Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
  • B65G65/00—Loading or unloading
  • B65G65/005—Control arrangements
• • 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
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
  • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
  • B65G43/02—Control devices, e.g. for safety, warning or fault-correcting detecting dangerous physical condition of load carriers, e.g. for interrupting the drive in the event of overheating
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
  • B65G65/00—Loading or unloading
  • B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
  • B65G65/06—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with endless scraping or elevating pick-up conveyors
• • 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
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
  • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
  • G05D1/02—Control of position or course in two dimensions
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
  • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
  • G05D1/02—Control of position or course in two dimensions
  • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
  • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
  • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
  • G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
  • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
  • G05D1/02—Control of position or course in two dimensions
  • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
  • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
  • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
  • G05D1/02—Control of position or course in two dimensions
  • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
  • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
  • B65G2812/00—Indexing codes relating to the kind or type of conveyors
  • B65G2812/02—Belt or chain conveyors
  • B65G2812/02009—Common features for belt or chain conveyors
  • B65G2812/02108—Protection means
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
  • B65G2812/00—Indexing codes relating to the kind or type of conveyors
  • B65G2812/02—Belt or chain conveyors
  • B65G2812/02267—Conveyors having endless traction elements
• • 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
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
  • G01S2013/9328—Rail vehicles

Definitions

• the invention relates to a system and a method for detection and
• a first storage space device has a portal with a span of at least several meters and wherein the two portal legs of the portal are each supported on a translationally displaceable foot element.
• the system comprises at least a first non-contact distance sensor for measuring a relative distance in the direction between a measuring point located at the first storage place device and an outside of the first
• Lagerplatzettis reference point A system in which the relative distance between a gantry device and a measuring point located outside the gantry is determined, for example, in the data sheet of the company Symeo to the sensor system LPR-1 DX, the data sheet online at
• LPR Local Positioning Radar
• the radar sensor system LPR-1 DX is based on the principle of transit time measurement of radio waves and is used to determine distances, ie relative distances between two objects. It thus represents a non-contact system for distance measurement.
• a gantry crane is shown graphically, as used for example in container ports.
• a radar sensor is mounted on the gantry crane.
• a crane bridge is relative
• the two radar sensors determine the distance to the other sensor, i. the distance between gantry crane and crane bridge is determined in a redundant manner.
• CONFIRMATION COPY Radar sensor system LPR-1 DX to avoid collisions or impermissible approaches between gantry crane and crane bridge.
• Bulk storage is stored, such as coal, ore, sand or gravel.
• the transport of the bulk material to the storage area and its storage there in bulk material dumps as well as its removal and removal provide so-called storage space equipment, such as cranes, excavators, spreaders and conveyor belts. Symeo suggests that on such bulk material storage the
• Bulk storage bin is also referred to as coal mixing and stacking.
• a spreader for dumping one or more coal dumps and a
• the portal scraper has in the chassis of its two leg and associated foot elements geared motors as suspension drive, so combinations of electric motor and gearbox.
• Position of the gantry scraper are absolute encoders used, and the position In turn, it is used for collision avoidance and skew detection.
• a misalignment is understood to mean that the two sides or legs of the portal move at different distances along the rails, so that tension in the portal construction and undesired force entry into the tracks of the rail tracks can occur.
• the speed of one of the chassis drives is changed by negative or positive setpoint activation as long as down or up until the straight-line stability is set again when reaching a predetermined deviation from straight-ahead.
• Object of the present invention is to provide a system and a method of the type mentioned above, which can be used in an advantageous manner in the detection and processing of the position of a gantry device on a bulk storage.
• the first non-contact distance sensor is mounted on one of the two foot elements of the portal device for measuring a first relative distance between the one foot element and a first, fixed
• the system further includes a second non-contact distance sensor mounted on the other of the two foot members for measuring a second relative distance between the other leg member and a second, fixed reference point.
• the system also includes an evaluation unit, which is designed to determine from the first and second relative distance a rotation of the portal about a central vertical axis and the rotation or a compensation of the rotation serving
• the method according to the invention comprises the steps of measuring a first relative distance between a measuring point located on the first storage location device, on one of the two foot elements and one outside the first
• Lagerplatzieris located first stationary reference point by means of at least a first non-contact distance sensor, measurement of a second relative Distance between the other of the two foot elements and a located outside the first storage space device, second stationary reference point by means of a second, mounted on the other foot element, non-contact
• the invention is based on the realization that the above-described
• portal scrapers used absolute rotary encoders with non-positive and slippery operation and therefore a non-negligible
• the invention is based on the idea fundamentally of using a gantry device, such as a gantry scraper, instead of absolute encoders contactless distance sensors and with their help, the relative position of the portal sides to each other and from this a possible rotation of the portal to its central To determine the vertical axis.
• Fig. 1 is a plan view of a first storage space device with portal
• Fig. 3 is a flowchart of a method for detection
• FIG. 4 is a plan view of a coal mixing and stacking station.
• Figures 1 and 2 show a first storage space device 4, which has a portal with a span of at least several meters, in particular in the range between 10 and 80 m.
• the portal has a first portal leg 19 and a second
• the first and second foot elements 2 and 3 are each arranged displaceably on rails 5.
• the first storage unit 4 spans a pile of bulk material 7, for example, coal, sand, ore or gravel.
• the first bin unit 4 is a gantry scraper, i. it has a scraper boom 18, around the one
• the scraper chain receives at the free end of the scraper boom 18 parts of the bulk material 7 and transports them to a belt conveyor 9, which is indicated here only in Figures 2 and 4.
• a system 6 for electrical supply and control of the operation of the first storage space device 4 has been integrated, the system 6 an evaluation unit 21 for the evaluation of sensor information and a first control unit 24 for controlling the various movements of the first
• Offset of 23 cm which is located in the foot elements chassis of the portal scraper should be turned off.
• undesirable force effects in both the scratch design and in the rails 5 are suppressed.
• the required accuracy is therefore comparatively high in the case of skew detection, and in particular significantly higher than the accuracy required for collision avoidance.
• Foot member 2 a first and on the second foot member 3, a second
• Non-contact distance sensor 1 is mounted, which serve for measuring a first and second relative distance A1a and A2a between the fixed by the position of the respective distance sensor 1 measuring point on the base member and an associated first and second fixed reference point R1 and R2.
• the fixed reference points R1 and R2 are therefore located outside of the first storage location device 4 at a fixed position within the
• the contactless distance sensors 1 operate in a preferred embodiment based on the measurement of the transit time of a radio signal, in particular a radar signal.
• a radio signal in particular a radar signal.
• laser or ultrasonic distance sensors can be used.
• the evaluation unit 21 is designed to read in the first and second relative distances A1 and A2 from the distance sensors 1, to determine therefrom a rotation V of the first storage space device 4 about its central vertical axis H and the rotation V or a compensation for the rotation V serving
• Control unit 24 is provided on the basis of the rotation V or the
• Evaluation unit 21 transmits and there is calculated from the relative distances A1a and A2a, the rotation V of the first storage space device 4.
• the rotation V is transmitted to the first control unit 24, where it is checked whether the value of the rotation V exceeds a predetermined limit VJim. If this is the case, the trolleys in the first and second foot member 2 and 3 or
• Chassis driven in at least one of the foot elements 2 or 3 such that a counter rotation of the first storage space device 4 is triggered about its central vertical axis 4.
• the movement of the foot elements is controlled so that the rotation V does not exceed a predefined, maximum rotation V max, wherein it can be provided for safety reasons that in the event that the predefined maximum rotation V_max is exceeded, the trolleys of Foot elements 2 and 3 are turned off.
• Reference point R1 and R2 each arranged a further contactless distance sensor 1. These serve for the respective measurement of another relative
• the evaluation unit 21 is further adapted to the respective further relative distance of the opposite direction A1 b, A2b with the associated relative distance in the direction between the respective
• the first storage bin 4 of Figures 1 and 2 is also shown in Figure 4, in the form of the portal scraper 1.
• Figure 4 includes a plan view of a coal mixing and -Stapelplatz, ie in the bulk material 7 is coal.
• a second storage space device 11 in the form of another portal scraper 2 and a third
• Storage bin device 26 in the form of a spreader.
• a screening and crushing station 25 the coal is crushed and placed on a belt conveyor 14.
• the spreader picks up the coal from the belt conveyor 14, conveys it to the heap and dumps it there.
• the spreader is movable along a rail 8 and its boom 16 is pivotally mounted.
• a system 17 for the electrical supply and control of the operation of the spreader which comprises an evaluation unit and a control unit.
• the portal scraper 2 is constructed analogously to the portal scraper 1, i. he also has two foot elements 9 and 10 and a system 12 for electrical
• A2a measure the mounted on the portal scraper 2 contactless distance sensors 1 a sixth and a seventh relative distance A6a and A7a, resulting from the system 12 belonging to an evaluation unit twisting of the portal scraper 2 around its central vertical axis. This then determines a belonging to the system 12 second
• Control unit to counteract the rotation required counter rotation of the portal chalker 2 and controls according to one or both of the chassis in the foot elements 9 and 10 at. All statements made below for the portal scraper 1 apply analogously to the portal scraper 2, with the functionality of the first evaluation unit 21 in particular coinciding with the functionality of the evaluation unit of the system 12.
• the coal mixing and stacking station further comprises drive stations for the belt conveyors 9 and 14 and a control room 22 with an evaluation unit 23.
• the above-mentioned method steps for determining the rotation V and the compensation information can instead of in the local evaluation of the first or second storage location device 4 or 11 are also executed in the central evaluation unit 23 of the control room 22, ie the evaluation unit 21 may be configured to receive the first and second relative distances A1a and A2a, from the rotation V and possibly determine the compensation information and to transmit these to the first control unit 24.
• a third non-contact distance sensor 1 is mounted, which serves to measure a third relative distance A3a between the first storage space device 4 and the second storage space device 11.
• the evaluation unit 21 is designed to determine from the third relative distance A3a an imminent collision or a shortfall of a predetermined safety distance between the first and the second storage location device 4 and 11, deriving a first collision avoidance information therefrom and the first one
• the second control unit is part of the system 12 for the electrical supply and control of the second
• a collision avoidance between the spreader and the gantry scrapers is provided.
• a fourth non-contact distance sensor 1 is mounted for measuring a fourth relative distance A4a between the third storage bin device 26 and a third stationary reference point R4, wherein the evaluation unit 21 or 23 is designed to from the fourth relative distance A4a and from information about the dimensions of the jib 16 and about its swivel range, a location area not to be traveled by the first storage location device 4 and an impending collision from the location area and the first and / or second relative distance A1a, A2a or to determine a shortfall of a predetermined safety distance to derive therefrom a second collision avoidance information and the second
• a collision avoidance with respect to stationary objects is implemented.
• at least one of the stationary reference points R3, R4 is located on a stationary object, here on the screen and crushing station 25 or on the
• the evaluation unit of the associated storage space device 26 and the evaluation unit 23 of the control room 22 is designed to from the associated relative distance A4a, A5a an imminent collision or falling below a predetermined safety distance between the associated storage space device 26 and the stationary object determine from this to derive a third collision avoidance information and the third
• Collision avoidance information may be provided that the respective evaluation unit with at or near one of the storage space devices
• Bulk storage space exchanges data, such as parameters to dimensions or predetermined thresholds.
• All relative distances A1a to A7a are also measured in their respective opposite direction A1b to A7b for redundancy purposes, whereby the reliability and reliability of the distance measurement is improved.
• the measured relative distances of the storage space devices to their environment are in an advantageous extension for the positioning of
• a positioning signal is determined from the first and second relative distances A1a and A2a and forwarded to the first control unit 24 for controlling the movement of the foot elements 2, 3 of the first storage location device 4 in such a way that the first storage space device 4 has a desired position in relation to FIG Bulk material 7 occupies.

Landscapes

• Engineering & Computer Science (AREA)
• Radar, Positioning & Navigation (AREA)
• Remote Sensing (AREA)
• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Automation & Control Theory (AREA)
• Aviation & Aerospace Engineering (AREA)
• Computer Networks & Wireless Communication (AREA)
• Mechanical Engineering (AREA)
• Electromagnetism (AREA)
• Computer Vision & Pattern Recognition (AREA)
• Multimedia (AREA)
• Optics & Photonics (AREA)
• Acoustics & Sound (AREA)
• Control Of Conveyors (AREA)
• Warehouses Or Storage Devices (AREA)
• Length Measuring Devices With Unspecified Measuring Means (AREA)
• Control And Safety Of Cranes (AREA)
• Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Applications Claiming Priority (2)

Publications (1)

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Family Applications (1)

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• 2012
  • 2012-07-05 DE DE201210013282 patent/DE102012013282A1/de not_active Withdrawn
• 2013
  • 2013-07-02 AU AU2013286344A patent/AU2013286344B2/en not_active Ceased
  • 2013-07-02 WO PCT/EP2013/001924 patent/WO2014005692A2/de active Application Filing
  • 2013-07-02 CN CN201380035890.3A patent/CN104685435A/zh active Pending
  • 2013-07-02 BR BR112015000053A patent/BR112015000053A2/pt not_active IP Right Cessation
  • 2013-07-02 EP EP13734660.7A patent/EP2870514A2/de not_active Withdrawn
  • 2013-07-02 CA CA2878282A patent/CA2878282A1/en not_active Abandoned
• 2014
  • 2014-12-31 CL CL2014003638A patent/CL2014003638A1/es unknown
• 2015
  • 2015-01-05 US US14/589,111 patent/US9156634B2/en not_active Expired - Fee Related
  • 2015-01-27 CO CO15015308A patent/CO7240364A2/es unknown

Non-Patent Citations (1)

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