# US 9,435,201 B2 · Detecting sump depth of a miner > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,435,201 B2 - Document ID: US9435201B2 - Status: Granted - Kind: B2 - Application number: 14/970,508 - Filed: 2015-12-15 - Published: 2016-04-14 - Granted: 2016-09-06 - Earliest claimed: 2013-08-29 - Assignees: Joy MM Delaware, Inc. - Applicants: Joy MM Delaware, Inc. - Inventors: Alastair J. Paterson - Web page: https://patentgrep.com/patent/US9435201B2 ## CPC - E21C 35/282: {Autonomous machines; Autonomous operations} - E21C 25/06: Machines slitting solely by one or more cutting rods or cutting drums which rotate, move through the seam, and may or may not reciprocate - E21C 35/12: along a conveyor for the cut material - E21C 35/302: {Measuring, signaling or indicating specially adapted for machines for slitting or completely freeing the mineral (measuring or indicating on tunneling machines E21D9/003)} - E21C 41/16: Methods of underground mining (winning machines therefor E21C25/00 - E21C39/00); Layouts therefor - E21F 17/18: Special adaptations of signalling or alarm devices (for mine lifts B66B; gas-sensitive devices per se G01N) - E21C: MINING OR QUARRYING - E21F: SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS ## Abstract Systems and methods for operating a mining machine. One system includes a controller, a stationary object, and a radar device. The radar device transmits radio waves toward the stationary object and detects reflections of the radio waves. The controller obtains timing information regarding the radio waves and the reflections. Based on the timing information, the controller is configured to determine a first distance between the radar device and the stationary object before sumping the mining machine into material and a second distance between the radar device and the stationary object after sumping the mining machine into the material. The controller is also configured to determine a sump depth of the mining machine based on the first distance and the second distance, compare the determined sump depth to a predetermined sump depth, and perform at least one automatic action when the determined sump depth does not satisfy the predetermined sump depth. ## Claims ### Claim 1 A system for operating a mining machine, the system comprising: at least one controller configured to obtain first reflection data from at least one radar device, determine, based on the first reflection data, a first distance between a point of reference and a stationary object before sumping the mining machine into material, obtain second reflection data from the at least one radar device, determine, based on the second reflection data, a second distance between a point of reference and the stationary object after sumping the mining machine into the material, determine a sump depth of the mining machine based on the first distance and the second distance, and perform at least one automatic action when the determined sump depth does not satisfy at least one predetermined sump depth. ### Claim 2 (depends on 1) The system of claim 1, wherein the stationary object includes an anti-stealth device. ### Claim 3 (depends on 2) The system of claim 2, wherein the anti-stealth device includes a corner cube reflector. ### Claim 4 (depends on 1) The system of claim 1, wherein the stationary object includes a bolt. ### Claim 5 (depends on 1) The system of claim 1, wherein the stationary object includes a bolt positioned between 6 meters and 1 meters to a rear of the mining machine. ### Claim 6 (depends on 1) The system of claim 1, wherein the stationary object includes a roadway rib. ### Claim 7 (depends on 1) The system of claim 1, wherein the stationary object includes haulage equipment. ### Claim 8 (depends on 1) The system of claim 1, wherein the at least one controller is further configured to filter the reflection data to identify at least one reflection received by the at least one radar device having an angle within a predetermined range of angles. ### Claim 9 (depends on 1) The system of claim 1, wherein the at least one controller is further configured to filter the reflection data to identify at least one reflection received by the at least one radar device having a signal strength greater than a predetermined threshold. ### Claim 10 (depends on 1) The system of claim 1, wherein the mining machine includes a continuous miner and the at least one radar device includes two radar devices mounted to a rear of the continuous miner. ### Claim 11 (depends on 1) The system of claim 1, wherein the at least one automatic action includes issuing a warning to an operator. ### Claim 12 (depends on 1) The system of claim 1, wherein the at least one automatic action includes sumping the mining machine further into the material. ### Claim 13 (depends on 1) The system of claim 1, wherein the at least one automatic action includes retracting the mining machine from the material. ### Claim 14 (depends on 1) The system of claim 1, wherein the at least one automatic action includes stopping a cutting drum of the mining machine. ### Claim 15 A method of operating a continuous miner comprising: determining a first distance to a stationary object based on data from at least one radar device; after sumping the continuous miner into material being mined, determining a second distance to the stationary object based on data from the at least one radar device; determining, with at least one controller, a sump depth of the continuous miner based on the first distance and the second distance; and when the determined sump depth does not satisfy a predetermined sump depth, modifying operation of the continuous miner. ### Claim 16 (depends on 15) The method of claim 15, wherein determining the first distance to the stationary object includes determining a distance to a bolt. ### Claim 17 (depends on 15) The method of claim 15, wherein determining the first distance to the stationary object includes determining a distance to a roadway rib. ### Claim 18 (depends on 15) The method of claim 15, wherein modifying the operation of the continuous miner includes automatically sumping the continuous miner further into the material. ### Claim 19 (depends on 15) The method of claim 15, wherein modifying the operation of the continuous miner includes automatically retracting the continuous miner from the material. ### Claim 20 (depends on 15) The method of claim 15, wherein modifying the operation of the continuous miner includes automatically stopping a cutting drum of the continuous miner.