[0001] The invention relates to a method for remotely controlled mining by a remotely guided
mining machine within a seam, according to the preamble part of claim 1, and a system
for carrying out the method, according to the preamble part of claim 3.
[0002] Remote control mining methods and systems, particularly for coal seams, have long
been recognized as desirable and many attempts have been made to provide methods and
systems having the capability of commercial operation. A generic method and system
is for example known from US-A-4 023 862. This known method for remotely controlled
mining by a remotely guided mining machine within a seam comprises the steps of positioning
a continuous mining machine in mining relation to the seam with a mining machine having
power driven means thereon for moving said machine through successive seam material
cutting cycles which include an advancing movement along a mined entry within the
seam in a direction toward the working face of the seam. Furthermore, this method
comprises the step of controlling the cutting cycle of said continuous mining machine
from a remote control station by means of a television camera, so that the material
cut during the cycle is cut from the seam up to the different material defining the
roof and down to the different material defining the floor.
[0003] This known method and respective remotely controlled mining system, however, as all
other similar known methods and systems, includes several essential drawbacks that
have prevented such methods and systems from achieving successful commercial operation.
The reason for this is that the generic system consists in the provision of a black
and white television camera and black and white television monitor. This set-up was
regarded to be all that was required, since what was being pictured was the black
and white world of an underground coalmine. The practical experience however showed,
that the operation was such that it never produced coal of sufficient quality and
quantity. From the standpoint of the quality of the coal produced, the black and white
television picture was incapable of providing the operator with the ability to accurately
maintain the mining machine within the seam. Thus, the quality of the coal produced
was diminished because of the fact that the coal being produced was mixed with different
material forming the floor and roof of the mine seam. Quite often, however, the material
above and below the coal seam is shale, rock or the like, which cannot always be easily
and readily distinguished from the material of the seam. The lack of quality, as well
as the lack of quantity product prevented the known method and system from achieving
commercial success.
[0004] It is therefore an object of the present invention to provide a method for remotely
controlled mining, according to the preamble part of claim 1, and a system for carrying
out said method which obviates the problems with respect to lack of product quality
heretofore encountered.
[0005] The solution of this problem is achieved by the characterizing features of claim
1 and claim 3, respectively.
[0006] Surprisingly, whereas the black and white picture which had been previously utilized
in the system gave the monitor viewer a flat, two- dimensional view of the interior
of the mine, when the specific color television camera, specific lighting and specific
monitor according to the invention were utilized, the depth perception of the picture
increased to the point that the operator could readily determine the difference between
the material of the seam and the material of the top and bottom. When utilizing the
equipment according to the invention the product quality problems, previously encountered
were, in fact, eliminated.
[0007] Claims 2 and 4 include preferred embodiments of the method and system according to
the invention, respectively.
[0008] Using a usual audiosystem embodied in the television camera and the television receiver
it is possible to provide for the operator not only a visual picture of the operation
of the continuous mining machine in the working face but an audible reproduction of
the same as well. Thus, the present system provides a means by which the sight and
sound of actual operation can be retained for the operator thus rendering the present
system suitable not only for short distance remote control but total remote control
as well.
[0009] These and other objects of the present invention will become more apparent during
the course of the following detailed description and appended claims.
[0010] The invention may best be understood with reference to the accompanying drawings,
wherein an illustrative embodiment is shown.
[0011] In the drawings:
Fig. 1 is a top plan view of the high wall mining system of the present invention;
Fig. 2 is a top plan view of the continuous mining machine of the system;
Fig. 3 is a side elevational view, with certain parts shown in section, for purposes
of clearer illustration of the continuous mining machine shown in Fig. 2;
Fig. 4 is an enlarged fragmentary sectional view of the slip joint in the vacuum air
conveying system components carried by the continuous mining machine;
Figure 5 is a sectional view of a conduit section showing a wheeled carriage assembly
fixed thereto;
Figure 6 is a sectional view taken along the line 6-6 of Figure 5;
Figure 7 is a side elevational view taken along the line 7-7 of Figure 1 showing the
telescopic conduit transfer mechanism in its fully extended position;
Figure 8 is a view similar to Figure 7 showing the mechanism in its retracted position
preparatory to receiving a new conduit section;
Figure 9 is a view similar to Figure 8 showing the new conduit section attached;
Figure 10 is an enlarged fragmentary sectional view taken along the line 10-10 of
Figure 7;
Figure 11 is an enlarged sectional view taken along the line 11-11 of Figure 1;
Figure 12 is a sectional view taken along the line 12-12 of Figure 11;
Figure 13 is an enlarged fragmentary sectional view taken along the line 13-13 of
Figure 1;
Figure 14 is a view taken along the line 14-14 of Figure 13;
Figure 15 is an enlarged elevational view taken along the line 15-15 of Figure 1;
Figure 16 is a somewhat schematic view illustrating the remote control system of the
continuous mining machine; and
Figure 17 is a somewhat schematic view illustrating the control panel of the control
station.
[0012] Referring now more particularly to Figure 1 of the drawings, there is shown therein
a high wall mining system which embodies the principles of the present invention.
The system includes three basic component assemblies: (1) a continuous mining machine,
generally indicated at 10, for advancing in the high wall seam; (2) a remote control
guidance system 12 for controlling the movements of the continuous mining machine
within the seam from a position outwardly of the high wall; and (3) an expansible
and retractable vacuum air conveying system 14 connectable with the continuous mining
machine 10 so as to be advanced in the seam thereby and to effect conveyance of the
coal removed from the seam by the continuous mining machine to a position outwardly
of the high wall.
[0013] The continuous mining machine 10 utilized in accordance with the principles of the
present invention may be any of the known commercially available models. A preferred
embodiment is the Model #101 Helimatic Miner, manufactured and sold by Dresser Industries,
Jeffrey Mining Machine Division. For purposes of detailed disclosure of this machine
reference is made to a brochure entitled "101 MC Helimatic Continuous Mining System",
the disclosure of which is hereby incorporated by reference into the present specification.
Figure 16 illustrates the remote control system schematic of this brochure modified
for purposes of the present invention. Certain elements of the continuous mining machine
10 are disclosed in U.S. patent No. 3,892,443, the disclosure of which is also hereby
incorporated by reference into the present specification. For present purposes it
is sufficient to note that the continuous mining machine 10 includes a track frame
16 having left and right-hand endless track assemblies 18 driven by separate hydraulic
motors, indicated schematically at 20 and 22 in Figure 16. Mounted on the track frame
16 for horizontal longitudinal sliding movement is a sump frame 24. A pair of sump
cylinders, indicated schematically at 26 in Figure 16, is provided for effecting the
reciprocating movement of the sump frame 24. Pivoted on the sump frame 24 about a
transverse horizontal axis is an auger head assembly 28. The auger head assembly 28
is moved through raising and lowering movements abouts its pivotal axis with respect
to the sump frame 24 by a pair of auger head cylinders, indicated schematically at
30 in Figure 14, extending between the sump frame 24 and the auger head assembly 28.
In addition, two electric motor drives, indicated schematically at 32 in Figure 16,
for the auger cutting head are also provided. Also mounted on the sump frame 24 for
pivotal movement about a transverse axis parallel to the axis of pivotal movement
of the auger head assembly 28 is a gathering assembly 34 which includes a laterally
extending scraper type pick-up blade 36 for the auger cutters, auger head assembly
28 and a central conveyor 38. A pair of gathering cylinders, indicated schematically
at 40 in Figure 14, is provided between the sump frame 24 and the gathering assembly
34 for effecting raising and lowering movements of the gathering assembly 34 and permitting
a floating movement thereof. In addition, a hydraulic motor, indicated schematically
at 42 in Figure 16, is provided for driving the central conveyor 38. The mining machine
10 as manufactured and sold is also provided with a chain conveyor assembly carried
by the sump frame 24 for receiving the coal from the central conveyor 38 of the gathering
assembly 34 and conveying the same rearwardly of the track frame 16. However, this
chain conveyor is not utilized in practicing the present invention, as will be more
apparent hereinafter.
[0014] With particular reference to Figure 16 which is basically the remote control schematic
of the brochure, as aforesaid, it will be noted that a third electric motor 44 is
shown which drives the hydraulic pump (not shown) to provide hydraulic fluid under
pressure for the various hydraulic motors and cylinders. The hydraulic cylinders 26,
30 and 40 and the hydraulic motors 22, 20 and 42, are controlled by pilot operated
main valves, indicated schematically at 46, 48, 50, 52, 54 and 56 respectively, and
the pilot pressure to the main valves is controlled by solenoid operated valves, indicated
schematically at 58, 60, 62, 64, 66 and 68 respectively.
[0015] The electric motor 44 is provided with a starter 70 connected through a transformer
72 and the two auger motors 32 are provided with starters 74 which operate from a
time delay relay 76. All of the above electrical components are connected to lines
in a main cable 78 of extensive length forming a part of the remote control guide
system 12.
[0016] As best shown in Figure 1, the guidance system includes a control station 80 which
preferably embodies a construction similar to that of a conventional house trailer.
As shown, the control station is located on the high wall bench adjacent the area
of the seam of the high wall where the entry is to be developed. In this way, the
control station can be moved along the bench parallel to the high wall as successive
entries are developed.
[0017] The remote control guidance system 12 also includes as a component thereof a larger
diameter power operated cable reel 82 which is also adapted to be mounted in the area
adjacent to and outwardly of the high wall of the seam in which operations are to
take place. Preferably the mounting is one which renders the cable reel 82 portable
so that it may also be moved along the seam as successive entries are worked. To this
end, it is preferable to mount the cable reel 82 on a trailer body 84, the trailer
body being of a type which forms one part of a conventional tractor- trailer truck
assembly. The cable reel 82 is such that it can be rotated in either direction by
an electric motor so as to either pay out or wind up an electric cable 78 thereon.
It will be understood that the electric cable 78 handled by the cable reel 82 is of
a size such that it will not readily bend and hence the requirement for a large diameter
reel. The manner in which the length of the cable extending inwardly from the high
wall to the continuous miner 10 is handled will be described more fully hereinafter
in conjunction with the description of the conveying system. The cable reel 82 provides
for the capability of continuous electrical connection during the rotating movements
thereof. Thus, the terminal end of the cable 78 wound thereon is preferably connected
from the cable reel 82 to a control station 80. The control station thus provides
for direct remote control operation of all of the functions of the machine 10 through
the cable 78 carried by the cable reel 82.
[0018] As shown in Figure 16, these functions are effected by eight electrical switches,
indicated at 86, 88, 90, 92, 94, 96, 98 and 100 for controlling the respectively electric
motors 44 and 32, cylinders 26, 30 and 40 and hydraulic motors 22, 20 and 24. An emergency
stop switch 102 is also provided.
[0019] In order to provide an operator situated at the control station 80 with the capability
of operating the remote controls of the continuous mining machine 10 so as to maintain
the machine 10 on a desired line of advance and retreat within the seam, the remote
control guidance system 12 includes the provision of auxiliary lights 104 and front
and rear television monitoring cameras 106 on the continuous mining machine 10 and
a television monitoring receiver 108 at the control station 80 (see Figure 17). For
purposes of energizing the television camera lights 104 and television cameras 106,
there is provided a length of coaxial cable 110 which is handled by a power driven
cable reel 112, also suitably mounted on the trailer body 84. It will be understood
that the television cameras and receivers are of the conventional low light cable
type well known in the television arts. As before, the cable reel 112 is of the type
which is adapted to maintain a continuous circuit while the cable is either paid out
or wound onto the reel. As before, the terminal end of the cable 110 wound on the
reel 112 extends to the control station 80.
[0020] It will be noted that the lights 104 provide for a degree of illumination of portions
of the space surrounding the mining machine 10 including both toward the working face
as well as toward the rear thereof which is sufficiently greater than the lighting
normally provided by the mining machine 10 to enable the television cameras 106 to
pick up pictures which, when viewed by the operator at the control station 80, enable
the operator to distinguish between the coal of the seam and the material (slate or
the like) which forms the roof and floor of the entry being mined. While the present
invention contemplates the utilization of a single television camera capable of being
directed both rearwardly and forwardly, a preferred arrangement is to provide two
wide- angled television cameras 106 on the track frame 16 of the mining machine 10
in fixed positions. This makes it possible to provide mounts which will dampen the
vibrational shocks incident to the cutting action of the machine 10. Likewise, while
it is contemplated that the number of receivers 108 at the control station 80 can
be equal to the number of the television cameras 104, a preferable arrangement is
to provide a suitable switch 114 which will enable the operator at the control station
80 to select which of the two television cameras 106 is to be operated and to be viewed.
Basically, with this arrangement, the television cameras 106 and lights 104 associated
with the face are used during the advancing movements of the mining machine 10 while
the television cameras and lights associated with the rear of the machine 10 are used
during the restracting movements of the machine 10 from the entry.
[0021] In accordance with the principles of the present invention, the lights 104 are preferably
a full spectrum compact gaseous light source. An exemplary embodiment is a 400 watt
CSI lamp #99-0201 which is a metal halide lamp manufactured by the Thorn Company.
In addition, 1000 watt CSI Thorn lamps #99-0221 may be utilized. Preferably two such
lamps may be utilized if desired. Preferably the compact light source bulbs or lamp
are used in conjunction with reflectors and lens which gather, concentrate and project
the light at the desired location. While the lights are preferably mounted in fixed
position on the continuous mining machine, they can be carried by conventional pan
and tilt assemblies if desired. An exemplary embodiment of a reflector is the Strand-Century
reflector for a 6" fresnel, manufactured by Century Lighting Company. A preferred
lens is the Strand-Century 6-270602-010 lens for a 6" fresnel manufactured by Century
Lighting Company.
[0022] The television cameras 106 are preferably broadcast quality color television cameras.
Exemplary embodiment is the CEI-310 color television camera system manufactured by
Commercial Electronics, Incorporated. Preferably the camera is provided with a zoom
lens and an automatic focus module, for example, Fujinon AI2 x 9 zoom lens and Fujinon
servo-focus module.
[0023] Preferably, the color television camera system is utilized with the audio pick-up,
although it is within the contemplation of the invention to utilize the video pick-up
of the camera system alone without the audio pick-up.
[0024] The television monitors or receivers 108 are preferably high resolution color television
receivers, a specific example being the Ikegami TM-20-8RA monitor S/N 8 x B003.
[0025] While it is within the contemplation of the present invention to mount the cameras
106 is fixed relation on the continuous mining machine in the manner indicated above,
where the nature of the continuous mining machine permits, a single camera may be
utilized mounted on the continuous mining machine by a conventional pan and tilt mounting
assembly.
[0026] It will be seen that while the television lights, cameras, and monitoring sets provide
the operator with a visual indication of whether or not the machine 10 is being advanced
in the seam, additional means must be provided in order to enable the operator have
a basis for determining whether the advancing movements within the seam are in the
desired straight line. To this end, the remote control guidance system 12 includes
a rotating beam optical laser unit 116. The unit 116 may be of any well-known construction,
a preferred embodiment is Model 900-1 made by Micro Grade Laser Systems, Inc.
[0027] As best shown in Figure 1, the laser unit 116 is positioned just outside of the high
wall face so that its beam is projected forwardly perpendicular to the face of the
seam and parallel to the planned entry to be mined. Mounted on the track frame 16
of the mining machine 10 are two laser beam detectors 118 and 120. Each detector may
be of any suitable construction, a preferred embodiment is a model compatible with
the laser unit 116 in which each has three detecting zones or separate laser sensitive
areas. As best shown in Figures 1-3, it will be noted that the two detectors 118 and
120 are mounted on the track frame 16 of the continuous mining machine 10 so that
they are aligned in a common vertical plane which is parallel to the center line of
the machine 10. However, the two units 118 and 120 are spaced apart in a longitudinal
horizontal direction with respect to the axis of the machine 10 and displaced vertically
so as to enable the forward- most unit to have a direct line to the laser unit 116.
[0028] The detectors 118 and 120 are provided with readout and light indicator circuitry
(not shown). The light indicator of the units mounted on the miner 10 are in a position
such that they can be picked up by the rearwardly directed television camera 106.
The indicator circuitry of the detectors 118 and 120 is connected to the control station
80 by a sufficient length of cable 122 controlled by a power driven cable reel assembly
124. As before, the cable reel 124 is mounted on the trailer body 84 and the end of
the cable 122 on the reel 124 provides for continuous energization during the cable
reel movements and connection to the control station 80.
[0029] The projected rotating laser beam from the unit 116 strikes the detectors 188 and
120 which are mounted horizontally on a line which is parallel to the center line
of the miner 10, but on different horizontal planes. Each detector 118 is connected
to its own control readout unit (not shown) which supplies the power to operate the
detector circuits and contains the circuitry to receive and translate the signals
from each of the three detector zones. These units then transmit these signals to
their respective three light indicators and the lines of the cable 122. The cable
122 transmits the signals of the eight indicators of the detectors to six lights 126,
128, 120, 132, 134 and 136 (see Figure 17) which are illuminated in exactly the same
sequence as the lights on the two three-light indicators of the detectors 118 and
120 located on the mining machine 10.
[0030] Thus, lights 126, 128 and 130 represent the left-hand, center and right-hand laser
sensitive areas of the detector 118 while lights 132, 134 and 136 represent the comparable
areas of detector 120.
[0031] If the machine 10 moves in either direction along the straight line formed by the
three points of (a) the laser unit 116, (b) the most rearward detector 118, and (c)
the other detector 120, then the center zones of both detectors will be energized
and the center lights of both three-light detectors and the center lights 128 and
134 at the operator station 80 will be illuminated. Should the machine 10 stray from
this straight line (in the horizontal plane) then some other sequence of lights would
be illuminated. For example, should the machine 10 start to turn left (as viewed in
Figure 1) the right-hand detecting zone of detector 118 and the left-hand zone of
detector 120 would be energized, lighting their respective indicating lights 130 and
132. This then instantly informs the operator of the misalignment and he then can
take immediate redmedial actions.
[0032] The laser system described above in conjunction with the television system provides
the operator with the capability of remotely controlling the advancing movement of
the continuous mining machine 10 into the seam both vertically so that the roof and
floor of the entry being mined will be defined by the top and bottom of the seam,
and horizontally so that the entry being mined will extend inwardly of the high wall
along a straight line following the seam. So long as the seam is vertically straight
and does not contain vertical undulations, the laser system will provide the capability
of maintaining a straight entry through the seam.
[0033] For the purpose of providing a back-up guidance system in conjunction with the laser
system as a check, or in lieu of the laser system in situations where the seam undulates
and the line of sight of the laser has been lost, a sonar system is preferably also
utilized. The sonar system includes four sonic transducers 138, 140, 142 and 144,
which may be of any well-known commercial design mounted so that one is provided on
each corner of the track frame 16 of the continuous mining machine 10. These sonic
transducers are oriented so as to direct their sonic waves toward the adjacent rib
or side wall of the entry being mined. The transducers may be of any conventional
construction and operate in conventional fashion to send out periodic sonic wave pulses
in the high frequency zone which strike the rib or side wall toward which they are
directed and are reflected back to the transducer. The transducers are provided with
circuitry which is capable of detecting the length of time that it takes the emitted
sonic wave pulses to leave the transducer and be reflected back. The sonic waves are
emitted on a continuing intermittent pulse basis separated by small fractions of a
second. Since the mined or cut rib is not a smooth surface, one pulse may strike a
protrusion on the rib and require less time to be reflected than another pulse that
may strike a depression. Thus it becomes necessary to continuously average these measured
time periods. This is accomplished in any well-known manner, as for example by electronically
integrating the root mean square of the measured times that is required for each pulse
to travel the path from the transducer to the rib and return. In this manner, it is
possible to determine, on a continuous basis, the distance between each transducer
and the rib toward which each is facing. This information is then transmitted to the
control station 80, as by cable 122, and displaced, as by four digital readout units
146, 148, 150 and 152 corresponding respectively to the transducers 138, 140, 142
and 144 at the control station 80. It will be understood that so long as the average
readings of the readout units are the same, the operator knows that the continuous
mining machine 10 is moving in the desired straight line. When a variation in the
read-outs is observed, the operator can then institute the appropriate action to insure
the path is back on a straight line.
[0034] The extensible and retractable vacuum air conveying system 14 includes as a critical
component thereof a positive displacement vacuum air pump, generally indicated at
154 in Figure 1, which is preferably mounted on the trailer body 84, outwardly of
the high wall. The air pump 154 may be of any conventional positive displacement design.
The pump unit provides on its suction side a vacuum air source for the system 14 which
is transmitted to the continuous mining machine 10.
[0035] With reference now to Figures 2 and 3, the inlet of the vacuum air system 14 is provided
on the continuous mining machine 10 in lieu of the chain conveyor normally provided
on such machine as aforesaid. It will be noted that the sump frame 24 of the machine
10 provides a box-like construction on which the components of the chain conveyor
are normally mounted. As best shown in Figure 3, the structure is provided by a bottom
plate 156, the forward end of which curves upwardly along the radius and terminates
at a position just rearwardly of the discharge end of the central conveyor 38 of the
gathering assembly 34. A top plate 158 normally provides for the movement of the top
flight of the chain conveyor thereover also is provided. The forward edge of the top
plate 158 is spaced rearwardly from the forward upwardly curving edge of the bottom
plate 156 so as to provide an inlet opening 160 into which the coal discharging from
the central conveyor 38 is deposited. In modifying the existing commercial continuous
mining machine to accommodate the vacuum air conveying system of the present invention,
the rearward edges of the plates 156 and 158 are welded in sealed relation with the
forward edge of a transition duct 162. The transition duct 162 is thus fixed to the
sump frame and extends rearwardly thereof and terminates in a circular ring flange
connector 164. Connected to the ring flange 164 as by a cooperating ring flange 166
and suitable bolts, is a short section of pipe or tubing 168. The pipe 168 forms one
component of a slip joint, best shown in Figure 4, which accommodates the sumping
horizontal reciprocating movement of the sump frame 24 with respect to the track frame
16 of the mining machine 10.
[0036] To this end, the rear end of the pipe 168 has a pair of axially spaced rings 170
fixed to the exterior periphery thereof, the rings having a series of balls 172 mounted
therebetween. The balls 172 are adapted to engage the interior periphery of an outer
pipe 174 which forms the other basic component of the slip joint. The outer pipe 174
includes a stop ring 176 fixed on the interior periphery thereof at a position inwardly
of the forward end thereof. Disposed in outwardly spaced relation with the stop ring
176 is a garlock type annular seal 178. Disposed outwardly and adjacent the seal 178
is a pair of side-by-side inflatable seals 180. Finally, formed on the outer end of
the inner periphery of the outer pipe 174 is a pair of retainer rings 182 similar
to the rings 170 previously described which have a series of balls 184 mounted therebetween
which engage the outer periphery of the inner pipe 168.
[0037] While it is within the contemplation of the present invention to provide the inflatable
seals 180 with a sealed air charge of a predetermined pressure, as for example, 20
psi, a preferred arrangement is to provide for the selective pressurization of the
inflatable seals so that the friction provided during times when the slip joint is
moved can be varied to accommodate such movement. To this end, it will be noted from
Figure 2 that there is provided in back of the track frame 16 of the machine 10 a
conventional air conditioning unit 186. The purpose of this unit 186 is to provide
for a self-contained source for cooling the various components of the machine in lieu
of the cooling system normally provided. The compressor of this system is preferably
utilized to provide for a source of pressure for the inflatable seals 180. As shown
schematically in Figure 4, the seals 180 have inlets 188 connected together which
inlets lead to an electrically operated three-position valve 190. In one position
of the valve 190, the inlet lines 188 to the two inflatable seals are connected through
a pressure regulator 192 to the air compressor source (not shown) of the cooling unit
186, the pressure regulator being set to provide an operating pressure of 20 psi when
the three-position valve is in a position to communicate the pressure regulator to
the inflatable seals. In a second position, the three-position valve 190 serves to
communicate the inflatable seals 180 with a second pressure regulator 194, which is
likewise connected to the air compressor source of the cooling unit. The pressure
regulator 194 is set to control the pressure at a reduced value as, for example, 10
psi. Finally, the three-position valve 190 in its third position is adapted to vent
the inflatable seals to atmosphere.
[0038] Basically, the electrical controls for the three-position valve can be connected
to operate with the sump cylinder 26 and control 58 therefor. Thus, when the control
58 for the sump cylinder 26 is actuated to advance the sump cylinders, the signal
for this movement is connected to move the three-position valve 190 into its second
position so that the pressure of the inflatable seals 188 during the sumping action
of the machine will be 10 psi. When the sumping cylinders 26 are actuated to move
in the opposite direction, the three-position valve 190 is simultaneously actuated
to move the three-position valve 190 into its third position, thus venting the inflatable
seals 188 to atmosphere during the tramming movement of the machine. The arrangement
is such that the three-position valve 190 will be spring actuated to retain the same
in its first position at all other times, thus providing a 20 psi pressure to the
seals 188.
[0039] The rearward end portion of the outer pipe 174 is fixedly secured to the track frame
16 of the machine 10, as by a yoke construction 196, and has a female quick disconnect
coupling 198 mounted on the rearward end thereof. Any well-known type of quick disconnect
coupling can be utilized. A preferred arrangement is marketed under the registered
trademark PRONTO-LOCK II by Ciba-Geigy.
[0040] The female coupling 198 includes an enlarged socket having a series of internal threads
200 in its outer end portion and a frustoconical sealing surface 202 disposed inwardly
thereof. The female coupling 198 is adapted to cooperate with a male quick disconnect
coupling 204 formed on one end of a conduit section 206 having a similar female coupling
208 on the opposite end thereof. As best shown in Figures 4 and 6, the male coupling
204 includes an interior frustoconical sealing surface 210 on the end of the conduit
206 and a separate externally threaded sleeve 212 having threads adapted to cooperate
with the socket threads 200 previously described.
[0041] The vacuum air conveyor system 14 is made expansible and retractable by the provision
of a multiplicity of conduit sections 206 further selectively interconnected in end-to-end
relationship so as to provide a conduit string which extends from the high wall inwardly
of the seam to the continuous mining machine 10. Each of the sections 206 is constructed
in the manner previously indicated which includes male and female quick disconnect
couplings 204 and 208 on the ends thereof. Moreover, in order to reduce the frictional
drag provided by the conduit string, and to enable it to more readily be moved inwardly
in response to the advancing movements of the continuous mining machine 10, a wheeled
carriage assembly, generally indicated at 214, is provided for each conduit section
206.
[0042] While the wheeled carriage assembly 214 may assume any desired configuration (for
example, it may be constructed in the manner suggested in the aforesaid Densmore patent),
a preferred construction is illustrated in Figures 5 and 6. As shown, the carriage
assembly 214 includes a pair of frame boards 216 connected together in spaced relation
by a pair of inverted U-shaped brackets 218. The brackets are open at their bottoms
and are provided with vertically elongated transverse slots 220. Mounted within the
slots 220 is an axle 222 having wheels 224 on the ends thereof. Fixedly mounted above
the axle 222 within each bracket 218 is a spring seat element 226 on which is seated
the bottom end of a coil spring 228. The upper end of each coil spring 228 seats on
the upper surface of the associated bracket 228. This way the frame boards 216 are
resiliently suspended on the axle.
[0043] The upper surfaces of the frame boards 216 are provided with aligned saddle-like
recesses 230 of arcuate configuration adapted to receive the lower periphery of a
conduit section 206. In order to insure a more positive gripping action between the
pipe carriage assembly 214 and the conduit section 206 there is provided a strap 232
whose ends are suitably anchored to pins 234 carried by the frame boards 216. It will
also be noted that the upper surfaces of the frame boards on one side of the main
recesses 230 are provided with aligned recesses 236. These recesses are of a size
to receive the main electrical cable 78 extending to the continuous mining machine
which is handled by the cable reel 82. On the opposite side of the main recess there
is formed in the upper surface of the frame boards a pair of spaced smaller recesses
238 and 240 to receive respectively the TV coaxial cable 110 which is handled by the
cable reel 112 and the cable 122 for the laser and sonar guidance systems which is
controlled by the cable reel 124. It will be understood that there is a wheeled carriage
assembly 214 associated with each conduit 206 as such section is added to the conduit
string.
[0044] For purposes of adding conduit sections 206 to the conduit string, and for detaching
conduit sections from the conduit string, there is provided a telescopic conduit transfer
mechanism, generally indicated at 242. As best shown in Figures 7-10, the mechanism
242 includes an outer fixed pipe section 244 of a length greater than the length of
the conduit sections 206. The outer pipe section 244 is mounted on the high wall bench
outwardly of the high wall in a fixed position with its axis aligned with the inward
direction of extent of the entry to be mined. Any suitable means may be provided for
effecting this fixed positioning of the fixed outer pipe section. As shown, the pipe
is fixedly supported on portable strands 246 at each end. The conduit transfer mechanism
242 also includes an inner pipe section 248 which likewise has a length which is greater
than the length of the conduit sections 206. One end of the inner pipe section 248
is telescopically mounted within an adjacent end of the outer pipe section 244 and
there is provided between the telescoping ends a slip joint which is similar to the
slip joint previously described in connection with Figure 4. Thus there are suitable
ball bearings 250 and 252 provided on each section with a stop ring 254, a garlock
type of seal 256 and a pair of inflatable seals 258.
[0045] In this instance, the arrangement with respect to the air circuitry to the inflatable
seals 258 is simply and on-off type of circuitry in which air pressure from a suitable
compressor 260 mounted on the trailer body 84 is directed through an appropriate pressure
regulator 262 so as to provide an available source of 20 psi air. A simple two-way
valve 264 is provided capable of electrical remote control which in one position communicates
the 20 psi regulator with the inflatable seals and in the other position communicates
the inflatable seals with atmosphere. In this instance, the arrangement is such that
the valve 264 is turned to its second position communicating the seals to atmosphere
only during the tramming movement of the continuous mining machine since the sumping
movement is not transmitted by the operation of the machine to the conveying system.
[0046] It will be noted that the end of the inner pipe section 248 is provided with a male
quick disconnect coupling 266 which mates with the female coupling 208 provided on
each conduit section 210. To facilitate the telescopic movement of the inner pipe
section 248 with respect to the outer pipe section 244, the inner pipe section 248
may be provided with a carriage assembly 214 adjacent its outer end and a suitable
roller assembly 268 is provided adjacent the end of the outer pipe section 244 to
rollingly support the opposite end of the inner pipe section 248 to telescopic movement
within the outer pipe section.
[0047] The mode of operation of the conduit transfer mechanism 242 in adding a conduit section
206 to the conduit string is illustrated in the stage views of Figures 7, 8 and 9.
When the inner pipe section 248 has reached the end of its outward travel, as shown
in Figure 7, male coupling 266 is disengaged from the female coupling 208 of the last
conduit section 206 of the conduit string. next, the inner pipe section 248 is moved
to the left as viewed in Figure 7 until it extends almost entirely telescopically
with the outer pipe section 244, as shown in Figure 8, leaving the male coupling 266
on the end thereof spaced from the female coupling 208 of the last conduit section
206 of the conduit string a distance sufficient to move a new conduit section 206
supported at its central portion by a wheeled carriage assembly 214, therebetween.
Finally, the new conduit section is added to the conduit string as shown in Figure
9, by connecting the female coupling 208 thereof with the male coupling 266 and the
male coupling 210 thereof with the female coupling 208 of the last conduit section
206 of the conduit string.
[0048] As best shown in Figure 1, the opposite end of the outer pipe section 244 has a pipe
270 connected thereto which has a central bend therein so as to extend upwardly and
outwardly. The end of this pipe section connects with the inlet side of a separator
assembly, generally indicated at 272. As best shown in Figures 11 and 12, the separator
assembly 272 includes a front inclined inlet wall 274 (e.g. 45°) which has an opening
therein which receives a flanged connection formed on the end of the pipe section
270. Extending upwardly and outwardly from the upper edge of the front wall is an
inclined transition top wall 276. The inclined transition top wall 276 has a top housing
wall 278 connected to the edge thereof which top wall is of generally rectangular
configuration. The separator assembly 272 also includes a pair of side housing walls
280, extending downwardly from the side edges of the top wall and suitable triangular
shaped transition side walls 282 are connected between the leading edges of the side
walls 280 and the side edges of the front wall 274. Finally, the rear edges of the
top wall 278 and side walls 280 are enclosed by a rear housing wall 284.
[0049] Extending between the side walls 280 and in engagement with the topwall 278 is a
baffle plate 286. As shown, the upper edge of the baffle plate 28 is spaced inwardly
from the forward edge of the top wall 278 in a position such that the particles in
the air stream issuing from the pipe section 270 will impinge thereon. The baffle
plate 286 extends downwardly from its upper edge and in a direction away from the
pipe at an angle of approximately 68° with respect to the top wall 278. The lower
edge of the baffle plate terminates at a point spaced above the lower surfaces of
the side walls 280, rear wall 284 and front wall 274. Access to the housing provided
by the walls thus far described may be obtained by an openable and closable hatch
288 in the rear wall. A sight panel 290 may also be provided in the rear wall, see
Figure 12.
[0050] Extending downwardly from the lower edges of the housing is a hopper section 292
in the form of an inwardly and downwardly tapering four-sided prism. The lower edges
of the hopper section 292 feed to the upper opening formed in a cylindrical housing
294 forming a part of a rotary air lock discharge valve or feeder unit, generally
indicated at 296. Units of this type are well known and a preferred embodiment is
the model #24X22SR produced by Sprout Waldren.
[0051] The unit 296 is schematically illustrated in Figures 11 and 12 as including a pocketed
rotor 296 which is mounted within the cylindrical housing 294 and driven by the electric
motor 300. The cylindrical housing 294 includes a lower discharge opening 302, the
arrangement being such that as the rotor 298 is rotated by the motor 300, the pockets
are filled from the hopper section 292 and are emptied as they pass the outer opening
302. It will be understood that any suitable conveyor arrangement may be provided
beneath the rotary valve outlet opening for the purpose of receiving the discharged
particles and handling them from that point on. As best shown in Figure 1, a belt-type
conveyor 304 is shown extending beneath the trailer bed to receive the discharge from
the rotary valve which extends through the trailer bed. The conveyor 304 serves to
discharge the material on a further belt conveyor 306 extending along the bench at
the high wall location.
[0052] It will be noted that one of the side walls 280 of the separator housing has an outlet
opening 308 flanged to connect with a pipe assembly 310 which extends from the separator
housing to a T-pipe connector, indicated at 312. As best shown in Figure 13, the T-pipe
connector 312 has the stem outlet thereof provided with a vacuum relief and by-pass
valve mechanism, generally indicated at 314.
[0053] As best shown in Figures 13 and 14, the vacuum relief and by-pass valve assembly
314 includes a cylindrical valve body 316 adapted to mate with the flange of the stem
connection of the T fitting 312. As shown, the valve body 316 is formed with a plurality
of annular spaced apertures for receiving a series of bolts 318 to effect the connection
with the stem outlet of the T fitting. The central portion of the valve body 316 is
provided with a cylindrical recess, as indicated at 320, which forms a relatively
thin central end wall 322. The end wall has a series of annularly spaced openings
324 formed therein which provide in the end wall a central hub portion 326 and a plurality
of spokes 328 as is clearly evident from Figure 14. The interior surface of the end
wall provides a valve seat 330 which is engaged by a disc valve member 332. The central
portion of the valve member 332 is fixed to one end of a valve stem 334 which slidably
engages through a central opening in the hub portion 326 and hence outwardly of the
valve body 316.
[0054] The outer end of the valve stem 334 has a fitting 336 fixed thereto which serves
to engage one end of a coil spring 338 disposed in surrounding relation to the valve
stem 334. The opposite end of the coil spring 338 engages a suitable seat formed on
the hub portion 326 of the end wall 322. Extending from the valve body 316 and fixed
thereto by one of the bolts 318 is an elongated standard 340. The opposite end of
the standard 340 pivotally receives one end of an actuating lever 342 as indicated
at 344, the opposite end of which is pivotally connected, as indicated at 346, to
the plunger 348 of a solenoid 350. As shown, the solenoid 350 is carried by the outer
end of a standard 352 similar to the standard 340 fixed to the valve body 316 by an
opposite bolt 318.
[0055] The central portion of the operating lever 342 is connected to the fitting 336 through
a one-way connection bumper 354. In this way, the valve member 332 is operable to
move inwardly from the closed position, as shown, against the bias of the spring 338
when the vacuum pressure conditions within the T fitting 312 reach a predetermined
minimal value which is equivalent to that which may cause conduit collapse. This movement
will take place without corresponding movement of the operating lever 342 taking place.
Conversely, by energizing the solenoid 350, the plunger 348 is moved inwardly which
in turn moves the operating lever 342 in a direction to positively engage the valve
stem 334 and move the same together with the valve member 332 inwardly so that the
valve member 332 is displaced from its seat 330, thus opening the interior of the
system to atmosphere irrespective of the vacuum pressure conditions therein. Thus,
by energizing the solenoid 350 the system as thus far described is bypassed.
[0056] Referring again to Figure 1 and to Figure 15, it will be noted that the opposite
branch of the T fitting 312 is communicated by a pipe assembly 356 to a tangential
inlet of a filter assembly, generally indicated at 358. The filter assembly may be
of any known construction. A preferred embodiment is the filter assembly Micropul
model #109-10-20 manufactured by U.S. Filter Corporation. The bottom apex outlet of
the hydrocyclone filter assembly 358 is provided with a rotary airlock valve assembly
360 which is similar to the assembly 296 previously described. The upper central air
outlet of the filter assembly 358 is connected, as by a pipe assembly 362, to the
inlet of the main positive displacement vacuum pump 154. It will be understood that
the rotary airlock valve assembly 360 extends through the floor of the trailer in
a manner similar to that previously described in connection with the assembly. Likewise
a separate conveying system (not shown) for receiving the discharge from the filter
assembly can be provided. It is contemplated that this discharge is considerably less
than that of the feeder rotary airlock valve associated with the separator, hence
the discharge can be separately handled. Moreover, it is also contemplated that the
size of the particulate coal material discharged from the filter will be less than
that in the separator and consequently maintaining this material separate from the
discharge of the separator is considered desirable.
[0057] With reference to Figure 17, there is shown therein a diagrammatic view of a control
panel generally indicated at 364, which contains the various instrumentalities enabling
an operator at the control station 80 to remotely control the entire system. It will
be noted that the control panel includes the switches 86-102 by which the operation
of the continuous mining machine can be controlled. In this regard, it will be noted
that the normal operating cycle of the continuous mining machine 10 is as follows.
With the gathering head cylinders 40 set by the switch 94 in a floating position and
the auger head cylinders 30 set by the switch 92 in a raised position, sump cylinders
26 are actuated by the switch 90 to effect a forward movement of the sump frame with
the auger head assembly 28 and gathering assembly 34 carried thereby into the coal
seam. During this movement, as aforesaid, the inflatable seal 180 of the slip joint
carried by the machine 10 is actuated so as to maintain a 10 psi value thereon. It
will be understood that the sumping movement takes place with the track frame 16 in
a stationary position. Consequently, during this movement the operator should have
the selector switch for the television camera in a position to view the forwardly
extending camera so that he will have a view of the seam as the cutting head advances
therein along the roof. This will enable the operator to raise and lower the auger
head if need be. The sumping distance is approximately 18 inches so that at the end
of this movement the operator then lowers the auger head to the floor again taking
care by virtue of the television monitor to insure that the coal in the seam is removed
without digging into the floor. It will be understood that during the sumping movement
and the lowering of the auger cutters all of the electrical motors 32 and 34 are energized
as by switches 96 and 88. Likewise, the hydraulic motor 42 for the conveyor 38 is
energized by the switch 100. At the end of the lowering movement of the auger head,
the coal cut by the auger head 28 is soon removed from the conveyor 30 and placed
in the air conveying system through the inlet 160. The operator can now simultaneously
actuate the switch for the sump cylinders to reverse the same together with the switches
96 and 98 advancing the left and right hand tram motors 22 and 20. This actuation
has the effect of venting the inflatable seals 180 to atmosphere and commencing the
tramming action. Simultaneously with this movement the operator also actuates the
switch venting the inflatable seals 258 of the mechanism 242. In this regard note
the switch 366 in Figure 17. Note also switches 368, 370 and 372 for controlling the
motors of the cable reels 82, 112 and 124, respectively. It is during this tramming
movement that the operator must carefully watch the laser lights 128 and 134 and the
sonar readout indicators 146,148,150 and 152 if this system is in use.
[0058] At the end of approximately 13 cutting cycles, the machine 10 will have advanced
a distance generally equal to the length of a conduit section 206. At this time, solenoid
350 is energized as by a switch 374 on the control panel. This has the effect of opening
valve member 332 of the bypass valve assembly 314 thus establishing a vacuum air circuit
from atmosphere through pipe 356, filter 358, pipe 362 and pump 154 which bypasses
and cuts off the vacuum air flow in the entire system leading up to the valve 314.
The transfer mechanism 242 can now be operated, as aforesaid, to add a new conduit
section 206 having a carriage assembly 214 thereon. In this regard, note from Figure
1 that a portable conduit section rack 376 is suitably stationed on the high wall
bench. Note also the provision of a protective structure 378 for the entry opening
which likewise can be moved. The other block schematically shown in Figure 1 is a
portable generator system 380 of conventional design.
[0059] After the new conduit section 206 has been secured, the solenoid switch 374 and inflatable
seal switch 366 are again actuated to reestablish the vacuum air circuit to the inlet
opening 160 of the continuous mining machine 10.
[0060] It is contemplated that an advance of more than a thousand feet may be accomplished
in two shifts after which it becomes necessary to retract the machine 10 from the
mined entry so that the entire cycle can be commenced at the next entry.
[0061] In retracting the machine 10 the rear television camera is selected for viewing on
the monitor set as by actuating switch 382 on the control panel. Retraction is accompished
by reversing the procedures previously described.
[0062] It thus will be seen that the objects of this invention have been fully and effectively
accomplished. It will be realized, however, that the foregoing preferred specific
embodiment has been shown and described for the purpose of illustrating the functional
and structural principles of this invention and is subject to change without departure
from such principles. Therefore, this invention includes all modifications encompassed
within the scope of the following claims.
[0063] The vacuum air conveying system 14 described above is the subject of our Divisional
European Application No. 85109312.0.
1. A method for remotely controlled mining by a remotely guided mining machine within
a seam comprising the steps of:
positioning in mining relation to the seam a continuous mining machine having power
driven means thereon for moving said machine through successive seam material cutting
cycles which include an advancing movement along a mined entry within the seam in
a direction toward the working face of the seam, and
controlling from a remote controlled station the cutting cycle of said continuous
mining machine by means of a television camera, so that the material cut during a
cycle is cut from the seam up to the different material defining the roof and down
to the different material defining the floor, being characterized in
illuminating portions of the space surrounding said continuous mining machine including
portions of the working face disposed forwardly thereof and adjacent portions of the
roof, floor and side walls of the mined entry rearwardly of the working face,
using for illumination of said portions a full spectrum compact gaseous light source
means and reflector and lense means for gathering, concentrating and projecting the
light source onto the aforesaid portions of the working face,
using said television camera means with a broadcast quality color television camera
with zoom lens and automatic focus for establishing electromagnetic signals indicative
of the appearance of the illuminated portions of the working face of the seam and
the adjacent portions of the roof, floor and side wall,
transmitting the established electromagnetic signals to said remote control station,
using a high resolution color television monitor for converting at said remote control
station the transmitted electromagnetic signals to a continuous picture of the appearance
of at least a selected portion of the illuminated portions of the working face of
the seam and the adjacent portions of the roof, floor and side walls, and
visually distinguishing between the material of the seam and the different material
which forms the roof and floor by viewing the continuous picture provided at said
remote control station.
2. A method according to claim 1, being characterized in providing said colour television
camera and a colour television monitor with audio pick-up and audio speaker means
respectively, thereby establishing electromagnetic signals indicative of the sound
of the operation of the continuous mining machine within the working face of the seam,
transmitting the established electromagnetic sound signals to said remote control
station, converting at said remote control station the transmitted electromagnetic
sound signals to a continuous audio display of the sound of the continuous mining
machine operating in the working face of the seam, and utilizing the audio display
in controlling the cutting cycle of said continuous mining machine.
3. A controlled mining system for carrying out the method according to claim 1 or
2, comprising
a continuous mining machine (10) having power-driven means thereon for moving said
machine (10) through successive seam material cutting cycles which include an advancing
movement along a mined entry within the seam in a direction toward the working face
of the seam and
means for enabling an operator at a remote control station (12) to control the cutting
cycle of said continuous mining machine (10) by provision of a television camera means
(106) carried by said continuous mining machine (10) being characterized in
that there are provided light means (104) carried by said continuous mining machine
(10) for illuminating portions of the space surrounding said continuous mining machine
(10) including portions of the working face disposed forward thereof and adjacent
portions of the roof, floor and side walls of the mined entry rearwardly of the working
face with said light means (104) comprising full spectrum compact gaseous light source
means and reflector and lense means for gathering, concentrating and projecting the
light source onto the aforesaid portions of the working face,
that said television camera means (106) establishes electromagnetic signals indicative
of the appearance of the illuminated portions of the working face of the seam and
the adjacent portions of the roof, floor and side walls, said television camera means
comprising a broadcast quality color television camera with zoom lens and automatic
focus,
that there are provided means for transmitting the electromagnetic signals established
by the television camera means to said remote control station (12), and
that there are provided television receiver means (108) at said remote control station
(12) operatively connected with said transmitting means for converting said signal
to a continuous picture of the appearance of at least a selected portion of the illuminated
portions of the working face of the seam and the adjacent portions of the roof, floor
and side walls, said television receiver means being a high resolution color television
monitor.
4. A system as defined in claim 3, being characterized in that said colour television
camera and said color television monitor (108) are provided with audio pick-up and
audio speaker means respectively.
1. Verfahren für den ferngesteuerten Bergwerksbetrieb innerhalb eines Flözes mit Hilfe
einer ferngesteuerten Bergwerksmaschine, bestehend aus folgenden Schritten:
Aufstellen einer kontinuierlich arbeitenden Bergwerksmaschine in Abbauposition gegenüber
dem Flöz, mit an der Maschine befindlichen motorisch angetriebenen Einrichtungen zum
Bewegen der Maschine über aufeinanderfolgende Zyklen der Flözmaterialabbaus hinweg,
wozu eine Vorschubbewegung längs einer söhligen Abbaustrecke innerhalb des Flözes
in Richtung auf den Abbaustoß des Flözes gehört, und
Steuern des Abbauszyklus der genannten kontinuierlich arbeitenden Bergwerksmaschine
unter Zuhilfenahme einer Fernsehkameraanlage von einem Fernbedienungsstand aus in
der Weise, daß das während eines Zyklus abgebaute Flözmaterial bis hinauf zu dem aus
davon abweichendem Material bestehenden Hangenden und bis hinab zu dem aus davon abweichendem
Material bestehenden Liegenden abgebaut wird, dadurch gekennzeichnet,
daß Abschnitte des die genannte kontinuierlich arbeitende Bergwerksmaschine umgebenden
Raums, eingeschlossen Abschnitte des vor ihr befindlichen Abbaustoßes und benachbarte
Abschnitte des Hangenden, des Leigenden und der Seitenwände der söhligen Abbaustrecke
rückwärts von dem Abbaustoß, beleuchtet werden,
daß zum Beleuchten der genannten Abschnitte eine das vollständige Spektrum abstrahlende
kompakte Gasentladungslichtquelle sowie Reflektor- und Linseneinrichtungen zum Sammeln,
Konzentrieren und Projizieren der Lichtquelle auf die obengenannten Abschnitte des
Abbaustoßes benutzt werden,
daß in der genannten Fernsehkameraanlage eine Rundfunkqualitäts-Farbfernsehkamera
mit Zoom-Objektiv und automatischer Scharfeinstellung benutzt wird, um elektromagnetische
Signale zu gewinnen, die kennzeichnend sind für das Aussehen der beleuchteten Abschnitte
des Abbaustoßes des Flözes und der benachbarten Abschnitte des Handenden, des Leigenden
und der Seitenwand,
daß die gewonnenen elektromagnetischen Signale zu dem genannten Fernbedienungsstand
übertragen werden,
daß ein hochauflösender Farbfernsehmonitor eingesetzt wird, um an dem genannten Fernbedienungsstand
die übertragenen elektromagnetischen Signale in ein stetiges Bild des Aussehens zumindest
eines ausgewählten Abschnitts der beleuchteten Abschnitte des Abbaustoßes des Flözes
und der benachbarten Abschnitte des Hangenden, des Liegenden und der Seitenwände umzuwandeln,
und
daß visuell zwischen dem Material des Flözes und dem davon abweichenden, das Hangende
und das Liegende bildenden Material unterschieden wird, indem das an dem genannten
Fernbedienungsstand wiedergegebene stetige Bild betrachtet wird.
2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, daß die genannte Fernsehkamera
bzw. ein Farbfernsehmonitor mit einer Tonaufnahme- bzw. einer Tonwiedergabeeinrichtung
ausgerüstet wird, wodurch elektromagnetische Signale gewonnen werden, die das Arbeitsgeräusch
der innerhalb des Abbaustoßes des Flözes kontinuierlich arbeitenden Bergwerksmaschine
wiedergibt, daß die gewonnenen Elektromagnetischen Geräuschsignale zu dem Fernbedienungsstand
übertragen werden, daß an dem genannten Fernbedienungsstand die übertragenen elektromagnetischen
Geräuschsignale in eine stetige Tondarstellung des Geräuschs der an dem Abbaustoß
des Flözes kontinuierlich arbeitenden Bergwerksmaschine umgewandelt werden, und daß
die Tondarstellung zum Steuern des Abbauszyklus der genannten kontinuierlich arbeitenden
Bergwerksmaschine benutzt wird.
3. Gesteuertes Abbausystem zur Ausübung des Verfahrens nach den Ansprüche 1 oder 2,
bestehend aus
einer kontinuierlich arbeitenden Bergwerksmaschine (10) mit einer daran befindlichen
motorbetriebenen Einrichtung zum Bewegen dieser Maschine (10) während aufeinanderfolgender
Flözmaterial-Abbauzyklen, wozu eine Vorschubbewegung längs einer söhligen Abbaustrecke
innerhalb des Flözes in Richtung auf den Abbaustoß des Flözes gehört, und
einer Einrichtung, die durch Anbringung einer an der genannten kontinuierlich arbeitenden
Bergwerksmaschine (10) angeordneten Fernsehkameraanlage (106) einen Bedienungsmann
an einem Fernbedienungsstand (12) in die Lage versetzt, den Abbauzyklus der genannten
kontinuierlich arbeitenden Bergwerksmaschine (10) zu steuern, dadurch gekennzeichnet,
daß eine an der kontinuierlich arbeitenden Bergwerksmaschine (10) angeordnete Beleuchtungseinrichtung
(104) zum Beleuchten von Abschnitten des die kontinuierlich arbeitende Bergwerksmaschine
(10) umgebenden Raumes, eingeschlossen Abschnitte des Abbaustoßes vor der Maschine
und benachbarter Abschnitte des Hangenden, des Liegenden und der Seitenwände der söhligen
Abbaustrecke rückwärts von dem Abbaustoß, mit Hilfe der genannten Beleuchtungseinrichtung
(104) vorgesehen ist, die eine das vollständige Spektrum abstrahlende kompakte Gasentladungslichtquelle
sowie Reflektor- und Linseneinrichtung zum Sammeln, Konzentrieren und Projizieren
der Lichtquelle auf die obengenannten Abschnitte des Abbaustoßes umfaßt, daß die genannte
Fernsehkameraanlage (106) elektromagnetische Signale gewinnt, die kennzeichnend sind
für das Aussehen der beleuchteten Abschnitte des Abbaustoßes des Flözes und der benachbarten
Abschnitte des Hangenden, des Liegenden und der Seitenwände, wobei die genannte Fernsehkameraanlage
eine Rundfunkqualitäts-Farbfernsehkamera mit Zoom-Objectiv und automatischer Scharfeinstellung
umfaßt,
daß eine Einrichtung zum Übertragen der von der Fernsehkameraanlage gewonnenen elektromagnetischen
Signale zu dem Fernbedienungsstand (12) vorgesehen ist, und
daß an dem genannten Fernbedienungsstand (12) eine Fernsehempfangsanlage (108) vorgesehen
ist, die in Wirkverbindung mit der genannten Übertragungseinrichtung steht und die
genannten Signale in ein stetiges Bild des Aussehens von zumindest einem ausgewählten
Abschnitt der beleuchteten Abschnitte des Abbaustoßes des Flözes und der benachbarten
Abschnitte des Hangenden, des Liegenden und der Seitenwände umwandelt, wobei es sich
bei dem Fernsehempfänger um einen hochauflösenden Farbfernsehmonitor handelt.
4. System nach Anspruch 3, dadurch gekennzeichnet, daß die genannte Farbfernsehkamera
bzw. der genannte Farbfernsehmonitor (108) mit einer Tonaufnehmereinrichtung bzw.
einer Tonwiedergabeeinrichtung versehen sind.
1. Méthode pour l'exploitation minière commandée à distance à l'intérieur d'un filon
au moyen d'une machine minière commandée à distance, comportant les étapes suivantes:
la mise en place d'une machine minière travaillant en continu en position d'exploitation
par rapport au filon, la machine comportant des moyens entraînés par moteur pour mouvoir
ladite machine pendant des cycles successifs d'exploitation du matériau du filon,
qui incluent un mouvement en avant le long d'une galerie d'exploitation horizontale
à l'intérieur du filon en direction du front de taille du fillon, et
la commande du cycle d'exploitation de ladite machine minière travaillant en continu
au moyen d'une caméra de télévision à partir d'un poste de commande à distance de
manière à ce que le matériau taillé pendant le cycle est taillé du filon vers le haut
jusqu'au matériau différent définissant l'éponte supérieure et vers le bas jusqu'au
matériau différent définissant l'éponte inférieure, caractérisée en ce que
des parties de l'espace entourant ladite machine minière, y compris des parties du
front de taille se trouvant devant elle et des parties adjacentes à l'éponte supérieure,
à l'éponte inférieure et aux parois latérales de la galerie d'exploitation à l'arrière
du front de taille sont éclairées,
que pour l'éclairage desdites parties, une source de lumière gazeuse compacte émettant
l'intégralité du spectre ainsi que des moyens réflecteurs et de lentilles, réunissant,
concentrant et projetant la source de lumière sur les parties mentionnées ci-dessus
du front de taille sont utilisés,
que dans ladite installation de caméra de télévision est utilisée une caméra de télévision
de couleur en qualité de télédiffusion comportant un objectif à foyer réglable et
une focalisation automatique pour établir des signaux électromagnétiques qui sont
caractéristiques pour l'apparence des parties éclairées du front de taille du filon
et des parties adjacentes de l'éponte supérieure, de l'éponte inférieure et de la
paroi latérale,
que les signaux électromagnétiques établis sont transmis audit poste de commande à
distance,
qu'un moniteur de télévision de couleur à haute résolution est utilisé pour convertir
audit poste de commande à distance les signaux électromagnétiques transmis en une
image continue de l'apparence d'au moins une partie sélectionnée des parties illuminées
du front de taille du filon et des parties adjacentes de l'éponte supérieure, de l'éponte
inférieure et des parois latérales et
qu'une distinction visuelle est faite entre le matériau du filon et le matériau différent
qui forme l'éponte supérieure et l'éponte inférieure par l'observation de l'image
continue reproduite audit poste de commande à distance.
2. Méthode selon la revendication 1, caractérisée en ce que ladite caméra de télévision
et un moniteur de télévision à couleur sont respectivement équipés d'un dispositif
d'enregistrement du son et d'un dispositif de reproduction du son établissant de la
sorte des signaux magnétiques caractéristiques du bruit de travail de la machine minière
travaillant en continu sur le front de taille du filon, que les signaux sonores électromagnétiques
établis sont transmis audit poste de commande à distance, que les signaux sonores
électromagnétiques transmis au poste de commande à distance y sont convertis en un
affichage sonore continu du son que produit la machine minière travaillant en continu
sur le front de taille du filon et que l'affichage sonore est utilisé pour commander
le cycle d'exploitation de ladite machine minière travaillant en continu.
3. Système d'exploitation commandé pour exécuter la méthode selon les revendications
1 ou 2,
comportant une machine minière travaillant en continu (10) comportant des moyens entraînés
par moteur pour mouvoir ladite machine (10) pendant des cycles successifs d'exploitation
du matériau du filon, qui incluent un mouvement en avant le long d'une galerie d'exploitation
à l'intérieur du filon en direction du front de taille du filon et
des moyens pour permettre à un opérateur au poste de commande à distance (12) de commander
le cycle d'exploitation de ladite machine minière (10) travaillant en continu au moyen
d'une caméra de télévision (106) montée sur ladite machine minière (10) travaillant
en continu, caractérisé en ce
qu'un dispositif d'éclairage (104) est prévue qui est porté par ladite machine minière
(10) travaillant en continu pour éclairer des parties de l'espace entourant ladite
machine minière (10) travaillant en continu, y compris des parties du front de taille
se trouvant en avant de la machine et des parties adjacentes de l'éponte supérieure,
de l'éponte inférieure et des parois latérales de la galerie d'exploitation à l'arrière
du front de taille au moyen dudit dispositif d'éclairage (104) comportant une source
lumineuse gazeuse compacte émettant l'intégralité du spectre et des moyens réflecteurs
et de lentilles pour réunir, concentrer et projeter la source de lumière sur les parties
du front de taille mentionnées ci-dessus,
que ladite caméra de télévision (106) établit des signaux électromagnétiques caractéristiques
de l'apparence des parties éclairées du front de taille du filon et des parties adjacentes
de l'éponte supérieure, de l'éponte inférieure et des parois latérales, ladite installation
de caméra de télévision comportant une caméra de télévision de couleur en qualité
de télédiffusion comportant un objectif à foyer réglable et une focalisation automatique,
que des dispositifs sont prévus pour transmettre les signaux électromagnétiques établis
par la caméra de télévision audit poste de commande à distance (12)
et qu'un récepteur de télévision (108) est prévu audit poste de commande à distance
(12) qui est en connexion opérationnelle avec lesdits moyens de transmission pour
convertir lesdits signaux en une image continue de l'apparence d'au moins une partie
sélectionnée des parties éclairées du front de taille du filon et des parties adjacentes
de l'éponte supérieure, de l'éponte inférieure et des parois latérales, ledit récepteur
de télévision étant un moniteur de télévision de couleur à haute résolution.
4. Système selon la revendication 3, caractérisé en ce que ladite caméra de télévision
de couleur et ledit moniteur de télévision de couleur (108) sont pourvus respectivement
d'un dispositif d'enregistrement du son et d'un dispositif de reproduction du son.