A positioning method for a roadheader based on fiber-optic strap-down inertial navigation and binocular vision is proposed to address the issue of low measurement accuracy of the mining machine position caused by single-sensor methods in underground...
Aiming at the complex construction environment and autonomous navigation challenges in underground coal mine roadways, this paper proposes a path navigation and deviation correction control method for tracked roadheaders in confined roadway spaces. F...
The fault maintenance scenario in coal-mine equipment intelligence is composed of videos, images, signals, and repair process records. Text data are not the primary data that reflect the fault phenomenon, but rather the secondary processing based on...
The strapdown inertial navigation system can provide the navigation information for the boom-type roadheader in the unmanned roadway tunneling working face of the coal mine. However, the complex vibration caused by the cutting process of the boom-typ...
Roadway excavation is the leading project in coal mining, and the cantilever roadheader is the main equipment in roadway excavation. Autonomous cutting by cantilever roadheaders is the key to realize safe, efficient and intelligent tunneling for unde...
The tunneling work belongs to the group operation of semi-closed space, and the work is difficult with a high risk coefficient. It is an urgent requirement of coal mining to achieve unmanned and intelligent tunneling work. The path rectification plan...
In coal mines, accurate positioning is vital for roadheader equipment. However, most roadheaders use a standalone strapdown inertial navigation system (SINS) which faces challenges like error accumulation, drift, initial alignment needs, temperature...
Accurately mastering the power transmission characteristics of the cutting arm transmission shaft system is key to improving the reliability and working capacity of the cantilever roadheader. Based on the rigid–flexible coupling vibration chara...
The working environment of the coal mine boom-type roadheader is harsh with large blind areas and numerous safety hazards for operators. Traditional on-site or remote control methods do not meet the requirements for intelligent tunneling. This paper...
Boom-type roadheaders are commonly used for excavation of roadways in underground mines, tunnels, and other architectural structures using trenchless techniques, as well as sinking shafts and occasionally excavating the harder soil and softer formati...
In the application of digital twin technology for the heading workface in coal mining, real-time state data will be transmitted to the remote control platform through a gateway device. This cross-system and cross-software data transmission method ine...
The roadheader is a core piece of equipment for underground mining. The roadheader bearing, as its key component, often works under complex working conditions and bears large radial and axial forces. Its health is critical to efficient and safe under...
Pose measurement of coal mine excavation equipment is an important part of roadway excavation. However, in the underground mining roadway of coal mine, there are some influencing factors such as low illumination, high dust and interference from multi...
The autonomous positioning of tunneling equipment is the key to intellectualization and robotization of a tunneling face. In this paper, a method based on simultaneous localization and mapping (SLAM) to estimate the body pose of a roadheader and buil...
This paper proposes a path correction scheduling strategy for the underground mining boom roadheader by ably combining a back propagation (BP) neural network and state estimation. First, a pose deviation-based tracking model is designed for the roadh...
Safe path planning is essential for the autonomous operation of robotic roadheader in narrow underground tunnels, where limited perception and the robot’s geometric constraints present significant challenges. Traditional path planning methods o...
Autonomous posture detection and self-localization of roadheaders is the key to automatic tunneling and roadheader robotization. In this paper, a multi-sensor based positioning method, involving an inertial system for altitude angles measurement, tot...
This paper deals with the automation of the rock cutting process with roadheaders used widely in civil engineering for drilling roadways in underground mines and tunnels. Although there has been intensive technical development, roadheaders are still...
A cantilever roadheader is the main tunneling equipment for underground coal mine roadways. The key to the safe, efficient and intelligent development of coal enterprises is to achieve the autonomous cutting and intelligent control of the cantilever...
The process of cutting rocks with a boom-type roadheader results in extreme dynamic loads and vibrations. Mining, especially in the case of hard rocks, is associated with large energy consumption, which, when combined with low process efficiency, can...
Aiming at addressing the problems of high specific energy consumption for cutting and slow response to the change of hardness in the control of existing mining roadheaders, an adaptive variable speed cutting control method based on cutting performanc...
The boom-type roadheader is the foremost mining equipment in coal mines. At present, the automatic cutting technology is still immature for adjusting cutting speed automatically in accordance with rock strength, resulting in energy dissipation. In th...
The working environment at coal mining faces is harsh, leading to high failure rates and significant maintenance issues with roadheaders. This study explores multi-layer dimensionality reduction of vibration signal features in complex environments to...
This paper proposes a cutting trajectory planning method for boom-type roadheaders using an improved Nondominated Sorting Genetic Algorithm II (NSGA-II) with an elitist strategy. Existing methods often overlook constraints related to cutterhead dimen...
Aiming at the problem of a full-width horizontal-axis roadheader being prone to diverge from the preset trajectory of the tunnel, a deviation correction control method based on particle swarm optimization–backpropagation (PSO-BP) neural network...
The formation of a coal mine roadway cross-section is a primary task of the boom-type roadheader. This paper proposes an intelligent robust control scheme for the cutting head trajectory of a coal mine tunneling robot, which is susceptible to unknown...
We propose a trustworthy load prediction method for a cantilever roadheader robot without imputation. Specifically, we design a load-trustworthy-boosting (LTB) algorithm for coal and rock cutting loads that accounts for missing data in complex underg...
A method for assessing the operation of analog filters installed in the measuring paths of current and voltage converters in the power supply system of a mining machine motor, using the example of the driving unit of a roadheader’s cutterhead, is pre...
The mining industry places high priority on occupational safety, process quality and operational efficiency. Roadheaders are widely deployed in coal mines to support fully automated excavation, reducing workers’ physical strain and improving ov...
User’s choices of conical picks currently involve specifying their material and geometric parameters (functional requirements), incorporating the place and conditions of their work (operational requirements). The selection is usually made based on so...
Coal is an important resource for China and even for the whole world. With the improvement of mechanization, automation and intelligence of coal mining equipment in China, there has been an imbalance between the speed of mining and of excavating. Ado...
The article presents tests on the possibility of using ultrasonic transducers for accurate distance measurement in hard coal mines. In order to check the impact of selected disturbing factors on the measurement results, test stands were built, and th...
Determining the location of objects, for example roadheader in a hard coal mine, is a task that should be automated in the conditions of state-of-the-art mining. Current solutions do not meet the user’s expectations due to the lack of the possibility...
The cutting heads currently used in longwall shearers, roadheaders, road milling machines and excavators are equipped with cutting tools called picks. The most commonly applied are conical picks, less frequently—radial picks or tangent picks. T...
Deep underground mines have high energy consumption due to the need to overcome the confining pressure. This study investigates the characteristics of the roadheader used for breaking rock containing a different number and size of holes under differe...
Tunnel construction in karst formations faces significant geological uncertainties, which pose challenges for quantifying construction risks using traditional deterministic methods. This paper proposes a probabilistic reliability analysis framework t...
Directed at the problems of low positioning accuracy and irregular section forming of cutting heads of road header in coal mine production sites, a new cutting head positioning system based on ultra-wideband positioning technology is proposed based o...
Autonomous navigation technology is the basis of underground crawler walking equipment automation. Based on research of the sector laser pose parameter detection method, a pose detection system based on a cross laser is proposed. The mathematical mod...
For effective mining, it is essential to ensure that the picks are positioned correctly on the working unit of a mining machine. This is due to the fact that the design of roadheader cutting heads/drums using computer-aided tools is based on the oper...
Accurate and reliable pose estimation of boom-type roadheaders is the key to the forming quality of the tunneling face in coal mines, which is of great importance to improve tunneling efficiency and ensure the safety of coal mine production. The mult...
Owing to several advantages, mechanical pre-cutting techniques were first introduced in the United States and subsequently used in Europe for tunneling. Pre-cutting machines perform mechanical excavation tunneling using cutting tools such as tunnel b...
In this study, a series of rock cutting tests was conducted using a conical pick to investigate the effect of joints on roadheader performance. Tests were performed on intact rock and jointed rock mass specimens with three different joint spacings. T...
Mechanical methods of tunnel excavation are widely used because of their high excavation output, and the selection of appropriate technology depends on ground composition and project-related features. Compared with tunnel boring machines (TBMs) and r...
The air curtain dust control device (ACDCD) utilizes the air curtain formed by high-speed gas ejected from an injection cavity to separate the driver working area from the roadheader pollution area, so as to achieve the purpose of dust control. The e...
In this article, the method of hard rock mining by undercutting or back incision using asymmetrical disk tools as an alternative to the milling method with the use of cutting tools was described. The results of modelling the penetration of a single a...
The yielding arch support is transported and installed in the face with the use of auxiliary machines. These activities in underground mining cause many problems, which have as yet not been solved. Currently, transport and assembly are carried out ma...
This study reports a CFD investigation of spray-based dust suppression strategies in mining tunnels, focusing on the dynamic operation of roadheaders, onboard spraying systems, and water curtains. The simulations assess how these systems affect airfl...
The rapid wear of conical picks used in rock cutting heads in the mining industry has a significant economic impact in cost effectiveness for a given mineral extraction business. Any mining facility could benefit from decreasing the cost along with a...
This study offers an efficient hardness identification approach to address the problem of poor real-time performance and accuracy in coal and rock hardness detection. To begin, Ensemble Empirical Mode Decomposition (EEMD) was performed on the current...
Various numerical methods have been used to simulate the rock cutting process. Numerical simulation is a useful tool for estimating the performance of a cutting tool and for understanding the mechanism of rock cutting and interaction between a cuttin...
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