ABSTRACT
"Three straight and two flat" is the inevitable demand when realizing the intelligent mining of a fully mechanized mining face. To address the crucial technical issue of lacking accurate perception of the shape of the scraper conveyor during intelligent coal mining, a three-dimensional curvature sensor involving fiber Bragg grating (FBG) is used as a perceptive tool to conduct curve reconstruction research based on different local motion frames and to reconstruct the shape of the scraper conveyor. Firstly, the formation process of the 'S'-shaped bending section of the scraper conveyor during the pushing process is determined. Based on the FBG sensing principle, a mathematical model between the variation in the central wavelength and the strain and curvature is established, and the cubic B-spline interpolation method is employed to continuously process the obtained discrete curvature. Secondly, based on differential geometry, a spatial curve reconstruction algorithm based on the Frenet moving frame is derived, and the shape curve prediction interpolation model is built based on a gated recurrent unit (GRU) model, which reduces the impact of the decrease in curve reconstruction accuracy caused by damage to some grating measuring points. Finally, an experimental platform was designed and built, and sensors with curvature radii of 6 m, 7 m, and 8 m were tested. The experimental results showed that the reconstructed curve was essentially consistent with the actual shape, and the absolute error at the end was about 2 mm. The feasibility of this reconstruction algorithm in engineering has been proven, and this is of great significance in achieving shape curve perception and straightness control for scraper conveyors.
ABSTRACT
The foundation of intelligent collaborative control of a shearer, scraper conveyor, and hydraulic support (three-machines) is to achieve the precise perception of the status of the three-machines and the full integration of information between the equipment. In order to solve the problems of information isolation and non-flow, independence between equipment, and weak cooperation of three-machines due to an insufficient fusion of perception data, a fusion method of the equipment's state perception system on the intelligent working surface was proposed. Firstly, an intelligent perception system for the state of the three-machines in the working face was established based on fiber optic sensing technology and inertial navigation technology. Then, the datum coordinate system is created on the working surface to uniformly describe the status of the three-machines and the spatial position relationship between the three-machines is established using a scraper conveyor as a bridge so that the three-machines become a mutually restricted and collaborative equipment system. Finally, an indoor test was carried out to verify the relational model of the spatial position of the three-machines. The results indicate that the intelligent working face three-machines perception system based on fiber optic sensing technology and inertial navigation technology can achieve the fusion of monitoring data and unified expression of equipment status. The research results provide an important reference for building an intelligent perception, intelligent decision-making, and automatic execution system for coal mines.
ABSTRACT
The operating attitude of a shearer based on a three-dimensional (3D) space scale is the necessary basic information for realizing intelligent mining. Aiming to address the problem of the insufficient perception accuracy of shearers, in this paper, the rotation model of the actual turning mechanism of the strapdown inertial navigation system (SINS) of shearers is established, and the error propagation characteristics of different single-axis rotation modulation schemes are revealed. Through theory and simulation, the optimal rotation modulation scheme is determined to be the improved four-position turn-stop modulation with a rotation of <360°. The experiment shows that the 24 h positioning error of this scheme is 3.7 nmile, and the heading angle changes by 0.06°, which proves that this scheme can effectively improve the attitude perception accuracy of the inertial navigation system (INS). The field application of the shearer operating attitude perception based on this scheme shows that the positioning error after error compensation is 17% of that before compensation, and the heading angle error is 75% of that before compensation, which verifies that this scheme can significantly improve the accuracy of shearer operating attitude perception in field applications. This scheme can achieve higher precision perception accuracy based on SINS and has broad application prospects in the field of high-precision pose perception of coal mining machines, roadheaders, and other equipment.
ABSTRACT
The accurate perception of straightness of a scraper conveyor is important for the construction of intelligent working faces in coal mines. In this paper, we propose a precision compensation model based on rotation error angle to improve the accuracy of the fiber Bragg grating (FBG) curvature sensor of a scraper conveyor. The correctness of the model is verified by theoretical analysis, numerical simulation, and experiments. Finally, the feasibility of the model is analyzed and discussed for field application in a coal mine. When the rotation error angle is within the range of 0~90°, according to the strain of FBG obtained by numerical simulation, the radius of the curvature is inversely calculated by the compensation model. The relative error of each discrete point is within ±0.9%, and the relative error after fitting is less than 0.2%. The experiment shows that the relative error of the curvature radius after fitting according to the theoretical formula is less than ±3%, and the relative error of the curvature radius value obtained by the inverse deduction of each discrete point is less than ±6%, which verifies the correctness and applicability of the compensation model. In addition, the compensation model with the FBG curvature sensor has broad application prospects in coal mine underground conveyors, submarine pipelines and ground pipelines.
ABSTRACT
The mine shaft is an important channel linking the underground with the surface, undertaking important functions such as personnel and material transportation and ventilation. Thus the shaft, known as the throat of the mine, is the production hub of the whole mine. Since 1980, damage to coal mine shafts has occurred in many areas of China, which has seriously impacted the safety of mine production. Therefore, real-time monitoring of the shaft wall condition is necessary. However, the traditional monitoring method cannot achieve long-term, continuous and stable monitoring of the shaft wall due to the harsh production environment downhole. Hence, a multi-mode joint sensing system for shaft wall deformation and damage is proposed, which is mainly based on FBG sensing and supplemented by vibrating-string sensing. The principle of FBG sensing is that when the external environment such as temperature, pressure and strain changes, the characteristics of light transmission in the FBG such as wavelength, phase and amplitude will also change accordingly. Using the linear relationship between the strain and the wavelength shift of the FBG, the strain of the measured structure is obtained by calculation. Firstly, this paper introduces the basic situations of the mine and analyzes the causes shaft damage. Then the vertical and circumferential theoretical values at different shaft depths are derived in combination with the corresponding force characteristics. Moreover, a four-layer strain transfer structure model of the shaft consisting of the fiber, the protective layer, the bonding layer and the borehole wall is established, which leads to the derivation of the strain transfer relational expression for the surface-mounted FBG sensing on the shaft wall. The strain-sensing transfer law and the factors influencing the strain-sensing transfer of the surface-mounted FBG on the shaft wall are analyzed. The order of key factors influencing the strain-sensing transfer is obtained by numerical simulation: the radius of the protective layer, the length of the FBG paste, and the elastic modulus of the adhesive layer. The packaging parameters with the best strain-sensing transfer of the surface-mounted FBG on the shaft wall are determined. A total of six horizontal level monitoring stations are arranged in a coal mine auxiliary shaft. Through the comprehensive analysis of the sensing data of the two sensors, the results show that the average shaft wall strain-transfer efficiency measured by the FBG sensor reaches 94.02%. The relative average error with the theoretical derivation of shaft wall transfer efficiency (98.6%) is 4.65%, which verifies the strain transfer effect of the surface-mounted FBG applied to the shaft wall. The shaft wall's deformation monitoring system with FBG sensing as the main and vibrating-string sensing as the supplement is important to realize the early warning of well-wall deformation and further research of the shaft wall rupture mechanism.
ABSTRACT
Bolt-supporting technology has been widely used in mine roadway support, and its own working conditions have important reference value for roadway safety support. In order to realize the continuous and reliable monitoring of the bolt rod's working condition, this paper analyzes the existing problems of the existing fiber Bragg grating force-measuring bolt (FBG-FMB), and proposes a fiber grating strain desensitization sensing theory. Based on this theory, a desensitized FBG-FMB is developed with the spring as the elastic sensitive element. A mechanical analysis and drawing test show that the strain of the force-measuring bolt is greater than 60 times the micro-strain of the fiber grating, which verifies the feasibility of the structure design of the FBG-FMB. Finally, through the field application in the coal mine roadway, the working conditions of the bolt body at the two measuring points of the roadway are obtained to verify the reliability of the force-measuring bolt. In addition, the desensitized FBG-FMB can be widely used in the supporting fields of underground engineering such as slopes, tunnels, and foundation pits.
Subject(s)
Reproducibility of ResultsABSTRACT
Research on the stress state of rock mass is essential for revealing the distribution characteristics and evolution law of the surrounding rock stress field in the roadway, studying the coal-rock dynamic disaster and the design of roadway support. This thesis proposes a three-dimensional stress monitoring method for surrounding rocks based on fiber Bragg grating (FBG) sensing technology and a cube-shaped three-dimensional stress fiber grating sensor is developed based on the principle of this monitoring method. According to the fiber grating strain obtained by numerical simulation, the calculated three-dimensional stress value is basically consistent with the theoretical value. The margin of error was plus or minus one percentage point. The sensing performance of the sensor was tested using a uniaxial compression experiment instead of a triaxial compression experiment. The experimental results show that in the range of 0~50 Mpa, the sensor's sensitivity to X, Y and Z axis stress is 25.51, 25.97 and 24.86 pm/Mpa, respectively. The relative error of measured stress is less than 4%. Meanwhile, the sensor has good linearity and repeatability, and has broad application prospects in the field of underground engineering safety monitoring such as in coal mines and tunnels.
ABSTRACT
Most coal mines in China are currently mining close coal seams. Roadways in close coal seams, especially ultra-close coal seams, confronted difficulties in maintaining, including large deformation of the roadway, roof caving, rib spalling and floor heaving. This is mainly caused by the complicated stress and geological conditions, shattered roof, improper layout and support. To explore the issues mentioned above, the theoretical analysis was used to build a mechanical model and study the stress distribution under coal pillars, and FLAC3D modelling was adopted to build numerical models with different staggered distances. The optimal roadway layout was brought forward combining the result of numerical simulation and coal recovery rate. The field practice was carried out in the tailgate of panel 25301 to investigate the effect of the layout scheme. The results of field monitoring show that the roadway's stability is well maintained in the mining process.
Subject(s)
Coal Mining , Coal , Models, Theoretical , China , Geology/trends , Humans , Stress, MechanicalABSTRACT
The mechanical analysis model of surface-bonded fiber Bragg grating (FBG) shear strain transfer is established in consideration of the linear viscoelastic effect of the adhesive layer, which is simplified as a standard linear solid model. And the strain transfer relation is acquired and validated by anchor bar uniaxial tension experiments. There is good correspondence between calculated values and experimental results. Finally, the influences of shear modulus, length and width of the adhesive layer, and thickness of the interlayer on the instantaneous and quasistatic strain transfer are analyzed by numerical simulation.
ABSTRACT
Material and dimensional properties of surface-bonded fiber Bragg gratings (FBGs) can distort strain measurement, thereby lowering the measurement accuracy. To accurately assess measurement precision and correct obtained strain, a new model, considering reinforcement effects on adhesive and measured object, is proposed in this study, which is verified to be accurate enough by the numerical method. Meanwhile, a theoretical strain correction factor is obtained, which is demonstrated to be significantly sensitive to recoating material and bonding length, as suggested by numerical and experimental results. It is also concluded that a short grating length as well as a thin but large-area (preferably covering the whole FBG) adhesive can enhance the correction precision.
