CS197828B1 - Method of determination of the operating position in respect to the axis of rotation of the gigant machine - Google Patents

Description

The present invention provides a method for determining the position of a station relative to the axis of rotation of a machine which is detected during rotation on the basis of circular tracks of the machine components.

Geodetic or photogrammetric methods are used to objectively investigate the activity of large excavators in open-cast mining; the relevant instruments, such as theodolites or measuring chambers, are located at the so-called station. For this work it is also necessary to know the position of the site in relation to the intangible axis of rotation of the surveyed machine; it is still possible to determine the position of one or more of its components at several points of the circle on which they move during rotation, during which the center of the circle, which is also the center of rotation of the large machine, is determined; in this laborious determination of the center of rotation, the position of the predicted station is simultaneously measured.

After changing the working position of the large excavator, for example after walking the large excavator, the entire laborious process of determining the pivot axis needs to be repeated to further investigate its operation, since its position relative to the station changes.

This deficiency is remedied by the method of determining the location of the site relative to the axis of rotation of the excavator, which is detected during rotation on the circular tracks of the selected components of the excavator by indicating a set of points on the fixed substructure or rotating upper construction of the excavator. in the selected coordinate system their relative position relative to the axis of rotation, after which they change

197 828

197 828 workstations of a large-scale machine with geodetic or photogrammetric measurement using the points marked on the large-scale machine derive the position of the station relative to the axis of rotation of the large-scale machine.

An advantage of the method according to the invention is that the laborious determination of the axis of rotation is carried out once and for all, since its position is relative to the system of points marked on the machine, which are further used to derive the position of the site; this results in significant savings at work. Moreover, the advantage of the method is that all measurements are expediently carried out in the same coordinate system of the large machine.

In the accompanying drawing of FIG. 1, a plan view of the principle of the method according to the invention is shown in plan view. In this figure, A denotes the fixed lower structure of the large-scale machine, B denotes its rotatable upper structure, which is connected to the simultaneously rotatable working part C. The axis of rotation of the large machine is denoted by the symbol 0 and numbers J, 2, 3, 4, 5, 6., 7 9, 9, a system is marked on the large machine of the points indicated. The axes of the selected coordinate system are marked + X, + Y, with each of points 2, 2, 3, _4> 5, AL. J, 4, 9 belong to a certain coordinate, for example point 3 of the coordinates -3 * -3 ' ^stan ' is indicated by the letter B; symbol oC_ _t fi are denoted alpha beta horizontal angles measured in order to deduce the position of stands with respect to the axis of rotation.

In the process according to the invention, the following procedure is performed: First, a set of points 1, 2, 3, 1, 5, 3, 2, 9, 9 is marked or signaled on the large machine. the size and shape of the signals shall be chosen taking into account the method to be used later to determine their relative spatial position. For example, when using forward intersection methods, surface signals are used, for example in the form of crosses, circles or triangles, while, on the other hand, in the assumed use of trilateral methods such as electro-optical rangefinders, spatial signals adapted to fix reflectors are used. For the use of the method according to the invention, it is advantageous to distribute signals around the entire circumference of the large excavator and on all its parts, in particular both on the circumference of the rotatable upper structure B and on the periphery of the fixed lower structure A.

After this preparation, the spatial position of the set of points χ, 2, ji, £, fj, fj, 2 is determined using a known method. »8.» θ_ · In this case, geodetic measurement methods can be used, for example intersection forward or trilateral geodetic methods, eg _x intersection from lengths; however, known photogrammetric, e.g. stereophotogrammetry methods. The following calculation work is carried out in the selected coordinate system + X, + Y, so that at the end of the work the position of each of the points J, 2, 2 »4_ is reached. 2. · At.

2. »$. · 2 expressed by the appropriate coordinates, eg the position of point 3 by the coordinates Xg, χ ₃ ·

In the next stage of work, in the same coordinate system + X, * Y, the position of the intangible center of rotation of the large-scale machine is derived using known methods, e.g. This determines the relative position of all the marked points, i.e., the mass points 1, 4, 2, 4, b, her, 2, 2, 2 ^{on the} machine with respect to the position of the unmarked axis of rotation of the machine in a single coordinate system. After changing the working position of the excavator, for example, by stepping with a large excavator, a suitable site S is chosen for examining its operation during mining, and then using the coordinates of the system indicated by points 1, 2, 3, 5, 8, 7, 9 on the machine. derives the location of this habitat. Some known methods, e.g. while using

197 828 geodetic methods can be used so called intersection back, where the position of site S is derived by measuring the angles of eyes, / 3 alpha, beta; with the use of the so-called trilateration, the position of the site S can be derived by measuring two lengths, eg length S - 1 and S - 3. However, photogrammetric measurements, eg stereophotogrammetry, can also be used.

This measurement results in the coordinates of the site S in the same coordinate system, in which both the indicated points 1, 2, <1, 4, 1, fi, 8, J 1 on the machine and its intangible axis of rotation 0 are determined. the relative position of the station S and all the points J, 2, 3, 4, 5, fi, 7, 7, 7 and 8 has been accurately determined with minimal labor. ^In particular, however, the position of the station S relative to the intangible axis of rotation O, thereby greatly facilitating further investigation of the operation of the machine.

After completion of the calculation work, it is advantageous to transform all the measurement results into a new coordinate system, the origin of which lies, for example, in the rotation axis O of the large machine; in this case, it will be advantageous to select, as the direction of one of the coordinate axes of the new assembly, either some of the significant working parts of the large machine, for example the direction of the longitudinal axis of the boom, or this further facilitates further work while maintaining all of the above-mentioned advantages of the method according to the invention.

Claims (1)

P P E D Μ £ Τ V Y N A L E Z D Method of determining the position of a station with respect to the axis of rotation of a large excavator, which is detected during rotation on the basis of circular tracks of selected components of the large excavator, characterized in that a system of points (1) is marked on the fixed lower construction (A) or , 2, 3, 4,! », 6, 7, 8, 9) and by geodetic or photogrammetric measurement are determined in the selected coordinate system Í + X, + Y) their relative spatial position relative to the axis of rotation ¢ 0), then change of the working place of the large-scale machine with geodetic or photogrammetric measurement using the marked-out throws (1, 2, 3, 4, 5, 6, 7, 8, 9) marked on the large-scale machine! the position of the station (S) with respect to the rotation axis ((') of the machine).