CN205422709U - Guidance system for a mining machine - Google Patents
Guidance system for a mining machine Download PDFInfo
- Publication number
- CN205422709U CN205422709U CN201521030143.3U CN201521030143U CN205422709U CN 205422709 U CN205422709 U CN 205422709U CN 201521030143 U CN201521030143 U CN 201521030143U CN 205422709 U CN205422709 U CN 205422709U
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- chassis
- light emitters
- mars miner
- described chassis
- light
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- 238000005065 mining Methods 0.000 title claims abstract description 18
- 238000005520 cutting process Methods 0.000 claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 9
- 238000000034 method Methods 0.000 abstract description 7
- 230000005540 biological transmission Effects 0.000 abstract 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 6
- 229910052500 inorganic mineral Inorganic materials 0.000 description 3
- 239000011707 mineral Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 239000003245 coal Substances 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000000443 aerosol Substances 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003760 hair shine Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—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
- E21C35/08—Guiding the machine
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
- E21D9/004—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines using light beams for direction or position control
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/20—Control system inputs
- G05D1/24—Arrangements for determining position or orientation
- G05D1/244—Arrangements for determining position or orientation using passive navigation aids external to the vehicle, e.g. markers, reflectors or magnetic means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/40—Control within particular dimensions
- G05D1/43—Control of position or course in two dimensions
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C29/00—Propulsion of machines for slitting or completely freeing the mineral from the seam
- E21C29/22—Propulsion of machines for slitting or completely freeing the mineral from the seam by wheels, endless tracks or the like
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Laser Beam Processing (AREA)
- Drilling And Exploitation, And Mining Machines And Methods (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Combines (AREA)
Abstract
The utility model relates to a mining machine, this mining machine includes: chassis, this chassis include first end, the second end and the directaxis that extends between first end and the second end, this chassis still includes bottom side, top side and the driftage axis that extends between bottom side and top side, the cutting head, it is connected to the first end on chassis, actuating mechanism, it is connected to the chassis is supported the chassis is in order to move on the mine bottom plate, a light emission ware, it is being close to the position of first end is connected to the chassis, the light of light emission ware transmission deviates from chassis and along being on a parallel with the orientation of driftage axis, the 2nd light emission ware, it is being close to the position of the second end is connected to the chassis, the light of the 2nd light emission ware transmission deviates from chassis and along being on a parallel with the orientation of driftage axis. The utility model discloses still relate to a method that is used for operating the mining machine.
Description
Technical field
The present invention relates to winning equipment, particularly relate to underground continuous mining machine.
Background technology
Remotely controlling continuous mining machine is generally used remote control to operate by human operators outside the venue.Operator is positioned at Mars Miner rear, and by observing the operation guiding machine.This operator must assure that Mars Miner is always directed at ore bed or mineral ore, because once Mars Miner skew, is then difficult to correct the orientation of Mars Miner.In a lot of situations, mineral ore is each different in three dimensions so that Mars Miner is difficult to follow ore bed.
Utility model content
In one embodiment, present invention provide for the guiding system of working seam, this ore bed limits seam face, and this guiding system includes Mars Miner, bracket and guide assembly.Mars Miner includes cutting head, and limits the roll-over axis of the length extending Mars Miner, the pitch axis extended from Mars Miner side and the yaw axes extended to bottom side from Mars Miner top side to opposite side.Described bracket includes the first emitter, the second emitter and the 3rd emitter.The first laser being directed at seam face launched by first emitter, and the second laser launched by the second emitter, and the 3rd laser launched by the 3rd emitter.Described guide assembly includes the first indicator and target.First indicator and the second laser alignment, target and the 3rd laser alignment.First indicator indicates roll-over axis, pitch axis and the yaw axes orientation relative to seam face relative to the second laser and target relative to the relative position of the 3rd laser.
In another embodiment, present invention provide for guiding the generating laser bracket of Mars Miner during coal mining.This ore bed limits seam face.This generating laser assembly includes pedestal, the first emitter and the second emitter.First generating laser is connected to pedestal, and sends the first planar laser being directed at seam face.Second generating laser is connected to pedestal, and launches the second planar laser for being directed at Mars Miner.
In another embodiment, the method that present invention provide for guiding Mars Miner during coal mining.Mars Miner includes the first end and the second end, and the first end includes cutting head, and ore bed defines that seam face, the method include: provide the first laser, the second laser and the 3rd laser；The first indicator being positioned on the second end of Mars Miner is provided, and is positioned at the target near Mars Miner；Make the first laser alignment seam face；Make second laser alignment the first indicator；Make the 3rd laser alignment target；And the material in operation Mars Miner working seam, make the first indicator keep and the second laser alignment, and make target keep and the 3rd laser alignment.
In yet another embodiment, the present invention provides a kind of Mars Miner, and this Mars Miner includes: chassis；Cutting head；Drive mechanism, it is connected to described chassis and supports described chassis and move on mine bottom plate；First light emitters；With the second light emitters.Described chassis includes first end, the second end and the longitudinal axis extended between, and this chassis also includes bottom side, top side and the yaw axes extended between；Described cutting head is connected to the first end on described chassis.Described first light emitters is connected to described chassis near described first end, and launches and deviate from described chassis and be directed parallel to the light in direction of described yaw axes；Described second light emitters is connected to described chassis near described the second end, and launches and deviate from described chassis and be directed parallel to the light in direction of described yaw axes.
In yet another embodiment, a kind of Mars Miner includes: chassis；Cutting head；Drive mechanism, it is connected to described chassis and supports described chassis and move on mine bottom plate；Light emitters, it is connected to described chassis.Described chassis includes first end, the second end and the longitudinal axis extended between, and this chassis also includes bottom side, top side and the yaw axes extended between.Described cutting head is connected to the first end on described chassis.Described light emitters is connected to chassis and transmitting deviates from described chassis the fan laser along the direction being parallel to described yaw axes.Described fan laser emitting linear is in mining surface, and wherein, when described drive mechanism makes described chassis move forward, described straight line remains parallel to predetermined direction.
In yet another embodiment, it is provided that a kind of method for operating Mars Miner, described Mars Miner includes chassis and is connected to the cutting head on this chassis, and described method includes: forming survey line at mine roof, this survey line is parallel to predetermined front line direction；Launching the first fan laser towards described mine roof, this fan laser launches the first straight line on mine roof；Launching the second fan laser towards described mine roof, described fan laser launches the second straight line on mine roof；Described Mars Miner is made to move ahead towards described front line direction, so that described first straight line and the second straight line remain parallel to described survey line.
Being described in detail by consideration and accompanying drawing, the other side of the present invention will be clear from.
Accompanying drawing explanation
Fig. 1 is the perspective view of the guiding system according to one embodiment of the present of invention
Fig. 2 is the perspective view of Mars Miner.
Fig. 3 is the perspective view of generating laser bracket.
Fig. 4 is the enlarged perspective in Fig. 2 on the right side of Mars Miner.
Fig. 5 is the perspective view of the first target.
Fig. 6 is the perspective view of the second target.
Fig. 7 is the perspective view of rear portion indicator.
Fig. 8 is the perspective view of the guiding system in Fig. 1.
Fig. 9 is the rearview of the end of the Mars Miner of Fig. 2.
Figure 10 is the rearview of the second target in Fig. 6.
Figure 11 is the perspective view of the Mars Miner including the guiding system according to another embodiment；
Figure 12 is the enlarged perspective of a part for the Mars Miner in Figure 11；
Figure 13 is the enlarged perspective of a part for the Mars Miner in Figure 11；
Figure 14 is the perspective view when being positioned proximate to mine wall of the Mars Miner in Figure 11.
Specific embodiment
Before any embodiments of the invention are explained in detail, it is to be understood that the application of the present invention is not limited to structure and the details of layout of parts that are that illustrate in the following description or that illustrate in the following figures.The present invention can have other embodiments, and can be practiced or carried out in every way.Simultaneously, it will be understood that the purpose that wording used herein or term illustrate that, it is determinate for being not to be construed as." including " used herein and " comprising " and deformation thereof are intended to comprise hereafter cited article and equivalent thereof and extra article." consist of " used herein and deformation thereof are intended to only comprise hereafter cited article and equivalent thereof.Unless otherwise specified or limited, term " is installed ", " connection ", " support " and " connection " and deformation thereof are used in a broad sense, and contain direct or indirect installation, connect, support and couple.
Fig. 1 shows that mining guiding system 10, mining guiding system 10 include continuous mining machine 14, generating laser handbarrow or bracket 18 and be connected to the guide assembly 26 of continuous mining machine 14.Mars Miner 14 engages the work surface 30 (Fig. 8) of ore bed 34.As in figure 2 it is shown, Mars Miner 14 includes chassis or main body 38, is connected to the cutting head 42 of main body 38 and for moving the drive system 46 of main body 38.Main body 38 defines roll-over axis 50, pitch axis 54 and yaw axes 58.Roll-over axis 50 extends longitudinally through main body 38.Pitch axis 54 extends transversely through main body 38, and yaw axes 58 vertically extends through main body 38.In the embodiment shown, drive system 46 is included in the paired crawler belt 82 on main body 38 either side.Other embodiments can use wheel to move Mars Miner 14.
As it is shown on figure 3, generating laser bracket 18 includes pedestal 90, adjusts assembly the 94, first generating laser the 98, second generating laser 102 and the 3rd generating laser 106.Pedestal 90 includes: for the four wheels of movable support bracket 18；And for by multiple standing screws 110 fixing relative to mine bottom plate for bracket 18.Adjust assembly 94 to include for making each gear-box 118 pivoted relative to pedestal 90 in generating laser 98,102,106.In the embodiment shown, the first planar laser 122 launched by the first generating laser 98.First planar laser 122 extends in planar fashion towards ore bed 34.The second planar laser 126 of work surface 30 extension towards ore bed 34 launched by second generating laser 102.The laser beam 130 extended towards work surface 30 launched by 3rd generating laser 106.Adjusting assembly 94 allows each generating laser 98,102,16 to pivot in three dimensions, thus allows operator to position planar laser 122,126 and laser beam 130 accurately.In one embodiment, generating laser 98,102,106 can be until accurately adjusting in the distance of 100 meters.
As shown in figs. 4-7, guide assembly 26 includes the first target 146 (Fig. 4), the second target 150 (Fig. 4) and level indicator 154 (Fig. 7).With reference to Figure 4 and 5, the first target 146 is connected to Mars Miner 14 in Mars Miner 14 side.First target 146 deviates from Mars Miner 14 and extends, and includes cross-hair indicator 162.With reference to Fig. 4 and 6, the second target 150 is connected to Mars Miner 14.Second target 150 is directed at the first target 146, and includes vertical slot 170.In the embodiment shown, target 146,150 is both arranged on the right side of Mars Miner 14, and wherein the first target 146 is placed adjacent to cutting head, and the second target is placed adjacent to one end 166 contrary with cutting head 42.As it is shown in fig. 7, level indicator 154 is arranged on the end 166 of Mars Miner 14, and be formed as extending past the linear marker of the end 166 of Mars Miner 14.In other embodiments, the first target 146 and the second target 150 can be arranged on other positions relative to Mars Miner 14, and target 146,150 and level indicator 154 can include other labelling configuration.
Fig. 8 shows the guiding system 10 in work.Bracket 18 is arranged in the rear of the work surface 30 of Mars Miner 14 and ore bed 34.Bracket 18 is secured in place by being inserted in mine bottom plate by standing screw 110.First planar laser 122 is directed at the middle face of ore bed 34.This middle face is the plane allowing to be produced optimal mineral products amount by exploitation work.In identifying effectively, the method in face is to well known to a person skilled in the art, and further illustrating of this feature is unnecessary.Second planar laser 126 is directed at level indicator 154, and laser beam 130 is directed at through the vertical slot 170 (Fig. 4) of the second target 150 the cross-hair indicator 162 (Fig. 4) of encountering on the first target 146.Mars Miner 14 is adjusted on the position adjacent to work surface 30 then, and starts from work surface 30 mined material.
Along with Mars Miner 14 travels across ore bed 34, operator monitors three laser projections 122,126 and 130, to ensure that each laser projections keeps alignment so that Mars Miner 14 produces optimum point of production.By remotely controlling to operate Mars Miner 14, the position of operator's reference laser projection 122,126 and 130 is as adjusting the position of Mars Miner 14 and the guiding of orientation.Before the cutting step and continued upon start during advancing, check the position of laser projections 122,126 and 130, and if it is desired, adjust the orientation of Mars Miner 14 to ensure that accurate sensing controls and is held in position.
The observation of the second planar laser 126 on level indicator 154 is provided about Mars Miner 14 relative to the directed information of pitch axis 50.Such as, if sunk down on the left of Mars Miner 14 below second planar laser 126, as it is shown in figure 9, operator handle Mars Miner 14 with promote on the left of.This action makes Mars Miner 14 rotate on direction 180, until the second planar laser 126 is directed at level indicator 154.
Observation for the laser beam 130 on the first target 146 and the second target 150, it is provided that about Mars Miner 14 relative to roll-over axis 54 (Fig. 2) and the information of the orientation of yaw axes 58 (Fig. 2).If Mars Miner 14 departs from appropriate location, then laser beam 130 can shine on the second target 150, thus indicates how to revise the orientation of Mars Miner 14.Such as, with reference to Figure 10, if laser beam 130 is positioned in the top right corner of the second target 50, then operator makes Mars Miner 14 turn to the left.This moves so that the second target 150 moves on direction 184, until laser beam 130 is directed at vertical slot 170.If then laser beam 130 shines on the first target 146 and at the overcentre of cross-hair indicator 162, then operator makes the front portion of Mars Miner 14 upwards change angle.This action makes the first target 146 move up relative to laser beam 130.When laser beam 130 irradiates through the vertical slot 170 of the second target 150 and encounters the center of cross-hair indicator 162, Mars Miner 14 is aligned and starts extraction operation.3rd generating laser 106 determines the width of cutting relative to the distance of open surface.
After having cut, generating laser 98,102,106 is again moved or is adjusted, and thinks that the extraction operation of next stage provides and guides.By setting up alignment between laser projections 122,126,130 and guide assembly 26, guiding system 10 guarantees that Mars Miner 14 keeps " ore bed alignment ", or with ore bed 34 effective in the face of accurate, even if it is also such that ore bed 34 tilts with certain angle.
Figure 11-14 shows another embodiment of guiding system 410.For brevity, only describe guiding system 410 in detail and guide the difference between system 10.Similar parts identify plus 400 with identical reference.
As shown in figure 11, guiding system 410 includes the first light emitters 498 and the second light emitters 502.First light emitters 498 is connected to Mars Miner 14 in the position near first or forward end 40 (i.e. near cutting head 42), and the second light emitters 502 is positioned proximate to the second or backward end 44 of Mars Miner 14.In the illustrated embodiment, Mars Miner 14 includes that a pair front portion near forward end 40 hoists device (jack) 192 and a pair rear portion near backward end 44 hoists device 194.The device 192 and 194 that hoists can stretch towards the direction being parallel to yaw axes 58, rises main body 38 with relative mine bottom plate or mine roof and supports Mars Miner 14.
In an illustrated embodiment, the first light emitters 498 is located in the front of drive system 46 and is positioned proximate to front portion and hoists device 192, and the second light emitters 502 is oriented to be positioned at the rear of drive system 46 device 194 that hoists near rear portion.Additionally, in an illustrated embodiment, the first light emitters 498 and the second light emitters 502 are respectively positioned on the right side of main body 38.In other examples, emitter 498 and 502 can be located in opposite side or be located between left side and right side.Furthermore, it is possible to there is extra emitter to be connected to main body 38.First light emitters 498 launches the first laser projections 522, and the second light emitters 502 launches the second laser projections 526.
In an illustrated embodiment, light emitters 498 and 502 is fan laser, thus the first projection 522 and the second projection 526 have flat shape.In an illustrated embodiment, the first projection 522 and the second projection 526 are mutual the most in column, thus the first projection 522 and the second projection 526 fall in same plane.In an illustrated embodiment, the first projection 522 and the second projection 526 plane limited is oriented to be parallel with longitudinal axis or roll-over axis 50, and vertically extends towards roof or mine roof 196 (Figure 14) from rolling axis 50.In other words, the first projection 522 and the second projection 526 can be perpendicular to both roll-over axis 50 and pitch axis 54 and extend (Figure 11).In certain embodiments, projection 522 and 526 plane limited is parallel to yaw axes 58 and extends (Figure 11).The plane limited by the first projection 522 and the second projection 526 is roughly parallel to the front line direction of Mars Miner 14.
As shown in the most in fig. 14, projection 522,526 the most all forms straight line 532 on top board 196.According to laser projections 522, the size of 526, straight line 532,536 can overlap each other, and are shown as continuous print solid line or the independent straightway separated by one or more breach.
Before mining, line 200 (Figure 14) is drawn on top board 196, and is directed at predetermined cut direction or the front line direction of Mars Miner 14.Operator can use this line 200, or produces the Article 2 line (such as utilize aerosol apparatus) parallel with this line 200.In the embodiment shown in fig. 14, Mars Miner 14 is positioned such that to project 522, and 526 are directed at straight line 200, so that Mars Miner is directed at front line direction.In operation process, operator monitor the projection 522,526 position relative to straight line 200, to guarantee that Mars Miner keeps alignment.Straight line 200 extends enough distances, to guarantee that Mars Miner 14 can open and complete whole cutting circulation.
Guiding system 410 provides simple and direct system for being directed at Mars Miner when Mars Miner 10 moves ahead by ore bed.This guiding system 410 decreases calibration and the time arranged, and therefore decreases Mars Miner in the downtime cut between circulation.
Therefore, the present invention additionally provides the guiding system for Mars Miner except other things.The various feature and advantage of the present invention are explained in the appended claims.
Claims (11)
1. a Mars Miner, it is characterised in that described Mars Miner includes:
Chassis, described chassis includes first end, the second end and the longitudinal axis extended between described first end and the second end, and described chassis also includes bottom side, top side and the yaw axes extended between described bottom side and top side；
Cutting head, described cutting head is connected to the first end on described chassis；
Drive mechanism, described drive mechanism is connected to described chassis, and supports described chassis and move on mine bottom plate；
First light emitters, described first light emitters is connected to described chassis in the position near described first end, and the light that described first light emitters is launched deviates from described chassis and along the direction being parallel to described yaw axes；
Second light emitters, described second light emitters is connected to described chassis in the position near described the second end, and the light that described second light emitters is launched deviates from described chassis and along the direction being parallel to described yaw axes.
Mars Miner the most according to claim 1, it is characterized in that, the light launched by described first light emitters is projected out the first straight line on mining surface, the light launched by described second light emitters is projected out the second straight line on mining surface, and wherein said first straight line and the second branch line are conllinear.
Mars Miner the most according to claim 2, it is characterised in that described first straight line and the second straight line are configured to the survey line being parallel to be drawn on mine roof.
Mars Miner the most according to claim 1, it is characterized in that, described first light emitters launches the first light projection limiting the first fan-shaped plan, second light emitters launches the second light projection limiting the second fan-shaped plan, and described second fan-shaped plan is parallel to described first fan-shaped plan.
Mars Miner the most according to claim 1, it is characterized in that, described chassis farther includes right side, left side and the pitch axis extended between described right side and left side, and wherein said first light emitters and the second light emitters are connected to described chassis in the position near one of described right side and left side.
Mars Miner the most according to claim 1, it is characterized in that, described Mars Miner farther includes to be connected to the device that hoists on described chassis, described in the device that hoists can stretch along the direction being parallel to described yaw axes, described in the device that hoists be positioned proximate to described first light emitters.
7. a Mars Miner, it is characterised in that described Mars Miner includes:
Chassis, described chassis includes first end, the second end and the longitudinal axis extended between described first end and the second end, and described chassis also includes bottom side, top side and the yaw axes extended between described bottom side and top side；
Cutting head, described cutting head is connected to the first end on described chassis；
Drive mechanism, described drive mechanism is connected to described chassis, and supports described chassis and move on mine bottom plate；
Being connected to the light emitters on described chassis, the fan laser that described light emitters is launched deviates from described chassis and along being parallel to the direction of described yaw axes, and this fan laser projects the first straight line on mining surface；
Wherein, when described drive mechanism makes described chassis move forward, described first straight line remains parallel to predetermined direction.
Mars Miner the most according to claim 7, it is characterized in that, described light emitters is the first light emitters of the first end being positioned proximate to described chassis, and described Mars Miner further includes at the second light emitters being connected to described chassis near the position of described the second end, and the fan laser that described second light emitters is launched deviates from described chassis and along the direction being parallel to described yaw axes.
Mars Miner the most according to claim 8, it is characterised in that the light sent by described second light emitters projects the second straight line on mining surface, and wherein said first straight line and the second straight line are conllinear.
Mars Miner the most according to claim 8, it is characterized in that, described chassis farther includes right side, left side and the pitch axis extended between described right side and left side, and wherein said first light emitters and the second light emitters are connected to described chassis in the position near one of described right side and left side.
11. Mars Miners according to claim 8, it is characterized in that, described Mars Miner further includes at the position near described first light emitters and is connected to the first of described chassis and hoists device, and hoist device being connected to the second of described chassis near the position of described second light emitters, described first device and second device that hoists that hoists can stretch along the direction being parallel to described yaw axes.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US14/568,295 | 2014-12-12 | ||
| US14/568,295 US9587491B2 (en) | 2010-09-22 | 2014-12-12 | Guidance system for a mining machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205422709U true CN205422709U (en) | 2016-08-03 |
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ID=56100103
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510917968.5A Expired - Fee Related CN105697015B (en) | 2014-12-12 | 2015-12-11 | Guidance system for Mars Miner |
| CN201521030143.3U Withdrawn - After Issue CN205422709U (en) | 2014-12-12 | 2015-12-11 | Guidance system for a mining machine |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510917968.5A Expired - Fee Related CN105697015B (en) | 2014-12-12 | 2015-12-11 | Guidance system for Mars Miner |
Country Status (10)
| Country | Link |
|---|---|
| CN (2) | CN105697015B (en) |
| AT (1) | AT516527A2 (en) |
| AU (1) | AU2015268615A1 (en) |
| BR (1) | BR102015031109A2 (en) |
| CA (1) | CA2914558A1 (en) |
| PE (1) | PE20160783A1 (en) |
| PL (1) | PL415213A1 (en) |
| RU (1) | RU2716765C2 (en) |
| SE (1) | SE540580C2 (en) |
| ZA (1) | ZA201509002B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105697015A (en) * | 2014-12-12 | 2016-06-22 | 乔伊·姆·特拉华公司 | Guidance system for a mining machine |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| PL238569B1 (en) * | 2017-12-04 | 2021-09-06 | Kghm Polska Miedz Spolka Akcyjna | Method for positioning of a device and/or movable element of a device, preferably within the area of the mining breast heading |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3603644A (en) * | 1969-04-15 | 1971-09-07 | Harold C Mccleery | Mining ventilation apparatus and method |
| SU754060A1 (en) * | 1978-01-25 | 1980-08-07 | Новочеркасский ордена Трудового Красного Знамени политехнический институт им. Серго Орджоникидзе | Apparatus for automatic control of entry-driving mining machine position |
| AT360465B (en) * | 1979-03-14 | 1981-01-12 | Voest Alpine Ag | DEVICE FOR CONTROLLING THE POSITION OF A TRACK DRIVING MACHINE |
| RU2068091C1 (en) * | 1989-10-18 | 1996-10-20 | Новочеркасский политехнический институт | Method for control of displacement of movable object relative to reference direction |
| CA2041373C (en) * | 1990-05-07 | 1993-11-09 | D. Glenn Brophey | Vehicle guidance system |
| US6296317B1 (en) * | 1999-10-29 | 2001-10-02 | Carnegie Mellon University | Vision-based motion sensor for mining machine control |
| US6203111B1 (en) * | 1999-10-29 | 2001-03-20 | Mark Ollis | Miner guidance using laser and image analysis |
| FI110806B (en) * | 2000-03-17 | 2003-03-31 | Sandvik Tamrock Oy | Arrangement for locating unmanned mining vehicles |
| US8157330B2 (en) * | 2009-04-30 | 2012-04-17 | Joy Mm Delaware, Inc. | Method and apparatus for maintaining longwall face alignment |
| US8523287B2 (en) * | 2010-09-22 | 2013-09-03 | Joy Mm Delaware, Inc. | Guidance system for a mining machine |
| CN103438875A (en) * | 2013-09-03 | 2013-12-11 | 山西科达自控股份有限公司 | Continuous mining machine control system for coal mine based on image and data combination |
| AU2015268615A1 (en) * | 2014-12-12 | 2016-06-30 | Joy Global Underground Mining Llc | Guidance system for a mining machine |
-
2015
- 2015-12-09 AU AU2015268615A patent/AU2015268615A1/en not_active Abandoned
- 2015-12-09 ZA ZA2015/09002A patent/ZA201509002B/en unknown
- 2015-12-10 RU RU2015153054A patent/RU2716765C2/en not_active IP Right Cessation
- 2015-12-11 BR BR102015031109A patent/BR102015031109A2/en not_active Application Discontinuation
- 2015-12-11 CN CN201510917968.5A patent/CN105697015B/en not_active Expired - Fee Related
- 2015-12-11 CA CA2914558A patent/CA2914558A1/en not_active Abandoned
- 2015-12-11 CN CN201521030143.3U patent/CN205422709U/en not_active Withdrawn - After Issue
- 2015-12-11 PE PE2015002601A patent/PE20160783A1/en unknown
- 2015-12-11 PL PL415213A patent/PL415213A1/en unknown
- 2015-12-14 SE SE1551635A patent/SE540580C2/en not_active IP Right Cessation
- 2015-12-14 AT ATA51058/2015A patent/AT516527A2/en unknown
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105697015A (en) * | 2014-12-12 | 2016-06-22 | 乔伊·姆·特拉华公司 | Guidance system for a mining machine |
| CN105697015B (en) * | 2014-12-12 | 2019-10-15 | 久益环球地下采矿有限责任公司 | Guidance system for Mars Miner |
Also Published As
| Publication number | Publication date |
|---|---|
| RU2716765C2 (en) | 2020-03-16 |
| ZA201509002B (en) | 2017-03-29 |
| SE1551635A1 (en) | 2016-06-13 |
| CA2914558A1 (en) | 2016-06-12 |
| AU2015268615A1 (en) | 2016-06-30 |
| CN105697015A (en) | 2016-06-22 |
| AT516527A2 (en) | 2016-06-15 |
| CN105697015B (en) | 2019-10-15 |
| PE20160783A1 (en) | 2016-08-17 |
| RU2015153054A3 (en) | 2019-08-26 |
| BR102015031109A2 (en) | 2016-06-14 |
| RU2015153054A (en) | 2017-06-16 |
| PL415213A1 (en) | 2016-08-16 |
| SE540580C2 (en) | 2018-10-02 |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20181105 Address after: American Pennsylvania Patentee after: Joy Global Underground Mining Co., Ltd. Address before: Delaware Patentee before: Joy. Mm Delaware, INC. |
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| TR01 | Transfer of patent right | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160803 Effective date of abandoning: 20191015 |
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| AV01 | Patent right actively abandoned |
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| AV01 | Patent right actively abandoned |