Research of the underground coal bunker clearing robot

Song, Zhi-an; Zhan, Feng; Li, Chengyin; Wang, Ze-le; Zhang, Shan-lin

doi:10.1007/s12404-010-0120-y

Cited by 5 publications

(6 citation statements)

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“…This approach calculates the distance based on the phase delay induced by a modulated laser signal traveling along the measurement path. The relationship between the phase delay, angular frequency ω, and distance is given by equation (2). Integrating this relationship into the basic distance formula (equation 1), we derive the distance expression (equation 3).…”

Section: The Principle Of Two-dimensional Digital Measurements Of Coa...mentioning

confidence: 99%

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Lidar SLAM-Enabled Precision Detection of Coal Bunker Structural Damage

2024

AJETS

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Efficient repair of structural damage in coal bunkers is crucial for minimizing economic losses in mining operations. Current repair practices often face challenges like poor visibility and high risk. This study proposes a novel solution using lidar SLAM(simultaneous localization and mapping) technology with the ICP (iterative closest point) algorithm to address these challenges, aiming to enhance safety and efficiency in coal bunker repairs. A specialized detection system is designed for coal bunker exploration robots, integrating 3D visualization software for real-time monitoring, attitude adjustment, and cross-sectional surveillance. Key hardware components include a laser radar for precise scanning and balance sensors for stability. Extensive experimental trials on coal bunkers validate the system's exceptional precision, with key performance metrics such as ATE (absolute trajectory error) and RTE (relative trajectory error) consistently below 0.01, meeting the rigorous demands of bunker inspection. The system efficiently detects critical structural anomalies like protruding reinforcement bars and partial wall ruptures, issuing timely warnings for potential hazards. These results validate the system's robustness and accuracy in identifying and characterizing coal bunker damage, providing actionable guidelines for safe, efficient, and technologically advanced bunker inspections.

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Section: The Principle Of Two-dimensional Digital Measurements Of Coa...mentioning

confidence: 99%

“…Coal bunkers are essential storage facilities for coal [1][2], comprising four main parts: an upper opening, body, lower opening, and coal discharge gate. While crucial for coal transportation, they face issues like wall adhesion, deformation, and blockages due to coal properties and construction factors [3][4].…”

Section: Introductionmentioning

confidence: 99%

Lidar SLAM-Enabled Precision Detection of Coal Bunker Structural Damage

2024

AJETS

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“…Songet al [7] has prepared ß-wollastonite glass-ceramics using high silica gangue (80~150 mesh) and small amounts of quartz sand, calcium carbonate, potash, sodium carbonate, zinc oxide, borax. The utilization of coal gangue was among 33-47%.…”

Section: Glass-ceramics Made From Tailingsmentioning

confidence: 99%

Preparation of Glass-Ceramics Using Industrial Solid Wastes in China

Guo

Liu

2012

AMR

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The industrial solid wastes mainly include mining tailings and industrial slags. Their typical applications in glass-ceramics are reviewed. The compositional design of the glass-ceramics based on the compositional features of wastes and the routes to increase the percentage of wastes in the glass batches are emphasized. To increase the addition of industrial solid wastes in the glass preparation is one of the key factors influencing the utilization of the wastes. One way to achieve this is to apply different wastes with compositional complementarity in glass batches. A few successful examples are summarized in this paper to provide good references for the further related research.

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“…Nevertheless, floor-heave control is a complex problem in underground coal mines; the solution approaches are commonly a combination of bolts, anchor cables, concrete, and steel inverted arches, and such construction techniques are not only difficult to carry out in the field but the application effect is also poor. On the other hand, the study of the existing literature for coal bunker mainly focuses on (i) the optimum bunker size and location selection in underground coal mine conveyor systems [3,11], (ii) the construction of the coal bunker with a large diameter and vertical height [12,13], (iii) the optimization of methods of safe construction under different geological conditions [14,15], (iv) the deterioration and collapse mechanism of the reinforced concrete bunker [16], (v) the curing technique of blockage and fractures in the walls of the coal bunker body [17][18][19], and (vi) the maintenance of the coal bunker [20][21][22]. ose studies have made significant progress.…”

Section: Introductionmentioning

confidence: 99%

Large‐Deformation Failure Mechanism of Coal‐Feeder Chamber and Construction of Wall‐Mounted Coal Bunker in Underground Coal Mine with Soft, Swelling Floor Rocks

Wang

Bai

Jing

et al. 2019

Advances in Civil Engineering

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In traditional vertical coal bunker systems, a coal-feeder chamber (CFC) must bear the whole weight of the bunker. However, maintenance of CFCs within soft, swelling floor rock is a challenge faced in underground coal mines. Floor-heave control is a complex problem and is still not well-solved. Moreover, there is no report on the construction of bunker without a CFC, especially under such weak floor-rock conditions. Based on the serious CFC collapse case at Xiashijie mine, China, this work analyzed the deformation characteristics, main influencing factors, and failure mechanisms of the CFC using a FLAC numerical model. The results indicate that the intrusion of water weakens the strength of the floor rock and causes significant expansive forces; thus, large deformations and tensile failure occur first in the floor, further causing shearing and tensile damage of the reinforced column and even overall instability of the CFC. Then, a new wall-mounted coal bunker (WMCB), without building the CFC, is proposed. The FLAC3D program was adopted to study the stability of the rocks surrounding the new bunker, and an optimized reinforcement scheme was determined. More importantly, a self-bearing system, which includes self-designed H-steel beams, H-steel brackets, and self-locking anchor cables, was proposed and constructed to bear the whole weight of the bunker. The stability of WMCB was verified by a theoretical safety assessment and field test. The invented WMCB could remain stable in spite of severe floor heave. This work can provide helpful references for the construction of vertical bunkers without CFCs in coal mines with soft, swelling floor rocks.

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Research of the underground coal bunker clearing robot

Cited by 5 publications

References 0 publications

Lidar SLAM-Enabled Precision Detection of Coal Bunker Structural Damage

Lidar SLAM-Enabled Precision Detection of Coal Bunker Structural Damage

Preparation of Glass-Ceramics Using Industrial Solid Wastes in China

Large‐Deformation Failure Mechanism of Coal‐Feeder Chamber and Construction of Wall‐Mounted Coal Bunker in Underground Coal Mine with Soft, Swelling Floor Rocks

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