Automated find-face operation of a mining machine

• US 8,801,105 B2
• Filed: 08/03/2012
• Issued: 08/12/2014
• Est. Priority Date: 08/03/2011
• Status: Active Grant

• Current Assignee: Joy Global Underground Mining LLC (Komatsu Ltd.)
• Original Assignee: Joy Mm Delaware Incorporated (Komatsu Ltd.)
• Inventors: Jokonya, Persistence
• Primary Examiner(s): Bagnell, David
• Assistant Examiner(s): GOODWIN, MICHAEL ALAN
• Application Number:
  US13/566,544
• Publication Number:
  US 20130033086A1
• Time in Patent Office: 739 Days
• Field of Search: 299/1.05, 299/1.1, 299/1.4, 299/1.8, 299/10, 299/31, 299/30
• US Class Current: 299/1.4
• CPC Class Codes: E21C 25/06 Machines slitting solely by one or more cutting rods or cutting drums which rotate, move through the seam, and may or may not reciprocate
• CPC Class Codes: E21C 25/16 Machines slitting solely by one or more rotating saws, cutting discs, or wheels
• CPC Class Codes: E21C 27/24 by milling means acting on the full working face , i.e. the rotary axis of the tool carrier being substantially parallel to the working face similar machines for tunneling E21D9/1026
• CPC Class Codes: E21C 31/12 Component parts
• CPC Class Codes: E21C 35/00 Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
• CPC Class Codes: E21C 35/06 Equipment for positioning the whole machine in relation to its sub-structure
• CPC Class Codes: E21C 35/08 Guiding the machine
• CPC Class Codes: E21C 35/10 by feelers contacting the working face
• CPC Class Codes: E21C 35/24 Remote control specially adapted for machines for slitting or completely freeing the mineral control in general G05
• CPC Class Codes: E21D 9/102 by a longitudinally extending boom being pivotable about a vertical and a transverse axis
• CPC Class Codes: E21D 9/108 Remote control specially adapted for machines for driving tunnels or galleries for machines for slitting or completely freeing the mineral E21C35/24
• CPC Class Codes: E21F 13/06 Transport of mined material at or adjacent to the working face

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.

Claims

1. A method for automatically operating a continuous mining machine, the method comprising:

automatically operating at least one actuator to position a platform supporting a cutterhead at a predetermined starting position;

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; and

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.

2. The method of claim 1, further comprising receiving, from a remote control unit, a command to initiate an automated find-face operation.

3. The method of claim 1, further comprising

automatically checking at least one machine interlock;

and

automatically stopping automated operation of the mining machine when the at least one machine interlock has been set.

4. The method of claim 1, further comprising automatically operating at least one second actuator to swing an arm to a predetermined swing starting position, the arm coupled to the platform and including the cutterhead.

5. The method of claim 4, further comprising automatically saving at least one second coordinate of the cutting face based on a parameter of the at least one second actuator when the indicator exceeds the predetermined value.

6. The method of claim 1, further comprising automatically operating at least one second actuator to tilt an arm to a predetermined tilt starting position, the arm coupled to the platform and including the cutterhead.

7. The method of claim 6, further comprising automatically saving at least one second coordinate of the cutting face based on a parameter of the at least one second actuator when the indicator exceeds the predetermined value.

8. The method of claim 1, wherein automatically operating the at least one actuator to advance the platform toward the cutting face includes automatically operating the at least one actuator until a pressure of the actuator exceeds a predetermined pressure value.

9. The method of claim 1, further comprising automatically operating the at least one actuator to retract the platform from the cutting face a predetermined distance after saving the at least one coordinate.

10. The method of claim 9, further comprising automatically operating at least one second actuator to swing an arm to a predetermined cutting position after retracting the platform the predetermined distance, the arm coupled to the platform and including the cutterhead.

11. The method of claim 1, further comprising automatically updating the saved at least one coordinate after performing a cut of the cutting face.

12. The method of claim 11, wherein automatically updating the saved at least one coordinate includes adding a depth of the cut to the saved at least one coordinate.

13. The method of claim 1, further comprising accessing the saved at least one coordinate and automatically operating the at least one actuator to position the mining machine for performing a cut of the cutting face based on the at least one coordinate.

14. The method of claim 1, further comprising accessing the saved at least one coordinate and automatically operating the at least one actuator to position the mining machine for resuming an interrupted cut of the cutting face based on the at least one coordinate.

15. A system for automatically operating a continuous mining machine, the system comprising:

a platform supporting a cutterhead;

at least one actuator for moving the platform linearly; and

a control system configured to perform an automated find-face operation without requiring manual interaction by

(i) operating the at least one actuator to position the platform at a predetermined starting position,

(ii) 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, and

(iii) 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.

16. The system of claim 15, wherein the at least one actuator includes at least one hydraulic cylinder.

17. The system of claim 15, wherein the at least one actuator includes at least one of a pneumatic actuator, an electric actuator, and a mechanical actuator.

18. The system of claim 15, wherein the at least one indicator of the physical force includes a pressure of the at least one actuator.

19. The system of claim 18, wherein the predetermined value is approximately 120 bar.

20. The system of claim 15, wherein the at least one indicator of the physical force includes at least one of a current supplied to the at least one actuator, a force between components of the at least one actuator, and a physical position of at least one component of the at least one actuator.

21. The system of claim 15, wherein the at least one coordinate of the cutting face includes an extension of the at least one actuator when the indicator exceeds the predetermined value.

22. The system of claim 15, further comprising:

an arm coupled to the platform and including the cutterhead; and

at least one second actuator for horizontally swinging the arm.

23. The system of claim 22, wherein the control system is further configured to operate the at least one second actuator to swing the arm to a predetermined swing starting position.

24. The system of claim 23, wherein the control system is further configured to save at least one second coordinate of the cutting face based on a parameter of the at least one second actuator when the indicator exceeds the predetermined value.

25. The system of claim 15, further comprising:

an arm coupled to the platform and including the cutterhead; and

at least one second actuator for vertically tilting the arm.

26. The system of claim 25, wherein the control system is further configured to operate the at least one second actuator to tilt the arm to a predetermined tilt starting position.

27. The system of claim 26, wherein the control system is further configured to save at least one second coordinate of the cutting face based on a parameter of the at least one second actuator when the indicator exceeds the predetermined value.

28. The system of claim 27, wherein the control system is further configured to update the saved at least one second coordinate after performing a cut of the cutting face based on a position of the at least one second actuator after performing the cut.

29. The system of claim 15, wherein the cutterhead includes at least one oscillating disc cutter.

30. The system of claim 15, wherein the predetermined starting position is a minimum stroke of the at least one actuator.

31. The system of claim 15, wherein the predetermined starting position is an extension of the actuator from approximately 1097 millimeters to approximately 1103 millimeters.

32. The system of claim 15, wherein the control system is further configured to operate the at least one actuator to retract the platform from the cutting face a predetermined distance after saving the at least one coordinate.

33. The system of claim 32, wherein the predetermined distance is from approximately 33 millimeters to approximately 37 millimeters.

34. The system of claim 15, wherein the control system is further configured to update the saved at least one coordinate after performing a cut of the cutting face.

35. The system of claim 34, wherein the control system is configured to update the saved at least one coordinate by adding a depth of the cut to the at least one coordinate.

36. A system for automatically operating a continuous mining machine, the system comprising:

a platform;

an arm coupled to the platform and including a cutterhead;

a first actuator configured to move the platform linearly;

a second actuator configured to swing the arm horizontally;

a third actuator configured to tilt the arm vertically; and

a control system configured to

(i) automatically operate the first actuator to position the platform at a predetermined advance starting position,

(ii) automatically operate the second actuator to position the arm at a predetermined swing starting position,

(iii) automatically operate the third actuator to position the arm at a predetermined tilt starting position,

(iv) automatically operate the first actuator to move the platform from the predetermined starting position toward a cutting face until the cutterhead contacts the cutting face and the first actuator is pressurized to a predetermined pressure value,

(v) automatically save a first coordinate of the cutting face based on a position of the first actuator when the first actuator is pressurized to the predetermined pressure value,

(vi) automatically save a second coordinate of the cutting face based on a position of the second actuator when the first actuator is pressurized to the predetermined pressure value, and

(vii) automatically save a third coordinate of the cutting face based on a position of the third actuator when the first actuator is pressurized to the predetermined pressure value.

37. The system of claim 36, wherein the control system is further configured to

(i) automatically access the saved first coordinate, second coordinate, and third coordinate,

(ii) automatically position the platform based on the saved first coordinate,

(iii) automatically position the arm based on the saved second coordinate and the saved third coordinate, and

(iv) automatically operate the first actuator and the second actuator to perform a cut of the cutting face.

38. The system of claim 37, wherein the control system is further configured to update the first coordinate after performing the cut based on a depth of the cut.

39. The system of claim 37, wherein the control system is further configured to update the third coordinate after performing the cut based on a position of the third actuator after performing the cut.