Detecting a coal/shale interface

Detector, intended for use with longwall shearer, determines when cut has pierced through coal layer. Accelerometer measures hardness of material struck by penetrometer ram, while reflectometers measure reflectivity of surface on either side of penetrometer. Signals are combined in voting circuit that indicates "coal" or "shale", depending on information supplied by three sensors. It distinguishes by differences in accelerometer waveforms.