Abstract: The present invention pertains to a method for controlling a shearer in three dimensions, the shearer comprising at least one shearer drum attached to an arm having an adjustable arm height, the method comprising the steps of determining a current position of the shearer drum, calculating a target 3D cutting profile, and controlling the shearer by adjusting an arm height to the target 3D cutting profile using a PID controller. The present invention also pertains to a system configured to carry out such method.

Abstract: The present invention pertains to a method for determining a 3D position of a longwall shearer traveling on a panline along a longwall face of an underground coal mining panel, the method comprising the steps of retrieving sensor data indicative of an absolute shearer coordinate and a shearer orientation, retrieving additional sensor data indicative of a relative shearer coordinate; and calculating the 3D position and orientation of the longwall shearer based on the absolute coordinate, the shearer orientation, and the relative shearer coordinate ({right arrow over (y)}). The present invention also pertains to a pan for a panline and a longwall shearer system comprising a longwall shearer and at least one such pan.

Abstract: A milling depth compensation system for milling rock determines a target position of a machine, an initial position of the work surface, and a target pose of the machine based on the target position of the machine and the initial position of the work surface. An actual pose of the machine is determined and differences between the actual pose and the target pose are used to determine a dynamic milling path of a milling tool. The dynamic milling path includes movement of the milling tool along a first path, a second path, and a third path. Command signals are generated to move the milling tool along the dynamic milling path.

Abstract: A machine includes a gathering head and a cutting implement, with the gathering head and cutting implement having overlapping ranges of motion such that adjusting of the gathering head and cutting implement is coordinated to avoid collision. A positioning system of the machine includes a control device configured to prevent miscoordination of the gathering head and cutting implement by controlling a position of the gathering head based upon a state of progress of the cutting implement in a cutting cycle.

Abstract: A site positioning system for an underground machine includes a first prism coupled with the underground machine, a second prism operatively coupled with the underground machine, a primary total station, and a reference prism may be in communication with the primary total station. A positioning controller is configured to control, responsive to receiving a High Accuracy Machine Position mode, the primary total station to monitor the first prism and the second prism and transmit a first prism position and a second prism position, respectively, to the positioning controller; control, responsive to receiving a Low Accuracy Machine Position mode, the primary total station to monitor the first prism and transmit the first prism position to the positioning controller; determine, responsive to receiving a Reference Prism Measurement mode, whether a reference prism measurement has been completed, and present positioning information for the machine based on one or more of the prism positions.

Abstract: A control method and system for avoiding collisions between components of a machine includes a controller that receives position signals from sensors associated with movable components of the machine. The controller determines the positional coordinate representations of the components within a coordinate system based upon the position signals and the outer dimensions of the respective components. If any of the components are within preset collision slowdown or shutdown zones within the coordinate system, then the speed of those components is restricted or the components are shutdown, respectively, in the direction of collision.

Abstract: A control system may be provided for a machine having a swivel chair, a positioning member attached to the swivel chair, a wrist attached to the positioning member, and a cutting head. The control system may include at least one actuator capable of extending and swinging the swivel chair. The control system may also include a lift actuator capable of pivoting the positioning member, a gear mechanism capable of rotating the wrist, and a controller in communication with the swivel chair actuator, the lift actuator, and the wrist actuator. The controller may be capable of determining an excavation pass having a trajectory made from sequential vector paths, and directing the swivel chair actuator, the lift actuator, and the wrist actuator to selectively move the cutting head such that a rotation axis of the cutting head follows the trajectory through each vector path of the excavation pass to form a structure.

Abstract: A machine includes an undercarriage having propulsions devices such as continuous tracks and a cutter head disposed on a cutter boom that is slidably supported over the undercarriage. During operation, the cutter head is positioned proximate to the cutting surface and may be maneuvered through a predetermined set of operations to make a plurality of horizontal or vertical cuts while feeding the cutter head into the surface. Once the cutter boom is fully extended, the machine must be trammed to a new position using the continuous tracks to conduct the next predetermined set of operations. The machine may be configured to retract the cutter boom prior to tramming the machine to avoid damage to the cutter boom and/or cutting surface.

Abstract: A milling depth compensation system for milling rock determines a target position of a machine, an initial position of the work surface, and a target pose of the machine based on the target position of the machine and the initial position of the work surface. An actual pose of the machine is determined and differences between the actual pose and the target pose are used to determine a dynamic milling path of a milling tool. The dynamic milling path includes movement of the milling tool along a first path, a second path, and a third path. Command signals are generated to move the milling tool along the dynamic milling path.

Abstract: A shearer system for removing material along a mineable distance relative to a mining environment includes a rail assembly to support movement of a shearer carriage thereon. The system further includes a haulage motor structured and arranged to move the shearer carriage along the rail assembly. The system has a rotatably driven cutter that is positionable relative to the shearer carriage. The system further includes an actuator supported by the shearer carriage for changing a cutting height of the cutter. The system further includes a controller that can control a velocity of the shearer carriage based on a translation speed of the cutter, a maximum speed of the shearer carriage, a current cutter height, and a desired cutter height. Optionally, the controller can further control the velocity of the shearer carriage based on a predetermined stopping distance of the shearer carriage.