EP0412400B1 - Collision safety device for earth moving machines - Google Patents
Collision safety device for earth moving machines Download PDFInfo
- Publication number
- EP0412400B1 EP0412400B1 EP90114613A EP90114613A EP0412400B1 EP 0412400 B1 EP0412400 B1 EP 0412400B1 EP 90114613 A EP90114613 A EP 90114613A EP 90114613 A EP90114613 A EP 90114613A EP 0412400 B1 EP0412400 B1 EP 0412400B1
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- EP
- European Patent Office
- Prior art keywords
- open
- cast mining
- conveyor appliance
- appliance according
- mining conveyor
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- 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.)
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Classifications
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- 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
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- 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 an open-cast mining conveyor, in particular an excavator with a boom and with a collision protection device to protect the boom from collisions with possible collision objects in the working area of the conveyor, the collision protection device having a radiation transmitter / receiver arranged on the conveyor for scanning the working area of the conveyor .
- Such an open-pit conveyor with a collision protection device in a bucket wheel excavator is known from DE-A-1 634 712, the scanning of possible collision objects with the aid of beams such as e.g. B. of ultrasonic waves, electromagnetic vibrations or photoelectric light barriers is specified as an alternative to mechanical scanning.
- beams such as e.g. B. of ultrasonic waves, electromagnetic vibrations or photoelectric light barriers
- 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.
- contact-free object detection should be possible over longer distances.
- the range of motion of the conveyor can then be better utilized and the security against collisions can be increased taking into account the braking distance.
- the open-cast mine of the type of radiation transmitter / receiver is a laser scanner that generates a pulsed laser beam for line or grid-like scanning of the working area of the conveyor, and that the laser scanner is followed by a computer , in which the angular position and, by evaluating the transit time of the pulses of the laser beam the distance between the scanned collision objects is determined.
- the collision safety can also be considerably improved in open-cast mine conveying devices.
- the 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.
- a display with the help of a computer evaluation also gives the possibility of monitoring the working area of the 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. B. on embankment edges can be achieved.
- the attachment of the laser scanner can be varied depending on the task to be solved.
- 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 possible by radiating the laser beam in a grid-like manner over a predetermined solid angle, in particular line by line, as in the case of a television camera, or by means of conical or spherical radiation areas. For this purpose, swiveling movements that can only be achieved by simple optical devices are necessary.
- the work safety of the open-cast mine conveyor device according to the invention is increased if a free space calculation is carried out in the computer and in particular if this free space is displayed on a screen. In this way, changes in the open space can also be visually recorded and monitored.
- a security room can also be inserted into 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 conveyor device in front of an obstacle is always ensured. The detection of the security area increases the security against collisions considerably.
- the laser scanner is designed to measure for control marks from time to time. In this way, a permanent function check can be carried out on the one hand, but it is also possible to position the laser scanner or the moving parts of the conveyor in the room.
- the control marks can be continuous, e.g. B. with rail-bound conveyors, but also gradually, offset and realigned. In this way, progress of the control markings with work progress is ensured.
- the collision protection can advantageously be expanded to include general information about the shape of the objects located in the area of the collision protection device, eg. B. embankments. Furthermore, a statement about the correct approach to objects z. B. limit the work area, 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.
- a collision protection device 2 which has a laser scanner, 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 laser scanner 2 is advantageously chosen so that scanning of the working area of the conveyor 1 as undisturbed as possible by the conveyor 1 is possible.
- 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 1, which derives falling material.
- the excavator 1 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 laser scanner 2 is indicated.
- Laser beams 14 emanate from the laser scanner 2, which hit the material to be broken down and collision objects 12 at points 13.
- the collision objects 12 are more diverse Nature; it can be boulders, collapsed embankment parts, the edge of a excavation 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 the movements of the conveyor 1 and its individual parts, for. B. 5 or 6, be taken care of.
- FIG. 2 shows the attachment of laser scanners 15 and 16 on both sides of a paddle wheel 23.
- the paddle wheel 23 is mounted with its axis 24 in the boom 20 approximately in the plane in which the laser scanners 15 and 16 are located. Similar to that shown in FIG. 1, these continuously emit pulsed laser beams, which continuously scan one level in front of and one behind the paddle wheel 23 along the scan lines 18 and 19 and detect the mining 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. This makes it possible to correctly evaluate the duration of the pulses. With statistical evaluation of a large number of pulses, the electronic components on the market result in a measuring accuracy of a few millimeters.
- a laser scanner 16 is arranged both in front of the impeller 23 in the working direction and behind it. In this way, collision protection can be achieved in both directions, and data related to the conveying process can be continuously determined, which can serve to regulate the mining process.
- 25 denotes the laser beams, if advantageous, emitted in all directions within a hemisphere, which are generated in a laser scanner 28.
- the values from the object detection by the laser beams 25 in the collision protection device are first fed to an evaluation device 26, which sends them to a computer 27.
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- 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)
Abstract
Description
Die Erfindung betrifft ein Tagebau-Fördergerät, insbesondere Bagger mit einem Ausleger und mit einer Kollisionsschutzeinrichtung zum Schutz des Auslegers vor Kollisionen mit möglichen Kollisionsobjekten im Arbeitsbereich des Fördergerätes, wobei die Kollisionsschutzeinrichtung einen an dem Fördergerät angeordneten Strahlungssender/-empfänger zur Abtastung des Arbeitsbereiches des Fördergerätes aufweist.The invention relates to an open-cast mining conveyor, in particular an excavator with a boom and with a collision protection device to protect the boom from collisions with possible collision objects in the working area of the conveyor, the collision protection device having a radiation transmitter / receiver arranged on the conveyor for scanning the working area of the conveyor .
Ein derartiges Tagebau-Fördergerät mit einer Kollisionsschutzeinrichtung bei einem Schaufelradbagger ist aus der DE-A-1 634 712 bekannt, wobei die Abtastung möglicher Kollisionsobjekte mit Hilfe von Strahlen, wie z. B. von Ultraschallwellen, elektromagnetischen Schwingungen oder photoelektrischen Lichtschranken als eine Alternative zu einer mechanischen Abtastung angegeben ist. Wie jedoch die Abtastung mit Hilfe der Strahlen realisiert werden soll, ist der DE-A-1 634 712 nicht zu entnehmen.Such an open-pit conveyor with a collision protection device in a bucket wheel excavator is known from DE-A-1 634 712, the scanning of possible collision objects with the aid of beams such as e.g. B. of ultrasonic waves, electromagnetic vibrations or photoelectric light barriers is specified as an alternative to mechanical scanning. However, it is not clear from DE-A-1 634 712 how the scanning is to be implemented with the aid of the beams.
Aus der EP-A-0 192 993 ist ein Verfahren zur dreidimensionalen optischen Erfassung von Objekten mit Hilfe eines periodisch intensitätsmodulierten oder gepulsten Lasers bekannt, wobei Laufzeitunterschiede des von dem Objekt reflektierten und mit einem Empfänger erfaßten Lichts in Form von Helligkeitsunterschieden erfaßt und in Höhenstufen des Objekts umgerechnet werden. Zur vollständigen Ausleuchtung des Objekts ist zwischen diesem und dem Laser eine Strahlaufweitungsoptik angeordnet, mit der das Laserlicht zu einem Strahlungskegel aufgeweitet wird. Da das Objekt an unterschiedlichen Stellen unterschiedliche Reflexionseigenschaften aufweisen kann, wird von diesem zunächst ein allgemeines Grauwertbild erzeugt, das als Referenzbild für die Umrechnung der von den Laufzeitunterschieden abhängigen Helligkeitsunterschiede in die Höhenstufen dient.From EP-A-0 192 993 a method for the three-dimensional optical detection of objects with the aid of a periodically intensity-modulated or pulsed laser is known, differences in transit time of the light reflected from the object and detected by a receiver being detected in the form of differences in brightness and in height levels of Object can be converted. For complete illumination of the object, a beam expansion lens is arranged between the object and the laser, with which the laser light is expanded into a radiation cone. Since the object can have different reflection properties at different points, This first generates a general gray value image, which serves as a reference image for converting the brightness differences, which are dependent on the runtime differences, into the height levels.
Aus der Zeitschrift "Braunkohle", 41 (1989), Heft 5, Seiten 148 - 150, ist die Verwendung von Rotationslasern bei Schaufelradbaggern im Tagebau bekannt, wobei mit dem Laser direkt auf einen zugehörigen Empfänger gemessen wird. Eine Abtastung des Arbeitsbereichs des Schaufelradbaggers ist nicht vorgesehen.From the magazine "Braunkohle", 41 (1989), No. 5, pages 148-150, the use of rotary lasers in bucket-wheel excavators in open-cast mining is known, with the laser being measured directly on an associated receiver. A scanning of the working area of the bucket wheel excavator is not provided.
Schließlich ist aus der DE-A-34 11 540 ein Verfahren zur Fördervolumenmessung bei Bandförderern bekannt, wobei die Oberfläche des Schüttgutes quer zur Förderrichtung an mehreren Meßpunkten mit Hilfe von nach dem Impuls-Laufzeitmeßprinzip arbeitenden Laserentfernungsmeßgeräten abgetastet wird. Dabei ist für jeden Meßpunkt jeweils ein Laserentfernungsmeßgerät vorgesehen, so daß sich die Anzahl der benötigten Geräte nach der Breite des Bandförderers richtet.Finally, from 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.
Es ist Aufgabe der Erfindung, eine Kollisionsschutzeinrichtung für Bagger, Fördergeräte, Schüttgutaufnehmer-Schüttgutabsetzer oder dergleichen anzugeben, mit der die vorstehenden Nachteile vermieden werden. Insbesondere soll eine berührungsfreie Objekterfassung auf größere Entfernungen möglich sein. Damit kann dann der Bewegungsbereich des Fördergerätes besser ausgenutzt und die Sicherheit gegen Kollisionen unter Berücksichtigung des Bremsweges erhöht werden.It is an object of the invention to provide a collision protection device for excavators, conveyors, bulk material-bulk dispensers or the like, with which the above disadvantages are avoided. In particular, contact-free object detection should be possible over longer distances. The range of motion of the conveyor can then be better utilized and the security against collisions can be increased taking into account the braking distance.
Die Aufgabe wird erfindungsgemäß dadurch gelöst, daß bei dem Tagebau-Fördergerät der eingangs angegebenen Art der Strahlungssender/-empfänger ein Laserscanner ist, der einen gepulsten Laserstrahl zur linien- oder rasterartigen Abtastung des Arbeitsbereiches des Fördergerätes erzeugt, und daß dem Laserscanner ein Rechner nachgeordnet ist, in dem die Winkellage und, durch Auswertung der Laufzeit der Impulse des Laserstrahls der Abstand der abgetasteten Kollisionsobjekte ermittelt wird. Mit Hilfe der erfindungsgemäßen Erfassung von Kollisionsmöglichkeiten aller Art durch einen Laserstrahl kann die Kollisionssicherheit auch bei Tagebau-Fördergeräten erheblich verbessert werden. Das gepulste Laserlicht hat eine hohe Energiedichte und ist gegen Umwelteinflüsse relativ unempfindlich. Die erhaltene Reflektion ist hoch, so daß eine solche Einrichtung besonders sicher betrieben werden kann. Je nach Wellenlänge des verwendeten Laserlichtes können erhebliche Entfernungen überbrückt werden. Durch eine Anzeige mit Hilfe einer Rechnerauswertung ergibt sich darüber hinaus die Möglichkeit, den Arbeitsbereich des Fördergerätes in bisher unerreichter Weise zu überwachen. Die Überwachung ist dabei auf wesentlich größere Entfernungen als bisher möglich. Je nach Anbringungsart des Laserscanners am Fördergerät oder an seinen Auslegern kann dabei ein allgemeiner oder ein spezieller Kollisionsschutz, z. B. an Böschungskanten, erreicht werden. Die Anbringung des Laserscanners kann dabei je nach der zu lösenden Aufgabe variiert werden.The object is achieved in that the open-cast mine of the type of radiation transmitter / receiver is a laser scanner that generates a pulsed laser beam for line or grid-like scanning of the working area of the conveyor, and that the laser scanner is followed by a computer , in which the angular position and, by evaluating the transit time of the pulses of the laser beam the distance between the scanned collision objects is determined. With the aid of the detection of collision possibilities of all kinds according to the invention by means of a laser beam, the collision safety can also be considerably improved in open-cast mine conveying devices. The 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. Depending on the wavelength of the laser light used, considerable distances can be bridged. A display with the help of a computer evaluation also gives the possibility of monitoring the working area of the conveyor device in a way never before achieved. Monitoring is possible at much greater distances than before. Depending on the type of attachment of the laser scanner to the conveyor or to its arms, a general or a special collision protection, e.g. B. on embankment edges can be achieved. The attachment of the laser scanner can be varied depending on the task to be solved.
Das Abtasten erfolgt im einfachsten Fall durch eine Linienabtastung in Bewegungsrichtung des Fördergerätes oder seiner Ausleger, wobei vorteilhaft einfach ein scheibenförmiger oder scheibensegmentförmiger Bereich gegen Kollisionen überwacht werden kann. Eine Vergrößerung des Überwachungsbereiches ist dabei durch eine Abstrahlung des Laserstrahls rasterartig über einen vorgegebenen Raumwinkel insbesondere zeilenweise wie bei einer Fernsehkamera oder durch kegel- oder kugelförmige Abstrahlbereiche möglich. Hierfür sind lediglich durch einfache optische Einrichtungen erreichbare Schwenkbewegungen notwendig.In the simplest case, 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 possible by radiating the laser beam in a grid-like manner over a predetermined solid angle, in particular line by line, as in the case of a television camera, or by means of conical or spherical radiation areas. For this purpose, swiveling movements that can only be achieved by simple optical devices are necessary.
Die Arbeitssicherheit des erfindungsgemäßen Tagebau-Fördergerätes wird erhöht, wenn in dem Rechner eine Freiraumberechnung durchgeführt wird und insbesondere, wenn dieser Freiraum auf einem Bildschirm dargestellt wird. So lassen sich die Veränderungen des Freiraumes auch visuell erfassen und überwachen. In die Darstellung kann dabei auch noch ein Sicherheitsraum eingefügt werden, dessen Erreichen optisch oder akustisch angezeigt wird. Dieser Sicherheitsbereich kann durch eine Restwegberechnung in bezug auf die Kollisionsobjekte ermittelt werden, so daß stets für eine Abbremsung und einen Stopp der bewegten Teile des Fördergerätes vor einem Hindernis gesorgt wird. Die Erkennung des Sicherheitsbereiches erhöht die Sicherheit vor Kollisionen erheblich.The work safety of the open-cast mine conveyor device according to the invention is increased if a free space calculation is carried out in the computer and in particular if this free space is displayed on a screen. In this way, changes in the open space can also be visually recorded and monitored. A security room can also be inserted into 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 conveyor device in front of an obstacle is always ensured. The detection of the security area increases the security against collisions considerably.
Zur weiteren Erhöhung der Sicherheit ist vorgesehen, daß der Laserscanner von Zeit zu Zeit auf Kontrollmarkierungen messend ausgebildet ist. Hierdurch kann zum einen eine beständige Funktionskontrolle durchgeführt werden, desweiteren ist aber auch noch eine Positionierung des Laserscanners oder der bewegten Teile des Fördergerätes im Raum möglich. Die Kontrollmarkierungen können fortlaufend, z. B. bei schienengebundenen Fördergeräten, aber auch schrittweise, versetzt und neu ausgerichtet werden. So ist ein Fortschritt der Kontrollmarkierungen mit dem Arbeitsfortschritt gewährleistet.To further increase security, it is provided that the laser scanner is designed to measure for control marks from time to time. In this way, a permanent function check can be carried out on the one hand, but it is also possible to position the laser scanner or the moving parts of the conveyor in the room. The control marks can be continuous, e.g. B. with rail-bound conveyors, but also gradually, offset and realigned. In this way, progress of the control markings with work progress is ensured.
Von besonderem Vorteil ist es, wenn in dem Rechner Konturen von Kollisionsobjekten gespeichert sind, die mit den Konturen der erfaßten Objekte verglichen werden. Hierdurch kann vorteilhaft der Kollisionsschutz erweitert werden auf eine allgemeine Information über die Gestalt der im Bereich der Kollisionsschutzeinrichtung liegenden Objekte, z. B. Böschungen. Desweiteren ist eine Aussage über die korrekte Annäherung an Objekte, die z. B. den Arbeitsbereich begrenzen, möglich. Informationen dieser Art sind für die Steuerung des Fördergerätes und seiner Einzelteile von erheblichem Interesse.It is particularly advantageous if contours of collision objects are stored in the computer, which are compared with the contours of the detected objects. In this way, the collision protection can advantageously be expanded to include general information about the shape of the objects located in the area of the collision protection device, eg. B. embankments. Furthermore, a statement about the correct approach to objects z. B. limit the work area, possible. Information of this type is of considerable interest for the control of the conveyor and its individual parts.
Weitere Vorteile und Einzelheiten der Erfindung ergeben sich aus der nachfolgenden Beschreibung eines Ausführungsbeispieles anhand der Zeichnung und in Verbindung mit den Unteransprüchen. Es zeigen:
- FIG 1
- die Erfindung in Prinzipdarstellung mit einer Anbringung der Kollisionsschutzeinrichtung am Pylon eines Schaufelradbaggers von der Seite,
- FIG 2
- eine Anordnung der Kollisionsschutzeinrichtung am Schaufelradausleger von oben und
- FIG 3
- ein Blockschaltbild der Einrichtung mit ihrem Rechner in vereinfachter Form.
- FIG. 1
- the invention in principle with an attachment of the collision protection device to the pylon of a bucket wheel excavator from the side,
- FIG 2
- an arrangement of the collision protection device on the bucket wheel boom from above and
- FIG 3
- a block diagram of the device with your computer in a simplified form.
In FIG 1 ist mit 1 das schematisch angedeutete Fördergerät bezeichnet, das in dem Ausführungsbeispiel einen Schaufelradbagger darstellt. Auf dem Fördergerät 1 ist eine einen Laserscanner aufweisende Kollisionsschutzeinrichtung 2 angeordnet, die gegenüber dem Fördergerät 1 unabhängig verschwenkbar ist. Die Verschwenkung erfolgt vorteilhaft nach einem vorgegebenen Programm, das sich an dem vorgesehenen Arbeitsbereich des Fördergerätes 1 orientiert. Die Position des Laserscanners 2 ist vorteilhaft so gewählt, daß ein von dem Fördergerät 1 möglichst ungestörtes Abtasten des Arbeitsbereiches des Fördergerätes 1 möglich ist.In FIG. 1, 1 denotes the schematically indicated conveying device, which in the exemplary embodiment represents a bucket wheel excavator. A collision protection device 2, which has a laser scanner, 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 laser scanner 2 is advantageously chosen so that scanning of the working area of the conveyor 1 as undisturbed as possible by the conveyor 1 is possible.
Das Fördergerät 1, in dem hier dargestellten Beispiel ein Schaufelradbagger, ist auf einem Fahrgestell 3 angeordnet, das über die Laufwerke 4 verfahrbar ist. Das Schaufelrad 5 arbeitet auf ein Förderband 6, das das geförderte Material auf ein weiterführendes Band 8 abgibt. Unter dem Förderband 6 ist im Bereich des Baggers 1 eine Schürze 7 angeordnet, die herabfallendes Material ableitet. Der Bagger 1 steht auf dem Grund 9, über dem sich in dem Beispiel abzutragendes Material 10 befindet. Oben wird das abzutragende Material 10 durch eine Deckschicht 11 begrenzt, auf der sich auch Kollisionsobjekte 12 befinden können. In diesem Fall, für den mechanische Sensoren keine Lösungsmöglichkeit bieten, ist ein möglichst hoher Standort des Laserscanners 2 angezeigt.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
Von dem Laserscanner 2 gehen Laserstrahlen 14 aus, die in den Punkten 13 auf das abzubauende Material und auf Kollisionsobjekte 12 treffen. Die Kollisionsobjekte 12 sind vielfältiger Natur; es kann sich sowohl um Felsbrocken, eingefallene Böschungsteile, die Kante einer Abbaukontur als auch um liegengebliebene Maschinen aller Art oder sogar um Teile anderer Fördervorrichtungen handeln. In allen Fällen muß für ein rechtzeitiges Bremsen und Abstoppen der Bewegungen des Fördergerätes 1 und seiner einzelnen Teile, z. B. 5 oder 6, Sorge getragen werden.
Eine Anbringung von Laserscannern 15 und 16 zu beiden Seiten eines Schaufelrades 23 zeigt FIG 2. Das Schaufelrad 23 ist mit seiner Achse 24 im Ausleger 20 etwa in der Ebene gelagert, in der sich die Laserscanner 15 und 16 befinden. Diese senden, ähnlich wie in FIG 1 gezeigt, fortlaufend gepulste Laserstrahlen aus, die entlang der Scanlinien 18 und 19 je eine Ebene vor und hinter dem Schaufelrad 23 fortlaufend abtasten und die Abbaufront 21 sowie die Einzelheiten auf der Oberfläche, wie den Felsbrocken 22, erfassen. Die gepulsten Laserstrahlen haben bei einer Pulsdauer von einigen Nanosekunden, vorteilhaft 1-2 Nanosekunden, eine Pulsfrequenz im Kilohertzbereich. So ist eine einwandfreie Auswertung der Laufdauer der Impulse möglich. Bei statistischer Auswertung einer großen Impulszahl ergibt sich mit im Handel befindlichen Elektronikbausteinen eine Meßgenauigkeit von einigen Millimetern.FIG. 2 shows the attachment of
Es ist besonders vorteilhaft, wenn, wie FIG 2 zeigt, sowohl in Arbeitsrichtung vor dem Schaufelrad 23 ein Laserscanner 16 angeordnet ist als auch dahinter. Hierdurch kann sowohl ein Kollisionsschutz in beiden Richtungen erreicht werden, als auch mit dem Fördervorgang zusammenhängende Daten fortlaufend ermittelt werden, die der Regelung des Abbauvorganges dienen können.It is particularly advantageous if, as FIG. 2 shows, a
In FIG 3 bezeichnen 25 die, falls vorteilhaft, nach allen Richtungen innerhalb einer Halbkugel, abgestrahlten Laserstrahlen, die in einem Laserscanner 28 erzeugt werden.In FIG. 3, 25 denotes the laser beams, if advantageous, emitted in all directions within a hemisphere, which are generated in a
Wie sich aus dem Blockschaltbild in FIG 3 ergibt, werden die Werte aus der Objekterfassung durch die Laserstrahlen 25 in der Kollisionsschutzeinrichtung zunächst einem Auswertegerät 26 zugeführt, das diese einem Rechner 27 aufgibt. Dieser ermittelt den Abstand und die Winkellage des Objektes 12 oder 22 und errechnet den noch verbliebenen Freiraum sowie bei einer weiteren Annäherung des Fördergerätes 1 oder eines seiner Teile an das Kollisionsobjekt 12 bzw. 22 den Restweg, der zur sicheren Abbremsung und zum Stopp der bewegten Teile notwendig ist. Von dem Rechner 27, der vorzugsweise einen Monitor 30 aufweist, werden Steuersignale 29 zur Abbremsung oder zum Stopp des Fördergerätes 1 oder seiner einzelnen Teile abgegeben. Die weitere Steuerung der Bewegungen erfolgt nunmehr visuell geführt von Hand.As can be seen from the block diagram in FIG. 3, the values from the object detection by the
Claims (11)
- Open-cast mining conveyor appliance, especially excavator (1), with a jib (20) and with a collision safety device for protecting the jib (20) against collisions with possible collision objects (12, 22) in the working range of the conveyor appliance (1), the collision safety device having a radiation transmitter/receiver (2, 15, 16, 28), arranged on the conveyor appliance (1), for scanning the working range of the conveyor appliance (1), characterized in that the radiation transmitter/receiver (2, 15, 16, 28) is a laser scanner which generates a pulsed laser beam (14, 25) for the linear or grid-like scanning of the working range of the conveyor appliance (1), and in that the laser scanner (2, 15, 16, 28) is followed by a computer (27), in which the angular position and, by evaluation of the transit time of the pulses of the laser beam (14, 25), the distance of the scanned collision objects (12, 22) are determined.
- Open-cast mining conveyor appliance according to Claim 1, characterized in that the laser scanner (2, 15, 16, 28) is a solid-state laser, and in that the wavelength of the laser beam (14, 25) is in the infrared range.
- Open-cast mining conveyor appliance according to Claim 2, characterized in that the pulse duration amounts to a few nanoseconds and the pulse frequency is in the kilohertz range.
- Open-cast mining conveyor appliance according to Claim 1, 2 or 3, characterized in that, to increase the measuring accuracy, the computer (27) is designed for statistical evaluation of a large number of pulses of the laser beam (14, 25).
- Open-cast mining conveyor appliance according to Claim 1, 2, 3 or 4, characterized in that the laser beam (14, 25) is radiated in disk form or in disk segments.
- Open-cast mining conveyor appliance according to Claim 1, 2, 3 or 4, characterized in that the laser beam (14, 25) is radiated in a grid-like manner over a predetermined solid angle, in particular line by line.
- Open-cast mining conveyor appliance according to one of the preceding claims, characterized in that free-space computation, is carried out in the computer (27).
- Open-cast mining conveyor appliance according to one of the preceding claims, characterized by a display screen (30) for indicating collision objects, especially in the form of a free-space representation.
- Open-cast mining conveyor appliance according to Claim 7 or 8, characterized in that remaining-distance computation, in respect of the collision objects (12, 22), with allowance for the braking distance of the open-cast mining conveyor appliance (1), is carried out in the computer (27).
- Open-cast mining conveyor appliance according to one of the preceding claims, characterized in that the laser scanner (2, 15, 16, 28) is designed to measure position markings and check markings on the conveyor appliance (1) from time to time.
- Open-cast mining conveyor appliance according to one of the preceding claims, characterized in that contours of collision objects (12, 22), which are compared with the contours of the recorded objects (12, 22), especially for proximity control, are stored in the computer (27).
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AT90114613T ATE102276T1 (en) | 1989-08-08 | 1990-07-30 | COLLISION PROTECTION DEVICE FOR CONVEYOR DEVICES. |
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 EP0412400A1 (en) | 1991-02-13 |
EP0412400B1 true EP0412400B1 (en) | 1994-03-02 |
Family
ID=6386751
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP90114613A Expired - Lifetime EP0412400B1 (en) | 1989-08-08 | 1990-07-30 | Collision safety device for earth moving machines |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP0412400B1 (en) |
AT (1) | ATE102276T1 (en) |
DE (1) | DE59004748D1 (en) |
ES (1) | ES2049876T3 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103362172A (en) * | 2012-03-29 | 2013-10-23 | 哈尼施费格尔技术公司 | Collision detection and mitigation systems and methods for excavator |
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 |
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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 |
GB2332415B (en) * | 1997-12-19 | 2001-11-21 | Univ Carnegie Mellon | Sensor configuration for an earthmoving machine |
US6363632B1 (en) * | 1998-10-09 | 2002-04-02 | Carnegie Mellon University | System for autonomous excavation and truck loading |
DE10021675A1 (en) * | 2000-05-05 | 2001-11-15 | Isam Inma Ges Fuer Angewandte | Control system for automatic control of movable bucket wheel device guarantees permanent detection of mound shape irrespective of operation of movable bucket wheel device |
USRE46672E1 (en) | 2006-07-13 | 2018-01-16 | Velodyne Lidar, Inc. | High definition LiDAR system |
ATE533918T1 (en) * | 2008-08-09 | 2011-12-15 | 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 |
KR102102133B1 (en) * | 2011-12-26 | 2020-04-20 | 스미도모쥬기가이고교 가부시키가이샤 | Image display device for backhoe |
US10627490B2 (en) | 2016-01-31 | 2020-04-21 | Velodyne Lidar, Inc. | Multiple pulse, LIDAR based 3-D imaging |
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CA3024510C (en) | 2016-06-01 | 2022-10-04 | Velodyne Lidar, Inc. | Multiple pixel scanning lidar |
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WO2018208843A1 (en) | 2017-05-08 | 2018-11-15 | Velodyne Lidar, Inc. | Lidar data acquisition and control |
US10712434B2 (en) | 2018-09-18 | 2020-07-14 | Velodyne Lidar, 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 |
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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 |
US11987961B2 (en) | 2021-03-29 | 2024-05-21 | Joy Global Surface Mining Inc | Virtual field-based track protection for a mining machine |
US11939748B2 (en) | 2021-03-29 | 2024-03-26 | Joy Global Surface Mining Inc | Virtual track model for a mining machine |
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US2561152A (en) * | 1947-05-20 | 1951-07-17 | Albert R Stryker | Ditch digging machine with warning device |
DE2541405A1 (en) * | 1975-09-17 | 1977-03-31 | Born Ultraschall | Preventing collision of moving parts - using transmitter and receiver for alternating electromagnetic fields to provide contact-free end switches |
US4408195A (en) * | 1981-08-17 | 1983-10-04 | Fmc Corporation | Boundary plane warning system |
SE456048B (en) * | 1982-02-24 | 1988-08-29 | Philips Norden Ab | SET AND DEVICE FOR DETERMINING THE RISK OF COLLISION FOR TWO INBOARD'S LOVELY BODIES |
-
1990
- 1990-07-30 AT AT90114613T patent/ATE102276T1/en active
- 1990-07-30 EP EP90114613A patent/EP0412400B1/en not_active Expired - Lifetime
- 1990-07-30 DE DE90114613T patent/DE59004748D1/en not_active Expired - Lifetime
- 1990-07-30 ES ES90114613T patent/ES2049876T3/en not_active Expired - Lifetime
Cited By (6)
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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 |
CN103362172A (en) * | 2012-03-29 | 2013-10-23 | 哈尼施费格尔技术公司 | Collision detection and mitigation systems and methods for excavator |
CN103362172B (en) * | 2012-03-29 | 2016-12-28 | 哈尼施费格尔技术公司 | For the collision detection of excavator and relieving system and method thereof |
Also Published As
Publication number | Publication date |
---|---|
DE59004748D1 (en) | 1994-04-07 |
ATE102276T1 (en) | 1994-03-15 |
EP0412400A1 (en) | 1991-02-13 |
ES2049876T3 (en) | 1994-05-01 |
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