WO2015055236A1 - Radar-assisted positioning of large devices - Google Patents
Radar-assisted positioning of large devices Download PDFInfo
- Publication number
- WO2015055236A1 WO2015055236A1 PCT/EP2013/071562 EP2013071562W WO2015055236A1 WO 2015055236 A1 WO2015055236 A1 WO 2015055236A1 EP 2013071562 W EP2013071562 W EP 2013071562W WO 2015055236 A1 WO2015055236 A1 WO 2015055236A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- radar
- radar sensor
- reflection
- belt
- sensors
- Prior art date
Links
- 239000000463 material Substances 0.000 claims abstract description 38
- 238000000034 method Methods 0.000 claims abstract description 25
- 239000013590 bulk material Substances 0.000 claims abstract description 14
- 238000003384 imaging method Methods 0.000 claims abstract description 7
- 238000012546 transfer Methods 0.000 claims description 15
- 230000005855 radiation Effects 0.000 claims description 5
- 241000283160 Inia Species 0.000 claims description 2
- 230000001133 acceleration Effects 0.000 claims description 2
- 238000013507 mapping Methods 0.000 claims 2
- 239000011343 solid material Substances 0.000 claims 1
- 230000033001 locomotion Effects 0.000 description 7
- 238000009434 installation Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 239000003077 lignite Substances 0.000 description 1
- 210000004072 lung Anatomy 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000009466 transformation Effects 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
- G01S13/874—Combination of several systems for attitude determination
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/08—Guiding the machine
- E21C35/12—Guiding the machine along a conveyor for the cut material
-
- 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
-
- 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
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
-
- 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 methods for Pos ition réelle of two a transfer of bulk material devices to each other, of which at least one device bewegl I and with a submitted to him material discharge or a material intake to the material discharge or the Materialauflab e of j eweils other device is aligned.
- a method of the aforementioned type is described in DE 1 0 2005 054 840 AI, in which it comes in one embodiment, set up in a brown coal en-open pit bulk material transport system, the bulk material from a belt system via a longitudinally of the belt system movable tripper car to record and abandon a remote from the B andschlelei boom on the conveyor belt of a relative to the conveyor belt system or the movable there Dolly trolley movable Absetzer.
- the two large appliances must each be in the correct position to each other in order to ensure a smooth material transfer.
- the application of transponder technology is described in detail in DE 1 0 2005 054 840 A1, in the context of which a base station for transmitting a base signal and for receiving
- Transponder signals and on the tripper car or its boom a plurality of transponders for receiving the base signal s and to send out of transponder signals are arranged, wherein in an evaluation unit determining the relative position of Absetzer and B weschle trolley each other suc and via an associated Steuereinri rectification a tracking of the settler is initiated to the movement of the tripper car.
- an evaluation unit determining the relative position of Absetzer and B weschle trolley each other suc and via an associated Steuereinri rectification a tracking of the settler is initiated to the movement of the tripper car.
- the relative position and / or the relative speed of the two devices concerned are determined to one another according to the principle of three-dimensional triangulation.
- the invention is therefore based on the object to provide a method of the type mentioned for seduction, in which the hardware costs for the implementation of the method is reduced and the process reliability of the method is improved.
- the invention provides, in a method with the generic features mentioned at the outset, that multidimensional, d. H .
- At least two two-dimensional radar sensors detect periodically the environment of material shedding or material pickup of the other device and record the reflection of emitted radar beams on a reflection ring attached to the other device, the material shed located on this device or the material holder enclosing the corresponding raw data to an arithmetic unit, and that in the arithmetic unit the spatial position of each radar sensor stored in the arithmetic unit on the device in an associated relative coordinate system with the spatial coordinates X, Y, Z is in relation to the spatial position determined in the arithmetic unit the reflecting points caused by the impact of the radar beams emitted by each radar sensor on the reflection ring are set in an associated relative coordinate system with the spatial coordinates X, Y, Z and then the position of the devices relative to each other is derar t is changed until the positional relationship of the radar sensors to their attributable Reflection- points corresponds to a predetermined target value.
- coordinates can be derived position information about the spatial position with X, Y, Z coordinate
- the invention has the advantage that, in particular in comparison with the known from DE 1 0 2005 054 840 AI, radiating in a wide range of angles transponder technology used radar technology due to the focused beam provides reliable readings and also with very robust components which, under the often harsh operating conditions, ensure reliable operation of the radar technology with sufficient accuracy.
- the calculation model is preferably based on the merging of the radar sensors two-dimensional data in a multi-dimensional space with subsequent comparison using an observation model, which coincides with the expected due to the device geometry spatial reflection points the observations in the form of recorded real reflection points qualitatively and quantitatively.
- an integrated motion model l restricts the movement of the expected observations, the motion model being essentially based on constraints on the physical motion of the devices in question.
- the corresponding information can also be combined, similar to the prior art, with the three-dimensional triangulation, whereby angle values are used in addition to distance values.
- a first exemplary embodiment of the invention assumes that the two devices with the material discharge on the one hand and the material receptacle on the other hand can be moved freely relative to one another and thus positioned, as is the case, for example, in a mobile crushing plant and a downstream crushing plant.
- gabeband can be the case.
- a larger number of radar sensors can also be provided.
- the first device is formed by a Bandan location.
- this belt system a number of other devices can be used as a common second device.
- it may be the track system, caterpillar-tracked carriages, such as in the form of a material discharge forming task car or in the form of a recording of bulk material from the belt system Bandsch leifenwagens.
- Another configuration is when paral lel to the conveyor belt a loading or support car or a belt carriage as a recording car or even a large equipment such as an excavator or a spreader are freely movable.
- the two carriages must move parallel to the axis of the rig to avoid collision, and each jettison and material pickup must be properly positioned relative to each other.
- This is ensured, in particular, by determining, in addition to the arrangement of the reflection ring, on the one hand and the radar sensors, on the other hand, the lateral distance of the respective carriage to the conveyor system by means of at least one radar sensor arranged on the respective carriage and setting it in relation to a distance setpoint stored in the arithmetic unit becomes.
- it is sufficient, with regard to the certainty of the position data if at least one radar sensor is arranged on one of the apparatuses of the reflection ring and on the respective other apparatus at least two radar sensors aligned with the reflection ring.
- the invention may be provided according to an embodiment of the invention, that at least one laterally aligned on a support frame of the belt system radar sensor with vertical Winkelabbi tion, ie arranged perpendicular to the ground i st and on the basis of In the arithmetic unit, the lateral distance of the radar sensor from the support frame is determined.
- the lateral distance can be tapped directly from the raw data supplied by the radar sensor concerned by transformation of the polar coordinates into Cartesian coordinates.
- several, preferably three, radar sensors have to be mounted on the carriage in order to enable a measurement even during the crossing of a gap between two belt stands.
- At least one arranged in the direction of the belt system at least two-dimensional radar sensor with horizontal angle and s m with a range of its radiation of> 5 m is arranged on the j efug car, the continuous due to the reflection of the radar beams set up supporting frames of the conveyor system in distance and angle locates, being determined in the arithmetic unit due to the transmitted from the radar sensor raw data, the lateral distance of the radar sensor to the area of the transfer point located in the region of the support frame.
- the radar used sor in the abbi ldenden 2 D field should have an opening angle of about 1 0 ° to 1 60 °.
- triangular angular reflectors are arranged on the reflection ring, wherein the individual reflectors are arranged in a structured manner in series or in a pattern.
- single-surface plate reflectors are arranged on the reflection ring in an orientation such that the incoming radar beam strikes the plate perpendicularly and the plate has sufficient surface deformation and roughness to provide diffuse scattering within a limited angular range.
- angle reflectors with a reflection characteristic temporarily changed on account of diodes connected to the reflection ring are arranged in order to make the angular reflectors distinguishable from other natural reflections (harmonic radar).
- flat insulated resonance reflectors with the same size of half a wavelength are connected to the reflection ring. ordered, whose reflection property is changed by switching between two loads, to make them distinguishable from other natural reflections (switched reflector radar).
- the invention provides, as a B andan position on the one hand and along the B-plant movable carriage Vietnamese Ier function on the other hand trained devices on the arrangement of a reflection ring to dispense and only one oriented in the direction of the belt system at least two-dimensional radar sensor with horizontal angle and with a range of its radiation of> 5m, in which case a progression line of the supporting frameworks of the installation is determined from the raw data transferred by the radar sensor, resulting in both the lateral vertical distance of the application carriage from the installation and the horizontal angle between the belt axis and the direction of travel of the respective car can be determined.
- the radar sensor used in the imaging 2D field should have an opening angle of about 1 0 ° to 1 60 °.
- radar sensors come with a len wavelength range of 1 mm to 1 m used.
- embodiments of the invention are shown, which are described below. Show it:
- Fig. 3 shows another embodiment of the dargestel in Fig. 1 lungs transfer arrangement.
- FIG. 1 A typical application of the invention is shown in FIG. An abandoned in a mobile crusher 10 bulk material should be spent on a Bandan position 1 1.
- the crusher 10 passes over a mounted on it boom 12 on a movable, laterally issued arms 14 having belt carriage 1 3, wherein the belt carriage 13 in turn on a the belt system 1 1 cross, on a crawler chassis 1 6 movable task vehicle 1 5 passes, the the bulk material in turn on the belt system 1 1 gives up.
- the transfer arrangement for the bulk material on two transfer points, in which an alignment of each of the participating devices crusher 10 and belt carriage 13 on the one hand and B trolley 1 3 and task cars 1 5 must be guaranteed on the other hand.
- FIG. 2 likewise shows in a schematic representation the arrangement of radar sensors 20 and reflection ring 19 in the region of the transfer from the boom 1 2 of the crusher 10 to the belt carriage 13.
- the reflection ring 1 9 is arranged on the B trailer car 1 3, while again three radar sensors 20 at the end of the boom 1 2 of the crusher 1 0 are mounted.
- the three radar sensors s im m it with its opening angle 2 1 on the reflection ring 1 9 chopped graduallyi, so that there are correspondingly three reflection points.
- the spatial position of these reflection points in an associated relative coordinate system with the spatial coordinates X, Y, Z is determined, and this spatial location is in the arithmetic unit in relation to the stored in the arithmetic gel Ien position of each radar sensor 20 set on the boom 12 in an associated relative coordinate system with the spatial coordinates X, Y, Z, wherein the resulting positional relationship reproduces the position of the devices to each other, so that at a detected deviation of this determined positional relationship to a predetermined value in the arithmetic unit Position of the devices relative to each other is changed until the actual position ratio corresponds to the given sol lwert.
- F i g. 3 may be provided in a particular embodiment of the invention, that for controlling a parallel to the belt system 1 1 aligned Fahrtri direction of the belt carriage 1 3 to the belt carriage 1 3 a multi-dimensional, d. H . m at least two-dimensional imaging radar sensor 25 is arranged with a horizontal, that is aligned parallel to the ground Winkelabbi ldung tion, which has a range of its radiation of> 5m, such radar sensors 25 are available with a range of up to 1 00 m.
- This radar sensor 25 is aligned in the direction of the course of the belt system 1 1 on the belt carriage 1 3 and looks at an opening angle 26 of 10 degrees to 160 degrees to the standing in the longitudinal direction of the belt system 1 1 in series belt stands.
- belt scaffolds not shown further, have sufficiently sharp edges and surfaces on their belt scaffold pillars and belt scaffold beams in order to bring about a good reflection of the radar beams.
- the belt stands in their di stance and at its angle to the radar sensor 25 can be located by this. From the recorded by the radar sensor 25 raw data thus Verl can be created inlain the belt system 1 1, so that the j eweils applicable horizontal angle between the defined by the orientation of the radar sensor 25 direction of the belt carriage 1 3 and the axis of the belt system 1 1 erm tedelt can be . This horizontal angle allows a proactive Beurtei development, whether in the course of the driving movements of the band carriage 1 3 a true orientation of belt carriage 1 3 and belt system 1 1 is ensured.
- the determination of the lateral distance 27 from the radar sensor 25 to the belt system 1 1 or to their belt stands in the arithmetic unit is possible, and as far as this lateral distance is available as a position signal is in the case of the application of reflection ring 1 9 and radar 20 in Area of handing over of trolleys 1 3 to the gabewagen 1 5 the arrangement of only two, on the Refletechnischsri ng 1 9 aligned radar sensors 20 required.
- such an arrangement of a radar sensor aligned in the belt axis can be used particularly advantageously with a horizontal angle image and a correspondingly long range in a trolley 1 5 which overlaps the belt system 1 1 and can be moved on crawlers or a suitably arranged and traversable B & W vehicle, such as is used to receive bulk material from a continuous conveyor system.
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- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- Mining & Mineral Resources (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/EP2013/071562 WO2015055236A1 (en) | 2013-10-15 | 2013-10-15 | Radar-assisted positioning of large devices |
CL2016000888A CL2016000888A1 (en) | 2013-10-15 | 2016-04-14 | Radar-assisted positioning of large devices |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/EP2013/071562 WO2015055236A1 (en) | 2013-10-15 | 2013-10-15 | Radar-assisted positioning of large devices |
Publications (1)
Publication Number | Publication Date |
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WO2015055236A1 true WO2015055236A1 (en) | 2015-04-23 |
Family
ID=49447533
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2013/071562 WO2015055236A1 (en) | 2013-10-15 | 2013-10-15 | Radar-assisted positioning of large devices |
Country Status (2)
Country | Link |
---|---|
CL (1) | CL2016000888A1 (en) |
WO (1) | WO2015055236A1 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109869192A (en) * | 2019-03-28 | 2019-06-11 | 中国矿业大学 | Fully-mechanized mining working faces end head elapses state monitoring apparatus and method |
CN111367269A (en) * | 2018-12-26 | 2020-07-03 | 武汉万集信息技术有限公司 | Navigation positioning method, device and system of laser radar |
WO2020200834A1 (en) * | 2019-04-03 | 2020-10-08 | Thyssenkrupp Industrial Solutions Ag | Method and apparatus for the automatable operation of a conveyor belt system used in particular in surface mining |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19947739A1 (en) * | 1999-10-05 | 2001-04-12 | Froelich Karin | Method and device for loading bulk materials into travelling containers like vehicles determines the size of a container to ensure even loading and to determine the specific dumping procedure in advance. |
-
2013
- 2013-10-15 WO PCT/EP2013/071562 patent/WO2015055236A1/en active Application Filing
-
2016
- 2016-04-14 CL CL2016000888A patent/CL2016000888A1/en unknown
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19947739A1 (en) * | 1999-10-05 | 2001-04-12 | Froelich Karin | Method and device for loading bulk materials into travelling containers like vehicles determines the size of a container to ensure even loading and to determine the specific dumping procedure in advance. |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111367269A (en) * | 2018-12-26 | 2020-07-03 | 武汉万集信息技术有限公司 | Navigation positioning method, device and system of laser radar |
CN111367269B (en) * | 2018-12-26 | 2023-08-15 | 武汉万集信息技术有限公司 | Navigation positioning method, device and system of laser radar |
CN109869192A (en) * | 2019-03-28 | 2019-06-11 | 中国矿业大学 | Fully-mechanized mining working faces end head elapses state monitoring apparatus and method |
WO2020200834A1 (en) * | 2019-04-03 | 2020-10-08 | Thyssenkrupp Industrial Solutions Ag | Method and apparatus for the automatable operation of a conveyor belt system used in particular in surface mining |
BE1027170B1 (en) * | 2019-04-03 | 2020-11-05 | Thyssenkrupp Ind Solutions Ag | Method and device for the automatable operation of a belt conveyor system used in particular in opencast mining |
CN113661137A (en) * | 2019-04-03 | 2021-11-16 | 蒂森克虏伯工业解决方案股份公司 | Method and device for the automated operation of a conveyor system, in particular for use in surface mining |
Also Published As
Publication number | Publication date |
---|---|
CL2016000888A1 (en) | 2016-12-02 |
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