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Full-Text Articles in Mining Engineering
Design Of An Intelligent Failure Diagnosis And Early Warning System For Tunnel Drilling Rigs In Coal Mines, Song Haitao, Zhang Naiwen, Han Jian, Wu Min
Design Of An Intelligent Failure Diagnosis And Early Warning System For Tunnel Drilling Rigs In Coal Mines, Song Haitao, Zhang Naiwen, Han Jian, Wu Min
Coal Geology & Exploration
Objective In coal mines, harsh environments and complex geological conditions underground lead to frequent failures of tunnel drilling rigs. However, conventional techniques for failure diagnosis and early warning suffer from limitations in diagnostic accuracy, real-time performance, and interpretability. Therefore, these techniques are insufficient for both the rapid identification of the anomalous status of tunnel drilling rigs and the early warning of their potential failures. Methods Considering the complex underground environments in coal mines, this study developed an intelligent failure diagnosis and early warning system for tunnel drilling rigs in coal mines, placing a particular emphasis on key technologies for failure …
Underground Tunnel Drilling Technology And Equipment For Coal Mines In China: A 50-Year Retrospective And Prospects, Tian Hongliang, Li Wangnian, Li Quanxin, Yao Ke, Liu Jianlin, Chang Jianghua
Underground Tunnel Drilling Technology And Equipment For Coal Mines In China: A 50-Year Retrospective And Prospects, Tian Hongliang, Li Wangnian, Li Quanxin, Yao Ke, Liu Jianlin, Chang Jianghua
Coal Geology & Exploration
Bcakground Underground tunnel drilling in coal mines represents an indispensable key means for the safe and efficient coal mining, precise disaster prevention and control, and geological transparency of coal mines. This study presents a systematic review of the development history of underground tunnel drilling technology and equipment for coal mines in China over the past 50 years, during which the technology and equipment have evolved from technology introduction to independent innovation and from following to keeping pace with and even to overtaking international counterparts.Advances Initially, this study expatiates on both the important position of coal resources in the national …
A Model For Predicting Coal Mining-Induced Surface Subsidence During Theinitial, Active, And Decline Stages, Zhang Liangliang, Liu Xiya, Cheng Hua, Du Shaoneng
A Model For Predicting Coal Mining-Induced Surface Subsidence During Theinitial, Active, And Decline Stages, Zhang Liangliang, Liu Xiya, Cheng Hua, Du Shaoneng
Coal Geology & Exploration
Objectives and Methods Presently, there remains a lack of theoretical models for predicting the coal mining-induced surface subsidence during the initial, active, and decline stages. Given this, this study derived the time-varying exponential function of the ratio of maximum to dynamic surface subsidence first using measured data from seven coal mines. Accordingly, an improved Knothe time function model was established. Then, the impacts of the model parameters on dynamic surface subsidence W(t), subsidence velocity v(t), and subsidence acceleration a(t) were analyzed. Subsequently, based on the improved Knothe model and the critical …
Seepage Dynamics And Damage Characteristics Of Shaft Lining Concrete Under Hydraulic Coupling, Xue Weipei, Zhou Yaya, Cheng Hua, Yao Zhishu, Rong Chuanxin, Wang Zhongjian, Wu Hao
Seepage Dynamics And Damage Characteristics Of Shaft Lining Concrete Under Hydraulic Coupling, Xue Weipei, Zhou Yaya, Cheng Hua, Yao Zhishu, Rong Chuanxin, Wang Zhongjian, Wu Hao
Coal Geology & Exploration
Objective Concrete serves as a lining material for support structures used in vertical shafts in coal mines, and its seepage performance and mechanical characteristics play a crucial role in ensuring structural safety. Furthermore, shaft lining concrete is placed under the groundwater level, subjected to a stress environment significantly different from that of surface concrete.Methods To investigate the impacts of groundwater seepage on the performance of shaft lining concrete under triaxial stress conditions, hydraulic coupling tests were conducted using a servo pressure testing machine equipped with a seepage apparatus, yielding data on permeability, elastic volumetric strain, crack volumetric strain, and …
Cross-Modal Lidar-Camera Joint Calibration For Heading And Mining Face In Coal Mines, Yang Wenjuan, Ren Zhiteng, Zhang Xuhui, Du Yuyang, Li Changpeng, Zhang Chao, Xu Jie, Wan Jicheng, Lei Mengyu
Cross-Modal Lidar-Camera Joint Calibration For Heading And Mining Face In Coal Mines, Yang Wenjuan, Ren Zhiteng, Zhang Xuhui, Du Yuyang, Li Changpeng, Zhang Chao, Xu Jie, Wan Jicheng, Lei Mengyu
Coal Geology & Exploration
Objective In underground coal mines, it is challenging to extract the features of the heading and mining face stably under insufficient illumination, significant dust interference, and sparse point clouds. This severely undermines the accuracy and robustness of camera-LiDAR joint calibration based on underground unstructured scene characteristics.Methods Targeting complex operating conditions, including fully mechanized mining face and tunneling roadways, this study developed a LiDAR-camera joint calibration method based on cross-depth feature coupling. In this method, an improved random sample consensus (RANSAC) algorithm for multi-plane fitting was designed for feature extraction. By integrating normal vector-based pre-clustering and an adaptive iteration mechanism, …
Intrinsically Safe Pneumatic Seismic Source For Controlled Rock Mass ,Monitoring And Imaging In Underground Mining, Przemysław Sierodzki, Leszek Remiorz, Mateusz Ćwiękała, Krzysztof Krawiec
Intrinsically Safe Pneumatic Seismic Source For Controlled Rock Mass ,Monitoring And Imaging In Underground Mining, Przemysław Sierodzki, Leszek Remiorz, Mateusz Ćwiękała, Krzysztof Krawiec
Journal of Sustainable Mining
This article explores the technical principles of pneumatic seismic sources, focusing on their application in underground mining operations, including environments prone to fire hazards. It introduces an intrinsically safe pneumatic seismic source as a cost-effective solution for quasi-continuous seismic excitation, useful for detecting stress concentrations in mining settings. These stress concentrations are identified through anomalies in seismic wave velocity, which may indicate potentially hazardous deformations in the rock mass. The developed system enables fully remote operation from the surface and integrates with a seismic monitoring system to capture high-resolution waveforms. The study provides an overview of the pneumatic system’s technical …
Current Status And Future Trend Of Research On Underground Borehole Measurement Technology For Coal Mines, Chen Long, Yang Dongdong, Li Quanxin, Chu Zhiwei, Zhang Jiguan, Chen Xiang
Current Status And Future Trend Of Research On Underground Borehole Measurement Technology For Coal Mines, Chen Long, Yang Dongdong, Li Quanxin, Chu Zhiwei, Zhang Jiguan, Chen Xiang
Coal Geology & Exploration
Background Underground borehole measurement emerges as a core technology for the safe production of coal mines. Its multi-parameter measurements, data accuracy, data transmission rate, and reliability directly influence the timeliness of early warning for disasters, the operating stability of instruments, the accuracy of borehole assessment, and the scientific rigor of intelligent decision-making under complex deep geological conditions. Advances So far, the measurement while drilling (MWD) and post-drilling borehole visualization techniques have developed into a diversified technological system. Specifically, the MWD technique has achieved a leap from wireline to wireless transmission, obviating the reliance on wireline drill rods in traditional measurement …
Water Immersion-Induced Damage Mechanisms And Enhancement Via Nano-Modification For Artificial Dam Specimens With Vertical Interfaces, Li Yijia, Hao Xianjie, Chen Yuguang, Pang Tian, Yang Huaixiang, Li Hang, Ji Jinyi, Li Xinyu
Water Immersion-Induced Damage Mechanisms And Enhancement Via Nano-Modification For Artificial Dam Specimens With Vertical Interfaces, Li Yijia, Hao Xianjie, Chen Yuguang, Pang Tian, Yang Huaixiang, Li Hang, Ji Jinyi, Li Xinyu
Coal Geology & Exploration
Objective To accelerate ecological protection and high-quality development in the Yellow River basin, the concept of “conductivity, storage, and utilization” has been proposed to achieve the mine water storage and protection by transforming goafs into underground reservoirs and utilizing waterproof concrete dams. However, under the action of long-term water immersion and mining activity, the interfaces of composite concrete dam structures might undergo strength degradation, leading to hidden hazards. Methods By incorporating 0.5% and 1.0% nano-SiO2, -Al2O3, and -TiO2, this study prepared specimens with one vertical interface each that comprised double semi-cylinders through …
Analysis Of The Connotation Of Hidden Disaster-Causing Factors In Coal Mines And The Key Points Of Their Reconnaissance, Lian Huiqing, Wang Xu, Yin Shangxian, Xia Xiangxue, Cao Min, Li Qixing, Wu Xiaoming, Zhang Bin, Wang Yangyu, Zhang Qing, Wang Guo’An
Analysis Of The Connotation Of Hidden Disaster-Causing Factors In Coal Mines And The Key Points Of Their Reconnaissance, Lian Huiqing, Wang Xu, Yin Shangxian, Xia Xiangxue, Cao Min, Li Qixing, Wu Xiaoming, Zhang Bin, Wang Yangyu, Zhang Qing, Wang Guo’An
Coal Geology & Exploration
Background To systematically normalize the reconnaissance of hidden disaster-causing factors in coal mines, the National Mine Safety Administration issued the Specification for General Survey of Hidden Disaster-causing Factors in Mine in 2024. Nevertheless, coal mining enterprises still face a range of notable issues in reconnaissance of hidden disaster-causing factors, including ambiguous connotations of the factors, broad scopes of reconnaissance, unclear implementation stages, a disjunction between explorations and reconnaissance, and improper conclusion descriptions. These problems severely restrict scientific and operational reconnaissance.Methods This study reviews the history of research on the reconnaissance of hidden disaster-causing factors, presents a summary of significant …
Parameter Characteristics And Rock-Breaking Mechanisms Of Horizontal Drilling Of Underground Collapsed Bodies In Coal Mines, Yao Ningping, Dou Xuqian, Han Zhaoyang, Zhang Guohua, Sun Yuchen, Li Hao, Wang Li
Parameter Characteristics And Rock-Breaking Mechanisms Of Horizontal Drilling Of Underground Collapsed Bodies In Coal Mines, Yao Ningping, Dou Xuqian, Han Zhaoyang, Zhang Guohua, Sun Yuchen, Li Hao, Wang Li
Coal Geology & Exploration
Objective With continuously increasing coal mining depth, the risks of hazards such as roof collapse and personnel entrapment caused by high in situ stress and mining-induced pressure have significantly intensified. Drilling emerges as a key means of rapidly establishing rescue passageways. However, the drilling process tends to face multiple challenges, including complex geological structures, unstable collapsed bodies, and low drilling efficiency. Methods This study aims to reveal the rock-breaking mechanisms during the drilling of collapsed bodies, optimize drilling parameters to ensure reliable borehole formation, and achieve efficient drilling of collapsed bodies. To this end, this study developed a large-scale experimental …
An Experimental Study On The Seepage Characteristics Of Sandstones With Different Numbers Of Fractures Before And After Grouting, Chen Juntao, Zhou Haoyu, Yu Junjian, Li Guo, Fan Mingjin, Li Lu, Wang Yunhao
An Experimental Study On The Seepage Characteristics Of Sandstones With Different Numbers Of Fractures Before And After Grouting, Chen Juntao, Zhou Haoyu, Yu Junjian, Li Guo, Fan Mingjin, Li Lu, Wang Yunhao
Coal Geology & Exploration
Background Grouting in surrounding rocks serves as a conventional approach to controlling disasters in coal mine roadways. The developmental degree of fractures significantly influences the reinforcement and sealing effects of grouting. Methods To determine the changes in the impermeability of fractured surrounding rocks before and after grouting, this study investigated sandstones—the most common sedimentary rocks in coal mines. Using laboratory experiments and numerical simulations, this study explored the permeability variations of sandstone specimens with varying fracture numbers under different confining pressures and assessed the impact of grouting on their seepage performance. Through triaxial compression-seepage experiments using a Rock Top multi-field …
Regularity And Mechanisms Of Water-Sand Inrushes Within Mining-Activated Faults, Zhang Shichuan, Huang Pu, Li Yangyang, Wang Chenggong, Wu Zhenhua
Regularity And Mechanisms Of Water-Sand Inrushes Within Mining-Activated Faults, Zhang Shichuan, Huang Pu, Li Yangyang, Wang Chenggong, Wu Zhenhua
Coal Geology & Exploration
Background During underground coal mining, water-sand mixtures within faults may rush into mine floors. The water-sand inrushes are especially prominent under the conditions of high water-yield properties and loose filling structures in fault zones, severely threatening the safe mining of coal mines. Previous studies focus primarily on the impact of a single factor on inrushes. Hence, it is significant to systematical investigate the regularity of water-sand inrushes within faults under the combined effects of multiple factors. Methods Based on the fluid and granular mechanic theories, this study derived the instability criterion and flow formulas of water-sand mixtures. Using orthogonal experiments …
Groundwater Rebound And Seepage Characteristics And Water Quality Evolution In A Sealed Mining Area In North China Type Coalfield, Yin Huiyong, Sun Dehui, Dong Fangying, Wang Fanhua, Zhang Lifeng, Wu Tao, Liu Chao, Zeng Yifan
Groundwater Rebound And Seepage Characteristics And Water Quality Evolution In A Sealed Mining Area In North China Type Coalfield, Yin Huiyong, Sun Dehui, Dong Fangying, Wang Fanhua, Zhang Lifeng, Wu Tao, Liu Chao, Zeng Yifan
Coal Geology & Exploration
Background The seepage field and water quality evolution associated with the groundwater rebound induced by the sealing of mining areas significantly affects the prevention and control of mine water hazards, as well as the recycling of water resources. Systematically elucidating the mechanisms underlying the seepage-hydrochemistry synergy of groundwater is recognized as a fundamental scientific issue for promoting the collaborative management and resource development of the water systems in mining areas. Methods Based on the engineering background of the sealed No.116 mining area in the Binhu Coal Mine, Zaozhuang, Shandong Province, this study investigated the groundwater rebound and seepage characteristics, along …
A Visual Positioning Method For Tunnel Boring Machines In Underground Coal Mines Based On Anchor Net Features, Zhang Xuhui, Chi Yunkai, Du Yuyang, Jiang Junying, Yang Wenjuan, Zhao Youjun, Wan Jicheng, Wang Yanqun, Tian Chenhui
A Visual Positioning Method For Tunnel Boring Machines In Underground Coal Mines Based On Anchor Net Features, Zhang Xuhui, Chi Yunkai, Du Yuyang, Jiang Junying, Yang Wenjuan, Zhao Youjun, Wan Jicheng, Wang Yanqun, Tian Chenhui
Coal Geology & Exploration
Background Precise positioning of tunnel boring machines (TBMs) in underground coal mines plays a fundamental role in the automated and intelligent guidance and control of fully mechanized heading face. However, traditional visual positioning methods show limited application effects in underground roadways due to their narrow and enclosed spaces, insufficient illumination, and sparse textures. This study proposed a visual positioning method for TBMs in underground coal mines based on anchor net features.Methods A three-stream depthwise separable convolutional neural network (TSCR-NET) for image enhancement was employed to estimate the reflection, illumination, and noise in images individually. Through illumination adjustment while suppressing …
Seepage Evolution Patterns And Self-Sealing Characterization Of Mining-Induced Overburden Fractures In Ecologically Vulnerable Mining Areas, Li Jianwei, Sun Yanchao, Zhang Chuanjiu, Ta Xupeng, Cao Jian, Zhang Jian
Seepage Evolution Patterns And Self-Sealing Characterization Of Mining-Induced Overburden Fractures In Ecologically Vulnerable Mining Areas, Li Jianwei, Sun Yanchao, Zhang Chuanjiu, Ta Xupeng, Cao Jian, Zhang Jian
Coal Geology & Exploration
Objective The ecologically vulnerable areas (EVAs) in West China have been significantly affected by coal mining. In these areas, aquifers overlying goaves have been damaged under mining disturbance, being prone to cause water resource loss and desertification. Hence, it is crucial to guide the self-sealing of fractures artificially to preserve and further restore the groundwater level.Methods This study investigated mining face 22108 in the Buertai coal mine in the Inner Mongolia Autonomous Region. Based on the physical simulation experiments using similar materials, numerical calculations, and theoretical analysis, this study delved into the seepage evolution patterns of fractures in the …
A Deep Learning-Based Method For The Intelligent Identification Of The Quantity Of Coals Flushed Out During Borehole Hydraulic Flushing, Li Xiaojun, Zhao Mingyang, Li Miao
A Deep Learning-Based Method For The Intelligent Identification Of The Quantity Of Coals Flushed Out During Borehole Hydraulic Flushing, Li Xiaojun, Zhao Mingyang, Li Miao
Coal Geology & Exploration
Objective Given the inaccurate and low-efficiency manual statistics of the quantity of coals flushed out during borehole hydraulic flushing, this study proposed an intelligent identification method that combines YOLOv8n, ResNet34, and PP-OCRv4 algorithms. Methods First, the first-level detection was completed using the YOLOv8n algorithm, which, combined with the ResNet34 and PP-OCRv4 algorithms via parallel cascade, was then employed to conduct second-level processing. Through the above processing and in combination with the method for classification status discrimination based on tracking frame numbers, the framework of an algorithm for automatically calculating the quantity of coals flushed out was established. Subsequently, the deformable …
A Dc-Unet-Based Image Processing Method For Detecting Fractures Along Roadway Sections Of Coal Mines, Dong Zheng, Zhang Xuhui, Yang Wenjuan, Kang Le, Tang Duwei, Tian Chenhui
A Dc-Unet-Based Image Processing Method For Detecting Fractures Along Roadway Sections Of Coal Mines, Dong Zheng, Zhang Xuhui, Yang Wenjuan, Kang Le, Tang Duwei, Tian Chenhui
Coal Geology & Exploration
Objective Detecting fractures along roadway sections of coal mines allows for the characterization of the geologic conditions of roadways, thus providing guidance for roadway tunneling and support engineering. However, conventional image processing methods for fractures along roadway sections are susceptible to complex environments in underground coal mines, exhibiting a low fracture detection efficiency. Methods This study proposed a novel image processing method for detecting fractures along roadway sections based on a DC-UNet model. This method can be deployed on a mobile terminal and an embedded device, thereby allowing for real-time and effective detection of fractures along roadway sections and enhancing …
Development Of A Power Recovery-Based Dynamic Loading System For Full-Size Drill Rods In Coal Mines, Zhang Jing, Wang Jie
Development Of A Power Recovery-Based Dynamic Loading System For Full-Size Drill Rods In Coal Mines, Zhang Jing, Wang Jie
Coal Geology & Exploration
Objective This study aims to simulate the actual forces applied to drill rods during the borehole drilling for gas drainage from underground coal mines to satisfy the requirements of drill rods’ fatigue tests. Methods This study designed a dynamic loading system for full-size drill rods in coal mines. This system consists of a drill rod loading platform, a hydraulic pump unit with power recovery, and a measurement and control system, allowing for the composite loading of dynamic torque, axial force, and radial displacement on drill rods of different specifications. In this system, torque is loaded to drill rods using the …
Research Progress On Variation Pattern And Monitoring Control Technology Of Negative Pressure For Gas Drainage In Directional Long Borehole, Li Quanxin, Cheng Zhuoer, Fang Jun, Mou Quanbin, Liu Fei, Cong Lin
Research Progress On Variation Pattern And Monitoring Control Technology Of Negative Pressure For Gas Drainage In Directional Long Borehole, Li Quanxin, Cheng Zhuoer, Fang Jun, Mou Quanbin, Liu Fei, Cong Lin
Coal Geology & Exploration
Significance Near-horizontal directional long borehole is an important technical approach and effective means for preventing and controlling the gas disasters of coal mine. Negative pressure is an important factor affecting the gas drainage effect of directional long borehole. Advances Herein, the research progress on gas drainage through near-horizontal directional long borehole was systematically summarized from three aspects: the attenuation mechanism and distribution law of negative pressure in the borehole, gas drainage parameter monitoring technology, and intelligent control system for gas drainage. Regarding the attenuation mechanism and distribution law of negative pressure in the borehole, the basic theoretical research results concerning …
Spatial Surveying Characteristics And Reconstruction Method Of Millimetre Wave Radar In Complex Environment Of Coal Mine Roadway, Xue Xusheng, Yang Xingyun, Yue Jianing, Wang Chuanwei, Mao Qinghua, Ma Hongwei, Wang Rongquan
Spatial Surveying Characteristics And Reconstruction Method Of Millimetre Wave Radar In Complex Environment Of Coal Mine Roadway, Xue Xusheng, Yang Xingyun, Yue Jianing, Wang Chuanwei, Mao Qinghua, Ma Hongwei, Wang Rongquan
Coal Geology & Exploration
Objective Underground spatial surveying of coal mine is an important part of transparent geological modelling for coal mine. However, the complex environment of coal mine roadway, incomplete information acquisition, insufficient accuracy of sensed data and other difficulties need to be urgently solved. Methods First, the signal characteristics of millimeter wave radar under the complex environmental factors such as dust, water mist, surrounding rock structure, etc. were studied in depth, the millimeter wave signal attenuation model was established for the surrounding rock of coal mine roadway, and the influence mechanism of complex environmental factors for millimeter wave radar was comparatively analyzed. …
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 …
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 …
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 …
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 …