Abstract: The invention discloses an integrated manufacturing system and method for a small-deformation self-diagnosis shield segment, wherein the designed installation process saves time and effort, and all the sensing modules are provided inside the segment without disturbing the space outside the segment. Integration of all the deformation self-diagnosis shield segments is achieved by comprehensively monitoring inclination, displacement, strain, pressure and temperature of the shield segments via five monitoring modules. At the same time, the obtained data is uploaded to a database, and various contents are displayed in real time according to indication information input by a user.

Abstract: Disclosed a combined rock-breaking TBM tunneling method in complex strata for realizing three-way force detection, comprising the steps of preparing a combined mechanical-hydraulic rock-breaking cutter head for TBM construction; starting construction; advancing the combined mechanical-hydraulic rock-breaking cutter head; pushing and pressing against a tunnel face by a mechanical cutter tool; subjecting a three-way force detection cutter to squeezing forces; feeding back three-way force data by a three-way force sensor; processing information by a TBM back-end control processor; obtaining a value of rock-cutter contact angle ?; feeding back parameter information to a TBM cutter head control center by a lithology index center; responding by the TBM cutter head control center, obtaining and adjusting parameters by the mechanical cutter tool equipped with the three-way force sensor; and breaking rock by the combined mechanical-hydraulic rock-breaking cutter head.

Abstract: Provided herein is a robot cleaner. The robot cleaner includes a main body, a driving unit provided in the main body and supplying power for traveling of the robot cleaner, first and second rotary members respectively rotating about first and second rotational axes based on power from the driving unit to provide a movement power source for traveling of the robot cleaner, and allowing cleaners for wet cleaning to respectively be fixed thereto, and a controller determining a cleaning traveling pattern of the robot cleaner and controlling the driving unit such that the robot cleaner travels, while sequentially repeating forward movement and backward movement according to the determined cleaning traveling pattern.

Abstract: A traffic system is disclosed for use with a plurality of mobile machines. The traffic system may have a locating device configured to generate a location signal indicative of a location of each of the plurality of mobile machines, and an onboard controller configured to regulate operation of each of the plurality of mobile machines based on the location signal. The traffic system may also have a communication device, and a worksite controller in communication with the locating device and onboard controller via the communication device. The worksite controller may be configured to calculate a directed graph of the worksite based on the location signal and known routes for each of the plurality of mobile machines. The worksite controller may also be configured to determine a congestion metric based on the directed graph, and to selectively command the onboard controller to implement a responsive operation based on the congestion metric.

Abstract: A mine control system for monitoring mine operations includes a plurality of mine vehicles provided with on-board monitoring means. Monitoring data is transmitted from the mine vehicle to the mine control system, which is provided with a mine plan. The mine control unit is configured to compare the received monitoring data with the mine plan and to determine the current state of the mine relative to the mine plan on the basis of the monitoring data.

Abstract: A monitoring device and method for monitoring a longwall mining system having a roof support, the roof support including a pressure sensor to determine pressure levels of the roof support during a monitoring cycle. Pressure information is obtained for the roof support. An electronic processor then determines whether the pressure information is indicative of a first type of pressure failure of the roof support and whether the pressure information is indicative of a second type of pressure failure of the roof support. An alert is generated in response to determining that the pressure information is indicative of at least one selected from the group consisting of the first type of pressure failure and the second type of pressure failure.

Abstract: In a method for optimizing a cutting process in milling machines which are used to machine road coverings, which comprise a milling device fitted with milling tools which is sprayed with liquid in order to cool the milling tools, in addition to a drive motor, the following steps are provided: detection of the at least one parameter which is representative of the instantaneous power output of the milling device and controlling the amount of cooling liquid supplied according to the at least one parameter which is representative of the instantaneous power output of the milling device.

Abstract: A method of monitoring a longwall shearing mining machine in a longwall mining system, wherein the shearing mining machine includes a shearer having a first cutter drum and a second cutter drum, includes receiving, by a processor, shearer position data over a shear cycle. The horizon profile data includes information regarding at least one of the group comprising of a position and angle of the shearer, a position of the first cutter drum, and a position of the second cutter drum. The method also includes analyzing the shearer position data, by the processor, to determine whether a position failure occurred during the shear cycle based on whether the computed horizon profile data was within normal operational parameters during the shear cycle, and generating an alert upon determining that the position failure occurred during the shear cycle.

Abstract: A system and method for increasing the operational safety of mobile machines in mining operations by utilizing RFID technology includes a transmitting unit at the mobile machine, a receiving unit, and a non-machine-related RFID transponder which can be activated by the transmitting unit and in the case of activation is contactlessly detected. A reference transponder and a control unit for actuating the transmitting unit and evaluating transponder signals in measuring cycles is provided. To improve the energy requirement of the method and system, the reference transponder may be mounted on the mobile machine at a defined distance, stored in the control unit, from the transmitting unit. The signal field strength L of the transmitter signal of the transmitting unit may be changed in dependence on the response signal of the reference transponder in a calibration cycle (KCB) for eliminating the environmental influences.

Abstract: A survey device includes a dual-axis position encoder, a video camera coupled, a laser rangefinder, a wireless transceiver, and a processor. The processor is configured to autonomously orient the video camera via the dual-axis position encoder, autonomously identify other survey devices and a target that are within a line-of-sight field-of-view of the video camera, operate the laser rangefinder to determine range to the autonomously identified target and the autonomously identified other survey devices, and determining coordinates of the autonomously identified target and the autonomously identified other survey devices based on the dual-axis position encoder.

Abstract: A device for cutting a substrate along a cutting line is disclosed. The device includes a saw unit with a saw blade, which can be rotated around an axis of rotation, a guide carriage for moving the saw unit along a guide rail, and a control device for controlling the saw unit and the guide carriage. A marking device is provided for marking an end point of the cutting line.

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: Disclosed herein is a method for determining an activity associated with a mobile machine in an underground mine, and a system (30) configured to perform the method. The method comprises communicating by a radio-frequency communication between a first ranging device (34) at a known location (35) within the mine and a second ranging device (36) located on the mobile machine (10). The method further comprises determining a position of the mobile machine (10) based at least on a time-based characteristic associated with the radio-frequency communication. The method further comprises identifying an activity of the mobile machine (10) based on the determined position in the mine (20).

Abstract: A method and system for determining the position and/or location of plant components of a mining extracting plant, which includes at least one face conveyor, a shield-type support system having a plurality of shield-type support frames and an extracting machine, the position/location of at least one plant component is determined by an evaluation system including a detection unit. To determine the location/position of at least one plant component even in the case of a dynamic mineral mining process, the detection unit includes an image sensor, by way of which at least four object points, which are at a predetermined spacing to each other and are detectable within the optical wavelength range, of at least one measuring object associated with one of the plant components, are detected and the position/location of the plant component can be determined from the projection of the object points detected by the image sensor.

Abstract: A method of mining a mineral deposit includes setting a plurality of explosive charges at spaced pre-blast locations in the deposit, wherein at least selected pre-blast locations also carry respective markers that are such that the post-blast location of at least a useful proportion will be detectable after explosion of the charges. After the charges are exploded to fragment the deposit, the post-blast locations of certain of the markers are detected to obtain an indication of the relative positions of selected components of the mineral deposit after the fragmentation of the deposit by the exploding of the charges. Also disclosed is a method utilizing a plurality of markers arranged to emit a detectable signal after blast fragmentation, and detecting the post-blast locations by triangulation techniques employing a plurality of receiver detectors. A further aspect proposes the use of secondary explosive charges as post-blast markers.

Abstract: An equipment recovery system for high risk environments such as high wall mine shafts has a vehicle that rides on a track including applications where a push-beam conveyor may serve as the track. The vehicle has a guide to keep it on the track and a hitch for attaching a recovery cable. The vehicle is remotely operated from outside the mine, has a power train for moving the vehicle, an implement for performing tasks, and carries an onboard power source and electrical control boxes to power and control the vehicle and implement. The vehicle may communicate with an outside operator station via an Ethernet cable and may employ and Ethernet extender for that purpose. The vehicle may have a camera to transmit video images. The vehicle may be operated from a high wall miner control center or from an operator station on a self propelled support vehicle.

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 methods for use in a mining operation include advancing a continuous miner towards an angled face that extends from a headgate to a tailgate; and performing an angled cutting turn in which the continuous miner turns less than 90°.

Abstract: A degradation assembly may comprise at least one sensor mounted on a pick; the pick comprising a first conductor in communication with the sensor. The assembly may also comprise a receiving element including a bore comprising a second conductor. The first and second conductors may combine to create a connection as the pick is inserted into the bore of the receiving element.

Abstract: A material and equipment recovery system for high risk environments has a recovery vehicle and surface control station, and a communication link between them, which may be an Ethernet link. The recovery vehicle has an operable recovery implement suitable to its particular application. The surface control station has an operator station from which an operator can operate the recovery vehicle remotely. Cameras on the recovery vehicle provide images for an operator to maneuver the recovery vehicle and monitor systems on the recovery vehicle. The surface control station also has a winch and recovery cable that attaches to the recovery vehicle to retrieve it should it become disabled. An optical alignment device on the surface control station allows alignment of the surface control station to keep the retrieval cable effective. The recovery vehicle and control station have hitch elements and the recovery vehicle can reposition the control station at a site.

Abstract: A method for using a mining vehicle, arrangement in a mine, rock drilling rig, and mining vehicle. Tasks according to a work cycle are performed at work sites with a mining work device in a mining vehicle. At the work site, the vehicle is connected to an external electrical network. An energy storage of the vehicle is charged during the work cycle defined by a excavation plan, when the vehicle is at a work site. After the work cycle is done, electricity obtained from the energy storage is used in a transfer drive.

Abstract: Disclosed herein is a control method of a robot cleaner in which a robot cleaner is moved at an arbitrary starting angle along a rotation trajectory having an arbitrary rotational center and rotation radius during obstacle-following traveling, whereby an obstacle-following traveling time is reduced and consequently, a movement time of the robot cleaner is reduced.

Abstract: A method of setting an automatic level control of a plow in longwall mining operations. By means of a boom control mechanism, a control angle for setting motion of the plow, which is guided on a face conveyor, in an exploitation direction as a climbing, plunging or neutral motion is set. For each plow stroke, a cutting depth and the control angle, derived as a differential angle between inclinations of the face conveyor and of a top canopy of a shield support frame are determined. In a calculating unit, a face height change per plow stroke is calculated therefrom and a face height, as a projected height, is associated with each face position of the face conveyor. When a shield support frame that trails behind the plow in terms of a time delay reaches a respective face position, an actual height of the face is calculated and compared with the store projected height.

Abstract: A system for forming an oil sand slurry from mined oil sand is provided, comprising a slurry preparation tower having an intake opening through which oil sand enters the slurry preparation tower, a first sizer device to comminute the oil sand passing through it, a second sizer device to further comminute the oil sand, and a pump box for receiving oil sand that has passed through the second sizer and feeding it to a pump; at least one conveyor, having a discharge end, for transporting mined oil sand to the slurry preparation tower; a metal detector for detecting a piece of metal in the mined oil sand and transmitting a signal; and a metal rejection device operative to, in response to the signal from the metal detector, reject a portion of oil sand containing the piece of metal before the portion of oil sand enters the slurry preparation tower.

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 increasing the yield of a deposit including a rock which including at least one valuable mineral to be exposed by comminuting the rock and at least one further mineral, may include the following steps: performing a boring operation using a boring device prior to extracting the rock, determining at least one predetermined boring parameter for the boring device, determining at least one measured value characterizing a current boring behaviour of the boring device, and performing a computational elimination of a dependency of the at least one measured value on the at least one boring parameter, wherein at least one rock texture-dependent characteristic value is obtained, and wherein the at least one characteristic value is used as a measure for a mineral particle size of the at least one valuable mineral in the rock and for setting an optimum degree of comminution when comminuting the rock.

Abstract: A method of mining a mineral deposit includes setting a plurality of explosive charges at spaced pre-blast locations in the deposit, wherein at least selected pre-blast locations also carry respective markers that are such that the post-blast location of at least a useful proportion will be detectable after explosion of the charges. After the charges are exploded to fragment the deposit, the post-blast locations of certain of the markers are detected to obtain an indication of the relative positions of selected components of the mineral deposit after the fragmentation of the deposit by the exploding of the charges. Also disclosed is a method utilizing a plurality of markers arranged to emit a detectable signal after blast fragmentation, and detecting the post-blast locations by triangulation techniques employing a plurality of receiver detectors. A further aspect proposes the use of secondary explosive charges as post-blast markers.

Abstract: A cutting device includes a cutting head, a plurality of peripheral cutters mounted on the cutting head, at least one peripheral cutter driving mechanism, a hydraulic control system, and a dissipation monitoring system, wherein the cutting head has at least one groove, wherein the peripheral cutters are symmetrically mounted on the cutting head at two sides of the groove, wherein the peripheral cutters are connected with the peripheral cutter driving mechanism which is provided on the groove, wherein the hydraulic control system comprises a fluid tank arranged to drive the peripheral driving mechanism to move for driving the peripheral cutter to move correspondingly, wherein the hydraulic control system further comprises a control head, a motion sensor electrically connected to the control head through a plurality of electrical wires, wherein the control head is communicated with the fluid tank through a plurality of transmission tubes and a fluid outlet.

Abstract: A system having a number of land units [100, 4000, 5000] is disclosed which operates to efficiently find and create boreholes [5] to one or more underground targets [1]. Each of the land units [100, 4000, 5000] may be remotely controlled from a central command unit [6000]. The land unit also may be self-controlled, or partially controlled by the central command unit [6000]. The system [10] is reconfigurable to reallocate tasks to functional land units [100, 4000, 5000] which were originally allocated to land units which have been destroyed and are now non-functional.

Abstract: An open cast mining method includes sinking a blasting borehole (14) for receiving an explosive charge into a ground body (12) which is to be mined, taking an initial measurement of one or more borehole conditions, including at least a temperature inside a bottom half (14.1) of the borehole (14), and loading the borehole (14) with a base explosive charge (28) only if the initial measurement of all of the one or more measured borehole conditions are within predefined limits indicating that the borehole (14) will not be subject to uncontrolled detonation of the base explosive charge (28). The one or more borehole conditions, including at least said temperature, are further measured and monitored after the base explosive charge (28) has been loaded. An alarm signal external of the borehole (14) is provided if any of the one or more measured borehole conditions are not within predefined limits so that there is a risk of uncontrolled detonation of the explosive charge (28).

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: In one aspect of the invention, a milling machine for milling a paved surface comprises milling tools connected to an underside of a body of the machine and also a depth probe comprising a base end opposite a distal end. The probe is connected to a front end of the machine through a probe base disposed proximate the base end. A monitor is adapted to detect a distance between the distal end of the probe and an outer surface of the base. The distal end of the probe is adapted to extend away from the outer surface of the base and penetrate into a paved surface.

Abstract: The present invention relates to the field of extracting resource(s) from a particular location. In particular, the present invention relates to the planning, design and processing related to a mine location in a manner based on enhancing the extraction of material considered of value, relative to the effort and/or time in extracting that material. The present application discloses, amongst other things, a method of and apparatus for determining slope constraints, determining a cluster of material, determining characteristics of a selected portion of material, analysing a selected volume of material, propagating clusters, forming clusters, mine design, aggregation of blocks into collections or clusters, splitting of waste and ore in clumps, determining a selected group of blocks to be mined, clump ordering and identifying clusters for pushback design.

Abstract: The invention relates to a machine for milling traffic areas. The machine has a vertically adjustable chassis which carries a steerable traveling mechanism and a drive unit for moving the machine and for driving a milling mechanism coupled to the drive unit. A laser scanner is attached to at least on one side of the chassis. With the laser scanner, the height relative to the surface of a traffic area to be milled can be measured and the chassis can be set vertically in accordance with the measured values relative to the surface of the traffic area to be milled. The laser scanner is attached in the center side-wall region of the chassis. The scanning plane of the laser scanner is essentially parallel to the side-wall region of the chassis and at a height which permits monitoring of a hazard region which extends at least over the side length of the machine. The laser scanner produces a trigger signal if a disturbance occurs in the scanning plane.

Abstract: A longwall support in a mine that comprises a plurality of longwall support units. The longwall support units are supported relative to a conveyor by stays that comprise cylinder-piston units. A control system with data acquisition, data storage, and programming is used to adapt the distribution of the staying forces over the length of the longwall, the sum of the staying forces acting upon the length of the longwall (total staying force), and the distribution of the advance forces over the length of the longwall continuously to the desired position of the conveyor. As a result, it is possible to influence the total staying force by the number of the stays with respect to an adjustable maximum, or the total staying force by controlling the longitudinal forces of the individual stays, or the total staying force as a function of at least one of the end positions of the conveyor.

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: Apparatus and methods of using lasers are provided for spalling and drilling holes into rocks. A rock removal process is provided that utilizes a combination of laser-induced thermal stress and laser induced superheated steam explosions just below the surface of the laser/rock interaction to spall the rock into small fragments that can then be easily removed by a purging flow. Single laser beams of given irradiance spall rock and create holes having diameter and depth approximately equal to the beam spot size. A group of the single laser beams are steered in a controllable manner by an electro-optic laser beam switch to locations on the surface of the rock, creating multiple overlapping spalled holes thereby removing a layer of rock of a desired diameter. Drilling of a deep hole is achieved by spalling consecutive layers with an intermittent feed motion of the laser head perpendicular to the rock surface.

Abstract: An arrangement for detecting the state of rotation of cutting rollers (2) of a shield tunneling machine has at least one cutting roller (2) comprising a generator unit (12) that generates electrical energy when the respective cutting roller (2) is rotating, a signal-generating unit (16) connected to the generator unit (12), and an antenna unit (17) connected to the signal-generating unit (16). The signal generating unit (16) serves to generate transmission signals characteristic of the state of rotation of the respective cutting roller (2). An antenna (20) of the antenna unit (17) is disposed over at least one outer circumferential portion of the respective cutting roller (2) and is equipped for the wireless transmission of the transmission signals. The arrangement further comprises a receiving unit equipped to receive the transmission signals and interpret them regarding the state of rotation of the respective cutting roller (2).

Abstract: Embodiments of the present invention are directed to a method and apparatus for safety protection control of temporary roof support. In one embodiment, a temporary roof support has a load sensing member. In another embodiment, a beam structure of temporary roof support is supported by a load sensing pin. Strain gages are installed within the pin to measure the load placed upon the pin. An unusually high load being sensed by the pin indicates that the roof has fractured and the temporary roof support is supporting loose rock. In one embodiment, when an unusually high load is measured at the pin, the temporary roof support controls at the front of the machine are disabled. A second set of remotely located temporary roof support controls remain operative. In one embodiment, the second set of controls is located at the rear of the machine.

Abstract: The invention relates to a ground surface cutting device comprising: a cutting motor for rotationally driving a cutting tool; an advancing device for displacing the cutting tool with an advancing speed relative to the ground surface, and; a rotationally speed measuring device for measuring an actual value for the rotational speed of the cutting tool or of the cutting motor. The actual value is evaluated by a control device and is compared with a predetermined set value. The control device controls the advancing device and changes the advancing speed based on a variation of the actual value from the set value.

Abstract: A trailer for a tunnel borer follower train comprises a chassis provided with a plurality of wheels, the chassis at rest presenting a longitudinal axis and a longitudinal plane of symmetry that is vertical. The trailer also comprises at least two tanks mounted on the chassis substantially symmetrically about the longitudinal plane of symmetry of the chassis; apparatus for measuring any tilt of the chassis of the trailer about its longitudinal axis; apparatus for feeding both tanks with liquid; and apparatus for controlling the quantity of liquid in each of the tanks as a function of any measured tilt in such a manner that the quantity of liquid contained in each tank creates a return torque about the longitudinal axis tending to compensate for any tilt of the trailer.

Abstract: A control system for continuous mining machine to control the mining horizons of roof and floor horizons relative to the rock boundaries of an underground coal seam or ore vein. The mining machine is provided with a cutting drum mounted on a pivoted arm to allow for vertical displacement of the cutter to control the mining height. A plurality of sensors is carried on the rotatable arm to locate the roof and floor boundaries. Attitude sensors are mounted on the machine for providing signals indicative of the inclinations of the body of the machine, and, a microprocessor receives the signals from the boundary sensors and the attitude sensors for calculating the required roof cut and floor cut. A display device receives the signals from the microprocessor and displays the calculated results to the machine operator.

Abstract: A method of determining the position of unmanned mining vehicles. According to the method, control marks are provided in the mine, for positioning mining vehicles in production use by means of a marking device, such as a paint sprayer (14), provided in a specific measuring vehicle (3). The invention also relates to a measuring vehicle that is unmanned and comprises a measuring device for measuring a mine and also a marking device for providing a mine gallery with control marks.

Abstract: A method of determining the position of unmanned mining vehicles. According to the method, control marks are provided in the mine, for positioning mining vehicles in production use by means of a marking device, such as a paint sprayer (14), provided in a specific measuring vehicle (3).

Abstract: A longwall control system controls a longwall support and facilitates the remote inspection of the longwall support. The longwall support comprises a plurality of hydraulically operated supports. The longwall control system comprises a plurality of shield control devices respectively associated with the supports for rearranging the supports in the sense of robbing, advancing, and setting. The longwall control system further comprises detection devices for detecting inspection values associated with the operating parameters of the shield control devices. The longwall control system also comprises a hand-operated device. The hand-operated devices comprises signaling devices, such as a readout or display. Long-distance transmission devices transmit the detected inspection values from the detection devices to the hand-operated device, and the signaling devices provide signals representative of the transmitted inspection values.

Abstract: A borehole mining tool comprising a drill string having an inner pipe column and an outer pipe column. Water is forced under high pressure down an annulus between the outer pipe and inner pipe. A hydromonitor is attached to the end of the drill string. A nozzle in the hydromonitor directs the pressurized water into a stope or work area, thereby loosening the material to be mined. The slurry is educted from the mined area by the action of a venturi attached downstream of the hydromonitor. Water flow through the venturi creates a vacuum which draws the pregnant slurry from the work area up through the inner pipe to the surface. A plurality of tools may be attached to the hydromonitor by a connection comprising a gasket having an interference fit. The gasket allows quick connection and removal of a plurality of tools from the hydromonitor. A radar is include to provide an image of the stope being worked.

Abstract: An armored detector assembly, a mining system, and methods of using it are described. The armored detector assembly consists of a main assembly and a hatch assembly. The hatch assembly is welded onto mining equipment, and the main assembly is removably attached to the hatch assembly. The armored detector assembly houses sensitive monitoring equipment used in mining operations. Because of its rugged construction the armored detector assembly is suitable for storing a wide range of sensitive equipment in harsh industrial environments. One embodiment allows for openings in the main assembly so that gamma radiation can enter the main assembly and be measured by gamma radiation monitoring equipment used in continuous mining operations. A portion of the gamma radiation monitoring equipment is enclosed within an integral explosion proof enclosure.

Abstract: An armored detector assembly, a mining system, and methods of using it are described. The armored detector assembly consists of a main assembly and a hatch assembly. The hatch assembly is welded onto mining equipment, and the main assembly is removably attached to the hatch assembly. The armored detector assembly houses sensitive monitoring equipment used in mining operations. Because of its rugged construction the armored detector assembly is suitable for storing a wide range of sensitive equipment in harsh industrial environments. One embodiment allows for openings in the main assembly so that gamma radiation can enter the main assembly and be measured by gamma radiation monitoring equipment used in continuous mining operations. A portion of the gamma radiation monitoring equipment is enclosed within an integral explosion proof enclosure.

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.