EP2467577B1 - Method for producing a face opening using automation systems - Google Patents

Description

The invention relates to a method for an automatic production of a defined Streböffnung in a longwall conveyor, a Walzenschrämlader as a mining machine and a hydraulic shield removal having longwall mining operations in underground coal mining.

One problem with the automatic control of struts in both the down and up direction of the drum scraper is, inter alia, to produce a sufficiently large face opening to ensure passage of the scraper, for example, without collisions between scraper blades and shingles as the scraper blade passes, and on the other hand To keep the mountain accumulation during the extraction work as low as possible, thus limiting the extraction work as far as possible to the seaming horizon, without cutting too much neighboring rock. The reservoir data on seam size, lying or hanging level and the presence of saddles and / or depressions in the dismantling direction as well as in the longitudinal direction of the substantially available before the infringement Longwall equipment, ie in the direction of the drum skimmer loader, is too inaccurate to be able to rely on it for automated control of the extraction and disassembly work.

In the DE 10 2007 060 170 A1 a longwall equipment is described, in which inclination sensors are attached to the components of a shield support frame, in particular also on the wall end cap. By means of the mounted on the components inclination sensors, the position of the shield mounting location is to be made recognizable, so that the return process of each shield frame with the movements screwing - stepping - set the stamp can be initiated, controlled and controlled from the space on the longwall control or the surface , Since there is no reference to the data of the roller cutter, in particular its cutting height or depth of cut, a method directed to the production of a defined bracing opening is impracticable.

The DE 20 2007 006 122 U1 relates to the detection of the boundary layer between the prone and the coal, in particular in the planing technique as extraction method. For this purpose, in the case of the longwall equipment described in the publication, an optical detection sensor for detecting the boundary layer is arranged in each case at intervals on the conveyor. Again, a method for producing a defined Streböffnung can not be realized.

Furthermore, in the US 2009 / 035,072 A1 the arrangement of inclination sensors on the different components of a shield support frame, also on the hanging end cap, as well as the attachment of a displacement measuring device in the region of the Bodenkufe described. Conclusions on the production of a defined Streböffnung are, however, also not addressed in this document.

Also in the US 5,423,638 A is the arrangement of measuring means for determining the slope of the hanging wall and the Bodenkufe described without reference to the work of a Walzenschrämladers and thus the production of a defined Streböffnung.

The invention is therefore based on the object to provide a method of the type mentioned, by means of which an automation of the extraction and expansion work with regard to the production of a defined Streböffnung is possible due to the data to be obtained on the longwall equipment.

The solution to this problem arises, including advantageous refinements and developments of the invention from the content of the claims, which are adjusted to this description.

The invention provides in its basic idea a method for the cutting extraction with a roller cutter, in which by means of at least one attached to the hanging wall of the shield extension slope sensors determines the inclination of the hanging wall against the horizontal in the direction of degradation and / or in Verhiebsrichtung the Walzenschrämladers and from the so ascertained the slope of each Schildausbaugestells by means of a arranged on the Bodenkufe the Schildausbaugestells Wegmecker the depth of cut of the Walzenschrämladers is determined in each extraction journey, and which also mounted by means of the Walzenschrämlader Sensors, the cutting height of the Walzenschrämladers is detected, the setting of the cutting height of the Walzenschrämladers on the respective Hangendverlaufswinkel for Herstellun g the defined Streböffnung is aligned.

With the invention has the advantage that initially due to the to be determined with a comparatively low effort Hangendverlaufswinkel at the shield support points a parameter for the longwall control in sufficient accuracy and reliability is available. The other parameters used in the invention consist in detecting the cutting of the mining machine by determining their absolute average height on the one hand and the respective depth of cut on the other hand, which is derived from the detection of the path of the individual Schildausbaugestelle. Based on the data obtained so far, the hanging slope horizon can be used as a reference variable for the cutting work.

The control of the cutting operation can be further improved by using tilt sensors mounted on at least three of the four main components of each shield support such as bottom skid, breaker plate, support links and hanging end cap to determine the slope of the hanging end cap against the horizontal and from the measured data in a computing unit by comparison with it stored, the geometric orientation of the components and their movement during walking defining basic data determines the respective banking rights Schildhöhe in the area between the Hangendkappe and Bodenkufe and it is determined taking into account the height of Hangendkappe and Bodenkufe the bank legal height of the shearbar loader cut free Strebraumes and in which, on the basis of the recorded data, the geometry of the cut-away prong space is determined at each shield trimming rack. By using the height of the shield as a further parameter or reference variable, it is possible to calculate a geometry of the buttress space produced by the scraper drum loader which, over several consecutive recovery runs, also enables the creation of a model of the course of the seaming horizon in the direction of dismantling, which is compatible with the available depository data can be adjusted. With this data is much better possible, an automatic specify a driving profile of the roller cutter as well as over several consecutive mining trips away to driving cutting profile for the Walzenschrämlader and comply with in operation.

According to one embodiment of the invention, it is provided that the cutting heights of the Hangendschnitt performing leading Hangendwalze and the Liegendschnitt running lagenden Hangendwalze determined based on the position of the Rollzentragarme detecting sensors and the passing of the Walzenschrämladers at each Schildausbaugestell the total height of cut in relation to the is set to the relevant shield frame computational determined Streböffnung. This is a vote of the ride of the Walzenschrämladers by the longwall on the position of each shield extension of the shield construction used is possible.

According to one exemplary embodiment of the invention, the control method according to the invention is improved by determining the inclination of the conveyor and / or the scraper loader against the horizontal in the direction of travel of the shield extension by means of inclination sensors mounted on conveyors and / or drum skid steer loaders. In this case, the arrangement of an inclination sensor on the roller cutter initially suffices. Although the scraper loader running on and guided on the longwall conveyor makes a sense of unity with the longwall conveyor, to improve the accuracy of the control, it may also be convenient to detect the inclination of the longwall conveyor via a tilt sensor disposed thereon. Optionally, the arrangement of a tilt sensor only on the longwall conveyor for the purpose of the control from already sufficient.

Specifically, it can be provided that the angle of inclination of conveyor and / or Walzenschrämlader set in relation to the determined at the bottom skid of the shield support frame and / or on the Hangendkappe tilt angle and the differential angle formed therefrom is included in the calculation of the staking opening which occurs during several successive recovery runs of the roller cutter. This has the advantage that it is easier to control by opening fluffing troughs or seaming saddles because the historical course of the seam can be used for control, so that by timely control of the mining activity influence on position and cross section and thus the geometry of the Longwall can be taken in the seaming horizon.

The comparison of the desired shield height with the actual shield height can be superimposed by the occurrence of convergence, which reduces the cut-free end opening against the supporting effect of the shield construction used. Thus, according to one embodiment of the invention, it is provided that falls below the value for the cutting height determined by the height of the shield the convergence and the convergence is compensated by adjusting the cutting height of the Walzenschrämladers, preferably by increasing the so-called undercut, in which the horizontal roll in cut in the prone horizon, as a rule, a cutting into the slope horizon is to be avoided. By means of this measure, it is possible to compensate in a targeted manner for the influence of the convergence on the height of the longwall area. In this case, it can also be provided that, in the case of planned shutdowns, the longwall opening is increased by the amount of convergence to be expected over the duration of the operational standstill.

As far as the seam horizon to be excavated often has pronounced troughs and / or saddles in the direction of dismantling, these troughs and saddles can also be determined in the course of the seaming horizon on the basis of the data for the position of the shield building site and the extraction work of the drum chipper can be oriented thereon. Thus, for example, the approach of a saddle is detected by the detected change in inclination of the adjacent hanging wall end cap of the Schildausbaugestells. Out the amount of change in inclination between two Vorziehschritten a shield support frame, the height change can be calculated in terms of a reduction in the height for each further stepping process of the relevant shield frame. In order to maintain the longwall at the desired target level and to counteract the reduction of the longwall, a control movement to perform an undercut, so an incision in the prone horizon to be initiated in the mining machine. Subsequently, before a saddle high point is exceeded, a change in inclination of the hanging end cap to the horizontal can be recognized. This is to be used to timely control the cutting work with a return of the meantime driven undercut, so that even when driving over the saddle, the desired height of the longwall is maintained. Corresponding control operations, but with the opposite sign to be set when driving through a trough, which in principle prevail the same directional processes.

The inclination sensors arranged on the shield extension points also provide a measure of the inclination of the shield extension point transversely to the direction of dismantling, since saddles and depressions may also be pronounced in the direction of the grooving of the roller scraper during the course of the longwall. Since the course of the hanging and lying in the longitudinal direction of the longwall equipment can be derived from the bank of the shield extension, it is possible to control the leading Hangendwalze and trailing Liegendwalze the Walzenschrämladers by way of a continuous cut so that no unwanted Hangendschnitt or no, if necessary Beyond the necessary extent going prone incision takes place, so that an unnecessary Bergemitschnitt or a cultivation of coal or the occurrence of bottlenecks between Walzenschrämlader and shield removal is avoided.

In the operational practice of the coal industry, one approach to automating the mining operation is to perform a manually controlled learn operation of the drum skid loader prior to commencing recovery, with manual alignment of the rollers at the hillside horizon and prone horizon. The driven during the learning trip cutting profile is detected and stored in a computing unit, the roller cutter automatically nachfährt in the subsequent learning trip to the learning trip the stored cutting profile. This has the disadvantage that when changes occurring in the seaming horizon, such as changing seam thickness or the occurrence of a wavy storage with saddles and troughs at least in some areas of the strut, the stored cutting profile is still processed by the Walzenschrämlader, which leads very quickly to undesirable operating conditions and a new manual learning trip is required. Another disadvantage is that the cutting profile always starts from a constant depth of cut of the rolls and so far remain over the course of the course changing cutting depths for the subsequent determination of the extraction work disregarded.

The additional inclusion of this procedure in the adjustment of the cutting height of the Walzenschrämladers on the basis of the determined Hangendverlaufswinkel or calculated from the acquired data geometry of the produced butt makes it possible to detect at an early stage, whether or that the predetermined walking profile of the Walzenschrämladers the actual geological conditions yet corresponds and to intervene in case of deviations in the cutting of the rollers including the adaptation of the depth of cut before undesirable operating conditions arise. In this way, the cutting guide can be kept longer in the seaming horizon, so that less often a new learning journey to establish a modified cutting profile must be performed. Also gives one each on the geological Depending on the current cutting profile, the ability to maintain the last cutting profile - then unchanged - until after passing through the break-out zone the hang-end caps of the affected shield extension have contact with the unbroken hanging slope again.

The above-mentioned common application of the controls applies also with the inclusion of the inclination position of the rollers of the scraper by the learning of the Schränladladers the pitch angle and / or the bank angle of the rollers of the Walzenschrämladers compared to the vertical determined and used in determining the nachzufahrenden cutting profile, wherein be compensated in the subsequent recovery trips occurring angle deviations. Since the reclining roller produces the support surface for the longwall conveyor and the shield removal, deviations in the angular position, in particular the horizontal roller lead to a pivoting of the cutting plane of the roller cutter, this pivoting progressively amplified in successive mining trips, thus a diving effect of the longwall equipment at necessary undercuts of the roller and in order to adapt to changes in Hangendverlauf required upper sections of the roller a climbing effect of the longwall equipment is enhanced. Therefore, it is intended to make a correction for detected angular deviations.

Another approach to automation, also known in business practice, is that, based on the data from an infrared camera arranged on the roller cutter and oriented towards the coal shot, the position of the means of recovery embedded in the seam is determined and due to a known location of the machine By means of the hillside horizon during the extraction journey, the course of the hanging slope horizon in the direction of forcing is determined and the position of the leading hanging roll is then oriented in the subsequent recovery run of the roll cutter, and the position of the trailing lying roll is determined assuming a constant seam thickness. The disadvantage of this technique is that the detection of the remedies by means of the infrared camera under very adverse environmental conditions, such as dust, heat, vibration, so that an accurate detection of Bergmittelbändern in Flözhorizont is not always possible. After detection and localization of the Bergemittelbänder the cut of the rolls is controlled according to the specified distance to the hanging and lying. In particular, deviations from the underlying seam thickness can lead to deviations of the cut of the lagging lying roll from the boundary layer course. Furthermore, always the set maximum thickness must be cut to grow no coal. Insofar as in geology the distances between the means of restraint used as a reference variable and the horizontal bands to the hanging and the horizontal fluctuate, system-related deviations of the cut are unavoidable because the distances of the means of restraint to the hanging and lying are assumed to be constant.

Insofar as sufficiently pronounced bands of remedies are present in the seam to be removed, the advantage of this recovery as a reference variable for the cutting guide of the hanging roll in the control according to the invention is that the position of the hanging horizon is due to the data obtained from the position of the shield assembly units can be constantly checked so that mismanagement of the cutting work can be avoided.

Insofar it can be provided that the determined from the determined Hangendverlaufinking in the shield extension Hangendverlauf is matched with the predetermined by the Lernfahrt and / or due to the determination of the position of a rescue means cutting profile of the Walzenschrämladers and at computationally ascertained Hangendeinschnitt the Walzenschrämladers a correction of the cutting guide Leading Hangendwalze is made to adapt to the course of the hanging wall, and further an adjustment of the cutting guide of the trailing lying roll to a correction of the cutting guide the leading hanging roll for making the defined Streböffnung is made.

Furthermore, in the DE 20 2007 014 710 U1 the proposal proposes, by means of a mounted on the machine body of the Walzenschrämladers between its rollers and directed to the collision radar sensor during the extraction journey to determine the course of the Hangendhorizontes in Verhiebsrichtung, so that the course of the Hangendhorizontes can be determined. This measure is also used in the context of the control according to the invention, wherein it is provided that the determined by means of radar course of the Hangendhorizontes with the derived from the position of the shield extension and thus determined from Hangendverlaufwinkeln course of Hangendhorizontes and optionally made a correction of the cutting height of the Walzenschrämladers becomes. Furthermore, by means of the radar sensor additionally determines the course of the prone horizon in Verhiebsrichtung the Walzenschrämladers and determined the position of the trailing lying roller relative to the position of the prone horizon and optionally the roll position can be corrected. As a result, the precision of the cutting work of the Walzenschrämladers can be improved overall.

From the publication " Inertial Navigation: Enabling Technology for Longwall Mining Automation "by DC Reid, DW Hainsworth, JC Ralston, RJ McPhee & CO Hargrave, CSIRO, Mining Automation, 1 Technology Court, Pullenvale, Qld, Australia 4069 Finally, it is known, by means of mounted on the rollers, suitable for carrying out an inertial navigation sensors to continuously detect the respective position of the rollers in the face space in the form of spatial coordinates and in juxtaposition of the detected during a recovery trip spatial coordinates of each of the rollers cut free extraction channel in a three-dimensional To recreate space. This makes it possible to ensure a consistent quality of the cut of the rollers of the roller cutter and to adjust the cutting of the rollers even with previously known changes in the seaming parameters by specifying the space coordinates to be achieved. However, also with this known method similar to the above-mentioned Lernfahrt method has the disadvantage that no automatic orientation of the cut of the roll cutter at the seaming horizon is provided, and that the actual course of the Hangendhorizontes is not used as a control parameter for the cutting guide. These disadvantages can be eliminated by adding the above-mentioned detection of the roll position by spatial coordinates to the control according to the invention by matching the extraction channel simulated in three-dimensional space with the geometry of the face space calculated using the position of the shield extension. Insofar as in the calculation of the geometry of the buttress the position of the longwall conveyor is advanced as the mining operation progresses through the Schreitzylinderwegmessung, systemic errors occur that can continuously commute, so that the Strebfördererlage assumed in the buttress area deviates slightly from the actual Strebfördererlage. By recording the roll position and thus also the position of the longwall conveyor on the basis of inertial navigation obtained spatial coordinates could in each winning trip in addition recorded the absolute Strebfördererlage and synchronized with the assumed Strebfördererlage in the geometry of the butt, so that, for example, marktscheiderische correction measurements are no longer required and the mentioned error is no longer cumulative over many return cycles of shield extension.

This procedure is also to be transferred to that created by the juxtaposition of reproduced for several consecutive mining trips extraction channels in a three-dimensional space model for the course of Flözhorizontes in degradation direction and with a on the basis of for a sequence of several winning rides each in their Geometry calculated Strewäumen calculated Flözhorizontverlaufsmodell is adjusted.

According to an embodiment of the invention further be provided as a supplementary control measure that measured by means of at least one of the roller body of the Walzenschrämladers radar sensor, the distance between the upper edge of the roller body and the bottom of the underused hangover in the mining work of the shield support frame and as an actual value for the passage height the Walzenschrämladers is entered under the Schildausbaugestellen in a computer unit and compared there with a stored target value, which are generated at a detected deviation control commands for adjusting the cutting height of at least one of the two rolls of Walzenschrämladers.

This has the advantage that the control goal of maintaining a defined Streböffnung during the recovery runs of the roller cutter with a relatively low cost can be achieved. The clearance height, measured as the distance between the upper edge of the machine body and the underside of the wall end cap of the shield extension, is a direct measure for the longwall, as the Streböffnung from the height of passage and occupied by the longwall equipment and thus invariable distances to the hanging wall on the one hand and to the foot or the free-lying horizon by the lying roller pruning horizon on the other hand composed. Thus, the distance beyond the passage height to the hanging wall is determined by the dimensions of the hanging end cap, while the distance of the radar sensors to the horizontal horizon is determined by the height of the resting on the horizontal horizon Strebförderers and the movable thereon machine body of Walzenschrämladers. Thus, the value measured for the clearance height can be used directly as a synonym for the height of the longwall. The control operations are thus faster to perform. The setpoint value for the longwall opening predetermined in the computer unit is specified either by the storage site data, that is to say in particular by the seam thickness, or else by the minimum clearance height of the longwall equipment. Also, the target value can also be represented as a target value for the through hole depending on the design data of the longwall equipment.

According to one embodiment of the invention, it is provided that the longitude determination carried out on the basis of the radar measurement can be supplemented by calculating the respective banking height of each shielding structure at the front end of the hanging endcap as a measure of the actual longwall opening from the data recorded at the shielding development sites and the thus determined actual values of the blade height calculation are fed to the computer unit processing the actual values from the clearance height measurement. While the radar measurement delivers data only during the passage of the mining machine under the respective shield frame and thus a too low clearance height can not be recognized in advance and taken into account in the determination of the recovery parameters, with the complementary determination of the longwall at the front end of the hanging end cap advantage connected, that thus won at individual shielding outposts Data provide additional information on the behavior of individual sections of the front panel or the entire front panel as the penetration progresses.

Thus, from the ratio of the calculated and measured Streböffnung to applicable for the respective mining operation deposit data, such as a possibly over the length of the strut changing Lötzigkeit, be inferred in advance whether the risk of Aufsetzern within the longwall equipment due to the on the There is a danger that shield extension points will be overloaded or whether the upper limit of the extension of the shield extension will be exceeded in the event of an intended automatic operation. The above moments of danger apply in particular to the passage of saddles or depressions in the seam course, which can be borne in mind from the outset by means of a corresponding device for the cutting height of the drum skid loader. Furthermore, the corresponding Streböffnungsdaten can provide information about a possible drop from the hanging wall, the occurrence of seaming, the "on-coal driving" of the Walzenschrämladers or a possible prone incision of the Walzenschrämladers.

Thus, the blade height detection provides anticipated prospect data, which can then be compared to the data measured by the roller shear loader as it passes through. Thus, the accuracies of both procedures can be better estimated. The two procedures form in this respect a supplement to each other, so that a redundancy in the review of the respective Streböffnung is given. A further advantage is that even if one of the two systems for determining the longwall opening fails, the recovery can be continued on the basis of the remaining measuring system.

Insofar as according to an embodiment of the invention it is provided that in addition the correction values for the cutting height of the rollers set in successive recovery runs are adjusted by the respective generated control commands and the sum value determined from the correction values is used as a measure of a convergence that has occurred in the future In this way, it is possible to draw conclusions about an intervening convergence. If there is a need for correction for the cutting height during a first extraction run, it can be checked for the following extraction run, whether the predetermined face opening is cut free after execution of the correction. If there is now a need for further correction, this can only be caused by a convergence that has occurred in the meantime.

Fig. 1

ein Schildausbaugestell mit daran angeordneten Neigungssensoren in Verbindung mit einem Strebförderer und einem Walzenschrämlader als Gewinnungsmaschine in einer schematischen Seitenansicht,

Fig. 2

die Strebausrüstung gemäß Figur 1 im Betriebseinsatz in einer schematischen Darstellung,

Fig. 3a

die Strebausrüstung gemäß Figur 1 bei Kletterneigung der Gewinnungsmaschine,

Fig. 3b

die Strebausrüstung gemäß Figur 1 bei Abtauchneigung der Gewinnungsmaschine,

Fig. 4a - c

die Strebausrüstung gemäß Figur 1 bei Muldendurchfahrungen und Sattelüberfahrungen in einer schematischen Darstellung,

Fig. 5

eine der Einstellung eines Schneidprofils dienende Lernfahrt des Walzenschrämladers in einer schematischen Darstellung,

Fig. 6a, b

den Einfluss einer Änderung der Flözbedingungen auf das eingestellte Schneidprofil in einer schematischen Darstellung,

Fig. 7

eine Strebausrüstung mit Walzenschrämlader und lediglich mit ihren Hangendkappen dargestellten Schildausbaugestellen im Betriebseinsatz in einer schematischen Vorderansicht, in Abbaurichtung gesehen,

Fig. 8

die Strebausrüstung gemäß Figur 7 in Seitenansicht.

In the drawings, embodiments of the invention are shown, which are described below. Show it:

Fig. 1

a shield support frame with inclination sensors arranged thereon in connection with a longwall conveyor and a drum skid loader as mining machine in a schematic side view,

Fig. 2

the longwall equipment according to FIG. 1 in operation in a schematic representation,

Fig. 3a

the longwall equipment according to FIG. 1 when climbing the mining machine,

Fig. 3b

the longwall equipment according to FIG. 1 at Abtabtneigung the mining machine,

Fig. 4a - c

the longwall equipment according to FIG. 1 in case of throughputs and saddle crossings in a schematic representation,

Fig. 5

a learn run of the roller cutter loader serving to set a cutting profile in a schematic representation,

Fig. 6a, b

the influence of a change in the seaming conditions on the set cutting profile in a schematic representation,

Fig. 7

a longwall equipment with a roller cutter and only with their Hangendkappen Shield extension points shown in operation in a schematic front view, seen in the direction of degradation,

Fig. 8

the longwall equipment according to FIG. 7 in side view.

Based on the figures explained below, the principles of the method according to the invention are described in more detail in its embodiment, which makes it possible to detect the height of the shield.

In the FIG. 1 shown longwall equipment comprises first a shield support frame 10 with a bottom skid 11 on which two punches 12 are attached in a parallel arrangement, of which in FIG. 1 only one stamp is recognizable and carry a hanging end cap 13 at its upper end. While the Hangendkappe 13 protrudes at its front (left) end in the direction of to be described Walzenschrämladers, at the rear (right) end of the Hangendkappe 13 a fracture shield 14 is articulated by means of a hinge 15, wherein the fracture shield of the two in the side view on the Bodenkufe 11 resting support arms 16 is supported. In the illustrated embodiment, three tilt sensors 17 are attached to the shield support 10, namely, a tilt sensor 17 on the bottom skid 11, a tilt sensor 17 in the rear of the hanging end cap 13 in the vicinity of the joint 15, and a tilt sensor 17 on the crash shield 14.

As not further illustrated, a tilt sensor may also be provided on the fourth movable component of the shield support frame 10, the support links 16, wherein in each case three tilt sensors must be installed of the four possible tilt sensors 17 in order to determine the position of the shield support frame with the inclination values determined therefrom to determine a working space. In this respect, the invention is not limited to the concrete in FIG. 1 illustrated arrangement of the inclination sensors limited, but includes all possible combinations of three inclination sensors to the four moving parts of the shield support frame.

This in FIG. 1 Shielding frame illustrated is struck on a longwall conveyor 20, which also has a tilt sensor 21, so that in terms of the control of the longwall equipment in general also here data regarding the conveyor position can be obtained. On the longwall conveyor 20, a drum skid loader 22 is guided with an upper roller 23 and a lower roller 24, wherein a tilt sensor 25 is disposed in the area of the roller skid loader 22, furthermore a sensor 26 for detecting the respective location of the roller skid loader 22 in the strut and reed rods 27 to measure the cutting height of the Walzenschrämladers 22. The metrological equipment of the longwall equipment is supplemented by the arrangement of sensors 18 on the punches 12, by means of which the change in the altitude of the hanging wall 13 by determining the extension height of the punch 12 is possible. Furthermore, a Wegmesssystem 19 is integrated in the Bodenkufe 11, by means of which the respective Schreithub the shield support frame 10 in relation to the longwall conveyor 20 can be determined. Since the longwall conveyor 20 is advanced towards the coal thrust by means of cylinders supporting on the plate extension points 10, the horizontal stacking step executed by the plate extension frame 10 during retightening is to be equated to the depth of cut of the rollers of the roughing loader 22. As already stated, the arrangement of the inclination sensor 21 on the longwall conveyor 20 is not absolutely necessary as long as the inclination sensor 25 is set up on the drum skid loader 22. In one In such case, the inclination sensor 21 may be additionally provided to improve the measurement accuracy.

When operating the longwall equipment according to FIG. 1 usually results in an operating situation, as in FIG. 2 is shown by way of example. A seaming horizon 32 projecting between a hanging wall 30 and a lying 31 is drawn in by the drum skid loader 22, wherein the cutting height 33 of the roller skid loader 22 advancing in the plowing direction 34 is adjusted so that a lying recess 35 is cut by the lower roller 24. The front upper roller 23 is adjusted so that it can stand under the hanging wall 30 a narrow coal pack, which automatically dissolves in consequence of the cutting work from the hanging wall. In this respect, the set cutting height 33 in FIG. 2 entered. It can be seen that in this case the plate height 36 is set larger than the cutting height 33, so that a collision-free passage of the roller cutter loader 22 under the plate removal points 10 can be assumed.

To start from FIG. 2 to explain the possible different behavior of the longwall equipment at the mining operation, are in the FIGS. 3a and 3b the conditions that result when the roller cutter loader 22 against the shield support frame 10 has a climbing slope ( FIG. 3a ), which manifests itself in the formation of a differential angle 37 between the bottom skid 11 and the lower roller 24 of the roller skid loader 22. It will be appreciated that in such a case, the risk of collision between the roller cutter loader 22 and the pad removal points 10 increases and this risk can be accommodated by changing the cutting height. The same applies to the in FIG. 3b illustrated situation in which the Walzenschrämlader 22 has a dip slope. Here, too, a corresponding difference angle 37 is established which, on the basis of the positions of drum skid loaders 22 detected by the inclination sensors 17 and 25 and 21, respectively and Schildausbaugestell 10 can be determined, and each entering differential angle 37 are taken into account in the longwall control accordingly.

In addition are in the FIGS. 4a to 4c presented the conditions that represent when passing troughs or passes of saddles in the seam course. As can be seen from a comparison of FIG. 4b With FIG. 4a results in the approach of a trough ( FIG. 4b ) to a tilt position of longwall conveyor 20 and roll skid loader 22, which is detectable via the tilt sensors 21 and 25 arranged on this. The inclination values recorded here can be compared with the inclination values recorded on the shield support frame 10, and this results in a differential angle that can be related to the respective contact surface of the walking support frame 10 and the longwall conveyor 20 with mining machine 22 on the horizontal 31. At the in FIG. 4b Muldendurchfahrung shown results in a difference angle of less than 180 degrees, and this leads to that in FIG. 4a Any given distance between the coal-shaft-side end of the hang-end cap 13 and the roller cutter loader 22 is reduced. In order to eliminate the associated risk of collision, it can be provided that in such a situation, the shield support frame 10 is not retraced by the full amount, but with respect to the longwall conveyor 20 Strebförderer 20 somewhat remains, so that a passage distance is maintained.

A reverse situation arises in a Saddle, as this in Figure 4c in comparison with FIG. 4a is shown. This results in a difference angle of more than 180 degrees, which means that in Hangendbereich the distance between Hangendkappe 13 and Walzenschrämlader 22 is torn open. To avoid a disadvantageous operating situation, it is provided that in the automatic sequence of the shield support frame 10 is pulled forward by the full path of travel, but that the cutting depth of the roller cutter loader 22 is withdrawn.

As far as the inclusion of the determined height of the shield in the control is described above, it should be noted that even the arrangement of a tilt sensor can only be sufficient on the hanging wall 13 of the shielding extension 10 to each Hangendverlaufswinkel in the degradation direction and / or in the direction of the Schrägschrämladers 22nd to determine, as far as the knowledge of the course of the Hangendhorizontes 30 and its use as a reference variable for the cutting work is sufficient.
In the FIGS. 5 and 6a, b the inclusion of a control technique is shown, in which at the beginning of the extraction of the Walzenschrämlader 22 performs a so-called learning trip, in which the Hangendwalze 23 and the horizontal roller 24 are each controlled by hand along the respective Hangendhorizontes 30 or horizontal horizon. The recorded thereby profile is stored as a cutting profile and traced in subsequent winning rides each. How to do it FIG. 5 results, the Walzenschrämlader 22 with rollers 23 and 24 in the direction of travel (arrow 38) is moved, the rollers 23, 24 are driven respectively at the Hangendhorizont 30 and the prone horizon 31. The lines 39 illustrate the cutting profile, which is stored for the further mining trips.
As reflected in a simplified presentation FIGS. 6a, b leads to a retention of the in FIG. 6a by the lines 39 shown cutting profile with a shift of the wavy mounting to the right according to FIG. 6b In addition, the unchanged traced cutting profile and the course of the seaming horizon 32 drift apart. It is readily apparent that with such a procedure of the Walzenschrämladers 22 of the mitgeschnittene Berganteil strongly increases, whereby the proportion of "grown" coal increases. The shift of the wavy storage in Flözhorizont 32 can be here by not here detecting inclination of the position of the shielding expansion point 10, which in particular follow the course of the hanging wall 30 as a reference variable, so that with these values the difference between the actual seaming process and the adjusted cutting profile becomes clear and can be corrected accordingly.

As can not be further illustrated, it is provided in addition to the Strebhöhenvermittlung and thus to determine the course of the Hangendhorizontes how FIGS. 1 to 4 described to determine the actual course of the Hangendhorizontes characterized in that by means of an arranged on the Walzenschrämlader 22 and directed to the coal impact infrared camera, the location of stored in the seaming horizon means and due to a Flözimmanenten, known location of the recovery means with respect to the Hangendhorizont on the Course of the Hangendhorizontes in Verhiebsrichtung is closed. As a result, it is possible to check and, if necessary, correct the knowledge gained from the determination of the height of the slope about the course of the hanging wall. An alternative possibility is to determine the course of the slope horizon in Verhiebsrichtung by means of a mounted on the machine body of the Walzenschrämladers between its rollers and directed to the collision radar sensor during the recovery drive, so that hereby determined the actual course of the Hangendhorizontes and optionally used as a correction variable can be.

The application of the radar technique to the Strebhöhenermittlung is according to the following in the FIGS. 7 and 8 described embodiment also possible.

How to do this first FIG. 7 yields a seaming 32 existing between the hanging wall 30 and the lying 31 by means of a Walzenschrämladers 22, which has the support arms 40 on a machine body 41 salaried cutting rollers 23 and 24. In the indicated by arrow 38 of the Schränschrladers 22 along the Flözhorizontes 32, the cutting roller 23 operates as cutting at Hangendhorizont 30 leading cutting roller, while working on the prone horizon 31 cutting cutting roller 24 operates as a trailing cutting roller. The Hangendbereich the Flözhorizontes 32 is supported by aligned perpendicular to the direction of travel 38 of the Walzenschrämladers 22 shield extension, of which in FIG. 7 only their Hangendkappen 13 can be seen.

In order to measure the passage height between the upper edge of the machine body 41 and the underside of each engaged in the extraction work Hangendkappe 13 of the relevant shield frame, 41 two radar sensors 42 are arranged on the machine body, which are flush with the surface of the machine body 41. The radar sensors 42 send out vertically upwards towards the Hangendkappen 13 signals and take the reflected signals again, so that the distance between the Hangendkappen 11 and the machine body 14 can be determined in a simple manner, already early on during the recovery drive according to Roller Skid Loader 22. In the illustrated embodiment, the two radar sensors 42 are respectively disposed at the front and rear ends of the machine body 41 and flush with the surface of the machine body 41. As not further illustrated, appropriate cleaning means may be provided in the form of mechanical wipers or high pressure water flushing devices.

As further out FIG. 7 yields, designated by arrow 43 thickness of Flözhorizontes 32 is less than the indicated by arrow 44 minimum clearance height of the longwall equipment, so that for producing or maintaining the minimum clearance height 20, the trailing cutting roller 24 each performs the lying incision 35.

In the over the use of radar sensors 42 certain passage height 45 ( FIG. 8 ) between the Hangendkappen 13 and the machine body 41, it can be determined in a simple manner, the actual height of the Streböffnung, since the distance between the upper edge of the machine body 41 and the prone horizon 31 by the resting on the prone horizon longwall conveyor 20th and the on-going drum skid loader 22 existing steel structure is given with a fixed value.

Like now in FIG. 8 is shown, the passage height designated by arrow 45 between Hangendkappe 13 and machine body 41 via the radar sensors 42 is determined during the extraction work, from which existing between the hanging walls 30 and 31 lying actual height of the longwall can be determined. Out FIG. 8 It can be seen that this actual height of the longwall is less than the minimum clearance height 44 of the longwall equipment, so that the trailing cutting roller 24 has to perform an additional horizontal incision for each recovery trip to gradually increase the total cut height of the longwall. Since without any time delay, the actually cut height of the longwall is determined at each recovery drive of the Walzenschrämladers 22, at the same time a short-term, convergence-induced elevation of the lying 31 is taken into account, because in each case on the actually cut free height of the strut is turned off.

The features disclosed in the foregoing description, the claims, the abstract and the drawings of the subject matter of these documents may be essential individually or in any combination with each other for the realization of the invention in its various embodiments.

Claims (20)

1. Method for automatically producing a defined face opening, in underground coal mining, during longwall operations having a face conveyor (20), a disk shearer loader (22) as an extraction machine, and a hydraulic shield support, with which, by means of at least one inclination sensor (17) mounted on the top canopy (13) of the shield support frames (10), the slope or inclination of the top canopy (13) relative to the horizontal in the direction of mining and/or in the direction of extraction of the disk shearer loader (22) is determined, and from the thus determined angles of the course of the overlying stratum at the shield support frames (10) the course of the overlying stratum (30) is determined in a computer, and with which, by detecting the stepping or advancement path length of each shield support frame (10) by means of a distance measuring device (19) disposed on the floor skid (11) of the shield support frame (10), the cutting depth of the disk shearer loader (22) is determined during each extraction run, and with which furthermore, by means of sensors (25) mounted on the disk shearer loader (22), the cutting height of the disk shearer loader (22) is detected, whereby the adjustment of the cutting height of the disk shearer loader (22) is in alignment with the respective angle of the course of the overlying stratum to produce the defined face opening.
2. Method according to claim 1, with which, by means of inclination sensors (17) mounted on at least three of the four main components of each shield support frame (10), such as floor skid (11), gob shield (14), supporting connection rods (16) and top canopy (13), the inclination of the top canopy (13) relative to the horizontal is determined, and from the measured data, in a computer, by comparison with base data stored therein that defines the geometrical orientation of the components and their movement during the stepping or advancement, the respective shield height, perpendicular to the stratification, is determined in the region between the top canopy (13) and the floor skid (11), and therefrom, taking into consideration the overall height of the top canopy (13) and floor skid (11), the height, perpendicular to the stratification, of the longwall or face area cut free by the disk shearer loader (22) is determined, and with which, on the basis of the obtained data, the geometry of the cut-free longwall is determined at each shield support frame (10).
3. Method according to claim 1 or 2, with which the cutting heights of the leading overlying stratum disk (23) that carries out the overlying stratum cut, and of the trailing disk (24) that carries out the footwall cut, are determined on the basis of sensors that detect the position of the support arms (40) of the disks, and as the disk shearer loader (22) passes by each shield support frame (10), the overall cutting height is specified in a relationship to the face opening mathematically determined at the pertaining shield support frame (10).
4. Method according to one of the claims 1 to 3, with which the inclination of face conveyor (20) and/or the disk shearer loader (22) relative to the horizontal in the direction of stepping or advancement of the shield support frames (10) is determined by means of inclination sensors mounted on the face conveyor (20) and/or the disk shearer loader (22).
5. Method according to claim 4, with which the angle of inclination of face conveyor (20) and/or disk shearer loader (22) are specified in a relationship to the angle of inclination determined at the floor skid (11) of the shield support frame (10) and/or at the top canopy (13), and the differential angle formed therefrom is included in the calculation of the face opening that is established with a plurality of successive extraction runs of the disk shearer loader.
6. Method according to one of the claims 1 to 5, with which, if the shield height exceeds the value for the cutting height of the disk shearer loader (22), the convergence that occurs is determined, and the convergence is compensated for by an adaptation of the cutting height.
7. Method according to one of the claims 1 to 6, with which, via the determination of the inclination of the top canopy (13) of the shield support frames (10) in the direction of mining, the course of troughs and/or saddles in the direction of mining is determined, and via the determined changes of the inclination of the top canopy (13) over a prescribed period of time, the change of the face opening is calculated, and the control of the cutting work of the disk shearer loader (22) is appropriately set.
8. Method according to one of the claims 1 to 7, with which, by determining the inclination of the individual shield support frames (10) transverse to the direction of mining, the course of troughs and/or saddles in the direction of extraction of the disk shearer loader (22) is determined, and the position of the disks (23, 24) of the disk shearer loader (22) in the area of the face are controlled such that the disks (23, 24) follow the ascertained course of troughs or saddles.
9. Method according to one of the claims 1 to 8, with which, prior to initiating the extraction work and/or during the extraction where the course of the seam varies, a manually controlled trial run of the disk shearer loader (22), with manual alignment of the disks to the overlying stratum (30) and to a footwall layer (31), is carried out, and the cutting profile of the trial run is detected and is stored in a computer in such a way that during extraction runs that are subsequent to the trial run, the disk shearer loader (22) automatically follows the stored cutting profile.
10. Method according to claim 9, with which, during the trial run of the disk shearer loader (22), the longitudinal angle of inclination and/or the transverse angle of inclination of the disks (23, 24) of the disk shearer loader (22) relative to the vertical is determined, and is used when establishing the cutting profile that is to be followed, whereby angle deviations that occur during the subsequent extraction runs are compensated for.
11. Method according to one of the claims 1 to 10, with which, on the basis of the data of an infrared camera that is disposed on the disk shearer loader (22), and is oriented toward the coal face, the position of stone bands or similar rock material embedded in the seam layer is determined, and, on the basis of a seam-imminent, known position of the stone band in relation to the overlying stratum (30), the course of the overlying stratum (30) in the direction of extraction is determined during the extraction run, and the position of the leading overlying stratum disk (23) during the subsequent extraction run of the disk shearer loader (22) is oriented thereto, and whereby the position of the trailing footwall disk (24) is established based on the assumption that the seam thickness remains the same.
12. Method according to one of the claims 1 to 11, with which the course of the overlying stratum determined from the ascertained angles of the course of the overlying stratum in the region of the shield support frames (10) is compared, for adjustment purposes, with the cutting profile of the disk shearer loader (22) prescribed by the trial run and/or on the basis of the determination of the position of a stone band, and with a cut of the disk shearer loader (22) into the overlying stratum, which can be established by a computer, a correction of the cutting guidance of the leading overlying stratum disk (23) is undertaken to adapt to the course of the overlying stratum (30).
13. Method according to claim 12, with which an adaptation of the cutting guidance of the trailing footwall disk (24) to a correction of the cutting guidance of the leading overlying stratum disk (23) is undertaken to produce the defined face opening.
14. Method according to one of the claims 1 to 13, with which, by means of a radar sensor that is mounted on the machine body (41) of the disk shearer loader (22), between its disks (23, 24), and is directed to the coal face, the course of the overlying stratum (30) in the direction of extraction is determined during the extraction run, and is compared, for adjustment purposes, with the course of the overlying stratum derived from the angles of the course of the overlying stratum, and if necessary a correction of the cutting height of the disks (23, 24) of the disk shearer loader (22) is undertaken.
15. Method according to one of the claims 9 or 10, with which, by means of the radar sensor, the course of the footwall layer (31) in the direction of extraction of the disk shearer loader (22) is determined, and the position of the trailing footwall disk (24) relative to the position of the footwall layer (31) is ascertained and if necessary corrected.
16. Method according to one of the claims 1 to 15, with which, by means of sensors mounted on the disks (23, 24), and suitable for carrying out an inertial navigation, the respective position of the disk in the area of the face or longwall is detected in a continuous manner and in the form of spatial coordinates, and with a series of sequentially coupled spatial coordinates detected during an extraction run, the extraction channel respectively cut free by the disks (23, 24) is reproduced in a three-dimensional space, and is compared, for adjustment purposes, with the geometry of the face area calculated using the position of the shield support frames (10).
17. Method according to claim 11, with which, by means of the series of extraction channels in a three-dimensional space reproduced for a plurality of successive extraction runs, a model is established for the course of the seam layer (32) in the direction of working, and is compared, for adjustment purposes, with a seam layer course model calculated on the basis of the geometry of face areas respectively calculated for a sequence of a plurality of extraction runs.
18. Method according to one of the claims 1 to 17, with which, by means of at least one radar sensor (42) mounted on the machine body (41) of the disk shearer loader (22), the distance between the upper edge of the machine body (41) and the underside of the top canopy (13) of the shield support frame (10) below which travel is accomplished during the extraction work is measured and is input into a computer as the actual value for the passage height of the disk shearer loader (22) below the shield support frames (10), where it is compared, for adjustment purposes, with a stored target value, whereby if a deviation is ascertained, control commands are generated for an adaptation of the cutting height of at least one of the two disks of the disk shearer loader.
19. Method according to claim 18, with which, from the data captured at the shield support frames (10), the respective height that is perpendicular to the stratification of one of the shield support frames (10) at the forward end of the top canopy (13) is calculated as a measure for the actual face opening, and the thus determined actual value of the shield height calculation is conveyed to the computer that processes the actual values from the passage height measurement.
20. Method according to claim 18 or 19, with which additionally the correction values for the cutting height of the disks (23, 24) established during successive extraction runs by the respectively generated control commands are compared with one another for adjustment purposes, and the summation value determined from the correction values is used as a measure for a convergence that has occurred, which with future extraction runs is taken into account in the establishment of a necessary adaptation of the cutting height of the disks (23, 24).

Images