Horizon monitoring for longwall system

• US 9,726,017 B2
• Filed: 08/28/2015
• Issued: 08/08/2017
• Est. Priority Date: 08/28/2014
• Status: Active Grant

• Current Assignee: Joy Global Underground Mining LLC (Komatsu Ltd.)
• Original Assignee: Joy Mm Delaware Incorporated (Mitsui & Company Limited)
• Inventors: Siegrist, Paul M., Buttery, Nigel J., Palmer, Lachlan
• Primary Examiner(s): Previl, Daniel
• Application Number:
  US14/839,599
• Publication Number:
  US 20160061035A1
• Time in Patent Office: 711 Days
• Field of Search: 3406861, 340666, 3408531, 3406917, 3408546, 340 342- 344, 34082523, 340679-680
• 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 35/24 Remote control specially adapted for machines for slitting or completely freeing the mineral control in general G05
• CPC Class Codes: E21F 17/18 Special adaptations of signalling or alarm devices for mine lifts B66B; gas-sensitive devices per se G01N

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.

Claims

1. A method of monitoring a longwall shearing mining machine in a longwall mining system, the shearing mining machine including a shearer having a first cutter drum and a second cutter drum, the method comprising:

receiving, by a processor, shearer position data including information obtained from sensors regarding at least one of a group consisting of a position of the shearer, a position of the first cutter drum, and a position of the second cutter drum;

identifying, by the processor, from the shearer position data, profile data obtained over a shear cycle;

analyzing the profile data, by the processor, to determine whether a position failure occurred during the shear cycle based on whether the profile data was within normal operational parameters during the shear cycle;

generating an alert upon determining that the position failure occurred during the shear cycle.

2. The method of claim 1, wherein the profile data includes at least one of a group consisting of a floor cut profile, a roof cut profile, an extraction profile, a pitch profile, a roll profile, and a roll rate profile.

3. The method of claim 1, further comprising identifying, based on the shearer position data a start point and an end point for the shear cycle, and wherein identifying profile data obtained over the shear cycle includes identifying profile data corresponding to removal of a web of coal based on the start point and the end point.

4. The method of claim 1, wherein identifying profile data includes identifying, by the processor, a pan-line profile based on the position of the shearer, and identifying, by the processor, a floor cut profile based on the position of the first cutter drum, wherein the position failure indicates that a difference between the pan-line profile and the floor cut profile over the shear cycle exceeds a predetermined floor step threshold.

5. The method of claim 1, wherein the position failure indicates that a difference, over the shear cycle, between the position of the first cutter drum and the position of the second cutter drum exceeds a predetermined extraction threshold.

6. The method of claim 1, wherein the position failure indicates that at least one of a group consisting of a pitch of the shearer and a roll rate of the shearer over the shear cycle is outside normal operational parameters.

7. The method of claim 1, wherein the shear cycle is a current shear cycle and further comprising accessing profile data obtained over a previous shear cycle;

and comparing the profile data of the previous shear cycle to the profile data of the current shear cycle.

8. The method of claim 7, wherein the profile data of the current shear cycle and the previous shear cycle includes information regarding the position of the first cutter drum;

and further comprising determining, by the processor, whether a difference between the position of the first cutter drum of the previous shear cycle and the position of the first cutter drum of the current shear cycle exceeds a predetermined floor cut deviation threshold.

9. The method of claim 7, wherein the profile data of the current shear cycle and the previous shear cycle includes information regarding the position of the second cutter drum;

and further comprising determining, by the processor, whether a difference between the position of the second cutter drum of the previous shear cycle and the position of the second cutter drum for the current shear cycle exceeds a predetermined roof cut deviation threshold.

10. The method of claim 7, wherein the profile data of the current shear cycle and the previous shear cycle includes information regarding a pitch of the pan-line and further comprising determining whether the pitch of the pan-line is trending toward a pitch warning level.

11. The method of claim 7, wherein the profile data of the current shear cycle and the previous shear cycle includes information regarding a roll rate of the pan-line, and further comprising determining whether the roll rate of the pan-line is trending toward a roll warning level.

12. A monitoring device for a longwall mining system including a shearer having a first cutter drum, a second cutter drum, and a first sensor to determine a position of at least one of the shearer, the first cutter drum, and the second cutter drum over a shear cycle, the monitoring device comprising:

a monitoring module implemented on a processor in communication with the shearer to receive shearer position data including information regarding at least one of a group consisting of the position of the shearer, the position of the first cutter drum, and the position of the second cutter drum, the monitoring module including;

an analysis module configured to identify profile data, from the shearer position data, obtained over the shear cycle, and analyze the profile data to determine whether a position failure occurred over the shear cycle based on whether the profile data was within normal operational parameters during the shear cycle; and

an alert module configured to generate an alert upon determining that the position failure occurred during the shear cycle.

13. The monitoring device of claim 12, wherein the processor is configured to identify based on the shearer position data, a start point and an end point for the shear cycle, and wherein the analysis module is configured to identify the profile data obtained over the shear cycle and corresponding to removal of a web of coal based on the start point and the end point.

14. The monitoring device of claim 12, wherein the profile data includes at least one of a group consisting of a floor cut profile, a roof cut profile, an extraction profile, a pitch profile, a roll profile, and a roll rate profile.

15. The monitoring device of claim 12, wherein the analysis module is configured to identify profile data by identifying a pan line profile based on the position of the shearer and identifying a floor cut profile based on the position of the first cutter drum, and wherein the position failure indicates that a difference between the pan line profile and the floor cut profile during the shear cycle exceeds a predetermined floor step threshold.

16. The monitoring device of claim 12, wherein the position failure indicates that a difference between the position of the first cutter drum and the position of the second cutter drum during the shear cycle exceeds a predetermined extraction threshold.

17. The monitoring device of claim 12, wherein the position failure indicates that at least one of a group consisting of a pitch of the pan-line and a roll of the pan-line over the shear cycle is outside normal operational parameters.

18. The monitoring device of claim 12, wherein the shear cycle is a current shear cycle, and wherein the analysis module is further configured to access profile data obtained over a previous shear cycle, and compare the profile data from the previous shear cycle to the profile data of the current shear cycle.

19. The monitoring device of claim 18, wherein the profile data includes a floor cut profile based on the position of the first cutter drum, and wherein the analysis module determines whether a difference between the floor cut profile of the previous shear cycle and the floor cut profile of the current shear cycle exceeds a predetermined floor cut deviation threshold.

20. The monitoring device of claim 18, wherein the profile data includes a roof cut profile based on the position of the second cutter drum, and wherein the analysis module determines whether a difference between the roof cut profile of the previous shear cycle and the roof cut profile of the current shear cycle exceeds a predetermined roof cut deviation threshold.

21. The monitoring device of claim 18, wherein the profile data of the current shear cycle and the previous shear cycle includes a pitch profile based on a pitch of a pan-line and wherein the analysis module is configured to determine whether the pitch of the pan-line is trending toward a pitch warning level based on the pitch profile.

22. The monitoring device of claim 18, wherein the profile data of the current shear cycle and the previous shear cycle includes a roll rate profile based on a roll of a pan-line, and wherein the analysis module is configured to determine whether the roll rate is trending toward a roll warning level.

23. A longwall mining system comprising:

a shearer including

a first cutter drum,

a second cutter drum, and

a first sensor to determine a position of at least one of the shearer, the first cutter drum, and the second cutter drum; and

a processor in communication with the shearer, the processor configured to;

receive shearer position data including information regarding at least one of a group consisting of the position of the shearer, the position of the first cutter drum, and the position of the second cutter drum,

identify, based on the shearer position data, a start point and an end point for a shear cycle,

identify profile data, from the shearer position data, obtained over the shear cycle based on the start point and the end point,

analyze the profile data to determine whether a position failure occurred over the shear cycle based on whether the profile data was within normal operational parameters during the shear cycle, and

generate an alert upon determining that the position failure occurred during the shear cycle.

24. The system of claim 23, wherein the profile data includes at least one of a group consisting of a floor cut profile, a roof cut profile, an extraction profile, a pitch profile, a roll profile, and a roll rate profile.

25. The system of claim 23, wherein the processor is configured to identify profile data by identifying a pan line profile based on the position of the shearer and identifying a floor cut profile based on the position of the first cutter drum, and wherein the position failure indicates that a difference between the pan line profile and the floor cut profile during the shear cycle exceeds a predetermined floor step threshold.

26. The system of claim 23, wherein the position failure indicates that a difference between the position of the first cutter drum and the position of the second cutter drum during the shear cycle exceeds a predetermined extraction threshold.

27. The system of claim 23, wherein the position failure indicates that at least one of a group consisting of a pitch of the pan-line and a roll of the pan-line over the shear cycle is outside normal operational parameters.