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 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 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.