Photoelectric method and device for control of a mining machine along a bed of mineral

• US 4,079,997 A
• Filed: 09/10/1976
• Issued: 03/21/1978
• Est. Priority Date: 09/10/1976
• Status: Expired due to Term

• Current Assignee: Anatoly Mikhailovich Pivovarov, Jury Nikolaevich Bienko, Valentin Viktorovich Baranov, Vitaly Pavlovich Vlasov, Vladimir Antonovich Pilipovich
• Original Assignee: Anatoly Mikhailovich Pivovarov, Jury Nikolaevich Bienko, Valentin Viktorovich Baranov, Vitaly Pavlovich Vlasov, Vladimir Antonovich Pilipovich
• Inventors: Pivovarov, Anatoly Mikhailovich, Pilipovich, Vladimir Antonovich, Baranov, Valentin Viktorovich, Vlasov, Vitaly Pavlovich, Bienko, Jury Nikolaevich
• Primary Examiner(s): Purser, Ernest R.
• Application Number:
  US05/722,208
• Time in Patent Office: 557 Days
• Field of Search: 299/1, 250/226, 250/254
• US Class Current: 299/1.2
• CPC Class Codes: E21C 35/08 Guiding the machine

Abstract

A photoelectric method of automatically controlling motion of a mining machine along a profile of a bed of a mineral deposit is described. A section of a face having at least two beds having different colors is illuminated. The reflected light flux is detected and the beds are distinguished by their colors. The boundary of the selected beds is tracked by identifying their color. The light flux reflected from each of said beds is converted into an electric signal by means of a photoelectric receiver. The direction of deviation of the mining machine with respect to the boundary of the selected beds is determined and the motion of the machine is corrected correspondingly. The device for effecting the proposed method includes a light source, an objective and a photoelectric receiver for conversion of the reflected light flux into electric signals. Located between the objective and the photoelectric receiver is a scanner unit for scanning the reflected light fluxes. Connected to the photoelectric receiver is a unit for separating electric pulses. The device is provided with a synchronizer connected to the scanner unit and the unit for separating the electric pulses, which provides simultaneous operation of these units. The output of the signal separating unit is connected to a unit for operative storage and comparison of pulses whose output is connected to a comparator unit to compare the obtained difference of the pulse parameters with a value specified for the given beds. The comparator unit is connected to an actuating member to move the objective, which is connected to the unit for measuring the value of deviation of the mining, machine, which, in turn, is connected to a unit for comparing the value of deviation of the machine with a specified allowance for accuracy of guiding the machine. The unit for comparing the value of deviation with the specified allowance for accuracy of guiding the machine is connected to a unit for shaping control signals to control the motion of the machine.

Claims

1. A photoelectric method of automatically controlling the motion of a mining machine along a seam profile of a mineral deposit comprises the steps of illuminating a section of a face having at least two beds of different colors to form a boundary layer or seam;

detecting the light flux reflected simultaneously from at least two beds having different colors;

generating first and second electric signals corresponding to the light fluxes detected from two different color beds;

comparing said first and second signals and forming a working signal;

establishing a reference signal selected to have a predetermined value for the colors of the beds being illuminated;

determining the value and direction of deviation of the mining machine with reference to the boundary or seam by comparing said working and reference signals;

generating correcting control signals which are a function of the value and direction of deviation of the mining machine; and

applying said control signals to the mining machine to minimize or eliminate such mining machine deviation.

2. A method as defined in claim 1, wherein the light fluxes reflected from the two beds are successively or alternately detected in a predetermined time interval.

3. A method as defined in claim 2, wherein said first and second signals together form a periodical succession of electric pulses having amplitudes which are a function of the respective colors of the beds.

4. A method as defined in claim 3, wherein different pulse amplitudes of successive electric pulses are obtained by directing the detected light fluxes onto a photocell having a substantially linearly variable characteristic portion.

5. A method as defined in claim 3, wherein said pulses are separated and grouped to correspond to associated color beds, and wherein the pulse amplitudes of different groups are compared to obtain said working signal.

6. A method as defined in claim 5, wherein tracking of the boundary is achieved by maintaining the pulse amplitude difference constant for beds of given colors.

7. A method as defined in claim 6, wherein said amplitude difference corresponds to said working signal, which is made equal to said reference signal.

8. A method as defined in claim 1, wherein detection of said light flux and generation of said first and second signals is autonomous and independent of the direction of the motion of the machine.

9. A method as defined in claim 1, further comprising the steps of establishing a value of accuracy allowance for guiding the machine;

levelling the value of deviation of the machine from the bed profile with said value of accuracy allowance;

comparing said allowance and deviation values; and

producing an actuating signal for guiding the machine when the levelled value deviation exceeds the specified value of allowance.

10. A device for effecting automatic control of motion of a mining machine along the profile of a mineral bed comprising in combination:

a light source for illuminating a face;

an objective for detecting the light flux reflected from a section of said face;

a photoelectric receiver for converting the reflected light flux into electric signals located behind said objective;

a scanner unit for scanning the reflected light beams located between said objective and said photoelectric receiver;

a unit for separating the shaped electric pulses electrically connected to said photoelectric receiver;

a synchronizer electrically connected to said scanner unit and said unit for separating electric pulses providing simultaneous operation of said scanner unit and said unit for separating electric signals;

a unit for operative storage and comparison of the electric pulses obtained due to conversion of said reflected light fluxes electrically connected to the output of said unit for separating the shaped electric pulses;

a comparator unit for comparison of the obtained difference in the parameters of said electric pulses with a value specified for the given beds electrically connected to the output of the unit for operative storage and comparison of electric pulses;

an actuating member to move said objective connected to said comparator unit;

a unit for measuring the value of deviation of the mining machine from the bed profile connected to said actuating unit to move said objective;

a unit to compare the value of deviation of the machine with the specified allowance for accuracy of guiding the machine electrically connected to said unit for measuring the value of deviation of the machine from the bed profile; and

a unit for producing control signals to control the mining machine connected to said unit comparing the value of deviation with the specified allowance for accuracy of guiding the machine.

11. A device as defined in claim 10, wherein said pulse separation unit comprises an inverting amplifier;

and a switch connected in parallel to said inverting amplifier and actuated by said synchronizer.

12. A device as defined in claim 10, wherein said storage and comparison unit comprises an operational amplifier having an input and an output;

and a capacitor connected between said input and output to form an integrator.