EP0412400A1 - Dispositif de sécurité pour empêcher la collision d'engins de terrassement - Google Patents

Dispositif de sécurité pour empêcher la collision d'engins de terrassement Download PDF

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Publication number
EP0412400A1
EP0412400A1 EP90114613A EP90114613A EP0412400A1 EP 0412400 A1 EP0412400 A1 EP 0412400A1 EP 90114613 A EP90114613 A EP 90114613A EP 90114613 A EP90114613 A EP 90114613A EP 0412400 A1 EP0412400 A1 EP 0412400A1
Authority
EP
European Patent Office
Prior art keywords
protection device
collision
collision protection
objects
light
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.)
Granted
Application number
EP90114613A
Other languages
German (de)
English (en)
Other versions
EP0412400B1 (fr
Inventor
Edmund Heimes
Hans-Jörg Nüsslin
Johann Hipp
Franz-Josef Hartlief
Franz-Arno Fassbender
Ralf Eckoldt
Peter 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 AT90114613T priority Critical patent/ATE102276T1/de
Publication of EP0412400A1 publication Critical patent/EP0412400A1/fr
Application granted granted Critical
Publication of EP0412400B1 publication Critical patent/EP0412400B1/fr
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
    • 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
    • E02F3/22—Component parts
    • E02F3/26—Safety or control devices
    • 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
    • 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
    • E02F9/24—Safety devices, e.g. for preventing overload

Definitions

  • the invention relates to a collision protection device for excavators, open-pit conveyors or the like, which have cantilevers which are protected by sensors against a collision with the material or with other objects.
  • collision protection devices are required in order to avoid high-cost damage to the devices and loss of production.
  • sensors in rod or wire form are attached to the devices or are stretched between devices and their brackets.
  • Suspended collision protection sensors tensioned by weights are also known.
  • the known devices have the disadvantage that they only respond to contact with obstacles and do not recognize the position and location of the touched obstacles. Furthermore, they work sluggishly and are prone to failure.
  • contact-free object detection should be possible over longer distances.
  • the range of motion of the conveying device can then be better utilized and the security against collisions can be increased taking into account the braking distance.
  • the sensors are designed as light beams which are generated in a device and detect the collision objects via reflection, the position of the detected objects in relation to the device being determined and evaluated by a computer.
  • the collision safety can also be considerably improved even in the case of open-cast conveyor devices.
  • a display with the help of a computer evaluation also offers the possibility of monitoring the working area of a conveyor device in a way never before achieved. Monitoring is possible at much greater distances than before.
  • a general or a special collision protection e.g. on embankment edges.
  • the attachment of the sensors can be varied depending on the task to be solved.
  • the light beams consist of laser light, in particular of pulsed IR laser light (wavelength e.g. approx. 900 nanometers).
  • Laser light especially pulsed laser light, has a high energy density and is relatively insensitive to environmental influences. The reflection obtained is high, so that such a device can be operated particularly safely.
  • considerable distances can be bridged.
  • Stroboscopic flashes can also be used to monitor small distances. Both options allow scanning.
  • the scanning is carried out by line scanning in the direction of movement of the conveying device or its extension arm, it being advantageously advantageously possible to monitor a disk-shaped or disk-segment-shaped area against collisions.
  • An enlargement of the monitoring area is grid-like due to the radiation of the light rays possible over a predetermined solid angle, in particular line by line as in a television camera or through conical or spherical radiation areas. For this purpose, swiveling movements that can only be achieved by simple optical devices are necessary.
  • the occupational safety of the collision protection device according to the invention is increased if the light beam is connected to an evaluation device and a computer in which a free space calculation is carried out and in particular if this free space is displayed on a screen.
  • the changes in the open space can also be visually recorded and monitored.
  • a security room can also be inserted in the display, the reaching of which is indicated optically or acoustically.
  • This safety area can be determined by a distance-to-go calculation in relation to the collision objects, so that braking and stopping of the moving parts of the conveying device in front of an obstacle is always ensured.
  • the detection of the safety area increases the collision safety considerably with the help of the collision protection device and, in the past, with the mechanically working devices, was difficult to implement.
  • the collision protection device is designed to measure from time to time on control markings. In this way, a permanent functional check can be carried out, but it is also possible to position the device or the moving parts of the conveyor in the room.
  • the control marks can be continuous, e.g. for rail-bound conveyors, but also gradually, relocated and realigned. In this way, progress of the control markings with work progress is guaranteed.
  • the computer of the control device stores contours of collision objects which are compared with the contours of the detected objects.
  • the collision protection can advantageously be expanded to include general information about the shape of the objects, for example embankments, located in the area of the collision protection device.
  • a statement about the correct approach to objects that limit the work area, for example, is possible. Information of this type is of considerable interest for the control of the conveyor and its individual parts.
  • 1 denotes the schematically indicated conveying device, which in the exemplary embodiment represents a bucket wheel excavator.
  • the device 2 of the collision protection device is arranged on the conveyor device 1 and can be pivoted independently of the conveyor device 1.
  • the pivoting is advantageously carried out according to a predetermined program, which is based on the intended working area of the conveyor 1.
  • the position of the device 2 is advantageously chosen so that the working area of the conveyor 1 can be scanned as undisturbed as possible by the conveyor 1.
  • the conveyor 1, in the example shown here a bucket wheel excavator, is arranged on a chassis 3 which can be moved via the drives 4.
  • the paddle wheel 5 works on a conveyor belt 6, which delivers the conveyed material to a further belt 8.
  • an apron 7 is arranged in the area of the excavator, which derives falling material.
  • the excavator stands on the ground 9, above which there is material 10 to be removed in the example.
  • the material 10 to be removed is delimited at the top by a cover layer 11, on which collision objects (12) can also be located. In this case, for which mechanical sensors do not offer a solution, the highest possible location of the device 2 is indicated.
  • Light rays 14 emanate from the device 2 and hit the material to be mined and the collision objects 12 at points 13.
  • the collision objects are diverse in nature, they can be boulders, sunken embankment parts, the edge of a mining contour, as well as broken down machines of all kinds or even parts of other conveying devices. In all cases, for timely braking and stopping of the movements of the conveyor 1 and its individual parts, e.g. 5 or 6, care should be taken.
  • FIG. 2 shows an attachment of light-beam generating devices, such as are known in principle, for example from “Lasertechnik: e.Einf.”, Wegig-Verlag, Heidelberg, 1982, p. 368 ff., To both sides of a paddle wheel 23 its axis 24 stored in the boom 20 approximately in the plane in which the devices 15 and 16 are located. Similar to that shown in FIG. 1, these continuously emit beams, preferably light beams, in particular pulsed laser beams, which continuously scan along the scan lines 18 and 19 one level in front of and one behind the paddle wheel 23 and the dismantling front 21 and the details on the surface , such as the boulder 22.
  • these continuously emit beams preferably light beams, in particular pulsed laser beams, which continuously scan along the scan lines 18 and 19 one level in front of and one behind the paddle wheel 23 and the dismantling front 21 and the details on the surface , such as the boulder 22.
  • the pulsed laser beams have a pulse frequency in the kilohertz range. So is a perfect off evaluation of the duration of the impulses possible. When evaluating a large number of impulses statistically, the measuring accuracy of a few millimeters is obtained with commercially available electronic components.
  • a laser scanner is arranged both in the working direction in front of the paddle wheel 23 and behind it. In this way, collision protection can be achieved in both directions, and data relating to the conveying process can be continuously determined, which can serve to regulate the mining process.
  • 25 denotes the light rays, if advantageous, emitted in all directions within a hemisphere, which e.g. are generated in a laser scanner 28.
  • the values from the object detection by the light beams 25 in the collision protection device are first fed to an evaluation device 26, which sends them to a computer 27.
  • Control signals 29 for braking or stopping the conveyor device or its individual parts are emitted by the computer 27, which preferably has a monitor 30. The further control of the movements is now carried out visually by hand.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Component Parts Of Construction Machinery (AREA)
  • Control Of Conveyors (AREA)
  • Attitude Control For Articles On Conveyors (AREA)
  • Special Conveying (AREA)
  • Control And Safety Of Cranes (AREA)
EP90114613A 1989-08-08 1990-07-30 Dispositif de sécurité pour empêcher la collision d'engins de terrassement Expired - Lifetime EP0412400B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT90114613T ATE102276T1 (de) 1989-08-08 1990-07-30 Kollisionsschutzeinrichtung fuer foerdergeraete.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3926224 1989-08-08
DE3926224 1989-08-08

Publications (2)

Publication Number Publication Date
EP0412400A1 true EP0412400A1 (fr) 1991-02-13
EP0412400B1 EP0412400B1 (fr) 1994-03-02

Family

ID=6386751

Family Applications (1)

Application Number Title Priority Date Filing Date
EP90114613A Expired - Lifetime EP0412400B1 (fr) 1989-08-08 1990-07-30 Dispositif de sécurité pour empêcher la collision d'engins de terrassement

Country Status (4)

Country Link
EP (1) EP0412400B1 (fr)
AT (1) ATE102276T1 (fr)
DE (1) DE59004748D1 (fr)
ES (1) ES2049876T3 (fr)

Cited By (22)

* 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
GB2316668A (en) * 1996-08-24 1998-03-04 Robert Wilson Elevation limiting safety device for excavator arm
GB2332415A (en) * 1997-12-19 1999-06-23 Univ Carnegie Mellon Plural terrain scanning sensor arrangement for an earth working machine
GB2342640A (en) * 1998-10-09 2000-04-19 Univ Carnegie Mellon System for autonomous excavation and truck loading
DE10021675A1 (de) * 2000-05-05 2001-11-15 Isam Inma Ges Fuer Angewandte Steuer-System bzw. Verfahren für die automatische Steuerung eines verfahrbaren Schaufelradgerätes
WO2010017823A1 (fr) * 2008-08-09 2010-02-18 Eickhoff Bergbautechnik Gmbh Procédé et dispositif de surveillance d'une machine d'abattage coupant
WO2010022113A1 (fr) * 2008-08-22 2010-02-25 Caterpillar Trimble Control Technologies Llc Système de balayage tridimensionnel ayant une fonctionnalité de mise à jour dynamique
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
CN108130933A (zh) * 2011-12-26 2018-06-08 住友重机械工业株式会社 挖土机、挖土机的图像显示方法以及装置
USRE48490E1 (en) 2006-07-13 2021-03-30 Velodyne Lidar Usa, Inc. High definition LiDAR system
US10983218B2 (en) 2016-06-01 2021-04-20 Velodyne Lidar Usa, Inc. Multiple pixel scanning LIDAR
US11073617B2 (en) 2016-03-19 2021-07-27 Velodyne Lidar Usa, Inc. Integrated illumination and detection for LIDAR based 3-D imaging
US11082010B2 (en) 2018-11-06 2021-08-03 Velodyne Lidar Usa, Inc. Systems and methods for TIA base current detection and compensation
US11137480B2 (en) 2016-01-31 2021-10-05 Velodyne Lidar Usa, Inc. Multiple pulse, LIDAR based 3-D imaging
US11703569B2 (en) 2017-05-08 2023-07-18 Velodyne Lidar Usa, Inc. LIDAR data acquisition and control
US11796648B2 (en) 2018-09-18 2023-10-24 Velodyne Lidar Usa, Inc. Multi-channel lidar illumination driver
US11808891B2 (en) 2017-03-31 2023-11-07 Velodyne Lidar Usa, Inc. Integrated LIDAR illumination power control
US11885958B2 (en) 2019-01-07 2024-01-30 Velodyne Lidar Usa, Inc. Systems and methods for a dual axis resonant scanning mirror
US11933967B2 (en) 2019-08-22 2024-03-19 Red Creamery, LLC Distally actuated scanning mirror
US11939748B2 (en) 2021-03-29 2024-03-26 Joy Global Surface Mining Inc Virtual track model for a mining machine
US11987961B2 (en) 2021-03-29 2024-05-21 Joy Global Surface Mining Inc Virtual field-based track protection for a mining machine

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9598836B2 (en) * 2012-03-29 2017-03-21 Harnischfeger Technologies, Inc. Overhead view system for a shovel

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2561152A (en) * 1947-05-20 1951-07-17 Albert R Stryker Ditch digging machine with warning device
DE2541405A1 (de) * 1975-09-17 1977-03-31 Born Ultraschall Vorrichtung zur verhinderung der kollision von beweglichen teilen einer anlage
EP0072567A2 (fr) * 1981-08-17 1983-02-23 Fmc Corporation Système avertisseur de limite de plan
EP0087198A2 (fr) * 1982-02-24 1983-08-31 Philips Norden AB Méthode et dispositif empêchant des collisions de deux corps mutuellement mobiles

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2561152A (en) * 1947-05-20 1951-07-17 Albert R Stryker Ditch digging machine with warning device
DE2541405A1 (de) * 1975-09-17 1977-03-31 Born Ultraschall Vorrichtung zur verhinderung der kollision von beweglichen teilen einer anlage
EP0072567A2 (fr) * 1981-08-17 1983-02-23 Fmc Corporation Système avertisseur de limite de plan
EP0087198A2 (fr) * 1982-02-24 1983-08-31 Philips Norden AB Méthode et dispositif empêchant des collisions de deux corps mutuellement mobiles

Cited By (49)

* 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
GB2316668B (en) * 1996-08-24 2000-05-17 Robert Wilson Excavator arm having an elevation limiting system
GB2316668A (en) * 1996-08-24 1998-03-04 Robert Wilson Elevation limiting safety device for excavator arm
GB2332415A (en) * 1997-12-19 1999-06-23 Univ Carnegie Mellon Plural terrain scanning sensor arrangement for an earth working machine
GB2332415B (en) * 1997-12-19 2001-11-21 Univ Carnegie Mellon Sensor configuration for an earthmoving machine
GB2342640B (en) * 1998-10-09 2002-08-21 Univ Carnegie Mellon System for automatic excavation and truck loading
GB2342640A (en) * 1998-10-09 2000-04-19 Univ Carnegie Mellon System for autonomous excavation and truck loading
DE10021675A1 (de) * 2000-05-05 2001-11-15 Isam Inma Ges Fuer Angewandte Steuer-System bzw. Verfahren für die automatische Steuerung eines verfahrbaren Schaufelradgerätes
US6970801B2 (en) 2000-05-05 2005-11-29 Isam Holding Gmbh Control system or process for the automatic control of a moveable bucket wheel device
USRE48688E1 (en) 2006-07-13 2021-08-17 Velodyne Lidar Usa, Inc. High definition LiDAR system
USRE48490E1 (en) 2006-07-13 2021-03-30 Velodyne Lidar Usa, Inc. High definition LiDAR system
USRE48666E1 (en) 2006-07-13 2021-08-03 Velodyne Lidar Usa, Inc. High definition LiDAR system
USRE48503E1 (en) 2006-07-13 2021-04-06 Velodyne Lidar Usa, Inc. High definition LiDAR system
USRE48504E1 (en) 2006-07-13 2021-04-06 Velodyne Lidar Usa, Inc. High definition LiDAR system
USRE48491E1 (en) 2006-07-13 2021-03-30 Velodyne Lidar Usa, Inc. High definition lidar system
EA016425B1 (ru) * 2008-08-09 2012-04-30 Айкхофф Бергбаутехник Гмбх Способ контролирования пути движения режущей очистной машины
WO2010017823A1 (fr) * 2008-08-09 2010-02-18 Eickhoff Bergbautechnik Gmbh Procédé et dispositif de surveillance d'une machine d'abattage coupant
US8474918B2 (en) 2008-08-09 2013-07-02 Eickhoff Bergbautechnik Gmbh Method and device for monitoring a cutting extraction machine
US8345926B2 (en) 2008-08-22 2013-01-01 Caterpillar Trimble Control Technologies Llc Three dimensional scanning arrangement including dynamic updating
WO2010022113A1 (fr) * 2008-08-22 2010-02-25 Caterpillar Trimble Control Technologies Llc Système de balayage tridimensionnel ayant une fonctionnalité de mise à jour dynamique
DE112009002054B4 (de) * 2008-08-22 2021-03-25 Caterpillar Trimble Control Technologies Llc Dreidimensionale Abtastvorrichtung, die eine dynamische Aktualisierung enthält
CN102131986B (zh) * 2008-08-22 2014-04-16 卡特彼勒天宝控制技术有限责任公司 包括动态更新的三维扫描装置
US11028560B2 (en) 2011-04-14 2021-06-08 Joy Global Surface Mining Inc Swing automation for rope shovel
US10227754B2 (en) 2011-04-14 2019-03-12 Joy Global Surface Mining Inc Swing automation for rope shovel
US9567725B2 (en) 2011-04-14 2017-02-14 Harnischfeger Technologies, Inc. Swing automation for rope shovel
US9315967B2 (en) 2011-04-14 2016-04-19 Harnischfeger Technologies, Inc. Swing automation for rope shovel
US8768579B2 (en) 2011-04-14 2014-07-01 Harnischfeger Technologies, Inc. Swing automation for rope shovel
CN108130933A (zh) * 2011-12-26 2018-06-08 住友重机械工业株式会社 挖土机、挖土机的图像显示方法以及装置
US9206587B2 (en) 2012-03-16 2015-12-08 Harnischfeger Technologies, Inc. Automated control of dipper swing for a shovel
US9745721B2 (en) 2012-03-16 2017-08-29 Harnischfeger Technologies, Inc. Automated control of dipper swing for a shovel
US10655301B2 (en) 2012-03-16 2020-05-19 Joy Global Surface Mining Inc Automated control of dipper swing for a shovel
US11698443B2 (en) 2016-01-31 2023-07-11 Velodyne Lidar Usa, Inc. Multiple pulse, lidar based 3-D imaging
US11822012B2 (en) 2016-01-31 2023-11-21 Velodyne Lidar Usa, Inc. Multiple pulse, LIDAR based 3-D imaging
US11137480B2 (en) 2016-01-31 2021-10-05 Velodyne Lidar Usa, Inc. Multiple pulse, LIDAR based 3-D imaging
US11550036B2 (en) 2016-01-31 2023-01-10 Velodyne Lidar Usa, Inc. Multiple pulse, LIDAR based 3-D imaging
US11073617B2 (en) 2016-03-19 2021-07-27 Velodyne Lidar Usa, Inc. Integrated illumination and detection for LIDAR based 3-D imaging
US11874377B2 (en) 2016-06-01 2024-01-16 Velodyne Lidar Usa, Inc. Multiple pixel scanning LIDAR
US11561305B2 (en) 2016-06-01 2023-01-24 Velodyne Lidar Usa, Inc. Multiple pixel scanning LIDAR
US11550056B2 (en) 2016-06-01 2023-01-10 Velodyne Lidar Usa, Inc. Multiple pixel scanning lidar
US11808854B2 (en) 2016-06-01 2023-11-07 Velodyne Lidar Usa, Inc. Multiple pixel scanning LIDAR
US10983218B2 (en) 2016-06-01 2021-04-20 Velodyne Lidar Usa, Inc. Multiple pixel scanning LIDAR
US11808891B2 (en) 2017-03-31 2023-11-07 Velodyne Lidar Usa, Inc. Integrated LIDAR illumination power control
US11703569B2 (en) 2017-05-08 2023-07-18 Velodyne Lidar Usa, Inc. LIDAR data acquisition and control
US11796648B2 (en) 2018-09-18 2023-10-24 Velodyne Lidar Usa, Inc. Multi-channel lidar illumination driver
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
US11933967B2 (en) 2019-08-22 2024-03-19 Red Creamery, LLC Distally actuated scanning mirror
US11939748B2 (en) 2021-03-29 2024-03-26 Joy Global Surface Mining Inc Virtual track model for a mining machine
US11987961B2 (en) 2021-03-29 2024-05-21 Joy Global Surface Mining Inc Virtual field-based track protection for a mining machine

Also Published As

Publication number Publication date
EP0412400B1 (fr) 1994-03-02
ES2049876T3 (es) 1994-05-01
ATE102276T1 (de) 1994-03-15
DE59004748D1 (de) 1994-04-07

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