EP0105867B1 - Einrichtung zur Erfassung der Position des Schrämkopfes einer Vortriebs- oder Gewinnungsmaschine - Google Patents

Einrichtung zur Erfassung der Position des Schrämkopfes einer Vortriebs- oder Gewinnungsmaschine Download PDF

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Publication number
EP0105867B1
EP0105867B1 EP83890168A EP83890168A EP0105867B1 EP 0105867 B1 EP0105867 B1 EP 0105867B1 EP 83890168 A EP83890168 A EP 83890168A EP 83890168 A EP83890168 A EP 83890168A EP 0105867 B1 EP0105867 B1 EP 0105867B1
Authority
EP
European Patent Office
Prior art keywords
cutting head
cutting
reference point
transmitter
distance
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
EP83890168A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0105867A3 (en
EP0105867A2 (de
Inventor
Eduard Dipl.-Ing. Schellenberg
Alfred Zitz
Bernhard Dipl.-Ing. Dröscher
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Voestalpine AG
Original Assignee
Voestalpine AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Voestalpine AG filed Critical Voestalpine AG
Publication of EP0105867A2 publication Critical patent/EP0105867A2/de
Publication of EP0105867A3 publication Critical patent/EP0105867A3/de
Application granted granted Critical
Publication of EP0105867B1 publication Critical patent/EP0105867B1/de
Expired legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E21C35/302—Measuring, signaling or indicating specially adapted for machines for slitting or completely freeing the mineral
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
    • E21F17/18—Special adaptations of signalling or alarm devices

Definitions

  • the invention relates to a device for detecting the position of the cutting head of a tunneling or extraction machine.
  • a device for detecting the position of the cutting head of a tunneling or extraction machine In order to detect the position of the cutting head of a tunneling or extraction machine relative to a target profile to be cut, it has already become known to arrange radiation receivers on the frame of the cutting machine, which, together with the signals of a transmitter fixed in the path, allow the spatial coordinates of the longitudinal axis of the cutting machine to be determined.
  • additional devices for determining the pivoting position of the cutting arm relative to the cutting machine were now based on the coordinates of the cutting head with the aid of additional signals and, above all, using signals closed.
  • the device according to the invention is characterized by a receiver which is oriented relative to the longitudinal axis and can be attached in a distance, a transmitter for electromagnetic radiation in the wavelength range from 111 m to 10 cm on the cutting head and / or a cutting arm and a range finder for determining the distance at least a reference point on the cutting head and / or cutting arm from the receiver, and preferably a display device for the position of the cutting head relative to a desired profile to be cut.
  • a transmitter for electromagnetic radiation is now provided directly on the head or a reference point on the cutting arm, while taking into account the distance of this point from the receiver which is fixedly arranged in the route, allows an exact representation of the position of the cutting head in polar coordinates by means of a single angle determination express and use in a display device or as a control signal for automatic control of the tunneling or mining machine.
  • radiation is chosen for this purpose which shows less scatter than visible light and has a higher penetration capacity, etc. preferably electromagnetic radiation in a wave range of 1 .mu.m to 10 cm, which is longer than visible light.
  • the heat development can be exploited during the cutting work, since the chisels and the cutting head have a significantly higher temperature than the surroundings and thus act as infrared radiation transmitters.
  • the large temperature difference between the hot chisels of the cutting heads and the environment enables the use of relatively insensitive receivers, and there is usually no need for complex cooling of the receiver.
  • the receiver is preferably designed as a thermal imaging camera which is arranged in a fixed manner in the route and is aligned with the longitudinal axis of the route, for example using the laser beam guide beam which is usually used.
  • thermal imagers have a line scan and the video signal obtained in this way can be used directly with known electronic devices, displayed on screens and / or fed to a control device.
  • the design can also be such that the receiver is arranged pivotably and can be aligned to at least one reference point of the cutting head formed by the transmitter for determining the angle between a parallel line to the longitudinal axis of the line and the reference point of the cutting head.
  • the servo-motoric tracking of such a swiveling receiver and alignment with the transmitter immediately gives a measure of the angle to be measured. Together with the distance measured in a known manner, for example using infrared rays, the position of the cutting head can be displayed directly.
  • the transmitter it is advisable to arrange it near the axis of rotation of the cutting head, because then, based on the known geometry of the head and the known dimension of a head, together with the measured distance, the exact position of the cutting head in any rotational position of the same can be determined.
  • the distance can also be measured between the stationary receiver and the face itself, since the cutting head is in engagement with the face.
  • the transmitter designed as an infrared radiation transmitter is itself formed by the cutting head which is at the operating temperature.
  • the entire contour of the hot cutting head is detected with the receiver, and the distance measurement could in this case be carried out by measuring the contour larger or smaller with a given dimension of the cutting head at different distances between the cutting head and the thermal imaging camera.
  • a reduction in the cutting head contour measured at a fixed focal length of the thermal imager corresponds to a greater distance from the thermal imager.
  • the display device advantageously contains a screen on which the position of the cutting head relative to the target profile can be displayed, the target profile display or the cutting head display depending on the distance of the cutting head from an infrared radiation receiver or the thermal imaging camera being changeable in size.
  • the scale representation on the screen can be maintained. This can be done in a simple manner in that the thermal imaging camera has a zoom lens which can be adjusted in focal length as a function of the distance of the cutting head.
  • the preferred embodiment of the device according to the invention is that the thermal imager is arranged in a fixed manner in the route, that the thermal image is scanned line by line in a manner known per se, and that the video signal obtained in this way is from the display device and / or a control device for the movement the cutting head is fed.
  • FIG. 1 shows a schematic representation of the arrangement of the device in a distance
  • FIGS. 2 and 3 show a representation of the geometric conditions applicable for determining the spatial coordinates
  • FIG. 4 shows a schematic side view of the device according to FIGS. 1 and 5 the picture of a display device which is connected to the arrangement according to FIG. 1
  • FIG. 6 shows a schematic representation of the circuit arrangement required for the evaluation of the signals received.
  • a partial cutting machine 1 is shown within the route 2.
  • the cutting arm of this partial cutting cutting machine is designated 3 and has at its end two rotating cutting heads 4 which are rotatably mounted about the axis 5 extending transversely to the axis of the cutting arm.
  • a reference point 6 formed by an infrared transmitter is arranged on the cutting arm 3 near this axis 5.
  • a thermal imager 8, which is aligned in a corresponding manner on the laser path guide beam 9, is arranged in a stationary manner on an expansion frame 7.
  • the fixed receiver 8 determines the distance between the reference point 6 on the cutting arm formed by an infrared transmitter and the receiver 8.
  • the Cartesian coordinates of the reference system of the receiver are indicated by x, y and z, and two angles are measured relative to this coordinate system, as is the case here is explained in Figs. 2 and 3.
  • Fig. 2 the Cartesian reference system is shown with the origin at the measuring point of the thermal imager 8.
  • the x-y plane of this reference system is oriented in a simple manner parallel to the route guide beam 9.
  • the reference point 6 of the cutting arm or cutting head is now expressed in polar coordinates by the angles 9, (p and the distance r. Two angles and the distance between the origin of the reference system of the thermal imaging camera 8 are thus expressed and the reference point 6 on the cutting head 4 or cutting arm 3.
  • the outer contour of the cutting heads, designated 10 in FIG. 1 can also be scanned in its entirety by a thermal imager.
  • the angles 3, (p are shown in FIG. 3 drawn.
  • the receiver 8 is again fixed and oriented relative to the longitudinal axis on a frame 7.
  • the angle 8 1 is measured in relation to the xy plane of the reference system of the receiver and therefore appears to be 90 ° less than the angle 9 in FIG. 3.
  • the angle cp results from the x-axis of the reference system of the receiver.
  • the distance a from the receiver 8 to the face 11 can be measured, since this distance is only slightly different from the distance r when the receiver 8 is at a greater distance from the reference point 6 .
  • the entire outer contour 10 of the cutting heads 4 is captured by the thermal imaging camera 8, the video signal of the thermal imaging camera obtained in FIG achieve the screen display shown.
  • the screen of the monitor 12 is designated 13 and shows the target profile 14 of the route to be covered. Within this Target profile 14 shows the images of the cutting heads 4, the traces of the rotating chisels being clearly shown as essentially vertical lines.
  • FIG. 6 A circuit suitable for scanning the video signal of the thermal imaging camera is shown schematically in FIG. 6.
  • the thermal imaging camera is also designated 8 here, as is the receiver. Signals for the vertical and horizontal deflection are fed to the camera 8 via lines 15 and 16, respectively.
  • the video signal reaches a comparator 19 via a line 17 and a differentiator 18 and can be fed directly to the monitor 12.
  • this signal can also be fed to an image evaluation circuit 20.
  • Separate control signals can be obtained via lines 21 for the three spatial coordinates of the position of the cutting head.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Geology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Mechanical Engineering (AREA)
  • Environmental & Geological Engineering (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Radiation Pyrometers (AREA)
  • Laser Beam Processing (AREA)
  • Machine Tool Sensing Apparatuses (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)
EP83890168A 1982-09-23 1983-09-22 Einrichtung zur Erfassung der Position des Schrämkopfes einer Vortriebs- oder Gewinnungsmaschine Expired EP0105867B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT0354882A AT375153B (de) 1982-09-23 1982-09-23 Einrichtung zur erfassung der position des schraemkopfes einer vortriebs- oder gewinnungsmaschine
AT3548/82 1982-09-23

Publications (3)

Publication Number Publication Date
EP0105867A2 EP0105867A2 (de) 1984-04-18
EP0105867A3 EP0105867A3 (en) 1985-12-27
EP0105867B1 true EP0105867B1 (de) 1988-02-03

Family

ID=3552036

Family Applications (1)

Application Number Title Priority Date Filing Date
EP83890168A Expired EP0105867B1 (de) 1982-09-23 1983-09-22 Einrichtung zur Erfassung der Position des Schrämkopfes einer Vortriebs- oder Gewinnungsmaschine

Country Status (12)

Country Link
EP (1) EP0105867B1 (enrdf_load_stackoverflow)
JP (1) JPS5980899A (enrdf_load_stackoverflow)
AT (1) AT375153B (enrdf_load_stackoverflow)
AU (1) AU563232B2 (enrdf_load_stackoverflow)
CA (1) CA1229675A (enrdf_load_stackoverflow)
CS (1) CS687583A2 (enrdf_load_stackoverflow)
DE (1) DE3375595D1 (enrdf_load_stackoverflow)
HU (1) HU191876B (enrdf_load_stackoverflow)
IN (1) IN159093B (enrdf_load_stackoverflow)
PL (1) PL142733B1 (enrdf_load_stackoverflow)
RO (1) RO89261A (enrdf_load_stackoverflow)
ZA (1) ZA836472B (enrdf_load_stackoverflow)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103314271A (zh) * 2011-01-10 2013-09-18 莱卡地球系统公开股份有限公司 包括热成像相机的大地测量装置

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3806224A1 (de) * 1988-02-26 1989-09-07 Siemens Ag Vorrichtung zur wegverfolgung eines bewegten objektes, insbesondere einer gewinnungsmaschine im bergbau
KR930007231A (ko) * 1991-09-13 1993-04-22 강진구 캠코더의 물체추적장치와 그 방법
AU2008339514B2 (en) * 2008-07-28 2013-05-23 Eickhoff Bergbautechnik Gmbh Method for controlling a cutting extraction machine
CN102587911B (zh) * 2012-03-08 2014-04-23 三一重型装备有限公司 掘进机的掘进控制系统和控制方法、掘进机
CN103195433B (zh) * 2013-03-20 2015-02-18 中国矿业大学(北京) 一种大断面煤巷快速掘进的方法
CN108655821B (zh) * 2018-05-20 2019-11-29 李君毅 对中器和使用方法
CN109356653B (zh) * 2018-11-01 2023-10-24 云南昆钢电子信息科技有限公司 一种溜井深度测量装置及方法
CN109538208A (zh) * 2018-12-21 2019-03-29 冀中能源峰峰集团有限公司 一种掘进机截割头复合定位系统及方法
CN111472841B (zh) * 2020-03-05 2021-11-05 天地科技股份有限公司 一种综采工作面设备群位姿统一方法
CN112963165B (zh) * 2021-03-17 2022-01-04 大连理工大学 一种基于机器操作的全断面岩石掘进机刀具系统引导性定位接口的设计方法
CN114658429B (zh) * 2022-03-01 2023-05-23 河海大学 高温高压流体孔内循环冲击释能超前预裂破岩装置及方法
CN114718650B (zh) * 2022-03-22 2025-04-11 中煤科工开采研究院有限公司 一种万向转换装置及安装方法
CN115711157B (zh) * 2022-11-14 2023-08-01 北京科技大学 基于采动磁场分布式监测的煤层突出危险区域识别方法
CN118880682B (zh) * 2024-06-05 2025-02-11 尤洛卡(广东)精准信息工程技术研究院有限公司 一种通过机器人安装矿用轨道的方法

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Publication number Priority date Publication date Assignee Title
US3498673A (en) * 1968-02-19 1970-03-03 Lawrence Mfg Co Machine guidance system and method
DE2458514C3 (de) * 1974-12-11 1978-12-07 Gebr. Eickhoff, Maschinenfabrik U. Eisengiesserei Mbh, 4630 Bochum Vortriebsmaschine mit einem an einem allseitig schwenkbaren Tragarm gelagerten Lösewerkzeug und Verfahren zu ihrem Betrieb
DE2901598C2 (de) * 1979-01-17 1986-03-20 Gebr. Eickhoff Maschinenfabrik U. Eisengiesserei Mbh, 4630 Bochum Vorrichtung zur Kontrolle der Lage einer Teilschnittvortriebsmaschine
DE2944305C2 (de) * 1979-11-02 1983-01-27 Hochtief Ag Vorm. Gebr. Helfmann, 4300 Essen Steuerleitgerät für eine Tunnelvortriebsmaschine
DE3016592A1 (de) * 1980-04-30 1981-11-05 Gewerkschaft Eisenhütte Westfalia, 4670 Lünen Verfahren und einrichtung zum profilgenauen schneiden des vortriebsquerschnitts beim vortrieb unterirdischer bauwerke
DE3120010A1 (de) * 1981-05-20 1982-12-09 Ed. Züblin AG, 7000 Stuttgart Verfahren zur positionsbestimmung eines vorgepressten hohlprofilstrangs und vorrichtung zur durchfuehrung des verfahrens

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103314271A (zh) * 2011-01-10 2013-09-18 莱卡地球系统公开股份有限公司 包括热成像相机的大地测量装置

Also Published As

Publication number Publication date
PL142733B1 (en) 1987-11-30
AT375153B (de) 1984-07-10
CA1229675A (en) 1987-11-24
AU1842883A (en) 1984-03-29
ZA836472B (en) 1984-04-25
IN159093B (enrdf_load_stackoverflow) 1987-03-21
DE3375595D1 (en) 1988-03-10
PL243526A1 (en) 1984-04-09
CS687583A2 (en) 1988-09-16
EP0105867A3 (en) 1985-12-27
HU191876B (en) 1987-04-28
JPS5980899A (ja) 1984-05-10
AU563232B2 (en) 1987-07-02
RO89261A (ro) 1986-03-15
EP0105867A2 (de) 1984-04-18
ATA354882A (de) 1983-11-15

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