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First steps towards an autonomous mining robot for coal extraction

: Forster, S.; Schraft, R.D.

Institute of Electrical and Electronics Engineers -IEEE-:
IEEE International Workshop on Intelligent Robots and Systems '90. Towards a New Frontier of Applications Vol.2
New York/N.Y., 1990
International Workshop on Intelligent Robots and Systems <1990, Tsuchiura>
Conference Paper
Fraunhofer IPA ()
coal; coal extraction; Drum ranging shearer; industrial robot; Industrieroboter; Kohle; Mining robot; mobile robot; mobiler roboter; robot; Roboter; Schneidmaschine; sensor; sensor system; sensory control

A semi-automated coal extraction system with longwall drum ranging shearer is described to illustrate the way in which knowledge of mobile robots can be used to tackle previously unsolved technical problems. Height adjustment by means of sonsors of the drums along the limit between the coal and country rock is the first step towards the automation of coal extraction with drum ranging shearers. Because of the changing conditions during the extraction operations, unique sensor control of the drum height is not expedient. A multi-sensor system with superimposed seam model increases the control potential. This multi-sensor system makes it necessary to merge the individual statements using algorithms derived from AI research. The sensor and control structure used for this purpose is described. It permits hybrid theoretical value generation, either from the on-line sensor guidance or optionally via an extrapolation from the environment model.