Imaging-based interface sensor and control device for mining machines

Patent metadata

Field	Value
Publication number	US-9650893-B2
Application number	US-201113078660-A
Country	US
Kind code	B2
Filing date	Apr 1, 2011
Priority date	Apr 1, 2011
Publication date	May 16, 2017
Grant date	May 16, 2017

Abstract

Systems, methods, and computer-readable medium containing instructions for controlling mining machines. One system includes an image sensor for capturing an image of a cutting face of a mine and interface sensing and control system for obtaining the image, identifying an anomaly in the image, calculating a distance between the anomaly and a reference, and using the distance to automatically instruct a mining machine control system to keep a cutter head of the mining machine within a seam.

First claim

What is claimed is:

1. A system for controlling a mining machine, the system comprising:
an image sensor for capturing an image of a cutting face of a mine;
an interface sensing and control system for obtaining the image, identifying an anomaly in the image by comparing the image to a plurality of images of known anomalies, calculating a distance between the anomaly and a reference using a known distance between the image sensor and the cutting face and a known size of pixels in the image, and using the distance to automatically instruct a mining machine control system to keep a cutter head of the mining machine within a seam.

2. The system of claim 1 , wherein the interface sensing and control system identifies the anomaly in the image by identifying a band in the image.

3. The system of claim 2 , wherein the band includes a clay band.

4. The system of claim 2 , wherein the band includes a rock band.

5. The system of claim 1 , wherein the reference includes at least one of a roof of the mine and a floor of the mine.

6. The system of claim 1 , wherein the reference includes a marker placed in the mine.

7. The system of claim 1 , wherein the interface sensing and control system uses the distance to instruct a mining machine control system to keep a cutter head of the mining machine within a seam by comparing the distance between the anomaly and the reference and a distance between the cutter head and the reference.

8. The system of claim 1 , wherein the interface sensing and control system provides the image to an operator.

9. The system of claim 1 , wherein the interface sensing and control system provides the distance to an operator.

10. The system of claim 1 , wherein the image sensor includes a video camera.

11. The system of claim 1 , wherein the image sensor includes a still camera.

12. The system of claim 1 , wherein the image sensor includes a thermal camera.

13. A computer-implemented method for controlling a mining machine, the method comprising:
obtaining an image of a cutting face of a mine with an image sensor;
identifying an anomaly in the image by comparing the image to a plurality of images with known anomalies;
calculating a distance between the anomaly and a reference using a known distance between the image sensor and the cutting face and a known size of pixels in the image; and
using the distance to automatically keep a cutter head of the mining machine within a seam.

14. The method of claim 13 , wherein identifying an anomaly in the image includes identifying a band in the image.

15. The method of claim 14 , wherein identifying the band includes identifying a clay band in the image.

16. The method of claim 14 , wherein identifying the band includes identifying a rock band in the image.

17. The method of claim 13 , wherein calculating the distance includes calculating a distance between the anomaly and at least one of a roof of the mine and a floor of the mine.

18. The method of claim 13 , wherein calculating the distance includes calculating a distance between the anomaly and a marker placed in the mine.

19. The method of claim 13 , further comprising providing the image to an operator.

20. The method of claim 13 , further comprising providing data about the anomaly to an operator.

21. The method of claim 13 , wherein using the distance to keep a cutter head of the mining machine within a seam includes comparing the distance between the anomaly and the reference and a distance between the cutter head and the reference.

22. Non-transitory computer-readable medium encoded with a plurality of processor-executable instructions for controlling a mining machine having a cutter head, the instructions comprising:
obtaining an image of a cutting face of a mine with an image sensor;
identifying an anomaly in the image by comparing the image to a plurality of images of known anomalies;
calculating a distance between the anomaly and a reference based on a known distance between the image sensor and the cutting face and a known size of pixels in the image; and
using the distance to automatically keep a cutter head of the mining machine within a seam.

23. The computer-readable medium of claim 22 , wherein the instructions for identifying the anomaly include instructions for identifying the anomaly in the image using edge-detection technology.

24. The computer-readable medium of claim 22 , wherein the instructions for calculating the distance includes instructions for calculating a distance between the anomaly and at least one of a roof of the mine and a floor of the mine.

25. The computer-readable medium of claim 22 , wherein the instructions for calculating the distance includes instructions for calculating a distance between the anomaly and a marker placed in the mine.

26. The computer-readable medium of claim 22 , wherein the instructions for using the distance to keep a cutter head of the mining machine within a seam include instructions for comparing the distance between the anomaly and the reference and a distance between the cutter head and the reference.

Assignees

• Herdle David Kevin
• Joy Mm Delaware Inc

Inventors

• Herdle David Kevin

Classifications

• E21C35/282

  Autonomous machines; Autonomous operations · CPC title

• E21C35/06 Primary

  Equipment for positioning the whole machine in relation to its sub-structure · CPC title

• E21C27/10 Primary

  by both slitting and breaking-down · CPC title

• E21C35/08

  Guiding the machine · CPC title

• E21C27/24

  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 title