Abstract: An industrial machine comprising a chassis, a cutting head supported by the chassis, and a controller. In one embodiment, the controller, having an electronic processor and memory, is configured to receive an input via an operator, indicating at least one selected from a group consisting of a desired volume of a material to be mined and a desired weight of the material to be mined, determine a sump depth of the cutting head based on the input, and control the industrial machine based on the sump depth.

Abstract: A method for visualizing at least one characteristic variable of a patient in an angiographic scan via a C-arm X-ray device, an associated C-arm X-ray device and an associated computer program product are disclosed. An embodiment of the method includes acquiring at least one 2-D image of the patient via the C-arm X-ray device; determining at least one 3-D reference image by applying an image information system to the at least one 2-D image; establishing at least one characteristic variable which describes at least one vessel of the patient in the at least one 3-D reference image; and visualizing the at least one characteristic variable in the at least one 2-D image.

Abstract: A LIDAR can utilize remote mirrors discovered in the local environment to gather reflections from remote locations. In one embodiment, a laser range finder identifies and tracks a remote mirror with variable placement in a field of view (e.g. a roadside mirror at an traffic intersection) and generates a dense non-uniform subset of outgoing laser pulses designed to cover the mirror portion of the field of view, thereby interrogating or data mining the indirect field of view offered by the remote mirror. In several embodiments a light detection and ranging (LIDAR) system, learns the position of a remotely located mirror, then identifies a subset of the laser reflections that have undergone deflection by that remote mirror and performs a correction step in the process of calculating 3D locations for the deflected subset of laser reflections.

Abstract: The present invention relates to a mining method including the step of forming one or more sets of gate roads. Each set of gate roads includes at least two headings typically for providing and retuning ventilation. Dead end plunge cuts extend from the sets of gate roads. Each plunge cut is formed with a continuous miner coupled to a flexible conveyor system. Each plunge cut is greater than 30 meters in length. Advantageously, narrow elongate pillars may be left between adjacent plunge cuts, thereby resulting in greater material removal per volume and improved operating costs when compared with bord and pillar mining.

Abstract: A mining machine having a control system for operating the mining machine, the control system having a vibration monitor. The mining machine comprising a mining machine, a sensor sensing vibration of a component of the mining machine, and a vibration module. The vibration module determining when the mining machine is moving in a predetermined cycle, obtaining vibration sensor data from the sensor based on determining that the mining machine is moving in a predetermined cycle, processing the vibration sensor data to generate processed vibration data, and outputting the processed vibration data.

Abstract: A self-propelled construction machine, in particular a road milling machine, is described. It has a main drive for driving a rotating working means in a working operation and an auxiliary drive for driving the working means in a maintenance operation and a gear transmission on the working means. Lubricant oil is applied to the gear transmission via a lubricant oil circuit and a lubricant oil pump in the lubricant oil circuit, the lubricant oil pump being in drive connection to the gear transmission. An auxiliary pump is provided, which is optionally switchable into the lubricant oil circuit, so that, with reversal of the pump principle, the lubricant oil pump is operated as a hydraulic motor, wherein the drive connection of the lubricant oil pump and the gear transmission is also reversed to drive the gear transmission.

Abstract: The present invention relates to the field of mining machines, particularly to an unmanned intelligent mining machine. The unmanned intelligent mining machine comprises a cutting part body, a reciprocating telescoping device and a deployable flank cutting device, wherein the reciprocating telescoping device is used to drive a cutting drum to reciprocate back and forth, and the deployable flank cutting device can be deployed toward flanks of the cutting part body and cuts the orebody in the direction of the flanks. When the unmanned intelligent mining machine retreats, the deployable flank cutting device is deployed toward both sides of the cutting part body. After deployed, the deployable flank cutting device forms a certain angle with the longitudinal direction of the cutting part body, and can cut the orebodies on both sides simultaneously, forming a caving face on both sides of the roadway, and increasing the mining amount of unmanned intelligent mining machine.

Abstract: Systems and methods for operating a mining machine. One system includes a controller, a stationary object, and a radar device. The radar device transmits radio waves toward the stationary object and detects reflections of the radio waves. The controller obtains timing information regarding the radio waves and the reflections. Based on the timing information, the controller is configured to determine a first distance between the radar device and the stationary object before sumping the mining machine into material and a second distance between the radar device and the stationary object after sumping the mining machine into the material. The controller is also configured to determine a sump depth of the mining machine based on the first distance and the second distance, compare the determined sump depth to a predetermined sump depth, and perform at least one automatic action when the determined sump depth does not satisfy the predetermined sump depth.

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.

Abstract: Methods and equipment have been developed that combine the use of continuous miners, flexible conveyor trains, and longwall mining techniques to provide flexible and efficient removal of resources from subterranean formations. Some systems include: a main gate; and a tailgate connected to the maingate by an active mine face; wherein the active mine face extends at an angle between 95° and 135° relative to the maingate.

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.

Abstract: Methods and equipment have been developed that combine the use of continuous miners, flexible conveyor trains, and longwall mining techniques to provide flexible and efficient removal of resources from subterranean formations. Some systems for use in a mining operation include: a continuous miner configured to cut material from a face; a plurality of powered roof supports positioned along the face; and a guidance system operable to receive a location signal based on relative location of the continuous miner along the face and to send a control signal to the plurality of powered roof supports positioned along the face.

Abstract: Systems and methods for operating a mining machine. One system includes a roof support system, a radar device, and at least one controller. The roof support system incorporates an anti-stealth device, and the radar device is configured to transmit a plurality of radio waves toward the roof support system and detect a plurality of reflections of the plurality of radio waves. The at least one controller is configured to obtain reflection data from the radar device representing timing information regarding the plurality of radio waves and the plurality of reflections, determine a position of the roof support system based on the reflection data, and perform at least one automatic action when the identified position of the roof support system satisfies a threshold.

Abstract: Systems and methods for operating a mining machine. One system includes a controller, a stationary object, and a radar device. The radar device transmits radio waves toward the stationary object and detects reflections of the radio waves. The controller obtains timing information regarding the radio waves and the reflections. Based on the timing information, the controller is configured to determine a first distance between the radar device and the stationary object before sumping the mining machine into material and a second distance between the radar device and the stationary object after sumping the mining machine into the material. The controller is also configured to determine a sump depth of the mining machine based on the first distance and the second distance, compare the determined sump depth to a predetermined sump depth, and perform at least one automatic action when the determined sump depth does not satisfy the predetermined sump depth.

Abstract: Methods, systems, and computer-readable media containing instructions for controlling a miner. One system includes a cutter head, a left tram system, a right tram system, and a cutter head controller. The cutter head includes a plurality of bits and a plurality of sections defining at least one recess. The left and right tram systems are configured to move the miner, and the cutter head controller is configured to vary a current speed of at least one of the left tram system and the right tram system to cause the cutter head to alternate back and forth to bring the plurality of bits into engagement with material accumulating within the least one recess.

Abstract: A mining machine includes a cutting mechanism with an arm, and a substantial weight of more than a thousand pounds attached to the arm. The mining machine also includes a first disc cutter adapted to engage the material to be mined and mounted on a first disc cutter assembly for eccentrically driving the first disc cutter, the first disc cutter assembly being mounted within the substantial weight. The mining machine also includes at least a second disc cutter spaced apart from the first disc cutter assembly and adapted to engage the material to be mined, and mounted on a second disc cutter assembly for eccentrically driving the second disc cutter, the second disc cutter assembly being mounted within the substantial weight.

Abstract: Methods and systems for automatically operating a continuous mining machine. One method includes accessing at least one coordinate of a cutting face stored in a computer-readable medium, automatically operating a first actuator to position a platform a predetermined clearance distance from the at least one coordinate, the platform supporting a cutterhead, and automatically operating a second actuator to position an arm at a tramming position after positioning the platform the predetermined clearance distance from the at least one coordinate, the arm coupled to the platform and including the cutterhead.

Abstract: A method and device for machining materials includes a tool drum having tool shafts that support machining tools that can be driven in rotation. A drive element rotates the tool shafts and the tool drum relative to each other, and a drum carrier can be moved relative to the material by using a movement device. A control device varies the speed of the relative movement between the tool carrier and material and the rotational speed of the tool drum. To avoid critical operating points, one measuring sensor measures the natural translational vibration and/or another measuring sensor determines the rotational vibrations of the tool drum. The control device has a vibration analysis module, by which a vibration spectrum can be determined, and at least one controller module, by which drive parameters can be controlled as a function of the vibrations determined by the analysis module.

Abstract: Methods and systems for automatically operating a continuous mining machine. One method includes performing an automated cutting operation without requiring manual interaction using a cutterhead included in an arm pivotably coupled to a movable platform and stopping the automated cutting operation without requiring manual interaction. Stopping the cutting operation includes (i) stopping at least one motor driving the cutterhead, (ii) operating a first actuator to retract the platform from a cutting face by a predetermined distance, and (iii) operating a second actuator to swing the arm to a predetermined tramming position.

Abstract: Methods and systems for automatically operating a continuous mining machine. One method includes accessing at least one coordinate of a cutting face stored in a computer-readable medium, automatically operating at least one actuator to position a platform a predetermined starting distance from the at least one coordinate, the platform supporting a cutterhead, and automatically operating the at least one actuator to advance the platform toward the cutting face and beyond the at least one coordinate by a predetermined depth-of-cut to perform a cut of the cutting face with the cutterhead.

Abstract: Methods and systems for automatically operating a continuous mining machine. One method includes automatically operating at least one actuator to position a platform supporting a cutterhead at a predetermined starting position and automatically operating the at least one actuator to advance the platform toward a cutting face until the cutterhead contacts the cutting face and at least one indicator of a physical force between the cutterhead and the cutting face exceeds a predetermined value. The method also includes automatically saving at least one coordinate of the cutting face to a computer-readable medium, the at least one coordinate based on a parameter of the at least one actuator when the indicator exceeds the predetermined value.

Abstract: A surface mining system for removing material from a mining face generally includes a conveyor extending substantially parallel to the mining face, a miner supported by and moveable along the conveyor, and a conveyor translation device associated with the conveyor and operable to move the conveyor and the miner toward the mining face. A method for advancing a surface mining longwall system generally includes moving the longwall shearer along a face conveyor, operating load translation devices to move the face conveyor and the longwall shearer toward the mining face, resetting a first group of load translation devices, and then resetting a second group of load translation devices. A load translation device generally includes an actuator, a ground drilling device coupled to and moveable with a portion of the actuator, and a frame coupled to and moveable with another portion of the actuator.

Abstract: A cutter head includes a first member, a cutting bit, and a second member. The first member includes a first end and a second end and includes a first mass. The cutting bit is coupled to the first member proximate the second end. The cutting bit includes a cutting edge rotatable about the axis. The second member is rotatable about the axis and includes a second mass eccentrically positioned with respect to the axis. Rotation of the second mass causes the first member and the cutting bit to oscillate.

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.

Abstract: A method and apparatus for detecting the presence of mineral seams during coal or ore mining operations. A mining machine with a cutter drum includes a detector assembly that includes two detectors attached near the surface cut by the cutter drum. The detectors include downward facing windows that receive gamma radiation from mined material and undesirable material. One detector is positioned lower than the other and over a trench created below the surface cut by the cutter drum. The cutting depth of the cutter drum may be controlled based on radiation levels detected by the detectors.

Abstract: A tunnel excavation technique using a water jet. A water jet system includes a moving unit movable back and forth with respect to an area to be blasted for tunnel excavation, an articulated robot arm mounted on the moving unit, a water jet nozzle which ejects high-pressure water and an abrasive toward an area to be excavated, and a control unit which controls the moving unit, the articulated robot arm and the water jet nozzle. A free face having a predetermined depth is formed of the area to be excavated in the direction in which the tunnel is to be excavated using the water jet system. Since the blasting is performed after the free face is formed, blast vibration can be effectively restricted.

Abstract: A method is provided for increasing the yield in a deposit comprising a rock that includes a valuable mineral, which can be exposed by virtue of the rock being comminuted, and at least one further mineral, wherein the valuable mineral has a higher density than the at least one further mineral, which method includes: carrying out a drilling operation using a drilling tool prior to the rock being extracted, drillings being generated in the process; forming an aerosol comprising the drillings and a gas stream; transferring the aerosol from the drilling tool to at least one air separator; carrying out hydraulic classification, wherein at least two fractions comprising in each case equal-falling particles of the drillings are formed; and determining a property which belongs to at least one of the fractions and is used as a measure for setting an optimum degree of comminution of the rock.

Abstract: A mining machine including a frame, a cutting head moveably coupled to the frame and pivotable about an axis that is substantially perpendicular to a first mine surface, and a first actuator for stabilizing the frame relative to the first mine surface. The first actuator is coupled to the frame and includes a first end extendable in a first direction to engage the first mine surface. The extension of the first actuator is automatically controlled based on measurements of at least one indicator of the force between the first actuator and the first mine surface.

Abstract: Methods and systems for automatically operating a continuous mining machine. One method includes automatically operating at least one actuator to position a platform supporting a cutterhead at a predetermined starting position and automatically operating the at least one actuator to advance the platform toward a cutting face until the cutterhead contacts the cutting face and at least one indicator of a physical force between the cutterhead and the cutting face exceeds a predetermined value. The method also includes automatically saving at least one coordinate of the cutting face to a computer-readable medium, the at least one coordinate based on a parameter of the at least one actuator when the indicator exceeds the predetermined value.

Abstract: The present invention discloses a hydraulic resonant breaking hammer, comprising a hydraulic driving system, a vibration exciter (2), a control system, a linkage mechanism and a breaking hammer head (3), wherein the hydraulic driving system includes a hydraulic motor (1), an electric-control hydraulic distributing valve (12), a hydraulic pump (13) and an engine (14); the vibration exciter (2) includes a box (4) and at least one group of eccentric wheels; the control system includes a sensor (16), a microcomputer controller (17) and the electric-control hydraulic distributing valve (12); the linkage mechanism includes a machine frame (7), a guide rail (9) and a damper spring (8), the machine frame (7) is installed on a fore arm (10) of an excavator, the guide rail (9) is arranged on the machine frame (7), the box (4) of the vibration exciter (2) is arranged on the guide rail (9) and forms an up-and-down sliding fit with the guide rail (9), the damper spring (8) is connected between the upper part of the box (4

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, a pitch axis, and a yaw axis. 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.

Abstract: A method for controlling the cutting depth of drums of shearers used as recovery equipment in underground coal mining. A cut of drums into country rock is detected by measured values, from which the drum cutting depth is adjusted by control signals. In particular, during a recovery or shearing operation, the current consumption of cutting motors that drive the drums, and the traveling speed of the shearer, are detected as measured values, from which, in a computer, the respective specific cutting energy is determined as a ratio of the current consumption to the traveling speed. For different mining conditions, a respective characteristic value for the specific cutting energy is determined as a function of the compactness of coal that is to be recovered and of an outcrop of country rock. When this characteristic value is exceeded, a cut from the country rock is assumed. Corresponding control signals for a correction of the cutting depth of the drum are generated.

Abstract: The present invention is directed to an excavator that is operable in manual and automatic modes and uses state machines to effect unit operations, rotationally offset swing actuators to rotate boom and cutter head, a fail safe hydraulic system to maintain gripper pressure in the event of a malfunction of the hydraulic system, differing position and pressure control functions in the hydraulic actuators, a kinematic module to effect pitch and roll adjustments, a cutting face profile generator to generate a profile of the excavation face, and an optimization module to realize a high degree of optimization of excavator operation.

Abstract: A method and a system for monitoring the location of a mining vehicle in a mine. The mine comprises a first and a second work area. At least one identifier (29) whose exact location is known is arranged in the first work area (18a). The location of the mining vehicle (1) is determined continuously by means of a dead reckoning. The location data, based on the dead reckoning, can be updated by means of the identifier. The location data are transmitted to a mine control system for monitoring the mining vehicle.

Abstract: The present invention is directed to an excavator that is operable in manual and automatic modes and uses state machines to effect unit operations, rotationally offset swing actuators to rotate boom and cutter head, a fail safe hydraulic system to maintain gripper pressure in the event of a malfunction of the hydraulic system, differing position and pressure control functions in the hydraulic actuators, a kinematic module to effect pitch and roll adjustments, a cutting face profile generator to generate a profile of the excavation face, and an optimization module to realize a high degree of optimization of excavator operation.

Abstract: A method and system for characterizing features in a source multifeatured three-dimensional object, and for locating a best-matching three-dimensional object from a reference database of such objects by performing a viewpoint invariant search among the reference objects. The invention further includes the creation of a three-dimensional representation of the source object by deforming a reference object.

Abstract: In a method for controlling the drive of a shearing or heading machine for cutting a round, as a function of manipulated variables such as the movement speed of the cantilever arm, the position of the cutting tools and/or the power consumption of the drive motors and the pressure in hydraulic actuating cylinders, a minimum and a maximum target value are determined for the movement speed of the cantilever arm, and at least two factors each having values of between 0 and 1 are calculated for the manipulated variables as a function of measurement values, the measurement values at least comprising cutting tool position data compared to set data corresponding with a set profile, motor load measurement data and cantilever arm movement speed measurement data, and the movement speed of the cantilever arm is controlled as a function of the product of the set speed and the respectively calculated factors.

Abstract: A slide shoe for a mining winning machine is disclosed. The slide shoe includes a slide shoe body attached to the mining winning machine, a sliding area located on the slide shoe body and including a wear thickness, and at least one sensor. The sensor is scannable by wireless signal transmission. A dimension of the wear thickness decreases due to wear during operation, and a sensor signal of the sensor changes when the dimension of the wear thickness of the sliding area decreases below a predetermined minimum thickness.

Abstract: The invention provides, in one embodiment, a detector for a miner comprising a gamma sensing element and a light sensing element coupled to the gamma sensing element. According to the embodiment, the detector is mounted on a rotary cutter of a boring-type continuous miner such that the gamma sensing element has a view of a geologic formation being mined. A mining control system is also provided, comprising a miner having at least two rotary cutters and a gamma detector on each of the at least two rotary cutters for receiving gamma emissions from a geologic formation. The mining control system also provides an accelerometer and a rate gyro, wherein the accelerometer and the rate gyro correlate the received gamma emissions with positions of the at least two rotary cutters, and a central module that utilizes the correlated readings to determine whether the cutters should be moved.

Abstract: A method and apparatus for the mining of material from a seam includes a mining apparatus and a self-propelled conveyor capable of advancing or retreating in the seam on its own power and an advancing and steering arrangement for the mining apparatus. The self-propelled conveyor, electric cables and other services for the mining apparatus are protected against roof falls. The power input for the self-propelled conveyor is provided by continuous drive shafts powered at either one or both ends of the conveyor. Alternately, a unique reciprocating conveyor mechanically powered at either one or both ends of the conveyor is provided for conveying of aggregate material. An apparatus for assembling the conveyor and receiving aggregate material is provided at the rear end of the conveyor. A method and apparatus for accurately and precisely navigating the mining machine is disclosed.

Abstract: A mining machine having a stabilizing apparatus includes a mining machine and a stabilizing apparatus attached to the mining machine. The stabilizing apparatus includes a stabilizing element and a moving arm attached to the stabilizing element and the mining machine for raising the stabilizing element above and lowering the stabilizing element into contact with a mine floor.

Abstract: A mining machine having a position sensing and control apparatus is claimed. The mining machine has a vehicle body having forward and rearward ends and movable along a mine floor. A cutter head is mounted on the forward end of the mining machine for upward and downward movement relative to the vehicle body. A conveyor mounted on the vehicle body conveys material cut by the cutter head. The position sensing and control apparatus has at least one light source and at least one imaging device mounted on the machine. The position sensing and control apparatus captures images of natural features of an interior surface of a mine, digitizes the images and determines the distance between the imaging device and the natural feature to determine positional change of the machine.

Abstract: A mining machine comprising a vehicle body having forward and rearward ends, the vehicle body being movable along a mine floor, a cutter head mounted on the forward end of the vehicle body, and a position sensing and control apparatus including first and second generally vertical, generally parallel surfaces on the vehicle body, an off-board light source emitting a light beam that strikes the surfaces, an imaging device for imaging both of the plates in a single image, and a computer receiving the single image from the camera, the computer using the single image to determine at least one of the roll, yaw and lateral offset of the machine.