EP0412402A1 - Control method for earth-moving machines - Google Patents

Control method for earth-moving machines Download PDF

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Publication number
EP0412402A1
EP0412402A1 EP90114615A EP90114615A EP0412402A1 EP 0412402 A1 EP0412402 A1 EP 0412402A1 EP 90114615 A EP90114615 A EP 90114615A EP 90114615 A EP90114615 A EP 90114615A EP 0412402 A1 EP0412402 A1 EP 0412402A1
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EP
European Patent Office
Prior art keywords
control method
scanning
light beam
course
determined
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
EP90114615A
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German (de)
French (fr)
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EP0412402B1 (en
Inventor
Edmund Heimes
Hans-Jörg Nüsslin
Franz-Josef Hartlief
Franz Arno Fassbender
Ralf Eckholdt
Dieter Dr. Hennig
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Rheinbraun AG
Siemens AG
Original Assignee
Rheinbraun AG
Rheinische Braunkohlenwerke AG
Siemens AG
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Application filed by Rheinbraun AG, Rheinische Braunkohlenwerke AG, Siemens AG filed Critical Rheinbraun AG
Priority to AT90114615T priority Critical patent/ATE87989T1/en
Publication of EP0412402A1 publication Critical patent/EP0412402A1/en
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Publication of EP0412402B1 publication Critical patent/EP0412402B1/en
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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
    • E02F9/20—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
    • 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

Definitions

  • the invention relates to a control method for open-cast mining conveyors, such as bucket wheel excavators, mixed bed sensors, etc., in which the previously determined morphology of a deposit or the stratification of stored material serves as a guide variable for the movements of the conveyor.
  • the bucket wheel or the container of the conveyor must be controlled according to the respective conveying task.
  • the task is to either clear the overburden or between the coal or to extract the coal that is present in seams.
  • the coal seams are generally not horizontal and do not have a straight surface. Rather, they are e.g. Sloping, curved or even folded.
  • the bucket wheel of a bucket wheel excavator must now exactly follow the course of the seam. So far, this has been attempted by operating personnel, who are guided by the visual impression of the production site and the result of drilling that has explored the course of the seam.
  • an automation of the mining process of deposits, mixed beds, etc. can be achieved.
  • the visual, subjective recording of the course of the seam should be replaced by an objective measurement.
  • the object is achieved in that the course of the material to be conveyed is continuously scanned by a light beam and that the course determined by the scanning is used as a control variable for the movements, in particular the lifting movements, of the paddle wheel.
  • Laser scanning results in an advantageous increase in scanning security, since a laser beam is only slightly influenced by air layers, dust etc. due to its high energy density, particularly in the pulsed state. Even under difficult conditions, a pulsed laser enables the conveyor location to be scanned perfectly.
  • Suitable lasers are known in principle, e.g. from the volume "Lasertechnik: e. Einf.”, Wegig Verlag, Heidelberg, 1982, pp. 368 ff. However, the use of lasers for regulating the work of paddle wheel devices has not yet been provided.
  • the scanning is carried out by scanning.
  • Scanning by scanning with laser light advantageously allows the course of the changes in the reflection properties of the scanned material to be reliably monitored and a dividing line to be drawn between the material that is worth degrading and the non-degradable material based on calibration results. This is particularly important for layers in which the reflection properties, in particular the reflection spectra of the different materials differ only slightly from one another and flow smoothly into one another.
  • the prerequisites for an optimized and automated tracking of the paddle wheel of the conveying device according to the course of the seams or other layers are created here by the invention.
  • the conveyor receiving line is first moved manually.
  • This traversing can serve as an actual value in the form of a stored learning step, which is improved with the aid of the target value determined by the scanning.
  • This enables the desired optimization and automation of the work of paddle wheel conveyors.
  • the setpoints are advantageously corrected by a vertical sensor that continuously gives the scanning device the vertical and thus also the horizontal direction.
  • an improvement in the layer recognition is possible by averaging over a larger, in particular horizontal, range. This is particularly important for deposits where there is a significant proportion of clayey constituents in the coal.
  • the differences in reflection compared to a clay top layer are only slight; by averaging the area in front of the paddle wheel, the calculated determination of the seam course can be achieved with good accuracy even in such cases.
  • the determined stratification course values are advantageously monitored by a status check of the material being conveyed. This is particularly easy if a laser device is also used for this, e.g. controls the flow of material on the belt leading away from the paddle wheel. This control is insensitive to different temperatures, to whirled up dust and the other environmental influences.
  • UV scanning light beam is particularly advantageous when there are particularly types of coal containing sulfur or with loamy outer layers.
  • the different layers can be created by different reflection recognize particularly clearly.
  • the detection can take place via intensity differences as well as via a frequency analysis of the reflected light, for which stored standard reflection spectra are advantageously used.
  • the device which emits the light beam or the laser pulses is connected to the conveyor device, i.e. the excavator is arranged.
  • a sensible structure is where a quieter, vibration-free attachment is possible compared to the bucket wheel boom, which also has the advantage of allowing scanning in a particularly wide range.
  • the device that carries out the scanning can advantageously also be mounted on a mobile, independent device carrier.
  • a storage device for the determined course of the layer on the conveying device this enables several conveying devices to be supplied with layer course data from one scanning device.
  • Such a device can also be more easily equipped with a gas laser, which places higher demands on switching off vibrations etc. than on a solid-state laser that is commonly used.
  • the schematically indicated conveying device is designated by 1, which in the exemplary embodiment is intended to represent a bucket wheel excavator.
  • the scanner 2 is arranged, which can be pivoted independently of the conveyor 1.
  • the pivoting is advantageously carried out according to a predetermined program, which is based on the intended work tasks of the conveyor.
  • the position of the scanning device 2 is advantageously chosen so that scanning of the dismantling front as undisturbed as possible by the conveyor device is possible.
  • the paddle wheel 5 works on a conveyor belt 6, which delivers the conveyed material to the further belt 8.
  • an apron 7 is arranged in the area of the excavator, which derives falling material.
  • the conveyor stands on the base 9, above which the material 10 to be removed is located.
  • the material 10 to be removed is delimited at the top by a cover layer 11.
  • Beams of light 14 emanate from the scanner 2 and are used to scan the front of the mine.
  • a scan in a given pattern can also be chosen, e.g. a zigzag pattern or a wave pattern.
  • both the cover layer designated here 19 and the layer 20 designated below the seam 22, the carbon layer 22 and also the intermediate layers 21 are often from the light beam of the scanner 2 be recorded.
  • 23 position values can be obtained from the individual layers for the individual layers via the reflection properties, the fluorescence or the general spectrum evaluation, for example by means of line filters.
  • a spread scan shown as an example, shows three scanning lines in a computer Both the position of the individual layers in the area of the scan lines and also by interpolation in the area between the scan lines 23 are calculated. By comparing the values of the individual scanning lines 23 and smoothing, there is also a possibility for correcting incorrect measurements and for switching off singularities, for example holes or embedded foreign materials.
  • the values from the scanning by the light beams 14 of the scanning device 2 are first fed to an evaluation device 15, which sends them to a computer 16 with a display device 17, which calculates the course of the deposit with the layer positions and layer courses.
  • the computer 16 preferably has a display device which displays both the layer positions and courses as well as the actual position of the boom.
  • the control signals 18 are then forwarded from the computer, which is preferably designed as a microprocessor, to the conveyor device or the excavator.
  • the method of operation of the control method according to the invention is such that the layer position and the layer course of a deposit or a mixed bed etc. are determined by scanning with a light beam, preferably a pulsed laser beam. These values are used as guide values for the movement of the conveyor, which are carried out for the first time as part of a learning step when starting work. The learning step is saved and used as a default value for the further work steps. Correction values are now determined from the position and the course of the deposit layers, with the aid of which the work of the conveyor, here the excavator, is regulated. By means of a probability calculation etc., incorrect measured values and singularities are advantageously eliminated.
  • the co-promotion of the intermediate layers between coal and overburden or a proportionate promotion of two layers in each case can be entered as a reference variable, so that an previously unattainable optimized extraction of a deposit is possible.
  • the control method according to the invention therefore not only enables the conveyor device to be guided in a controlled manner, but also leads to optimized degradation without the proportion of non-usable substances exceeding the permissible predetermined size.
  • Appropriate programming makes it possible to optimize the amount of coal being mined by only automatically admixing a small amount of low-quality materials from the intermediate layers.

Abstract

The invention relates to a control method for earth-moving machines, such as bucket wheel excavators (5), gravel-bed receivers, etc., in which the morphology, determined in advance, of a deposit or the stratification of embedded material serves as command variables for the movements of the earth-moving machine. The profile of the material to be conveyed is continuously scanned by a light beam (14), and the values determined by the scanning are used as a control variable for the movements of the earth-moving machine. <IMAGE>

Description

Die Erfindung bezieht sich auf ein Regelungsverfahren für Tagebau-Fördergeräte, wie Schaufelradbagger, Mischbettauf­nehmer etc., bei dem die vorab ermittelte Morphologie einer Lagerstätte oder die Schichtung von gelagertem Material als Führungsgröße für die Bewegungen des Fördergerätes dient.The invention relates to a control method for open-cast mining conveyors, such as bucket wheel excavators, mixed bed sensors, etc., in which the previously determined morphology of a deposit or the stratification of stored material serves as a guide variable for the movements of the conveyor.

Bei Tagebau-Fördergeräten, z.B. Schaufelradbaggern, Mischbett­aufnehmern etc., muß das Schaufelrad oder das Gefäß des För­dergerätes entsprechend der jeweiligen Förderaufgabe gesteuert werden. Bei Schaufelradbaggern, die dem Abbau einer Lagerstätte, z.B. von Kohle, dienen, besteht die Aufgabe darin, entweder den über oder zwischen der Kohle liegenden Abraum abzuräumen oder die Kohle, die in Flözen vorliegt, zu fördern. Die Kohleflöze verlaufen in der Regel nicht horizontal und weisen auch keine gerade Oberfläche auf. Sie sind vielmehr z. T. abfallend, ge­krümmt oder sogar gefaltet. Um ein möglichst großes Ausbringen bei geringem Fremdmaterialanfall zu erreichen, muß nun das Schaufelrad eines Schaufelradbaggers dem Flözverlauf exakt fol­gen. Dies wird bisher durch Bedienungspersonal versucht, das sich an dem visuellen Eindruck des Förderorts und an dem Ergeb­nis von Bohrungen, die den Flözverlauf erkundet haben, orientiert.For open-cast conveyor devices, e.g. Bucket-wheel excavators, mixed bed pick-ups etc., the bucket wheel or the container of the conveyor must be controlled according to the respective conveying task. In bucket wheel excavators that are mining a deposit, e.g. of coal, the task is to either clear the overburden or between the coal or to extract the coal that is present in seams. The coal seams are generally not horizontal and do not have a straight surface. Rather, they are e.g. Sloping, curved or even folded. In order to achieve the greatest possible yield with a small amount of foreign material, the bucket wheel of a bucket wheel excavator must now exactly follow the course of the seam. So far, this has been attempted by operating personnel, who are guided by the visual impression of the production site and the result of drilling that has explored the course of the seam.

Es ist insbesondere Aufgabe der Erfindung, ein Regelungsverfah­ren für Schaufelrad-Fördergeräte, vorzugsweise für Schaufelrad­bagger, anzugeben, das das Ausbringen einer Kohlenlagerstätte erhöht, ohne den Anteil des geförderten Fremdmaterials zu ver­größern. Gleichzeitig soll eine Automatisierung des Abbauvor­ganges von Lagerstätten, von Mischbetten o.ä. erreicht werden. Die visuelle, subjektive Erfassung des Flözverlaufs soll dabei durch eine objektive Messung ersetzt werden.It is a particular object of the invention to provide a control method for bucket wheel conveyors, preferably for bucket wheel excavators, which increases the output of a coal deposit without increasing the proportion of foreign material being conveyed. At the same time, an automation of the mining process of deposits, mixed beds, etc. can be achieved. The visual, subjective recording of the course of the seam should be replaced by an objective measurement.

Die Aufgabe wird erfindungsgemäß dadurch gelöst, daß der Ver­lauf des zu fördernden Materials durch einen Lichtstrahl fort­laufend abgetastet und daß der durch die Abtastung ermittelte Verlauf als Regelgröße für die Bewegungen, insbesondere die Hub­bewegungen, des Schaufelrades verwendet wird.The object is achieved in that the course of the material to be conveyed is continuously scanned by a light beam and that the course determined by the scanning is used as a control variable for the movements, in particular the lifting movements, of the paddle wheel.

Mit Hilfe der Abtastung durch einen Lichtstrahl ist es vorteil­haft möglich, die visuelle, subjektive Erfassung des jeweiligen Flöz- oder Schichtverlaufs am Abbauort durch eine objektive Messung zu ersetzen. Bei einer Laserabtastung ergibt sich dabei eine vorteilhafte Erhöhung der Abtastsicherheit, da ein Laser­strahl wegen seiner hohen Energiedichte, insbesondere im gepul­sten Zustand, durch Luftschichtungen, Staub etc. nur wenig be­einflußt wird. Auch unter schwierigen Verhältnissen ist durch einen gepulsten Laser eine einwandfreie Abtastung des Förder­ortes möglich.With the help of scanning by a light beam, it is advantageously possible to replace the visual, subjective recording of the respective seam or layer course at the extraction site with an objective measurement. Laser scanning results in an advantageous increase in scanning security, since a laser beam is only slightly influenced by air layers, dust etc. due to its high energy density, particularly in the pulsed state. Even under difficult conditions, a pulsed laser enables the conveyor location to be scanned perfectly.

Geeignete Laser sind prinzipiell bekannt, so z.B. aus dem Band "Lasertechnik: e. Einf.", Hüthig Verlag, Heidelberg, 1982, S. 368 ff. Eine Verwendung von Lasern für die Regelung der Arbeit von Schaufelradgeräten ist bisher jedoch nicht vorgesehen.Suitable lasers are known in principle, e.g. from the volume "Lasertechnik: e. Einf.", Hüthig Verlag, Heidelberg, 1982, pp. 368 ff. However, the use of lasers for regulating the work of paddle wheel devices has not yet been provided.

In vorteilhafter Ausgestaltung der Erfindung ist vorgesehen, daß die Abtastung durch Scannen erfolgt. Eine Abtastung durch Scannen mit Laserlicht erlaubt es vorteilhaft, den Verlauf der Änderungen der Reflektionseigenschaften des abgetasteten Mate­rials sicher zu verfolgen und anhand von Eichergebnissen eine Trennungslinie zwischen dem abbauwürdigen und dem nichtabbauwür­digen Material nach vorgegebenen Kriterien zu ziehen. Dies ist insbesondere für Schichtungen wichtig, bei denen sich die Re­flektionseigenschaften, insbesondere die Reflektionsspektren der unterschiedlichen Materialien nur wenig voneinander unterschei­den und fließend ineinander übergehen. Hier werden durch die Er­findung die Voraussetzungen für eine optimierte und automatisier­te Nachführung des Schaufelrades des Fördergeräts nach dem Ver­lauf der Flöze oder anderer Schichtungen geschaffen.In an advantageous embodiment of the invention it is provided that the scanning is carried out by scanning. Scanning by scanning with laser light advantageously allows the course of the changes in the reflection properties of the scanned material to be reliably monitored and a dividing line to be drawn between the material that is worth degrading and the non-degradable material based on calibration results. This is particularly important for layers in which the reflection properties, in particular the reflection spectra of the different materials differ only slightly from one another and flow smoothly into one another. The prerequisites for an optimized and automated tracking of the paddle wheel of the conveying device according to the course of the seams or other layers are created here by the invention.

Es ist dabei besonders vorteilhaft, wenn bei Arbeitsaufnahme des Fördergeräts zunächst ein manuelles Abfahren der Förder­aufnahmelinie erfolgt. Dieses Abfahren kann in Form eines ab­gespeicherten Lernschrittes als Istwert dienen, der mit Hilfe des durch die Abtastung ermittelten Sollwertes verbessert wird. So ist die gewünschte Optimierung und Automatisierung des Arbei­tens von Schaufelrad-Fördergeräten möglich. Zum Ausschalten von Fehlern, die durch eine Schrägstellung des Fördergeräts möglich sind, erfolgt dabei vorteilhaft eine Korrektur der Sollwerte durch einen Vertikalsensor, der dem Abtastgerät ständig die Vertikal- und damit auch die Horizontalrichtung aufgibt.It is particularly advantageous if, when the conveyor device starts to work, the conveyor receiving line is first moved manually. This traversing can serve as an actual value in the form of a stored learning step, which is improved with the aid of the target value determined by the scanning. This enables the desired optimization and automation of the work of paddle wheel conveyors. To switch off errors that are possible due to an inclined position of the conveying device, the setpoints are advantageously corrected by a vertical sensor that continuously gives the scanning device the vertical and thus also the horizontal direction.

Eine Verbesserung der Schichterkennung ist bei dem erfindungs­gemäßen Verfahren durch eine Mittelwertbildung über einen grös­seren, insbesondere horizontalen Bereich möglich. Dies ist ins­besondere bei Lagerstätten wichtig, bei denen in der Kohle ein erheblicher Anteil von tonigen Bestandteilen vorhanden ist. Hier sind die Reflektionsunterschiede gegenüber einer Lehmdeckschicht nur gering; durch eine Mittelwertbildung des vor dem Schaufelrad liegenden Bereichs kann jedoch auch für solche Fälle die rechne­rische Ermittlung des Flözverlaufs mit guter Genauigkeit erreicht werden.In the method according to the invention, an improvement in the layer recognition is possible by averaging over a larger, in particular horizontal, range. This is particularly important for deposits where there is a significant proportion of clayey constituents in the coal. Here, the differences in reflection compared to a clay top layer are only slight; by averaging the area in front of the paddle wheel, the calculated determination of the seam course can be achieved with good accuracy even in such cases.

Die ermittelten Schichtungsverlaufswerte werden vorteilhaft durch eine Zustandskontrolle des geförderten Materials über­wacht. Diese erfolgt besonders einfach, wenn hierzu ebenfalls ein Lasergerät verwendet wird, das z.B. den Fördergutstrom auf dem vom Schaufelrad wegführenden Band kontrolliert. Diese Kon­trolle ist unempfindlich gegen unterschiedliche Temperaturen, gegen aufgewirbelten Staub und die übrigen Umwelteinflüsse.The determined stratification course values are advantageously monitored by a status check of the material being conveyed. This is particularly easy if a laser device is also used for this, e.g. controls the flow of material on the belt leading away from the paddle wheel. This control is insensitive to different temperatures, to whirled up dust and the other environmental influences.

Insbesondere beim Vorliegen besonders schwefelhaltiger Kohle­sorten oder bei lehmigen Deckschichten ist die Verwendung eines UV-Abtastlichtstrahles von Vorteil. Im UV-Licht lassen sich die unterschiedlichen Schichtungen durch unterschiedliche Reflektion besonders deutlich erkennen. Die Erkennung kann sowohl über In­tensitätsdifferenzen als auch über eine Frequenzanalyse des reflektierten Lichtes erfolgen, für die vorteilhaft mit ge­speicherten Standard-Reflektionsspektren gearbeitet wird.The use of a UV scanning light beam is particularly advantageous when there are particularly types of coal containing sulfur or with loamy outer layers. In UV light, the different layers can be created by different reflection recognize particularly clearly. The detection can take place via intensity differences as well as via a frequency analysis of the reflected light, for which stored standard reflection spectra are advantageously used.

Bei dem erfindungsgemäßen Regelverfahren ist es von Vorteil, wenn das Gerät, das den Lichtstrahl oder die Laserpulse aussen­det, am Fördergerät, d.h. dem Bagger angeordnet ist. Ein sinn­voller Aufbau ist dort, wo eine gegenüber dem Schaufelradausle­ger ruhigere, vibrationsfreiere Anbringung möglich ist, die außerdem den Vorteil hat, die Abtastung in einem besonders weiten Bereich zu ermöglichen.In the control method according to the invention, it is advantageous if the device which emits the light beam or the laser pulses is connected to the conveyor device, i.e. the excavator is arranged. A sensible structure is where a quieter, vibration-free attachment is possible compared to the bucket wheel boom, which also has the advantage of allowing scanning in a particularly wide range.

Das Gerät, das die Abtastung durchführt, kann vorteilhaft auch auf einem mobilen, unabhängigen Geräteträger montiert sein. Dies erlaubt im Zusammenwirken mit einer Speichervorrichtung für den ermittelten Schichtverlauf auf dem Fördergerät, daß von einem Abtastgerät mehrere Fördergeräte mit Schichtverlaufsdaten ver­sorgt werden können. Ein solches Gerät kann auch leichter mit einem Gaslaser ausgerüstet werden, an den höhere Anforderungen bezüglich des Ausschaltens von Vibrationen etc. gestellt werden als an einen Üblicherweise verwendeten Festkörperlaser.The device that carries out the scanning can advantageously also be mounted on a mobile, independent device carrier. In cooperation with a storage device for the determined course of the layer on the conveying device, this enables several conveying devices to be supplied with layer course data from one scanning device. Such a device can also be more easily equipped with a gas laser, which places higher demands on switching off vibrations etc. than on a solid-state laser that is commonly used.

Weitere Vorteile und Einzelheiten der Erfindung ergeben sich aus der nachfolgenden Beschreibung eines Ausführungsbeispiels anhand der Zeichnung in Verbindung mit den Unteransprüchen.Further advantages and details of the invention emerge from the following description of an exemplary embodiment with reference to the drawing in conjunction with the subclaims.

Es zeigen:

  • FIG 1 die Erfindung im Prinzip und
  • FIG 2 die Abtastung eines Schicht- bzw. Lagerstättenverlaufs sowie
  • FIG 3 ein Blockschaltbild des Abtastgeräts.
Show it:
  • 1 shows the invention in principle and
  • 2 shows the scanning of a shift or deposit course and
  • 3 shows a block diagram of the scanning device.

In FIG 1 ist mit 1 das schematisch angedeutete Fördergerät be­zeichnet, das in dem Ausführungsbeispiel einen Schaufelradbag­ger darstellen soll. In diesem Ausführungsbeispiel ist auf dem Fördergerät 1 das Abtastgerät 2 angeordnet, das gegenüber dem Fördergerät 1 unabhängig verschwenkbar ist. Die Verschwenkung erfolgt vorteilhaft nach einem vorgegebenen Programm, das sich an den vorgesehenen Arbeitsaufgaben des Fördergerätes orien­tiert. Die Position des Abtastgerätes 2 ist vorteilhaft so gewählt, daß ein von dem Fördergerät möglichst ungestörtes Ab­tasten der Abbaufront möglich ist.In FIG. 1, the schematically indicated conveying device is designated by 1, which in the exemplary embodiment is intended to represent a bucket wheel excavator. In this embodiment is on the Conveyor 1, the scanner 2 is arranged, which can be pivoted independently of the conveyor 1. The pivoting is advantageously carried out according to a predetermined program, which is based on the intended work tasks of the conveyor. The position of the scanning device 2 is advantageously chosen so that scanning of the dismantling front as undisturbed as possible by the conveyor device is possible.

Das Fördergerät 1, in dem hier dargestellten Beispiel ein Schau­felradbagger, ist auf dem Fahrgestell 3 angeordnet, das über die Laufwerke 4 verfahrbar ist. Das Schaufelrad 5 arbeitet auf ein Förderband 6, das das geförderte Material auf das weiterführende Band 8 abgibt. Unter dem Förderband 6 ist im Bereich des Baggers eine Schürze 7 angeordnet, die herabfallendes Material ableitet.The conveyor 1, in the example shown here a bucket wheel excavator, is arranged on the 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 the further belt 8. Under the conveyor belt 6, an apron 7 is arranged in the area of the excavator, which derives falling material.

Das Fördergerät steht auf dem Grund 9, über dem sich das abzu­tragende Material 10 befindet. Oben wird das abzutragende Mate­rial 10 durch eine Deckschicht 11 begrenzt. Von dem Abtastgerät 2 gehen Lichtstrahlen 14 aus, mit denen die Abbaufront abgeta­stet wird. Die Lichtstrahlen 14, vorzugsweise gepulste Laser­strahlen, treffen in den Punkten 13 auf die Abbaufront auf, wobei vorzugsweise eine Linienabtastung gewählt wird. Es kann jedoch ebenso eine Abtastung in einem vorgegebenen Muster ge­wählt werden, z.B. einem Zickzackmuster oder einem Wellenmuster.The conveyor stands on the base 9, above which the material 10 to be removed is located. The material 10 to be removed is delimited at the top by a cover layer 11. Beams of light 14 emanate from the scanner 2 and are used to scan the front of the mine. The light beams 14, preferably pulsed laser beams, impinge on the front face at points 13, a line scan preferably being selected. However, a scan in a given pattern can also be chosen, e.g. a zigzag pattern or a wave pattern.

Aus der Darstellung in FIG 2 ist zu ersehen, daß bei einer Li­nienabtastung sowohl die hier mit 19 bezeichnete Deckschicht als auch die mit 20 bezeichnete, unter dem Flöz 22 liegende Schicht, die Kohleschicht 22 sowie auch die Zwischenschichten 21 vielfach von dem Lichtstrahl des Abtastgeräts 2 erfaßt werden. Dabei können aus jeder Einzellinie 23 Lagewerte über die Re­flektionseigenschaften, die Fluoreszenz oder die allgemeine Spektrumsauswertung, z.B. durch Linienfilter, für die einzel­nen Schichten gewonnen werden. Durch eine gespreizte Abtastung, gezeigt sind als Beispiel drei Tastlinien, kann in einem Rechner sowohl die Lage der einzelnen Schichten im Bereich der Abtast­linien als auch durch Interpolation im Bereich zwischen den Abtastlinien 23 errechnet werden. Durch einen Vergleich der Werte der einzelnen Abtastlinien 23 und eine Glättung ergibt sich darüber hinaus eine Möglichkeit zur Korrektur von Fehlmes­sungen und zum Ausschalten von Singularitäten, z.B. von Löchern oder eingelagerten Fremdmaterialien.It can be seen from the illustration in FIG. 2 that in the case of a line scan, both the cover layer designated here 19 and the layer 20 designated below the seam 22, the carbon layer 22 and also the intermediate layers 21 are often from the light beam of the scanner 2 be recorded. 23 position values can be obtained from the individual layers for the individual layers via the reflection properties, the fluorescence or the general spectrum evaluation, for example by means of line filters. A spread scan, shown as an example, shows three scanning lines in a computer Both the position of the individual layers in the area of the scan lines and also by interpolation in the area between the scan lines 23 are calculated. By comparing the values of the individual scanning lines 23 and smoothing, there is also a possibility for correcting incorrect measurements and for switching off singularities, for example holes or embedded foreign materials.

Wie sich aus dem Blockschaltbild in FIG 3 ergibt, werden die Werte aus der Abtastung durch die Lichtstrahlen 14 des Abtast­geräts 2 zunächst einem Auswertegerät 15 zugeführt, das diese einem Rechner 16 mit Anzeigegerät 17 aufgibt, der den Lager­stättenverlauf mit den Schichtlagen und Schichtverläufen er­rechnet. Der Rechner 16 weist vorzugsweise ein Anzeigegerät auf, das sowohl die Schichtlagen und Verläufe als auch die Istposi­tion des Auslegers anzeigt. Von dem Rechner, der vorzugsweise als Mikroprozessor ausgelegt ist, werden dann die Steuersignale 18 an das Fördergerät bzw. den Bagger weitergegeben.As can be seen from the block diagram in FIG. 3, the values from the scanning by the light beams 14 of the scanning device 2 are first fed to an evaluation device 15, which sends them to a computer 16 with a display device 17, which calculates the course of the deposit with the layer positions and layer courses. The computer 16 preferably has a display device which displays both the layer positions and courses as well as the actual position of the boom. The control signals 18 are then forwarded from the computer, which is preferably designed as a microprocessor, to the conveyor device or the excavator.

Die Arbeitsweise des erfindungsgemäßen Regelverfahrens ist der­art, daß durch eine Abtastung mit einem Lichtstrahl, vorzugs­weise einem gepulsten Laserstrahl, die Schichtlage und der Schichtverlauf einer Lagerstätte bzw. eines Mischbettes etc. ermittelt wird. Diese Werte werden als Führungswerte für die Bewegung des Fördergerätes verwendet, die im Rahmen eines Lern­schritts bei Arbeitsaufnahme visuell geführt erstmalig durch­geführt werden. Der Lernschritt wird abgespeichert und als Vorgabe wert für die weiteren Arbeitsschritte verwendet. Aus der Lage und dem Verlauf der Lagerstättenschichten werden nun Korrekturwerte ermittelt, mit deren Hilfe die Arbeit des För­dergeräts, hier des Baggers, geregelt werden. Durch eine Wahr­scheinlichkeitsrechnung etc. werden vorteilhaft unrichtige Meßwerte und Singularitäten ausgeschieden.The method of operation of the control method according to the invention is such that the layer position and the layer course of a deposit or a mixed bed etc. are determined by scanning with a light beam, preferably a pulsed laser beam. These values are used as guide values for the movement of the conveyor, which are carried out for the first time as part of a learning step when starting work. The learning step is saved and used as a default value for the further work steps. Correction values are now determined from the position and the course of the deposit layers, with the aid of which the work of the conveyor, here the excavator, is regulated. By means of a probability calculation etc., incorrect measured values and singularities are advantageously eliminated.

In besonders vorteilhafter Ausnutzung der durch die Erfindung eröffneten Möglichkeiten kann auch die Mitförderung der Zwi­schenschichten zwischen Kohle und Abraum oder eine jeweils an­teilige Förderung zweier Schichten als Führungsgröße eingegeben werden, so daß ein bisher nicht erreichbarer optimierter Abbau einer Lagerstätte möglich ist. Das erfindungsgemäße Regelver­fahren ermöglicht also nicht nur eine geregelte Führung des Fördergerätes, sondern führt auch zu einem optimierten Abbau, ohne daß der Anteil nicht verwertbarer Stoffe die zulässige vorgegebene Größe überschreitet. Durch eine entsprechende Pro­grammierung ist es damit möglich, die Menge der geförderten Kohle dadurch zu optimieren, daß sich nur ein gerade noch zulässiger Anteil geringwertiger Materialien aus den Zwischen­schichten selbsttätig beimischt.In a particularly advantageous exploitation of the possibilities opened up by the invention, the co-promotion of the intermediate layers between coal and overburden or a proportionate promotion of two layers in each case can be entered as a reference variable, so that an previously unattainable optimized extraction of a deposit is possible. The control method according to the invention therefore not only enables the conveyor device to be guided in a controlled manner, but also leads to optimized degradation without the proportion of non-usable substances exceeding the permissible predetermined size. Appropriate programming makes it possible to optimize the amount of coal being mined by only automatically admixing a small amount of low-quality materials from the intermediate layers.

Die vorstehende Erfindung ist anhand eines Beispiels beschrie­ben. Es versteht sich jedoch für den Fachmann von selbst, daß naheliegende Änderungen mit von der Erfindung umfaßt werden. Auf dem Gebiet der Lasertechnik, des Scannings allgemein und der Rechnertechnik ist z.Zt. ein schneller Fortschritt zu beobachten und die Grundgedanken der Erfindung sind auch mit anderen Aus­wertungsmethoden aus führbar.The above invention is described using an example. However, it goes without saying for a person skilled in the art that obvious changes are included in the invention. In the field of laser technology, scanning in general and computer technology, there is currently a rapid progress can be observed and the basic ideas of the invention can also be carried out with other evaluation methods.

Claims (14)

1. Regelungsverfahren für Tagebau-Fördergeräte, wie Schau­felradbagger, Mischbettaufnehmer etc., bei dem die vorab ermit­telte Morphologie einer Lagerstätte oder die Schichtung von ge­lagertem Material als Führungsgrößen für die Bewegungen des Schaufelrades dienen, dadurch gekennzeich­net, daß der Verlauf des zu fördernden Materials durch einen Lichtstrahl fortlaufend abgetastet wird und daß die durch die Abtastung ermittelten Werte als Regelgröße für die Bewegun­gen des Fördergerätes verwendet werden.1. Control method for open-cast mining conveyors, such as bucket wheel excavators, mixed bed sensors, etc., in which the previously determined morphology of a deposit or the stratification of stored material serve as reference variables for the movements of the bucket wheel, characterized in that the course of the material to be conveyed is characterized by a Light beam is continuously scanned and that the values determined by the scanning are used as a control variable for the movements of the conveyor. 2. Regelungsverfahren nach Anspruch 1, dadurch ge­kennzeichnet, daß die Abtastung des zu fördernden Materials durch einen Laser, vorzugsweise durch einen gepulsten Laser, erfolgt.2. Control method according to claim 1, characterized in that the scanning of the material to be conveyed by a laser, preferably by a pulsed laser. 3. Regelungsverfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß die Abtastung durch Scannen, vorzugsweise durch Scannen mit einem Meßlaser, erfolgt.3. Control method according to claim 1 or 2, characterized in that the scanning is carried out by scanning, preferably by scanning with a measuring laser. 4. Regelungsverfahren nach Anspruch 1, 2 oder 3, dadurch gekennzeichnet, daß über den Lichtstrahl Unter­schiede in der Reflektion, insbesondere im Reflektionsspektrum, ermittelt und ausgewertet werden.4. Control method according to claim 1, 2 or 3, characterized in that differences in the reflection, in particular in the reflection spectrum, are determined and evaluated via the light beam. 5. Regelungsverfahren nach Anspruch 1, 2, 3 oder 4, da­durch gekennzeichnet, daß mit dem Licht­strahl der Reflektionsverlauf, insbesondere die Veränderung des Reflektionsspektrums, ermittelt und aus dem ermittelten Verlauf die Lagerung oder Schichtung des Materials errechnet wird.5. Control method according to claim 1, 2, 3 or 4, characterized in that with the light beam, the reflection course, in particular the change in the reflection spectrum, is determined and the storage or layering of the material is calculated from the determined course. 6. Regelungsverfahren nach Anspruch 1, 2, oder 3, da­durch gekennzeichnet, daß über den Licht­strahl Unterschiede in der induzierten Fluoreszenz ausgewertet werden.6. Control method according to claim 1, 2 or 3, characterized in that differences in the induced fluorescence are evaluated via the light beam. 7. Regelungsverfahren nach Anspruch 1, 2, 3, 4, 5 oder 6, da­durch gekennzeichnet, daß das Fördergerät zunächst visuell gesteuert dem Lagerstättenverlauf entsprechend geführt wird und daß die Abtastergebnisse bei Wiederholbewegun­gen als Korrekturwerte dienen.7. Control method according to claim 1, 2, 3, 4, 5 or 6, characterized in that the conveyor is first visually controlled corresponding to the course of the deposit and that the scanning results serve as correction values for repetitive movements. 8. Regelgungsverfahren nach Anspruch 1, 2, 3, 4, 5, 6 oder 7, dadurch gekennzeichnet, daß die Abta­stung vielzeilig gespreizt, insbesondere vertikal gespreizt, erfolgt.8. Control method according to claim 1, 2, 3, 4, 5, 6 or 7, characterized in that the scanning is spread over many lines, in particular spread vertically. 9. Regelgungsverfahren nach Anspruch 1, 2, 3, 4, 5, 6, 7 oder 8, dadurch gekennzeichnet, daß die Abtast­ergebnisse einer Verlaufsglättung und einer Relevanzkontrolle unterzogen werden und daß dann der Lagerstättenverlauf ermit­telt wird.9. Control method according to claim 1, 2, 3, 4, 5, 6, 7 or 8, characterized in that the scanning results are subjected to a history smoothing and a relevance check and that the course of the deposit is then determined. 10. Regelungsverfahren nach Anspruch 1, 2, 3, 4, 5, 6, 7, 8 oder 9, dadurch gekennzeichnet, daß der Abbau nach den ermittelten Schichtungs- und Lagerstättenverlaufswerten durch eine Zustandskontrolle des geförderten Materials überwacht wird.10. Control method according to claim 1, 2, 3, 4, 5, 6, 7, 8 or 9, characterized in that the mining is monitored according to the determined stratification and deposit history values by a status check of the material being conveyed. 11. Regelungsverfahren nach einem oder mehreren der vorherge­henden Ansprüche, dadurch gekennzeich­net, daß der Lichtstrahl ein UV-Laserlichtstrahl ist.11. Control method according to one or more of the preceding claims, characterized in that the light beam is a UV laser light beam. 12. Regelungsverfahren nach einem oder mehreren der vorherge­henden Ansprüche, dadurch gekennzeich­net, daß der Lichtstrahl vom Fördergerät ausgeht.12. Control method according to one or more of the preceding claims, characterized in that the light beam emanates from the conveyor. 13. Regelungsverfahren nach einem oder mehreren der Ansprüche 1 bis 10, dadurch gekennzeichnet, daß der Lichtstrahl von einem, vom Fördergerät unabhängigen, mobi­len Erzeuger ausgeht.13. Control method according to one or more of claims 1 to 10, characterized in that the light beam emanates from a mobile generator independent of the conveyor. 14. Regelungsverfahren nach einem oder mehreren der vorherge­henden Ansprüche, dadurch gekennzeich­net, daß beim Abbau von Lagerstätten, Mischbetten etc.ein Lichtstrahl, insbesondere von einem Laserscanner, zur Ermitt­lung des Material-Schichtungsverlaufs und zur Regelung der Förderung verwendet wird.14. Control method according to one or more of the preceding claims, characterized in that a light beam, in particular from a laser scanner, is used when mining deposits, mixed beds, etc. to determine the course of material stratification and to regulate the conveyance.
EP90114615A 1989-08-08 1990-07-30 Control method for earth-moving machines Expired - Lifetime EP0412402B1 (en)

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AT90114615T ATE87989T1 (en) 1989-08-08 1990-07-30 CONTROL PROCEDURES FOR SURFACE MINING CONVEYOR EQUIPMENT.

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DE3926220 1989-08-08
DE3926220 1989-08-08

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AT (1) ATE87989T1 (en)
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WO1999002788A1 (en) * 1997-07-10 1999-01-21 Siemens Aktiengesellschaft Bucket wheel machinery
WO2001086077A1 (en) * 2000-05-05 2001-11-15 Isam-Holding Gmbh Control system or method for automatically controlling a mobile bucket wheel device
WO2012031610A1 (en) * 2010-09-07 2012-03-15 Rag Aktiengesellschaft Control of extraction work in underground coal mining by means of a laser measurement device
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
DE102019204444A1 (en) * 2019-03-29 2020-10-01 Robert Bosch Gmbh Procedure and system for the identification of bulk goods

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CN111411964B (en) * 2020-04-09 2022-04-08 华能伊敏煤电有限责任公司 Wheel bucket excavator mining method for strip mine slope breaking area

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US6369376B1 (en) 1997-07-10 2002-04-09 Siemens Aktiengesellschaft Conveyor device
WO1999002788A1 (en) * 1997-07-10 1999-01-21 Siemens Aktiengesellschaft Bucket wheel machinery
WO2001086077A1 (en) * 2000-05-05 2001-11-15 Isam-Holding Gmbh Control system or method for automatically controlling a mobile bucket wheel device
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
WO2012031610A1 (en) * 2010-09-07 2012-03-15 Rag Aktiengesellschaft Control of extraction work in underground coal mining by means of a laser measurement device
US10227754B2 (en) 2011-04-14 2019-03-12 Joy Global Surface Mining Inc Swing automation for rope shovel
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
US11028560B2 (en) 2011-04-14 2021-06-08 Joy Global Surface Mining 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
US10655301B2 (en) 2012-03-16 2020-05-19 Joy Global Surface Mining 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
DE102019204444A1 (en) * 2019-03-29 2020-10-01 Robert Bosch Gmbh Procedure and system for the identification of bulk goods

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DE59001164D1 (en) 1993-05-13
AU6027790A (en) 1991-02-14
EP0412402B1 (en) 1993-04-07
ES2040009T3 (en) 1993-10-01
ATE87989T1 (en) 1993-04-15
AU635761B2 (en) 1993-04-01

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