UA89535C2 - Method and apparatus for horizon control in a mining operation and device to implement it - Google Patents

Abstract

A method and apparatus for horizon control in a mining operation is provided. Fresh product (3) is cut from a seam (1). The cutting exposes a fresh cut product face (25). The fresh cut product face (25) is observed at a position immediately adjacent a cutter (11). Any temperature contrast regions from an IR observation between an upper limit of observation and a lower limit of observation are noted. At least one height co-ordinate position of a temperature contrast region (33) is determined and an output signal provided of the determined height co-ordinate position so that the output signal can be used as a horizon datum for horizontal control.

Description

execution with reference to the accompanying drawings based on the design with long faces. As previously stated, the invention is not to be limited to long face designs and the following description is to be considered by way of example. For other methods of field development, the principles outlined here can be used in a similar way.

On the drawings:

Fig. 1 depicts a schematic perspective view of the development process with deep holes deep in the ground;

Fig. 2 shows a schematic diagram similar to Fig. 1, showing a mined mineral bed showing a region of thermal infrared contrast in the form of a band on the fresh surface after extraction of the mineral; Fig. 3 depicts a schematic view showing the field of view of an infrared camera examining in situ the fresh surface after extracting the mineral in the area of the cutting device and between the lower boundary of the formation and the upper boundary of the formation; Fig. 4 depicts a diagram showing the field of view of an infrared camera as shown in Fig. 3, however, which shows the primary coordinate for determining areas of temperature contrast;

Figure 5 is a graph showing the intensity levels of the gray pixels of the image measured along the line shown in Figure 4; fig. b6 depicts a graph showing the height of the temperature contrast section depending on the position of the mining combine;

Fig. 7 shows a diagram of the functional block, which displays a device for processing image signals of the temperature contrast area of infrared radiation, received from an infrared camera, which visually inspects the infrared radiation of a fresh surface after extracting a mineral; Fig. 8 depicts the processing algorithm used with the device schematically depicted in Fig. 7; Fig. 9 depicts a view similar to the view in Fig. 3, but which shows a second observation of infrared radiation of the fresh surface after extracting the mineral to determine the upper or lower boundary of the formation;

Fig. 10 depicts a block diagram similar to the block diagram shown in Fig. 7, however, which shows the addition of blocks for processing information about the upper and/or lower boundary of the mineral bed; Fig. 11 depicts an algorithm for use with the device shown in Fig. 10 to the extent necessary to determine the upper and/or lower boundary of the reservoir,

Fig. 12 depicts an algorithm that shows output signals for use in monitoring the horizon of a mining combine, and

Fig. 13 depicts a functional diagram that shows the automated control of the horizon in the mining combine.

The following description discusses development with long faces. As mentioned earlier, inventive ideas should not be limited to long-shot development. The inventive ideas may be practiced in other mining applications/approaches, and the invention should be considered as also applicable to other mining applications/approaches.

Fig. 1 depicts a schematic perspective view, which shows layer 1 of mineral C in the mine. Typically, a fossil

C is coal, but it can be any other material. Coal is usually deposited in the layers of seam 1.

Seam 1 is bounded by upper layers 5 and lower layers 7. Coal can be deposited in layers of various geological materials, such as coal itself, clay or ash, or other material of variable thickness and hardness. This stratification can appear in the form of thin horizontal linear bands in layer 1 coal. These linear bands are strongly associated with the profile of reservoir 1. Because these linear bands are strongly related to the profile of reservoir 3, we realized that by logging one or more of these linear bands, we can provide a means of obtaining a primary coordinate for control of the horizon of the mining combine. Typically, the streaks are not always clearly visible to the naked eye and some automated process is required to detect one or more streaks and to generate output signals that can be used by a conventional mining rig horizon control scheme to control the position of the mining rig horizon and thus the installed cutting device. Fig. 1 shows a partially excavated mine, where the mining combine 9 has a rotary cutting device 11.

The cutting device 11 is mounted on a lever 13 that can swing up and down relative to the mining combine 9. The mining combine 9 is mounted on rail means 15 extending along the width of the reservoir 1 (or at least along the width of the intended developed section of the reservoir 1). The mining combine 9 moves along the rail means 15, and the lever 13 is raised or lowered so that the rotary cutting device 11 extracts the mineral C from the formation 1. In some cases, the mining combine Y may have a second lever 13 and the cutting device 11 located at the other end of the mining combine 9. In this case, one of the knife shafts 11 takes out the mineral C from the layer 1 upwards in the direction of the roof 17 of the mine, and the other cutting device 11 takes out down to the bottom 19 of the mine. Typically, the roof 17 is at the junction between the layer 1 and the upper layers 5. Similarly, the sole 19 is at the junction between the layer 1 and the lower layers 7.

The overhanging roof 17 is held by a large number of fire brackets 21. Only two fire brackets 21 are shown, but in practice there are many fire brackets 21 located next to each other along the length of the rail means 15. The fire brackets 21 are connected by their lower support sections to the rail means 15 and can be manipulated to push the rail means 15 forward towards the formation after the passage of the mining combine 9. The core mounts 21 can be further manipulated to further push them towards the rail means 15 which move the upper mounting arms 23 close to the fresh surface 25 after extraction fossils from reservoir 1. The method for moving the mining combine 9 and rocking the knife shafts 11 and moving the fire mounts 21 are considered to be known in themselves in the field of development with long faces and will not be described in detail here. Fig. 2 shows a perspective view of the layer 1 of mineral C in the developed state, as shown in Fig. 1 without the upper layers 5, the lower layers 7, the mining combine 9 and the bonfire fasteners 21. Here, it is clearly shown that the cutting device 11 of the mining combine cut the fresh surface 25 of the mineral, which has a vertical wall 27 passing from one side to the other along the layer 1. It also has a vertical end wall 29, which is sunk into the layer to a depth equal to the depth of immersion of the cutting device 11.

Figure 2 also shows the preliminary surface 31 of the mine cut, which runs parallel to the fresh surface 25 of the mine cut. Figure 2 also shows a single band or feature 33 running through the entire layer 1. In practice, there may be one or more bands or features 3 that all run approximately in planes parallel to each other. Bands or features 33 are mainly flat, but there are some slopes and other contours present due to the layered nature of formation 1. Typically, band or feature 33 consists of deposits of material having a hardness greater than that of mineral C as such. In some cases, the band or feature 33 may be visually distinguishable to the naked eye, but it may also be invisible to the naked eye.

We have found that if the infrared radiation emitted from the fresh surface 25 after mining near the cutting device 11 is observed, the band or feature 33 shows a level of infrared radiation that is higher than the infrared radiation level of the surrounding mineral 3. This is probably because the cutting device the device 11 heats the material of the band or feature 33 more strongly than the material of the mineral C during the extraction/development process. Accordingly, by observing the infrared radiation of the fresh surface 25 after extracting the mineral in a place immediately near the cutting device 11, it is possible to determine any areas of temperature contrast from the observation of infrared radiation between the upper observation limit and the lower observation limit. In this way, if the upper boundary is ideally located just below the junction between layer 1 and upper layers 5 and/or lower layers 7, then any defined areas of temperature contrast will indicate the presence of band or feature 33. The position of band or feature 33 can then be used to control the horizon in the mining combine 9. Since the strip or feature 33 is mainly parallel to the upper or lower boundary of the formation 1, relative to the roof 17 or the sole 19, the provision of a primary coordinate based on at least one area of temperature contrast allows the use of an ideal mechanism for setting to a given the position of the horizon for the control of the mining combine 9.

In an example of a preferred embodiment, a thermal infrared video camera operating with the long waves of the RAI system (8-14 microns) at a speed of 25 frames/s is used to provide a digital image of the fresh surface 25 after extracting the mineral. It may also be possible to use a computer controlled display video camera that is sensitive to short wave (1-3 micron) thermal infrared radiation to visually observe the fresh surface 25 after mining. The imaging device may be appropriately selected to match the particular mineral being mined and mining equipment. When a video camera is used, the analysis of the resulting digital image can be carried out in each frame or in selected frames, in other words, in every 25th frame. Alternatively, a thermal infrared camera can be used and images generated at predetermined time intervals that depend on the speed of movement of the mining combine 9 on the surface of the layer 1 during the development of the deposit. In the presented example, the imaging device is a digital thermal infrared camera that examines the fresh surface 25 after extracting the mineral, which runs along the width of the development of the layer 1, and each frame is analyzed, since this increases the sensitivity of the system to small indicators of thermal infrared radiation compared to the analysis of each so the so-called 25th frame. In an alternative embodiment, the fresh surface after extracting the mineral can be a vertical end wall 29, which represents the depth of the cut of the cutting device 11. This alternative should be considered within the scope of the invention.

It is desirable that the camera examines the test area on the fresh surface 25 after extracting the mineral in the immediate vicinity of the cutting device 11. In this way, the residual infrared radiation will reach an almost maximum level, where the temperature will not decrease for a certain period of time after the passage of the cutting device 11.

The infrared sensitivity of a thermal infrared camera has a distinct advantage over standard visible light cameras in field development operations.

In particular, long-wave thermal infrared cameras are highly sensitive to occlusions caused by dust. Thermal infrared cameras can also work in complete darkness, which further makes them suitable for practical use. The observation area 34, which covers the test area 35 of the camera, should probably show important test features appearing in the thermal region, which may not otherwise appear in the visible region. A typical position for installing the camera is the position on the body of the mining combine 9 and it is oriented so that the camera has an object of inspection on the investigated area of the cutting device 11 and any surrounding layer 1 or layers 5, 7, and so that it is protected from strict mining working conditions.

Figure 3 shows the observation zone 34, which covers the investigated area 35 of the digital video camera. In this case, the studied area 35 has a somewhat trapezoidal shape. It depends on the angle of inclination of the camera relative to the fresh surface 25 after extracting the mineral. The research area 35 is selected in the observation area 34 by selecting specific pixels to determine its area. fFig.3 shows a single band or characteristic 33, but other bands or characteristics 33 may be present. Fig.4 shows the setting of the initial position 37 of the survey at a distance "a" from the zero position on the horizontal axis "X". The level of the initial position 37 moves along the vertical axis "y" up and down along the height of the observation zone 35 of infrared radiation. Fig.4 shows that the level of the initial position 37 has a point of intersection with the strip or characteristic 33 at the height "p" in the direction "Y" (vertical).

Thus, by determining the coordinate that refers to the intersection of the level of the initial position 37 with the strip or characteristic 33, it is possible to determine the position of the strip or characteristic 33 and use the position of the coordinate to control the horizon of the mining combine 9.

It should be noted that as the mining combine 9 moves along the seam 1, the observation area 34 will also move and the position of one or more bands or features 33 will be tracked. Thus, as the seam 1 moves up or down, the band or feature 33 must move in unison, and continuous control of the mining combine 9 can be carried out by determining the height of the intersection of the level of the initial position 37 with the strip or feature 33. Thus, if the position in height of the strip or feature 33 changes, then a corresponding change in the coordinate position will take place intersection, which can be used to provide a signal to control the mining combine 9.

Referring now to Fig. 5, we see a graph of the intensity levels of infrared pixels determined from the camera relative to the background in the investigated area 35 in the observation area 34. In the example, the ordinate of the initial position 37 is determined by the special locations of the pixels in the digital image obtained from the digital video camera. Fig. 5 depicts the intensity levels of gray pixels along the ordinate of the initial position 37, which passes up and down the height of observation. In Fig. 4, the graph shows the maximum among the values of the intensity of gray pixels at the distance "p" in height. In Fig. 5, the distance "p" in height is shown along the horizontal axis. Here, a localized maximum of 39 appears among the gray pixel intensity values at height "B". The value of the localized maximum 39 is represented by the ordinate "a". Fig.5 also shows that a threshold value can be set, which has the ordinate "Otip". Thus, if the localized maximum 39 exceeds the threshold value, then this then represents an area of temperature contrast relative to the surrounding background. This, in turn, represents the placement height of the band or feature 33. Typically, dOtip is set higher than the background threshold level of infrared radiation emitted by the fresh surface 25 after mining, for a known composition of the mineral 3, such as coal. The threshold value represented by the agtip value is necessary to determine, for example, where the band or feature 33 is, or whether it is absent or slightly different from the background. If the largest value "a" of the intensity data of the gray pixels of the vertical line is equal to or greater than the specified minimum threshold value dOtip band detection, then the index "p" (on the horizontal axis) associated with the maximum value "a" is taken as the real position of the section of the temperature contrast (and banding or characteristics) in the image. If the value "4" is less than threshold value aOtip, then the height is not calculated.

Any tracking of a band or feature 33 needs to take into account the tracking errors and noise associated with the detection and/or localization methods. This is especially important in cases where the band or feature 33 appears relatively weak in the infrared image. In some cases, intensity values may be so large relative to the background that special processing may not be necessary. In the case where there may be a relatively weak maximum of localized infrared radiation, a robust filter that tracks the feature can be applied. The Kalman filter is a particularly useful robust filter and is well known for signal processing.

The Kalman filter recursively generates parameter estimates using a state vector, a system model, and an observation model. For this one-dimensional version of position tracking as a function of velocity, the state vector is given by the vector (2xX1) that

ЮМ(Ю), which contains the true height of Х(Ю) and speed m) of the lane or characteristic 33 at the time of Х. The system model is given by the equation х((-1)-ЕХх()-к(), where

E-G JSC

where is the (2x2) matrix of the model that describes the evolution of the system, AT represents the time interval between adjacent image frames, and where m() is the (2x1) matrix that represents the perturbation of the system to enable tracking of the marker stripe feature. It is assumed that the elements of the matrix m) are distributed as Gaussian noise with a zero mean and a covariance matrix О of size (2x2). The observation equation has the form

Б(0-Нх(дО-ш(0), where Б() represents the height estimate generated by the strip or characteristic detector 33 and the localization process at the moment of time Her, Н-Г1 0) is a vector of size (1х2), х() is the aforementioned state vector, and σ() represents the error associated with the algorithm for finding the marker strip. The value of σ) is assumed to be distributed as Gaussian noise with zero mean and covariance B.

When the tracking process is initiated, the corresponding elements of the state vector are assigned a height value of the current lane or feature position of 33 or zero speed, while the diagonal elements of the covariance matrix OO of the system model are assigned a value of 0.01, which represents a good model for the typically slow dynamics of the lane or feature 33, and the covariance B associated with the survey equation is a relatively large value of 10.0, consistent with current practice, to ensure convergence. The Kalman filter is implemented using standard prediction and correction steps, the details of which are widely available in the public literature.

Estimates obtained with the Kalman filter provide a better representation of the dynamics of the detected band or feature 33 and show high robustness to noise for unfiltered estimates. Filtering stage

Kalman, although not essential, proves particularly useful in cases where the intensity of the band or feature 33 is relatively weak (ie, low signal-to-noise ratio), as it provides a robust and deterministic way to deal with noise and measurement error.

It should be noted that there may be many gray pixel intensity maxima along the output level, each representing a different band or feature 33. Additionally, these maxima may have different peak pixel intensity values. All of these can be processed to determine if they exceed a threshold value, and all of these or selected values are used to control the horizon. Fig. b shows a graph of the strip or characteristics 33 depending on the position of the mining combine 9.

The actual registration of the strip height coordinate or characteristic 33 is essentially the determination of the area size. When the mining harvester is running, it is advantageous to refer to the strip height coordinate or characteristic 33 as a function of position instead of time. This is easily done by recording the height values of the strip position or feature 33 relative to the position of the mining combine 9. Figure b illustrates typical output data from a tracking algorithm (referred to later) that shows the height of the strip position or feature 33 as a function of the horizontal position of the surface of the mining combine 9 along the width of layer 1.

Fig.7 depicts a block diagram showing the blocks of a device used to provide an output signal for controlling the horizon of a mining combine. Here, the device uses the principles described above.

A thermal infrared digital video camera 41 surveys the fresh surface 25 after mining and has a viewing area 34 that covers the examined area 35. The digital output signals 43 are sent to an image acquisition unit 45 for receiving infrared image signals of the fresh surface 25 after mining immediately adjacent to the logging device 11 mining combine. Signals 47 are output signals from unit 45 for receiving images and are sent to unit 49 for processing signals, where infrared image signals in the study area 35 are recorded for at least one area of temperature contrast between the upper part of the image and the lower part of the image, and between the upper boundary of the formation and the lower boundary of the formation. If at least one region of temperature contrast is registered, the signals 51 are sent to block 53 for determining the position in height, where the coordinate of the position in height is calculated for at least one selected region of temperature contrast. The signals 55 that represent the height position coordinate are then sent to the output signal unit 57 to provide an output signal 59 that indicates the calculated height position of at least one temperature contrast region such that the output signal 59 can be used in the mining machine horizon control circuit 61 . The various blocks marked in Fig. 7 may be separate blocks or may be blocks in a computing device. Typically, the units are configured in a computing device that uses software provided to configure the computer to perform the desired functions. Although the height position coordinate has been described as a one-dimensional coordinate, it can be two-dimensional or three-dimensional by appropriate input of information signals of the absolute value of the position vector of the mining combine 9 in the mine. Such signals can be received from inertial navigation units connected to the mining combine 9.

Fig. 8 shows the algorithm of executed processes. Here, stage 1 determines the position of the mining combine.

A suitable position detection device is usually installed on the largest coal mining equipment, such as long-face miners or continuous miners.

Thus, at stage 1, signals representing the position of the mining combine 9 can be generated.

Independent known means of positioning the mining combine can be used to generate, if necessary, signals that indicate the position of the mining combine. In step 2, thermal infrared images are received using a direct digital interface or using standard analog to digital conversion methods in the case where the image is analog. A typical thermal image is shown here in Fig.4. It should be noted that from the point of data acquisition, the output information from a thermal infrared video camera is similar to the information of a standard frame image camera, that is, to a sequence of frame images in digital or analog form. The algorithm shown in Fig.8 sequentially processes each frame of the image, nominally not taking into account the acquisition rate. This frame selection is arbitrary and not restrictive.

At stage 3, the change in the combine's position is determined. It is because of this, despite the fact that the mining combine 9 has moved along the surface of the formation 3, there should be a need to re-process the existing image received by the camera 41. Thus, the signals from the process of positioning the combine are compared to register the movement of the combine 9 and, thus, that the fact that the image signals can be processed in step 4. In step 4, if a band or feature 33 is present, it indicates a local feature relative to the local background. Thus, the set of data is formed by tracking the value of the image pixel on the ordinate of the initial position 37. This leads to the generation of a set of data similar to that shown in Fig.5. In step 5, the localized maximum 39 is determined by the intensity levels of the values of the gray pixels along the vertical line of the initial position and down the observation height of the observation area 34 on the ordinate of the initial position 37. The brightest point among the pixel intensity values represents the localized maximum 39. Step 6 determines whether it exceeds the maximum 39, a threshold is set, represented by the value of avip (Fig. 5). In step 7, a robust tracking filter, such as the previously described filter, is applied

Kalman. At stage 8, the height of the localized maximum 39 (height "B" in Fig. 4) is determined. It may be desirable to express this height value in another coordinate system, such as the mining combine coordinate system. This can be achieved by direct application of camera calibration methods, in which the position of the camera on the mining combine 9 is known.

It should be noted here that the description so far refers to the detection of a single signal band or feature 33 in the observation area 34 of the study area 35. A plurality of bands or features 33 may be detected, and the algorithm is suitably formulated to enable corresponding tracking of two or more registered bands or characteristics 33. Thus, one or more registered bands or characteristics 33 can be used to control the horizon of the mining combine. This is particularly useful where there is one or more bands or characteristics

C3 may disappear in the study area 35, while other bands or features may remain unaffected.

In step 9, the height coordinates determined in step 8 are transformed as a function of the position of the harvester, as shown here in Fig.b6. Thus, the output signal 63 can be sent to the mining combine 9 to control the horizon.

Referring now to Fig. 9, we see a view similar to that shown in Fig. 3, however, which also depicts a second probe area of the infrared image 67. Here, the second probe area 67 is located to encompass the intersection of the fresh vertical surface 25 of the cut with the roof 17 or sole 19. The area and position of the second examined area is identified by the arrangement of pixels in the image of the observation zone 34. Thus, the second examined area 67 sends additional infrared image signals to register any area of temperature contrast at the intersection of the vertical surface 25 of the notch (see Fig. 2 ) or the horizontal surface of the roof 17 or the sole 19 of the layer cut. Here, any recorded region of infrared temperature contrast defines the intersection of formation 1 with upper layers 5 and/or lower layers 7. Thus, signals indicating position in height can be generated by these additional infrared image signals from the fresh surface after extraction minerals used with signals of the previously described band or characteristics 33 to control the horizon. Thus, in this case, additional infrared image signals can be processed to provide height positions of the intersection of the vertical surface 25 of the notch with the roof 17 or the sole 19 to limit the upward and/or downward movement of the lever 13 to, in turn, control the upper limit reservoir development and the lower limit of reservoir development. In this case, a second output signal is generated, which indicates the determined coordinate position along the height of the section of temperature contrast at the point of intersection.

Fig. 10 shows a block diagram of the equipment that has the previously described device that determines the strip or characteristic 33 and the device for registering the intersection of the vertical surface of the cut with the roof 17 or the sole 19. In this example, one infrared video camera 41 is used for the investigated area 35, and an additional infrared video camera 69 is used for the second examined area 67.

In the previous discussion, a single infrared camera 41 was used to cover both test areas 35, 67. In this example, a second infrared video camera 69 was used to reflect the fact that the principles should not be limited to the simple application of a single infrared camera. The left-hand blocks of Fig. 10 duplicate the blocks shown in Fig. 7 and will not be described further. On the right in Fig. 10 is shown the second thermal infrared video camera 69, which has an area under investigation 67. The digital output signals 71 are sent to the unit 73 for obtaining images. Signals 75 are output signals from unit 73 for receiving images and are sent to unit 49 for signal processing.

Here, the signals are sent to the block 53 for determining the height position, where the coordinate positions in height of the temperature contrast areas are calculated, which determine the intersection of the vertical surface of the formation cut with the roof 17 and/or the sole 19. Here, the signals are sent to the block for the output signals to determine signals that indicate the coordinate position that are sent to the mining combine control circuit 61 to control the mining combine. Fig.11 depicts a processing algorithm for detecting the intersection of the fresh surface 25 after mining with the roof 17 or sole 19. This algorithm requires two parameters that are set during the initial calibration. The first parameter corresponds to the threshold value above which the junction of the coal seam with the roof 17 or the sole 19 is reached. The detection threshold is set equal to 7090 of the maximum intensity value and represents the corresponding initial selection. The second parameter is the height of extraction of the formation, which can be easily determined by the mining combine 9, which itself uses known methods.

In stage 1, the position of the harvester is determined according to the same methods described for stage 1 in Fig.8.

In step 2, images are acquired and this is again identical to step 2 shown in Fig. 8, but from a different camera or the investigated area in the image from a single camera. At stage 3, the average value of the intensity of all pixels in the image of the observation area is determined. If the average value of the intensity changes, as noted by the process of averaging all levels of the pixel intensity value in the image from the second camera 69, then the intersection of the cutting device 11 with the roof 17 or the sole 19 can be determined. In step 4, the maximum average value of the pixel intensity is stored. This value can change significantly when the cutting device 11 moves through segments of harder material (for example, stone) and provides a robust measurement of any values of the intensity of thermal radiation. The maximum average value is stored for the current position of the combine 9.

In step 5, the process is used to determine whether the horizontal position of the harvester has changed. This is identical to step 4 in Fig.8. In step 6, the value of the average intensity, calculated on it, is compared with a predetermined threshold value of joint detection. If the average value is higher than the threshold value for detecting a coal seam, then the seam of the coal seam is considered to have been passed. on the contrary, if the average value is below the threshold value of the coal seam, then it is considered that the mining combine is cutting into the seam 1. At stage 8, the output signal contains information about the position of the seam seam with the roof 17 or the sole 19. This provides the maximum height for the extraction of the mineral by the combine or low height for reservoir development. In step 9, a midpoint output signal is generated if no carbon junction intersection is determined. This provides a suitable indicator signal (e.g., half the extracted reservoir height) to provide output information suitable for use in a horizon control system. Alternatively, a suitable indicator signal can be set to trigger the mining harvester control system in a non-feedback mode.

Described here is a system that tracks, a band or feature 33, and a coal seam detector to detect the seam of the vertical fresh face 25 after mining with the roof 17 or the sole 19 provides two complementary local determinations of the behavior of the reservoir 1. Although the output signals of the systems can be used independently, they may also be usefully combined to provide robust predictive feedback sensing capability for use in real-time mining harvester 9 horizon control.

Fig. 12 shows how the output signals of the joint detection system and tracking of the lane or characteristic

C3 can be combined to provide a robust ordinate for horizon control.

Thus, if it should happen that the primary and preferred mode of operation using band or characteristic 33 is not available, the output selector can then be operated to use the CBM (and larger) boundary junction signals for horizon control. If signals are generated that follow the band or feature 33, and no junction intersection signals are generated, then the system may output, depending on the specific horizon control strategy of the field development site, the output signals of the last band or feature 33, signals that indicate the height of extraction of half of the reservoir or null signals. Here, in step 1, the marker band is evaluated to determine the presence of the band or feature 33. If it is present, then in step 2, an output is generated that indicates the height. If the band or feature 33 is not detected, then in step C, an assessment is made as to whether a coal seam joint is detected. If it is detected, then the output signal is determined to indicate the height of the sole. If no sole joint is detected, then step 5 evaluates whether a roof intersection is detected. If this is detected, then an output signal is generated to indicate the height of the roof 17. If the joint is not detected, then at stage 7 output signals are generated that indicate the last known height of the lane position.

To control the horizon of a mining combine, such as a long-face mining combine, the output signal of the system that tracks the strip or characteristic 33 is sent to the existing control system of the long-face mining combine lever 13. The levers 13 are the main means of adjusting the position of the horizon (horizontal) of the extraction combine 9 for the development of long faces when it extracts a mineral 3, such as coal. Corrections to the field development horizon are usually applied on each reverse and forward linear cycle of the mining combine 9 along the rail means 15. Signals indicating the height of the strip position or feature 33 can be instantly monitored by the control system using the detected heights. This is why any change in height is expected to be quite minimal. If desired, elevations at various locations along the surface of the mine can be stored in the storage device and then retrieved from memory on the next reverse or forward linear cycle of the mining combine 9, where they can be retrieved from memory and compared with any newly measured values of the height of the position of the stripes or characteristics 33.

The dynamics of the control system of the mining combine 9 can be taken into account, which registers the special mechanical limitations of the cutting device 11 and any desired rate of change of the horizon profile to provide safe and practical control.

Fig. 13 is a block diagram showing the main scheme for automating the control of the horizon in the mining combine 9. The desired vertical position in the layer 1 is typically a fixed offset from the position along the height of the strip or feature 33. Here, in step 1, the control point of the desired horizon is set . In stage 2, a command signal (position error) is sent to the lever position control system in stage 3. In stage 4, the real vertical position of the mining combine 9 is determined in the formation. In stage 5, the strip position detection system or characteristics 33 and the system are combined joint detection provides the ability to determine vertical position to provide a control loop.

A system of the above type is used in automated control systems for long face coal mining and minimizes equipment damage while increasing productivity and improving personnel safety. Using these methods here, external reference infrastructure, such as radio beacons, markers, strips, will not be needed for work. Thus, there is increased practicality and reliability of mining harvesters that use the principles outlined here. The principles presented here can be used either in real time or offline. The methods disclosed herein are automatic, operational, self-regulating methods for detecting a roof or sole and detecting a strip or feature 33 for horizon control. In addition, the output signals that indicate the coordinates of the positions of the strip or feature 33 or the position of the joint of the roof 17 or the sole 19 can be used in the monitoring processes of the field development to significantly improve its development operations.

It should also be noted that the system described herein for detecting the position of a band or feature 33 can be used to identify a temperature-identifiable structure in a mined mineral as it is mined. Thus, by recording the infrared image signals of the examined position of the fresh surface after extracting the mineral directly near the cutting device of the mining combine, it is possible to obtain signals that can be used to identify a temperature-identifiable structure in the mined mineral. A temperature-identifiable structure can be identified either by registering the size (ie, high intensity pixel number) of at least one temperature contrast region or by registering the size of at least one temperature contrast region whose temperature is higher than a threshold value. An output signal may be sent from the output unit to indicate a temperature-identifiable structure in the mined mineral. In this example, Figure 7 shows the necessary signal processing blocks, where the output signal 59 provides an indication of the mineral identified by temperature. A special circuit diagram is shown in Fig. 14. Here, the digital video camera 41 will provide output signals 43 to the image acquisition unit 45. Image acquisition unit 45 will process signals 43 in the same manner as explained for Fig.7. The output signals 47 will be sent to the signal processing unit 49, which can determine if the intensity of the infrared temperature pixels exceeds a certain threshold value, and send the output signal 51 to the output signal unit 57, which will, in turn, generate the output signal 59. which indicates the presence or absence of a temperature-identifiable structure in the mined mineral. Thus, in this embodiment, the unit 49 for signal processing can register either the size of at least one area of temperature contrast or the temperature exceeding the area of temperature contrast of the temperature threshold.

Modifications may be made to the invention, as should be apparent to those skilled in the art of controlling the operation of mining harvesters. These and other modifications may be made without departing from the scope of the invention, the essence of which should be determined from the above description.

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E ii i ii za- i Sheva kovtvolyu i In the horizon of the harvester and the harvester

Fig. 7

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The maximum "NO".

I І They reflect the height of the pixies! AD to the Frouev system E coordinates and

They are seen as a function of position

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Fig. 8 that Y | -687

Fig. 9

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Content: 87 pages for images and ! 45. / block | "blue-day formation of the ssnnifnto determination of the output signal of height monitoring - t -B/ 4 szhmakon kny control scheme of the horizon of the combine harvester

Fig. 10

Receive thermal: (2) fractres image: ; the average is calculated from the camera

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Fig. 11

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Fig. 12

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Desirable B U Real vertical p and vertical taping and position in the layer I ryn: yan vysh

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Fig. 13

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Io rOderzhaniya se treatment sipnali! image of her and 747 55 of her farming - se ! / And internal signals! ! And and and; E and ; : and |:

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TM deni khizhnny zo pidu ppoleyunki cho ck hkovzhuyuk chto ijetvi tot pog poyu poto zheekn okt chnk vo chek po pni ttati en Fig. 14