The coal mining industry has always been a "high-risk industry". In complex underground situations, not only is it dark and humid, but natural disasters such as water, fire, gas, coal dust, and roof are also "lurking", constantly threatening the safety of coal miners. Intelligent coal mining is an inevitable trend in the development of global coal mining technology, and it is also an urgent need to achieve safe and efficient production in China's coal industry.
The key equipment for intelligent coal mining - inertial navigation system plays an important role.
Intelligent perception, intelligent decision-making, and automatic control are the three elements of intelligent coal mining. Intelligent mining has the functions of self-learning and autonomous decision-making, with the ability of self perception, self-control, and self correction. Only intelligent comprehensive mining systems with such capabilities can fully respond to changes in the production environment, achieve true intelligent mining, and achieve the goal of unmanned mining under limited conditions. The coal mining machine is also a key equipment for intelligent coal mining. It is impossible to use GPS and other devices to determine its position and direction underground. Once the direction of travel is incorrect, the longer the travel, the greater the deviation, which can reach tens or even hundreds of meters. At this point, a directional tool is needed to continuously correct the errors in the device's travel path. To achieve this goal, a high-precision sensing device - an inertial navigation system - is needed to detect the posture of the moving machine. Inertial navigation has the characteristics of small size, high accuracy, no dependence on external information, strong anti-interference ability, and good concealment. Inertial measurement devices generally include accelerometers and gyroscopes. An accelerometer measures the acceleration of an object, while a gyroscope, also known as an angular velocity sensor, measures angular velocity. The parameters recorded by these devices can be used to calculate and navigate.
In the field of intelligent coal mining, Huilian Technology's INS-300 autonomous navigation positioning and orientation system has been highly recognized by many coal enterprises.
The INS-300 has the ability to navigate, locate, and orient autonomously without being affected by external environmental interference.
INS300 can provide real-time information on the three-dimensional position, attitude, angular velocity, acceleration, and other aspects of the carrier. INS300 adopts high-precision fiber optic gyroscope as the core inertial measurement unit, with high accuracy, reliability and stability. The INS300 can accurately self locate the north for initial alignment, and can also introduce initial attitude information from the outside world for navigation data calculation.
INS300 supports external odometer information for assistance, and can also integrate satellite navigation information for data fusion. With the help of new generation precise calibration technology and multi-sensor data fusion technology, the reliability, accuracy, and dynamism of the system are greatly improved. The INS300 adopts the inertial navigation/satellite tight coupling algorithm and has functions such as dynamic base alignment, inertial navigation/satellite integrated navigation, autonomous zero velocity correction, and autonomous calibration.
Application Cases
——Fenxi Mining Group Hexi Coal Mine
Source: China Coal Industry Magazine
When it comes to coal miners, the first thing that comes to people's minds is that they are dressed in dark clothes and go underground to dig coal hundreds of meters. Nowadays, in our Hexi Coal Mine, the working face is unmanned and four people on the ground have become the norm. On May 22nd, the installation and commissioning of the 3412 intelligent working face was completed, marking that our mine has become the first mine in Shanxi Province to achieve surface coal mining. We are striding forward towards becoming a benchmark mine for high-level intelligent mining, "said Xiao Haibin, the mine manager.
As early as November 1, 2019, the installation of the 3412 intelligent chemical working face in Hexi Coal Mine began, and the equipment installation was completed on December 25 of the same year. The initial collection and release were completed on January 16th this year. The commissioning of intelligent control system was started on January 17, and the formal centralized commissioning was started on April 13 to the completion of all project commissioning on May 22.
Image: Placement diagram of the mining machine of Huilian Technology INS300 in Hexi Coal Mine
The 3412 intelligent working face has achieved one click start stop of the coal mining machine, scraper conveyor, and transfer machine in the ground centralized control center, realizing memory cutting of the coal mining machine, collaborative operation of the machine frame, automatic straightening of the working face using the inertial navigation system, automatic video follow-up of the working face, and real-time intelligent communication between the mine and underground. The number of workers on the working face has been reduced from 25 to 12.
Image: Huilian Technology Engineering Leader Enters Hexi Coal Mine for Installation and Debugging
In order to provide support to our fellow employees in the coal industry
Create a safe and convenient working environment
Engineers at Huilian Technology
No matter how hard or tiring it is, we still have to rush to the front line
Contribute our own strength
The 3412 intelligent working face is an intelligent control system composed of nine subsystems on a comprehensive platform. Through this system, remote control of coal mining, loading, and transportation automation has been achieved. Now everyone is operating at the end and end of the working face, minimizing the labor intensity of frontline workers. When it comes to this "high-end" production process, Xue Shaolong, the captain of the second comprehensive mining team of the mine, speaks highly of it.
Image: Huilian Technology engineer holding INS300
The employees of Huilian Technology are always ready
The 'battle' for the coal industry
Another key project that Hexi Coal Mine and 3412 Intelligent Chemical Working Face are simultaneously advancing and equally valued is the deployment of a complete set of equipment for rapid anchor excavation. The equipment consists of three parts: an integrated anchor digging machine, a hydraulic anchor drilling vehicle, and a transfer conveyor. The first half is 12 meters long, 5 meters wide, and 2.8 meters high, weighing 95 tons. The second half is basically the same in length, width, and height as the first half, weighing 63 tons. This behemoth can be called an "aircraft carrier" on the excavation front, with astonishing combat effectiveness.
The main function of the anchor digging machine is to "open the way" and provide temporary support. The cutting head is a drum type, which can cut coal with a width of 5.14 meters and a height of 3.2 meters in one go, forming a roadway in one go. The cut coal, under the action of the left and right rake claws, enters the scraper conveyor, and then enters the conveyor belt through the second half of the transfer conveyor, and is transported to the coal warehouse in one go.
The operator presses the start button on the control panel, and the coal mining machine deep underground enters the "unmanned driving" state, smoothly cutting and moving coal. Coal flows like flowing water continuously through belts towards the ground. The operators do not need to go down the well, just like white-collar workers in the city, sitting in the office to control equipment and grasp the production situation... This is the working scene presented by Hexi Coal Mine today.
Wuxi Huilian Information Technology Co., Ltd. is a high-tech enterprise dedicated to the research, development, production, and sales of various types of fiber optic gyroscopes, MEMS gyroscopes, tilt sensors, inclinometers, leveling instruments, electronic compasses, GPS, Beidou navigation, as well as AHRS, IMU, and integrated navigation systems. Especially in the field of fiber optic gyroscopes, the company adopts a unique digital closed-loop solution and has multiple patented technologies, making it one of the competitive fiber optic gyroscope suppliers in China.
The multi-faceted cooperation with Peking University Regional Fiber Optic Communication Network and National Laboratory of New Optical Communication Systems has established the company's rich technical reserves and strong research and development capabilities, and created an inertial navigation service platform with independent intellectual property rights. The company currently has various precision products applied in multiple fields such as oil well inclinometer, inertial north finding, navigation, guidance, platform stability, attitude control, etc., and has the ability to develop customized products according to customer needs. Welcome to inquire by phone.
