Development of an Autonomous Conveyor-Bolting Machine for the Underground Coal Mining Industry

Abstract

This paper describes the development of a new autonomous conveyor and bolting machine (ACBM) used for the rapid development of roadways in underground coal mines. The ACBM is a mobile platform fitted with four independent bolting rigs, bolt storage and delivery carousel, coal receiving hopper and through-conveyor for coal transport. The ACBM is designed to operate in concert with a standard continuous mining machine during the roadway development process to automatically insert roof and wall bolts for securing the roadway. This innovative machine offers significant benefits for increasing personnel safety and improving productivity. The paper describes the core sensing and processing technologies involved in realizing the level of automation required by the ACBM, which includes online roof monitoring, roadway profiling, navigation, and automatic control of drilling and bolting processes.