. The suspension and transport patterns of proppants in long distance pipelines hold critical significance for optimizing parameters related to proppant adding and avoiding sand plugging in pipelines. This study evaluated the rheological properties and proppant carrying capacity of …
Intelligent Optimization Method For Tunnel Rotary Drilling Based On Drill String Status Estimation, Yao Ningping, Wei Hongchao, Zhang Jinbao, Lu Chengda, Li Hao, Yao Yafeng, Ke Yougang, Zhang Youzhen
Intelligent Optimization Method For Tunnel Rotary Drilling Based On Drill String Status Estimation, Yao Ningping, Wei Hongchao, Zhang Jinbao, Lu Chengda, Li Hao, Yao Yafeng, Ke Yougang, Zhang Youzhen
Coal Geology & Exploration
To address the issue in existing research where it is difficult to obtain bottom-hole drilling parameters while drilling, and to overcome the problem of low accuracy and insufficient improvement when optimizing rotary drilling operational parameters using only borehole data, an intelligent optimization method for near-horizontal tunnel rotary drilling based on drill string status is proposed. This involves constructing an in-hole state observer to estimate bottom-hole drilling parameter information. Firstly, the characteristics of rotary drilling in underground coal mine tunnels are analyzed, considering the constraints of actual drilling, and an optimization target evaluation method for mechanical drilling speed and drill bit …
Status And Development Of Intelligent Drilling Tools For Coal Mine, Gao Xiaoliang
Status And Development Of Intelligent Drilling Tools For Coal Mine, Gao Xiaoliang
Coal Geology & Exploration
As an important part of intelligent drilling, the intelligence of drilling tool system plays a crucial role in the intelligent development of coal mine underground drilling. In order to deeply explore the development direction of intelligent drilling tools, the research results and technical characteristics of intelligent drilling tools in coal mines were systematically sorted out from the aspects of directional drilling tools, measurement while drilling (MWD) system, intelligent drilling pipes and drill bits with reference to the experience in development of oil and gas industry, and the existing shortcomings were also summarized. It is pointed out that screw motor is …
Manipulator Trajectory Planning Method Of Anchor Drilling Robot, Lei Mengyu, Zhang Xuhui, Yang Wenjuan, Dong Zheng, Wan Jicheng, Zhang Chao, Du Yuyang
Manipulator Trajectory Planning Method Of Anchor Drilling Robot, Lei Mengyu, Zhang Xuhui, Yang Wenjuan, Dong Zheng, Wan Jicheng, Zhang Chao, Du Yuyang
Coal Geology & Exploration
In order to improve the support efficiency of coal mine roadway and the automation intelligence of heading face, an anchor drilling robot integrating the cantilever roadheader and the six-degree-of-freedom manipulator was designed, and studied on the anchor drilling sequence planning strategy and the drilling boom trajectory planning method. Firstly, the kinematics model of the manipulator structure was established based on the improved DH method. On this basis, the forward and inverse kinematics solutions were analyzed, and the spatial position and the corresponding joint variable values of the drilling rig were calculated. Secondly, the manipulator space was analyzed based on Monte …
Intelligent Optimization And Control Technology For Drilling Process Of Coal Mine Tunnels, Yao Ningping, Wu Min, Chen Luefeng, Lu Chengda, Fan Haipeng, Zhang Youzhen, Li Wangnian, Yao Ke
Intelligent Optimization And Control Technology For Drilling Process Of Coal Mine Tunnels, Yao Ningping, Wu Min, Chen Luefeng, Lu Chengda, Fan Haipeng, Zhang Youzhen, Li Wangnian, Yao Ke
Coal Geology & Exploration
The harsh environment for drilling construction of coal mine tunnel, complex coal seam structure and complicated operation procedures can cause low drilling efficiency and high drilling cost. For this reason, it is imperative to carry out studies on the optimization and control technology for the drilling process of coal mine tunnel. Herein, study was conducted from intelligent identification of lithology of coal-bearing formation, intelligent optimization of drilling parameters and their intelligent control, focusing on the key technology for control of drilling process of coal mine tunnel. First, in order to accurately determine the type of coal-bearing formation, an intelligent identification …
Research On Three-Stage Automatic Hole Packer For Gas Extraction Drilling In Underground Coal Mine, Wang Qingfeng, Shi Shuhan, Xin Dezhong, Chen Hang, Zhang Shitao
Research On Three-Stage Automatic Hole Packer For Gas Extraction Drilling In Underground Coal Mine, Wang Qingfeng, Shi Shuhan, Xin Dezhong, Chen Hang, Zhang Shitao
Coal Geology & Exploration
In view of the requirements of hole sealing during gas extraction drilling in underground coal mine for manual packer installation and sealing material injection, as well as the low automation level of hole sealing technology, a three-stage automatic hole packer for gas extraction drilling in underground coal mine was developed, with the appearance similar to the drill pipe. The hole packer could be mechanized into the drilling hole by an automatic drilling machine, and realize the automatic injection of sealing material. Herein, the Mooney-Rivlin hyperelastic constitutive model was used to represent the strain energy function by the finite element analysis …
R&D And Experimental Research Of Pressure-Preserved Triggering Device For Horizontal Pressure-Preserved Coring In Coal Mines, Huang Wei, Chen Ling, Li Jianan, Fan Dong, Yang Mingqing, Liu Guikang, Xu Qing, Ma Changliang
R&D And Experimental Research Of Pressure-Preserved Triggering Device For Horizontal Pressure-Preserved Coring In Coal Mines, Huang Wei, Chen Ling, Li Jianan, Fan Dong, Yang Mingqing, Liu Guikang, Xu Qing, Ma Changliang
Coal Geology & Exploration
Gas content is an important evaluation index of safe coal mining, as well as the exploitation and utilization of coalbed methane resources. Pressure-preserved coring is an effective way to improve the measurement accuracy of gas content in coal seams. Aiming at the special operating conditions of horizontal pressure-preserved coring in coal mines and based on the principle and technology of pressure- and gas-preserved coring in coal mines, this study developed a pressure-preserved triggering device and systematically designed the key components of the device, such as the sealing and pressure-preserved unit, the hydraulic drive module, and the salvager-unstuck mechanism between the …
Electromagnetic Methods In The Detection Of Water Hazards In Coal Mines: A Review, Zhang Jifeng, Sun Naiquan, Liu Zuiliang, Qi Zhipeng
Electromagnetic Methods In The Detection Of Water Hazards In Coal Mines: A Review, Zhang Jifeng, Sun Naiquan, Liu Zuiliang, Qi Zhipeng
Coal Geology & Exploration
Water hazards in coal mines are a major type of hidden danger in safe coal mining. The accurate detection of hidden factors to cause hazard is the prerequisite to solving the water hazards. Electromagnetic methods, which are sensitive to low-resistivity bodies and have multiple types and high adaptability, can be used to effectively detect water-rich hazard-causing factors. Traditional ground electromagnetic methods, including the controlled source audio-frequency magnetotellurics (CSAMT) method and the loop source transient electromagnetic method, play an important role in detecting hidden hazard-causing factors in coal mines. With the continuous development of new technologies, near-source electromagnetic methods have developed …
Optimization Calculation Of The Width Of Waterproof Coal Pillars In Fault Zones Based On Spatial Relationship Between Coal Strata And Fault, Wu Bin, Xie Daolei, Han Jing, Chen Qiang, Zhang Huide
Optimization Calculation Of The Width Of Waterproof Coal Pillars In Fault Zones Based On Spatial Relationship Between Coal Strata And Fault, Wu Bin, Xie Daolei, Han Jing, Chen Qiang, Zhang Huide
Coal Geology & Exploration
The appropriate setting width of the waterproof coal pillars is an important measure to prevent water inrush hazard during near fault mining. The working face 123up01(south) of Jining No.3 Coal Mine in Shandong Province is adjacent to F8 fault in the west. The fall of F8 fault is large, which may be conducted with the Ordovician limestone aquifer at the bottom. To ensure the safe mining in the working face, it is necessary to calculate the size of waterproof coal pillars of fault F8. In view of the actual occurrence of coal strata, the spatial relationship between fault …
Trilinear Chart Classification Method Of Mine Water Hazard Type Based On Factors Of Water Recharge, Hu Weiyue, Zhao Chunhu
Trilinear Chart Classification Method Of Mine Water Hazard Type Based On Factors Of Water Recharge, Hu Weiyue, Zhao Chunhu
Coal Geology & Exploration
The results of the classification of hydrogeological types in coal mines are relatively inadequate to reflect the characteristics of water hazards such as water sources and water inrush channels. It is not very instructive to carry out water control work in coal mines starting from the basic elements of mine water hazard formation, this paper analyses the characteristics and harm degree of mine water hazard under different types of mine water sources, water inrush channels and their combination conditions, the water inrush source can be divided into 4 types according to its water-rich degree and supply capacity:weak supply of slow …
Research On Key Technology Of The 15 000 N·M High-Power Directional Drilling Rig, Fang Peng
Research On Key Technology Of The 15 000 N·M High-Power Directional Drilling Rig, Fang Peng
Coal Geology & Exploration
According to the actual demand for ultra-long distance directional drilling in coal seam and large diameter directional drilling in seam roof, and the function of compound directional drilling technology for drilling rig, the technical idea of modular development for the functional development and design of high-power directional drilling rig are put forward. Combined with the contradiction among high-power matching, large capacity output and compact layout design of drilling rig, the key technologies of 15 000 N·m high-power directional drilling rig are researched in this paper, including overall layout design, large capacity rotary head design and layer board analysis, large opening …