CN106441293A

CN106441293A - Mining machine including range finding system and method for monitoring position of mining machine

Info

Publication number: CN106441293A
Application number: CN201610881595.5A
Authority: CN
Inventors: 罗纳德·约翰·迈克菲; P·B·里德
Original assignee: Commonwealth Scientific and Industrial Research Organization CSIRO
Current assignee: Commonwealth Scientific and Industrial Research Organization CSIRO
Priority date: 2015-08-07
Filing date: 2016-08-08
Publication date: 2017-02-22
Anticipated expiration: 2036-08-08
Also published as: AU2016200789B1; CN205981226U; CN106441293B

Abstract

The invention relates to a mining machine including a range finding system and a method for monitoring the position of the mining machine. The range finding system comprises an electromagnetic output (102) to provide a first beam (104) of electromagnetic radiation along a first beam path (106); an electromagnetic input (108) to receive reflected electromagnetic radiation (110) of the first beam from an object (7) for determining a range (114) of the range finding system (100) from the object (7); and an enclosure (120) including a side wall (122) that surrounds a central axis (136) of the enclosure (120), the side wall (122) transparent to the electromagnetic radiation provided by the electromagnetic output (102). The electromagnetic output (102) and electromagnetic input (108) are disposed within the enclosure (120) such that the electromagnetic input (108) is located outside a second beam path (124) of a second beam (126) of electromagnetic radiation defined by a specular reflection (128) of the first beam (104) on the side wall (122). The mining machine (3) also has a data port (40) to output relative position data of the mining machine (3) to the object based on at least the determined range (114).

Description

The method with the digger of range-measurement system and the position of monitoring digger

Technical field

Present disclosure is related to the digger with range-measurement system.

Background technology

Digger may be needed to move to diverse location in ore deposit on demand.Some diggers are vehicles, and this vehicle can quilt Navigate through the tunnel in mining area.Environment in mining area can cause to challenge to the known method determining vehicle location.

Mining area can include situation dusty, and the traditional lane markings being wherein used for road can be broken with other due to dust Piece thickens.Further, mining area can affect underground or other blind situation operations of Visual Observations Observations in meeting.Enter one Step, due to the obstruction of soil or signal multichannel, have using based on the navigation of satellite transmission signal (or local transmission signal) Difficult.

Other air navigation aids, the such as result based on accelerometer and gyroscope can be used to carry out flight path to position and push away Calculate.Further, it is also possible to use the result of speedometer and/or odometer.However, the wheel-slip in damaged surface can cause Error.Error in dead reckoning can be accumulated, this so that cause long-term mistake within the system.

Range information can also aid in the position determining observer, and assisting navigation.Range information and other information (such as object is with respect to orientation of observer) combines the map that can be used for building with terrain information or represents object space Other forms represent and/or environment in object profile.Range information can also assist the position determining observer to lead to assist Boat.

In known form, range unit is arranged on observation position, and this device includes generating laser with to object Send laser beam.Light beam reflects from object and the reflection of light is detected by the sensor of range unit.Light is advanced from generating laser Flight time to object and from object to sensor is measured.This flight time is used for determining in observation bit together with the light velocity The distance between the range unit put and object.

Another challenge in mining area is：Mining area can have adventurous material, such as inflammable gas, steam, liquid, ash Dirt etc..Therefore, from digger, possible incendiary source reduced, minimize or exclude critically important.

WO2005/003875 (SANDVIK TAMROCK OY) discloses a kind of side for monitoring truck position of digging up mine in ore deposit Method and system.WO2007/009149(COMMONWEALTH SCINTIFIC AND INDUSTRIAL RESEARCH ORGANISATION) disclose a kind of method and apparatus for determining structure change in mining processes.

Throughout the specification, word " including (comprise) ", or modification such as " includes (comprises) " or " bag Include (comprising) " it is understood to mean that and comprise described element, integer or step or a set of pieces, one group of integer or Group step, but be not excluded for any other element, integer or step or other set of pieces, other group integers or other Group step.

It is included document, regulations, material, equipment, article or similar any discussion should not be regarded in this manual For recognizing：Any or all these material defines part prior art basis or with regard to the public affairs in the technical field of the application Know general knowledge, just as it had existed before the priority date of each claim of the application.

Content of the invention

A kind of digger (3) includes：

- range-measurement system (100), this range-measurement system includes：

- electromagnetism output device (102), this electromagnetism output device provides the electromagnetic radiation along the first bundle path (106) First bundle (104)；

- electromagnetic input device (108), this electromagnetic input device receives the reflection electricity of described first bundle from object (7) Magnetic radiation (110), to determine the distance (114) of described range-measurement system and described object (7)；And

- shell (120), this shell includes the side wall (122) of the central axial line (136) around described shell (120), described Side wall (122) is transparent to the described electromagnetic radiation being provided by described electromagnetism output device (102),

Wherein, described electromagnetism output device (102) and described electromagnetic input device (108) are arranged on described shell (120) Interior so that described electromagnetic input device (108) the second bundle path (124) of being located at the second bundle (126) of electromagnetic radiation is outside, institute State the second bundle to be limited by described first bundle (104) mirror-reflection (128) on described side wall (122),

- FPDP (40), this FPDP at least based on determined by distance (114) export described digger (3) arrive The station-keeping data of described object.

Described digger (3) may further include：

- processing equipment (9), this processing equipment determines institute based on the object space of described station-keeping data and described object State the primary importance of digger (3).

Described digger (3) may further include：

- first sensor system (5), this first sensor system determines described digger (3) based on dead reckoning Mobile data；

Wherein, described processing equipment (9) is further arranged for：

- second place of described digger (3) is determined based on data below：

- described primary importance；With

The described mobile data of-described digger based on dead reckoning.

Described primary importance can be absolute position.

Described digger (3) may further include：

- processing equipment (9), this processing equipment determines the second place of described digger (3) based on data below：

- described station-keeping data；With

The described mobile data of-described digger based on dead reckoning.

Determine that the second place of described digger can be based further on the start position data of described digger (3).

Described range-measurement system may further include：

- data storage (11), wherein, the object position data being associated with the described object space of described object (7) is deposited Storage is in described data storage (11).

Described digger can be longwell digger.

Described digger can be continuous digger.

Described shell (120) can further include to prevent the gas of the outside of described shell by the inside from described shell Igniting one or more features of lighting of trigger.

This one or more features may include potted component (130), and described potted component is worked in coordination with described side wall (122) Make the inside of described shell (120) and the external environment of described shell (120) so that one or more described potted component (130) gas preventing the outside of described shell (120) is lighted by the igniting trigger of the inside from described shell (120).

Described range-measurement system (100) may further include can be around first rotation in described shell (120) (134) the first support component (132) rotating, wherein, described electromagnetism output device is by described first support component (132) Support is so that the rotation of described first support component (132) makes described first bundle being provided by described electromagnetism output device (102) (104) turn to.

Described electromagnetism output device (102) can be from described first rotation (134) skew so that defeated from described electromagnetism Described first bundle path (106) going out device (102) to described side wall (122) is not intersected with described first rotation (134).

Described first rotation (134) can be coaxial with described central axial line (136).

Described digger (3) may further include the second support component (140), and this second support component is in described electromagnetism There is provided between output device (102) and the first support component (132) and support, wherein, described second support component (140) can be around Second rotation axis (142) rotates, and wherein, the rotation of described second support component (140) makes to export dress by described electromagnetism Described first bundle (104) that putting (102) provides turns to.

Described second rotation axis (142) can be perpendicular to described first rotation (134).

In described digger, described electromagnetic input device can be supported by the first support component so that first supports unit Described electromagnetic input device turns to receive the described reflecting electromagnetic radiation of described first bundle from described object.

Described digger (3) may further include control module so that the first bundle (104) redirect to multiple orientations, thus The multiple distances providing the described object in surrounding environment determine.

Multiple distances of the described object in surrounding environment determine the data that can be represented as in three-dimensional point cloud.

Described electromagnetism output device (102) can include generating laser, and this generating laser is provided in the form of laser First bundle (104).Described electromagnetic input device (108) can include optical sensor, and this optical sensor receives from described object (7) The laser of reflection.

Described electromagnetism output device (102) can be provided in one of ultraviolet, visible ray and/or infrared spectrum or Described first bundle (104) of the electromagnetic radiation in more.

Described side wall (122) can be cylindrical side wall.

Described range-measurement system can further include processor, and this processor is based on the plurality of distance and determines ring around generation The 3-D view in border.

Described range-measurement system can further include：

- generating laser, this generating laser provides described first bundle of laser form,

Wherein, described electromagnetism output device includes the first reflector, and this first reflector makes described first bundle be rerouted to institute Belong on the first bundle path.

Described range-measurement system can further include：

- optical sensor, the laser that this light sensors reflects from described object,

Wherein, described electromagnetic input device includes the second reflector, and this second reflector makes the laser of reflection towards described Optical sensor alters course.

Incidence angle between described first bundle path and the surface normal of described side wall can be more than 5 degree.

Incidence angle between described first bundle path and the surface normal of described side wall can be less than described side wall (122) Critical angle.

Described range-measurement system may further include：

- the second support component, this second support component is between described electromagnetism output device and described first support component There is provided and support, wherein, described second support component can rotate around the second rotation axis, wherein, described second support component Rotation makes to be turned to by described first bundle that described electromagnetism output device provides,

Wherein, described second rotation axis is perpendicular to described first rotation.

Described range-measurement system may conform to international standard IEC 60079-0, IEC 60079-1, Unite States Standard ANSI/ UL1203：2006, British Standard BS EN 60079-1：2007 and Australian Standard AS60079.1：One of 2007 Or it is more.

Described range-measurement system may include：

- generating laser, this generating laser provides the first bundle of laser along the first bundle path；

- optical sensor, this optical sensor receives the reflection laser of described first bundle from object, to determine described range finding System and the distance of described object；

- shell, this shell includes cylindrical side wall, and this side wall is just transparent to provided by described generating laser, Wherein, described shell include preventing the gas of described housing exterior from being lighted by the igniting trigger of described enclosure one or More features；And

- can in the first support component of described inside the shell rotation, wherein, described generating laser and described optical sensor by Described first support component supports so that the rotation of described first support component makes described the being provided by described generating laser A branch of steering；And

Wherein, described generating laser and described optical sensor is arranged on described inside the shell so that described optical sensor position In the second bundle path external of the second bundle of electromagnetic radiation, described second bundle is by the described first bundle on described cylindrical side wall Mirror-reflection limits.

Described range-measurement system can further include controller with：

Described first bundle is made to turn to towards reflector；

Determine the intensity level of the intensity representing light that is reflecting and being received by described optical sensor from described reflector； And

Determine the level being polluted by Coal Dust based on described intensity level.

A kind of method of the position of monitoring digger includes：

- the data-interface (40) from above digger (3) receives described digger (3) to the relative position of object (7) Data, this object has object space；

The output of-reception first sensor system (5), this output represents the described digger (3) based on dead reckoning Mobile data；

- second place of described digger (3) is determined based on data below：

The described station-keeping data of-described digger (3)；With

The described mobile data of-described digger (3) based on dead reckoning.

The method can further include following steps；

- described digging is determined to the described relative position of described object (7) and described object space based on described digger The primary importance of machine (3).

Determine that the step of the second place of described digger (3) can be based further on described first of described digger Put.

The method may further include：

- receive the object position data associating with described object (7) described data storage from data storage；

- wherein it is determined that the step of described primary importance is based further on the object associating with described object (7) receiving Position data.

Determine that the step of the second place of described digger (3) can be based further on the start bit of described digger (3) Put data.

A kind of method determining the structure change in tunnel in coal mining operation includes：

The first profile scanning in the described tunnel of-reception, wherein, described the first profile scanning is based on from above digger (3) In FPDP (40) receive multiple station-keeping datas；

- scanning of described the first profile is stored in data storage；

- subsequent the second profile scan receiving described tunnel, wherein, described second profile scan is based on from same digger Or different sensing system receives multiple station-keeping datas (3)；

Process the scanning of described the first profile and described second profile scan with determine the surface in described tunnel corresponding to institute State the arbitrary structures change of the profile deformation in tunnel.

Described tunnel may be located in colliery.

Multiple distances that the method may include the multiple points going on coal face determine.

In appropriate circumstances, the optional feature for the either side description of machine or method or system is applied similarly In other aspects being also described herein.

Brief description

The embodiment of present disclosure will be with reference to described herein below：

Fig. 1 is the top view of the digger advanced in ore deposit；

Fig. 2 is the stereogram of range-measurement system, and this range-measurement system provides the first of the electromagnetic radiation of object to restraint to determine The distance of described object；

Fig. 3 is the flow chart of the method for position of monitoring digger；

The flow chart that Fig. 4 is to determine the method for the structure change in tunnel；

Fig. 5 a is the vertical cross-sectional view passed through tunnel, and shows the structure over time of the profile on tunnel wall and/or top Change；

Fig. 5 b is the vertical cross-sectional view in tunnel, shows digger；

Fig. 6 is schematic diagram, shows the 3D sectional drawing of longwall underground coal mining operation；

Fig. 7 is the side view of continuous digger；

Fig. 8 a is the schematic diagram of the system connecting in digger；

Fig. 8 b shows the digger with communication network and other network element communication；

Fig. 9 shows the simplification figure being oriented to measure the range-measurement system of the distance of object in surrounding environment；

Figure 10 is the solid of electromagnetism output device, electromagnetic input device and first and second support component of range-measurement system Figure；

Figure 11 is the side view of the range-measurement system of Fig. 2, shows the first bundle being provided by electromagnetism output device and by electromagnetism The reflecting electromagnetic radiation of the first bundle that input unit receives；

Figure 12 is the top view of the range-measurement system of Figure 11；

Figure 13 is the simplification top view of the range-measurement system of Figure 11, shows three different azimuth around first rotation The electromagnetism output device of orientation position and show the first bundle refraction embodiment；

Figure 14 (a) to Figure 14 (c) is the simplified side view of Figure 11, shows that three differences around the second rotation axis are inclined The electromagnetic input device of oblique angle orientation position and show the first bundle refraction effect embodiment；

Figure 15 is the schematic diagram of the range-measurement system with controller module, computer system and display；

Figure 16 (a) to Figure 16 (c) shows the model at the possible inclination angle of the first bundle in a form of range-measurement system Enclose；

Figure 17 (a) to Figure 17 (d) shows the stereogram of the alternative form of the shell of range-measurement system；

Figure 18 (a) to Figure 18 (b) is the stereogram of electromagnetic input device, and this electromagnetic input device has cover to protect electromagnetism Input unit is away from harmful magnetic radiation；

Figure 19 (a) to Figure 19 (b) is the stereogram of range-measurement system, and this range-measurement system includes reflector to test range-measurement system Operation；

Figure 20 is the top view of range unit, shows the electromagnetism output device of two kinds of structures and electromagnetic input device with true The distance of the same position calmly and on object；

Figure 21 (a) to Figure 21 (b) is the top view of the alternative form of range unit；And

Figure 22 (a) to Figure 22 (c) is the top view of the alternative form of the shell of range-measurement system.

Specific embodiment

General introduction

The general introduction of digger 3 is described referring now to Fig. 1 and Fig. 2.Digger 3 includes range-measurement system 100 to determine digger 3 Station-keeping data to the object 7 with object space.Object 7 can be any object, than such as by range-measurement system 100 The wall 12 of the ore deposit of detection.

Briefly describe the range-measurement system 100 of digger 3 referring now to Fig. 2.Range-measurement system 100 includes electromagnetism output device 102 to provide the first bundle 104 of the electromagnetic radiation along the first bundle path 106 to object 7.First bundle 104 is reflected from object 7 To provide reflecting electromagnetic radiation 110.Range-measurement system 100 also includes electromagnetic input device 108 to receive the first bundle from object 7 Reflecting electromagnetic radiation 110, with determine range-measurement system 100 arrive object 7 distance 114.Range-measurement system 100 arrives the distance of object 7 114 can be used subsequently to determine the distance between digger 3 and object 7, and this distance can be used for determining the phase that digger 3 arrives object 7 To at least a portion in position data.This system 100 also includes shell 120, and this shell has the side around central axial line 136 Wall 122, this shell is for being transparent by the electromagnetic radiation that electromagnetism output device 102 provides.Electromagnetism output device 102 and electromagnetism Input unit 108 is arranged in shell 120 so that electromagnetism input 108 is located at the second bundle path of the second bundle 126 of electromagnetic radiation Outside 124, the second bundle 126 is limited by the first bundle 104 mirror-reflections 128 on side wall 122.Digger 3 can also include number According to port 40 with least based on determined by distance export digger 3 arrive object 7 station-keeping data.FPDP 40 can carry It is supplied to the part of digger 3 or the output of the part of outside of digger 3.

Digger 3 has the mirror-reflection 128 that range-measurement system 100 advantageously eliminates or reduces the first bundle 104 Negative influence, this mirror-reflection can make electromagnetic input device 108 dazzling, provide the reading of mistake, reduce electromagnetic input device 108 effect or life-span, and/or otherwise affect the distance determination of range-measurement system 100.

In one embodiment, object 7 can be the feature of the rock face of wall 12 in mining area.In another embodiment, Object 7 can be the reflector providing as mark.Range-measurement system 100 can also allow to determine digger 3 and object space it Between direction (that is, relative bearing).Therefore, in one embodiment, station-keeping data may include digger 3 and object 7 The distance between object space and relative direction (for example, being limited with polar coordinate system).It should be understood that station-keeping data can be with Other modes are expressed, such as in coordinate systems.

Digger 3 can arrive fixed station-keeping data and the thing of object 7 with processing equipment 9 based on digger 3 The object space of body 7 determines the primary importance of digger 3.In one embodiment, the object space of object 7 is known, and This known location can be given for change from data storage 213.

Digger 3 can also include first sensor system 5 to determine the mobile number of digger 3 based on dead reckoning According to.In certain embodiments, first sensor system 5 may include accelerometer and gyroscope to provide line and the angular acceleration (or can Selectively, displacement) data to be to allow to determine mobile data based on dead reckoning.This can include inertial navigation system.The One sensing system 5 may include for determining the mileometer of the distance of traveling and the finger for determining the direction of digger 3 Compass (digital compass such as based on magnetometer output).

With reference to Fig. 1, digger 3 can use range-measurement system 100 to determine primary importance 30 first.Digger 3 can subsequent edge Path 10 to advance.First sensor system 5 can based on vehicle from primary importance 30 flight path along the relative displacement in path 10 Calculate the mobile data determining digging car 3.Processing equipment 9 can be subsequently based on primary importance 30 and the digger based on reckoning 3 mobile data is determining the second place of digger 3.

This allows digger 3 true after determining primary importance (this primary importance is to determine) based on range-measurement system 100 Determine the second place 32 of vehicle 3.It also allows for digger and determines that subsequent position is true based on the subsequent output of station-keeping data Position (for example between determining to the distance of range-measurement system 100) between fixed.

Based on station-keeping data, digger 3 determines that position can only rely upon dead reckoning than having System more accurately determines position.The construction of digger 3 than other system advantageously because range-measurement system 100 can allow Determine station-keeping data in the case of not needing expensive identifier is positioned at reference position.For example, as it is known that system May include using REID (being known as RFID), REID needs RFID label tag pre-determined bit in known bits Put.In order to provide position data to vehicle, vehicle may be provided with reader so that when vehicle more close proximity, reader can The RFID label tag related to known position can be read.So known technology may result in cost, such as pre-determined bit RFID mark The work signed and the cost of equipment itself.Additionally, some RFID label tag are passive transponders, described transponder needs corresponding Reader bit in certain operating distance.Other system can be based on optical pickup, and such as have pre-determined bit bar code is System, is used for determining the specific bar code near vehicle by this bar code scanner.However, dust and other chaff interferences can reduce The effect of such system.Known system and method include International Publication WO2005/003875 (SANDVIK TAMROCK OY) Theme.

Construction including the digger 3 of range-measurement system 100 may include one or more potted components 130, potted component 130 By the inner side of shell 120 from the outer side seal of shell 120 together with side wall 122.This construction can advantageously stop outside shell 120 Gas by trigger of lighting a fire carry out light impact shell inner side.

Digger 3 can be continuous digger or longwell digger.

The method of the position of monitoring digger

The method 9100 of the position of monitoring digger 3 is described now with reference to Fig. 3.

The FPDP 40 that the method is included from digger 3 receives digger connecing to the station-keeping data of object 7 Receive step 9110.

The method can also include arriving the station-keeping data of object 7 and object space based on the digger 3 receiving and Determine the determination step 9112 of the primary importance 30 of digger 3.This can be shown in Figure 1 for digger 3 in primary importance 30.Should Method 9100 can also include receiving the object space related to object 7 in data storage from data storage 213 The receiving step 9114 of data, wherein determines that the determination step 9112 of primary importance is also related to object 7 based on receiving Object position data.In one embodiment, object position data is represented by the absolute position of object 7.

The method also includes receiving the output of 9120 first sensor systems 5, and this output represents based on dead reckoning The mobile data of digger.This can advance (as shown in Figure 1) along path 10 with digger 3 and occur.

The method also includes the mobile number of the station-keeping data based on digger 3 and the digger based on dead reckoning According to the second place 32 determining 9130 diggers 3.The second place 32 of digger figure 1 illustrates.

Determine that the step of 9130 second places is also based on the primary importance 30 of digger 3.For example, the second place can be led to Cross and determine primary importance 30 and true based on the mobile data along the path 10 from primary importance 30 to the second place 32 first Determine the second place 32 to determine.

Determine that the step 9130 of the second place 32 of digger 3 is also based on the start position data of digger 3.Initial Position data can be the known original position for digger 3, the premeasuring position in such as ore deposit.

Method for determining the structure change in tunnel

The method 9200 determining the structure change in tunnel 9251 is described referring now to Fig. 4, Fig. 5 a and Fig. 5 b.

Fig. 5 a shows the vertical cross-sectional view in tunnel 9251.As shown by the solid line, tunnel 9251 includes pushing up 9253, side wall 9255,9257 and ground 9259.Fig. 5 a also show the tunnel 9251 with the convergence behavior exaggerated, this convergence behavior represent by The structure change that dotted line 9265 represents.Dotted line 9265 show side wall 9255,9257 modification and top 9253 shape substantially Change.Ground 9259 can also change.Can see that highest corner 9261 is generally supported by surrounding formation.On the other hand, side angle Fall 9263 modifications.Due to removing material from adjacent upright wall 9257, this structure change can produce.Therefore can see that tunnel 9251 Profile change, this may represent to personnel and mine equipment dangerous.Convergence shown in Fig. 5 a can represent pit coal (or its His material) in ground subsidence.This convergence is the structure change on the surface in tunnel 9251.Fig. 5 b shows digger 3, this digging Machine has the range-measurement system 100 of 9251 travelings of passing through tunnel.

The step that the method 9200 will now be described.

The method 9200 includes receiving the receiving step 9210 of the first profile scanning in tunnel 9251, wherein, described first Profile scan is the multiple station-keeping datas based on reception.The first profile scanning can represent in the three-dimensional point cloud of environment. Alternatively, this profile scan can be represented by multiple profiles, the vertical cross-sectional view in such as Fig. 5 a.In one embodiment, tunnel The first profile scanning in road 9251 can provide the profile in tunnel, and this profile is to push up 9253, side wall 9255,9257 and ground 9259 Solid line illustrates (that is, tunnel 9251 does not have convergence behavior).

The method 9200 also includes for the first profile scanning the storing step 9200 being stored in data storage 213 (such as Lower discussion).

Method 9200 includes subsequently receiving second profile scan in 9230 tunnels 9251, and wherein, the second profile scan is base In from same digger 3 or the different sensing systems multiple station-keeping datas of reception.As embodiment, tunnel 9251 After second profile scan occurs in the convergence behavior in tunnel.Therefore, the second profile scan can provide the wheel shown in dotted line 9265 Wide.

Method 9200 also includes processing the first profile scanning and the second profile scan to determine and the modification in tunnel contour The process step 9240 of the arbitrary structures change on corresponding tunnel surface.Reference picture 5a is it is clear that the first profile and second is taken turns Exterior feature in distinct (this can be top 9253, side wall 9255,9257 and ground 9259 solid line compared to dotted line 9265 between Difference.).

Advantageously, method 9200 can allow to determine structure change, such as survives, and this can be safeguarded or safety problem.Should Understand, the second profile scan (or one or more subsequent profile scan) can be stored in digital storage 213, makes Obtain and can execute process step 9240 in the more late time.

In certain embodiments, profile scan can be stored in order to determine structure change over time.From wheel The information of wide scanning can be used for, to tunnel distributing resource, such as safeguarding resource.It is also used as the part of security system with Determine dangerous situation or potential dangerous situation.

In certain embodiments, the method can be executed by distributed network element.For example, the first digger 3 may pass through tunnel Road 9251, thus the first digger the first profile is scanned (or multiple station-keeping data) and is sent to data storage.Second Digger can pass through tunnel 9251 in the subsequent time, and thus the second digger is by the second profile scan (or multiple position relatively Put data) it is sent to this data storage or another data storage.Processing equipment can be subsequently from this data storage or another One data storage receives the first and second profile scans and determines any structure change.

It should be understood that the method can be modified.Can be used for the monitoring of digger 3 of the present invention and the method determining structure change An embodiment in PCT/AU2005/001039 (COMMONWEALTH SCIENTIFIC AND INDUSTRIAL RESEARCH ORGANISATION) disclosed in ((Publication No. WO2007/009149), the document is totally incorporated herein by reference.

The detailed description of the part of digger 3

The details of digger 3 will now be described.

The type of digger 3

Have broad category of digger 3, species depend on the type of ore deposit, material, digger 3 function in ore deposit and its He.Digger type includes longwell digger, continuous digger.Other diggers include vehicle, such as truck, radial type self-unloading Car, loading machine, bull-dozer etc..

Longwell digger

Broadwall is typically used for mine coal.Broadwall can utilize one or more diggers 3, such as discussed below Gateway crossing structure 6309 or coalcutter 6301.

Fig. 6 is schematic diagram, shows the 3D sectional drawing (disproportionate) of longwall underground coal mining operation.Here, it is provided with Longwall coalcutter 6301, this longwall coalcutter passes through coal plate 6303 from side to opposite side in coal seam 6305.In coal seam It is provided with, on 6305 every side, the rectangular shaped roadways being known as gateway 6307.Gateway 6307 incision rock stratum and/or coal Layer 6305 is so that the direction of gateway 6307 and size keep one with accurate parameter (such as size and 3D positioning and direction) Cause.Typically, gateway 6307 extends parallel to each other.Gateway crossing structure 109 is provided at one or two exploiting field In crossheading 6307.Machinery joining mechanism 6311 connects gateway crossing structure 6309 and coalcutter 6301.Typically, machinery connection Connection mechanism 6311 is rail set, and coalcutter 6301 can be advanced on this rail set.

Gateway crossing structure 6309 forms a part for the digger facility associating with mining, and gateway is passed through Structure 6309 adopts specific going-back position in gateway 6307.Coalcutter 6301 is along formation machinery joining mechanism 6311 Rail set rearwardly and a forwardly advance.Mobile with coalcutter 6301, coal removes from coal plate 6303.Coalcutter 6301 from After the side of coal plate 6303 advances to opposite side, gateway crossing structure 6309 is made to retreat in the direction of arrow 6313, from And coalcutter 6301 is taken to position to mine further from the fresh face of coal plate 6303.Repetition above procedure, pressure surface, directly It is removed to coal seam 6305.

Gateway 6307 can be at least initially in the form of tunnel.Tunnel 9251 as said, located underground can To be subject to convergence behavior.Therefore, in one embodiment, gateway crossing structure 6309 is as digger 3 May include range-measurement system 100 as described herein.Advantageously, this can allow monitoring crossing structure 6309 in method 9100 Position, and/or promote to determine the method 9200 of the structure change in tunnel 9251 in coal mining operation.

Continuous digger

" room-and-pillar method " system is the technology that another is used for digging up mine, and this technology can be used for coal mining.This can include from Coal seam removes coal (it becomes " room "), and some (" post ") simultaneously leaving coal seam in the original location is with Support cover topping material.

Typical machine for pillars of a house system is to connect digger, as shown in Figure 7.Continuous digger 7301 includes having The going barrel 7303 of multiple cutting teeths 7305.Cutting teeth 7305 is engaged with the wall in coal seam to wipe coal off from the coal face in coal seam. Broken coal at the front portion 7309 connecting digger 7301 is subsequently from conveyer 7307 to the rear portion 7311 of continuous digger 7301 Transmission.Continuous digger 7301 can also include the continuous track 7313 for mobility.Therefore, continuous digger 7301 is permissible Scrape coal, fortune coal (by conveyer) and make itself to move.

Continuous digger 7301 moves through the room (described room is considered as tunnel) being subject to convergence behavior.Therefore, In one embodiment, continuous digger 7301 may be provided with said LDMS 100.Advantageously, this permission Monitor the position of continuous digger 7301 and/or promote to determine room (such as tunnel 9251) in mining processes in method 9100 In structure change method 9200.

First sensor system 5

First sensor system 5 may include sensor to determine the mobile data of digger 3.First sensor system 5 can Including sensor to determine mobile data, this may include determination such as linear acceleration and angular acceleration, speed (and/or speed), Displacement and the parameter of orientation.These parameters can be transferred for determining mobile data, the position of such as digger based on dead reckoning Move (from previous position).It should be understood that clock and temporal information can be used for determining mobile data.

Sensor may include accelerometer, gyroscope, magnetometer, speedometer, odometer etc..It should be understood that from digger 3 The output of miscellaneous part can also help first sensor system 5 to determine mobile data based on dead reckoning.For example, digger The output of the steering angle representing wheel can be provided, this steering angle can be used for determining moving direction.

In one embodiment, first sensor system 5 includes Inertial Measurement Unit to provide with regard to one or more Linear acceleration on axis and the output of angular speed.Inertial Measurement Unit can also include sensor to export orientation information, than As from magnetometer.The embodiment of one Inertial Measurement Unit is provided with trade mark 3DM-GX4-25 by LORD MicroStrain, This includes three axis accelerometer, three-axis gyroscope and three axle magnetometers.Output from Inertial Measurement Unit can be with temporal information In conjunction with to determine mobile data.

Another embodiment of first sensor system 5 may include sensor with provide directional information (such as magnetometer, or Obtain from gyroscope).This sensing system can also include odometer.Therefore, mobile data can be by by directional information and inner The output of journey meter combines and determines.

Processing equipment, computer systems and networks

Fig. 8 a shows the schematic diagram of the connection system in digger 3.Digger 3 includes processing equipment 9, in a reality Apply in example, this processing equipment is computer system 205 (being described below in detail).Range-measurement system 100 can be defeated by FPDP 40 Go out station-keeping data to computer system 205.Computer system 205 can also also be communicated with first sensor system 5 to connect Receive the mobile data of digger 3.The actuator 8201 of digger 3, such as propulsion (such as dynamical system) and steering it is also possible to Communicate with computer system 205.Network interface 8203, such as wireless communication network interface, are provided as promoting digger 3 and net Communication between network 8205.

One embodiment of computer system 205 is (shown in fig .15) to include processor 209, and processor 209 is connected to Program storage 211, data storage 213 and COM1 207.Program storage 211 is non-transitory computer readable medium Matter, such as hard disk, solid state hard disc or CD-ROM.

The software (it is executable program) being stored on program storage 211 makes processor 209 execution task, such as base Determine the first and second positions of digger 3 in station-keeping data, mobile data or object space.

Processor 209 can by station-keeping data (include determine distance 114), mobile data, profile scan data, Environmental condition, time and date, object space (absolute position of such as object) other information (the such as thing related to object The surface profile of body) etc. be stored in data storage 213.The information in data storage 213 can given for change is for afterwards Analysis.

Reference picture 8b, digger 3 can be communicated with communication network 8205.Other network elements be may include and passed through with digger 3 The monitoring device 8207 of network 8205 communication and network data store 8209.It should be understood that Fig. 8 b is only an exemplary embodiment And can also be using other network element constructions.Further, digging car 3 can have more than one computer system 205 and/ Or its part.

Digger 3 can by communication network 8205 send derive from range-measurement system 100, the data of first sensor system 5 and/ Or the other information from computer system 205.Digger 3 can also be received by communication network 8205 and be derived from monitoring device 8207 and/or the data of network data store 8209.Advantageously, communication network 8205 can allow to share in network element An element data.For example, determine that the method 9200 of structure change can be based on from one by monitoring device 8207 Or the first and second profile scans of more digger are executing.If for example, route is frequently made by substantial amounts of digger With and each digger can be infrequently using same route, this can improve the detection of structure change.

Range-measurement system 100

Range-measurement system 100 can based on a determination that distance to object 7 station-keeping data is provided.Range-measurement system 100 also may be used To provide the directional information of object 7.Can be used subsequently to obtain between digger 3 and object 7 to the distance of object 7 and direction Station-keeping data.As described above, range-measurement system 100 can be used for detection object 7, the wall 12 of such as ore deposit.Promote to digger (3) Navigation and avoid with the carelessness of wall 12 and/or other cutting arrangements collision being important in digger (3) run duration in ore deposit 's.

In one embodiment, the range-measurement system 100 in digger 3 can perform instant positioning and the map of surrounding environment Build (SLAM).This can allow digger 3 to think unknown surrounding environment " establishment map ".

Range-measurement system 100 can be also used for detecting other objects 7 around, and this includes other diggers 3 or even adopts The pick machine part of itself.For example, in longwall mining, machinery joining mechanism 6311, such as track, need to wear with gateway More structure 6309 is forced to retreat and moves.Track needs to be positioned in specific position to guarantee the optimum efficiency mined.Cause This, in one embodiment, LDMS 100 can be used for determining at least one of position of machinery joining mechanism 6311 Put.This can be the relative of machinery joining mechanism 6311 and/or absolute position.Determined by position can be used subsequently to determine mechanism Coupling mechanism 6311 moves the need of to specific position.

The embodiment of range-measurement system 100 is substantially described now with reference to Fig. 2 and Fig. 9.

Fig. 9 is to provide on digger 3 to determine the simplification figure of the range-measurement system 100 of the range information with respect to environment 1. Environment 1 includes the object 7 ' in the sight line of range-measurement system 100, and 7 ", 7 " '.Range-measurement system 100 can redirect to direction A to determine The first distance 15 between digger 3 and the first object 7 ', thus the first object 7 ' is in the first direction A with respect to digger 3 On.Similarly, range-measurement system 100 can turn to with determine to the second object 7 " direction B on second distance 17.In a thing Multiple distance can also be done on body determine, such as in third body 7 " ' on direction C and D on the third and fourth distance 18 and 19 Shown.Multiple distance can be done in a plurality of directions determine, and range information combines to provide the profile information of environment, than As in three-dimensional point cloud.In an embodiment application, object 7 " ' it is the coal face in underground coal mine.Profile information is provided (i.e. using range finder disclosed herein be coal face surface construction map) there is following advantage：Less personnel enter ore deposit Non- support section and can more effectively control machinery.

With reference to Fig. 2, range-measurement system 100 also includes the first support component 132, and the first support component 132 can be in shell 120 Rotate around first rotation 134.Electromagnetism output device 102 is supported by the first support component 132 so that the first support component 132 rotation makes to restraint 104 steerings by electromagnetism output device 102 provides first.This allows range-measurement system 100 to make the first bundle 104 Turn to determine distance in a plurality of directions.Second support component 140 is arranged on electromagnetism output device 102 and the first support component Between 132, and the second support component 140 can rotate to provide more frees degree so that first around the second rotation axis 142 Bundle 104 steering.In the embodiment as shown, this construction avoids the mirror-reflection 128 of the first bundle in the first support component 132 Make electromagnetic input device 108 dazzling around in whole 360 degree of first rotation 134 rotation.

Will be discussed in detail now the part of range-measurement system 100.

First and second support components

Now with reference to Figure 10 to Figure 12, the first support component 132 and the second support component 140 are described.First support component 132 are pivotably supported the second support component 140.Second support component 140 transfers to be pivotably supported electromagnetism output device 102 With electromagnetic input device 108.

First support component 132 can rotate around first rotation 134, to provide orientation direction φ so that electromagnetism exports Device 102 and electromagnetic input device 108 turn to.In one embodiment, the first support component 132 can be around whole 360 degree Rotation is to allow range-measurement system 100 to carry out multiple range measurement to scan surrounding environment.

First support component 132 is operationally coupled to actuator 203 (as shown in figure 15) to rotate the first support component 132, the second support component 140 being supported, electromagnetism output device 102 rotate together with electromagnetic input device 108.In a kind of shape In formula, actuator is motor, such as stepper motor, and this motor receives from controller module 201 and activates input.Actuator can run Directly to activate the first support component 132 (such as directly driving), or indirectly activate the first support component 132, such as pass through Gear mechanism or V belt translation.In one form, gear mechanism or V belt translation provide and drive rotating speed to reduce to allow the first support Element 132 is with bigger precise movements.

Second support component 140 can rotate around the second rotation axis 142 different from first rotation 134, to give The electromagnetism output device 102 being supported and electromagnetic input device 108 provide more frees degree.Second support component 140 supports From the electromagnetism output device 102 of first rotation 134 skew, thus the first bundle from electromagnetism output device 102 to side wall 122 Path is not intersected with first rotation 134.This construction carries together with coaxial first rotation and central axial line 136 For restrainting path 106, bundle path 106 has the incidence angle with cylindrical side wall 122, and this incidence angle is neither nor close to zero for zero degree Degree.In other words, bundle path 106 is along the surface normal 111 of cylindrical side wall 122, as shown in figure 12.Thus, the first bundle 104 mirror-reflections 128 on cylindrical side wall 122 provide that the second bundle paths 124 are pointed to away from electromagnetism output device 102 Two bundles 126, and importantly, the second bundle path 124 is away from the electromagnetic input device 108 close with electromagnetism output device 102.

Moreover it is preferred that bundle path 106 can have the incidence angle with cylindrical side wall 122, this incidence angle is neither 90 degree It is nor close to 90 degree.Wide-angle can lead to the notable mirror-reflection of electromagnetic radiation, thus reduce will be connect by electromagnetic input device 108 The electromagnetic radiation 110 received.

In one form, electromagnetism output device 102 is supported so that by electromagnetism output device by the second support component 140 First bundle 104 of 102 offers is basically perpendicular to the second rotation axis 142.

In one embodiment, the second rotation axis 142 is perpendicular to first rotation 134.Second support component 140 There is provided electromagnetism output device 102 and electromagnetic input device 108 with respect to the horizontal plane 138 vertical with first rotation 134 The regulation of elevation angle theta.The movement of the second support component 140 can pass through actuator 203, such as the above.

First support component 132 and the second support component 140 pass through can around not coaxial line 134,142 rotations and allow to make First bundle 104 steering of electromagnetic radiation.It should be understood that in other embodiments, the second rotation axis 142 does not need perpendicular to One rotation axis 134 is to provide the other free degree.However, these rotation axis be vertically arranged can help to be easily controlled and Calculate the direction of the first bundle 104.

Electromagnetism output device and electromagnetic input device

Electromagnetism output device 102 and electromagnetic input device 108 can operate with provide flight-time information with allow to determine away from From.In one form, electromagnetism output device 102 and electromagnetic input device 108 are generally within (or located adjacent one another) at one and electric Magnetic output device 102 and electromagnetic input device 108 are by the first support component 132 and the second support component 140 in the same direction Guiding.Generally, this includes guiding electromagnetism output device 102 and electromagnetic input device 108 towards object 7, although some changes can It is included to consider refraction, displacement or other be aligneds, these will be explained below discussing.

In a kind of mode, electromagnetism output device 102 and electromagnetic input device 108 are in the form of laser range finder.Cause This, electromagnetism output device 102 can be in the form of generating laser, and the one or more laser pulse of this laser transmitter projects is used Restraint 104 in first.Electromagnetic input device 108 can be in the form of optical sensor, and this optical sensor is to laser-sensitive.Laser emission One embodiment of device can include laser diode.The wavelength of laser may include 850nm, 905nm, 1535nm.In a kind of shape In formula, the power output of laser is controlled to ensure that laser output meets safety requirements, such as the safe laser of eye and/or prevent Laser becomes igniting trigger.In one form, (such as motor, actuator, the light of the other assemblies in laser and shell 120 Sensor, controller, radio communication module etc.) joint Power be less than 6W.In one embodiment, effective from device Radiant power (9kHz to 60GHz) be preferably more than 10W, no more than 6W and even more preferably still be less than 4W.Excellent Selection of land, laser has less than 1W and the perhaps even less than Effective Radiated Power of 150mW.In specific embodiment, Device meets IEC 60079-0：2011 Effective Radiated Power (9kHz to 60GHz), is preferred for Group I gas and (for example uses In coal mining environment).

In order to provide distance to determine, laser pulse (in the first bundle 104) is provided by electromagnetism output device 102, laser arteries and veins The side wall 122 punching through shell 120 is advanced towards object 7.This light reflects from object 7, and in the laser 110 being reflected at least Some pass through side wall 122 to return advance towards range-measurement system 100, to be received by electromagnetic input device 108.Defeated in the electromagnetism of light pulse The flight time going out between device 102 and the electromagnetic input device receiving reflection is used for determining distance.For electromagnetism output device 102 systems 100 near electromagnetic input device 108, at least approximation of distance or this distance, can be true by equation below Fixed：

Distance=(flight time × light passes through the speed of medium)/2 (formula 1)

It should be understood that this formula can change to consider known variable or constant.For example, first advancing through shell 120 The laser of bundle 104 can be advanced less than the speed of the light velocity through air.Change may include calculating and advances for through side wall 122 Light pulse time delay.The average thickness of side wall 122 in a form, can be used.In another form, restraint 104 Have to take the distance being upward through shell traveling to be used in the given of electromagnetism output device 102.In another embodiment, The response time of one or more parts there may be delay.This can by change formula 1 or by the calibration of system 100 Lai Consider.

In a form, electromagnetism output device 102 and electromagnetic input device 108 are housed inside in housing (not shown). Housing is together with the electromagnetism output device 102 being accommodated in this housing and electromagnetic input device 108 by the second support component 140 Support.Therefore, when the first support component 132 and the second support component 140 rotate, housing is (together with electromagnetism output device 102 and electricity Magnetic input unit 108) also rotate.Housing is sealed to reduce dust pollution.In further embodiment, housing is sealed Light the risk of the gas (or other combustible materials) of hull outside with the igniting trigger reducing enclosure interior.This provides extra The more layers safety providing in the shell 120 by sealing.In another form, housing can also include covering electromagnetism input The wave filter of device 108, this wave filter allows the wavelength transmission of the electromagnetic radiation 110 of reflection, but absorbs or reflection one or more Other wavelength many.

One embodiment of LDMS 100 may include the laser range finder that can buy or its part.Laser Measuring One embodiment of distance meter unit includes the Laser Measuring of model UTM-30LX by Hokuyo Automatic Co.Ltd offer Distance meter unit.This laser range finder unit includes the electromagnetism output device 102 with the laser of 905nm wavelength and is diverted to carry Electromagnetic input device 108 for 270 degree of horizontal sweep scopes.This laser range finder unit have for controller module 201 The USB engaging.

In above-mentioned embodiment, electromagnetism output device 102 includes exporting the electromagnetic radiation in infrared spectrum Laser range finder.However, it should be understood that other wavelength can also be used, including the electromagnetism in visible ray and/or ultraviolet spectrogram Radiation.Further, in some alternative, other wavelength in electromagnetic spectrum can be suitable.

Shell

In embodiment shown in Fig. 2, shell includes side wall 122 and potted component 130, and potted component 130 is circle The form of lid 133, is received in the top of side wall 122.Also set up the potted component 130 of the form of substrate (not shown), with The bottom of cylindrical side wall 122 engages.Substrate can be a part (or extension of body) for the body of digger 3.

In the embodiment shown, side wall 122 is the side wall of bending, and this side wall extends around central axial line 136 with shape Become cylindrical side wall.In this embodiment, wall extends 360 degree around central axial line 136.This promotes range-measurement system 100 (especially The electromagnetism output device 102 being provided on the first support component 132 and electromagnetic input device 108) carry out in a plurality of directions Scanning.In one embodiment, this allows the first support component 132 to rotate around range-measurement system 100 and scan whole 360 Degree.

In one embodiment, first rotation 134 is coaxially in the central axial line 136 of cylindrical side wall 122.This sets The simplification putting achievable range-measurement system 100 calculates and/or calibrates.Especially, it can simplify when the first bundle is through cylindrical side The calculating (and/or calibration) of the direction change of the first bundle 104 or displacement during wall 122, because the first bundle 104 and surface normal 111 Between angle independent of azimuth direction φ.

In the form of a replacement, side wall 122 may include more than one independent curved surface or face and may be Other shapes.Figure 17 (a) to Figure 17 (d) shows the alternative form of shell 120.Figure 17 (a) shows with crooked sidewall 122 Shell, this crooked sidewall is at least partly analogous to the crooked sidewall on the surface of circular cone.Figure 17 (b) shows there is multiaspect Side wall 122, this side wall is similar to hexagonal prism.Figure 17 (c) shows another shell 120 substituting, and this shell has flat Surface side wall 122 is to form the shell similar to corner taper.Figure 17 (d) shows another embodiment, and wherein shell 120 wraps Include hemispherical side wall 122.

As described above, the construction of potted component 130 and cylindrical side wall 122 makes the inside of shell 120 from shell 120 Portion seals.In one form, this sealing be stop or be essentially prevented from gas shell 120 inside and outside between transfer Hermetic seal.This hermetic seal prevention or the trigger (such as electric spark) of lighting reducing in shell 120 propagate and result in shell 120 The risk of outside gas ignition.When range-measurement system 100 is used in, there is explosive fuel (the such as hydrocarbon that may be present in underground coal mine Gas (such as methane)), in the environment of coal dust etc. when, this is favourable.

It should be understood that in other embodiments, the sealing being formed with cylindrical side wall 122 by potted component 130 may not It is perfect hermetic seal.In one form, the tight fit between sealing 130 and cylindrical side wall 122 can provide effectively Stop with prevent flame or other light trigger outside shell 120 internal communication to shell 120.In one embodiment, One or more gaps may be present between cylindrical side wall 122 and potted component 130.Alternatively, cylindrical side wall 122 and/ Or potted component 130 may include one or more gaps.In a kind of mode, this one or more gap and shell 120 are usual The structure meeting flameproof case requires, for example IEC 60079-0 ED.6.0b：2011 and IEC 60079-1Ed.7.0 b：2014 Or one or more other standards discussed here.

In the embodiment as shown, potted component 130 is removably attached to cylindrical side wall 122.This permission is close Part and part is keeped in repair, described part such as not the electromagnetism output device 102 in shell 120 and electromagnetism input dress Put 108.In another embodiment, potted component 130 can be permanently attached to cylindrical side wall 122 to keep the whole of sealing Body and/or the possibility preventing or reducing the part in infringement shell 120 and shell.In further embodiment, one Or more potted component 130 such as circular lid 133 or substrate 134 can be integrally formed with circular side wall 122.

In some embodiments, potted component 130 is at least partly formed by steel or engineering grade plastics.Potted component 130 Can be formed of one material, or be covered by a kind of material, this material is for the ripple of the electromagnetic radiation from electromagnetism output device 102 Long areflexia or basic areflexia.This reduce the electromagnetic radiation from electromagnetism output device 102 to reflect in shell 120 repeatedly Chance and/or intensity, electromagnetic radiation can receive by electromagnetic input device 108.

The side wall 122 of shell 120 is by being picked as substantially transparent material manufacture to allow from electromagnetism output device 102 The wavelength transmission of electromagnetic radiation.In one embodiment, this material include transparent to the wavelength of the light being produced by generating laser Glass, herein the meaning of " transparent " is that possible have some attenuations, but the intensity of the radiation being transmitted allows enough The radiation from object reflection is detected.

The material of cylindrical side wall 122 can be transparent for the wavelength in addition to the wavelength of electromagnetism output device 102.? Received it is desirable to exclude these other wavelength by electromagnetic input device 108 in one embodiment.This can include justifying Coating is provided on cylindrical side wall 122, this coating reflects other wavelength to prevent in shell 120 outside such electromagnetic radiation entrance Shell is simultaneously received by electromagnetic input device 108.Alternatively, cylindrical side wall 122 can be provided with coating to absorb other wavelength such. In another embodiment, shell can be constituted by one or more inherently opaque materials of other wavelength.Another In embodiment, wave filter can be provided in the outside of shell or in the inside of shell, to filter out or to reduce other ripples such Long intensity is in order to avoid received by electromagnetic input device 108.

In an embodiment of range-measurement system 100, cylindrical side wall 122 is by the hard glass shape that thickness is about 10mm Become.The inside diameter of cylindrical side wall 122 has the radius of 150mm.This embodiment include from first rotation 134 (and Centre axis 136) skew 30mm electromagnetism output device 102, and electromagnetism output device 102 is being basically perpendicular to the second rotation axis First bundle 104 is provided on 142 direction.These sizes provide the first bundle 104, and the first bundle 104 is with away from surface normal 111 Angle is incident on side wall 122.Preferably, the surface of side wall 122 should smooth and coherent to prevent or to reduce the torsion in bundle Bent.

With reference to the operation wavelength of range-measurement system, side wall preferably has following optical properties：

The interior surface of side wall has preferably no more than 10%, no more than 5% and even more preferably still Less than 2% and more no more than 1% mirror-reflection (measuring in 5 degree of incidence angles)；And

The transparency (measuring in 5 degree of incidence angles) of side wall is such, runs at least 90% transmission of wavelength, more Preferably 95% transmission and more more preferably 98% transmission.

Low internal reflection and highly transmissive combination promote fabulous rangefinder Performance And Reliability.Low internal reflection can be led to Cross and use anti-reflection coating, the Claryl such as having bought from DSM (Dutch)^TM.

It is diverted in the rotation of the first support component (132) and the second support component (140) with the first bundle, side wall 122 transparency can allow the first bundle to pass through side wall 122 with multiposition (and direction).This can be compared to having hole (or window) Side wall 122, described hole (or window) can only allow the first bundle to pass through in the specific portion position (that is, in hole) of side wall, and this is permissible Limit the ability making the first bundle turn to.

Controller module, computer system and display

Figure 15 shows the embodiment of range-measurement system 100, and it is defeated to provide that range-measurement system 100 also includes control module 201 Enter to actuator 203 with mobile first support component 132 of operability and the second support component 140, thus turning to electromagnetism output dress Put 102 the first bundle 104.This allows to carry out multiple distance determinations to one of surrounding environment or more object 7.Control mould Block 201 is also connected with electromagnetism output device 102 to control the generation of the first bundle 104, such as provides order to generate with operability and swashs Light pulse.Additionally, control module 201 is connected to receive the information from electromagnetic input device 108 with electromagnetic input device 108, Such as it is derived from the information of optical sensor.In one form, when controller 201 includes timing module (not shown) to determine flight Between, advance to, based on from laser beam, the time being received reflected light 110 by electromagnetic input device 108 from electromagnetism output device 102 Time difference.In one form, timing module includes oscillator quartz, and controller passes from light in generation laser beam and reception The number count of the vibration between the signal of sensor.Controller is subsequently multiplied by the quantity of counting to determine distance with a constant. For example, frequency of oscillation can be 256MHz, and this leads to the resolution ratio of 1.17m.

In one form, controller module is the ATmega640 microcontroller being manufactured by Atmel.

Computer system can be communicated by COM1 207 with controller module 201.Computer system can be for as above Described computer system 205 or other computer system.

In this computer system, the software being stored on program storage 211 can make processor 209 execution task, than As determined, object 7 arrives the distance of range-measurement system 100 (and therefore digger 3), object 7 arrives the relative orientation of range-measurement system 100, thing The absolute position of the one or more points on the surface of the relative position of body and/or object 7.This type of information can be based on from control Device module 201 receive flight-time information and be related to electromagnetic input device 102 orientation, turn to bundle 104 and/or to activate The information of the control input of device 203 is determining.

Other task may include processor 209 and commands control module 201 with the time in selection on the region selecting Execute scanning (being determined by multiple distance).This can include special instruction to operate actuator 203 and electromagnetism output device 102.

Object 7 subsequently can be stored in data storage to the distance of range-measurement system 100 and other information by processor 209 In 213, described other information is such as believed for the flight time of the position of range-measurement system, environmental condition, time and date, laser beam Cease, determine electromagnetism output device 102 and the information of orientation of electromagnetic input device 108 and the position of digger 3.Deposit in data This information in reservoir 213 can be given for change to be analyzed or map structuring to the environment around range-measurement system 100.

In another embodiment, processor can execute and be determined based on multiple distances and apart from the respective direction life determining The method becoming the 3-D view of surrounding environment.In one form, image is stored in data storage 213.In another reality Apply in mode, the image of surrounding environment is intuitively presented to user on visual displays 216.This can include three-dimensional point cloud.

The operation of range-measurement system interferes the second input to avoid mirror-reflection

The operation of the embodiment of range-measurement system 100 will be discussed now.Range-measurement system 100 be operable to provide around in Scanning to the object 7 around range-measurement system 100 in whole 360 degree of camber lines of centre axis 136.This passes through around the first rotary shaft Orientation φ that first support component 132 rotates to selection is realized by line 134.Range-measurement system 100 is also operable to by around Two rotation axis 142 rotates the second support component 140 to enter row distance determination in different inclination angle θ.This is in Figure 16 (a) to Figure 16 Shown in embodiment shown in (c), the described tilt angle ranges illustrating the first bundle 104, this tilt angle ranges include from The inclination angle of horizontal plane 138 substantially 40 degree of +/-.However, it should be understood that other embodiment may include with from 40 degree of horizontal plane ratio More or less of inclination angle turns to.

Therefore, during use, range-measurement system 100 guides the first bundle in a plurality of directions, and this first bundle has to pass through outer Shell 120 is sent to multiple respective positions.Advantageously, the first bundle 104 is directed to side wall 122 by range-measurement system 100, to avoid the A branch of 104 mirror-reflection 128 makes electromagnetic input device 108 dazzling.

With reference to Figure 11 and Figure 12, it is significantly away from surface method by being directed to the first bundle 104 from electromagnetism output device 102 The angle of line 111 is incident on to realize this on side wall 122.As a result, the mirror-reflection 128 of the first bundle 104 is shown as along the Second bundle 126 in two bundle paths 124 is directed away from electromagnetic input device 108 (and the electromagnetism output device of positioned adjacent 102).

In embodiment shown in Figure 11 and Figure 12, the first bundle 104 arrives the incidence angle of side wall 122 always away from surface method Line 111, no matter orientation (from the first support component 132 around the rotation of first rotation 134) or or inclination angle (from Two support components 140 are around the rotation of the second rotation axis 142) how.This passes through to provide electromagnetism output device 102 (and corresponding The first bundle path 106) offset from the common first rotation 134 of substantial cylindrical side wall 122 and central axial line 136 and Realize.

With regard to above-mentioned embodiment it should be appreciated that side wall is incident on close but incomplete angle on surface normal 111 The first bundle 104 on 122 remains able to provide the mirror-reflection that can affect electromagnetic input device 108.For example, have to side wall 111 is the first bundle 104 meeting of 1 or 2 degree of incidence angle to the electromagnetic input device returning towards electromagnetism output device 102 and positioned adjacent The 108 substantial amounts of electromagnetic radiation of reflection.However, in some embodiments it is desirable to the first bundle 104 arrives the incidence of side wall 122 Angle is more than 5 degree.In another embodiment, incidence angle is at least 10 degree.In yet, incidence angle is at least 12 degree Or at least 15 degree or at least 20 degree.Bigger incidence angle can be conducive to by making the second bundle 126 away from electromagnetism output device 102 He Electromagnetic input device 108 at one and reduce the electromagnetic radiation of the second bundle 126 impact to electromagnetic input device 108.

In one embodiment, the first support component 132 together with other support members of range-measurement system 100 with big About rotate in 0.25 revolution per second.Second support component 140 is together with the electromagnetism output device 108 being supported and electromagnetic input device 102 can be rotated with about 40 revolution per seconds together.Support component 132, it is many that 140 continuous rotation allows range-measurement system 100 to produce Individual distance determines.It should be understood that, it is possible to use other rotary speeies.

In one embodiment, the first support component 132 and the second support component 140 can be able to revolve around respective axis Go to 360 degree or more.This allows to determine the distance of the point on object 7 and two or more constructions of electromagnetism output device 102. This allows the unnecessary measurement apparatus of the distance to body surface or environment or measurement in space to put.This figure 20 illustrates：Electromagnetism is defeated The first construction going out device 3102 ' provides corresponding first bundle 3104 ' towards the point 3112 on object 7.Reflection electromagnetism spoke Penetrate (clearly not illustrating) subsequently to be received by electromagnetic input device 3108 '.Electromagnetism output device and electromagnetic input device can be with Afterwards the second construction is moved to by the movement of support component.In the second configuration, electromagnetism output device 3102 " provides direction Corresponding first bundle 3104 of the identical point 3112 on object ".Electromagnetic input device 3102 is subsequently passed through in reflected radiation " connect Receive.

Embodiments described above is a solution, and should be understood that in other embodiments, it is possible to use no To provide to lead to the angle of mirror-reflection 128 to be incident on the first bundle 104 on side wall 122, mirror-reflection 128 is same construction The second bundle 126 being guided towards electromagnetic input device 108.For example, in an alternative, electromagnetism output device 102 is First reflector (for example, mirror or prism), this first reflector makes the laser from generating laser alter course with the first bundle First bundle 104 is provided on path 106.In another embodiment, electromagnetic input device 108 includes the second reflector, this and Reflector makes the laser 110 being reflected be rerouted to one or more optical sensors.In this embodiment, one or more The first reflector and the second reflector be used for being that generating laser and/or optical sensor provide skew to prevent the second bundle 124 Make optical sensor dazzling.The embodiment of these alternative is as described below.

It should be understood that processing outside particular embodiment described here, other settings can realize the second electromagnetism input (108) it is positioned in the outside result of the second bundle path (124) of the second bundle (126) of electromagnetic radiation.Other settings such Can be designed by specifying multiple first bundles path (106) from electromagnetism output device (102), can be in range-measurement system (100) using the plurality of first bundle path during acting on.From this, respective multiple second bundle paths can be based on from first The mirror-reflection of bundle path (106) calculates.Designer thus may be designed so that range-measurement system (100) so that working as range-measurement system (100) when being configured to make electromagnetism output device (102) provide each respective first bundle (104), electromagnetic input device (108) It is arranged on the outside of each the second bundle path (124).

Refraction through the first bundle of side wall

As above record, the calculating of substantial cylindrical side wall 122 junior range system 100 and/or calibration.Figure 13 shows Around first rotation 134, be in different azimuth φ ' (its be 0 or not shown), φ " and φ " ' three positions Electromagnetism output device 1102 ', 1102 ", 1102 " ' top view.When first restraints 1104 ', 1104 ", 1104 " ' pass through cylinder During the wall 122 of side, the air refraction different with the refractive index of the material of cylindrical side wall 122 is (in shell 120 and outside Outside shell 120) lead to the first bundle 1104 ', 1104 " and 1104 " ' refraction.This changes the path of the first bundle, and this can include Change on direction and/or lead to the path of the first bundle to be moved.In fig. 13, this is by cylindrical side wall 122 incident the A branch of 1104 ', 1104 " and 1104 " ' illustrate.The path of the first bundle 1104A ', 1104A of transmission " and 1104A " ' is from each just Beginning bundle path 1106 ', 1106 " and 1106 " ' it has been changed angle α, as shown in figure 13.Due to first rotation 134 and the axis of centres Line 136 is coaxial and cylindrical side wall 122 is basic cylindricity, the change in the path of described first bundle 1104, at least the existing of path Change in the component on the direction of central axial line 134, is substantially constant.It is, to the first bundle 1104A ', The change of the transmission path of 1104A " and 1104A " ' is base for the azimuth direction φ around central axial line 136 as shown in Figure 6 This identical (as shown in the α of angle).

It should be understood that the change to path shown in the α of angle is not unique, and depend on attribute and the physics structure of material Make, the change to the first bundle path can include the displacement in bundle.In another alternative, be launched first bundle 1104A ', 1104A " and 1104A " ' can have path, and this path is displaced by and is directed towards one and incident beam 104 ', 104 " and 104 " ' different direction.It should be understood that the reflected radiation receiving through side wall 122 and by electromagnetic input device 108 110 path can be by calculating for the principle of the first bundle 1104 similar to description.

For the sake of clarity, in the description, only describe bundle path in Fig. 6 in the direction perpendicular to central axial line 136 On component change.Describe due to relative tilt angle θ of electromagnetism output device 102 now with reference to Figure 14 (a) to Figure 14 (c) The change in the path of the first bundle 104 caused.

Figure 14 (a) shows and tilts the electromagnetism output device 2102 of angular orientation so that the first bundle 2104 ' is substantially flat at 0 degree Row is in the plane 138 vertical with central axial line 136.Here is orientated, because the refraction in grade angle element is substantially zeroed, transmitting The first bundle 2104B ' substantially parallel with respect to grade angle element and coaxial restraint 2104 ' in first.

Figure 14 (b) show above the plane 138 of central axial line 136 with intermediate, inclined angle θ " electromagnetism that is orientated Output device 2102 ".In this construction, the first bundle 2104B of transmitting " has with respect to the first bundle 2104 " path that changes, this Be because that the inclination angle of electromagnetism output device leads to the first bundle 2104 " with the incident angles more than zero degree in cylindrical side wall On 122.The deviation of the first bundle 2104B of transmitting " and the first bundle 2104 " is shown as displacement beta ".However, it should be understood that this deviation does not limit In displacement, and alternatively or can also be bundle path as above direction change.

Figure 14 (c) show above the plane 138 of central axial line 136 with high dip angle θ " ' electromagnetism that is orientated Output device 2102 " '.In this construction, the first bundle 2104B of transmitting " ' has with respect to the first bundle 2104 " ' bigger change Path, this is because the bigger inclination angle of electromagnetism output device leads to bigger incidence angle, bigger incidence angle causes bigger Refraction and consequential first displacement on grade angle element for the bundle.First bundle 2104B of transmitting " ' and the first bundle 2104 " deviation ' is shown as displacement beta " '.In this embodiment, β " ' is than β " big and displacement beta with tiltangleθ increase and Increase.

In one form, the calculating of the change (including α and β) in the path of the first bundle can pass through Snell law (formula 2) calculate together with corresponding refractive index.

Wherein, θ is the path angle of the light of surface normal measurement on the border between medium 1 and 2,

V is the light velocity in each medium, and

N is the refractive index of each medium.

In one form, when the first bundle is incident on cylindrical side wall 122, the construction of electromagnetism output device 102 carries For all internal reflections for avoiding the first bundle 104.This construction can include providing the first support component 132 and second to support unit Part 130 is so that electromagnetism output device 102 will not be oriented to provide incidence angle in air to side wall or side wall to air, border Critical angle on first bundle 104.

The modification of range-measurement system and replacement

More modifications and the replacement of range-measurement system 100 will now be described.

Shielding electromagnetism input

Figure 18 (a) and Figure 18 (b) shows an embodiment of electromagnetic input device 308, this electromagnetic input device 308 There is the optical sensor 310 being shielded by cover 312.In one embodiment, cover 312 is the shape of the hollow pipe forming passage 314 Formula.In use, cover 312 can be moved so that passage is typically by towards survey together with the other parts of electromagnetic input device 308 Away from system 100 find range object 7 guides.Passage allows to pass through cover 312 to be passed by light from object 7 reflecting electromagnetic radiation 110 Sensor 310 detects.On the contrary, cover stops electromagnetic radiation from selectable direction (the such as second bundle 316 or the 3rd and subsequently Bundle 318) directly received by optical sensor 310.This can desirably prevent multiple reflections from side wall 122 second bundle 316 by Optical sensor 310 directly receives.In addition, cover 312 can cover optical sensor 310 exempt may impact optical sensor 310 other Electromagnetic radiation source, such as light (for illuminating), from the sun light, from reflecting electromagnetic radiation the electromagnetic radiation of multipath or Electromagnetic radiation from other DME distance measuring equipments run in this region.

In one embodiment, cover 312 may include antireflective surfaces.As shown in Figure 18 (b), can include anti-glare Baffle plate 320 is to protect optical sensor 310.

Dust Contamination measurement

In use, dust or other pollutants can adhere on shell 120, and this can reduce the performance of distance-measuring equipment 100 And effect.For example, the dust in the outside of shell 120 or enclosure can weaken or otherwise interference first bundle 104 and/ Or reflecting electromagnetic radiation 110.This can reduce the coverage of distance-measuring equipment or the worst stop distance to determine completely.

In some embodiments, dust is inflammable dust, such as coal dust or coal smoke.In this environment, no matter It is that the raising of the dust levels of enclosure or outside can bring the security risk of raising.The periodic maintenance inspection of shell can be taken With guarantee dust levels be not up to can adverse effect device performance or improve security risk raising level.

In one embodiment, distance-measuring equipment 100 includes determining the level of pollution of range unit 100 and the dress of performance Put.Preferably, if level of pollution exceeds scheduled volume, range finder triggering alarm or pass hull closure.In one embodiment, should Scheduled volume corresponds to has the level of pollution improved the standard lighting risk.With reference to Figure 19 (a), distance-measuring equipment 100 includes arranging In the reflector 351 in shell 120 outside, reflector 351 has reflecting surface 353.Reflector 351 provides has known reflection The reflecting surface 353 of rate, to provide test (or calibration) surface.Reflector 351 may be mounted to that in the main body of digger 3.

In one form, Contamination measurement includes range-measurement system 100 provides the first bundle 104, and the first bundle 104 passes through side wall 122 and reflected from reflecting surface 353, and reflecting electromagnetic radiation 110 passes through side wall 122 to be received by electromagnetic input device 108. The intensity of the electromagnetic radiation 110 receiving can be with the past intensity pair of the reflecting electromagnetic radiation 110 of reflection on reflecting surface 353 Than.The reduction of intensity can represent the performance of degeneration, the such as outside of contaminated side wall 122, the inside of side wall or miscellaneous part (such as On electromagnetism output device 102 and electromagnetic input device 108) dust.The reduction of intensity also may indicate that the reflection table of pollution Face 353.

Figure 19 (b) shows another embodiment, and this embodiment has with reflecting surface 357 inside shell 120 Reflector 355.This allows for the Contamination measurement determining shell 120 internal contamination, such as in electromagnetism output device 102 and electricity Pollution on magnetic input unit 108.Alternatively, it can be used for determining the shape of electromagnetism output device 102 and electromagnetic input device 108 Condition.For example, over time with use, can exist for electromagnetic radiation electromagnetism output device 102 intensity or The degeneration of the susceptibility of electromagnetic input device 108.

In another form, the result of the Contamination measurement outside from shell 120 as shown in Figure 19 (a) and Figure 19 (b) Shown in the result of the Contamination measurement within shell 120 compare.This compares the dirt of the side wall 122 that can provide shell 120 Have a finger in every pie mark, thus compensating or exclusion electromagnetism output device 102 and the pollution of electromagnetic input device 108 or the reduction of performance.

In another embodiment, range-measurement system 100 monitors the signal to noise ratio of electromagnetic input device 108.The signal to noise ratio reducing Can represent range-measurement system be 100 one or more parts dust pollution.This be used as select, or with retouch above The Contamination measurement joint stated.

In one form, the program in program storage 211 causes in processor 209 instruction control module 201 execution The Contamination measurement stated.This can during operation at a regular interval, on startup, when closed or if electromagnetism input The radiation that device 108 receives be confirmed as being compared to given object 7 apart from and/or object 7 material desired low Shi Zhihang.Additionally, in response to determining that range-measurement system 100 is contaminated, this program can point out operator's maintenance range-measurement system 100 and/ Or close range-measurement system 100.This is critically important in the environment that pollution is fire risk.

In one form, controller 201 determines that electromagnetism output device 102 sends pulse of electromagnetic radiation and electromagnetism input dress Put the time difference between the pulse of electromagnetic radiation of 108 reception reflections, do not determine the intensity of the electromagnetic radiation of reception.In other words Say, electromagnetic input device 108 is as trigger to stop the counting of clock pulses.This avoids to super block analog to digital (A/D) The demand of conversion, and therefore reduce cost, complexity and the energy ezpenditure of controller.

In order to determine range finder pollution or in the environment or on side wall 122 particle presence, controller 201 can be by electricity Magnetic output device 102 from pulse mode be switched to continuous mode and by be connected to the director port of electromagnetic input device 108 from Triggering pattern is switched to A/D pattern.Because electromagnetism output device 102 is continuous, can use and be provided by common microcontroller Low speed A/D conversion.

Can subsequently by processor 209 by result (this result represent reception electromagnetic radiation intensity digital value) with On data storage 213, the threshold value of storage compares.If result is under threshold value, processor 209 determines pollution in acceptable water On flat.Processor 209 can subsequently activate alarm or activation controls lamp to indicate excess contamination to operator.Can be periodically Execute the process of this determination pollution.Preferably, every 10 seconds or executing this process around after 136 turn ten of central axial line circle.

In one form, be stored in memory 213 be electromagnetism output orientation and tilt values, this orientation and inclining Bevel angle value indicates from the direction of electromagnetism output device 102 to reference mirror (such as reflecting surface 353,357).When electromagnetism output device 102 orientation and inclination angle are equal to storage value or when (in the range of such as 1 degree) in the certain limit of storage value, processor 209 can subsequently send control data to control module 201 so that electromagnetism output device 102 is switched to continuous output.

When the orientation of electromagnetism output device 102 and inclination angle are equal to storage value or (such as 1 in the certain limit of storage value In the range of degree) when, processor 209 also sends control data to control module 201 so that being connected to electromagnetic input device 108 Director port is switched to A/D conversion.

So, it is not determined to the distance of reference mirror 353,357, but on the contrary, can be in electromagnetism output device 102 around axle During line 134 every revolution, measurement pollution, need not open and stop the movement of electromagnetism output device 102, this reduce on part Mechanical stress.

The modification of the construction of electromagnetism output device and electromagnetic input device

The modification of range-measurement system 4100 is described now with reference to Figure 21 (a).In this modification, electromagnetism output device 4102 wraps Include reflector, such as mirror.Electromagnetism output device 4102 makes the electromagnetic radiation beam from transmitter 152 change direction to provide electricity First bundle 104 of magnetic radiation.Electromagnetic input device 4108 also includes reflector, and this reflector can also be mirror.Electromagnetism inputs Device 4108 makes the electromagnetic radiation 110 of reflection change direction to towards electromagnetic radiation sensor 154.In this embodiment, one Individual or more uses of reflector together provide the second bundle path 124 of the second bundle 126 with the geometry of side wall 122, should Second bundle path avoids and makes sensor 154 dazzling.

In another modification, the reflector of electromagnetic input device 4108 and electromagnetism output device 4102 is by common reflection Device is formed.

Another modification of range-measurement system 5100 is described now with reference to Figure 21 (b).In this modification, electromagnetism output device 5102 and electromagnetic input device 5108 be pivotably supported and turned to by the second support component 5140 and the first support component 5140. In this modification, electromagnetism output device 5102 provides the first bundle 104, and the first bundle 104 is along surface normal or substantially close to surface method Line is incident on side wall 122.The mirror-reflection 128 obtaining provides the second bundle 126 on the second bundle path 124, this second bundle Guide back towards electromagnetism output device 5102.But, in this construction, electromagnetic input device 5108 is located at the second bundle path 124 outside is to avoid or to reduce the impact to electromagnetic input device 5108 for the mirror-reflection.

The modification of side wall of outer shell

The modification of range-measurement system 6100,7100,8100, described range finding system are described now with reference to Figure 22 (a) to Figure 22 (c) System has heteroid side wall, and described side wall includes lateral wall and madial wall.

With reference to Figure 22 (a), range-measurement system 6100 has shell 120, and this shell has around electromagnetism output device 102 and electricity The madial wall 6122a of magnetic input unit 108.Lateral wall 6122b is then around madial wall 6122a.In this embodiment, hole 6131 are limited between lateral wall 6122b and madial wall 6122a.

Lateral wall 6122b and madial wall 6122a can be by different material manufactures.Advantage using different materials is： Being capable of each different attribute of combined material.For example, lateral wall 6122b can be resistance to provide by having high high impact material manufacture Impact barrier.Madial wall 6122a can be by having high pressure resistant (such as at least 100kPAa, or at least 500kPa, or at least Material manufacture 1000kPa).In one embodiment, lateral wall 6122b is built by glass to provide resistance to marring.Inner side Wall 6122a is built by transparent plastic (such as Merlon) to provide resistance to compression barrier.Therefore, lateral wall 6122b and madial wall The combination of 6122a can be configured to meet one or more user's requests, and this can include meeting industry discussed herein Standard.

In another modification, lateral wall 6122b is with madial wall 6122a by the identical material system with identical or different wall thickness Make.In one embodiment, lateral wall 6122b and madial wall 6122a is built by glass.The advantage with two side can be In：Lateral wall 6122b can be for sacrificing barrier, and this sacrifice barrier can be replaced on demand, need not make electromagnetism output device 102 and electricity Magnetic input unit 108 is exposed to pollutant.If in the such occasion of environment dusty being frequently encountered by such as ore deposit Complete to replace, this can be especially advantageous.

Advantageously, the hole 6131 between lateral wall 6122b and madial wall 6122a can provide balance to reduce in lateral wall Shock effect on 6122b, it is to avoid the system unit accommodating in impact madial wall 6122a and this madial wall.For example, lateral wall 6122b can absorb the impact causing its deformation.However, hole 6131 provides interval away from madial wall 6122a so that impulsive force It is not directly delivered to the surface of madial wall 6122a.

Another embodiment of range-measurement system 7100 is illustrated by Figure 22 (b), this range-measurement system is included by rigid material system The madial wall 7122a making, this madial wall by diaphragm 7122b form lateral wall around.Diaphragm 7122b can be peelable From overlay, when being scraped off when film, otherwise damaging or pollute, this film can be removed and replaced.Advantageously, Diaphragm 7122b can provide low cost and the easy sacrifice barrier replaced to allow the transparency being easy to keep shell 120.Diaphragm 7122b may include the similar polyester film being used on racing car windshield with those, such as irrigates this city by Massachusetts The name of product that MADICO company provides is the film of LCL-600-XSR and LCL-800-XSR and the 5-7 mil of the said firm's sale Film.

The another embodiment of range-measurement system 8100 is illustrated by Figure 22 (c), this range-measurement system includes madial wall 8122a, should Madial wall is laminated by using adhesive layer 8123 or adheres to lateral wall 8122b.Adhesive layer may include and manufactured by plastic polymer Obtain liquid resin, this plastic polymer is configured to by acrylic acid or silicon resin base compound.Adhesive layer can be including light-initiated The type of agent, when light trigger is exposed to the UV light time, light trigger would tend to soon solidify applied resin.One Such adhesive can be the Eposies Etc. from Crane Si Dun city of Rhode Island Starline road No. 21 (postcodes 02921) Deco-Coat production line.In one embodiment, adhesive includes polyvinyl butyral resin (PVB).Preferably, adhesive layer Reduce the tendency of shell and size impacts screen to provide multiple electromagnetic radiation source to reflect and to provide between the inner walls and the outer Barrier.

In an exemplary embodiment, shell 120 include by madial wall 8122a and lateral wall 8122b (this madial wall and Lateral wall is formed by glass cylinder) the double-wall glass cylinder that forms, this madial wall and lateral wall are by using PVB (polyvinyl alcohol Butyral) 8123 or other be suitable for lamination/adhesion substances laminated together.

Lateral wall 6122b and madial wall 6122a can produce multiple corresponding light reflections and refraction point, such as in inwall Position 6128a on 6122a, 7122a, 8122a, 7128a, 8128a and in lateral wall 6122b, the position on 7122b, 8122b 6128b, 7128b, 8128b.Can be by the calibration described in before and/or calculating but in view of multiple calibrations reflected and reflect And/or calculating is adjusted to these effects.

Other features of range-measurement system 100

In one form, the electrical equipment in the shell 120 of distance-measuring equipment 100 and electronic unit (include laser instrument, motor and Controller) do not consume power more than 6W and light risk to reduce by what range-measurement system heating brought.It should be understood that power consumption The responsible country of maximum horizontal or the relevant criterion of region and change.

Preferably, range-measurement system 100 meets international standard IEC 60079-0, IEC 60079-1, Unite States Standard ANSI/ UL1203：2006, British Standard BS EN 60079-1：2007 and Australian Standard AS60079.1：One of 2007 Or more (more preferably two or more).In a preferred embodiment, range-measurement system also is compliant with 1 group of gas standard and (for example adopts Coal environment).It should be understood that some modifications of range-measurement system can according to other standards are met to the demand of application-specific, described its His standard can include such as organizing IIA, other gas group standards of IIB, IIC gas standard.

Application

Digger 3 and range-measurement system 100 can be especially suitable in the environment easily catching fire or exploding, and be especially exposed to a little During burning things which may cause a fire disaster.In some embodiments, the range-measurement system 100 of digger 3 is used for determining the distance of object in ore deposit, especially in colliery In.Atmospheric environment within coal mines can comprise volatile and/or flammable coal dust, methane and oxygen mixture.

It will be understood by those skilled in the art that many modifications and/or modification can be made to above-mentioned embodiment, and without departing from this public affairs Open total approximate range of content.Therefore, present embodiment should be regarded as in every respect exemplary rather than restricted.

Claims

1. a kind of digger (3), this digger includes：

- range-measurement system (100), this range-measurement system includes：

- electromagnetism output device (102), this electromagnetism output device provides first of the electromagnetic radiation along the first bundle path (106) Bundle (104)；

- electromagnetic input device (108), this electromagnetic input device receives the reflection electromagnetism spoke of described first bundle from object (7) Penetrate (110), to determine the distance (114) of described range-measurement system and described object (7)；And

- shell (120), this shell includes the side wall (122) of the central axial line (136) around described shell (120), described side wall (122) it is transparent to the described electromagnetic radiation being provided by described electromagnetism output device (102),

Wherein, described electromagnetism output device (102) and described electromagnetic input device (108) are arranged in described shell (120), make Described electromagnetic input device (108) the second bundle (126) of being located at electromagnetic radiation the second bundle path (124) outside, described the Two bundles are limited by described first bundle (104) mirror-reflection (128) on described side wall (122),

- FPDP (40), this FPDP at least based on determined by distance (114) export described digger (3) arrive described The station-keeping data of object.

2. digger (3) according to claim 1, described digger further includes：

- processing equipment (9), this processing equipment based on described station-keeping data and described object object space determine described in adopt The primary importance of pick machine (3).

3. digger (3) according to claim 2, described digger further includes：

- first sensor system (5), this first sensor system determines the movement of described digger (3) based on dead reckoning Data；

Wherein, described processing equipment (9) is further arranged for：

- second place of described digger (3) is determined based on data below：

- described primary importance；With

The described mobile data of-described digger based on dead reckoning.

4. the digger according to Claims 2 or 3 (3), wherein, described primary importance is absolute position.

5. digger (3) according to claim 1, described digger further includes：

- described station-keeping data；With

The described mobile data of-described digger based on dead reckoning.

6. according to digger in any one of the preceding claims wherein (3), wherein, described range-measurement system (100) is wrapped further Include the first support component (132) that can rotate in described shell (120), wherein, described electricity around first rotation (134) Magnetic output device is supported so that the rotation of described first support component (132) makes by described by described first support component (132) Described first bundle (104) that electromagnetism output device (102) provides turns to.

7. digger (3) according to claim 6, wherein, described electromagnetism output device (102) is from described first rotary shaft Line (134) skew is so that restraint path (106) no from described the first of described electromagnetism output device (102) to described side wall (122) Intersect with described first rotation (134).

8. the digger according to claim 6 or 7 (3), wherein, described first rotation (134) and the described axis of centres Line (136) is coaxial.

9. the digger according to any one of claim 6 to 8 (3), described digger (3) further includes the second support Element (140), this second support component carries between described electromagnetism output device (102) and described first support component (132) For supporting, wherein, described second support component (140) can rotate around the second rotation axis (142), and wherein, and described the The rotation of two support components (140) makes to be turned to by described first bundle (104) that described electromagnetism output device (102) provides.

10. digger (3) according to claim 9, wherein, described second rotation axis (142) is perpendicular to described first Rotation axis (134).

11. diggers (3) according to any one of claim 6 to 10, wherein, described electromagnetic input device (108) by Described first support component (132) supports so that described first support component (132) makes described electromagnetic input device (108) turn To receive the described reflecting electromagnetic radiation (110) of described first bundle (104) from described object (7).

12. diggers (3) according to any one of claim 6 to 11, described digger (3) further includes to control mould Block so that described first bundle (104) redirect to multiple orientations, thus provide the described object in surrounding environment multiple distances true Fixed.

13. diggers (3) according to claim 12, wherein, the plurality of distance of the described object in surrounding environment Determine the data being represented as in three-dimensional point cloud.

14. according to digger in any one of the preceding claims wherein (3), and wherein, described electromagnetism output device (102) includes Generating laser, this generating laser provides described first bundle (104) in the form of laser, and wherein, described electromagnetism input Device (108) includes optical sensor, the laser that the reception of this optical sensor is reflected from described object (7).

15. according to digger in any one of the preceding claims wherein (3), and wherein, described electromagnetism output device (102) provides One of ultraviolet, visible ray and/or infrared spectrum or more in electromagnetic radiation described first bundle (104).

16. according to digger in any one of the preceding claims wherein (3), and wherein, described side wall (122) is cylindrical side Wall.

A kind of 17. methods of the position of monitoring digger, methods described includes：

- the data-interface (40) from the digger (3) according to any one of claim 1 to 16 receives described digger (3) arrive the station-keeping data of object (7), this object has object space；

The output of-reception first sensor system (5), this output represents the shifting of the described digger (3) based on dead reckoning Dynamic data；

- second place of described digger (3) is determined based on data below：

The described station-keeping data of-described digger (3)；With

The described mobile data of-described digger (3) based on dead reckoning.

18. methods according to claim 17, methods described further includes following steps；

- described digging is determined to the described station-keeping data of described object (7) and described object space based on described digger The primary importance of machine (3).

19. methods according to claim 18, wherein it is determined that the step of the second place of described digger (3) is further Described primary importance based on described digger.

20. methods according to claim 18 or 19, methods described further includes：

- wherein it is determined that the step of primary importance is based further on the described object space associating with described object (7) receiving Data.

21. methods according to any one of claim 17 to 20, wherein it is determined that the second place of described digger (3) Step be based further on the start position data of described digger (3).

A kind of 22. methods of the structure change determining the tunnel in digging operation, the method includes：

The first profile scanning in the described tunnel of-reception, wherein, described the first profile scanning is based on from according to claim 1-16 FPDP (40) in digger (3) described in any one receives multiple station-keeping datas；

- scanning of described the first profile is stored in data storage；

- subsequent the second profile scan receiving described tunnel, wherein, described second profile scan is based on from same digger (3) Or different sensing systems receives multiple station-keeping datas；

- process the scanning of described the first profile and described second profile scan with determine the surface in described tunnel corresponding to described tunnel Any structure change of the profile deformation in road.