西班牙专利ES2709036A2 Rotary boring mining machine inertial steering system

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专利摘要:
A mining system with an inertial guidance system configured to enable precise excavation of geological material without a need to advance a survey line over a long distance and/or nonlinear excavation path, thereby maximizing productivity of the mind by minimizing a width of un-mined material necessary for support between adjacent excavation paths and minimizing equipment downtime.
公开号:ES2709036A2
申请号:ES201990022
申请日:2017-09-08
公开日:2019-04-12
发明作者:Roy W Tivas；Erik Rasmussen
申请人:Mosaic Co；
IPC主号:

专利说明:

[0001] INERTIAL DIRECTION SYSTEM OF PERFORATION MINING MACHINE
[0002]
[0003]
[0004]
[0005] Related request
[0006]
[0007] The present application claims the benefit of United States Provisional Application No. 62 / 385,550 filed on September 9, 2016, which is hereby incorporated by reference in its entirety.
[0008]
[0009] Field of the invention
[0010]
[0011] The present disclosure is generally related to systems and methods for drilling or mining an underground region, and more particularly to systems and methods of mining that incorporate an inertial guidance system configured to allow accurate excavation of geological material without the need to advance a Lifting line over a long distance and / or a non-linear excavation path.
[0012]
[0013] Background of the invention
[0014]
[0015] Mining is the extraction of minerals or other geological materials from the earth from deposits, such as deposits of mineral bodies, veins, layers, auriferous veins or locations. The minerals recovered by mining may include, for example, metals, coal, shale, precious stones, limestone, faceted stone, rock salt, potash, gravel and clay. Mining is required to obtain any material that can not grow through agricultural processes, or that is artificially created in a laboratory or factory. Mining can be done through a variety of surface or subsoil techniques, depending on the location of the deposit to be mined. Mining equipment has been developed for each different type of mining technique. For example, to perform mining techniques in the subsoil, a variety of underground motors have been developed, such as for example continuous or drum miners, guide heads and rotary drilling machines.
[0016] Specifically with respect to potash, potash is a mineral that can be used in many agricultural uses, such as fertilizers and animal feed. Potash can be found in mineral deposits, such as those found in ancient lake beds, and therefore, it is often found in horizontal underground veins. The potash minerla involves extracting the potash from these veins, often using pillar-style minerla and associated room and equipment, such as rotary drilling minerla machines. This type of minerla, in which "rooms" are extracted from the mineral deposit while leaving intermediate "pillars" as supports, allows the extraction of a large portion of the vein.
[0017]
[0018] The rotary drilling minerla machines are used in the underground potash minerla to extract the concentrated KCl ore in sedimentary form. Mining machines cut the deposit materials, for example ore, by forcing rotary cutters on the face of the minerla. For the sake of simplicity, the material released or mined can be termed "mineral", but should not be limited to it. The released material is predicted in the center of the machine by means of rotors of opposite rotation of the cutters and is transported through the middle part of the minerla machine backwards by means of a chain conveyor. The chain conveyor unloads the released material into an extendable conveyor that is operated behind the mining machine and the consecutive conveyors send the material to an axis where it is raised to the surface, such as by a jump, for its subsequent processing.
[0019]
[0020] To maximize production, the extendable conveyor must be installed precisely behind the mining machine as the mining progresses, so that the machinery of the system is perpendicular to the direction of the mining (ie, the face) and focuses on the conveyor line. This alignment ensures that the system works effectively while minimizing spills and damage to the machinery because the conveyor belts are off-center and rub against the side of the machinery. Extendable conveyors are installed using a special bridge that is operatively coupled to the mining machine with links and hydraulic cylinders, which provide four degrees of freedom to allow the bridge to move from side to side and turn to the left or toward the right to ensure that the mining machine remains centered and aligned perpendicular to the face of the minerla.
[0021] In addition, in order to extract as much of the mineral deposits as possible, it is preferable to maximize the ratio of space to pillar. Consequently, the use of extendable conveyors results in long habitations with narrow pillars between them. The collocation of the pillars is also important to prevent the loss of structural support to the mine. Therefore, ideally, the pillars are made as narrow as possible between the rooms, while they are placed with precision in order to provide sufficient structural support to ensure that the mine does not collapse. To place the pillars correctly and precisely, the rooms are often excavated using laser devices for sight detection. Otherwise, the deviation of a straight hole will cause the pillar on one side of the room to become thicker, while decreasing the thickness of the pillar on the other side, which could compromise the structural integrity of the mine in general. In conventional systems, such as rotary mining machine systems, heading control consists of topographers who use theodolites to advance the control paddles. A pencil beam laser and a rotating laser are placed behind the blades to make the laser light shine through plumb lines suspended from the blades. The laser light projects a target in the front of the mining machine that the operators of the mining machines can observe and with which to control the direction to keep the laser in the target.
[0022]
[0023] The laser detection devices have been used as a target on the front of the minerla machines, which provides deviation information to the programmable logic controller (PLC). The PLC interprets the deviation data and provides direction control to automatically maintain the design header. Although the movement of the extensible bridge is articulated from the minerla machine, it obtains the control information of the same laser that uses the minerla machine. The laser hits a pair of laser planes mounted on the bridge and the deviation information is translated into linear instructions and rotation that executes the bridge hydraulics. Continuous control and corrective movement keep the bridge and the extendable conveyor in the correct alignment when installed and functioning correctly.
[0024]
[0025] However, the use of lasers and laser detection elements as a guide has several limitations. The laser light loses strength the further away from the target, so the minerla machine cuts the face and advances, it is increasingly difficult for operators to see the laser light. In addition, the sedimentary seam undulates and the mining machine must remain within a prescribed horizontal geological zone. As this area Horizontal undulation and consequently, the minerla machine cuts to a greater or lesser extent the laser light hits the ceiling or other structure or equipment that prevents the laser light from reaching the desired objective on the front of the machine and the bridge.
[0026]
[0027] The advance of the survey line and the lasers requires a lot of time and requires that the minerla machine be turned off for approximately one hour or more while this work is being done. The progress of the survey line is typically carried out by two groups of people: topographers and mining operators. Surveyors use sophisticated lifting equipment that is very accurate and ensures that the control paddles are aligned correctly and accurately. Operators use laser light several hundred feet back to install new control pallets near the mining machine. This is less accurate than using a survey instrument, since the laser light has a thickness of one inch cubicle and is not perfectly aligned with the palettes closest to the laser, so the error is multiplied when it is projected at several hundred. feet away. Occasionally, there may be large deviations that require a course correction, resulting in conveyor alignment problems.
[0028]
[0029] Conventional systems, which use lasers and laser detection elements such as detectors, have previously been used with limited success because the laser detection element mounted on the front of the mining machine that was used for automatic control loses sight of the laser very quickly as the mining machine is controlled up or down according to the undulating nature of the sedimentary ore body. The constant need to advance the lifting line and the laser equipment makes the conventional system undesirable.
[0030]
[0031] As the mining equipment advances, pushing the face towards the vein of potash to cut, the conveyor system must be able to advance and remain closely aligned with each other and with the mining equipment to avoid or prevent the extra material from falling off the ground. conveyor system, which could create inefficiencies, delays or dangers. As transport systems can reach several kilometers in length, slight misalignment may occur. Often, the force of the locomotive to advance the conveyor to the face is provided through the mining equipment, and the conveyor and the bridges must be able to remain sufficiently aligned with each other and with the mining equipment to operate in a reliable and efficiently.
[0032] In addition, errors in the alignment of the laser increase with the distance from the source of the laser beam. Errors in the angle of the laser beam result in an increasing error in the positioning of the mining equipment, proportional to the distance from the source of the laser beam. Errors in the configuration and alignment of the laser beam source as the mining equipment progresses can also be combined to produce changes in the course, which can cause a shift in the angle or position along of the conveyor system.
[0033]
[0034] A more robust gula system is still necessary to reduce position errors and, therefore, increase the efficiency of the extraction.
[0035]
[0036] Summary of the invention
[0037]
[0038] Embodiments of the present disclosure provide an inertial guidance system for mining machines and minerla methods with advanced directional guidance configured to allow precise excavation of geological material without the need to advance a survey line over a long distance and / or a trajectory. of non-linear excavation, therefore maximizing the productivity of a mine by minimizing the width of non-mined material necessary for support between adjacent excavation trajectories and minimizing equipment downtime. In one embodiment, the mining system includes a minerla machine, a conveyor chain and an inertial guide system.
[0039]
[0040] The mining machine can have a steerable drive mechanism configured to advance the mining machine along a planned excavation path, a cutting mechanism configured to separate the geological material from a wall of the excavation path, a bit mechanism configured to collect the separated geological material and a conveyor mechanism configured to transport the geological material collected to the back of the mining machine. The conveyor chain can be configured to transport the geological material to an exit from the mine.
[0041]
[0042] The inertial guide system can be configured to detect the movement of the mining machine and provide directional guidance as an aid to guide the steerable drive mechanism along the intended excavation path. The inertial glider system can include at least three accelerometers, at least three gyroscopes and one programmable logic controller. The individual accelerometers of the at least three accelerometers can be configured to detect acceleration along the x, y and z axes, respectively. The individual gyroscopes of the at least three gyroscopes can be configured to detect rotation around the x, y and z axes, respectively. The programmable logic controller may be configured to receive detected acceleration data of the at least three accelerometers and / or rotation data of the at least three gyroscopes. With these data, the programmable logic controller can determine that the movement of the mining machine is a function of time, and calculate the directional guide to maintain the advance of the mining machine along the planned excavation trajectory.
[0043]
[0044] In one embodiment, the inertial glider system also includes a memory in which the movement of the mining machine is stored as a function of time. In one embodiment, the inertial guide system further includes a screen. In one embodiment, the screen is configured to graphically show the movement of the mining machine as a function of time. In one embodiment, the screen is configured to graphically show the comparison of the expected excavation path with the actual excavation path of the mining machine. In one embodiment, the screen is also configured to graphically show the previous excavation trajectories excavated by the mining machine, as! as the non-mined material needed to support adjacent excavation paths in a map format. In one embodiment, the screen is configured to graphically show the calculated directional guide to the mining machine. In one embodiment, the inertial guide system further includes a communication bus configured to transmit the calculated directional guide to the steerable drive mechanism. In one embodiment, the steerable drive mechanism is configured to automatically direct the mining machine according to the directional guide.
[0045]
[0046] Another embodiment of the present disclosure provides a method for providing directional guidance to a mining system, to allow accurate excavation of geological material without the need to advance a survey line over a long distance and / or a non-linear excavation path, maximizing as! the productivity of the mine by minimizing the width of the non-mined material necessary for support between adjacent excavation paths and minimizing equipment downtime. The method may comprise: providing a minerla machine having an inertial guide system including at least three accelerometers, in which at least one of the accelerometers configured to detect acceleration along an x-axis of the mining machine, is configured to detect acceleration along an axis and the mining machine, and at least one accelerometer is configured to detect acceleration along a z-axis of the mining machine; At least three gyroscopes, in which at least one gyroscope is configured to detect rotation around an x-axis of the mining machine, at least one gyroscope is configured to detect rotation around an axis and the mining machine, at least A gyroscope is configured to detect rotation around a z axis of the mining machine; and a programmable logic controller configured to receive detected acceleration data of the at least three accelerometers and rotation data of the minus three gyroscopes, and calculate the directional guide in order to maintain a predetermined course; advancing the mining machine along a planned excavation path; detect the movement of the mining machine; determining the movement of the mining machine is a function of time; and provide directional guidance to maintain the advance of the mining machine along the planned excavation path.
[0047]
[0048] It should be understood that the individual steps used in the methods of the present teachings can be carried out in any order and / or simultaneously, as long as the teaching remains operative. Furthermore, it should be understood that the apparatus and methods of the present teachings may include any number, or all, of the described embodiments, as long as the teaching remains operative.
[0049]
[0050] The above summary does not purport to describe each illustrated embodiment or each implementation of the present disclosure. Rather, the embodiments are chosen and described so that others skilled in the art can appreciate and understand the principles and practices of the invention. The figures and the detailed description that follows more particularly illustrate these embodiments.
[0051]
[0052] Brief description of the drawings
[0053]
[0054] The disclosure may be more fully understood in consideration of the following detailed description of various embodiments of the disclosure, with reference to the accompanying drawings, in which:
[0055]
[0056] FIG. 1 is a map view showing a potash mine.
[0057] FIG. 2 is a cross-sectional view showing several rooms of a mine under construction.
[0058] FIG. 3A is a cross-sectional view showing a corrugated mineral deposit. FIG. 3B is a cross-sectional view showing a minerla system with advanced directional guide, which extracts the vein shown in Fig. 3A, according to a disclosure realization.
[0059] FIG. 4A is a schematic view depicting a mining machine according to an embodiment of the disclosure.
[0060] FIG. 4B is a schematic view showing an inertial guide system of the mining machine of FIG. 4A.
[0061]
[0062] While the embodiments of the disclosure are susceptible to various modifications and alternative forms, specific features thereof shown by way of example in the drawings will be described in detail. However, it should be understood that the intention is not to limit the disclosure to the particular embodiments described. On the contrary, the intention is to cover all modifications, equivalents and alternatives that fall within the scope and scope of the subject as defined in the claims.
[0063]
[0064] Detailed description of the drawings
[0065]
[0066] According to embodiments, apparatuses and methods for a mining system are described, such as the minerla of rooms and pillars. The guide system comprises an inertial system, instead of or in addition to the conventional laser beam guide. Through the use of an inertial guide system, the idle time of the mining equipment can be minimized and the heading of the mining equipment can be controlled with greater precision both in longer distances and in non-linear excavation trajectories.
[0067]
[0068] With reference to FIG. 1, a map view of an example 10 potash mine is shown. Specifically, FIG. 1 represents a mine type pillar structure, including wells 12a and 12b of mines, connected to a network of rooms 14 or excavated trajectories (represented as shaded regions) with pillars 116 or non-mined material necessary for support (described as non-shaded regions) located between adjacent rooms 14. Wells 12a and 12b of mines are often several hundred meters long, extending from the surface (not shown) to the underground geological material and / or mineral deposits that are find below. In some cases, mine pits 12a and 12b extend substantially vertically, mainly perpendicular to the map view shown in FIG. one.
[0069]
[0070] The rooms 14 follow the vein of underground geological material. The potash mines, in particular, can be quite extensive in size; For example, a typical potash mine can extend over several hundred square kilometers. As the mine 10 is constructed and the networks of rooms 14 are excavated and geological material is transported to the surface, the pillars 16 of non-excavated material are left in place to provide structural support to maintain the integrity of the rooms 14. Consequently, during mining operations, care must be taken to ensure that pillars 16 are of sufficient size to provide the necessary structural support. The pillars 16 of insufficient size can cause a collapse, or a partial collapse, of one or more of the adjacent rooms 14.
[0071]
[0072] With reference to FIG. 2, a cross-sectional view of a mine 110 under construction is shown. The mine 110 includes three completed rooms 114a, 114b and 114c, as well as a fourth room 114d under construction. The mine 110 further includes the pillars 116. One end of the fourth room 114d defines a face 118, which is the portion of the unfinished room 114d from which ground material is being excavated or separated from it. As shown, a minerla machine 120 is disposed adjacent the face 118 to affect the excavation. A conveyor chain 122 including a plurality of bridges 124 is placed on the back of the minerla machine 120, opposite the face 118, in order to transport the geological material to an outlet of the mine.
[0073]
[0074] As shown in FIG. 2, the adjacent rooms 114a-114d are separated from each other by pillars 116. As described above, the pillars 116 provide structural support for the mine 110, which allows the excavation of geological materials to be carried out safely in the rooms 114a -114d. To maximize the productivity of the mine by excavating as much geological material as possible, while ensuring adequate structural support, it is generally desirable that the rooms 114a-114d extend as closely as possible in parallel to each other. as structurally possible. Accordingly, the face 118 is generally substantially perpendicular to the direction in which the rooms 114a-114d extend.
[0075]
[0076] With reference to FIGS. 3A-B, a cross-sectional view of the earth representing a corrugated underground mineral deposit is depicted. In such a deposit, a vein of geological material 232 is placed beneath a layer of non-mineral earth 228, which may vary in depth D from the surface 230 of the earth. Consequently, the efficient extraction of such a deposit may require a non-linear excavation path, or a network of habitats that vary in height to focus on the vein of the geological materials.
[0077]
[0078] As shown in FIG. 3B, a minerla machine 220 according to a realization of the disclosure can be configured to follow the non-planar vein of the geological material 232. Accordingly, the mining machine 220 can advance along the grain to separate the geological material 232 from the face 218 of the room 214 being excavated. The separated geological material 232 can be collected and transported to the back of the minerla machine 120. At the rear of the mining machine 120, a conveyor chain 222, which may include a plurality of bridges 224, may cooperate to move or transport the geological material 232 toward an exit from the mine, such as a mine shaft. Subsequently, the geological material 232 can be transported to the surface 230 of the earth for further processing and transport. Accordingly, an advantage of incorporating an inertial guide system of the present disclosure, unlike conventional laser-based systems of the prior art, is the ability to track changes in the speed and / or direction of the machine. 120 of minerla where the excavation is not done along a straight line or linear path, thus reducing! the downtime associated with the advance of a laser-based survey line.
[0079]
[0080] With reference to FIGS. 4A-B, a minerla machine 320 is depicted in accordance with one embodiment of the disclosure. In a non-limiting example, the minerla machine 320 can be used in the underground potash minerla to extract concentrated KCl containing mineral in a sedimentary formation. The mining machine 320 can be, for example, any of a variety of primary engines with a cutting or mining mechanism, such as, for example, a rotary drilling, shearing, continuous mining or drum minerla machine, or the like. . The height of the mining machine 320 can be complementary to the thickness of the seam or vein of the geological material to be extracted.
[0081] For example, the mining machine 320 can be of a height of 8 feet 2 inches, 8 feet 6 inches or 9 feet. Other heights of the mining machine 320 are also contemplated.
[0082]
[0083] In one embodiment, the mining machine 320 may include a drive mechanism 334 steerable as a primary motor. For example, in one embodiment, the steerable drive mechanism 334 may include wheels and / or tracks configured to advance the mining machine 320 along an intended excavation path.
[0084]
[0085] The mining machine 320 may further include a cutting mechanism 336. The cutting mechanism 336 can be configured to separate the geological material from a wall or face of an excavation path. In some embodiments, the cutting mechanism 336 can be configured to move relative to a body of the mining machine through the range of motion from side to side laterally as well as vertically up and down to effect the separation of the geological material from a wall of the path of the excavation. In some embodiments, the mining machine 320 may include two or four rotary perforation cutting heads, commonly referred to as two-rotor and four-rotor mining machines. A cutting mechanism 336 including alternate amounts of cutting heads or alternative cutting mechanisms is also contemplated.
[0086]
[0087] The mining machine 320 further includes a bit mechanism 338 configured to collect the separate geological material to deposit it in a transport mechanism 340. The transport mechanism 340 is configured to transport the collective geological material to a rear portion 321 of the mining machine 320.
[0088]
[0089] A conveyor chain 332 can be operatively coupled to the rear portion 321 of the mining machine 320. The conveyor chain 332 can be configured to transport the geological material to an outlet of the mine, where it can be raised to the surface for further processing and / or transportation. The conveyor chain 332 may include one or more transport sections 342 operatively coupled together by one or more bridges 344, configured to provide four degrees of freedom to allow the conveyor chain 332 to move from side to side (sash) and / or turned to the left or to the right (rocking) in order to ensure that it remains centered and aligned substantially perpendicular to the face.
[0090]
[0091] With reference to FIG. 4B, the minerla machine 320 may further include an inertial guide system 346. The inertial guide system 346 can be configured to detect the movement of the miner machine 320 and to provide directional guidance as an aid to guide the steerable drive mechanism 334 along the intended excavation path. In some embodiments, the directional guide is provided visually or audibly to an operator, who manipulates the controls to affect the direction. In other embodiments, the directional guide is provided as data to a steerable drive controller 360 (as shown in Figure 4B) configured to autonomously control and / or assist an operator to steer the minerla machine 320.
[0092]
[0093] The inertial guide system 346 may include one or more accelerometers 348 and one or more gyroscopes 350. As shown in FIG. 4B, the inertial guide system 346 includes three accelerometers 348a-c configured to detect acceleration along the respective x, y and z axes of the minerla machine 320. The inertial guide system 346 further includes three gyroscopes 350a-c configured to detect the rotation, respectively, on the x, y and z axes of the minerla machine 320. A programmable logic controller 352 can be operatively coupled to the at least one accelerometer 348 and gyroscopes 350, to receive the detected acceleration and rotation data. The received data can be used to determine the movement of the minerla machine 320 as a function of time. Subsequently, the directional guide can be calculated to maintain the advance of the minerla machine 320 along a predicted excavation path.
[0094]
[0095] In some embodiments, the inertial guide system 346 may further include a communication bus 354 configured to communicate at least one of the detected acceleration and rotation data, the determined movement of the mining machine 320 is a function of time and / or directional guide computed to maintain the advance of the minerla machine 320 along a planned excavation path towards an external receiver communicatively coupled, for example, to a server used in the planning and execution of mining operations. Several graphic screens can be computed from the information communicated, for example, the movement of the minerla machine as a function of time, a comparison of the expected excavation trajectory with a real excavation trajectory, the previous excavations excavated by the mining machine 320, as well as the non-mined material necessary for the support in map format, and computed directional guide of the mining machine 320. In one embodiment, the inertial guide system 346 includes its own screen 356 to display one or more graphic screens. The inertial guide system 346 can be further configured with a memory 358 for storing said information permanently or temporarily for later retrieval.
[0096]
[0097] In one embodiment, the one or more bridges 344 of the conveyor chain 332 may additionally include an inertial guide system similar to the inertial guide system 346 as described above. In particular, in certain embodiments, the one or more bridges 344 may be configured to detect acceleration and rotation about the respective x, y and z axes of the bridge 344, thereby providing information on the operation capability of the conveyor chain 332 to a operator. For example, in one embodiment, the inertial guide system of a bridge 344 may include at least three accelerometers, at least three gyroscopes, a programmable logic controller and a communication bus. In some embodiments, an inertial guide system may be included in each bridge of the conveyor chain 332. In other embodiments, an inertial guide system may be included in certain bridges 344 selected from the conveyor chain, thus providing an estimated position of the entire conveyor chain 332.
[0098]
[0099] With reference to FIGS. 2 and 4A-4B, in operation, a mine 110 is constructed by extracting material from the rooms 114a to 114d, while leaving the columns 116 in place between and around the rooms 114a to 114d to provide structural support. Accordingly, the mining machine 320 advances along a planned excavation path while cutting geological material (eg mineral), forcing a cutting mechanism 336 on the mining face 118. The ore released can be predicted in the center of the mining machine 320, for example, by rotating counter to the rotors of a bit mechanism 338, and transported through the middle part of the mining machine 320 through the section 342 of the conveyor. The use of a conveyor chain 332 typically results in long dwellings 114a-114d having narrow non-mined support pillars 116 placed therebetween. The length of the rooms can be, for example, between approximately 2500 feet and approximately 9000 feet, depending on the equipment and the design of the mining. Such a design requires that the machine 320 of mining follow closely a prescribed course to avoid invasion into narrow pillar 116 that provides structural support for habitats 114a-114d.
[0100]
[0101] Then, the ore can be transported along a series of transport sections 342, which can be linked together and with the mining machine 320 by bridges 344, which are operated behind the mining machine 320. The conveyor chain 332 then transports the ore to an axis (e.g., axis 12A or 12B of Fig. 1), where it is raised to the surface of the land for later transportation and / or processing.
[0102]
[0103] In contrast to conventional systems using the technology of laser detection, as described in the Background section, the mining machine 320, transport sections 342 and / or bridges 344 of the present disclosure can be aligned with each other using a inertial guide system 346 that includes a combination of motion and rotation sensors (for example, accelerometers 348 and gyroscopes 350). As the mining machine 320 advances to the face 118, the identification location data can be measured with the inertial guide system 346. For example, the mining machine 320 can determine acceleration and / or rotation along several directions, such as pitch, sway, roll, forward or backward acceleration (in which "forward" is toward the face 118), acceleration up or down (where "down" is along the gravitational potential), or acceleration from left to right (where left and right are the two orthogonal directions forward and down). This acceleration and / or rotation data can be used to determine the movement of the mining machine 320 and / or the conveyor chain 332 as a function of time. By integrating the acceleration and / or rotation data twice, a position of the mining machine 320 and / or the conveyor chain 332 in the Euclidean space can be determined.
[0104]
[0105] In some embodiments, the inertial guide system 346 can record the location history so that the conveyor chain 332 can be positioned behind the mining machine 320 and reduce the amount of spills that could otherwise result from misaligned systems. That is, a laser sight is not necessary for the use of bridge alignment 344 as in prior art systems. Additional detection devices may be used to calculate the position and rotation of the bridges 344 and / or conveyor chain 332 in relation to the mining machine 320. The inertial guide system 346 may be in communication with the bridges 344 to receive and transmit data from position. The system can also be configured to provide a graphic display to the operator for manual use or to automatically control the mining equipment 120. The information generated by the inertial guidance system 346 can be stored in a memory 358 for later retrieval.
[0106]
[0107] In such systems, which use inertial guidance systems 346 (with or without laser guidance systems), the mining machine 320 and the conveyor chain 332 need not be arranged along a straight line or linear path. Rather, the mining machine 320 can be conducted along a vein of potash or other material that allows the most geological material to be captured and in a manner that maintains an adequate arrangement of habitation and pillar (i.e., that provides a support suitable), whether or not the path taken by the mining equipment 320 is along a plane or constant elevation. In contrast to laser sighting systems, this allows mining equipment to follow undulations in a vein without stopping to recalibrate.
[0108]
[0109] In the embodiments where the position of the mining machine 320 is stored, the towing conveyor sections 342 and bridges 344 can be routed along the same path as the mining machine 320, or another path that prevents spillage of the mining machine 320. mineral. As a result, survey control is only needed at the beginning of the room and, therefore, production delays during each shift can be reduced or eliminated. In some embodiments, the mining machine 320 can be automatically controlled to steer and / or correct the course over long distances. For example, the mining machine 320 can be operated without an operator on the control deck, potentially reducing the labor needed to operate the mining machine 320.
[0110]
[0111] In embodiments, the rooms 114a-114d need not be exactly parallel to each other. For example, as shown above in FIG. 1, the rooms 14 can be arranged parallel to each other, perpendicular to each other, or in any other orientation that provides sufficient support to the back of the mine and that allows the extraction of materials such as potash from the mine. In any case, the incorporation of a system 346 of inertial guidance to mining operations is advantageous because it allows to determine the precise location of the mining machine 320 and / or the conveyor chain 332, whether or not those elements are disposed of. length of a straight line as required in conventional laser sighting systems. In addition, inertial guidance systems (especially those that do not travel along a straight path) may allow that the minerla machine 320 operates for long periods of time and / or long distances without stopping to recalibrate the position, unlike the laser sighting systems that must be stopped to advance the laser from time to time.
[0112]
[0113] Several embodiments of systems, devices and methods have been described here. These embodiments are given by way of example only and are not intended to limit the scope of the claimed inventions. It should also be appreciated that the various features of the embodiments that have been described can be combined in various ways to produce numerous additional embodiments. In addition, although various materials, dimensions, shapes, configurations and locations, etc., have been disclosed. for use with described embodiments, others may be used in addition to those disclosed without exceeding the scope of the claimed inventions.
[0114]
[0115] Persons of ordinary skill in the relevant arts will recognize that the embodiments may comprise fewer features than those illustrated in any individual embodiment described above. The embodiments described herein are not intended to be an exhaustive presentation of the ways in which the various features can be combined. Accordingly, the embodiments are not mutually exclusive combinations of characteristics; rather, the embodiments may comprise a combination of different individual characteristics selected from different individual embodiments, as understood by persons of ordinary skill in the art. In addition, the elements described with respect to one embodiment may be implemented in other embodiments even when not described in such embodiments unless otherwise indicated. Although a dependent claim may be referred to in the claims to a specific combination with one or more claims, other embodiments may also include a combination of the dependent claim with the object of each other dependent claim or a combination of one or more features with another dependent claim. or independent Such combinations are proposed here unless it is indicated that a specific combination is not foreseen. Furthermore, it also seeks to include the characteristics of a claim in any other independent claim, even if this claim is not directly dependent on the independent claim.
[0116]
[0117] Although a dependent claim may be referred to in the claims to a specific combination with one or more claims, other embodiments may also include a combination of dependent revindication with the object of each other dependent revindication or a combination of one or more features with other dependent or independent claims. Such combinations are proposed here unless it is indicated that a specific combination is not foreseen.
[0118]
[0119] For the purposes of interpreting the claims, it is expressly intended that the provisions of Section 112, sixth paragraph of 35 USC should not be invoked unless ^{the specific terms "means for" or "step for" are recited in a re} ^vindication.

权利要求:
Claims (24)
[1]
1. A mining system with advanced directional guide configured to allow the accurate excavation of geological material without the need to advance a line of long-distance survey and / or a path of nonlinear excavation, where the mining system comprises:
a mining machine having an orientable drive mechanism configured to advance the mining machine along a planned excavation path, a cutting mechanism configured to separate geological material from a wall of the excavation path, a mechanism for auger configured to collect the separated geological material and a conveyor mechanism configured to transport the collected geological material to the back of the mining machine;
a conveyor chain configured to transport the geological material to the exit of a mine; Y
an inertial guide system configured to detect the movement of the mining machine and provide directional guidance as an aid to guide the steerable drive mechanism along the intended excavation path, where the initial guidance system includes:
at least one accelerometer configured to detect acceleration along an x-axis of the mining machine, along an axis and of the mining machine, and / or along a z-axis of the mining machine;
at least one gyroscope configured to detect rotation about the x-axis of the mining machine, the rotation about the y-axis of the mining machine, and / or the rotation about the z-axis of the mining machine; Y
a programmable logic controller configured to receive detected acceleration data of the at least one accelerometer and / or rotation data of the at least one gyroscope, determines the movement of the mining machine as a function of time and calculates the Directional guide to maintain the progress of the mining machine along the planned excavation path.
[2]
2. The mining system of claim 1, wherein the inertial guide system further includes a memory in which the movement of the mining machine is stored as a function of time.
[3]
3. The mining system of claim 1 or 2, wherein the inertial guide system further includes a screen.
[4]
4. The mining system of claim 3, wherein the screen is configured to graphically show the movement of the mining machine as a function of time.
[5]
5. The mining system of claim 3, wherein the screen is configured to graphically show a comparison of the expected excavation path with the actual excavation path of the mining machine.
[6]
6. The mining system of claim 3, wherein the screen is configured to graphically show the previous excavation trajectories excavated by the mining machine, thus! as the non-mined material necessary for structural support between adjacent excavated paths in a map format.
[7]
7. The mining system of claim 3, wherein the screen is configured to graphically show the calculated directional guide of the mining machine.
[8]
The mining system according to any of claims 1 to 3, wherein the inertial guide system further includes a communication bus configured to transmit the computed directional guide to the steerable drive mechanism.
[9]
The mining system of claim 1, wherein the steerable drive mechanism is configured to automatically steer the mining machine according to the directional guide.
[10]
The mining system of claim 1, wherein the inertial guide system further includes additional detection devices configured to detect at least one of acceleration and rotation along the conveyor chain.
[11]
The mining system of claim 1, wherein the inertial guide system comprises three accelerometers, wherein a first accelerometer is configured to detect acceleration along the x axis of the mining machine, a second accelerometer it is configured to detect acceleration along the axis and the mining machine, and a third accelerometer is configured to detect acceleration along the z axis of the mining machine.
[12]
The mining system of claim 1, wherein the inertial guide system comprises three gyroscopes, wherein at least one gyroscope is configured to detect rotation about the x-axis of the mining machine, at least one gyroscope It is configured to detect rotation around the axis and the mining machine, and at least one gyroscope is configured to detect the rotation around the z axis of the mining machine.
[13]
13. A method for providing management guidance to a mining system, in order to allow accurate excavation of geological material without the need to advance a survey line over a long distance and / or a non-linear excavation path, where The method includes:
provide a mining machine that has an inertial guidance system that includes:
at least one accelerometer configured to detect acceleration along an x-axis of the mining machine, acceleration along the axis and of the mining machine and / or along a z-axis of the mining machine;
at least one gyroscope configured to detect rotation about the x-axis of the mining machine, the rotation about the y-axis of the mining machine, and / or the rotation about the z-axis of the mining machine; Y
a programmable logic controller configured to receive detected data from the at least one accelerometer and the at least one gyroscope and calculate the directional guidance in order to maintain a prescribed course;
advancing the mining machine along a planned excavation path;
detect the movement of the mining machine;
determine the movement of the mining machine as a function of time; Y
provide directional guidance to maintain the progress of the mining machine along the planned excavation path.
[14]
14. The method of claim 11, wherein the inertial guidance system further includes a memory in which the movement of the mining machine is stored as a function of time.
[15]
15. The method of claim 11 or 12, wherein the inertial guidance system further includes a screen.
[16]
16. The method of claim 13, further comprising showing the movement of the mining machine as a function of time.
[17]
17. The method of claim 13, further comprising showing a comparison of the expected excavation trajectory with a real excavation path of the mining machine.
[18]
18. The method of claim 13, further comprising showing the previous excavation paths excavated by the mining machine, as well as the non-mined material necessary for structural support between adjacent excavated paths in a map format.
[19]
19. The method of claim 13, which further comprises showing the calculated directional guidance of the mining machine.
[20]
20. The method of claim 13, further comprising transmitting the calculated directional guide to a steerable drive mechanism.
[21]
21. The method of claim 13, further comprising automatically steering the minerla machine in accordance with the directional guide.
[22]
22. The method of claim 13, further comprising detecting at least one of acceleration and rotation through additional detection devices along a conveyor chain.
[23]
23. The method of claim 13, wherein the inertial guide system comprises three accelerometers, in which a first accelerometer is configured to detect acceleration along the x-axis of the minerla machine, a second accelerometer is configured to detect the acceleration along the shaft and the minerla machine and a third accelerometer is configured to detect the acceleration along the z-axis of the mining machine.
[24]
24. The method of claim 13, wherein the inertial guide system comprises three gyroscopes, wherein at least one gyroscope is configured to detect rotation about the x-axis of the mining machine, at least one gyroscope is configured to detect the rotation around the axis and the minerla machine, and at least one gyroscope is configured to detect the rotation around the z-axis of the minerla machine.

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同族专利:

公开号 | 公开日

AR109597A1|2018-12-26|

US20200370432A1|2020-11-26|

BR112019004695A2|2019-05-28|

CA3035904A1|2018-03-15|

DE112017004528T5|2019-05-23|

WO2018049177A1|2018-03-15|

US20180073358A1|2018-03-15|

CL2019000582A1|2019-12-13|

RU2019110255A3|2021-01-21|

ES2709036R1|2019-06-13|

US10738609B2|2020-08-11|

RU2764971C2|2022-01-24|

RU2019110255A|2020-10-09|

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法律状态:
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优先权:

申请号 | 申请日 | 专利标题

US201662385550P| true| 2016-09-09|2016-09-09|

PCT/US2017/050703|WO2018049177A1|2016-09-09|2017-09-08|Rotary boring mining machine inertial steering system|

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