EP0412399A1 - Commande du volume excavé par une roue à godet - Google Patents

Commande du volume excavé par une roue à godet Download PDF

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Publication number
EP0412399A1
EP0412399A1 EP90114612A EP90114612A EP0412399A1 EP 0412399 A1 EP0412399 A1 EP 0412399A1 EP 90114612 A EP90114612 A EP 90114612A EP 90114612 A EP90114612 A EP 90114612A EP 0412399 A1 EP0412399 A1 EP 0412399A1
Authority
EP
European Patent Office
Prior art keywords
control according
bucket wheel
solid material
profile
flow control
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
EP90114612A
Other languages
German (de)
English (en)
Other versions
EP0412399B1 (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
Priority to AT90114612T priority Critical patent/ATE99758T1/de
Publication of EP0412399A1 publication Critical patent/EP0412399A1/fr
Application granted granted Critical
Publication of EP0412399B1 publication Critical patent/EP0412399B1/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
    • 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
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)

Definitions

  • the invention relates to the flow rate control of a bucket wheel excavator or bucket wheel pickup in opencast mining, in which the swiveling speed of the bucket wheel boom and / or its altitude is regulated taking into account the bucket wheel drive current and the weight and volume of the conveyed goods.
  • a direct measurement of the cutting volume on the paddle wheel is not yet known and does not appear to be solvable with today's technical means.
  • Methods have hitherto been known for indirectly concluding the volume of the chip currently cut by the bucket wheel by measuring geometric parameters of the excavator.
  • the calculation includes, among other things, the chip advance made by the excavator after each swiveling operation a, 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 often fraught with errors due to mechanical inaccuracies and contamination problems.
  • a conclusion from the delivered volume to the volume to be cut is only possible to a limited extent due to the varying loosening factor.
  • the known measuring methods result in a not inconsiderable measurement error, so that they do not allow the excavator to be regulated in the border area between overload and the greatest possible delivery rate.
  • the regulation according to the absorbed current of the paddle wheel drive is also not able to do this, in particular since the different, material-dependent friction conditions on the paddle wheel are included in these.
  • the object is achieved in that the solid material delivery volume detected by the paddle wheel is used as a further control variable.
  • the solid material flow volume recorded by the bucket wheel allows direct information about the load on the excavator and its utilization.
  • the bucket wheel excavator or the bucket wheel pickup can therefore advantageously be regulated in such a way that it absorbs the currently specified delivery rate. This can be the case either by changing the swiveling speed of the bucket wheel extension arm alone or in connection with the change in the lifting height.
  • the determination of the solid material delivery volume detected by the paddle wheel is carried out by a laser beam which scans the contour of the solid material in front of the Paddle wheel scans.
  • the scanning of the contour of the solid material in the swiveling direction in front of the paddle wheel by a laser beam which preferably works with a wavelength of 905 nanometers, a pulse rate of 3.6 kHz and a pulse duration of approx. 10 nanoseconds, allows a particularly precise, against different temperatures, whirled up dust and other environmental influences, insensitive determination of the cutting volume to be reduced. An operationally reliable measurement of the cutting volume to be cut is thus available, which enables reliable control of the delivery rate of the bucket wheel excavator or bucket wheel pickup.
  • the laser beam is generated by a position-oriented measuring laser which is arranged in the vicinity of the impeller and which measures the contour of the solid material present by means of the transit time measurements of the pulsed laser light evaluated by a computer.
  • 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. Thanks to the low-cost optics, the low scattering light of a laser scanner can achieve a high instantaneous energy density, thereby avoiding or reducing errors caused by excessive scattering, insufficient reflection, etc. Overall, this results in a particularly reliable measurement and control method that is suitable for open-cast mining.
  • 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 cut surface and oversize are carried out in a computer which is connected downstream of the laser scanner.
  • This computer can be integrated in the laser scanner.
  • 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 is thus relative to the position of the excavator 16 continuously avoidable. 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 previously considered unsolvable when working with bucket wheel excavators, can preferably be carried out with laser scanners, in particular IR laser scanners.
  • laser scanners in particular IR 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 measurement laser 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)
  • Operation Control Of Excavators (AREA)
  • Earth Drilling (AREA)
  • Control And Safety Of Cranes (AREA)
  • Ship Loading And Unloading (AREA)
EP90114612A 1989-08-08 1990-07-30 Commande du volume excavé par une roue à godet Expired - Lifetime EP0412399B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT90114612T ATE99758T1 (de) 1989-08-08 1990-07-30 Foerdermengenregelung eines schaufelradbaggers oder schaufelradaufnehmers im tagebau.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3926222 1989-08-08
DE3926222 1989-08-08

Publications (2)

Publication Number Publication Date
EP0412399A1 true EP0412399A1 (fr) 1991-02-13
EP0412399B1 EP0412399B1 (fr) 1994-01-05

Family

ID=6386749

Family Applications (1)

Application Number Title Priority Date Filing Date
EP90114612A Expired - Lifetime EP0412399B1 (fr) 1989-08-08 1990-07-30 Commande du volume excavé par une roue à godet

Country Status (5)

Country Link
EP (1) EP0412399B1 (fr)
AT (1) ATE99758T1 (fr)
AU (1) AU634802B2 (fr)
DE (1) DE59004104D1 (fr)
ES (1) ES2048372T3 (fr)

Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1999002788A1 (fr) * 1997-07-10 1999-01-21 Siemens Aktiengesellschaft Excavatrice rotative
EP1010818A1 (fr) * 1997-11-05 2000-06-21 Krupp Fördertechnik GmbH Dispositif d'extraction pour l'extraction de produits miniers
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
CN108661107A (zh) * 2018-04-12 2018-10-16 王海燕 液压能分配可控式挖掘机
WO2019162201A1 (fr) * 2018-02-23 2019-08-29 Liebherr-Components Biberach Gmbh Excavatrice à godets et procédé pour commander une excavatrice à godets
DE102019214626A1 (de) * 2019-09-25 2020-09-24 Thyssenkrupp Ag Vorrichtung und Verfahren zur Optimierung von Abbauvorgängen sowie Verwendung und Computerprogrammprodukt
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
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
US12399278B1 (en) 2016-02-15 2025-08-26 Red Creamery Llc Hybrid LIDAR with optically enhanced scanned laser
US12399279B1 (en) 2016-02-15 2025-08-26 Red Creamery Llc Enhanced hybrid LIDAR with high-speed scanning

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2420120A1 (fr) * 1978-03-17 1979-10-12 Coal Industry Patents Ltd Systeme de controle permettant de determiner la configuration d'un trajet d'abattage de minerai dont les extremites ne peuvent pas etre reliees par une ligne de visee
FR2468101A1 (fr) * 1979-10-17 1981-04-30 Sncf Instrument a laser destine a mesurer le profil transversal d'ouvrages souterrains
FR2637625A1 (fr) * 1988-10-11 1990-04-13 Screg Routes & Travaux Procede et dispositif de positionnement automatique en continu d'un outil de reglage d'un engin de travaux publics, sur un terrain presentant une surface reelle a travailler

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1634712C3 (de) * 1965-12-17 1974-06-06 Fried. Krupp Gmbh, 4300 Essen Vorrichtung zur Regelung der Förderleistung eines kontinuierlich fördernden Erdbewegungsgerätes
US4695163A (en) * 1985-06-17 1987-09-22 Schachar Ronald A Method and apparatus for determining surface shapes using reflected laser light

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2420120A1 (fr) * 1978-03-17 1979-10-12 Coal Industry Patents Ltd Systeme de controle permettant de determiner la configuration d'un trajet d'abattage de minerai dont les extremites ne peuvent pas etre reliees par une ligne de visee
FR2468101A1 (fr) * 1979-10-17 1981-04-30 Sncf Instrument a laser destine a mesurer le profil transversal d'ouvrages souterrains
FR2637625A1 (fr) * 1988-10-11 1990-04-13 Screg Routes & Travaux Procede et dispositif de positionnement automatique en continu d'un outil de reglage d'un engin de travaux publics, sur un terrain presentant une surface reelle a travailler

Cited By (41)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6369376B1 (en) 1997-07-10 2002-04-09 Siemens Aktiengesellschaft Conveyor device
WO1999002788A1 (fr) * 1997-07-10 1999-01-21 Siemens Aktiengesellschaft Excavatrice rotative
EP1010818A1 (fr) * 1997-11-05 2000-06-21 Krupp Fördertechnik GmbH Dispositif d'extraction pour l'extraction de produits miniers
USRE48504E1 (en) 2006-07-13 2021-04-06 Velodyne Lidar Usa, Inc. High definition LiDAR system
USRE48491E1 (en) 2006-07-13 2021-03-30 Velodyne Lidar Usa, Inc. High definition lidar system
USRE48503E1 (en) 2006-07-13 2021-04-06 Velodyne Lidar Usa, Inc. High definition LiDAR system
USRE48490E1 (en) 2006-07-13 2021-03-30 Velodyne Lidar Usa, Inc. High definition LiDAR system
USRE48688E1 (en) 2006-07-13 2021-08-17 Velodyne Lidar Usa, Inc. High definition LiDAR system
USRE48666E1 (en) 2006-07-13 2021-08-03 Velodyne Lidar Usa, Inc. High definition LiDAR system
US9567725B2 (en) 2011-04-14 2017-02-14 Harnischfeger Technologies, Inc. Swing automation for rope shovel
US11028560B2 (en) 2011-04-14 2021-06-08 Joy Global Surface Mining Inc Swing automation for rope shovel
US10227754B2 (en) 2011-04-14 2019-03-12 Joy Global Surface Mining Inc Swing automation for rope shovel
US9315967B2 (en) 2011-04-14 2016-04-19 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
US8768579B2 (en) 2011-04-14 2014-07-01 Harnischfeger Technologies, 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
US10655301B2 (en) 2012-03-16 2020-05-19 Joy Global Surface Mining 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
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
US11698443B2 (en) 2016-01-31 2023-07-11 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
US12399279B1 (en) 2016-02-15 2025-08-26 Red Creamery Llc Enhanced hybrid LIDAR with high-speed scanning
US12123950B2 (en) 2016-02-15 2024-10-22 Red Creamery, LLC Hybrid LADAR with co-planar scanning and imaging field-of-view
US12399278B1 (en) 2016-02-15 2025-08-26 Red Creamery Llc Hybrid LIDAR with optically enhanced scanned laser
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
US11550056B2 (en) 2016-06-01 2023-01-10 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
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
CN112105781A (zh) * 2018-02-23 2020-12-18 利勃海尔比伯拉赫零部件有限公司 斗轮式挖掘机和用于控制斗轮式挖掘机的方法
WO2019162201A1 (fr) * 2018-02-23 2019-08-29 Liebherr-Components Biberach Gmbh Excavatrice à godets et procédé pour commander une excavatrice à godets
CN108661107A (zh) * 2018-04-12 2018-10-16 王海燕 液压能分配可控式挖掘机
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
DE102019214626A1 (de) * 2019-09-25 2020-09-24 Thyssenkrupp Ag Vorrichtung und Verfahren zur Optimierung von Abbauvorgängen sowie Verwendung und Computerprogrammprodukt

Also Published As

Publication number Publication date
DE59004104D1 (de) 1994-02-17
EP0412399B1 (fr) 1994-01-05
AU6027890A (en) 1991-02-14
ES2048372T3 (es) 1994-03-16
AU634802B2 (en) 1993-03-04
ATE99758T1 (de) 1994-01-15

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