Shearing system for longwall mining
A shearing system includes a pan line having an end stop, a gate end, and a set of consecutively arranged pans extending from the gate end and having one or more pans disposed beyond the end stop. A shearer is stoppable at the end stop, includes a shearer arm, and is positioned on the one or more pans when the shearer arm is disposed between the end stop and the gate end. A first sensor detects an orientation of the shearer, while second sensors detect an orientation of the set of consecutively arranged pans. A control system determines a profile of the pan line between the end stop and the gate end and controls a movement of the shearer arm based on the profile of the pan line when the shearer arm is disposed between the end stop and the gate end.
1. A shearing system for longwall mining, the shearing system comprising:
a pan line defined by a plurality of interconnected pans extending along a longitudinal direction from a first gate end to a second gate end, the pan line including
a first end stop disposed between the first gate end and the second gate end along the longitudinal direction, and
a second end stop disposed between the first end stop and the second gate end along the longitudinal direction,
the plurality of interconnected pans including a set of consecutively arranged pans extending from the first gate end toward the second gate end, at least one pan of the set of consecutively arranged pans being disposed between the first end stop and the first gate end;
a shearer moveable on and along the pan line, the shearer including:
a main body in contact with the plurality of interconnected pans, the main body being configured to stop at the first end stop, such that the first end stop prohibits contact between the main body and the at least one pan disposed between the first end stop and the first gate end,
a shearer arm extending from the main body and configured to be moved relative to the main body to remove mine material from a mine face, wherein the main body is positioned on the set of consecutively arranged pans when the shearer arm is disposed between the first end stop and the first gate end, and
a first sensor configured to detect an orientation of the shearer;
a set of second sensors, each sensor of the set of second sensors being configured to detect an orientation of a corresponding pan of the set of consecutively arranged pans; and
a control system operatively coupled to the first sensor and the set of second sensors, the control system being configured to:
determine a profile of the pan line between the first end stop and the first gate end based on the orientation of one or more pans of the set of consecutively arranged pans and the orientation of the shearer when the shearer arm is disposed between the first end stop and the first gate end, and
control a movement of the shearer arm based at least in part on the profile of the pan line between the first end stop and the first gate end when the shearer arm is disposed between the first end stop and the first gate end.
2. The shearing system of claim 1 , wherein the first sensor includes an inertial navigation system.
3. The shearing system of claim 1 , wherein the set of second sensors are coupled to the set of consecutively arranged pans, at least one sensor of the set of second sensors being coupled to a pan disposed between the first end stop and the first gate end.
4. The shearing system of claim 1 , wherein each second sensor of the set of second sensors includes an inclinometer.
5. The shearing system of claim 1 , wherein the first gate end is one of a main gate end or a tail gate end of the pan line.
6. The shearing system of claim 1 , wherein a detection of the orientation of the shearer when the shearer arm is disposed between the first end stop and the first gate end facilitates a determination of the profile of the at least one pan disposed between the first end stop and the first gate end.
7. The shearing system of claim 1 , wherein a length defined by the set of consecutively arranged pans extends up to at least a mid-point of a length of the shearer along the longitudinal direction, when the shearer arm of the shearer is disposed between the first end stop and the first gate end.
8. The shearing system of claim 1 , wherein the control system is further configured to:
calculate a deviation between the orientation of one or more pans of the set of consecutively arranged pans and the orientation of the shearer when the shearer arm is disposed between the first end stop and the first gate end; and
append the orientation of each pan of the set of consecutively arranged pans based on the deviation to determine the profile of the pan line between the first end stop and the first gate end.
9. A method for operating a shearer of a longwall mining machine, the method comprising:
receiving, by a control system, data corresponding to an orientation of the shearer moveable on and along a pan line,
the pan line being defined by a plurality of interconnected pans extending along a longitudinal direction from a first gate end to a second gate end, the pan line including
a first end stop disposed between the first gate end and the second gate end along the longitudinal direction, and
a second end stop disposed between the first end stop and the second gate end along the longitudinal direction,
the plurality of interconnected pans including a set of consecutively arranged pans extending from the first gate end toward the second gate end, at least one pan of the set of consecutively arranged pans being disposed between the first end stop and the first gate end,
the first end stop prohibiting contact between a main body of the shearer and the at least one pan disposed between the first end stop and the first gate end;
receiving, by the control system, data corresponding to an orientation of the set of consecutively arranged pans;
determining, by the control system, a profile of the pan line between the first end stop and the first gate end based on the orientation of one or more pans of the set of consecutively arranged pans and the orientation of the shearer when a shearer arm of the shearer is disposed between the first end stop and the first gate end; and
controlling, by the control system, a movement of the shearer arm based on the profile of the pan line when the shearer arm is disposed between the first end stop and the first gate end.
10. The method of claim 9 , wherein data corresponding to the orientation of the shearer is received from a first sensor, and
wherein the first sensor includes an inertial navigation system.
11. The method of claim 10 , wherein the first sensor is coupled to the shearer.
12. The method of claim 9 , wherein data corresponding to the orientation of the set of consecutively arranged pans is received from a set of second sensors, and
wherein each second sensor of the set of second sensors includes an inclinometer.
13. The method of claim 12 , wherein the set of second sensors is coupled to the set of consecutively arranged pans, at least one sensor of the set of second sensors being coupled to a pan disposed between the first end stop and the first gate end.
14. The method of claim 9 , wherein the first gate end is one of a main gate end or a tail gate end of the pan line.
15. The method of claim 9 , wherein a length defined by the set of consecutively arranged pans extends up to at least a mid-point of a length of the shearer along the longitudinal direction, when the shearer arm of the shearer is disposed between the first end stop and the first gate end.
16. The method of claim 9 , wherein determining the profile of the pan line between the first end stop and the first gate end includes:
calculating, by the control system, a deviation between the orientation of one or more pans of the set of consecutively arranged pans and the orientation of the shearer when the shearer arm is disposed between the first end stop and the first gate end; and
appending, by the control system, the orientation of each pan of the set of consecutively arranged pans based on the deviation to determine the profile of the pan line between the first end stop and the first gate end.
17. A shearing system for longwall mining, the shearing system comprising:
a pan line defined by a plurality of interconnected pans extending along a longitudinal direction from a first gate end to a second gate end, the pan line including
a first end stop disposed between the first gate end and the second gate end along the longitudinal direction, and
a second end stop disposed between the first end stop and the second gate end along the longitudinal direction,
the plurality of interconnected pans including a set of consecutively arranged pans extending from the first gate end toward the second gate end, at least one pan of the set of consecutively arranged pans being disposed between the first end stop and the first gate end;
a shearer moveable on and along the pan line, the shearer including:
a main body in contact with the plurality of interconnected pans, the main body being configured to stop at the first end stop, such that the first end stop prohibits contact between the main body and the at least one pan disposed between the first end stop and the first gate end,
a shearer arm extending from the main body and configured to be moved relative to the main body to remove mine material from a mine face, wherein the main body is positioned on the set of consecutively arranged pans when the shearer arm is disposed between the first end stop and the first gate end, and
an inertial navigation system configured to detect an orientation of the shearer;
a set of inclinometers coupled to the set of consecutively arranged pans each inclinometer of the set of inclinometers being configured to detect an orientation of a corresponding pan of the set of consecutively arranged pans; and
a control system operatively coupled to the inertial navigation system and the set of inclinometers, the control system being configured to:
determine a profile of the pan line between the first end stop and the first gate end based on the orientation of one or more pans of the set of consecutively arranged pans and the orientation of the shearer when the shearer arm is disposed between the first end stop and the first gate end, and
control a movement of the shearer arm based on the profile of the pan line when the shearer arm is disposed between the first end stop and the first gate end.
18. The shearing system of claim 17 , wherein the first gate end is one of a main gate end or a tail gate end of the pan line.
19. The shearing system of claim 17 , wherein a length defined by the set of consecutively arranged pans extends up to at least a mid-point of a length of the shearer along the longitudinal direction, when the shearer arm of the shearer is disposed between the first end stop and the first gate end.
20. The shearing system of claim 17 , wherein the control system is further configured to:
calculate a deviation between the orientation of one or more pans of the set of consecutively arranged pans and the orientation of the shearer when the shearer arm is disposed between the first end stop and the first gate end; and
append the orientation of each pan of the set of consecutively arranged pans based on the deviation to determine the profile of the pan line between the first end stop and the first gate end.