Four-point dynamic leveling method for drilling platform application

Purpose It is essential to level the drilling platform across which a drilling robot travels in a slant underground coal mine tunnel to ensure smooth operation of the drill rod. However, existing leveling methods do not provide dynamic performance under the drilling conditions of the underground coal mine. A four-point dynamic leveling algorithm is presented in this paper based on the platform attitude and support rod displacement (DLAAD). An experimental drilling robot demonstrates its dynamic leveling capability and ability to ensure smooth drill rod operations. Design/methodology/approach The attitude coordinate of the drilling robot is established according to its structure. A six-axis combined sensor is adopted to detect the platform attitude, thus revealing the three-axis Euler angles. The support rod displacement values are continuously detected by laser displacement sensors to obtain the displacement increment of each support rod as needed. The drilling robot is leveled according to the current support rod displacement and three-dimensional (3 D) attitude detected by the six-axis combined sensor dynamically. Findings Experimental results indicate that the DLAAD algorithm is correct and effectively levels the drilling platform dynamically. It can thus provide essential support in resolving drill rod sticking problems during actual underground coal mine drilling operations. Practical implications The DLAAD algorithm supports smooth drill rod operations in underground coal mines, which greatly enhances safety, reduces power consumption, and minimizes cost. The approach proposed here thus represents considerable benefits in terms of coal mine production and shows notable potential for application in similar fields. Originality/value The novel DLAAD algorithm and leveling control method are the key contributions of this work, they provide dynamical 3 D leveling and help to resolve drill rod sticking problems.

Smart Plant Support Rod And Mobile Application

Bu çalışmamızda insan bitki arasındaki bağı kuvvetlendirmek adına bitki takip otomasyonu gerçekleştirilmiştir. Mevcut saksı bitkisinin toprağına sokulacak olan elektronik cihazımız vasıtasıyla bitkinin ihtiyaç duyduğu temel gereksinimleri sürekli ölçecek ve kullanıcıya mobil uygulamamız sayesinde bildirecek “Akıllı Bitki Destek Çubuğu” adında aygıt gerçekleştirilmiştir. Bitki destek çubuğu, bitkinin hayatta kalabilmesi ve daha sağlıklı gelişebilmesi için en uygun parametreleri kullanıcıya sunacaktır. Çalışma yöntemi olarak, gerekli sensör ve mikro denetleyici modülleri kullanılan elektronik bir aygıt ve eş zamanlı olarak mobil uygulama tasarlanmıştır. Projenin yaygın etkisi, bireysel kullanıcıların kullanımına açılmasının yanı sıra ticari maksatla saksı bitkileri yetiştiren veya satan kişiler tarafından da yüksek tercihli olarak kullanılabilecektir.