MINING MACHINE ADAPTED FOR EXTRACTING MATERIAL FROM A DEPOSIT, AND METHOD FOR CONTROL THEREOF

Abstract

The present disclosure relates to a mining machine adapted for extraction of material from a deposit and a method for controlling operation of such a mining machine. According to an embodiment, the mining machine includes a data handling unit and a control unit. The data handling unit is arranged to receive, from an external storage medium, a data file representative of a user-defined cutting path, and to send, to the control unit, data corresponding to a cutting path selected among the user-defined cutting path and one or more machine-predefined cutting paths. The control unit is configured to control operation of the mining machine using an automatic cutting cycle in accordance with the selected cutting path corresponding to the data received from the data handling unit.

Claims

1. A mining machine arranged for extraction of material from a deposit, the mining machine comprising: a data handling unit; and a control unit, wherein said data handling unit is arranged to receive from an external storage medium, a data file representative of a user-defined cutting path, and to send, to the control unit, data corresponding to a cutting path selected among said user-defined cutting path and one or more machine-predefined cutting paths, and wherein said control unit is configured to control operation of said mining machine using an automatic cutting cycle in accordance with the selected cutting path corresponding to the data received from the data handling unit.

2. The mining machine of claim 1, wherein said data handling unit is configured to convert said data file into data corresponding to the user-defined cutting path, the data being readable by said control unit for controlling operation of the mining machine.

3. The mining machine of claim 1, further comprising: a boom pivotally mounted at a first end at a frame of said mining machine; and a cutting drum rotatably mounted at a second end of said boom, wherein a cutting path is defined in said data file by a number of point elements, wherein each point element defines at least a position for said cutting drum and a motion mode for said boom.

4. The mining machine of claim 3, wherein said user-defined cutting path defined in said data file further comprises at least one computer-generated interpolation point located between a first point element and a second point element.

5. The mining machine of claim 3, wherein said data file representative of the user-defined cutting path includes a root element including a path element identified by at least a unique cutting path identifier, wherein said path element includes said number of point elements, each defining at least one position for said cutting drum and a point code defining said motion mode.

6. The mining machine of claim 3, wherein the control unit is configured to set at least one speed and at least one moving direction for said boom based on said data received from the data handling unit.

7. The mining machine of claim 3, wherein the mining machine is configured to operate within a cutting interval and within a sump depth interval, the at least one position for the cutting drum comprising a plurality of positions, and wherein said positions for the cutting drum, defining the cutting path, are defined in said data file relative to said cutting interval and to said sump depth interval.

8. The mining machine of claim 3, wherein the at least one position for the cutting drum comprises a plurality of positions, wherein said positions are defined in said data file in absolute values relative to a stationary component of the mining machine.

9. The mining machine of claim 1, further comprising an input unit arranged to receive a user input indicating the selected cutting path.

10. The mining machine of claim 1, further comprising a display unit arranged to display a visualization of the selected cutting path.

11. The mining machine of claim 1, wherein the data handling unit is arranged to store the user-defined cutting path.

12. The mining machine of claim 1, wherein said data file is of XML-format.

13. A method for controlling operation of a mining machine arranged for extraction of material from a deposit, the method comprising: providing to a user a computer program for installation in a software-controlled client computer, said computer program being operable to allow the user to define a cutting path for the mining machine; allowing the user to define a user-defined cutting path for the mining machine using said computer program; storing a data file representative of the user-defined cutting path on a storage medium; importing said data file from said storage medium to a software-based control system of the mining machine; allowing the operator to select a cutting path among the user-defined cutting path and one or more machine-predefined cutting paths stored in said software-based control system; and operating the mining machine using an automatic cutting cycle in accordance with the selected cutting path.

14. The method of claim 13, further comprising converting said data file into data corresponding to the user-defined cutting path, the data being readable by said control system for controlling operation of the mining machine.

15. The method of claim 13, further comprising storing the imported cutting path on said software-based control system.

16. The method of claim 13, wherein said mining machine includes a boom and a cutting drum, and wherein said user-defined cutting path is defined in said data file by a number of point elements, wherein each point element defines a position for said cutting drum and a motion mode for said boom.

17. The method of claim 16, further comprising the computer program generating at least one computer-generated interpolation point between at least one first user-defined point element and at least one second user-defined point element.

18. The method of claim 16, wherein said data file representative of the user-defined cutting path includes a root element including a path element identified by at least a unique cutting path identifier, wherein the path element includes said number of point elements, each defining at least said position for the cutting drum and a point code defining said motion mode.

19. The method of claim 13, further comprising displaying on a display unit of the mining machine a visualization of the selected cutting path.

20. The method of claim 13, wherein said data file representative of the user-defined cutting path is of XML-format.

21. A storage medium holding a data file representative of a user-defined cutting path for operating a mining machine, the data file being readable by a software-based control system of said mining machine for further conversion of the data file into the user-defined cutting path and for selection among other cutting paths including one or more machine-predefined cutting paths stored in said software-based control system, wherein said mining machine is operable using an automatic cutting cycle in accordance with the selected cutting path.

22. The storage medium of claim 21, wherein said data file comprises a root element including a path element identified by at least a unique cutting path identifier, wherein the path element includes a number of point elements, each defining a position for a cutter drum of the mining machine and a point code defining a motion mode for a boom of the mining machine at which said cutter drum is mounted.

23. The storage medium of claim 21, wherein said data file is of XML-format.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Exemplifying embodiments will now be described in more detail, with reference to the following appended drawings:

[0048] FIG. 1 shows a schematic view of a mining machine adapted to receive a file from an external storage medium in accordance with some embodiments;

[0049] FIG. 2A is a side elevation view of a mining machine according to some embodiments;

[0050] FIG. 2B is a side view of a mining machine, according to some embodiments, located in a mine tunnel;

[0051] FIG. 3 illustrates an example of a cutting path in accordance with some embodiments;

[0052] FIG. 4 shows an example of a data file structure representing a cutting path, in accordance with some embodiments;

[0053] FIG. 5 shows a schematic view of a mining machine in accordance with some embodiments;

[0054] FIG. 6 is a flow chart illustrating a method for controlling a mining machine in accordance with a user-defined cutting path, in accordance with an embodiment; and

[0055] FIG. 7 is a flow chart illustrating a method for controlling a mining machine in accordance with a user-defined cutting path, in accordance with other embodiments.

[0056] As illustrated in the figures, the sizes of the elements and regions may be exaggerated for illustrative purposes and, thus, are provided to illustrate the general structures of the embodiments. Like reference numerals refer to like elements throughout.

DETAILED DESCRIPTION

[0057] Exemplifying embodiments will now be described more fully hereinafter with reference to the accompanying drawings, in which currently preferred embodiments are shown. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided for thoroughness and completeness, and fully convey the scope of the invention to the skilled person.

[0058] With reference to FIG. 1, a mining machine 100 adapted to receive a data file 132 from an external storage medium 130 is described in accordance with some embodiments.

[0059] FIG. 1 shows a mining machine 100 comprising a data handling unit 110 and a control unit 120. The data handling unit 110 and the control unit 120 may be separate entities, as illustrated in FIG. 1. However, the data handling unit 110 and the control unit 120 may, according to some embodiments, not be separate entities, but rather be parts of the same entity. The data handling unit 110 and the control unit 120 may together form a control system (not denoted) of the mining machine 100.

[0060] The data handling unit 110 is in connection with the control unit 120 such that data can be transferred from the data handling unit 110 to the control unit 120. The data handling unit 110 is configured to receive a data file 132 through a connection unit or connector 111 at which an external storage medium 130 having a compatible connection unit or connector 131, may be connected. The transfer between these connection units may for example be performed using a direct connection, e.g. a universal serial bus (USB) connection (like for example via the use of a cable or a flash drive) or an Ethernet connection, or through a wireless connection.

[0061] The external storage medium 130 includes a data file 132 which corresponds to a user-defined cutting path. The data handling unit 110 is adapted to import the data file 132 from the external storage medium 130, through the connectors 111, 131.

[0062] According to some embodiments, the data handling unit 110 is further adapted to convert the data file 132 into data readable by the control unit 120. Further, the data handling unit may be adapted to generate a cutting path 114 based on the data file for display to, or at least for selection by, an operator of the mining machine.

[0063] The data handling unit 110 is further adapted to send data 112 corresponding to a selected cutting path to the control unit 120. The selected cutting path is chosen among the user-defined cutting path 114 and one or more machine-predefined cutting paths 118. The control unit 120 is in turn configured to control the mining machine 100 using an automated cutting cycle in accordance with the user-defined cutting path based on data received from the data handling unit 110.

[0064] According to an embodiment, the data handling unit 110 may be configured to store the user-defined cutting path.

[0065] With reference to FIGS. 2A and 2B, a mining machine will be described by way of example of a bolter miner being an electrically powered, track-mounted continuous mining machine designed to excavate roadways and install roof bolts simultaneously. Such mining machines comprise a cutting drum mounted on a hydraulically actuated frame to enable independent movement of the drum relative to the main frame and tracks. The machine also comprises roof bolters mounted on a stationary part of the main frame that can be operated throughout the cutting cycle.

[0066] Referring to FIGS. 2A and 2B, the mining machine 200 comprises a frame 230 (which may be referred to as the main frame or chassis 230 of the mining machine), which supports a pair of endless driven tracks 213 for propelling the machine 200 over the ground and along a tunnel to advance forwardly through a deposit seam. A movable cutting boom 210 is pivotally mounted at one end 211 to the main frame 230. The boom 210 comprises a second end 212 mounting a cutting drum 220. Cutting bits 208 project radially from the drum 220 and are specifically adapted to cut into and dislodge the mineral material to be mined from the seam. The boom 210 and in particular the second end 212 is capable of being raised or lowered relative to the main frame 230. Raising and lowering the second end 212 allows the cutting drum 220 to cut the seam face 254, 256 over a varying height range 312 above the ground 252 of the mine tunnel. The second end 212 of the boom 210 is further capable of being moved backwards and forwards in the direction of travel of the mining machine 200. The machine 200 further comprises a gathering head 217 mounted at a forward end of the main frame 230. The head 217 is configured to collect material removed from the deposit seam by the cutting action of the cutting head 220. The cut material is transported rearwardly from the gathering head 217 via a conveyor, which is carried by a tail section 214.

[0067] Raising and lowering of the second end 212 and the cutting drum 220 may respectively be called shearing upwards and shearing downwards. Horizontal movement forwards, away from the main frame 230, of the second end 212 and the cutting drum 220 may be called sumping in. Horizontal movement backwards, towards the main frame 230, of the second end 212 and the cutting drum 220 may be called sumping out. A sequence of shearing and sumping movements, as well as movements combining shearing and sumping, is referred to as a cutting cycle or a cutting sequence. A cutting cycle can be used repeatedly to cut into and dislodge material from a seam. Current mining machines often comprise functionality allowing them to perform cutting cycles automatically.

[0068] With reference to FIG. 3, a cutting path will be described, in accordance with some embodiments.

[0069] A cutting path 300 is used to set parameters of an automatic cutting cycle. A cutting path 300 may be defined by a series of point elements 301a and 301b. Each point element 301a or 301b has a position for the cutting drum to reach, and a motion mode for the boom. Different point types exist which are defined by a point code. A motion mode relates to the movement of the boom 210. The control unit may for example set at least one speed and at least one moving direction for the boom based on the data 112 received from the data handling unit 110.

[0070] Examples of point types include: normal points, using a normal speed defined in the control system of the mining machine, and allowing for both sumping and shearing movements; speed points, for which the speed is increased with a pre-defined factor as compared to the normal speed, and both sumping and shearing movements are allowed; and sump-in points, in which the speed set for sump movements is used, and all shearing movements are blocked by the control system. The normal speed and the factor, with which the normal speed is increased for speed points, may be defined during final commissioning of the machine in a workshop. The speed and the factor may later be changed by the operator.

[0071] Further types of points may include start points, end points and computer generated interpolation points 331. The first point of the cutting path may automatically be given a point code corresponding to a start point. The last point of a cutting path may automatically be given a point code corresponding to an end point. In some embodiments, the user may be allowed to specify the motion modes for the start point and/or the end point.

[0072] Interpolation points 331 are computer-generated points added between a first point element 301a and a second point element 301b.

[0073] The position of an interpolation point 331 is generated by the computer based on the position of the previous point element 301a and the following point element 301b. Similarly, the motion mode of the interpolation point 331 defines a speed and a direction for the boom 220 based on the motion modes of the previous point element 301a and the following point element 301b. Addition of such interpolation points may lead to a more continuous cutting path 300, which may in turn lead to a smoother trajectory, thereby increasing the precision of the movement towards the second point element 301b. A line between a first point element 301a and a second point element 301b, comprising at least one interpolation point 331 is called a segment line 330.

[0074] Point elements 301a and 301b forming the cutting path 300 may be placed within a maximum cutting profile 310. This maximum cutting profile 310 is, in this embodiment, limited by the maximum shearing height 312 and the maximum sump-in depth 311 of the boom 220, that is the maximum range in which the mining machine can cut from a given position. Alternatively, in other embodiments, the maximum cutting profile may be defined by a maximum shearing width, and a maximum sump-in depth. When a mining machine 200 is standing still, the maximum cutting profile 310 corresponds to the area which can be cut from that position. A cutting path 300 defines a manner to excavate the cutting profile 310 using an automatic cutting cycle.

[0075] The interface of the computer program 621, 721 (which will be described in more detail with reference to FIGS. 6 and 7) may comprise a visualization similar to that shown in FIG. 3. For instance, it may display a similar visualization of the point elements 301a and 301 b, which the user may edit by e.g. dragging and dropping, and/or updating their related information. Further, the visualization may show the segment lines 330 connecting the points 301a and 301b, to provide a more comprehensible view of the cutting path 300. The cutting profile 310 may be visualized by a frame indicating the maximum cutting height 312 and the maximum sump-in depth 311. The values of the maximum cutting height 312 and the maximum sump-in depth 311 may be manually entered by the operator or automatically defined after selection by the user of the type of mining machine to be used. The computer program 621, 721 may further comprise for example a table, in which the information regarding each point element 301a and 301b is displayed. The table the user may be able to alter the information regarding each point element 301a and 301b directly within the table. Points may for example be added to the cutting path 300 in the computer program 621, 721 by drawing them in the visualization similar to FIG. 3, or for example by adding them to the table.

[0076] For other embodiments, the cutting profile may be defined by a maximum cutting width and a maximum sump-in depth. In such embodiments, the maximum cutting height would be replaced with the maximum cutting width, as already described above in connection to the preceding embodiments.

[0077] Referring to FIG. 4, a data file which can be obtained at a client computer and stored on a storage medium for further import to the control system of the mining machine will be described, in accordance with some embodiments.

[0078] A data file 400 representing a cutting path 300 may, according to some embodiments, comprise a root element 410 including a path element 420, which is identified at least by a unique path identifier 421. The path element comprises a plurality of point elements 430a-430n, which each comprises a position 431a-431n for the cutting drum and a point code 432a-432n.

[0079] According to an embodiment, the positions 431a-n may be defined in relation to the maximum shearing height 312 and the maximum sump-in depth 311 (as shown in FIG. 3). The positions may be defined in a coordinate system which is relative to the size of the area in which the mining machine may operate, which is described by the cutting profile 310. For example, a position may be described by a coordinate along an axis which is parallel to the travelling direction of the mining machine 200, and a coordinate along an axis which intersects (e.g. being perpendicular to) the plane parallel to the mine floor 252. In such an embodiment, the coordinate of an axis parallel to the direction of travel of the mining machine 200 may be defined in percentage of the maximum sump-in depth 311. The coordinate of an axis intersecting the plane of the mine floor 252 may be defined in percentage of the maximum shearing height 312. Other embodiments may use a maximum shearing/cutting width instead of a maximum shearing/cutting height.

[0080] According to another embodiment, the positions 431a-n may be defined in absolute distances. In such an embodiment, the positions may include a coordinate along the axes described above. The scale of the coordinate system may be constant, and the position may be relative to e.g. a starting position for the cutter drum 220, or a certain stationary component of the mining machine 200.

[0081] According to some embodiments, the data file 400 may be of XML type.

[0082] Referring now to FIG. 5, further embodiments will be described.

[0083] FIG. 5 illustrates an embodiment of a mining machine 500. The mining machine 500 comprises a data handling unit 510 and a control unit 520. It further comprises an input unit 530 and a display unit 540. The separation of the data handling unit 510, control unit 520, input unit 530 and display unit 540 is for illustrative purposes. They can be separate units, but may also be combined in different ways. The input unit 530 and/or the display unit 540 may for example be integral parts of the data handling unit 510. Although the figure shows both the display unit 540 and the input unit 530, embodiments including one or the other may be envisaged. Further, the display unit 540 and the input unit 530 may be part of the same unit, for example when using a touch screen.

[0084] The input unit 530 may be configured to receive an input from a user indicating a selection of a cutting path. The input unit may further be configured to communicate the input to the data handling unit 510. The data handling unit 510 may then be configured to send the data corresponding to the selected cutting path to the control unit 520 based on the received input. The input unit may for example be a pointer device, a keyboard or a touch screen.

[0085] The display unit 540 may be configured to display a visualization of the selected cutting path. It may further be configured to display for example the current state of the cutting cycle, or the presently available cutting paths.

[0086] Although described in different embodiments, the data handling unit 110 and the control unit 120 described with reference to FIG. 1 may be equivalent to the data handling unit 510 and the control unit 520 with reference to FIG. 5. Similarly, some or all of the mining machines 100, 200, 500, 600, 700 described with reference to FIGS. 1, 2a, 2b, 5 and later with reference to FIGS. 6 and 7, may also be equivalent to each other, despite being described in different embodiments.

[0087] With reference to FIG. 6, a method for controlling operation of a mining machine will be described.

[0088] FIG. 6 shows a flow chart illustrating a method 6000 for controlling a mining machine 600. The method 6000 comprises providing 6100 to a user a computer program 621 for installation in a software-controlled client computer 620. The client computer 620 may for example be a windows-based client computer, in which case the computer program 621 may be a windows-based stand-alone application.

[0089] The method 6000 further comprises allowing 6200 the user to define a cutting path for the mining machine using the computer program 621. The computer program 621 may for example comprise functionality allowing the user to draw a cutting path 300 using a pointing device, e.g. a computer mouse. It may further comprise functionality allowing the user to edit the created cutting path 300, for example by editing the positions of point elements 301a and 301b of the created cutting path, or the motion modes connected to the point elements. The computer program 621 may further comprise an editable table including the information for each point element 301.

[0090] The method 6000 further comprises storing 6300 a data file 631 representative of the user-defined cutting path 300 to a storage medium 630. When storing, the user may have the option to provide a unique identifier 421 to the cutting path element 420, as described with reference to FIG. 4. The user may also for example provide the cutting path element with a path name, making it distinguishable from other cutting paths. A path name may also signify the purpose of the path (e.g. being adapted to a specific type of ore or geological condition), which may facilitate the process of selecting a path later on.

[0091] For illustrative purposes, the storage medium 630 is shown as a separate entity. However, the storage medium 630 may be an integral part of the client computer 620. Using a storage medium integrated in the client computer may be preferable for example when using a portable client computer or wireless transfer of the data file. The data file 631 may be of XML-format.

[0092] Further, the method 6000 may comprise importing 6400 the data file 631 from the storage medium 630 to a software-based control system 610 of the mining machine 600. Moreover, the method 6000 comprises allowing 6500 the operator to select a cutting path among the user-defined cutting path corresponding to the data file 631, and one or more machine-predefined cutting paths 611 stored within the software-based control system 610. It is noted that although the user-defined cutting path is not illustrated in FIG. 6, it is created during the process and is available for selection alongside the machine-predefined cutting paths 611.

[0093] The method further comprises operating 6600 the mining machine using an automatic cutting cycle in accordance with the selected cutting path. For instance, this may include adapting the speed and direction of boom movements in accordance with the information related to the point elements of the cutting path.

[0094] With reference to FIG. 7, an embodiment of a method for controlling operation of a mining machine will be described.

[0095] FIG. 7 shows a flow chart describing a method 7000 in accordance with another embodiment. The method 7000 comprises providing 7100 to a user a computer program 721 for installation in a software-controlled client computer 720. The method 7000 further includes allowing 7200 the user to define a cutting path for the mining machine using the computer program 721 and storing 7300 a data file 731 representative of the user-defined cutting path to a storage medium 730. Further, the method 7000 comprises importing 7400 the data file 731 from the storage medium 730 to a software-based control system 710 of the mining machine 700. The method 7000 also includes allowing 7500 the operator to select a cutting path among the user-defined cutting path represented by the data file 731, and one or more machine-predefined cutting paths 711 stored within the software-based control system 710, and operating 7600 the mining machine using an automatic cutting cycle in accordance with the selected cutting path.

[0096] According to an embodiment, in which the cutting path is defined by point elements, the method 7000 may further comprise the computer program 721 generating 7210 an interpolation point between a first point element and a second point element.

[0097] In accordance with an embodiment, the method 7000 may further comprise the step of storing 7410 the imported cutting path in the software-based control system 710.

[0098] According to some embodiments, the method 7000 may further comprise displaying 7510 a visualization of the selected cutting path on a display unit of the mining machine 700.

[0099] It will be appreciated that the present disclosure relates also to the combination of the method 6000 according to the embodiment shown in FIG. 6 and the embodiments described in relation to FIG. 7. Although FIG. 7 illustrates a method 7000 comprising steps relating to several embodiments, these embodiments do not have to be simultaneously present. The present disclosure also covers embodiments comprising only one or a combination of some of these steps.

[0100] The person skilled in the art realizes that the present invention by no means is limited to the preferred embodiments described above. On the contrary, many modifications and variations are possible within the scope of the appended claims.

[0101] Although features and elements are described above in particular combinations, each feature and element can be used alone without the other features and elements or in various combinations with or without other features and elements.

[0102] Further, although applications of the mining machine have been described with reference to a mining machine, and specifically a bolter miner, as shown in FIG. 2, the invention may be used in other applications or systems. For example, the invention could be used in systems including other excavation equipment, road headers, continuous miners or the like.

[0103] Additionally, variations to the disclosed embodiments can be understood and effected by the skilled person in practicing the claimed invention, from a study of the drawings, the disclosure, and the appended claims. In the claims, the word “comprising” does not exclude other elements, and the indefinite articles “a” or “an” do not exclude a plurality. The mere fact that certain features are recited in mutually different dependent claims does not indicate that a combination of these features cannot be used to advantage.