This paper presents an experimental investigation of anisotropic strength and deformation behavior of coal measure shale. The effect of two factors (i.e., anisotropy and water content) on shale strength and deformation behavior was studied. A series of uniaxial and triaxial compression tests were conducted on both room dried and water saturated samples for different lamination angles. The test results indicate that (1) the compressive strength, cohesion, internal friction angle, tangent Young’s modulus, and axial strain corresponding to the peak and residual strengths of room dried specimens exhibit anisotropic behavior that strongly depends on the orientation angle(β); (2) in comparison to the room dried samples, the compressive strength and Young’s modulus as well as the anisotropy are all reduced for water saturated specimens; and (3) the failure mechanism of the samples can be summarized into two categories: sliding along lamination and shearing of rock material, with the type occurring in a particular situation depending strongly on the lamination orientation angles with respect to the major principal stress. According to the findings, it is strongly recommended that the effect of anisotropy and water content on the strength and deformation behavior of the rock must be considered in ground control designs.

In the study of coal mining, the position and posture, the working status, and the straightness of the hydraulic support are critical to the safety of the coal mine. To detect and control the position of a hydraulic support, a model for solving the self-position and posture and a model for solving the relative position and pose of a hydraulic support based on the principle of three points determining a plane in space were established. Then, with the help of particle swarm optimization algorithm and Bang-Bang control algorithm, the hydraulic support position and the posture detection and control system are constructed. Finally, according to the requirements of sensor data collection and online monitoring of the position and posture of hydraulic support, a hydraulic support posture detection and control system is developed, and the simulation experiments of hydraulic support cylinder movement sample collecting, hydraulic support following motion and hydraulic support independent following machine are carried out on the self-developed three-machine intelligent control simulation experiment platform of the working face. However, the test under this simulation platform did not add the load of the top beam. The results show that the self-pose solution model and the relative-pose solution model of the hydraulic support can be used to quickly monitor the position and posture of the hydraulic support group. In the hydraulic support cylinder following motion movement, the largest following error of each cylinder is the balance cylinder, and its maximum error is 2.6 mm. In the hydraulic support independent following machine simulation, the maximum motion error of the support base is 2.2 mm. The position and posture detection and control system developed for hydraulic support can realize accurate detecting and control the position and posture of hydraulic support, as well as meet the requirements for industrial applications.

Measuring the straightness of the scraper conveyor, which is an indispensable piece of equipment in a fully mechanized coal face, can prevent accidents such as derailment of the shearer and is also important for the precise positioning of the shearer and the accurate control of the hydraulic support. The existing scraper conveyor straightness measurement methods have the disadvantages of inconsistent measurement cost, accuracy, and reliability as well as low dimension of straightness description. To this end, this paper proposes a method for monitoring the three-dimensional straightness of a scraper conveyor based on binocular vision. Trapezoidal window matching technology was used to realize the image acquisition of multiple stations and multiple sensors. The bit pose acquisition model of binocular vision 3D reconstruction was used to obtain the 3D coordinates of the feature points on the sign board in each local coordinate system and the bit pose information of each sign board. The pose relay videometric method was used to convert the straightness in each local coordinate system to the global coordinate system to realize the 3D reconstruction of the scraper conveyor. Finally, the straightness measurement test of the preset scraper conveyor was carried out, and the error analysis was carried out by comparing with the manual measurement results, which showed that the measurement errors were all within ±30 mm. At the same time, the standard deviation of errors in both directions was small, which indicates that the straightness measurement method for the scraper conveyor in this paper has high reliability. In addition, the visual measurement process is independent of each other, so there is no error accumulation in the visual straightness measurement method. The analysis shows that the method of measuring the straightness of a scraper conveyor based on binocular vision can realize continuous and real-time monitoring of the scraper conveyor.

The shield‐roof interaction as mining proceeds in longwall panels remains unclear, hindering the further increase of longwall productivity. To uncover the mechanisms of shield‐roof interaction, using our self‐developed Status of Shield and Roof IntelliSense (SSRI) system, we investigated the effects of idle time, retreating rate, setting pressure, yielding, and shearer’s cutting, as well as neighboring shields’ advance on the spatial‐temporal evolution of leg pressure and leg closure of shields. Our results show that the shield‐roof interaction is not only dependent on the shield capacity, but also collectively determined by the time‐related factors, the geological condition, the setting pressure, yielding characteristics, and mining method. Understanding the shield‐roof interaction in longwall panels enables us to apply the SSRI system for ground control in longwall coal mines. Early warning of severe roof weighting can be achieved by establishing a warning model based on the decision tree algorithm. Apart from this, we can also assess the working condition of yield valve and diagnose fluid leakage of shield cylinder using the SSRI system. Finally, we propose the research prospects on shield‐roof interaction in longwall panels to achieve a more reasonable determination of shield capacity, prediction of roof fall and coal wall spalling, and self‐adaptive control of the shield.

An evaluation of the failures of coal under variable conditions in relation to the stability of coal pillars is an important issue for coal mining. This paper presents the results of an experimental investigation of the mechanical behavior of brittle coal under plane-strain biaxial stress state (PSBSS) compression. The synthetic specimens were meant to test the ductile properties. Modified surface instability detection apparatus was setup to carry out the tests. The results show that the stress-strain curves of coal and synthetic specimens under the PSBSS can be divided into four typical stages, namely original microcrack closure, elastic deformation, sudden stress drop, and residual behavior. The stress-strain curve of coal under PSBSS compression showed periodic stress drops during the post-peak phase, while the curve of the synthetic specimen presented a moderate decrease during the post-peak stage. The remarkable residual strengths of the coal and composites can be observed using these curves, which is vital to the stability of specimens after the failure strength is exceeded. Strain rates have a significant effect on the strength of coal samples under PSBSS compression. Specifically, a higher strain rate indicates a greater peak strength. The failure modes for coal and synthetic specimens are different. During PSBSS compressive tests, coal showed a split failure under different strain rates. For flexible composites, the failure pattern is conjugate shear failure. The study indicated that the Modified Lade and Modified Wiebols-Cook criteria are competent for estimating the defined strength coefficient, which is a ratio proposed to estimate the PSBSS peak strength.