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WO2011144223A1 - Équipement de taille destiné à une navigation par inertie et procédé pour son fonctionnement - Google Patents

Équipement de taille destiné à une navigation par inertie et procédé pour son fonctionnement Download PDF

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Publication number
WO2011144223A1
WO2011144223A1 PCT/EP2010/003039 EP2010003039W WO2011144223A1 WO 2011144223 A1 WO2011144223 A1 WO 2011144223A1 EP 2010003039 W EP2010003039 W EP 2010003039W WO 2011144223 A1 WO2011144223 A1 WO 2011144223A1
Authority
WO
WIPO (PCT)
Prior art keywords
longwall
conveyor
measuring unit
inertial
longwall conveyor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2010/003039
Other languages
German (de)
English (en)
Inventor
Martin Junker
Armin Mozar
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
RAG AG
Original Assignee
RAG AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by RAG AG filed Critical RAG AG
Priority to PCT/EP2010/003039 priority Critical patent/WO2011144223A1/fr
Publication of WO2011144223A1 publication Critical patent/WO2011144223A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E21C35/08—Guiding the machine
    • E21C35/12—Guiding the machine along a conveyor for the cut material
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C29/00—Propulsion of machines for slitting or completely freeing the mineral from the seam
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E21C35/302—Measuring, signaling or indicating specially adapted for machines for slitting or completely freeing the mineral
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
    • E21D23/12—Control, e.g. using remote control

Definitions

  • the invention relates to a longwall equipment for mechanical extraction in long-front construction, especially in underground coal mining, arranged along the mining front Streb junker, a movable along the longwall conveyor mining means and arranged at an angle to the longwall shield removal units, which are connected by means of appropriately damaged rear cylinder with the longwall conveyor , wherein the longwall conveyor an inertial navigation system for determining absolute position coordinates at a plurality of points along the course of the longwall conveyor and an evaluation system for mapping the position of the
  • Streb weighters is assigned in the longwall, as well as a method for
  • Strebier movable mining machine in the form of a roller cutter or on a moving through the longwall part of the longwall conveyor an inertial navigation system is arranged, the
  • Inertial measuring unit three gyros and three acceleration sensors for measuring angular changes and accelerations in the three Axes includes.
  • 2D or S D position coordinates are determined in connection with displacement meters mounted on the moving parts, which reflect as absolute values the respective position of the corresponding inertial measuring unit on its travel path along the longwall conveyor.
  • displacement meters mounted on the moving parts, which reflect as absolute values the respective position of the corresponding inertial measuring unit on its travel path along the longwall conveyor.
  • the position of the longwall conveyor in the face space is determined, wherein the corresponding position coordinates are used to control the return cylinders of the plate removal units in order to obtain a corresponding advance of the
  • Measurement errors of an inertial measuring unit increase with increasing movement time of the measuring instruments, since the measuring system is used for its calibration
  • Movement pauses as support phases needed to allow a re-alignment of the measuring system on the acceleration of gravity.
  • Such plants ante support phases are difficult to comply with the known longwall equipment, since the extraction work is in progress in the extraction machine or ongoing Strebckener.
  • the known longwall equipment or the method performed therewith does not work with the accuracy required for automation of the extraction and expansion work.
  • the invention is therefore based on the object to provide a longwall equipment or a method for detecting the position of the longwall conveyor of j ewei ls mentioned type, which works with the use of an inertial navigation m it with improved accuracy.
  • the solution to this problem results, including advantageous embodiments and further developments of the invention, from the content of the patent claims, which are described in this description.
  • the invention initially provides a longwall armor with the features mentioned above, in which on the opposite side of the mining face of the longwall conveyor a separate, gebi ldeter by a housing running channel for passing a inertial measuring unit carrying carriage is arranged by means of it hinged traction means with a connected to at least one end of the front panel arranged drive and is movable along the longwall conveyor.
  • a separate, gebi ldeter by a housing running channel for passing a inertial measuring unit carrying carriage is arranged by means of it hinged traction means with a connected to at least one end of the front panel arranged drive and is movable along the longwall conveyor.
  • Another advantage is that, irrespective of the extraction work, it is possible to carry out a large number of measuring runs, so that a correspondingly good basis for error compensation in the determination of the position coordinates is laid. This improves the accuracy of the determined position coordinates.
  • a significant advantage of the arrangement of a separate running channel on the longwall conveyor is also that the inertial measuring unit is independent of the type of recovery agent used. Thus, the Trägheitsnavigati on both in planing operations al s also in struts with a Walzenschräm loader used.
  • the running channel is accommodated on a protected part on the one hand, and on the other hand easily accessible, so that maintenance and possibly repair of the inertial measuring technique is easily possible.
  • the carriage is constructed as a torpedo-like housing unit and accommodating the inertial measuring unit in its interior.
  • the carriage by means of its rotation about ne longitudinal axis preventive leadership designs out in the running channel i st, so that the carriage does not rotate about its own axis and so by limiting the rotational degree of freedom of movement, the accuracy of the initial metrology can be further improved.
  • the housing of the running channel consists of a material allowing a radio connection between the inertial measuring unit carried by the slide and receivers arranged outside the running channel , or alternatively or in addition, that over the length of the running channel in the housing window for Ermögl ichen a radio link between tween the Schl itten supported inertial measuring unit and arranged outside the barrel channel receivers are formed.
  • At least one of the intended interpolation points can be set to establish at least one interpolation point located in the line length for a data comparison of the actual values recorded by the inertial measurement unit with reference values stored in the evaluation unit associated with and from the carriage at
  • Passing operable synchronizer switch is arranged. It may be sufficient in principle, a support point in the middle of the strut; also the arrangement of several, distributed over the Strebrnaturee arranged
  • Support Stel len can be provided.
  • the position coordinates recorded by the inertial measuring unit for this interpolation point are transmitted as actual values to the evaluation unit.
  • applicable target position coordinates are simultaneously applied to this support point, which are calculated on the basis of the data obtained from other known monitoring systems for the longwall conveyor position.
  • a data comparison can be carried out at the interpolation points and, if necessary, a misalignment can be carried out. So far apart from the 2D coordinates also a statement of the absolute
  • the corresponding device for height determination can be easily accessible as a laid on the longwall conveyor water-filled tube scale, are arranged in the len at the Stützstel and connected to the evaluation unit pressure sensors are turned on.
  • the already mentioned continuous determination of the starting coordinates for the inertia measuring unit to be performed measuring runs can be done in herkömmli cher way that with a detection of Abbaubortuzes in the route axis of the two mining routes on the basis of the markscheideri sch from time to time calibrated spatial coordinates of the route the spatial position of the drive for the inertial measuring unit is continuously determined and transferred in the form of the start coordinates to the evaluation unit for the measured values acquired by the inertial measuring unit during its measuring run.
  • a device for determining the starting coordinates in the longitudinal axis of the at least one striving end to be arranged in the longitudinal axis for the inertial measuring unit movable through the strut, the measured data of which are transmitted to the evaluation unit.
  • the device consists of an S D laser scanner set up at a fixed position in its coordinates, which transmits the position of prominent contours of the drive in the excavation distance to the evaluation unit by means of digital image recognition.
  • the spatial coordinates for the 3 D laser scanner are known at locations marked by a marker site, the distance between its location and the S D laser scanner can be compared to the distance between its location
  • Drive for the inertial measuring unit are detected; Furthermore, a detection of the position of the drive in the longitudinal axis of the long axis corresponding to the track transverse axis is possible in that the 3 D laser scanner receives the distance between a distinctive contour of the drive and the strut facing away from the impact, and in a similar manner is a determination of the absolute height thereby given that the distance of a striking contour of the drive, for example, the upper edge of the machine frame, to
  • measurement data recorded by the evaluation unit can be provided for radio data transmission points for data transmission of the data recorded by the inertial measurement unit arranged on the carriage or for a data line in the traction means connected to the carriage for data transmission, the data recorded by the inertial measuring unit arranged at the bottom is arranged.
  • the invention further provides a method for detecting the position of the
  • Strebckener an inertial navigation system for the determination of absolute
  • the invention provides that at intervals a
  • Inertialmessaku is moved by means of an independently connected independent drive along the longwall conveyor in a uniform movement regardless of the movement of the mining machine and / or movements of the guided on the longwall conveyor driver and recorded by the inertial measuring unit measurements to the
  • the invention has the advantage that the inertial measuring unit can carry out measuring runs independently of the extraction work. Whenever it arrives at a drive as a defined end stop, the inertial measuring unit transfers the data of the relevant measuring run, for example by radio, to the central evaluation system and receives the current start coordinates of the drive as
  • the evaluation system carries out an error compensation calculation, based on which the space curve of the last test run is determined error-minimally.
  • the measuring runs are carried out during the extraction operation and independently thereof.
  • the absolute accuracy of the coordinate detection can be improved by the fact that the longwall conveyor and the extraction means are not in operation and therefore do not interfere with the measurement by overlapping vibrations. Therefore, according to an embodiment of the invention, it is provided that the measuring runs of the inertial measuring unit are carried out in standstill phases of the extraction.
  • the accuracy of the coordinate determination by the inertial measuring unit wi rd further improved by the fact that it is provided according to an embodiment of the invention that the movement of the inertial measurement unit is interrupted during a test drive along the longwall conveyor over a predetermined Sti llstandzeitraum.
  • a corresponding stop initially increases the degree of accuracy of the work of the inertial measuring unit, since it thereby incorporates necessary support phases during the measuring run, in which the measuring unit remains in the mechanical rest position, so that a recalibration can be established.
  • the data recorded by the inertial measurement unit is to be transmitted by radio to a central unit, corresponding standstill phases can also be used well for the radio data transmission.
  • an error accumulation in the mobile inertial measuring unit is assumed, which increases with increasing distance of the inertial measuring unit from the starting point.
  • an error accumulation can be provided according to an embodiment of the invention that over the longitudinal axis of the strut vertei lt Stützstel len are set up their position coordinates with respect to the altitude and the distance of at least one coordinates determined at a strut end measurement point determined as target values in which the inertial measuring unit is stopped at each interpolation point as it passes by, and in the evaluation unit a data comparison of the sol values with the actual values recorded by the inertial measuring unit is carried out.
  • the position coordinates recorded by the inertial measuring unit for this interpolation point are transmitted as actual values to the evaluation unit.
  • the evaluation unit si nd at the same time valid for this support point Soli Pösitionskoordinaien filed on the Based on the data obtained from other known monitoring systems for the long-range conveyor. In this respect, a data comparison can be carried out at the support stations and, if necessary, an error compensation can be carried out.
  • the distance in the value unit is determined by means of the image values transmitted by the identifiers formed as 3 D laser scanners of the 3 D laser scanner to drive as a measure of the mining progress in the longitudinal axis of the mining route and the distance of a distinctive contour of the drive to the face opening facing away determined and based on the Basi s of the evaluated image values and stored in the Ausnceei beauty Basiskoordi data of the 3rd D laser scanners the starting coordinates for the inertial measuring unit al s absolute values in the two coordinate axes are calculated.
  • Determining the location of a distinctive contour of the drive to the location of the 3D laser scanner is calculated.
  • a plurality of measuring runs of the inertial measuring unit are carried out and the position coordinates are determined by performing an error compensation calculation. This significantly improves the accuracy of the determined position data.
  • Fig. 1 A longwall equipment with a longwall conveyor, a planer as
  • battered longwall construction unit including a
  • FIG. 2 shows the subject matter of FIG. 1 in another embodiment, i g. 3 a strut with installed longwall equipment and in the
  • Abbauuiten provided facilities for determining the starting coordinates for the inertial measuring unit in a schemati-based plan view
  • Fig. 4 shows the subject of Figure 4 with an additionally arranged
  • Hose scale for height determination of the measuring points.
  • the longwall equipment consists of a along the unillustrated excavation strand arranged Strebumbleer 1 0, at the coal thrust side a guide 1 1 for a guided on the longwall conveyor 1 0 coal planer 1 2 as a mining machine.
  • an expansion unit 1 3 On the opposite side of the longwall conveyor 1 0 i st an expansion unit 1 3 in the form of a shield removal unit.
  • a running channel 1 4 with an upper strand 1 5 and a lower strand 1 6 is arranged on the individual conveyor troughs of the longwall conveyor 1 0, wherein in the upper strand 1 5 a not dargestel lte inertial measuring unit is movable, by means of a in the upper strand 1 5 l aufenden and in Untertrum 1 6 returning traction rope in the upper strand 1 5 is movable.
  • the inertial measuring unit is arranged in a torpedo-like housing on a corresponding by the upper strand 1 5 movable Schl ittens, which is equipped with a guide mechanism that prevents the carriage can rotate in his test drives around the longitudinal axis of the channel 1 4. Furthermore, it can be provided that the carriage to improve its running behavior in the upper strand 1 5 roller bearings i st.
  • FIG. 2 differs from that in Figure 1 dargestel ended embodiment ledi all by the fact that the running channel 1 4 is arranged with upper strand 1 5 and lower strand 1 6 on the Ausausi ti conditions brake 1 7 of the longwall conveyor 1 0.
  • From Fi gur 3 results in a strut with a longwall equipment arranged therein according to Figures 1 or 2, wherein the longwall conveyor 1 0 along the Kohl enflözes 1 8 is arranged.
  • the strut is connected to a head section 1 9 and a belt section 20, wherein
  • a separate drive 22 for the inertial measuring unit is connected to the running channel 1 4. It can also be seen that the individual expansion units 1 3 with the longwall conveyor 1 0 on remindzyl inder 23rd
  • a device 25 for determining the respective position coordinates of the two drives 2 1 is arranged in the head section 19 as well as the conveyor line 20, by means of which the exact position coordinates of the drives 2 1 can be determined, which serve as starting coordinates for the running channel 1 4 permitting inertial measuring unit.
  • the arranged on the carriage, inertial measuring unit, not shown, has three acceleration sensors for the three axes of movement sowi e three laser gyroscope for the three axes of rotation, also an evaluation unit for processing the sensor data and calculation of the coordinate changes. Starting from known starting coordinates of a starting point, the accelerations and the acceleration are continuously during a measuring run
  • the movement speed can be derived with direction and amount. Accordingly, the coordinate values associated with the movement of the inertial measurement unit are Determine changes so that the respective position coordinates of the inertial measurement unit can be tapped during the test drive through the longwall.
  • the devices 25 are provided in the head section 1 9 and in the band section 20 as devices 3 D laser scanners.
  • the locations of the 3 D laser scanners are metered into each position change with the required accuracy in their position data. Since the drives 2 1 of the longwall conveyor 1 0 in the course of Gewi n Vietnamesestechnik constantly change their location, a determination of the position coordinates for these drives 2 1 at the beginning of each measuring run is performed.
  • the 3 D laser scanners take their location in the route profile on the basis of prominent structures of the drives 2 1, so that the position coordinates of the drives 2 1 can be determined starting from the position coordinates determined for the egg location and transferred as start coordinates to the inertial measuring unit.
  • the distance of its location to the respective location of the drive can be detected by means of the S D laser scanner so that the coordinate change in the longitudinal axis of the route can be calculated.
  • a detection of the position of the drive 2 1 in the Streblijnsachse corresponding to the track transverse axis is possible in that the 3 D laser scanner, the distance between a distinctive contour of the drive 2 1 and the stratabgewandten distance shock absorbs, so that consequently feelingl iche coordinate change is calculable.
  • a determination of the absolute height of the location of the drive 2 1 is given in a similar manner in that the distance of a striking contour of the drive 2 1, for example the upper edge of the machine frame, to the upper joint of the respective distance 1 9, or 20 is detected and the coordinate change is evaluated accordingly.
  • the starting coordinates are fixed for each measuring travel of the inertial measuring unit.
  • additional longitudinal switches 26 can be arranged on the longwall conveyor 1, the override of which triggers a corresponding holding signal.
  • FIG 3 such synchronous switches 26 are shown schematically.
  • the Fi gur 3 serves only to illustrate an exemplary arrangement of synchronous switches 26 and associated support points. Also may be arranged on both struts synchronous switch 26 to len the j eany position of Stützstel set in relation to the drives 2 1.
  • the position coordinates recorded by the inertial measuring unit for these support points are transmitted as actual values to the evaluation unit.
  • valid target position coordinates are applied simultaneously for this support point, which are calculated on the basis of the data obtained from other known monitoring systems for the longwall conveyor position.
  • a data comparison can be carried out at the support stations and, if necessary, an error compensation can be carried out.
  • a corresponding data transmission cable can be integrated into the pull cable or the pull chain for the inertial measurement unit in the run channel 14.
  • a can also
  • radio support points can be set up on the individual expansion unit 13, which can easily transfer the data of the inertial measurement unit to the central unit during the support phases
  • Prezi sion pressure sensors 28 attached.
  • the hose scale 27 is led out at least one end of the strut out of the strut and in the gist 4 dargestel L th embodiment bi s to the arranged in the belt section 20 means 25 out.
  • This device 25 is, as already stated, determined by markscheiderischer measurement in its absolute height. From the pressure comparison of the pressures detected at the pressure sensors 28 can be closed directly to the relative difference in height of the individual pressure sensors 28 for attached to the device 25 reference pressure sensor 28 and thus the absolute altitude j edes
  • Pressure sensor 28 are calculated. It is the goal, one

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)

Abstract

L'invention concerne un équipement de taille pour l'extraction en machine à grand front aligné, en particulier dans les mines de houille souterraines, comprenant un convoyeur de taille disposé le long du front de taille, un moyen d'extraction déplaçable le long du convoyeur de taille et des unités de soutènement de protection disposées suivant un angle par rapport au convoyeur de taille, qui sont connectées au convoyeur de taille par le biais de vérins de ripage accrochés de manière correspondante, un système de navigation par inertie étant associé au convoyeur de taille pour établir des coordonnées de position absolues en une pluralité de points le long de l'étendue du convoyeur de taille et un système d'analyse étant également associé au convoyeur de taille pour reproduire la position du convoyeur de taille dans la salle de taille. L'invention est caractérisée en ce que du côté opposé au front de taille du convoyeur de taille (10), on dispose un canal de passage (14) séparé formé par un boîtier pour le guidage d'un chariot portant une unité de mesure par inertie, lequel est connecté par l'intermédiaire de moyens de traction accrochés à celui-ci à un entraînement (22) disposé à au moins une extrémité du front de taille et est déplaçable le long du convoyeur de taille (10).
PCT/EP2010/003039 2010-05-18 2010-05-18 Équipement de taille destiné à une navigation par inertie et procédé pour son fonctionnement Ceased WO2011144223A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/EP2010/003039 WO2011144223A1 (fr) 2010-05-18 2010-05-18 Équipement de taille destiné à une navigation par inertie et procédé pour son fonctionnement

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2010/003039 WO2011144223A1 (fr) 2010-05-18 2010-05-18 Équipement de taille destiné à une navigation par inertie et procédé pour son fonctionnement

Publications (1)

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WO2011144223A1 true WO2011144223A1 (fr) 2011-11-24

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013149638A1 (fr) * 2012-04-02 2013-10-10 Rag Aktiengesellschaft Équipement de taille muni de niveaux à eau posés sur ses éléments de soutènement bouclier
WO2013149648A1 (fr) * 2012-04-02 2013-10-10 Rag Aktiengesellschaft Équipement de taille muni de niveaux à eau posés entre un convoyeur de taille et des éléments de soutènement bouclier
CN103541754A (zh) * 2013-10-21 2014-01-29 北京天地玛珂电液控制系统有限公司 一种煤矿工作面液压支架调直系统和调直方法
AU2016200783B1 (en) * 2015-05-28 2016-04-21 Commonwealth Scientific And Industrial Research Organisation System and method for controlling a mining machine using identifying characteristics
CN111441812A (zh) * 2020-03-20 2020-07-24 郑州煤机液压电控有限公司 基于惯导系统的煤矿综采工作面自动调直系统及方法
CN113218365A (zh) * 2021-05-14 2021-08-06 安徽惠洲地质安全研究院股份有限公司 一种巷道测量装置及使用方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2263292A (en) * 1992-01-16 1993-07-21 Meco Electronics Ltd Profile measurement and control of a mine face
EP1276969B1 (fr) * 2000-04-26 2006-12-20 Commonwealth Scientific And Industrial Research Organisation Machine et procede d'extraction miniere
US20070241886A1 (en) * 2006-04-11 2007-10-18 Breeding Russell M Inertial sensor tracking system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2263292A (en) * 1992-01-16 1993-07-21 Meco Electronics Ltd Profile measurement and control of a mine face
EP1276969B1 (fr) * 2000-04-26 2006-12-20 Commonwealth Scientific And Industrial Research Organisation Machine et procede d'extraction miniere
US20070241886A1 (en) * 2006-04-11 2007-10-18 Breeding Russell M Inertial sensor tracking system

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104364468B (zh) * 2012-04-02 2017-03-08 拉格股份公司 带有置于其防护支撑架处的软管水平仪的工作面设备
CN104364469B (zh) * 2012-04-02 2016-08-24 拉格股份公司 带有置于工作面运输器与防护支撑架之间的软管水平仪的工作面设备
WO2013149638A1 (fr) * 2012-04-02 2013-10-10 Rag Aktiengesellschaft Équipement de taille muni de niveaux à eau posés sur ses éléments de soutènement bouclier
CN104364469A (zh) * 2012-04-02 2015-02-18 拉格股份公司 带有置于工作面运输器与防护支撑架之间的软管水平仪的工作面设备
CN104364468A (zh) * 2012-04-02 2015-02-18 拉格股份公司 带有置于其防护支撑架处的软管水平仪的工作面设备
AU2012376040B2 (en) * 2012-04-02 2015-08-06 Rag Aktiengesellschaft Face equipment comprising hose levels placed on the shield support frames of said face equipment
WO2013149648A1 (fr) * 2012-04-02 2013-10-10 Rag Aktiengesellschaft Équipement de taille muni de niveaux à eau posés entre un convoyeur de taille et des éléments de soutènement bouclier
AU2012375986B2 (en) * 2012-04-02 2015-08-13 Rag Aktiengesellschaft Face equipment comprising hose levels placed between the face conveyor and the shield support frames
US9482091B2 (en) 2012-04-02 2016-11-01 Rag Aktiengesellschaft Face equipment comprising hose levels placed between the face conveyor and the shield support frames
US9470089B2 (en) 2012-04-02 2016-10-18 Rag Aktiengesellschaft Face equipment comprising hose levels placed on the shield support frames of said face equipment
CN103541754A (zh) * 2013-10-21 2014-01-29 北京天地玛珂电液控制系统有限公司 一种煤矿工作面液压支架调直系统和调直方法
AU2016200783B1 (en) * 2015-05-28 2016-04-21 Commonwealth Scientific And Industrial Research Organisation System and method for controlling a mining machine using identifying characteristics
AU2016200784B1 (en) * 2015-05-28 2016-06-16 Commonwealth Scientific And Industrial Research Organisation System and method for controlling a mining machine
CN111441812A (zh) * 2020-03-20 2020-07-24 郑州煤机液压电控有限公司 基于惯导系统的煤矿综采工作面自动调直系统及方法
CN111441812B (zh) * 2020-03-20 2021-09-07 郑州煤机液压电控有限公司 基于惯导系统的煤矿综采工作面自动调直系统及方法
CN113218365A (zh) * 2021-05-14 2021-08-06 安徽惠洲地质安全研究院股份有限公司 一种巷道测量装置及使用方法

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