Method for detecting and tracking the position of a movable transferring device/loading device of a bucket wheel excavator or bucket chain excavator 5 Field of the invention The invention relates to a method for detecting and tracking the position of a movable transferring device/loading device of a bucket-wheel excavator or 10 bucket chain excavator, which excavator comprises an extraction apparatus having a pivotable superstructure with inclinable boom, a track-mobile substructure, and a transferring device with loading boom and delivers conveyed material by means of a bench conveyor 15 with/without an interposed mobile transfer conveyor or a similar transfer point. Background A bucket-wheel excavator comprises in standard designs 20 a pivotable superstructure having an inclinable boom with a bucket wheel fastened thereto, a track-mobile substructure, and a transferring device or loading device with loading boom inclusive of loading belt. During operation the superstructure pivots to and fro 25 on the track-mobile substructure within its working range. The bucket-wheel excavator transfers the masses which it has extracted in block operation (bench block or side block operation, or the conveyed material) for example coal or spoils, to a shiftable bench conveyor. 30 Track-mounted bucket chain excavators are equipped with a pivot mechanism for the superstructure. They can operate in upward cutting or downward cutting mode. The excavator superstructure receives perpendicular to the 35 direction of travel the bucket ladder, the lower, movable part of which is suspended articulately from the superstructure and from a boom by means of one or more bucket ladder winches. On the bucket ladder runs 6813006_1 (GHMatters) P95192.AU SARAHVV - 2 an endless bucket chain. The bucket chain excavator is equipped with a transferring device. The design of the transferring device takes into 5 account that the angle between the loading belt of the transferring device and the bench conveyor belt axis in ground plan is adjustable. The pivot motion of the transferring device enables the unloading of the transferring device to be adapted to the distance of 10 the shiftable bench conveyor from the excavator axis (center axis of the tracked substructure). The shiftable bench conveyor lies parallel to the direction of travel of the track-mobile substructure of the excavator (bucket chain excavator or bucket-wheel 15 excavator) and is shifted in dependence on the rate of advance. An interposed mobile transfer conveyor can be used, in particular, to enlarge the radius of action of the 20 bucket-wheel excavator or bucket chain excavator during mining. A fundamental aspect of the loading consists in the operation of a pivot mechanism/lifting gear of the 25 loading boom inclusive of loading belt of the transferring device, including operation of a loading chute for the correct belt loading of the bench conveyor or of a mobile transfer conveyor and control of the mass stream or of the conveyed material stream. 30 The operation is carried out by a loading attendant. The loading attendant conducts the operation of the pivot mechanism/lifting gear for the loading boom and the operation of the loading chute for the correct belt 35 loading and control of the mass stream. 6813006_1 (GHMatters) P95192.AU SARAHVV 19/08/2015 - 3 Summary of the invention According to the invention, there is provided a method for detecting and tracking the position of a movable transferring device/loading device of a bucket-wheel 5 excavator or bucket chain excavator, which excavator comprises an extraction apparatus having a pivotable superstructure with inclinable boom, a track-mobile substructure, and a transferring device with loading boom and delivers conveyed material by means of a bench 10 conveyor with/without an interposed mobile transfer conveyor or a similar transfer point, wherein an open loop/closed-loop control device defines the pivot angle and the inclination of the loading boom of the transferring device in dependence on the signals of the 15 following sensors: * a sensor for detecting the current spatial coordinates of the bucket-wheel excavator or bucket chain excavator, e a sensor for detecting the current spatial 20 coordinates of the bench conveyor or of the take up belt of the mobile transfer conveyor, e a sensor for detecting the current longitudinal inclination and transverse inclination of the loading boom, 25 e a sensor for detecting the current pivot angle of the loading boom, e a sensor for detecting the current distance of the loading boom above the bench conveyor or above the take-up belt of the mobile transfer conveyor, 30 e a sensor for detecting the current vertical positioning of the loading boom above the bench conveyor or above the take-up belt of the mobile transfer conveyor, inclusive of detection of the belt middle, 35 e a sensor for monitoring overfilling in/at the transfer point of the loading boom. 6813006_1 (GHMatters) P95192.AU SARAHVV 19/08/2015 The advantages obtainable with the invention consist, in particular, in the fact that an additional loading attendant is no longer necessary, since the operation of a pivot mechanism/lifting gear of the loading boom 5 inclusive of the loading belt of the transferring device, including operation of a loading chute for the correct belt loading of the bench conveyor or of the take-up belt of a mobile transfer conveyor and the control of the mass stream and of the conveyed material 10 stream, is now fulfilled by the proposed open loop/closed-loop control device. In other words, the manual positioning is replaced by an automatic positioning (manless operation) of the loading boom for the transfer of conveyed material to the discharging 15 conveyor - bench conveyor or mobile transfer conveyor with take-up belt. The open-loop/closed-loop control device exerts a direct influence on the belt running of the bench 20 conveyor belt or of the take-up belt of a mobile transfer conveyor, with due regard to the dirt contamination of the conveyor. The conveyed material is loaded with due regard to the belt transfers. In case of risk of a material jam in/at the transfer point 25 (transfer chute), a signal is delivered to the bucket wheel excavator or bucket chain excavator to adjust the conveyance. Further applications of the invention are: 30 e bucket-wheel excavators having a loading boom for transfer to the bench conveyor, e bucket chain excavators having a loading boom for transfer to the bench conveyor, e bucket-wheel excavators having a loading boom for 35 transfer to an interposed mobile transfer conveyor, 6813006_1 (GHMatters) P95192.AU SARAHVV 19/08/2015 - 5 bucket chain excavators having a loading apparatus for transfer to the bench conveyor. Expedient embodiments of the invention are 5 characterized in the subclaims. Brief Description of the drawings The invention is explained below with reference to the illustrative embodiment represented in the drawing, in 10 which: fig. 1 shows a schematic view of an underground mining operation comprising as the main components a bucket-wheel excavator or bucket 15 chain excavator inclusive of a movable transferring device/loading device and a bench conveyor inclusive of bench conveyor belt, wherein the movable transferring device is realized with a pivot mechanism/lifting 20 gear, fig. 2 shows an alternative embodiment in which a mobile transfer conveyor is additionally provided between the bucket-wheel excavator 25 or bucket chain excavator and the bench conveyor. Detailed description of the invention In fig. 1, a schematic view of an underground mining 30 operation comprising as the main components a bucket wheel conveyor or bucket chain conveyor inclusive of a movable transferring device and a bench conveyor (face conveyor) inclusive of bench conveyor belt (discharging belt) is shown, wherein the movable transferring device 35 is constructed with a pivot mechanism/lifting gear. 6813006_1 (GHMatters) P95192.AU SARAHVV 19/08/2015 - 6 The bucket-wheel excavator or bucket chain excavator 1 has as the main components an extraction apparatus 2 for the conveyed material, for example coal or spoils, and a movable transferring device 12 for the conveyed 5 material. The extraction apparatus 2 comprises, for example in a bucket-wheel excavator: * a pivotable superstructure 3, with inclinable boom 10 4 fastened thereon, inclusive of take-up belt, e a bucket wheel 5, fastened to the end face of the boom 4, for the conveyance of the conveyed material, inclusive of chute 6 (conveyed material transferring device) for transfer of the conveyed 15 material from the bucket wheel 5 to the take-up belt, e a crawler-mounted mobile substructure 9. In fig. 1, both the direction of travel 10 of the 20 substructure 9 and the pivot direction/pivot angle 8 of the boom 4 are shown over the block width, wherein the block width or the pivot angle determines the working range, i.e. the removal of the conveyed material. 25 The transferring device 12 comprises: * a loading boom 13 (discharge conveyor) inclusive of loading belt and loading chute 14 (transfer chute), e a pivot mechanism/lifting gear 15 for the loading 30 boom 13 (fastened to the extraction apparatus 2), e a take-up chute 7 (conveyed material transferring device) for transfer of the conveyed material from the take-up belt of the boom 4 to the transferring device 12. 35 The loading device 12 has - as already mentioned - a loading chute 14 (rotating chute, conveyed material 6813006_1 (GHMatters) P95192.AU SARAHVV 19/08/2015 - 7 transferring device, transfer chute) for transfer of the conveyed material from the loading boom 13 to the bench conveyor 17. Furthermore, the bench conveyor axis 18 is shown, which forms the belt middle of the 5 discharging conveyor or bench conveyor 17. In fig. 2 is shown an alternative embodiment in which a mobile transfer conveyor is additionally provided between the bucket-wheel excavator or bucket chain 10 excavator and the bench conveyor. A bucket-wheel excavator or bucket chain excavator 1 having a loading boom 13 fastened above the pivot mechanism/lifting gear 15 can be identified, wherein the loading chute 14 transfers the conveyed material to the take-up belt 39 15 of the mobile transfer conveyor 37. The mobile transfer conveyor 37 is moved by means of its crawler-mounted substructure 38 preferably parallel to the bench conveyor 17 and transfers the conveyed material via a transfer chute 40 to the bench conveyor belt of the 20 bench conveyor 17. For the automatic detection and tracking of the position of the movable transferring device 12 or positioning of the loading boom 13 for the transfer of 25 conveyed material to the bench conveyor 17 or to the take-up belt 39 of the mobile transfer conveyor 37, the following sensors are of importance: * a sensor 21 for detecting the current spatial coordinates xB/yB/zB of the bucket-wheel excavator 30 or bucket chain excavator 1, e a sensor 22 for detecting the current spatial coordinates xs/ys/zs of the bench conveyor axis 18 of the bench conveyor 17 (in the case of the embodiment according to fig. 1) or of the take-up 35 belt 39 of the mobile transfer conveyor 37 (in the case of the embodiment according to fig. 2), 6813006_1 (GHMatters) P95192.AU SARAHVV 19/08/2015 - 8 e a sensor 23 for detecting the current longitudinal inclination and transverse inclination of the loading boom 13, e a sensor 24 for detecting the current pivot angle 5 of the loading boom 13, e a sensor 25 for detecting the current load upon the loading belt of the loading boom 13, e a sensor 26 for detecting the current distance of the loading boom 13 to the track level or above 10 the bench conveyor or above the bench conveyor belt of the bench conveyor 17 (in the case of the embodiment according to fig. 1) or above the take up belt 39 of the mobile transfer conveyor 37 (in the case of the embodiment according to fig. 2), 15 e a sensor 27 for detecting the current vertical positioning of the loading boom 13 above the bench conveyor belt of the bench conveyor 17 (in the case of the embodiment according to fig. 1) or above the take-up belt 39 of the mobile transfer 20 conveyor 37 (in the case of the embodiment according to fig. 2), inclusive of detection of the belt middle, e a sensor 28 for detecting the current load state of the bench conveyor belt of the bench conveyor 25 17 (in the case of the embodiment according to fig. 1) or of the take-up belt 39 of the mobile transfer conveyor 37 (in the case of the embodiment according to fig. 2), e a sensor 29 for detecting any current skewing of 30 the bench conveyor belt of the bench conveyor 17 (in the case of the embodiment according to fig. 1) or of the take-up belt 39 of the mobile transfer conveyor 37 (in the case of the embodiment according to fig. 2), 35 e a sensor 30 for detecting the current angular position of the loading chute 14, 6813006_1 (GHMatters) P95192.AU SARAHVV 19/08/2015 - 9 e a sensor 31 for detecting the current inclination of the loading chute 14, e a sensor 32 for detecting objects within the range of pivot of the loading boom 13 (impact 5 protection), e a sensor 33 for detecting the current belt pass over point between the take-up belt of the boom 4 and the loading belt of the loading boom 13 (collision protection), 10 e a sensor 34 for detecting the current belt pass over point between the loading belt of the loading boom 13 and the bench conveyor belt of the bench conveyor 17 (in the case of the embodiment according to fig. 1) or the take-up belt 39 of the 15 mobile transfer conveyor 37 (in the case of the embodiment according to fig. 2) (collision protection). To an open-loop/closed-loop control device 20 are 20 relayed: * the signal A of the sensor 21, e the signal B of the sensor 22, e the signal C of the sensor 23, e the signal D of the sensor 24, 25 e the signal E of the sensor 25, e the signal F of the sensor 26, e the signal G of the sensor 27, e the signal H of the sensor 28, e the signal I of the sensor 29, 30 e the signal K of the sensor 30, e the signal L of the sensor 31, e the signal M of the sensor 32, e the signal N of the sensor 33, and * the signal 0 of the sensor 34. 35 The open-loop/closed-loop control device 20 processes these supplied signals, links them together in a predefined manner and, in dependence on these signals 6813006_1 (GHMatters) P95192.AU SARAHVV 19/08/2015 - 10 and in dependence on target value presets/parameter presets 35 for the above-cited sensors, drives the pivot mechanism/lifting gear 15, the loading chute 14 and, if need be, the extraction apparatus 2, see 5 e the drive signal Q for the transferring device 12, e the drive signal R for the loading chute 14, and * the drive signal S for the extraction apparatus 2. 10 The open-loop/closed-loop control device 20 hereupon defines the pivot angle and the inclination of the loading boom 13 of the transferring device 12 in the form of the drive signal Q in dependence on the signals 15 of the following sensors: * the signal A of the sensor 21 for detecting the current spatial coordinates XB/YB/ZB of the bucket wheel excavator or bucket chain excavator 1, e the signal B of the sensor 22 for detecting the 20 current spatial coordinates xs/ys/zs of the bench conveyor 17 (in the case of the embodiment according to fig. 1) or of the take-up belt 39 of the mobile transfer conveyor 37 (in the case of the embodiment according to fig. 2), 25 e the signal C of the sensor 23 for detecting the current longitudinal and transverse inclination of the loading boom 13, e the signal D of the sensor 24 for detecting the current pivot angle of the loading boom 13, 30 e the signal F of the sensor 26 for detecting the current distance of the loading boom 13 above the bench conveyor 17 (in the case of the embodiment according to fig. 1) or above the take-up belt 39 of the mobile transfer conveyor 37 (in the case of 35 the embodiment according to fig. 2), e the signal G of the sensor 27 for detecting the current vertical positioning of the loading boom 6813006_1 (GHMatters) P95192.AU SARAHVV 19/08/2015 - 11 13 above the bench conveyor 17 (in the case of the embodiment according to fig. 1) or above the take up belt 39 of the mobile transfer conveyor 37 (in the case of the embodiment according to fig. 2), 5 inclusive of detection of the belt middle. Furthermore, the open-loop/closed-loop control device 20 defines the pivot angle and the inclination of the loading chute 14 in the form of the signal R in 10 dependence on the signals of the following sensors: the signal H of the sensor 28 for detecting the current load state of the bench conveyor belt of the bench conveyor 17 (in the case of the embodiment according to fig. 1) or of the take-up 15 belt 39 of the mobile transfer conveyor 37 (in the case of the embodiment according to fig. 2), e the signal I of the sensor 29 for detecting any current skewing of the bench conveyor belt of the bench conveyor 17 (in the case of the embodiment 20 according to fig. 1) or of the take-up belt 39 of the mobile transfer conveyor 37 (in the case of the embodiment according to fig. 2), e the signal K of the sensor 30 for detecting the current angular position of the loading chute 14, 25 e the signal L of the sensor 31 for detecting the current inclination of the loading chute 14. For further improvement of the open-loop/closed-loop control system, the open-loop/closed-loop control 30 device 20 is additionally fed the signal E of the sensor 25 for detecting the current load upon the loading belt of the loading boom 13. As a result, a possible material jam in the loading chute 14 - caused, for example, by wet masses or conveyed material - is 35 detected and, where necessary, an appropriate output signal S is transmitted to the extraction apparatus 2 in order to stop the bucket-wheel excavator or bucket 6813006_1 (GHMatters) P95192.AU SARAHVV 19/08/2015 - 12 chain excavator and avoid overfilling of the loading chute 14. For the purpose of avoiding a collision between the 5 loading boom 13 and the bench conveyor 17 (collision protection), the open-loop/closed-loop control device 20 is additionally fed the signals 0 of the sensor 34 for detecting the current belt pass-over point between the loading belt of the loading boom 13 and the bench 10 conveyor belt of the bench conveyor 17 (in the case of the embodiment according to fig. 1) or the take-up belt 39 of the mobile transfer conveyor 37 (in the case of the embodiment according to fig. 2). 15 For the purpose of avoiding a collision between the loading boom 13 and an object, such as an apparatus or a person, the open-loop/closed-loop control device 20 is additionally fed the signals M of the sensor 32 for detecting objects within the range of pivot of the 20 loading boom 13 (collision protection). These signals 0, M are taken into account in the generation of the drive signals R and Q, where necessary also with respect to S. 25 All in all, the proposed open-loop/closed-loop control system produces high availability of the components to be used and, in particular, high availability of the desired "manless operation" function. As a result of 30 the proposed open-loop/closed-loop control system, an independence from environmental influences, such as strong solar radiation, heavy rain, snowfall, fog, frost, is obtained. Furthermore, an insensitivity to steaming coal or steaming conveyed material is 35 obtained. High accuracy with respect to the positioning and surveying of the belt edges, as well as with respect to belt running detection, is obtained. In 6813006_1 (GHMatters) P95192.AU SARAHVV 19/08/2015 - 13 addition, both equipment protection and personal protection are ensured under all operating conditions. Modifications within the scope of the invention may be 5 readily effected by those skilled in the art. It is to be understood, therefore, that this invention is not limited to the particular embodiments described by way of example hereinabove. 10 It is to be understood that, if any prior art is referred to herein, such reference does not constitute an admission that such prior art forms a part of the common general knowledge in the art, in Australia or any other country. 15 In the claims that follow and in the preceding description of the invention, except where the context requires otherwise due to express language or necessary implication, the word "comprise" or variations such as 20 "comprises" or "comprising" is used in an inclusive sense, i.e. to specify the presence of the stated features but not to preclude the presence or addition of further features in various embodiments of the invention. 6813006_1 (GHMatters) P95192.AU SARAHVV 19/08/2015 - 14 Reference symbol list 1 bucket-wheel excavator or bucket chain excavator 2 extraction apparatus of the bucket-wheel excavator 5 or bucket chain excavator 3 pivotable superstructure 4 inclinable boom inclusive of take-up belt 5 bucket wheel 6 chute 10 7 take-up chute of the loading boom 13 8 pivot direction/pivot angle of the boom 4 across the block width 9 crawler-mounted substructure 10 direction of travel of the substructure 9 15 11 12 movable transferring device of the bucket-wheel excavator or bucket chain excavator 13 loading excavator (discharge conveyor) inclusive of loading belt 20 14 loading chute (rotating chute, transfer chute) of the transferring device 15 pivot mechanism/lifting gear for loading boom 16 17 bench conveyor (face conveyor) inclusive of bench 25 conveyor 18 bench conveyor axis = belt middle of the bench conveyor 17 19 20 open-loop/closed-loop control device 30 21 sensor for detecting the current spatial coordinates xB/yB/zB of the bucket-wheel excavator or bucket chain excavator 1 - signal A 22 sensor for detecting the current spatial coordinates xs/ys/zs of the bench conveyor axis 18 35 or of the take-up belt 39 of the mobile transfer conveyor 37 - signal B 6813006_1 (GHMatters) P95192.AU SARAHVV 19/08/2015 - 15 23 sensor for detecting the current longitudinal and transverse inclination of the loading boom 13 signal C 24 sensor for detecting the current pivot angle of 5 the loading boom 13 - signal D 25 sensor for detecting the current load upon the loading belt of the loading boom 13 - signal E 26 sensor for detecting the current distance of the loading boom 13 to the track level or above the 10 bench conveyor belt of the bench conveyor 17 or above the take-up belt 39 of the mobile transfer conveyor 37 - signal F 27 sensor for detecting the current vertical positioning of the loading boom 13 above the bench 15 conveyor belt of the bench conveyor 17 or above the take-up belt 39 of the mobile transfer conveyor 37 inclusive of detection of the belt middle - signal G 28 sensor for detecting the current load state of the 20 bench conveyor belt of the bench conveyor 17 or of the take-up belt 39 of the mobile transfer conveyor 37, - signal H 29 sensor for detecting any current skewing of the bench conveyor belt of the bench conveyor 17 or of 25 the take-up belt 39 of the mobile transfer conveyor 37 - signal I 30 sensor for detecting the current angular position of the loading chute 14 - signal K 31 sensor for detecting the current inclination of 30 the loading chute 14 - signal L 32 sensor for detecting objects within the range of pivot of the loading boom 13 (collision protection) - signal M 33 sensor for detecting the current belt pass-over 35 point between the take-up belt of the boom 4 and the loading belt of the loading boom 13 (collision protection) - signal N 6813006_1 (GHMatters) P95192.AU SARAHVV 19/08/2015 - 16 34 sensor for detecting the current belt pass-over point between the loading belt of the loading boom 13 and the bench conveyor belt of the bench conveyor 17 or the take-up belt 39 of the mobile 5 transfer conveyor 37 (collision protection) signal 0. 35 target value presets/parameter presets 36 37 mobile transfer conveyor 10 38 crawler-mounted substructure 39 take-up belt 40 transfer chute 6813006_1 (GHMatters) P95192.AU SARAHVV 19/08/2015