System for Positioning of the Roadheader in Roadways of Hard Coal Mines

The system for positioning of the roadheader operating in hard coal mines roadways developed in KOMAG is presented. The system, which uses propagation of radio and ultrasonic waves is not typical as regards known systems which mainly use laser technology. Design of the system, measuring technology as well as the method for determination of roadheader’s position and orientation in roadways is described. Two versions of the system configuration are presented. In the first one, geometry of arrangement of ultrasound receivers on a roadheader enables determination of its orientation. In the latter one, one of the parameters describing roadheader’s orientation is determined from the position of ultrasound receivers, and two other parameters are determined from readings of inclinometer. Components of physical model of the positioning system, which was tested in mine experimental roadway are presented. Results of tests as well as accuracy of the system readings are given.