EP1949131A1 - Verfahren zur übergabe von schüttgut - Google Patents
Verfahren zur übergabe von schüttgutInfo
- Publication number
- EP1949131A1 EP1949131A1 EP06807728A EP06807728A EP1949131A1 EP 1949131 A1 EP1949131 A1 EP 1949131A1 EP 06807728 A EP06807728 A EP 06807728A EP 06807728 A EP06807728 A EP 06807728A EP 1949131 A1 EP1949131 A1 EP 1949131A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- transfer device
- movable
- determined
- transfer
- movable transfer
- 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.)
- Ceased
Links
- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000012546 transfer Methods 0.000 claims abstract description 140
- 238000005065 mining Methods 0.000 claims abstract description 21
- 239000013590 bulk material Substances 0.000 claims description 27
- 238000010276 construction Methods 0.000 claims description 5
- 230000002411 adverse Effects 0.000 abstract description 2
- 238000011156 evaluation Methods 0.000 description 5
- 239000013598 vector Substances 0.000 description 3
- 239000004927 clay Substances 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 239000005995 Aluminium silicate Substances 0.000 description 1
- 235000019738 Limestone Nutrition 0.000 description 1
- 235000010678 Paulownia tomentosa Nutrition 0.000 description 1
- 240000002834 Paulownia tomentosa Species 0.000 description 1
- 235000012211 aluminium silicate Nutrition 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010410 dusting Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- NLYAJNPCOHFWQQ-UHFFFAOYSA-N kaolin Chemical compound O.O.O=[Al]O[Si](=O)O[Si](=O)O[Al]=O NLYAJNPCOHFWQQ-UHFFFAOYSA-N 0.000 description 1
- 239000003077 lignite Substances 0.000 description 1
- 239000006028 limestone Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
- G01S13/876—Combination of several spaced transponders or reflectors of known location for determining the position of a receiver
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C47/00—Machines for obtaining or the removal of materials in open-pit mines
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
- G01S13/874—Combination of several systems for attitude determination
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0284—Relative positioning
Definitions
- the invention relates to a method for transferring bulk ⁇ well, in particular for the transfer of rendem in surface mining to transportie ⁇ bulk material, wherein the handover between a first movable transfer device and a second movable transfer device takes place.
- the invention also relates to a transfer system for such bulk material with a first movable transfer device and with a second movable transfer device.
- the invention also relates to an open pit mining system.
- transport devices such as belt conveyors are used to transport bulk goods.
- lignite opencast devices such example ⁇ as bucket wheel or bucket chain excavators used.
- Bucket wheel excavators are also used for example for the removal of kaolin, clay, sand, clay, chalk, gravel, coal, limestone or overburden.
- the excavated by means of an open-pit device such as a bucket wheel excavator Good is usually passed in the form of bulk material to a transport device.
- Bulk material is transferred in opencast mining at many points, for example from a transport device to another transport device, from an open pit device to a transport device or from a transport device to an open pit device.
- the transfer of bulk material is usually carried out with the help of at least two movable transfer devices. If the transfer of bulk material should not be interrupted when one of the transfer devices is moved, the other transfer device must be tracked for this movement. Presently, this tracking is controlled measure of operating personnel by eye and is therefore not always sufficient ge ⁇ precisely.
- the object of the invention is to allow a more efficient and safer transfer of bulk material in the open pit.
- This object is achieved by a method for transferring bulk material, in particular for transferring bulk material to be transported in opencast mining between a first movable transfer device and a second movable transfer device, wherein a base station arranged on the second movable transfer device sends out a base signal, wherein a plurality of transponders which are associated with reference points of the first movable transfer device, the base signal receives and transponder signals ⁇ outside, which are received by the base station, wherein the relative position of the two transfer devices is determined to each other with the aid of the transponder signals.
- the position of the two transfer devices relative to one another can always be reliably and precisely determined. This is also the case when position determination is made more difficult by the rough conditions often encountered in open pit mining.
- the method according to the invention also works in clearly limited visibility conditions, such as open-pit mining, e.g. Dusting is common, extremely reliable.
- the relative speed of the two transfer devices to each other can be determined under the help of the transponder signals.
- the reliability of the method of the invention is invested in expanding ⁇ .
- the relative position or the relative speed of the two transfer devices can be determined according to the principle of three-dimensional triangulation.
- the accuracy of the method is further improved.
- one transponder can be used for each reference point of the first movable transfer device.
- At least three, preferably eight, transponders are used, depending on the device geometry.
- active transponders are used.
- a reliable functioning of the method can be ensured, in particular in the case of disturbing influences.
- passive transponders can be used.
- the installation costs for the transponder can be reduced, since in particular no separate energy supply for the transponder must be provided.
- about 1 can be used as base signal and a transponder signal microwave signals, preferably with a wavelength Zvi ⁇ rule mm and about I m can be used.
- radio wave signals can be used as the base signal and as the transponder signal, preferably with a wavelength between about 10 "1 m and about 10 4 m.
- the relative position and / or the relative speed of the two transfer devices can be displayed on a display device.
- the operator of the first and / or the second transfer device is provided with better and possibly also clearer information.
- the second movable transfer device of the movement of the first movable transfer device can be tracked taking into account the determined relative position and / or relative speed.
- at least one actuating signal for at least one actuator of the second movable transfer device can be determined for automatic tracking of the second movable transfer device taking into account the determined relative position and / or relative speed.
- At least one actuating signal for a chassis of the second movable transfer device can be determined with the aid of a control device.
- At least one control signal for at least one actuator of the first movable transfer device is determined for automatic tracking of the second movable transfer device taking into account the determined relative position and / or relative speed.
- Advantageously bulk material can from the first mobile Matterga ⁇ before direction become the second movable transfer device passed.
- the object underlying the invention is also achieved by a transfer system for bulk material in open pit with a first movable transfer device and a second movable transfer device, wherein the second movable transfer device comprises a base station for emitting a base signal and for receiving transponder signals, wherein the first movable transfer device has a multiplicity of transponders for receiving the base signal and for transmitting transponder signals, wherein means for determining the relative position of the two transfer destinations directions are provided to each other taking into account the transponder signals.
- the transfer system for carrying out the method described above is formed in one or more of its characteristics.
- a control device may be provided, which, taking into account the determined relative position and / or relative speed, is designed to give actuating signals to at least one actuator of the second movable transfer device.
- the object underlying the invention is also achieved by an open pit system with one or more of the transfer systems described above, with at least one transport device, which at least one first
- the transport device may be a belt system.
- the transport device can be a tripper car, the transfer device a discharge conveyor, the open-plan construction device a stripping device and the second transfer device a receiving carriage.
- the first transfer device may be a loading table, the open pit device a mining device and the second transfer device a loading trolley.
- the open pit device may be a bucket wheel excavator.
- the open-pit system may have a control device which, taking account of the determined relative position and / or relative speed, is designed to give actuating signals to at least one actuator of the first movable transfer device.
- an open pit apparatus which is designed for use in an open pit mining system described above and which has a transfer device, a base station for emitting a base signal and for receiving transponder signals and a control device.
- FIG 1 shows a schematic example of the construction of a Questionga ⁇ be
- FIG 2 is a schematic example of the arrangement of compo ⁇ components of the system for determining position
- FIG. 3 shows an example of a configuration of a system for determining and controlling Posi ⁇ tion.
- the transport system 1 shows a transport system 1 with a transport device 2.
- the transport system 1 can be designed as a conveyor system, for example as Abraumbandstrom.
- the transport device 2 may, for example, be a tripper car with a discharge belt as the first movable transfer device 4.
- the open-pit construction device 3 can be, for example, a spreader with a receiving trolley or support trolley as a movable transfer device 5.
- the second movable transfer device 5 has a receiving hopper 6 by means of which bulk material from the first movable Transfer device 4 is passed to the second movable transfer device 5.
- the open pit device 3 has in the example shown a belt device 11 for transporting the bulk material, which is formed by two conveyor belts.
- the transport device 2 e.g. the tripper car
- the open pit apparatus 3 here e.g. the spreader, has a main landing gear 8 and a secondary chassis 7 associated with the second mobile transfer device 5.
- FIG. 2 shows-schematically illustrated-the transport device 2 with the first movable transfer device 4.
- three reference points 9 are arranged on the transport device 2 or on the first movable transfer device 4.
- a base station 10, not shown in detail in FIG. 2 (see FIG. 3), is arranged on the open pit device 3 (see FIG. 1) or on the second movable transfer device 5.
- the base station 10 or the receiving and transmitting unit of the base station 10 is assigned to the origin of a relative coordinate system with the spatial coordinates X, Y, Z.
- FIG. 3 shows a plurality of transponders 13 which are assigned to the reference points 9 (see FIG. 2) of the transport device 2 or the first transfer device 4 of the transport device 2 in a manner not shown in detail, and correspondingly to the transport device 2 or to the transfer device 4 are arranged.
- the transponders 13 can be active and / or passive, if appropriate also semi-active.
- the base station 10 sends signals to the transponders 13, which at least partially send the transponders 13 back to the base station 10.
- the bearings between the base station 10 and the transponders 13 are preferably converted into vectors in a relative coordinate system in the location system.
- This evaluation is carried out advantageously in an evaluation unit of the Ba ⁇ sisstation 10.
- the evaluation unit may for example, also as part of the control device 12 or as one with the base station 10 and with the control device 12 gekop- pelte unit may be provided. Based on the values being ⁇ th data of the bearings adjustment signals can be determined for actuators 3 of one or both transfer devices 4, 5 and the transport apparatus 2 and / or the open-cast mining apparatus.
- the results of the bearings are converted in a control device 12 into control commands for the movement of the second movable transfer device 5 and for the movement of the open pit device 3, respectively.
- Such control signals can reasoning apparatus 12 are given to a secondary suspension 7 of the second movable transfer device 5, for example of the Steue ⁇ .
- the location system may use radio wave signals alternatively or in addition to microwave signals.
- the relative Po ⁇ sition, the movement direction and / or the speed of the transfer devices 4, 5 are each other thereby pre- preferably determined on the basis of signal propagation times.
- Signals passing from the base station 10 to the transponders 13 are referred to as a base signal.
- Signals passing from the transponders 13 to the base station 10 are referred to as transponder signals.
- the locating system works with methods of signal processing known from radar technology, in particular with the determination of signal propagation times.
- the opencast mining device 3 may, for example, have a secondary chassis 7 configured as a crawler chassis for the second movable transfer device 5.
- a secondary chassis 7 configured as a crawler chassis for the second movable transfer device 5.
- control signals can be ge of the control device 12 of the second movable transfer device 5, for example, gege ⁇ ben to such a crawler.
- Control signals can be given by the control device 12 but not only to a chassis 7, but alternatively and / or additionally to other involved actuators of the open pit device 3, the transport device 2 and the transfer devices 4, 5.
- the control device 12 for example, control signals for Influencing the inclination of a first transfer device 4, designed as a discharge belt, of a transport device 2 designed as a tripper car.
- the locating system described may, in cooperation with one or more suitable control devices 12 and / or one or more suitable display devices, at least partially replace and / or assist the operator to support the work.
- the components need one of at least two over ⁇ transfer devices 4, no longer manually downstream 5 having transfer system by operators in cabs leads are. It is besipiellus an automatic Nach ⁇ leadership of the loading carriage on the bucket wheel excavator after the movement of a loading table on Strossenband allows.
- the on ⁇ take- car of a spreader can be tracked the movement of a tripper car.
- components such as loading wagons and / or support or receiving wagons are equipped with chain suspensions.
- a multiplicity of reference points 9 are defined on the transport device 2, on which transponders 13 are arranged on the transport device 2 or on the first transfer device 4.
- the base station 10 is preferably mounted as a combined Emp ⁇ catching and evaluation.
- reference points 9 can be defined on a tripper car, transponders 13 can be attached accordingly and a base station 10 can be attached to the support car of the striker.
- reference points 9 can be defined on Bela ⁇ detrichter a Strosssenbands and it can be a base station 10 are preferably arranged on the loading carriage of a Schau ⁇ felradbaggers.
- the number of reference points 9 and, accordingly, the number 13 on ⁇ must be reasonable fit to the local, in particular the design conditions depending on the system in general, the transponders. It is preferable to ensure that a connection between at least three reference points 9 and the respective base station 10 can always be established.
- the relative position data is preferably in the form of vectors, the magnitude of a vector measure of Relativge ⁇ is speed.
- control commands for the open-pit mine are generated from the relative position data.
- Device 3, in particular for the movable Kochgabevor ⁇ direction 5 of the open pit device 3 is determined, which are preferably placed by means of software parallel to any manual operating signals of the open pit device 3. This ensures that if, for example, the
- Trolley of a surface mining system is moved, the pickup trolley of the Absetzers automatically follows the discharge belt of the tripper car. Analogously, is also a positi ⁇ tioning of a Beladewagens the bucket wheel, the movements of the loading of the loading will be tracked.
- the invention relates to a method for transferring bulk ⁇ well opencast between a first movable transfer device 4 and a second movable transfer device 5, wherein a is arranged on the second movable transfer device base station 10 transmits a base signal ches WEL of a plurality of transponders 13, the respective reference points 9 of the first movable transfer device 4 are assigned, is received, wherein the transponder 13 transmit transponder signals to the base station 10.
- the relative position, the relative movement direction and / or the relative Ge ⁇ speed of the two transfer devices 4, 5 intended to each other and there will be a basis of which control signals for the movement of at least one of the two transfer devices 4, 5, preferably in Control device 12, determined. According to a safe, reliable and efficient transfer of bulk material in the open pit, especially in adverse circumstances allows.
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Computer Networks & Wireless Communication (AREA)
- Control Of Conveyors (AREA)
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE202006020911U DE202006020911U1 (de) | 2005-11-15 | 2006-11-03 | Übergabesystem zur Übergabe von Schüttgut, Tagebausystem und Tagebauvorrichtung |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200510054840 DE102005054840A1 (de) | 2005-11-15 | 2005-11-15 | Verfahren zur Übergabe von Schüttgut |
PCT/EP2006/068059 WO2007057305A1 (de) | 2005-11-15 | 2006-11-03 | Verfahren zur übergabe von schüttgut |
Publications (1)
Publication Number | Publication Date |
---|---|
EP1949131A1 true EP1949131A1 (de) | 2008-07-30 |
Family
ID=37698039
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP06807728A Ceased EP1949131A1 (de) | 2005-11-15 | 2006-11-03 | Verfahren zur übergabe von schüttgut |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP1949131A1 (de) |
DE (2) | DE102005054840A1 (de) |
WO (1) | WO2007057305A1 (de) |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102007022388A1 (de) * | 2007-05-10 | 2008-11-13 | ThyssenKrupp Fördertechnik GmbH | Verfahren zum Aufschütten von Material |
CL2012000933A1 (es) | 2011-04-14 | 2014-07-25 | Harnischfeger Tech Inc | Un metodo y una pala de cable para la generacion de un trayecto ideal, comprende: un motor de oscilacion, un motor de izaje, un motor de avance, un cucharon para excavar y vaciar materiales y, posicionar la pala por medio de la operacion del motor de izaje, el motor de avance y el motor de oscilacion y; un controlador que incluye un modulo generador de un trayecto ideal. |
DE102011100890A1 (de) * | 2011-05-07 | 2012-11-08 | Abb Ag | Verfahren zur Erkennung und Nachführung der Position einer ortsveränderlichen Übergabeeinrichtung / Verladeeinrichtung eines Schaufelradbaggers oder Eimerkettenbaggers |
US8620533B2 (en) | 2011-08-30 | 2013-12-31 | Harnischfeger Technologies, Inc. | Systems, methods, and devices for controlling a movement of a dipper |
US9206587B2 (en) | 2012-03-16 | 2015-12-08 | Harnischfeger Technologies, Inc. | Automated control of dipper swing for a shovel |
BE1023982B1 (nl) | 2016-03-23 | 2017-10-03 | Cnh Industrial Belgium Nv | Geautomatiseerd lossysteem voor het lossen van gewas |
CA2978389A1 (en) | 2016-09-08 | 2018-03-08 | Harnischfeger Technologies, Inc. | System and method for semi-autonomous control of an industrial machine |
DE102017216389B4 (de) * | 2017-09-15 | 2023-06-22 | Thyssenkrupp Ag | Mobiles Förderbrückensystem mit entkoppeltem Absetzsystem |
DE102019200773A1 (de) * | 2019-01-23 | 2020-07-23 | Thyssenkrupp Ag | Tagebau-Anordnung und Verfahren zum Betreiben einer Tagebau-Anordnung |
BE1027170B1 (de) * | 2019-04-03 | 2020-11-05 | Thyssenkrupp Ind Solutions Ag | Verfahren und Einrichtung zum automatisierbaren Betrieb einer insbesondere im Tagebau eingesetzten Bandförderanlage |
DE102019206831A1 (de) * | 2019-05-10 | 2020-11-12 | Thyssenkrupp Ag | Vorrichtung und Verfahren zum zumindest teilweise automatisierten computergestützten Positionieren wenigstens einer Güter-/Materialflusseinheit |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DD136382A1 (de) * | 1978-05-08 | 1979-07-04 | Herbert Gollsch | Einrichtung zur automatischen positionierung von beladeauslegern bei bandanlagen |
DD225973A1 (de) * | 1984-07-03 | 1985-08-14 | Senftenberg Braunkohle | Anordnung zur positionierung eines beladeauslegers |
DD267966A1 (de) * | 1987-12-14 | 1989-05-17 | Senftenberg Braunkohle | Verfahren und schaltungsanordnung zur steuerung von freien uebergabestellen an tagebaugrossgeraeteverbaenden |
US4884847A (en) * | 1988-02-19 | 1989-12-05 | Consolidation Coal Co. | Apparatus and method for mapping entry conditions in remote mining systems |
DE4011316A1 (de) * | 1990-04-07 | 1991-10-17 | Rheinische Braunkohlenw Ag | Verfahren zur bestimmung der geodaetischen standortes von teilen eines ortsbeweglichen grossgeraetes |
US6539307B1 (en) * | 2001-04-20 | 2003-03-25 | Trimble Navigation Ltd. | System and method for monitoring interaction between objects and multiple mobile units |
JP4183114B2 (ja) * | 2002-09-04 | 2008-11-19 | 株式会社小松製作所 | 鉱山運搬管理システム及び方法 |
US7315274B2 (en) * | 2004-03-15 | 2008-01-01 | Kongsberg Seatex As | Method and system for determining the position of marine vessels and similar objects |
-
2005
- 2005-11-15 DE DE200510054840 patent/DE102005054840A1/de not_active Ceased
-
2006
- 2006-11-03 WO PCT/EP2006/068059 patent/WO2007057305A1/de active Application Filing
- 2006-11-03 DE DE202006020911U patent/DE202006020911U1/de not_active Expired - Lifetime
- 2006-11-03 EP EP06807728A patent/EP1949131A1/de not_active Ceased
Non-Patent Citations (1)
Title |
---|
See references of WO2007057305A1 * |
Also Published As
Publication number | Publication date |
---|---|
WO2007057305A1 (de) | 2007-05-24 |
DE102005054840A1 (de) | 2007-09-13 |
DE202006020911U1 (de) | 2010-10-21 |
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