EP0412398B1 - 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 PDFInfo
- Publication number
- EP0412398B1 EP0412398B1 EP90114611A EP90114611A EP0412398B1 EP 0412398 B1 EP0412398 B1 EP 0412398B1 EP 90114611 A EP90114611 A EP 90114611A EP 90114611 A EP90114611 A EP 90114611A EP 0412398 B1 EP0412398 B1 EP 0412398B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- conveyed
- bucket
- laser scanner
- wheel
- 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.)
- Expired - Lifetime
Links
Images
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 in a bucket wheel excavator or other material-removing surface mining device, the surface profile of the solid material to be removed next to the bucket wheel being continuously scanned by means of a radiation transmitter / receiver carried by the bucket wheel excavator and from the difference between the detected surface profile and that generated by the bucket wheel Cutting contour and the pivoting speed of the paddle wheel, the delivery volume of the conveyed solid material is determined.
- DE-A-1 634 712 Such a delivery volume measurement in a bucket wheel excavator is known from DE-A-1 634 712, the scanning of the surface to be removed from the bucket wheel using beams, such as, for. B. of ultrasonic waves, electromagnetic vibrations or photoelectric light barriers is specified as an alternative to mechanical scanning.
- beams such as, for. B. of ultrasonic waves, electromagnetic vibrations or photoelectric light barriers.
- DE-A-1 634 712 does not show how the surface is to be scanned with the aid of the beams.
- DE-A-34 11 540 a method for measuring the delivery volume in belt conveyors is known, the surface of the bulk material being scanned across the conveying direction at several measuring points with the aid of laser distance measuring devices operating according to the pulse transit time measuring principle.
- a laser distance measuring device is provided for each measuring point, so that the number of devices required depends on the width of the belt conveyor.
- the determination of the chip volume should be insensitive to different temperatures, to whirled up dust and the other environmental influences. The results obtained should be so precise that it is possible to regulate the dismantling process and create an oversize.
- the radiation transmitter / receiver is a laser scanner which generates a pulsed laser beam in the initially mentioned delivery volume measurement and measures the surface profile by measuring the distance and the angle from the laser scanner to points on the surface of the solid material, the distance between the points and the laser scanner being measured in a computer by evaluating the propagation time of the pulsed laser light.
- the control of the paddle wheel movement can be optimized in this way.
- the use of a laser scanner has the advantage 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 scanner, 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, whereby errors due to 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 measure primarily the downward profile part 2.
- the profile is determined from distance / angle value pairs.
- the distance to individual points of the surface profile is measured by evaluating the transit time of the laser beam generated in a computer downstream of the laser scanner 8, 9.
- a start pulse is first generated, the reflected portion of which is extended by delay lines, preferably in the form of a coil, and used for a start-stop measurement. It is primarily the profile 1, 2 of that side that is used for the control towards which the paddle wheel 6 moves.
- the second laser scanner 8 can also be dispensed with.
- 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 9 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 the laser scanner 9 is connected downstream.
- This computer can be integrated in the laser scanner 9.
- the swiveling radius, the swiveling speed, the lifting angle ⁇ of the bucket wheel boom 7, the mounting position of the laser scanner 8, 9, further geometric dimensions of the excavator as well as its location in space is necessary.
- This information can easily be stored in the computer of the laser scanner 8, 9.
- the computer is advantageously equipped with a permanent memory.
- the stroke angle ⁇ of the bucket wheel boom 7 can be used directly in the laser scanner 8, 9 or in the downstream computer.
- the length of the bucket wheel boom 7 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. If the excavator 16 is tilted, 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 must be oriented in space by reference to the solder 15.
- 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 DESIRED values are specified for the location of the impeller, a control variable for controlling the impeller 6 on any surface shapes can be derived from the difference between the ACTUAL values and REQUIRED values.
- 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.
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)
- Earth Drilling (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Sorting Of Articles (AREA)
- Branching, Merging, And Special Transfer Between Conveyors (AREA)
- Special Conveying (AREA)
Claims (8)
- Mesure de volume refoulé dans une excavatrice (16) à roue à godets ou dans un autre appareil d'exploitation à ciel ouvert, qui réalise un enlèvement de matériau, selon laquelle le profil de la surface du matériau solide (1), qui doit être enlevé et qui est présent à côté de la roue à godets (6), est exploré en permanence au moyen d'un émetteur/ récepteur de rayonnement (9) entraîné conjointement par l'excavatrice (16) à roue à godets et que le volume refoulé du matériau solide entraîné (1) est déterminé à partir de la différence entre le profil de surface détecté (13) et le contour en coupe (12) produit par la roue à godets (6) ainsi que la vitesse de basculement de la roue à godets (6),
caractérisée par le fait
que l'émetteur/récepteur de rayonnement (9) est un scanner laser, qui produit un faisceau laser pulsé et mesure le profil de surface (13) au moyen de la mesure de la distance et de l'angle du scanner laser par rapport à des points situés sur la surface (13) du matériau solide (1), la mesure de la distance entre les points et le scanner laser (9) s'effectuant dans un calculateur par évaluation du temps de propagation de la lumière laser pulsée. - Mesure de volume refoulé suivant la revendication 1, caractérisée par le fait que la détermination du contour en coupe (12) formé par la roue à godets (6) s'effectue à partir des dimensions géométriques de la roue à godets (6).
- Mesure de volume refoulé suivant la revendication 1, caractérisée par le fait que la détermination du contour en coupe (12) produit par la roue à godets (6) s'effectue par exploration du contour en coupe (12) à l'aide d'un autre scanner laser (8).
- Mesure de volume refoulé suivant la revendication 1, 2 ou 3, caractérisée par le fait que la détermination du volume refoulé s'effectue en outre en fonction de l'angle de la course (a) du support (7) de la roue à godets.
- Mesure de volume refoulé suivant l'une des revendications précédentes, caractérisée par le fait que les scanners lasers (8, 9) et le calculateur sont reliés à une mémoire morte dans laquelle sont mémorisés des paramètres concernant l'excavatrice (16) et la position du montage du scanner laser (8, 9), et des valeurs d'ajustement.
- Mesure de volume refoulé suivant l'une des revendications précédentes, caractérisée par le fait que le scanner laser (8, 9) exécute la mesure sur une cible, interne à l'appareil, de l'excavatrice (16) dans des plages angulaires qui ne sont pas utilisées pour l'exploration du profil de surface (12, 13), et la distance mesurée et connue est utilisée comme valeur de contrôle pour l'aptitude au fonctionnement du scanner laser (8, 9) à sa valeur d'étalonnage.
- Mesure de volume refoulé suivant l'une des revendications précédentes, caractérisée par le fait que pour la détermination du temps de propagation d'impulsions, on produit tout d'abord une impulsion de démarrage, dont le temps de propagation de la partie réfléchie est allongé par l'intermédiaire de lignes à retard, de préférence sous la forme de bobines, la partie réfléchie étant utilisée pour une mesure de démarrage - arrêt.
- Mesure de volume refoulé suivant l'une des revendications précédentes, caractérisée par le fait que le scanner laser (8, 9) travaille avec des impulsions ayant des durées de 1 - 10 nanosecondes et une fréquence d'impulsions située dans la gamme des kilohertz et de préférence dans la gamme de 3 - 30 kHz.
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 EP0412398A1 (fr) | 1991-02-13 |
EP0412398B1 true 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 (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
Families Citing this family (17)
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 |
JPH09331222A (ja) * | 1996-06-11 | 1997-12-22 | Nec Corp | 利得制御信号補正装置 |
US6085583A (en) * | 1999-05-24 | 2000-07-11 | Carnegie Mellon University | System and method for estimating volume of material swept into the bucket of a digging machine |
NL1022678C2 (nl) † | 2003-02-14 | 2004-08-17 | Trioliet Mullos | Werkwijze en inrichting voor het uithalen van een hoeveelheid voer uit een voedervoorraad. |
AU2005227398B1 (en) * | 2005-10-28 | 2006-04-27 | Leica Geosystems Ag | Method and apparatus for determining the loading of a bucket |
USRE46672E1 (en) | 2006-07-13 | 2018-01-16 | Velodyne Lidar, Inc. | High definition LiDAR system |
EA016425B1 (ru) * | 2008-08-09 | 2012-04-30 | Айкхофф Бергбаутехник Гмбх | Способ контролирования пути движения режущей очистной машины |
US10627490B2 (en) | 2016-01-31 | 2020-04-21 | Velodyne Lidar, Inc. | Multiple pulse, LIDAR based 3-D imaging |
US10738441B2 (en) | 2016-03-09 | 2020-08-11 | Leica Geosystems Technology A/S | Measuring equipment for determining the result of earthmoving work |
CA3017735C (fr) | 2016-03-19 | 2023-03-14 | Velodyne Lidar, Inc. | Eclairage et detection integres pour imagerie 3d basee sur lidar |
CA3024510C (fr) | 2016-06-01 | 2022-10-04 | Velodyne Lidar, Inc. | Lidar a balayage a pixels multiples |
CA3057988A1 (fr) | 2017-03-31 | 2018-10-04 | Velodyne Lidar, Inc. | Commande de puissance d'eclairage a lidar integre |
CN110809704B (zh) | 2017-05-08 | 2022-11-01 | 威力登激光雷达美国有限公司 | Lidar数据获取与控制 |
US10689830B2 (en) * | 2018-08-06 | 2020-06-23 | Deere & Company | Container angle sensing using vision sensor for feedback loop 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 |
US11556000B1 (en) | 2019-08-22 | 2023-01-17 | Red Creamery Llc | Distally-actuated scanning mirror |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB1436740A (en) * | 1973-09-11 | 1976-05-26 | Secr Defence | Semi-automated surveying apparatus |
US4408195A (en) * | 1981-08-17 | 1983-10-04 | Fmc Corporation | Boundary plane warning system |
US4688184A (en) * | 1984-03-29 | 1987-08-18 | Mitsubishi Denki Kabushiki Kaisha | System for measuring three-dimensional coordinates |
US4835537A (en) * | 1986-07-16 | 1989-05-30 | Manion James H | Telemetry burst collision avoidance system |
WO1989011630A1 (fr) * | 1988-05-26 | 1989-11-30 | Wild Leitz Ag | Procede et dispositif pour mesurer des surfaces |
-
1990
- 1990-07-30 EP EP90114611A patent/EP0412398B1/fr not_active Expired - Lifetime
- 1990-07-30 DE DE59007214T patent/DE59007214D1/de not_active Expired - Fee Related
- 1990-07-30 AT AT90114611T patent/ATE111995T1/de not_active IP Right Cessation
- 1990-08-07 AU AU60281/90A patent/AU637125B2/en not_active Expired
- 1990-08-07 AU AU60276/90A patent/AU634801B2/en not_active Expired
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8768579B2 (en) | 2011-04-14 | 2014-07-01 | Harnischfeger Technologies, 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 |
US9206587B2 (en) | 2012-03-16 | 2015-12-08 | Harnischfeger Technologies, Inc. | Automated control of dipper swing for a shovel |
Also Published As
Publication number | Publication date |
---|---|
EP0412398A1 (fr) | 1991-02-13 |
AU634801B2 (en) | 1993-03-04 |
DE59007214D1 (de) | 1994-10-27 |
AU6027690A (en) | 1991-02-14 |
AU637125B2 (en) | 1993-05-20 |
ATE111995T1 (de) | 1994-10-15 |
AU6028190A (en) | 1991-02-14 |
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