EP0412398A1 - Mesure du volume de matériau excavé à partir du profil de coupe d'une roue excavatrice ou similaire - Google Patents

Mesure du volume de matériau excavé à partir du profil de coupe d'une roue excavatrice ou similaire Download PDF

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Publication number
EP0412398A1
EP0412398A1 EP90114611A EP90114611A EP0412398A1 EP 0412398 A1 EP0412398 A1 EP 0412398A1 EP 90114611 A EP90114611 A EP 90114611A EP 90114611 A EP90114611 A EP 90114611A EP 0412398 A1 EP0412398 A1 EP 0412398A1
Authority
EP
European Patent Office
Prior art keywords
delivery volume
measurement according
laser
profile
volume measurement
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
EP90114611A
Other languages
German (de)
English (en)
Other versions
EP0412398B1 (fr
Inventor
Edmund Heimes
Hans-Jörg Nüsslin
Johann Hipp
Franz-Josef Hartlief
Franz-Arno Fassbender
Ralf Eckoldt
Dieter Dr. Henning
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ibeo Ingenieurbuero fur Elektronik und Optik J Hipp and G Brohan
Rheinbraun AG
Siemens AG
Siemens Corp
Original Assignee
Ibeo Ingenieurbuero fur Elektronik und Optik J Hipp and G Brohan
Rheinbraun AG
Rheinische Braunkohlenwerke AG
Siemens AG
Siemens Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Ibeo Ingenieurbuero fur Elektronik und Optik J Hipp and G Brohan, Rheinbraun AG, Rheinische Braunkohlenwerke AG, Siemens AG, Siemens Corp filed Critical Ibeo Ingenieurbuero fur Elektronik und Optik J Hipp and G Brohan
Publication of EP0412398A1 publication Critical patent/EP0412398A1/fr
Application granted granted Critical
Publication of EP0412398B1 publication Critical patent/EP0412398B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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
    • 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
    • E02F9/26—Indicating devices

Definitions

  • the invention relates to the measurement of the delivery volume from the cutting contour of a bucket wheel excavator or other surface mining device with the aid of the contactlessly measured geometry of a mining site.
  • a direct measurement of the conveyed material volume on the paddle wheel is not known and does not appear to be solvable with today's technical means.
  • methods are known for indirectly concluding the volume of the chip milled off by the bucket wheel by measuring geometric parameters of the excavator and calculating the volume conveyed therefrom. This calculation includes, among other things, the onward movement carried out by the excavator after each swiveling operation, which is used as a measure of the thickness of the chip.
  • the excavator's further travel is measured, for example, by means of displacement sensors on the excavator undercarriages.
  • this measured value is very often subject to considerable errors, due to mechanical inaccuracies and contamination problems.
  • a volume flow measurement of bulk materials on belt conveyors in a variety of configurations is known. These are mostly about measurements with distance measuring devices with which measurements are taken at one or more points for contour determination on the surface of the bulk material. From the difference between the measurements on the empty belt and the filled belt, the area of the bulk material and from the product of the area and speed of the belt the volume flow in the loosened form in which it is present on the belt can be calculated with good accuracy. Since the conveyed material is transferred from the bucket wheel to a conveyor belt, the volume flow measurement of the bulk material on the conveyor belt can only be used to infer the conveyed volume of the excavated material with the great inaccuracy of material-dependent loosening factors.
  • DE-Al-34 11 540 shows measuring devices of the type described above, by means of which the conveying volume of the mining material can be deduced. Points of the contour of the free surface of the conveyed material are transversely to the conveying direction by means of continuous, non-contact distance measurements with the aid of transmission / Receiving devices scanned, which is followed by a computer.
  • the measuring of the filling height of the conveyor belt is achieved in that laser range finders are used as the transmitting / receiving device, which operate according to the pulse transit time measuring principle and where at least two individual lasers give their measurement results to a computer for determining the conveying volume on the belt .
  • the measurement result is relatively imprecise, since the measured individual points do not allow any information about the exact course of the surface contour.
  • the determination of the chip volume should be insensitive to different temperatures, to whirled up dust and the rest of the environment be influences. The results obtained should be so precise that it is possible to regulate the dismantling process and create a measurement.
  • the object is achieved in that the geometry of the extraction site is determined by at least one laser beam, generated in a position-oriented measuring laser carried by the surface mining device, over the running times of the laser light, the running times being evaluated in a computer.
  • the angular position of the measuring beam is given to the computer during the measuring process.
  • the positional orientation of the measuring laser can take place both mechanically and virtually in the computer using a sensor.
  • the control of the paddle wheel movement can be optimized in this way.
  • the use of a measuring laser in particular in the form of a laser scanner, has the advantage in this application that the area to be machined is recorded in a line.
  • the line-by-line or wavy-line scanning not only makes it possible to record individual data, but also the configuration of the dismantling front.
  • the use of a laser preferably a solid-state laser, which preferably works with a wavelength of 905 nanometers, a pulse rate of 3.6 kHz and a pulse duration of approximately 10 nanoseconds, is particularly advantageous for the scanning, since its very little diverging light
  • a high energy density is achieved by means of a low-cost optics, as a result of which errors caused by excessive scattering, insufficient reflection, etc. are avoided or reduced.
  • the laser scanners 8, 9 are mounted next to the paddle wheel 6 with the blades 5 on the paddle wheel carrier 7 and primarily measure the profile part 2 directed downwards.
  • the profile is determined from distance / angle value pairs.
  • the profile 1, 2 of the side on which the paddle wheel 6 is moving is primarily used for the control. If the movement is even in one direction and there is no difference measurement, the second profile scanner can also be omitted.
  • the paddle wheel 6 rotates and mills off the solid material 1 by the surface dimension 4.
  • the rear profile 12 (milled solid material), as shown in FIG. 2, is predetermined by the contour of the paddle wheel 6, since all of the above material is forcibly milled away.
  • the cross-sectional area 14 of the respective chip is calculated from the rear contour 12 and the measured profile 13.
  • the overlap of the bucket wheel 6 over the measured profile of the laser scanner represents this difference surface.
  • the bucket wheel 6 mills laterally into the solid material due to the swiveling movement of the excavator. The faster the swivel movement, the greater the volume of the chip.
  • the volume swept by the chip cross-sectional area 14 represents the conveyed volume flow of the solid material currently milled away.
  • the necessary calculations for solid material, conveying volume, chip thickness, chip height, position of the cutting surface and oversize are carried out in a computer which is the laser scanner is connected downstream.
  • This calculator can be in the laser scanner be integrated.
  • For the calculation essentially the swivel radius, the swivel speed, the stroke angle ( ⁇ ) of the bucket wheel boom, the mounting position of the laser scanner 8, 9, further geometric dimensions of the excavator and its position in space are necessary. This information can easily be saved in the computer of the laser scanner.
  • the computer is advantageously equipped with a writable permanent memory.
  • the stroke angle ( ⁇ ) of the bucket wheel boom can be used directly in the laser scanner 8, 9 or in the downstream computer.
  • the length of the bucket wheel boom is a known parameter.
  • the information is sufficient to calculate the solid material volume flow from the profile data in the laser scanner 8, 9 or in the downstream computer, without further measured values having to be supplied to the laser scanner 8, 9 or the downstream computer.
  • a correction may be necessary which can be determined from a plumb measurement and which is given to the computer as a correction variable.
  • the spatial profile has to be oriented by reference to the solder 15 in space for the specification of a cut surface.
  • the profile part on the level 3 can be approximated by a straight line.
  • the slope of this straight line can be calculated.
  • the height of the paddle wheel 6 above the level can also be determined from the profile in which the projection onto the vertical is calculated from the oblique distance to the approximated straight line in the level.
  • ACTUAL values for the location of the impeller 6 can be calculated from both variables. The location of the bucket wheel 6 relative to the position of the excavator 16 can thus be continuously avoided. If 6 TARGET values are specified for the location of the paddle wheel, a control variable for controlling the paddle wheel 6 can be derived from the difference between the ACTUAL values and TARGET values on any surface shapes.
  • the distance of the boom 7 from the material present can also be calculated. Falling short of a certain distance can be used very advantageously to trigger a collision alarm.
  • the above invention which solves a basic problem in the work of bucket-wheel excavators that was previously considered to be unsolvable, can preferably be carried out with laser scanners.
  • other radiation sources comparable to a laser can also be used, e.g. electromagnetic radiators of very high frequency and comparable beam bundling.
  • other positions of the measuring lasers than those indicated in the drawing are also possible. If there is a lot of dust, e.g. an attachment to the excavator and a contour detection of the mining front at a distance of 10-20 m from the bucket wheel.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Component Parts Of Construction Machinery (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)
  • Earth Drilling (AREA)
  • Special Conveying (AREA)
  • Branching, Merging, And Special Transfer Between Conveyors (AREA)
  • Sorting Of Articles (AREA)
EP90114611A 1989-08-08 1990-07-30 Mesure du volume de matériau excavé à partir du profil de coupe d'une roue excavatrice ou similaire Expired - Lifetime EP0412398B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3926223 1989-08-08
DE3926223 1989-08-08

Publications (2)

Publication Number Publication Date
EP0412398A1 true EP0412398A1 (fr) 1991-02-13
EP0412398B1 EP0412398B1 (fr) 1994-09-21

Family

ID=6386750

Family Applications (1)

Application Number Title Priority Date Filing Date
EP90114611A Expired - Lifetime EP0412398B1 (fr) 1989-08-08 1990-07-30 Mesure du volume de matériau excavé à partir du profil de coupe d'une roue excavatrice ou similaire

Country Status (4)

Country Link
EP (1) EP0412398B1 (fr)
AT (1) ATE111995T1 (fr)
AU (2) AU637125B2 (fr)
DE (1) DE59007214D1 (fr)

Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4133392C1 (en) * 1991-10-09 1992-12-24 Rheinbraun Ag, 5000 Koeln, De Determining progress of mining material spreader - receiving signals from at least four satellites at end of tipping arm and at vehicle base and calculating actual geodetic positions and height of material tip
AU726388B2 (en) * 1996-06-11 2000-11-09 Nec Corporation Gain controller
GB2350346A (en) * 1999-05-24 2000-11-29 Univ Carnegie Mellon Method for estimating volume of material swept into the bucket of a digging machine
CN101778998B (zh) * 2008-08-09 2012-11-21 艾柯夫山体构造技术有限公司 用于监控切割式采矿机的方法和装置
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
WO2017152916A1 (fr) * 2016-03-09 2017-09-14 Leica Geosystems Technology A/S Équipement de mesure pour déterminer le résultat d'un travail de terrassement
USRE48491E1 (en) 2006-07-13 2021-03-30 Velodyne Lidar Usa, Inc. High definition lidar system
US10983218B2 (en) 2016-06-01 2021-04-20 Velodyne Lidar Usa, Inc. Multiple pixel scanning LIDAR
US11073617B2 (en) 2016-03-19 2021-07-27 Velodyne Lidar Usa, Inc. Integrated illumination and detection for LIDAR based 3-D imaging
US11082010B2 (en) 2018-11-06 2021-08-03 Velodyne Lidar Usa, Inc. Systems and methods for TIA base current detection and compensation
US11137480B2 (en) 2016-01-31 2021-10-05 Velodyne Lidar Usa, Inc. Multiple pulse, LIDAR based 3-D imaging
US11703569B2 (en) 2017-05-08 2023-07-18 Velodyne Lidar Usa, Inc. LIDAR data acquisition and control
US11808891B2 (en) 2017-03-31 2023-11-07 Velodyne Lidar Usa, Inc. Integrated LIDAR illumination power control
US11885958B2 (en) 2019-01-07 2024-01-30 Velodyne Lidar Usa, Inc. Systems and methods for a dual axis resonant scanning mirror
US11933967B2 (en) 2019-08-22 2024-03-19 Red Creamery, LLC Distally actuated scanning mirror
EP1452087B2 (fr) † 2003-02-14 2024-05-29 Trioliet Mullos B.V. Méthode et dispositif pour l'extraction d'une quantité de foin d'un stock de fourrage
US12061263B2 (en) 2019-01-07 2024-08-13 Velodyne Lidar Usa, Inc. Systems and methods for a configurable sensor system
US12123950B2 (en) 2016-02-15 2024-10-22 Red Creamery, LLC Hybrid LADAR with co-planar scanning and imaging field-of-view
US12399279B1 (en) 2016-02-15 2025-08-26 Red Creamery Llc Enhanced hybrid LIDAR with high-speed scanning
US12399278B1 (en) 2016-02-15 2025-08-26 Red Creamery Llc Hybrid LIDAR with optically enhanced scanned laser

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2005227398B1 (en) * 2005-10-28 2006-04-27 Leica Geosystems Ag Method and apparatus for determining the loading of a bucket
US10689830B2 (en) * 2018-08-06 2020-06-23 Deere & Company Container angle sensing using vision sensor for feedback loop control

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1436740A (en) * 1973-09-11 1976-05-26 Secr Defence Semi-automated surveying apparatus
DE3511611A1 (de) * 1984-03-29 1985-10-17 Mitsubishi Denki K.K., Tokio/Tokyo Messsystem zum messen von dreidimensionalen koordinaten
WO1989011630A1 (fr) * 1988-05-26 1989-11-30 Wild Leitz Ag Procede et dispositif pour mesurer des surfaces

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4408195A (en) * 1981-08-17 1983-10-04 Fmc Corporation Boundary plane warning system
US4835537A (en) * 1986-07-16 1989-05-30 Manion James H Telemetry burst collision avoidance system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1436740A (en) * 1973-09-11 1976-05-26 Secr Defence Semi-automated surveying apparatus
DE3511611A1 (de) * 1984-03-29 1985-10-17 Mitsubishi Denki K.K., Tokio/Tokyo Messsystem zum messen von dreidimensionalen koordinaten
WO1989011630A1 (fr) * 1988-05-26 1989-11-30 Wild Leitz Ag Procede et dispositif pour mesurer des surfaces

Cited By (42)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4133392C1 (en) * 1991-10-09 1992-12-24 Rheinbraun Ag, 5000 Koeln, De Determining progress of mining material spreader - receiving signals from at least four satellites at end of tipping arm and at vehicle base and calculating actual geodetic positions and height of material tip
AU726388B2 (en) * 1996-06-11 2000-11-09 Nec Corporation Gain controller
GB2350346A (en) * 1999-05-24 2000-11-29 Univ Carnegie Mellon Method for estimating volume of material swept into the bucket of a digging machine
GB2350346B (en) * 1999-05-24 2003-03-26 Univ Carnegie Mellon System and method for estimating volume of material swept into the bucket of a digging machine
EP1452087B2 (fr) † 2003-02-14 2024-05-29 Trioliet Mullos B.V. Méthode et dispositif pour l'extraction d'une quantité de foin d'un stock de fourrage
USRE48666E1 (en) 2006-07-13 2021-08-03 Velodyne Lidar Usa, Inc. High definition LiDAR system
USRE48688E1 (en) 2006-07-13 2021-08-17 Velodyne Lidar Usa, Inc. High definition LiDAR system
USRE48491E1 (en) 2006-07-13 2021-03-30 Velodyne Lidar Usa, Inc. High definition lidar system
USRE48490E1 (en) 2006-07-13 2021-03-30 Velodyne Lidar Usa, Inc. High definition LiDAR system
USRE48504E1 (en) 2006-07-13 2021-04-06 Velodyne Lidar Usa, Inc. High definition LiDAR system
USRE48503E1 (en) 2006-07-13 2021-04-06 Velodyne Lidar Usa, Inc. High definition LiDAR system
CN101778998B (zh) * 2008-08-09 2012-11-21 艾柯夫山体构造技术有限公司 用于监控切割式采矿机的方法和装置
US11028560B2 (en) 2011-04-14 2021-06-08 Joy Global Surface Mining 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
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
US12018463B2 (en) 2011-04-14 2024-06-25 Joy Global Surface Mining Inc Swing automation for rope shovel
US9745721B2 (en) 2012-03-16 2017-08-29 Harnischfeger Technologies, Inc. Automated control of dipper swing for a 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
US11137480B2 (en) 2016-01-31 2021-10-05 Velodyne Lidar Usa, Inc. Multiple pulse, LIDAR based 3-D imaging
US11822012B2 (en) 2016-01-31 2023-11-21 Velodyne Lidar Usa, Inc. Multiple pulse, LIDAR based 3-D imaging
US11550036B2 (en) 2016-01-31 2023-01-10 Velodyne Lidar Usa, Inc. Multiple pulse, LIDAR based 3-D imaging
US11698443B2 (en) 2016-01-31 2023-07-11 Velodyne Lidar Usa, Inc. Multiple pulse, lidar based 3-D imaging
US12399279B1 (en) 2016-02-15 2025-08-26 Red Creamery Llc Enhanced hybrid LIDAR with high-speed scanning
US12399278B1 (en) 2016-02-15 2025-08-26 Red Creamery Llc Hybrid LIDAR with optically enhanced scanned laser
US12123950B2 (en) 2016-02-15 2024-10-22 Red Creamery, LLC Hybrid LADAR with co-planar scanning and imaging field-of-view
US10738441B2 (en) 2016-03-09 2020-08-11 Leica Geosystems Technology A/S Measuring equipment for determining the result of earthmoving work
WO2017152916A1 (fr) * 2016-03-09 2017-09-14 Leica Geosystems Technology A/S Équipement de mesure pour déterminer le résultat d'un travail de terrassement
US11073617B2 (en) 2016-03-19 2021-07-27 Velodyne Lidar Usa, Inc. Integrated illumination and detection for LIDAR based 3-D imaging
US11808854B2 (en) 2016-06-01 2023-11-07 Velodyne Lidar Usa, Inc. Multiple pixel scanning LIDAR
US11874377B2 (en) 2016-06-01 2024-01-16 Velodyne Lidar Usa, Inc. Multiple pixel scanning LIDAR
US11561305B2 (en) 2016-06-01 2023-01-24 Velodyne Lidar Usa, Inc. Multiple pixel scanning LIDAR
US11550056B2 (en) 2016-06-01 2023-01-10 Velodyne Lidar Usa, Inc. Multiple pixel scanning lidar
US10983218B2 (en) 2016-06-01 2021-04-20 Velodyne Lidar Usa, Inc. Multiple pixel scanning LIDAR
US11808891B2 (en) 2017-03-31 2023-11-07 Velodyne Lidar Usa, Inc. Integrated LIDAR illumination power control
US11703569B2 (en) 2017-05-08 2023-07-18 Velodyne Lidar Usa, Inc. LIDAR data acquisition and control
US11082010B2 (en) 2018-11-06 2021-08-03 Velodyne Lidar Usa, Inc. Systems and methods for TIA base current detection and compensation
US11885958B2 (en) 2019-01-07 2024-01-30 Velodyne Lidar Usa, Inc. Systems and methods for a dual axis resonant scanning mirror
US12061263B2 (en) 2019-01-07 2024-08-13 Velodyne Lidar Usa, Inc. Systems and methods for a configurable sensor system
US11933967B2 (en) 2019-08-22 2024-03-19 Red Creamery, LLC Distally actuated scanning mirror

Also Published As

Publication number Publication date
AU6028190A (en) 1991-02-14
EP0412398B1 (fr) 1994-09-21
AU6027690A (en) 1991-02-14
AU634801B2 (en) 1993-03-04
ATE111995T1 (de) 1994-10-15
AU637125B2 (en) 1993-05-20
DE59007214D1 (de) 1994-10-27

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