EP0412395B1 - Conduite d'une roue excavatrice pour la réalisation de surfaces de forme prédéterminée - Google Patents

Conduite d'une roue excavatrice pour la réalisation de surfaces de forme prédéterminée Download PDF

Info

Publication number
EP0412395B1
EP0412395B1 EP90114608A EP90114608A EP0412395B1 EP 0412395 B1 EP0412395 B1 EP 0412395B1 EP 90114608 A EP90114608 A EP 90114608A EP 90114608 A EP90114608 A EP 90114608A EP 0412395 B1 EP0412395 B1 EP 0412395B1
Authority
EP
European Patent Office
Prior art keywords
laser scanner
bucket wheel
excavator
laser
computer
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 - Lifetime
Application number
EP90114608A
Other languages
German (de)
English (en)
Other versions
EP0412395A1 (fr
Inventor
Edmund Heimes
Hans-Jörg Nüsslin
Johann Hipp
Franz-Josef Hartlief
Franz-Arno Fassbender
Ralf Eckoldt
Dieter Dr. Henning
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.)
Ibeo Ingenieurbuero fur Elektronik und Optik J Hipp and G Brohan
Rheinbraun AG
Siemens AG
Original Assignee
Ibeo Ingenieurbuero fur Elektronik und Optik J Hipp and G Brohan
Rheinbraun AG
Rheinische Braunkohlenwerke AG
Siemens 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 Ibeo Ingenieurbuero fur Elektronik und Optik J Hipp and G Brohan, Rheinbraun AG, Rheinische Braunkohlenwerke AG, Siemens AG filed Critical Ibeo Ingenieurbuero fur Elektronik und Optik J Hipp and G Brohan
Publication of EP0412395A1 publication Critical patent/EP0412395A1/fr
Application granted granted Critical
Publication of EP0412395B1 publication Critical patent/EP0412395B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/18—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for

Definitions

  • the invention relates to a method for guiding an excavator bucket wheel for generating predetermined areas in open-cast mining, in particular in open-cast or lignite mining, by continuously scanning the area exposed by the bucket wheel with a radiation transmitter / receiver carried by the excavator and regulated tracking of the bucket wheel into the necessary position to generate the predetermined area.
  • DE-A-1 634 712 Such guidance of an excavator bucket wheel is known from DE-A-1 634 712, the scanning of the surface exposed by the bucket wheel with the aid of rays such as e.g. B. of ultrasonic waves, electromagnetic vibrations or photoelectric light barriers is specified as an alternative to mechanical scanning.
  • DE-A-1 634 712 does not show how the area is to be scanned with the aid of the beams.
  • DE-A-34 11 540 a method for measuring the delivery volume in belt conveyors is known, the surface of the bulk material being scanned transversely to the conveying direction at several measuring points with the aid of laser distance measuring devices operating according to the pulse transit time measuring principle.
  • a laser distance measuring device is provided for each measuring point, so that the number of devices required depends on the width of the belt conveyor.
  • the invention has for its object to achieve an open-cast guidance of an excavator bucket wheel for generating predetermined areas with high accuracy.
  • the object is achieved in that in the method mentioned above for guiding an excavator bucket wheel, the radiation transmitter / receiver is a laser scanner which generates a pulsed laser beam and the course of the exposed area by measuring the distance and the angle of the Laser scanner measures to points on the exposed surface, the distance between the points and the laser scanner being measured in a computer by evaluating the transit time of the pulsed laser beam.
  • the radiation transmitter / receiver is a laser scanner which generates a pulsed laser beam and the course of the exposed area by measuring the distance and the angle of the Laser scanner measures to points on the exposed surface, the distance between the points and the laser scanner being measured in a computer by evaluating the transit time of the pulsed laser beam.
  • the laser scanner is position-oriented via a plumb sensor.
  • the determination can be carried out either by the computer, which also evaluates the transit time of the laser beam and thus determines the distance of the laser scanner from the individual points of the exposed area, as well as in a computer which can simultaneously serve as a control computer.
  • the position of the laser scanner carrying out the continuous measurements is either either in the vicinity of the bucket wheel or on the pylon of the excavator, in any case in such a way that undisturbed measurement of the exposed area (planum) is possible.
  • the exact choice of the position of the laser depends on other tasks transferred to the laser scanner and the computer.
  • the laser scanners 8, 9 are mounted next to the paddle wheel 6 with the blades 5 on the paddle wheel carrier 7 and primarily measure the profile part 2 directed downward on the excavator is also possible and is recommended if there is a lot of dust.
  • IR lasers are particularly suitable for use.
  • the profile is determined from distance / angle value pairs.
  • the distance to individual points of the exposed surface 2, 3 is measured by evaluating the transit time of the laser beam generated in a computer arranged downstream of the laser scanner 8, 9.
  • a start pulse is first generated, the reflected portion of which is extended by delay lines, preferably in the form of a coil, and used for a start-stop measurement. It is primarily the profile 1, 2 of that side that is used for the control towards which the paddle wheel 6 moves. With even movement in only one direction, the second laser scanner can also be dispensed with. During the swiveling movement, the paddle wheel 6 rotates and mills off the solid material 1 by the surface dimension 4.
  • the rear profile 12 (milled solid material), as shown in FIG. 2, is predetermined by the contour of the paddle wheel 6, since all of the above material is forcibly milled away.
  • the cross-sectional area 14 of the respectively cut chip is calculated from the rear contour 12 and the measured profile 13.
  • the overlap of the bucket wheel 6 over the measured profile of the laser scanner represents this difference area.
  • the bucket wheel 6 mills laterally into the solid material due to the swiveling movement of the excavator.
  • the volume of the chip is greater the faster this swiveling movement takes place.
  • the volume swept by the chip cross-sectional area 14 represents the conveyed volume flow of the solid material currently milled away.
  • the necessary calculations for solid material, conveying volume, chip thickness, chip height, position of the cut surface and oversize are carried out in the computer which is the laser scanner 8, 9 is connected downstream.
  • This computer can be integrated in the laser scanner 8, 9.
  • the swivel radius, the swivel speed, the stroke angle ⁇ of the bucket wheel boom 7, the mounting position of the laser scanner 8, 9, further geometric dimensions of the excavator and its position in space are essentially necessary.
  • This information can easily be stored in the computer of the laser scanner 8, 9.
  • the computer is advantageously equipped with a permanent memory.
  • the stroke angle ⁇ of the bucket wheel boom 7 can be used directly in the laser scanner 8, 9 or in the downstream computer.
  • the length of the bucket wheel boom 7 is a known parameter.
  • the information is sufficient to calculate the solid material volume flow from the profile data in the laser scanner 8, 9 or in the downstream computer, without further measured values having to be supplied to the laser scanner 8, 9 or the downstream computer. If the excavator 16 is tilted, a correction may be necessary which can be determined from a plumb measurement and which is given to the computer as a correction variable.
  • the spatial profile must be oriented in space by reference to the solder 15.
  • the profile part on the level 3 can be approximated by a straight line.
  • the slope of this straight line can be calculated.
  • the height of the paddle wheel 6 above the level 3 can also be determined from the profile by calculating the projection onto the vertical from the oblique distance to the approximated straight line in the level.
  • ACTUAL values for the location of the impeller 6 can be calculated from both variables. The location of the bucket wheel 6 relative to the position of the excavator 16 can thus be continuously avoided. If you specify 6 TARGET values for the location of the paddle wheel, you can A control variable for controlling the impeller 6 on any surface shapes can be derived from the difference between the actual values and the desired values.
  • the distance of the boom 7 from the material in question can also be calculated. Falling short of a certain distance can be used very advantageously to trigger a collision alarm.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Road Repair (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Operation Control Of Excavators (AREA)
  • Earth Drilling (AREA)
  • Shovels (AREA)

Claims (8)

  1. Procédé pour guider une roue à godets (6) d'excavatrice pour obtenir des surfaces (2, 3) déterminées par avance dans l'exploitation à ciel ouvert, notamment dans l'extraction à ciel ouvert de charbon et de lignite, au moyen d'une exploration continue de la surface, dégagée par la roue à godets (6), avec un émetteur/récepteur de rayonnement (8, 9) guidé conjointement par l'excavatrice (16) et au moyen d'un asservissement réglé de la roue à godets (6) dans la position nécessaire pour obtenir la surface déterminée par avance, caractérisé par le fait que l'émetteur/récepteur de rayonnement (8,9) est un scanner laser, qui produit un faisceau laser pulsé et mesure la configuration de la surface dégagée (2, 3) par mesure de la distance et de l'angle entre le scanner laser et des points de la surface dégagée (2, 3), la mesure de la distance entre les points et le scanner laser (8, 9) s'effectuant dans un calculateur au moyen de l'évaluation du temps de propagation du faisceau laser pulsé.
  2. Procédé suivant la revendication 1, caractérisé par le fait que la position du scanner laser (8, 9) est orientée par l'intermédiaire d'un capteur de la verticale.
  3. Procédé suivant la revendication 1 ou 2, caractérisé par le fait que la géométrie de la surface (2, 3), dégagée par la roue à godets (6), est déterminée à partir d'une mesure de position sur l'excavatrice à roue à godets (16).
  4. Procédé suivant la revendication 1, 2 ou 3, caractérisé par le fait que le scanner laser (8,9) et le calculateur sont reliés à une mémoire permanente, dans laquelle sont mémorisés des paramètres concernant l'excavatrice (16) et concernant la position de montage du scanner laser (8, 9), et des valeurs d'ajustement.
  5. Procédé suivant la revendication 1, 2, 3 ou 4, caractérisé par le fait que le scanner laser (8, 9) exécute la mesure d'une cible, qui est interne à l'appareil, de l'excavatrice (16), dans des plages angulaires qui ne sont pas utilisées pour l'exploration de la surface dégagée (2, 3), et que la distance d'éloignement mesurée et connue et est utilisée en tant que valeur de contrôle pour l'aptitude au fonctionnement du scanner laser (8, 9) et en tant que valeur d'étalonnage.
  6. Procédé suivant la revendication 1, 2, 3, 4, 5 ou 6, caractérisé par le fait que le calculateur possède une mémoire de valeurs de consigne pour la surface (2,3) devant être formée, et que la roue à godets (5) est guidée en étant réglée sur ces valeurs.
  7. Procédé suivant l'une des revendications précédentes, caractérisé par le fait que le scanner laser (8, 9) est réalisé sous la forme d'un laser infrarouge et travaille avec des impulsions ayant des durées de 1 - 10 nanosecondes et une fréquence située dans la gamme des kilohertz, de préférence dans la gamme de 10 - 50 kHz.
  8. Procédé suivant l'une des revendications précédentes, caractérisé par le fait que pour la mesure du temps de propagation des impulsions, on produit tout d'abord une impulsion de départ, dont le temps de propagation de la partie réfléchie est allongé par l'intermédiaire de lignes à retard, de préférence sous la forme de bobines, partie réfléchie qui est utilisée pour une mesure de démarrage - arrêt.
EP90114608A 1989-08-08 1990-07-30 Conduite d'une roue excavatrice pour la réalisation de surfaces de forme prédéterminée Expired - Lifetime EP0412395B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3926221 1989-08-08
DE3926221 1989-08-08

Publications (2)

Publication Number Publication Date
EP0412395A1 EP0412395A1 (fr) 1991-02-13
EP0412395B1 true EP0412395B1 (fr) 1994-09-21

Family

ID=6386748

Family Applications (1)

Application Number Title Priority Date Filing Date
EP90114608A Expired - Lifetime EP0412395B1 (fr) 1989-08-08 1990-07-30 Conduite d'une roue excavatrice pour la réalisation de surfaces de forme prédéterminée

Country Status (4)

Country Link
EP (1) EP0412395B1 (fr)
AT (1) ATE111994T1 (fr)
AU (1) AU635762B2 (fr)
DE (1) DE59007213D1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8768579B2 (en) 2011-04-14 2014-07-01 Harnischfeger Technologies, Inc. Swing automation for rope shovel
US9206587B2 (en) 2012-03-16 2015-12-08 Harnischfeger Technologies, Inc. Automated control of dipper swing for a shovel
CN115492188A (zh) * 2022-10-21 2022-12-20 四川鼎鸿智电装备科技有限公司 用于挖掘机的感知随动控制装置、控制方法以及挖掘机

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4133392C1 (en) * 1991-10-09 1992-12-24 Rheinbraun Ag, 5000 Koeln, De Determining progress of mining material spreader - receiving signals from at least four satellites at end of tipping arm and at vehicle base and calculating actual geodetic positions and height of material tip
USRE46672E1 (en) 2006-07-13 2018-01-16 Velodyne Lidar, Inc. High definition LiDAR system
US8345926B2 (en) * 2008-08-22 2013-01-01 Caterpillar Trimble Control Technologies Llc Three dimensional scanning arrangement including dynamic updating
US10627490B2 (en) 2016-01-31 2020-04-21 Velodyne Lidar, Inc. Multiple pulse, LIDAR based 3-D imaging
EP3430428A4 (fr) 2016-03-19 2019-11-20 Velodyne Lidar, Inc. Éclairage et détection intégrés pour imagerie 3d basée sur lidar
WO2017210418A1 (fr) 2016-06-01 2017-12-07 Velodyne Lidar, Inc. Lidar à balayage à pixels multiples
JP7290571B2 (ja) 2017-03-31 2023-06-13 ベロダイン ライダー ユーエスエー，インコーポレイテッド 統合化されたｌｉｄａｒ照明出力制御
CN110809704B (zh) 2017-05-08 2022-11-01 威力登激光雷达美国有限公司 Lidar数据获取与控制
US11082010B2 (en) 2018-11-06 2021-08-03 Velodyne Lidar Usa, Inc. Systems and methods for TIA base current detection and compensation
US12061263B2 (en) 2019-01-07 2024-08-13 Velodyne Lidar Usa, Inc. Systems and methods for a configurable sensor system
US11885958B2 (en) 2019-01-07 2024-01-30 Velodyne Lidar Usa, Inc. Systems and methods for a dual axis resonant scanning mirror
US11556000B1 (en) 2019-08-22 2023-01-17 Red Creamery Llc Distally-actuated scanning mirror

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1412991A (en) * 1972-07-29 1975-11-05 Rolls Royce Method of and apparatus for inspecting the contour of an object
US4088408A (en) * 1976-11-08 1978-05-09 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Device for measuring the contour of a surface
DE3503231A1 (de) * 1985-01-31 1986-08-07 Helmut A. 6720 Speyer Kappner Verfahren und einrichtung zur 3-d-erfassung von szenen mittels optischem 2-d-sensor
US4820041A (en) * 1986-11-12 1989-04-11 Agtek Development Co., Inc. Position sensing system for surveying and grading

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8768579B2 (en) 2011-04-14 2014-07-01 Harnischfeger Technologies, Inc. Swing automation for rope shovel
US9315967B2 (en) 2011-04-14 2016-04-19 Harnischfeger Technologies, Inc. Swing automation for rope shovel
US9567725B2 (en) 2011-04-14 2017-02-14 Harnischfeger Technologies, Inc. Swing automation for rope shovel
US9206587B2 (en) 2012-03-16 2015-12-08 Harnischfeger Technologies, Inc. Automated control of dipper swing for a shovel
CN115492188A (zh) * 2022-10-21 2022-12-20 四川鼎鸿智电装备科技有限公司 用于挖掘机的感知随动控制装置、控制方法以及挖掘机
CN115492188B (zh) * 2022-10-21 2024-03-26 四川鼎鸿智电装备科技有限公司 用于挖掘机的感知随动控制装置、控制方法以及挖掘机

Also Published As

Publication number Publication date
ATE111994T1 (de) 1994-10-15
AU635762B2 (en) 1993-04-01
EP0412395A1 (fr) 1991-02-13
AU6027990A (en) 1991-02-14
DE59007213D1 (de) 1994-10-27

Similar Documents

Publication Publication Date Title
EP0412398B1 (fr) Mesure du volume de matériau excavé à partir du profil de coupe d'une roue excavatrice ou similaire
EP0412395B1 (fr) Conduite d'une roue excavatrice pour la réalisation de surfaces de forme prédéterminée
DE19713826B9 (de) Radarvorrichtung
EP0412399B1 (fr) Commande du volume excavé par une roue à godet
EP0412400B1 (fr) Dispositif de sécurité pour empêcher la collision d'engins de terrassement
DE69131837T2 (de) Räumliche Positionierungsvorrichtung
EP1421410B1 (fr) Dispositif de mesure a distance
DE102004028860B4 (de) Objekterkennungsvorrichtung, die dafür vorgesehen ist, ein Anhaften von Schmutz an einem Radar zu erfassen
DE10356797B4 (de) Objekt-Erkennungsvorrichtung für ein Fahrzeug, Fahrzeug-zu-Fahrzeug-Steuervorrichtung und Abstandsmessvorrichtung
DE19757848C2 (de) Vorrichtung zur optischen Erfassung von Objekten
DE68914553T2 (de) Lasermesssystem.
DE69132189T2 (de) Vorrichtung und Verfahren zum Vermeiden von Fahrzeug-Zusammenstössen
DE102005012107B4 (de) Meßsystem und Verfahren zur geodätischen Vermessung von Objekten
DE19855478B4 (de) Verfahren und Vorrichtung zur optischen Erfassung einer Kontrastlinie
DE19832800A1 (de) Hinderniserfassungssystem für ein Kraftfahrzeug
EP0547378B1 (fr) Appareil de contrôle ultrasonore pour une fraiseuse mobile
EP2534443B1 (fr) Système d'arpentage d'un sol
DE19832790A1 (de) Hindernis-Erkennungssystem für Kraftfahrzeuge
DE10306257B4 (de) Neigungswinkelmesseinrichtung
DE4301637C2 (de) Verfahren zum Andocken eines Flugzeuges an eine Fluggastbrücke eines Flughafengebäudes
DE10359212A1 (de) Hinderniserfassungssystem für ein Kraftfahrzeug
EP1224644B1 (fr) Dispositif pour reguler le flux de circulation a un carrefour, notamment pour reguler les feux
EP0668237B1 (fr) Procédé pour la manutention d'une charge à l'aide d'une grue
DE2901908A1 (de) Verfahren zur regelung der arbeitsbewegung eines ueber die ortsbrust bewegbaren schraemwerkzeuges einer streckenvortriebsmaschine und vorrichtung zur durchfuehrung dieses verfahrens
EP1684094A2 (fr) Procédé de triangulation optique pour determiner la distance pour les applications des véhicules automobiles

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE CH DE ES FR GB GR IT LI LU NL SE

17P Request for examination filed

Effective date: 19901220

17Q First examination report despatched

Effective date: 19920311

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AT BE CH DE ES FR GB GR IT LI LU NL SE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT;WARNING: LAPSES OF ITALIAN PATENTS WITH EFFECTIVE DATE BEFORE 2007 MAY HAVE OCCURRED AT ANY TIME BEFORE 2007. THE CORRECT EFFECTIVE DATE MAY BE DIFFERENT FROM THE ONE RECORDED.

Effective date: 19940921

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 19940921

Ref country code: NL

Effective date: 19940921

Ref country code: FR

Effective date: 19940921

Ref country code: ES

Free format text: THE PATENT HAS BEEN ANNULLED BY A DECISION OF A NATIONAL AUTHORITY

Effective date: 19940921

Ref country code: GB

Effective date: 19940921

Ref country code: BE

Effective date: 19940921

REF Corresponds to:

Ref document number: 111994

Country of ref document: AT

Date of ref document: 19941015

Kind code of ref document: T

REF Corresponds to:

Ref document number: 59007213

Country of ref document: DE

Date of ref document: 19941027

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SE

Effective date: 19941221

EN Fr: translation not filed
NLV1 Nl: lapsed or annulled due to failure to fulfill the requirements of art. 29p and 29m of the patents act
GBV Gb: ep patent (uk) treated as always having been void in accordance with gb section 77(7)/1977 [no translation filed]

Effective date: 19940921

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Effective date: 19950730

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CH

Effective date: 19950731

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 19950731

Ref country code: LI

Effective date: 19950731

26N No opposition filed
REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20090918

Year of fee payment: 20

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF EXPIRATION OF PROTECTION

Effective date: 20100730