Computer-Based Monitoring And Control Of A Mast-Type Roof Drill

The U.S. Bureau of Mines is developing a roof bolter with a computer-controlled drill head that will increase the safety of roof bolting in underground coal mines by allowing miners to be relocated to a safe area. To ensure secure anchorage, acceleration and strain data are broadcast from an instrumented drill steel to a data acquisition system. These data are analyzed, correlated, and transformed to pro-vide information about roof strata, then are sent to a supervisory computer executing National Institute of Standards and Technology's real-time control software. The supervisory computer sends setpoint commands to proportional-integral-derivative control loops to control drill thrust, position, revolutions per minute, and torque.