Methods and systems for controlling the heading of a mining machine

Patent metadata

Field	Value
Publication number	US-10982541-B2
Application number	US-201916427684-A
Country	US
Kind code	B2
Filing date	May 31, 2019
Priority date	Jun 1, 2018
Publication date	Apr 20, 2021
Grant date	Apr 20, 2021

Abstract

Methods and systems for controlling the heading of a mining machine while the mining machine performs a cutting operation. One system includes a cutting system and a set of left and right tracks of the mining machine. The system also includes a lidar sensor mounted to the mining machine. The system also includes an electronic processor configured to receive the data from the lidar sensor. The electronic processor is also configured to determine a current heading of the mining machine based on the data received from the lidar sensor and compare the current heading to a target heading of the mining machine. In response to the current heading not being different from the target heading of the mining machine by a predetermined amount, the electronic processor is configured to control the mining machine to adjust the current heading of the mining machine.

First claim

What is claimed is:

1. A system for controlling a heading of a mining machine while the mining machine performs a cutting operation, the system comprising:
a cutting system of the mining machine;
a set of tracks of the mining machine including a left track and a right track;
a first lidar sensor mounted to the mining machine, the first lidar sensor configured to emit a pulse of light towards a previously cut mining surface and receive a pulse of light reflected back from the previously cut mining surface; and
an electronic processor configured to
receive data from the first lidar sensor based on the pulse of light received by the first lidar sensor,
determine a current heading of the mining machine based on the data received from the first lidar sensor,
compare the current heading to a target heading of the mining machine, and
in response to the current heading being different from the target heading of the mining machine by a predetermined amount, control the mining machine to adjust the current heading of the mining machine, wherein the electronic processor is configured to control the mining machine to adjust the current heading of the mining machine by controlling at least one selected from a group consisting of the left track and the right track.

2. The system of claim 1 , wherein the first lidar sensor is mounted to a rear portion of the mining machine.

3. The system of claim 2 , further comprising a second lidar sensor mounted to the rear portion of the mining machine, wherein the first lidar sensor has a first detection range and the second lidar sensor has a second detection range different from the first detection range.

4. The system of claim 3 , wherein the electronic processor is configured to determine the current heading of the mining machine based on data received from the first lidar sensor and data received from the second lidar sensor.

5. The system of claim 1 , further comprising a second lidar sensor, wherein the first lidar sensor is mounted to a first side portion of the mining machine and the second lidar sensor is mounted to a second side portion of the mining machine different from the first side portion of the mining machine.

6. The system of claim 5 , wherein the electronic processor is configured to determine the current heading of the mining machine based on the data received from the first lidar sensor and data received from the second lidar sensor.

7. The system of claim 1 , wherein the first lidar sensor is mounted to a front portion of the mining machine.

8. The system of claim 7 , further comprising a second lidar sensor mounted to the front portion of the mining machine, wherein the first lidar sensor is configured to emit a first pulse of light towards a first previously cut mining surface and the second lidar sensor is configured to emit a second pulse of light towards a second previously cut mining surface, wherein the first previously cut mining surface has a different height level than the second previously cut mining surface.

9. The system of claim 1 , wherein the electronic processor is configured to control the mining machine to adjust the current heading of the mining machine by controlling both the left track and the right track with a track differential bias to maintain the left track and right track at different speeds to maintain a consistent cutting direction.

10. The system of claim 1 , wherein the electronic processor is further configured to control the mining machine to adjust the current heading of the mining machine by controlling the cutting system of the mining machine to shift a position of a cutter of the mining machine to cut along the target heading.

11. A method for controlling a heading of a mining machine while the mining machine performs a cutting operation, the method comprising:
receiving data from a first lidar sensor mounted to the mining machine, wherein the first lidar sensor is configured to emit a pulse of light towards a previously cut mining surface and receive a pulse of light reflected back from the previously cut mining surface;
determining, with an electronic processor, a current heading of the mining machine based on data received from the first lidar sensor, the data generated by the first lidar sensor based on the pulse of light received by the first lidar sensor;
comparing, with the electronic processor, the current heading to a target heading of the mining machine; and
in response to the current heading being different from the target heading of the mining machine by a predetermined amount, controlling, with the electronic processor, the mining machine to adjust the current heading of the mining machine by controlling at least one track of a set of tracks of the mining machine.

12. The method of claim 11 , further comprising:
generating a digital three-dimensional representation of the previously cut mining surface; and
providing the digital three-dimensional representation of the previously cut mining surface to an operator of the mining machine at a remote location.

13. The method of claim 11 , further comprising:
receiving supplementary data from one or more other sensors associated with the mining machine, wherein determining the current heading of the mining machine is based on the data received from the first lidar sensor and the supplementary data from the one or more other sensors.

14. The method of claim 11 , wherein determining the current heading of the mining machine includes
identifying one or more objects within a surrounding of the mining machine, and
measuring an angle and a distance to the one or more objects relative to the mining machine, and
determining the current heading of the mining machine based on the angle and the distance to the one or more objects relative to the mining machine.

15. The method of claim 14 , wherein determining the current heading of the mining machine includes determining that the current heading of the mining machine is a straight heading when the distance to the one or more objects relative to the mining machine is constant.

16. The method of claim 11 , wherein controlling the mining machine to adjust the current heading of the mining machine includes controlling both a left track and a right track of the set of tracks of the mining machine with a track differential bias to maintain the left track and right track at different speeds to maintain a consistent cutting direction.

17. The method of claim 11 , wherein controlling the mining machine to adjust the current heading of the mining machine further includes controlling a cutting system of the mining machine to shift a position of a cutter of the mining machine to cut along the target heading.

18. The method of claim 11 , further comprising:
receiving updated data from the first lidar sensor;
determining an updated current heading of the mining machine based on the updated data received from the first lidar sensor;
comparing the updated current heading to the target heading of the mining machine; and
in response to the updated current heading being different from the target heading of the mining machine by the predetermined amount, controlling the mining machine to adjust the updated current heading of the mining machine.

19. The method of claim 11 , further comprising:
receiving data from a second lidar sensor mounted to the mining machine,
wherein determining the current heading of the mining machine includes determining the current heading of the mining machine based on the data received from the first lidar sensor and data re

Assignees

• Joy Global Underground Mining Llc

Inventors

• Davis Lee
• Ferguson Daniel C
• Humenay Eric
• Rogers Rick

Classifications

• E21C35/302

  Measuring, signaling or indicating specially adapted for machines for slitting or completely freeing the mineral (measuring or indicating on tunneling machines E21D9/003) · CPC title

• E21C35/282 Primary

  Autonomous machines; Autonomous operations · CPC title

• E21D9/108

  Remote control specially adapted for machines for driving tunnels or galleries (for machines for slitting or completely freeing the mineral E21C35/24) · CPC title

• E21C31/08

  for adjusting parts of the machines · CPC title

• G01S17/88 Primary

  Lidar systems specially adapted for specific applications · CPC title