EP0412402A1 - Procédé de commande pour engrais de terrassement - Google Patents
Procédé de commande pour engrais de terrassement Download PDFInfo
- 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
- Authority
- 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
Links
- 238000000034 method Methods 0.000 title claims abstract description 24
- 239000000463 material Substances 0.000 claims abstract description 24
- 238000013517 stratification Methods 0.000 claims abstract description 6
- 238000005065 mining Methods 0.000 claims description 6
- 238000001228 spectrum Methods 0.000 claims description 5
- 238000012937 correction Methods 0.000 claims description 2
- 238000009499 grossing Methods 0.000 claims description 2
- 238000003860 storage Methods 0.000 claims description 2
- 230000003252 repetitive effect Effects 0.000 claims 1
- 239000003245 coal Substances 0.000 description 9
- 238000011156 evaluation Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 238000012935 Averaging Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- NINIDFKCEFEMDL-UHFFFAOYSA-N Sulfur Chemical compound [S] NINIDFKCEFEMDL-UHFFFAOYSA-N 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 239000004927 clay Substances 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 230000000593 degrading effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 229910052717 sulfur Inorganic materials 0.000 description 1
- 239000011593 sulfur Substances 0.000 description 1
Images
Classifications
-
- 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.
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Control Of Conveyors (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Physical Or Chemical Processes And Apparatus (AREA)
- Revetment (AREA)
- Underground Or Underwater Handling Of Building Materials (AREA)
- Forging (AREA)
- Metal Rolling (AREA)
- Operation Control Of Excavators (AREA)
- Lifting Devices For Agricultural Implements (AREA)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AT90114615T ATE87989T1 (de) | 1989-08-08 | 1990-07-30 | Regelungsverfahren fuer tagebau-foerdergeraete. |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE3926220 | 1989-08-08 | ||
DE3926220 | 1989-08-08 |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0412402A1 true EP0412402A1 (fr) | 1991-02-13 |
EP0412402B1 EP0412402B1 (fr) | 1993-04-07 |
Family
ID=6386747
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP90114615A Expired - Lifetime EP0412402B1 (fr) | 1989-08-08 | 1990-07-30 | Procédé de commande pour engrais de terrassement |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP0412402B1 (fr) |
AT (1) | ATE87989T1 (fr) |
AU (1) | AU635761B2 (fr) |
DE (1) | DE59001164D1 (fr) |
ES (1) | ES2040009T3 (fr) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1999002788A1 (fr) * | 1997-07-10 | 1999-01-21 | Siemens Aktiengesellschaft | Excavatrice rotative |
WO2001086077A1 (fr) * | 2000-05-05 | 2001-11-15 | Isam-Holding Gmbh | Systeme de commande ou procede de commande automatique d'un appareil mobile a roues a godets |
WO2012031610A1 (fr) * | 2010-09-07 | 2012-03-15 | Rag Aktiengesellschaft | Commande du travail d'abattage dans l'exploitation de mines de charbon souterraines, réalisée au moyen d'un appareil de mesure à laser |
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 (de) * | 2019-03-29 | 2020-10-01 | Robert Bosch Gmbh | Verfahren und System zur Identifikation von Schüttgut |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111411964B (zh) * | 2020-04-09 | 2022-04-08 | 华能伊敏煤电有限责任公司 | 用于露天矿片帮区的轮斗挖掘机采掘方法 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4695163A (en) * | 1985-06-17 | 1987-09-22 | Schachar Ronald A | Method and apparatus for determining surface shapes using reflected laser light |
FR2637625A1 (fr) * | 1988-10-11 | 1990-04-13 | Screg Routes & Travaux | Procede et dispositif de positionnement automatique en continu d'un outil de reglage d'un engin de travaux publics, sur un terrain presentant une surface reelle a travailler |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2420120A1 (fr) * | 1978-03-17 | 1979-10-12 | Coal Industry Patents Ltd | Systeme de controle permettant de determiner la configuration d'un trajet d'abattage de minerai dont les extremites ne peuvent pas etre reliees par une ligne de visee |
-
1990
- 1990-07-30 ES ES199090114615T patent/ES2040009T3/es not_active Expired - Lifetime
- 1990-07-30 DE DE9090114615T patent/DE59001164D1/de not_active Expired - Lifetime
- 1990-07-30 AT AT90114615T patent/ATE87989T1/de active
- 1990-07-30 EP EP90114615A patent/EP0412402B1/fr not_active Expired - Lifetime
- 1990-08-07 AU AU60277/90A patent/AU635761B2/en not_active Expired
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4695163A (en) * | 1985-06-17 | 1987-09-22 | Schachar Ronald A | Method and apparatus for determining surface shapes using reflected laser light |
FR2637625A1 (fr) * | 1988-10-11 | 1990-04-13 | Screg Routes & Travaux | Procede et dispositif de positionnement automatique en continu d'un outil de reglage d'un engin de travaux publics, sur un terrain presentant une surface reelle a travailler |
Cited By (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6369376B1 (en) | 1997-07-10 | 2002-04-09 | Siemens Aktiengesellschaft | Conveyor device |
WO1999002788A1 (fr) * | 1997-07-10 | 1999-01-21 | Siemens Aktiengesellschaft | Excavatrice rotative |
WO2001086077A1 (fr) * | 2000-05-05 | 2001-11-15 | Isam-Holding Gmbh | Systeme de commande ou procede de commande automatique d'un appareil mobile a roues a godets |
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 (fr) * | 2010-09-07 | 2012-03-15 | Rag Aktiengesellschaft | Commande du travail d'abattage dans l'exploitation de mines de charbon souterraines, réalisée au moyen d'un appareil de mesure à laser |
US11028560B2 (en) | 2011-04-14 | 2021-06-08 | 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 |
US12018463B2 (en) | 2011-04-14 | 2024-06-25 | Joy Global Surface Mining Inc | Swing automation for rope shovel |
US10227754B2 (en) | 2011-04-14 | 2019-03-12 | Joy Global Surface Mining Inc | Swing automation for rope shovel |
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 (de) * | 2019-03-29 | 2020-10-01 | Robert Bosch Gmbh | Verfahren und System zur Identifikation von Schüttgut |
Also Published As
Publication number | Publication date |
---|---|
ES2040009T3 (es) | 1993-10-01 |
AU6027790A (en) | 1991-02-14 |
AU635761B2 (en) | 1993-04-01 |
ATE87989T1 (de) | 1993-04-15 |
EP0412402B1 (fr) | 1993-04-07 |
DE59001164D1 (de) | 1993-05-13 |
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