Method for the Automated Production of a Defined Face Opening by Means of Slope-Assisted Radar Navigation of the Roller of a Roller Cutter Loader

Abstract

A method for automated production of a defined face opening in longwall mining operations in underground coal mining, comprising a face conveyor, disk shearer as extraction machine, and hydraulic shield support frame. At least one radar sensor is provided on a main body of the disk shearer. A distance between an upper edge of the main body and an underside of a top canopy of the shield support frame below which the main body travels during extraction work is measured, and is input into a computer as an actual value for a passage height of the disk shearer below the shield support frame. This actual value is compared with a target value and, if a deviation is determined, control commands are generated for adapting a cutting height of at least one of two cutting disks of the disk shearer.

1 - 21 . (canceled) 
     
     
         22 . A method for automated production of a defined face opening in longwall mining operations, in underground coal mining, comprising a face conveyor ( 23 ), a disk shearer ( 13 ) as an extraction machine, and a hydraulic shield support frame ( 25 ), the method including the steps of:
 providing at least one radar sensor ( 18 ) on a main body ( 14 ) of said disk shearer ( 13 );   measuring a distance ( 22 ) between an upper edge of said main body ( 14 ) of said disk shearer ( 13 ) and an underside of a top canopy ( 28 ) of said shield support frame ( 25 ) below which said main body ( 14 ) respectively travels during extraction work;   inputting this distance ( 22 ) into a computer as an actual value for a passage height ( 22 ) of said disk shearer ( 13 ) below said shield support frame ( 25 );   comparing said actual value, in the computer, with a target value stored in the computer; and   if during said comparing step a deviation is determined, generating control commands for an adaptation of a cutting height of at least one of two cutting disks ( 16   a ,  16   b ) of said disk shearer ( 13 ).   
     
     
         23 . A method according to  claim 22 , wherein the adaptation of the cutting height is undertaken at a conclusion of an extraction travel of said disk shearer ( 13 ) along the face. 
     
     
         24 . A method according to  claim 22 , wherein the adaptation of the cutting height of said cutting disk ( 16   a ,  16   b ) is effected continuously as a reaction to the deviations determined in the computer. 
     
     
         25 . A method according to  claim 24 , wherein a respective radar sensor ( 18 ) is disposed at opposite ends of said main body ( 14 ) of said disk shearer ( 13 ), and wherein that radar sensor ( 18 ) that is respectively toward the front as viewed in a direction of travel ( 17 ) is configured to deliver the actual value signals for the measured distance, or wherein signals received by both of said radar sensors ( 18 ) are continuously conveyed to the computer, where they are evaluated. 
     
     
         26 . A method according to  claim 25 , wherein if it is determined that the passage height ( 22 ) measured by that radar sensor ( 18 ) that is toward the front in the direction of travel ( 17 ) deviates from the target value, immediately generating a control command for that cutting disk ( 16   a ,  16   b ) of the disk shearer ( 13 ) that is toward the rear in the direction of travel ( 17 ). 
     
     
         27 . A method according to  claim 22 , which includes the further steps of comparing correction values for the cutting heights of said cutting disks ( 16   a ,  16   b ) established during successive extraction travels by respectively generated control commands with one another for adjustment purposes to determine from the correction values a total value, using this total value as a measure for a convergence that has commenced, and taking this total value into account during future extraction travels when a required cutting height adaptation is determined. 
     
     
         28 . A method according to  claim 22 , which includes the further steps of providing inclination sensors ( 32 ) on at least three of the four main components of each shield support frame ( 25 ) selected from the group consisting of floor skid ( 26 ), gob shield ( 29 ), supporting connection rods ( 31 ), and that region of the top canopy ( 28 ) that is on the gob shield side; by means of said inclination sensors ( 32 ), determining the inclination of said shield support frame components relative to a horizontal in a direction of advancement; wherein from such measured data, in the computer, making a comparison with base data that is stored in the computer and that defines a geometrical orientation of the shield support frame components and their movement during advancement to calculate a respective perpendicular height (h 1 ) of said shield support frame ( 25 ) at the front end of said top canopy ( 28 ) as a measure for an actual face opening to determine actual values of the shield support frame height calculation; and conveying these thus determined actual values to the computer, which processes the actual values from the passage height measurement. 
     
     
         29 . A method according to  claim 28 , wherein the actual values from the passage height measurement are converted into an actual face opening value taking into consideration an overall height of said top canopy ( 28 ) and the construction of said face conveyor ( 23 ) and said main body ( 14 ) of said disk shearer ( 13 ), and comparing said actual face opening value with the actual face opening value determined from the shield support frame height calculation for adjustment purposes. 
     
     
         30 . A method according to  claim 22 , which includes the further step of determining an inclination of said face conveyor ( 23 ) and/or said disk shearer ( 13 ) relative to a horizontal in a direction of mining by means of inclination sensors mounted on said face conveyor ( 23 ) and/or on said disk shearer ( 13 ). 
     
     
         31 . A method according to  claim 30 , which includes the further steps of setting an angle of inclination of said face conveyor ( 23 ) and/or of said disk shearer ( 13 ) in a relationship to an angle of inclination determined at said top canopy ( 28 ) of said shield support frame ( 25 ) and/or at a floor skid ( 26 ) of said shield support frame to form a differential angle, and taking this differential angle into account in the calculation of the actual face opening established during a plurality of successive advancement cycles of said shield support frame ( 25 ). 
     
     
         32 . A method according to  claim 31 , which includes the step, during the establishment of a necessary cutting height adaptation, of taking into account an inclination of said cutting disk ( 16   a ,  16   b ) of said disk shearer ( 13 ) in a direction of mining transverse to a direction of cutting, which inclination of said cutting disk is prescribed by the determined differential angle. 
     
     
         33 . An apparatus for carrying out automated production of a defined face opening in longwall mining operations in underground coal mining, comprising:
 a face conveyor ( 23 );   a disk shearer ( 13 ) as an extraction machine;   a hydraulic shield support frame;   two cutting disks ( 16   a ,  16   b ) disposed on said disk shearer ( 13 );   at least one radar sensor ( 18 ) disposed on a main body ( 14 ) of said disk shearer ( 13 ), wherein said at least one radar sensor ( 18 ) is configured for measuring a distance ( 22 ) between an upper edge of said main body and an underside of a top canopy ( 28 ) of said shield support frame ( 25 ) below which said main body ( 14 ) respectively travels during extraction work, and wherein said at least one radar sensor ( 18 ) is set flushly into a surface of said main body ( 14 ) of said disk shearer ( 13 ); and   means for receiving and storing this distance ( 22 ) as an actual value for a passage height ( 22 ) of said disk shearer ( 13 ) below said shield support frame ( 25 ) for comparing this actual value with a target value stored in said means, and, if during the comparing action a deviation is determined, for generating control commands for an adaptation of a cutting height of at least one of said cutting disks ( 16   a ,  16   b ) of said disk shearer ( 13 ).   
     
     
         34 . An apparatus according to  claim 33 , which further includes a high pressure water rinsing device for said radar sensors ( 18 ) arranged on said main body ( 14 ) of said disk shearer ( 13 ). 
     
     
         35 . An apparatus according to  claim 34 , wherein said high pressure water rinsing device is time-controlled or event-controlled. 
     
     
         36 . An apparatus according to  claim 33 , wherein a mechanically operating scraping device is disposed on said main body ( 14 ) of said disk shearer ( 13 ). 
     
     
         37 . An apparatus for carrying out automated production of a defined face opening in longwall mining operations in underground coal mining, comprising:
 a face conveyor ( 23 );   a disk shearer ( 13 ) as an extraction machine;   a hydraulic shield support frame;   two cutting disks ( 16   a ,  16   b ) disposed on said disk shearer ( 13 );   at least one radar sensor ( 18 ) disposed on a main body ( 14 ) of said disk shearer ( 13 ), wherein said at least one radar sensor ( 18 ) is configured for measuring a distance ( 22 ) between an upper edge of said main body and an underside of a top canopy ( 28 ) of said shield support frame ( 25 ) below which said main body ( 14 ) respectively travels during extraction work and wherein said at least one radar sensor ( 18 ) is disposed laterally on a path of travel side of said main body ( 14 ) of said disk shearer ( 13 ); and   means for receiving and storing this distance ( 22 ) as an actual value for a passage height ( 22 ) of said disk shearer ( 13 ) below said shield support frame ( 25 ) for comparing this actual value with a target value stored in said means, and, if during the comparing action a deviation is determined, for generating control commands for an adaptation of a cutting height of at least one of said cutting disks ( 16   a ,  16   b ) of said disk shearer ( 13 ).   
     
     
         38 . An apparatus according to  claim 37 , wherein a position of said radar section of said radar sensors ( 18 ) is geared to an arrangement of winches provided on said main body ( 14 ) of said disk shearer ( 13 ). 
     
     
         39 . An apparatus according to  claim 37 , wherein said radar sensors ( 18 ) are disposed at an angle relative to a surface of said main body ( 14 ) of said disk shearer ( 13 ). 
     
     
         40 . An apparatus according to  claim 39 , wherein two radar sensors ( 18 ) are disposed on said main body ( 14 ) of said disk shearer ( 13 ) at a distance from one another and with a beam direction disposed opposite to one another.