EP0412400B1 - 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
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
Authority
EP
European Patent Office
Prior art keywords
open
cast mining
conveyor appliance
appliance according
mining conveyor
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
EP90114613A
Other languages
German (de)
English (en)
Other versions
EP0412400A1 (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 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.

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)
  • Control And Safety Of Cranes (AREA)
  • Special Conveying (AREA)
  • Attitude Control For Articles On Conveyors (AREA)

Claims (11)

  1. Dispositif d'excavation de mine à ciel ouvert, notamment excavateur à godets (1), comportant un bras en console (20) et un dispositif de protection contre les collisions servant à protéger le bras en console (20) vis-à-vis de collisions avec d'éventuels objets de collision (12, 22) dans la zone de travail du dispositif d'excavation (1), le dispositif de protection contre les collisions possédant un émetteur/récepteur de rayonnement (2,15,16,28) disposé sur le dispositif d'excavation (1) et servant à explorer la zone de travail du dispositif d'excavation (1),
    caractérisé par le fait que l'émetteur/récepteur de rayonnement (2, 15, 16, 28) est un dispositif de balayage laser, qui produit un faisceau laser pulsé (14, 25), servant à réaliser l'exploration selon un balayage de lignes ou un balayage de trame de la zone de travail du dispositif d'excavation (1), et qu'en aval du dispositif de balayage laser (2, 15, 16, 28) est raccordé un calculateur (27), dans lequel sont déterminées la position angulaire et, au moyen de l'évaluation du temps de propagation des impulsions du faisceau laser (14, 25), la distance des objets de collision explorés (12, 22).
  2. Dispositif d'excavation de mine à ciel ouvert suivant la revendication 1, caractérisé par le fait que le dispositif de balayage laser (2, 15, 16, 28) est un laser à corps solide et que la longueur d'onde du faisceau laser (14, 25) se situe dans la gamme infrarouge.
  3. Dispositif d'excavation de mine à ciel ouvert suivant la revendication 2, caractérisé par le fait que la durée des impulsions est égale à quelques nanosecondes et que la fréquence des impulsions se situe dans la gamme des kilohertz.
  4. Dispositif d'excavation de mine à ciel ouvert suivant la revendication 1, 2 ou 3, caractérisé par le fait que pour accroître la précision de mesure, le calculateur (27) est conçu pour réaliser l'évaluation statistique d'un grand nombre d'impulsions du faisceau laser (14, 25).
  5. Dispositif d'excavation de mine à ciel ouvert suivant la revendication 1, 2, 3 ou 4, caractérisé par le fait que Le faisceau laser (14, 25) est émis avec une forme de disque ou bien de segments de disque.
  6. Dispositif d'excavation de mine à ciel ouvert suivant la revendication 1, 2, 3 ou 4, caractérisé par le fait que le faisceau laser (14, 25) est émis de manière à réaliser un balayage de trame dans un angle solide prédéterminé, notamment ligne par ligne.
  7. Dispositif d'excavation de mine à ciel ouvert suivant l'une des revendications précédentes, caractérisé par le fait qu'un calcul de l'espace libre est exécuté dans le calculateur (27).
  8. Dispositif d'excavation de mine à ciel ouvert suivant l'une des revendications précédentes, caractérisé par un écran (30) servant à afficher les objets de collision, notamment sous la forme d'une représentation de l'espace libre.
  9. Dispositif d'excavation de mine à ciel ouvert suivant la revendication 7 ou 8, caractérisé par le fait qu'un calcul du trajet résiduel par rapport aux objets de collision (12, 22) est exécuté dans le calculateur (27) en tenant compte de la distance de freinage du dispositif (1) d'excavation de mine à ciel ouvert.
  10. Dispositif d'excavation de mine à ciel ouvert suivant l'une des revendications précédentes, caractérisé par le fait que le dispositif de balayage laser (2, 15, 16, 28) est agencé de manière à mesurer de temps à autres des marques de position et de commande sur le dispositif d'excavation (1).
  11. Dispositif d'excavation de mine à ciel ouvert suivant l'une des revendications précédentes, caractérisé par le fait que dans le calculateur (27) sont mémorisés des contours d'objets de collision (12, 22), qui sont comparés aux contours des objets détectés (12, 22), notamment pour une commande d'approche.
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 EP0412400A1 (fr) 1991-02-13
EP0412400B1 true 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 (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103362172A (zh) * 2012-03-29 2013-10-23 哈尼施费格尔技术公司 用于挖掘机的碰撞探测和减缓系统及其方法
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 (de) 2000-05-05 2001-11-15 Isam Inma Ges Fuer Angewandte Steuer-System bzw. Verfahren für die automatische Steuerung eines verfahrbaren Schaufelradgerätes
USRE46672E1 (en) 2006-07-13 2018-01-16 Velodyne Lidar, Inc. High definition LiDAR system
CA2697618A1 (fr) * 2008-08-09 2010-02-18 Eickhoff Bergbautechnik Gmbh Procede et dispositif de surveillance d'une machine d'abattage coupant
US8345926B2 (en) * 2008-08-22 2013-01-01 Caterpillar Trimble Control Technologies Llc Three dimensional scanning arrangement including dynamic updating
KR102102133B1 (ko) * 2011-12-26 2020-04-20 스미도모쥬기가이고교 가부시키가이샤 쇼벨의 화상표시장치
US10627490B2 (en) 2016-01-31 2020-04-21 Velodyne Lidar, Inc. Multiple pulse, LIDAR based 3-D imaging
CN109154661A (zh) 2016-03-19 2019-01-04 威力登激光雷达有限公司 用于基于lidar的3-d成像的集成照射和检测
US10393877B2 (en) 2016-06-01 2019-08-27 Velodyne Lidar, Inc. Multiple pixel scanning LIDAR
US10386465B2 (en) 2017-03-31 2019-08-20 Velodyne Lidar, Inc. Integrated LIDAR illumination power control
US10545222B2 (en) 2017-05-08 2020-01-28 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
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
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

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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
CN103362172A (zh) * 2012-03-29 2013-10-23 哈尼施费格尔技术公司 用于挖掘机的碰撞探测和减缓系统及其方法
CN103362172B (zh) * 2012-03-29 2016-12-28 哈尼施费格尔技术公司 用于挖掘机的碰撞探测和减缓系统及其方法

Also Published As

Publication number Publication date
EP0412400A1 (fr) 1991-02-13
ATE102276T1 (de) 1994-03-15
ES2049876T3 (es) 1994-05-01
DE59004748D1 (de) 1994-04-07

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