SE1551635A1

SE1551635A1 - Guidance System for a Mining Machine

Info

Publication number: SE1551635A1
Application number: SE1551635A
Authority: SE
Inventors: Ashenhurst Bowles Charles
Original assignee: Joy Mm Delaware Inc
Priority date: 2014-12-12
Filing date: 2015-12-14
Publication date: 2016-06-13
Also published as: CN205422709U; AT516527A2; SE540580C2; RU2716765C2; CN105697015A; AU2015268615A1; CA2914558A1; ZA201509002B; BR102015031109A2; PL415213A1; RU2015153054A3; RU2015153054A; PE20160783A1; CN105697015B

Abstract

A guidance system for mining a seam of material includes a mining machine, a carriage, and a. guide assembly. The mining machine includes a cutter head and defines a roll axis extending the length of the machine, a pitch axis extending from one side of the machine to the other side, and a yaw axis extending from a top side of the machine to the bottom side. The carriage includes a first emitter, a second emitter, and a third emitter. The first emitter projects a first laser that is aligned with a seam plane. The second emitter projects a second laser, and the third emitter projects a third laser. The guide assembly includes a first indicator and a target. The first indicator is aligned with the second laser, and the target is aligned with the third laser. The relative positions of the first indicator with respect to the second laser and the target with respect to the third laser indicate the orientation of the roll axis, pitch axis, and yaw axis relative to the seam plane.

Description

Attomey Docket No. 051077-9399-US00 GUIDANCE SYSTEM FOR A MINING MACHINECROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application is a continuation-in-part of prior-filed, co-pending U.S. ApplicationSer. No. 14/014,693, ﬁled August 30, 2013, Which is a continuation of U.S. Application Ser. No.l3/236,96l, filed September 20, 2011, Which claims the benefit of U.S. ProVisional Application6l/403,8 17, filed September 22, 2010, the entire contents of all of Which are incorporated herein by reference.BACKGROUND

[0002] The present inVention relates to mining equipment, and in particular to an underground continuous mining machine.

[0003] Remote-controlled continuous mining machines are generally operated by an off-board human operator using a remote control device. The operator is positioned behind themachine and directs operation of the machine by sight. The operator must insure that the miningmachine is aligned With the mineral seam, or reef, at all times since it is difﬁcult to rectify themachine”s orientation once it deViates. In many circumstances, the reef Varies in three dimensions, making it difficult for the mining machine to folloW the seam.SUMMARY OF THE INVENTION

[0004] ln one embodiment, the inVention proVides a guidance system for mining a seam ofmaterial, the seam of material deﬁning a seam plane, the guidance system comprising a miningmachine, a carriage, and a guide assembly. The mining machine includes a cutter head anddeﬁnes a roll axis extending the length of the machine, a pitch axis extending from one side ofthe machine to the other side, and a yaW axis extending from a top side of the machine to thebottom side. The carriage includes a first emitter, a second emitter, and a third emitter. The firstemitter projects a first laser that is aligned With the seam plane, the second emitter projects asecond laser, and the third emitter projects a third laser. The guide assembly includes a firstindicator and a target. The first indicator is aligned With the second laser, and the target is aligned With the third laser. The relatiVe positions of the first indicator With respect to the second Attomey Docket No. 05l077-9399-US00 laser and the target With respect to the third laser indicate the orientation of the roll axis, pitch axis and aW axis relative to the seam lane.7

[0005] In another embodiment, the invention provides a laser emitter carriage for guiding amachine during mining of a mineral seam. The mineral seam deﬁnes a seam plane. The laseremitter assembly includes a base, a first emitter, and a second emitter. The ﬁrst laser emitter iscoupled to the base and emits a first planar laser that is aligned With the seam plane. The secondlaser emitter is coupled to the base and emits a second planar laser for aligning a mining machine.

[0006] In yet another embodiment, the invention provides a method for guiding a miningmachine during mining of a mineral seam. The mining machine including a first end includes acutter head and a second end, and the mineral seam defines a seam plane, the method includes:providing a ﬁrst laser, a second laser, and a third laser; providing a first indicator positioned onthe second end of the machine and a target positioned adjacent the machine; aligning the firstlaser With the seam plane; aligning the second laser With the ﬁrst indicator; aligning the thirdlaser With the target; and operating the machine to mine material in the seam such that the ﬁrstindicator remains aligned With the second laser and the target remains aligned With the third laser.

[0007] In still another embodiment, a mining machine includes a chassis, a cutter head, adrive mechanism coupled to the chassis and supporting the chassis for movement over a mineﬂoor, a ﬁrst light emitter, and a second light emitter. The chassis includes a first end and asecond end and a longitudinal axis extending therebetWeen, and ﬁnther includes a lower side andan upper side and a yaW axis extending therebetween. The cutter head is coupled to the first endof the chassis. The first light emitter is coupled to the chassis proximate the first end andprojects light away from the chassis and in a direction parallel to the yaW axis. The second lightemitter is coupled to the chassis proximate the second end and projects light away from the chassis and in a direction parallel to the yaW axis.

[0008] In still another embodiment, a mining machine includes a chassis, a cutter head, adrive mechanism coupled to the chassis and supporting the chassis for movement over a mine ﬂoor, and a light emitter coupled to the chassis. The chassis includes a ﬁrst end and a second Attomey Docket No. 05l077-9399-US00 end and a longitudinal axis extending therebetween, and ﬁlrther includes a lower side and anupper side and a yaw axis extending therebetween. The cutter head is coupled to the ﬁrst end ofthe chassis. The light emitter is coupled to the chassis and emits a fan laser away from thechassis in a direction parallel to the yaw axis. The fan laser projects a line onto a mine surface,wherein the line is maintained parallel to a predeterrnined direction as the drive mechanism advances the chassis.

[0009] In still another embodiment, a method for operating a mining machine having achassis and a cutter head coupled to the chassis includes: creating a survey line on a mine roof,the survey line parallel to a predeterrnined direction of advance; emitting a ﬁrst fan laser towardthe mine roof, the fan laser projecting a ﬁrst line onto the mine roof; emitting a second fan lasertoward the mine roof, the fan laser proj ecting a second line onto the mine roof; and advancingthe mining machine in the direction of advance such that the first line and the second line remain parallel to the survey line.

[0010] Other aspects of the invention will become apparent by consideration of the detailed description and accompanying drawings.BRIEF DESCRIPTION OF THE DRAWINGS

[0011] FIG. 1 is a perspective view of a guidance system according to one embodiment of the invention[0012] FIG. 2 is a perspective view of a mining machine.[0013] FIG. 3 is a perspective view of a laser emitter carriage.

[0014] FIG. 4 is an enlarged perspective view of a right side of the mining machine of FIG.2.

[0015] FIG. 5 is a perspective view of a first target.[0016] FIG. 6 is a perspective view of a second target.

[0017] FIG. 7 is a perspective view of a rear indicator.

Attomey Docket No. 051077-9399-US00

[0018] FIG. 8 is a perspective View of the guidance system of FIG. 1.[0019] FIG. 9 is a rear View of an end ofthe mining machine of FIG. 2.[0020] FIG. 10 is a rear View of the second target ofFIG. 6.

[0021] FIG. 11 is a perspective View of a mining machine including a guidance system according to another embodiment.

[0022] FIG. 12 is an enlarged perspectiVe View of a portion of the mining machine of FIG.11.

[0023] FIG. 13 is an enlarged perspectiVe View of a portion of the mining machine of FIG.1 1 .

[0024] FIG. 14 is a perspectiVe View of the mining machine of FIG. 11 positioned adjacent a mine wall.DETAILED DESCRIPTION

[0025] Before any embodiments of the inVention are explained in detail, it is to beunderstood that the inVention is not limited in its application to the details of construction and thearrangement of components set forth in the following description or illustrated in the followingdrawings. The inVention is capable of other embodiments and of being practiced or of beingcarried out in Various ways. Also, it is to be understood that the phraseology and terminologyused herein is for the purpose of description and should not be regarded as limiting. Use of"including" and "comprising" and Variations thereof as used herein is meant to encompass theitems listed thereafter and equiValents thereof as well as additional items. Use of "consisting of'and Variations thereof as used herein is meant to encompass only the items listed thereafter andequiValents thereof. Unless specified or limited otherwise, the terms “mounted,” “connected,”“supported,” and “coupled” and Variations thereof are used broadly and encompass both direct and indirect mountings, connections, supports, and couplings.

[0026] FIG. 1 shows a mining guidance system 10 including a continuous mining machine 14, a laser emitter trolley or carriage 18, and a guide assembly 26 coupled to the continuous Attomey Docket No. 051077-9399-US00 mining machine 14. The mining machine 14 engages a Work face 30 of a mineral seam 34 (FIG.8). As shown in FIG. 2, the mining machine 14 includes a chassis or body 38, a cutter head 42coupled to the body 38, and a drive system 46 for moving the body 38. The body 38 def1nes aroll axis 50, a pitch axis 54, and a yaW axis 58. The roll axis 50 extends longitudinally throughthe body 38. The pitch axis 54 extends transversely through the body 38, and the yaW axis 58extends vertically through the body 38. In the illustrated embodiment, the drive system 46includes a pair of tracks 82 on either side of the body 38. Other embodiments may use Wheels to move the machine 14.

[0027] As shown in FIG. 3, the laser emitter carriage 18 includes a base 90, an adjustmentassembly 94, a ﬁrst laser emitter 98, a second laser emitter 102, and a third laser emitter 106.The base 90 includes four Wheels for moving the carriage 18 and multiple set screWs 110 forsecuring the carriage 18 With respect to a mine ﬂoor. The adjustment assembly 94 includes agearbox 118 for pivoting each of the laser emitters 98, 102, 106 With respect to the base 90. Inthe illustrated embodiment, the first laser emitter 98 projects a ﬁrst planar laser 122. The firstplanar laser 122 extends toWard the seam 34 in a planar manner. The second laser emitter 102projects a second planar laser 126 extending toWard the Work face 30 of the seam 34. The thirdlaser emitter 106 projects a laser beam 130 that extends toWard the Work face 30. Theadjustment assembly 94 perrnits each laser emitter 98, 102, 106 to pivot in 3 dimensions,alloWing the operator to position the planar lasers 122, 126 and the laser beam 130 With highprecision. In one embodiment, the laser emitters 98, 102, 106 can be accurately adjusted for distances of up to 100 meters.

[0028] As shoWn in FIGS. 4-7, the guide assembly 26 includes a first target 146 (FIG. 4), asecond target 150 (FIG. 4), and a level indicator 154 (FIG. 7). Referring to FIGS. 4 and 5, thef1rst target 146 is coupled to the mining machine 14 on one side of the mining machine 14. Thef1rst target 146 extends aWay from the machine 14 and includes a cross-hair indicator 162.Referring to FIGS. 4 and 6, the second target 150 is coupled to the mining machine 14. Thesecond target 150 is aligned With the f1rst target 146 and includes a vertical slot 170. In theillustrated embodiment, both targets 146, 150 are mounted on the right side of the machine 14,With the f1rst target 146 being positioned proximate the cutter head and the second target beingpositioned proXimate the end 166 opposite the cutter head 42. As shoWn in FIG. 7, the level Attomey Docket No. 051077-9399-US00 indicator 154 is positioned on the end 166 of the mining machine 14 and is formed as a 1inearmarker extending across the end 166 of the machine 14. In other embodiments, the first target146 and second target 150 may be mounted in other positions With respect to the machine 14, and the targets 146, 150 and 1eVe1 indicator 154 may inc1ude other marker conf1gurations.

[0029] FIG. 8 shows the guidance system 10 in operation. The carriage 18 is positionedbehind the mining machine 14 and the Work face 30 of the seam 34. The carriage 18 is securedin p1ace by inserting the set screWs 110 into the mine ﬂoor. The f1rstp1anar1aser 122 is a1ignedWith the effectiVe mean of the seam 34. The effectiVe mean is the p1ane that perrnits theoptimum mine yie1d to be extracted by the mining operation. The method for identifying theeffectiVe mean is known by persons of ordinary ski11 in the art, and is ﬁlrther description of thisfeature is not necessary. The second p1anar1aser 126 is a1igned With the 1eVe1 indicator 154, andthe 1aser beam 130 is a1igned to pass through the Vertica1 s1ot 170 (FIG. 4) of the second target150 and hit the cross-hair indicator 162 (FIG. 4) on the first target 146. The mining machine 14is then trammed into position adjacent the Work face 30 and commences extracting materia1 from the Work face 30.

[0030] As the mining machine 14 proceeds through the seam 34, the operator monitors thethree 1aser projections 122, 126, and 130 to insure that each remains a1igned so that the machine14 eXtracts the optimum yie1d. ManeuVering the machine 14 by a remote contro1, the operatorrefers to the position of the 1aser projections 122, 126, and 130 as guides for adjusting theposition and orientation of the machine 14. During adVance and before commencing thesubsequent cutting sequence, the positions of the 1aser projections 122, 126, and 130 are checkedand, if required, the orientation of the mining machine 14 is adjusted to ensure accurate direction contro1 and positioning is maintained.

[0031] Observation of the second p1anar1aser 126 on the 1eVe1 indicator 154 providesinformation regarding the orientation of the mining machine 14 With respect to the ro11 axis 50.For examp1e, if the left side of the machine 14 dips be1oW the second p1anar1aser 126 as shoWnin FIG. 9, the operator maneuVers the mining machine 14 to raise the left side. This actionrotates the machine 14 in the direction 180 unti1 the second p1anar 1aser 126 is a1igned With the 1eVe1 indicator 154.

Attomey Docket No. 051077-9399-US00

[0032] Observation of the laser beam 130 on the ﬁrst target 146 and the second target 150provides information regarding the orientation of the machine 14 with respect to the pitch axis 54(FIG. 2) and the yaw axis 58 (FIG. 2). If the machine 14 is out of position the laser beam 130will shine onto the second target 150, indicating how to correct the orientation of the miningmachine 14. For instance, referring to FIG. 10, if the laser beam 130 is located in the top rightcomer of the second target 150, the operator steers the machine 14 to the left. This movementcauses the second target 150 to move in the direction 184 until the laser beam 130 is aligned withthe Vertical slot 170. If the laser beam 130 then shines on the first target 146 and is above thecenter of the cross-hair indicator 162, the operator angles the front of the machine 14 upward.This action moves the first target 146 upward with respect to the laser beam 130. When the laserbeam 130 shines through the vertical slot 170 of the second target 150 and hits the center of thecross-hair indicator 162, the mining machine 14 is aligned and the mining operation proceeds.

The distance of the third laser emitter 106 from the open face deterrnines the width of the cut.

[0033] After a cut is made, the laser emitters 98, 102, 106 are moved or adjusted again toprovide a guide for the next phase of the mining operation. By establishing an alignmentbetween the laser proj ections 122, 126, 130 and the guide assembly 26, the guidance system 10insures that mining machine 14 remains “on seam”, or aligned with the effective mean of the mineral seam 34, even if the seam 34 is inclined at an angle.

[0034] FIGS. 11-14 illustrate another embodiment of the guidance system 410. For brevity,only differences between the guidance system 410 and the guidance system 10 will be described in detail. Similar parts are identified with the same reference number, plus 400.

[0035] As shown in FIG. 11, the guidance system 410 includes a first light emitter 498 and asecond light emitter 502. The ﬁrst light emitter 498 is coupled to the mining machine 14proximate a first or front end 40 (i.e., proximate the cutter head 42), while the second lightemitter 502 is positioned proximate a second or rear end 44 of the machine 14. In the illustratedembodiment, the machine 14 includes a pair of a forward jacks 192 proximate the front end 40and a pair of rear jacks 194 proximate the rear end 44. The jacks 192, 194 are extendable in adirection parallel to the yaw axis 58 to elevate the body 38 and support the machine 14 relative to the mine ﬂoor or mine roof Attomey Docket No. 051077-9399-US00

[0036] In the illustrated embodiment, the ﬁrst light emitter 498 is positioned forward of thedrive system 46 and is positioned adjacent a forward jack l92, while the second light emitter 502is positioned rearward of the drive system 46 and adjacent a rear jack 194. Also, in theillustrated embodiment, both the first emitter 498 and the second emitter 502 are positioned on aright side of the body 38. In other embodiments, the emitters 498, 502 may be positioned onanother side or may be positioned between the left and right side. In addition, additional emittersmay be coupled to the body 38. The first light emitter 498 emits a first laser projection 522 and the second light emitter 502 emits a second laser proj ection 526.

[0037] In the illustrated embodiment, the light emitters 498, 502 are fan lasers such that thefirst proj ection 522 and the second proj ection 526 haVe a planar shape. In the illustratedembodiment, the ﬁrst projection 522 and the second proj ection 526 and are in-line with oneanother such that the ﬁrst projection 522 and the second proj ection 526 lie in a common plane.

In the illustrated embodiment, the plane defined by the first and second projections 522, 526 isoriented parallel to the longitudinal or roll axis 50 and extends perpendicular from the roll axis50 toward a hanging wall or mine roof l96 (FIG. l4). Stated another way, the first and secondproj ections 522, 526 may extend perpendicular to both the roll axis 50 and the pitch axis 54(FIG. ll). In some embodiments, the plane deﬁned by the proj ections 522, 526 extends parallelto the yaw axis 58 (FIG. 1 1). The plane defined by the first proj ection 522 and second projection 526 is generally parallel to the direction of adVance of the mining machine l4.

[0038] As best shown in FIG. l4, each ofthe projections 522, 526 form straight lines 532,536, respectiVely on the roof 196. Depending on the size of the laser projections 522, 526, thelines 532, 536 may oVerlap and appear as a solid continuous line or as separate line segments spaced apart by one or more gaps.

[0039] Before the mining operation, a line 200 (FIG. l4) is drawn on the roof l96 and isaligned with a predetermined cutting direction or the direction of adVance for the miningmachine 14. An operator may use this line 200 or may create (e.g., with a spray can) a secondline parallel to the line 200. In the illustrated embodiment shown in FIG. l4, the machine l4 ispositioned such that the proj ections 522, 526 are aligned with the line 200 to align the machine with the direction of adVance. During operation, the operator monitors the position of the Attomey Docket No. 05l077-9399-US00 projections 522, 526 relative to the line 200 to insure that the machine maintains alignment. Theline 200 is extended a sufficient distance to insure that the machine 14 can start and complete a full cutting cycle.

[0040] The guidance system 410 provides a simple and straightforward system for aligningthe machine l0 as the machine advances through a mine seam. The guidance system 410reduces the calibration and set-up time, therefore reducing machine doWntime between cutting cycles.

[0041] Thus, the invention provides, among other things, a guidance system for a mining machine. Various features and advantages of the invention are set forth in the following claims.

Claims

What is claimed is:

1. l. A mining machine comprising: a chassis including a ﬁrst end and a second end and a longitudinal axis extendingtherebetween, the chassis further including a lower side and an upper side and a yaW axisextending therebetween; a cutter head coupled to the first end of the chassis; a drive mechanism coupled to the chassis and supporting the chassis for movement over amine ﬂoor; a first light emitter coupled to the chassis proximate the first end, the first light emitterproj ecting light away from the chassis and in a direction parallel to the yaW axis; and a second light emitter coupled to the chassis proximate the second end, the second light emitter projecting light away from the chassis and in a direction parallel to the yaW axis.

2. The mining machine of claim l, Wherein the light proj ected by the first light emitterprojects a ﬁrst line onto a mine surface, and the light projected by the second light emitterprojects a second line onto the mine surface, Wherein the first line and the second line are collinear.

3. The mining machine of claim 2, Wherein the first line and the second line are conﬁgured to be parallel to a survey line draWn on a mine roof.

4. The mining machine of claim l, Wherein the first light emitter projects a first laserproj ection defining a ﬁrst fan plane and the second light emitter projects a second laser proj ection defining a second fan plane parallel to the ﬁrst fan plane.

5. The mining machine of claim l, Wherein the chassis ﬁlrther includes a right side and aleft side and a pitch axis extending therebetween, Wherein the ﬁrst light emitter and the second light emitter are coupled to the chassis proximate one of the right side and the left side. Attomey Docket No. 05l077-9399-US00

6. The mining machine of claim l, ﬁJrther comprising a ack coupled to the Chassis, the ackbeing extendable in a direction parallel to the yaw axis, the jack positioned proximate the f1rst light emitter.

7. A mining machine comprising: a chassis including a ﬁrst end and a second end and a longitudinal axis extendingtherebetween, the chassis further including a lower side and an upper side and a yaw axisextending therebetween; a cutter head coupled to the first end of the chassis; a drive mechanism coupled to the chassis and supporting the chassis for movement oVer amine ﬂoor; and a light emitter coupled to the chassis, the ﬁrst light emitter emitting a fan laser away fromthe chassis in a direction parallel to the yaw axis, the fan laser proj ecting a line onto a minesurface, wherein the line is maintained parallel to a predetermined direction as the driVe mechanism advances the chassis.

8. The mining machine of claim 7, wherein the light emitter is a f1rst light emitter positionedproximate the f1rst end of the chassis, and further comprising a second light emitter coupled tothe chassis proXimate the second end, the second light emitter emitting a fan laser away from the chassis in a direction parallel to the yaw axis.

9. The mining machine of claim 8, wherein the light proj ected by the second light emitterprojects a second line onto the mine surface, wherein the first line and the second line are collinear.

10. l0. The mining machine of claim 8, wherein the chassis ﬁlrther includes a right side and aleft side and a pitch axis extending therebetween, wherein the ﬁrst light emitter and the second light emitter are coupled to the chassis proximate one of the right side and the left side. ll Attomey Docket No. 051077-9399-US00

11. The mining machine of c1aim 7, ﬁJrther comprising a f1rst jack coup1ed to the chassisproximate the first 1ight emitter and a second jack coup1ed to the chassis proximate the second1ight emitter, the ﬁrst ack and the second ack being extendable in a direction para11e1 to the yaW axis.

12. A method for operating a mining machine inc1uding a chassis and a cutter head coup1edto the chassis, the method comprising: creating a survey 1ine on a mine roof, the survey 1ine para11e1 to a predeterrnined directionof advance; emitting a first fan 1aser toWard the mine roof, the fan 1aser proj ecting a ﬁrst 1ine onto themine roof; emitting a second fan 1aser toWard the mine roof, the fan 1aser proj ecting a second 1ineonto the mine roof; and advancing the mining machine in the direction of advance such that the ﬁrst 1ine and the second 1ine remain para11e1 to the survey 1ine.

13. The method of c1aim 12, Wherein advancing the mining machine inc1udes adjusting theorientation of the chassis in the event that the ﬁrst 1ine or the second 1ine become misa1igned re1ative to the survey 1ine. 12