EP0412399B1 - Fördermengenregelung eines Schaufelradbaggers oder Schaufelradaufnehmers im Tagebau - Google Patents

Fördermengenregelung eines Schaufelradbaggers oder Schaufelradaufnehmers im Tagebau Download PDF

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Publication number
EP0412399B1
EP0412399B1 EP90114612A EP90114612A EP0412399B1 EP 0412399 B1 EP0412399 B1 EP 0412399B1 EP 90114612 A EP90114612 A EP 90114612A EP 90114612 A EP90114612 A EP 90114612A EP 0412399 B1 EP0412399 B1 EP 0412399B1
Authority
EP
European Patent Office
Prior art keywords
conveying
bucket wheel
profile
bucket
wheel
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
EP90114612A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0412399A1 (de
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
Priority to AT90114612T priority Critical patent/ATE99758T1/de
Publication of EP0412399A1 publication Critical patent/EP0412399A1/de
Application granted granted Critical
Publication of EP0412399B1 publication Critical patent/EP0412399B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)

Definitions

  • the invention relates to the regulation of the delivery rate of a bucket wheel excavator or bucket wheel pickup in open-cast mining, in which the swiveling speed of the bucket wheel boom and / or its altitude is regulated depending on the solid material delivery volume cut by the bucket wheel, with a radiation transmitter / receiver arranged in the vicinity of the bucket wheel for scanning the profile of the solid material in the swivel direction in front of the paddle wheel.
  • 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 across 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 provide an operationally safe and open-cast mining flow control with the help of a contactless determination of the solid material delivery amount detected by the paddle wheel.
  • the object is achieved in that the radiation transmitter / receiver is a laser scanner which generates a pulsed laser beam, by measurement, in the delivery rate control of the type specified at the outset the distance from the laser scanner to the material surface with the aid of time-of-flight measurements of the pulsed laser beam evaluated in a computer and by measuring the angle of the laser beam to the material surface, the profile of the solid material next to the paddle wheel can be detected.
  • the radiation transmitter / receiver is a laser scanner which generates a pulsed laser beam, by measurement, in the delivery rate control of the type specified at the outset the distance from the laser scanner to the material surface with the aid of time-of-flight measurements of the pulsed laser beam evaluated in a computer and by measuring the angle of the laser beam to the material surface, the profile of the solid material next to the paddle wheel can be detected.
  • the scanning of the contour of the solid material in the swivel direction in front of the paddle wheel by a laser beam which preferably works with a wavelength of 905 nanometers, a pulse rate of 3.6 kHz and a pulse duration of approx. 10 nanoseconds, and the evaluation of the transit time measurements of the pulsed laser light in one Computers allowed a particularly precise determination of the cutting volume to be reduced, which was insensitive to different temperatures, whirled up dust and other environmental influences. A reliable measurement of the cutting volume to be removed is thus available, which enables reliable control of the delivery rate of the bucket wheel excavator or bucket wheel pickup.
  • the use of the laser scanner has the advantage that the area to be machined is recorded in a line.
  • the line-by-line or wavy-line scanning not only makes it possible to record individual data, but also the configuration of the dismantling front. Thanks to the low-cost optics, the low scattering light of the laser scanner enables a high instantaneous energy density to be achieved, thereby avoiding or reducing errors caused by excessive scattering, insufficient reflection, etc. Overall, this results in a particularly reliable measurement and control method that is suitable for open-cast mining.
  • the laser scanners 8, 9 are mounted next to the paddle wheel 6 with the paddles 5 on the paddle wheel carrier 7 and primarily measure the profile part 2 directed downwards.
  • the profile is determined from distance / angle value pairs. It is primarily the profile 1, 2 of that side that is used for the control towards which the paddle wheel 6 moves. If there is a uniform movement in only one direction and if there is no difference measurement, the second profile scanner can also be dispensed with.
  • 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 respective 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 faster the swivel movement, the greater the volume of the chip.
  • 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 a computer which is connected downstream of the laser scanner.
  • This computer can be integrated in the laser scanner.
  • For the calculation essentially the swivel radius, the swivel speed, the lifting angle ( ⁇ ) of the bucket wheel boom, the mounting position of the laser scanner 8, 9, further geometric dimensions of the excavator and its position in space are necessary. This information can easily be saved in the computer of the laser scanner.
  • the computer is advantageously equipped with a writable permanent memory.
  • the stroke angle ( ⁇ ) of the bucket wheel boom can be used directly in the laser scanner 8, 9 or in the downstream computer.
  • the length of the bucket wheel boom 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 can also be determined from the profile in which the projection onto the vertical is calculated 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 is thus relative to the position of the excavator 16 continuously avoidable. If 6 DESIRED values are specified for the location of the impeller, a control variable for controlling the impeller 6 on any surface shapes can be derived from the difference between the ACTUAL values and REQUIRED 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.
  • the above invention which solves a basic problem previously considered unsolvable when working with bucket wheel excavators, can preferably be carried out with laser scanners, in particular IR laser scanners.
  • laser scanners in particular IR laser scanners.
  • other radiation sources comparable to a laser can also be used, e.g. electromagnetic radiators of very high frequency and comparable beam bundling.
  • other positions of the measurement laser than those shown in the drawing are possible. If there is a lot of dust, e.g. an attachment to the excavator and a contour detection of the mining front at a distance of 10-20 m from the bucket wheel.

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)
  • Operation Control Of Excavators (AREA)
  • Control And Safety Of Cranes (AREA)
  • Ship Loading And Unloading (AREA)
  • Earth Drilling (AREA)
EP90114612A 1989-08-08 1990-07-30 Fördermengenregelung eines Schaufelradbaggers oder Schaufelradaufnehmers im Tagebau Expired - Lifetime EP0412399B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT90114612T ATE99758T1 (de) 1989-08-08 1990-07-30 Foerdermengenregelung eines schaufelradbaggers oder schaufelradaufnehmers im tagebau.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3926222 1989-08-08
DE3926222 1989-08-08

Publications (2)

Publication Number Publication Date
EP0412399A1 EP0412399A1 (de) 1991-02-13
EP0412399B1 true EP0412399B1 (de) 1994-01-05

Family

ID=6386749

Family Applications (1)

Application Number Title Priority Date Filing Date
EP90114612A Expired - Lifetime EP0412399B1 (de) 1989-08-08 1990-07-30 Fördermengenregelung eines Schaufelradbaggers oder Schaufelradaufnehmers im Tagebau

Country Status (5)

Country Link
EP (1) EP0412399B1 (es)
AT (1) ATE99758T1 (es)
AU (1) AU634802B2 (es)
DE (1) DE59004104D1 (es)
ES (1) ES2048372T3 (es)

Cited By (2)

* 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

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1999002788A1 (de) * 1997-07-10 1999-01-21 Siemens Aktiengesellschaft Schaufelradgerät
DE19748761A1 (de) * 1997-11-05 1999-05-06 Krupp Foerdertechnik Gmbh Gewinnungsgerät für die Gewinnung von Bergbaumassen
USRE46672E1 (en) 2006-07-13 2018-01-16 Velodyne Lidar, Inc. High definition LiDAR system
US10627490B2 (en) 2016-01-31 2020-04-21 Velodyne Lidar, Inc. Multiple pulse, LIDAR based 3-D imaging
CA3017735C (en) 2016-03-19 2023-03-14 Velodyne Lidar, Inc. Integrated illumination and detection for lidar based 3-d imaging
WO2017210418A1 (en) 2016-06-01 2017-12-07 Velodyne Lidar, Inc. Multiple pixel scanning lidar
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
DE102018109498A1 (de) * 2018-02-23 2019-08-29 Liebherr-Components Biberach Gmbh Schaufelradbagger und Verfahren zum Steuern eines Schaufelradbaggers
CN108661107A (zh) * 2018-04-12 2018-10-16 王海燕 液压能分配可控式挖掘机
US11082010B2 (en) 2018-11-06 2021-08-03 Velodyne Lidar Usa, Inc. Systems and methods for TIA base current detection and compensation
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
DE102019214626A1 (de) * 2019-09-25 2020-09-24 Thyssenkrupp Ag Vorrichtung und Verfahren zur Optimierung von Abbauvorgängen sowie Verwendung und Computerprogrammprodukt

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1634712A1 (de) * 1965-12-17 1970-07-16 Krupp Gmbh Vorrichtung zur Regelung der Leistung eines Bagger-,Schuettgutabtrag- oder Schuettgutabwurfgeraetes
US4695163A (en) * 1985-06-17 1987-09-22 Schachar Ronald A Method and apparatus for determining surface shapes using reflected laser light

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2420120A1 (fr) * 1978-03-17 1979-10-12 Coal Industry Patents Ltd Systeme de controle permettant de determiner la configuration d'un trajet d'abattage de minerai dont les extremites ne peuvent pas etre reliees par une ligne de visee
FR2468101A1 (fr) * 1979-10-17 1981-04-30 Sncf Instrument a laser destine a mesurer le profil transversal d'ouvrages souterrains
FR2637625B1 (fr) * 1988-10-11 1994-04-08 Screg Routes Travaux Publics Procede et dispositif de positionnement automatique en continu d'un outil de reglage d'un engin de travaux publics, sur un terrain presentant une surface reelle a travailler

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1634712A1 (de) * 1965-12-17 1970-07-16 Krupp Gmbh Vorrichtung zur Regelung der Leistung eines Bagger-,Schuettgutabtrag- oder Schuettgutabwurfgeraetes
US4695163A (en) * 1985-06-17 1987-09-22 Schachar Ronald A Method and apparatus for determining surface shapes using reflected laser light

Cited By (4)

* 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

Also Published As

Publication number Publication date
EP0412399A1 (de) 1991-02-13
AU634802B2 (en) 1993-03-04
AU6027890A (en) 1991-02-14
ATE99758T1 (de) 1994-01-15
DE59004104D1 (de) 1994-02-17
ES2048372T3 (es) 1994-03-16

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