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By John Hanna

The Mineral Resources Institute (MRI) has developed a unique process for selective fatty acid flotation of phosphate minerals from siliceous ores. The process takes advantage of preferential adsorption and high reactivity of fatty acid collectors towards apatite over silica surfaces under slightly acidic conditions of pH 5-6.5. The process was successful in upgrading various phosphate samples from Florida and North Carolina containing 7.7-15.3% P205 and 62.3- 77.2% Insol to concentrates assaying 28.1-33.1 % P205 and 4.1-9.9% Insol with high P2O5 recovery of 81.8-92.2%. Depending on the type of silica impurities present one or more cleaning steps, with or without sodium silicate, would be required to improve the grade of the rougher phosphate concentrate.

Jan 1, 1992

By Milton Gomez, Nico Sutmoller

Low-density cellular concrete (LDCC) was first introduced to the market in the early 1900s and since then has made continuous technological advances. There are two primary types of LDCC: permeable and non-permeable. Both types of cellular concrete offer advantages in different types of geotechnical engineering applications. Because of its unique characteristics of low density, high compressive strength, and high fluidity during placement, LDCC offers an effective solution for a wide variety of engineering applications, and in many cases provides a more cost-effective, labor saving alternative to traditional fill materials. This paper will review the history, characteristics, and technological advances of LDCC, highlighting multiple real-world case studies that showcase the high-performance capabilities of both permeable and non-permeable LDCC.

Dec 1, 2022

By T. Rudolph, M. Pawlik, J. Benndorf, X. Yin, J. F. Brune, P. Goerke-Mallet

The long and often undefined period in the post-mining phase challenges geo-monitoring with its various responsibilities, like the detection of environmental changes, ground movements and water management. Modern methods of geo- and environmental monitoring observe numerous aspects using active and passive sensors with multispectral, hyperspectral and microwave sensors, with diverse spatial dimensions and spatiotemporal resolutions from satellites, Unmanned Aerial Vehicles (UAVs), in-situ sensors. Data integration, together with on-site knowledge and experience, provides the basis for comprehensive modeling, which improves the understanding of the environmental changes and their related causes, which is an essential step for public acceptance. In this paper, we aim to give a brief overview of various geo- and environmental monitoring methods.

Mar 2, 2022

By K. A. Natarajan, M. R. Sabari Prakasan

"Biodegradation of sodium isopropyl xanthate using two types of bacterial strains, Paenibacillus polymyxa and Pseudomonas putida, is demonstrated. At concentrations higher than 50 mg/L, the presence of xanthate in the growth medium resulted in bacterial toxicity, retarding growth kinetics. Adaptation through serial subculturing in the presence of higher xanthate concentrations resulted in the development of xanthate-tolerant bacterial strains. Stress proteins secreted by bacterial cells grown in the presence of xanthate were isolated. Bacterial cells could utilize xanthate as a growth substrate, degrading xanthate species in the process. Acidic metabolic products generated by bacterial metabolism promoted efficient xanthate decomposition. Probable mechanisms for the biodegradation of isopropyl xanthate are illustrated.IntroductionDifferent types of alkyl xanthates (ethyl, isopropyl, amyl, etc.) have been used as flotation collectors in the concentration of sulfidic ores for several decades. Large quantities of waste water and xanthate-containing effluents are generated by ore flotation processes, posing considerable environmental challenges. Billions of cubic meters of such process waste waters are produced annually across the world, most of which are discharged to the environment, often without any treatment. Leakages and accidental release of xanthate reagents from manufacturing plants and during transportation and storage can also contaminate the environment. Residual concentrations of xanthate reagents are encountered in waste effluent, which are found to be toxic to aquatic life and unfit for human consumption (Harris, 1984; Okibe and Johnson, 2002). Further, direct recycling of such waste waters for plant operations can compromise water quality standards required for process operations. The presence of residual xanthate in recycled waters from flotation plants deleteriously influences flotation processes. Xanthate can be easily decomposed at low pH values; however, CS2, which is more toxic, will be produced by the acidification of neutral and mildly alkaline xanthate-containing solutions. Physico-chemical methods such as flocculation, chemical oxidation and decomposition and physical adsorption used to remove residual collector reagents from mill process waters are often expensive and not environment-friendly (Oliveira and Rubio, 2009; Cheng et al., 2012; Molina et al., 2013,)."

Jan 1, 2015

By Terence P. McNulty

Gold-bearing outcrops were discovered in 1862 by Union soldiers garrisoned at Needles, CA, near the northwest corner of the future State of Arizona. Sporadic mining began several years later, but engineered shaft sinking and mill construction were not adopted at Oatman and the neighboring camp of Goldroad until about 1900. Geological interpretations in 1915 enabled major production during the next decade. In the late-1930s, USSR&M built a new mine and mill in Gold Road and the District flourished until closure by Federal Order L-208 in October 1942. For about a decade, Oatman’s mines were among the largest gold producers in the American West.

Feb 1, 2024

By J. M. Mutmansky

A number of previous publications have attempted to provide the practicing ventilation engineer with simple guidelines on the optimal velocity to be used in mine openings. Some of these velocities were meant to be used in metal mining operations and some were meant for coal mining. A careful review of these publications reveals that the optimal velocities were determined based upon assumptions that are not existent today. As a result, they are not suitable for use in a modern coal mine. This paper takes a new look at this problem and determines a statistical relationship for optimal velocity that can be applied under both current and future conditions. The analysis performed here is based upon the determination of the optimal velocity for coal mine entries under variations in power cost, mining cost differential, airway friction factor, time value of money, airway lifespan, and quantity of air carried. A total of 8400 different conditions were analyzed for optimal velocity using computer calculation of the capital and operating cost values. Using the individual values of the optimal velocity derived in the calculations, a linear regression equation was fitted to the data to relate the optimal velocity to the other six variables outlined above. This regression relationship allows the ventilation engineer to make an easy, rapid determination of the optimal velocity.

Jan 1, 1984

By J. O. Marsden, C. Green

In 2003, a high-temperature pressure leaching circuit to treat copper sulfide concentrates was commissioned at the copper/molybdenum operation at Bagdad, AZ. In late 2007, a medium-temperature pressure leaching circuit was commissioned at the Morenci mine in Arizona. The Morenci circuit was shut down in mid-2008, following a fire in the autoclave circuit. The onset of the global financial crisis in late 2008 resulted in significant changes to the operating profile in the Southwestern United States with respect to concentrates production, concentrates treatment, acid production and acid consumption. As a result of these changes, the Morenci concentrator was shut down, and the pressure leaching circuit remained offline. In late 2014, the increasing acid requirements in the Southwestern United States prompted a reevaluation of the Morenci concentrate leaching facilities. As a result, the pressure leaching circuit was restarted in high-temperature (200 °C) mode in May 2015 and has operated successfully for three years since recommissioning. This paper describes the current pressure leaching circuit configuration and the factors leading to the successful application of copper sulfide concentrate leaching at this location.

By Christoph Mueller, Grzegorz Tabak

Basing on five years of experience, this paper discusses modern e-drive systems used in underground transport. This covers Energy distribution and cabling principles, inverters and motors as well as auxiliary aggregates. Also an overview of different regimes for battery charging and the energy management and the method of control of the traction are lined out: This means that throttle and brake are not handled separately, but integrated into “longitudinal control” algorithms which assure that a commanded speed is maintained while synchronizing the multi motor systems and taking into account the constraints imposed by e.g. slope grade and battery parameters.

Jun 25, 2023

By R. Dorey

The Kennecott Ridgeway Mine in South Carolina is scheduled to complete mining and ore processing in the last quarter of 1999. Tailings are disposed in a 300 acre, lined tailings impoundment. To facilitate closure and reclamation, modification of the tailings impoundment operation has been adopted. Mining involved the sequenced development of two open pits. In 1996 mining of the South Pit was completed and backfilling of the pit with waste rock from the North Pit was initiated and will continue until mining ceases. Both pits will be reclaimed as fresh water lakes. This paper presents the physical, geochemical and hydrogeochemical evaluation of the operational and post operational management of the project. Comparison of the operational monitoring data against predicted performance is reviewed.

Jan 1, 1999

By T. Braun

In 1911, a young mining engineer named Bartlett Thane assembled a large claim block, 4 miles southeast of Juneau, Alaska. Across the Gastineau Channel on Douglas Island, the Alaska Treadwell Gold Mining Company had, by 1904, produced gold valued at more than three times the purchase price of Alaska in 1867 (Kelly, 2010). Thane knew his deposit was lower grade than other mines or prospects in the area; however, if the deposit was developed on a large-scale, the trend and size of the deposit made the project potentially economic. In 1911, Thane developed a business plan for the project and successfully attracted investor interest. In 1912, Daniel C Jackling visited the property at the request of an east coast investment group. Upon inspection of 5 years of production records for the Perseverance Mine, Jackling saw an opportunity to apply the low-grade/high volume milling technology which was widely adopted to the copper porphyry deposits of the southwestern U.S. With a design capacity of 6,000 tons per day (5,454 tonnes/day), Jackling’s innovative mill design would require high volume underground mining methods and the power of two new hydroelectric projects. By 1915, the Alaska Gastineau Mining Company was in full production. Between 1915 and 1919, the mine and mill set production records for haulage and throughput. The hydroelectric projects proved to be successful engineering marvels. Operational difficulties related to ore grade, refractory elements and labor shortages interrupted production on an increasing basis. In 1921, the mining company permanently shut down operations. INTRODUCTION The Juneau Gold Belt begins at Windham Bay near the southern end of Stephens Passage and extends approximately 100 miles north to Berners Bay (Figure 1). The first large-scale and sustained underground mine, operated by the Alaska Treadwell Gold Mining Company in the late 1880’s, established the Juneau-Douglas area as the regional hub for transportation and development. In the mid-1890’s, the combined population of Juneau and Douglas reached approximately 3,000 residents, largely driven by employment and support demands of several small to mid-size underground gold mines in the region. By 1904, the value of the cumulative gold production of the Alaska Treadwell was five times greater than the purchase price of Alaska in 1867 (Kelly, 2010). By the turn of the 20th century, economic growth in the Juneau-Douglas area relied on supplies delivered from the lower 48. Passenger and freight shipping lines required 3 to 4 days to make the one-way trip from Seattle to Juneau. Established shipping routes required experienced crews due to navigation hazards and adverse weather conditions. Even with precautions at the time, steam ships and freighter vessels experienced breakdowns or encounters with natural hazards that resulted in damage or in some cases, sinking. Interestingly, with no roads or railroads connecting Juneau to other communities in southeast Alaska, Juneau still relies on seaborn shipping in the 21st century.

Jan 1, 2019

By J. L. Huiatt, D. G. Foot, J. D. McKay

The US Bureau of Mines compared column flotation using either fine or coarse bubbles with conventional flotation on a Montana chromite ore. On deslimed ore, fine-bubble column flotation produced a &.7% Cr2O3-grade rougher concentrate with 87% recovery, compared with 43.8% and 43.5% Cr2O3-grade rougher concentrates with 85% and 77% recovery for coarse-bubble column flotation and conventional flotation, respectively. On undeslimed ore, coarse- and fine-bubble column flotation produced rougher concentrates containing approximately 41.5% Cr2O3 with 95% recovery, exceeding conventional flotation, which produced 35.6% Cr2O3 -grade concentrates with 87% recovery.

Jan 1, 1987

By Teena Redhorse, David Tsztoo, Anthony Yu

"Since ancient times, storing and conveying water via underground water systems and tunnels has been touted for its strategic advantages. Underground cisterns and tunnels assured protection of essential fresh water supplies from man made contamination and especially from enemies who would gain an advantage by disrupting an adversary’s water supply in a siege. Modern day engineers do not usually specify tunnels for reasons of avoiding deliberate contamination or siege — however, they are just as enamored with the idea of building tunnels for water conveyances.Such was the case for the San Francisco Public Utilities Commission (SFPUC). The SFPUC provides drinking water to 2.6 million residential, commercial and industrial customers in the San Francisco Bay Area. The SFPUC’s water system includes 257 km (160 miles) of transmission pipelines and tunnels from the SFPUC’s largest reservoir, the Hetch Hetchy Reservoir inside Yosemite National Park, to San Francisco. About 129 km (80 miles) of the system consist of tunnels. A 30-km (19-mile) section of the tunnel network, called the Mountain Tunnel, was thought to be at risk of a catastrophic failure in its concrete-lined section of 18 km (11 miles). For much of the project planning process, a new replacement tunnel was presumed to be required according to the tunnel planners.Originally constructed between 1917 and 1925, the Mountain Tunnel has been in continuous service since 1925. The 30-km (19-mile) tunnel is located downstream of the Hetch Hetchy Reservoir water source in Yosemite National Park, between the Early Intake and Priest Reservoir (Fig. 1). Approximately 18 km (11 miles) of the tunnel is lined with unreinforced concrete. Though the condition of the tunnel was being monitored through water sampling and periodic inspections, there was growing concern that the tunnel lining was at risk of a partial collapse that could interrupt water delivery for up to nine months. The SFPUC was faced with a decision to construct a new bypass tunnel to replace the lined section of the Mountain Tunnel or to rehabilitate the existing tunnel."

Jan 6, 2018

By James R. Arnold, John O. Marsden

Introduction Metallurgical accounting practices have been revolutionized over the past 15 years by the introduction of low cost personal computers and easy- to-use spreadsheet software. The Chimney Creek metallurgical accounting system takes full advantage of these advances. Data is provided by a PLC-based process control system, IBM data logging, operator logsheets and assay results from an automatatic plant sampling system. The data is organized and stored in an IBM PS/2 system using Lotus 123 and customized accounting programs to provide a comprehensive information management system. Metallurgical accounting for gold plants should ideally provide information for the following: a) Gold production accounting b) Day-to-day process control and operation c) Metallurgical evaluation and process optimization The Chimney Creek system provides all of these while overcoming specific accounting problems presented by SAG milling a coarse feed, grinding in cyanide and dump leaching run-of-mine material. Process description Gold Fields' Chimney Creek mine is located 47 miles northeast of Winnemucca, Nevada, at the northern end of the Osgood Mountains. Ore is processed by a combination of dump leaching and milling processes. The dump leach operation treats approximately 2.0 million tons per year of low grade ore (0.030 oz/ton). Run-of-mine ore is top dumped in 40 foot high pads. The use of three solution ponds for leaching enables an intermediate solution to be recirculated to the leach pad to reduce the pregnant solution flowrate and increase gold tenor of solution to the carbon-in-column (CIC) recovery circuit. Gold recovery is approximately 65% by this method. The milling process employs a SAG mill-ball mill grinding circuit to treat 900,000 tons per year at an average grade of 0.19 oz/ton. The ore is crushed to minus 12" in a jaw crusher prior to feeding the SAG mill. Cyanide is added to the grinding circuit to start gold dissolution as early as possible. After grinding, leaching of the ore is continued in a unique two-stage counter current decantation circuit 1 with 12 hours of leaching between stages . 85% of the soluble gold is recovered from the first stage thickener overflow in carbon columns (CIC). The second stage underflow is treated in a scavenger carbon-in-pulp (CIP) plant. Ultimate gold recovery is over 95%. Loaded carbon from both the dump leaching and milling processes is pressure stripped by hot cyanide solution and gold is recovered from the resulting solution by zinc precipitation. The precipitate is retorted for mercury removal and smelted into bullion. The plant flowsheet appears in Figure 1. Data collection Data for daily metallurgical accounting is obtained from three sources: a) Plant sampling b) Process control system c) Operator logsheets All of the data collection for metallurgical accounting is based around the 12-hour shift operating schedule. Sampling All critical sampling for gold production accounting is performed by automatic samplers (Figure 2). Heath & Sherwood two-stage sampling systems are used for sampling all slurry streams (cyclone overflow, CIP feed and CIP tails). The automatic sampler consists of a pneumatically operated primary sample cutter and a continuous rotary secondary splitter. The cyclone overflow and CIP tails are the most critical samples since these are used to calculate gold into and out of the plant on a shiftly basis. The CIP feed sample gives additional information concerning intermediate dissolution and recovery

Jan 1, 1990

By J. Paraszczak

Underground metal mining involves many challenges. Economic slowdown, tough international competition and sometimes volatile metal prices put constant pressure on mine operators to increase productivity and to reduce production cost. At the same time, countries such as Canada, the United States and Australia are experiencing skilled labor shortages that might even stall development of certain mine projects. Furthermore, some stages of underground production take place in particularly hazardous environments where the safety and health of miners is at risk. Automation of some processes in underground mining is one of the promising avenues to alleviate some of these problems. Loading and haulage are among the most critical operations and areas where implementation of autonomous vehicles has been targeted. However, although health and safety issues are a primary driver to opt for automation, the latter should ensure an acceptable level of productivity and pro?tability. With this in mind, this article focuses on the factors affecting operational effectiveness of autonomous underground loading and haulage equipment and the means to maximize it.

By Saghar Farajzadeh, Fatemeh Kazemi, Ataallah Bahrami

Spirals, the most common equipment for the separation of heavy minerals such as chromite, are greatly affected by size distribution and the liberation degree (hence the specific gravity and size) of the feed particles. In this study, the efficiency of spirals in separation of low-grade chromite particles has been investigated by studying the distribution of grade, size distribution and liberation degree of feed, concentrate, and tailings of spiral. For this purpose, mass balance constraints were applied to the spiral-containing chromite processing circuit. Afterwards, the grade variations and size distributions have been investigated. According to the results, when the feed to the spiral has a larger size distribution, the enrichment ratio of the feed is 1.32 and, with the smaller feed size, this value has increased to 1.99. When the spiral feed has a larger size distribution and higher specific gravity, the recovery of chromite increases with increasing particle size up to 250 microns, and then with increasing particle size, recovery decreases with a relatively steep slope. Evaluation of spiral efficiency with respect to particle liberation degree has also shown that despite the high degree of liberation of spiral feed in size fractions smaller than 75 microns (88.9%), the liberation degree of spiral concentrate and tail in this faction is equal to and less than that of feed, which can indicate poor spiral performance in these size fractions.

Oct 27, 2020

By H. N. Dougherty

"The National Institute for Occupational Safety and Health (NIOSH) Office of Mine Safety and Health Research (OMSHR) ventilation gallery was used to study methane-air flows around a continuous miner mockup with water sprays and a scrubber fan. Methane gas was released from pipes located at the face to simulate face gas emissions. Methane concentrations and air velocities were measured while varying parameters such as airflow quantity, entry width (sump or slab cut), and face ventilation configuration (blowing or exhausting curtain). Test data showed a similar pattern of methane concentrations at both low and high airflow quantities, but a difference in the distribution of methane concentrations between narrow and wide entry widths. Most tests showed that blowing face ventilation was more efficient in diluting methane than exhausting ventilation, similar to observations made in previous empty gallery studies. The patterns of airflow and methane concentrations observed in this testing can further improve the understanding of airflow in and around the CM and face, promoting effective use of face ventilation to improve the health and safety of miners. INTRODUCTION Attaining an accurate understanding of airflow distribution at the continuous miner face is instrumental in maintaining a safe mining environment. US mining regulations require that sufficient airflow must be directed to the deepest penetration of the face and render harmless contaminant gases, as verified by the Mine Safety and Health Administration (MSHA). Currently, continuous miner face air readings can be taken in the last open crosscut and at the inby end of the curtain mouth. By measuring adequate airflow in a pre-determined area it is accepted that a sufficient quantity of that air exists to sweep the face of harmful dust and gasses. Unfortunately, due to the location inaccessibility, precise face velocity readings cannot be measured in situ. Face velocities may be estimated through computer-simulated programs based on laboratory models. Improving upon previous empty gallery testing and to more effectively determine representative face methane readings, a mockup of a continuous miner with water sprays and a scrubber fan was used in the current study to further refine face airflow conditions that would be closer to actual mining conditions."

Jan 1, 2016

By Jason Swartz, Gerardo Gomez, Henry Leighton

San Antonio has experienced sustained growth for decades, putting increased pressure on existing wastewater infrastructure. In June 2013, San Antonio Water System (SAWS) reached a Consent Decree agreement that requires significant improvements to the wastewater system over a 10-year period to reduce Sanitary Sewer Overflows. One of the critical projects was the W-6 Upper Segment Tunnel project to reduce sanitary sewer overflows on an existing sewer main running through Lackland Airforce Base. The replacement project consisted of a new tunnel nearly 29,000 LF of primarily 104" FRP. The project also includes nine shafts and multiple trenchless crossings to make near surface connections to the new works.

Jun 23, 2024

By Charles G. Frush

The function of the mine surveyor is to (a) provide a network of points of accurately known position, covering the entire mine property, (b) obtain the required data for the preparation of useful maps and sections! (c) provide position and directional control for the guidance of the operations, (d) measure the progress of the work, (e) measure the movement of rock masses, and (f) make miscellaneous surveys as needed. Mining properties range from the very small to the extremely large, and from those which involve only surface operations to those involving extensive underground workings. Active mines undergo constant change, necessitating continual updating of the surveys. The differences in the character of the deposits, the scale of mining and the mining methods result in large differences in the surveyor's activities and techniques, but many of the problems involved are common to most mines. The surface work of the mine surveyor is very similar to that, of the plane surveyor in that control points are established by triangulation, trilateration and traversing. Detail is taken by direct measurement, by stadia and by aerial photography. The equipment used, the techniques and the methods of processing the resulting data are likewise very similar. However, the underground work is quite different : A. The lines of sight frequently must be carried through constricted openings, often involving short lines of sight and awkward setups. B. The lighting often is poor, requiring illumination of the backsights and foresights, and the crosshairs. C. The ambient conditions often are difficult, involving falling water, high tem- peratures, poor visibi 'kv and heavy traffic through the area being suneyed. D. The surrounding rock map be unstable, resulting in movement or loss of the surveying stations, as well as hazard to the surveyors. E. The points to be measured often are difficult or impossible to reach. F. Steep vertical sights often are necessary, requiring the use of special equipment. G. Many working levels commonly are involved, requiring the transfer of position and orientation to each with a high level of precision. This section therefore will concentrate on surveying problems peculiar to the mine surveyor, chiefly underground work. 22.1-THE MINE COORDINATE SYSTEM A system of coordinates is essential for all permanent mining operations It is very desirable that all mining operations in a ,given area b~ tied into the same system, as this minimizes problems of boundaries and connections Whenever possible this system should be tied into and made part of the state or regional grid system. It is desirable to orient the coordinate grid on a true-north line and to position the origin of the coordinates so that all of the work will be in the "northeast" quadrant, making the north and east coordinates always positive. This can be done by subtracting suitable constant values from the north and east coordinates of the regional system The residual values are of more convenient magnitude and can be used as the local mine coordinates. If the long axis of the mineralization is not generally north-south or east-west.

Jan 1, 1973

By Steve Kral

Americans are taking a more critical view of various environmental laws because the effects of those laws are becoming more pervasive and intrusive, according to William Perry Pendley. And Secretary of the Interior Bruce Babbitt is seemingly so unpopular in the West, he no longer campaigns there for Clinton Administration policies. Pendley is president and chief legal officer of the Mountain States Legal Foundation, a public service, non-profit law association that takes on property rights cases for people who cannot afford representation. He was one of the luncheon speakers at the 101st Northwest Mining Association meeting, held in Spokane, WA in early December.

Jan 1, 1996

By JIACHENG XIE, Juanli Li, Wenyong Du, Tao Cui, Mengyao Dong, Pengfei Huo

The operation of intelligent coal mining in complex geological environment is still unable to realize automation. In order to realize the autonomous cutting of fully mechanized mining equipment and improve coal production, a mining and transportation equipment dynamic advancement path planning method based on spatial kinematics coordinate deduction prediction and real-time correction prediction of coal-rock state identification of equipment cutting current index are proposed. Firstly, the spatial motion law of the mining and transportation equipment is analyzed, and the mathematical model of the spatial motion of the mining and transportation equipment is established. The relationship between the adjustment of the shearer rocker arm and the pose change of the scraper conveyor is determined, and the coordinate deduction model of the spatial advancement position of the equipment is determined, which provides a theoretical basis for the advancement path planning of the mining and transportation equipment. Then, on the basis of the mathematical model construction, combined with real geological data and equipment information, the three-dimensional dynamic planning of the advancement path of the mining and transportation equipment is carried out from the two dimensions of the horizontal advancement direction and the shearer walking direction. At the same time, the relationship between the cutting current index of shearer and the state recognition of coal-rock mass is analyzed, and the coal-rock mass state identification of cutting current and the adjustment of rocker arm model is constructed, and the real-time dynamic correction of three-dimensional path is carried out, so that the planned path can better adapt to the sudden change of real geological environment. Then, using the unity3d virtual reality technology, a simulation system for the horizontal advancement path planning of the virtual mining and transportation equipment is constructed, which simulates the real advancement operation process of the mining and transportation equipment and conducts advancement training. Finally, the dynamic advancement scheme update prediction based on the existing actual cutting but ahead of the actual cutting is realized in the virtual scene, and the optimal scheme is transmitted into the existing prediction cutting system to guide the actual physical equipment mining. The path planning method can control the coordinate position error of the advancing cutting path within 15 mm, which provides ideas for the research on the advancing path planning of fully mechanized equipment.

Nov 22, 2022