US20140067194A1 - Method for detecting and tracking the position of a movable transferring device/loading device of a bucket-wheel excavator or bucket chain excavator - Google Patents

Method for detecting and tracking the position of a movable transferring device/loading device of a bucket-wheel excavator or bucket chain excavator Download PDF

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Publication number
US20140067194A1
US20140067194A1 US14/073,496 US201314073496A US2014067194A1 US 20140067194 A1 US20140067194 A1 US 20140067194A1 US 201314073496 A US201314073496 A US 201314073496A US 2014067194 A1 US2014067194 A1 US 2014067194A1
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Prior art keywords
loading
detecting
sensor
belt
conveyor
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Abandoned
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US14/073,496
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English (en)
Inventor
Bernd Gralow
Joachim Gutsche
Sven Alexander
Thomas Bauch
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ABB AG Germany
Vattenfall Europe Mining AG
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ABB AG Germany
Vattenfall Europe Mining AG
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Application filed by ABB AG Germany, Vattenfall Europe Mining AG filed Critical ABB AG Germany
Publication of US20140067194A1 publication Critical patent/US20140067194A1/en
Assigned to ABB AG reassignment ABB AG ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: Gutsche, Joachim, ALEXANDER, SVEN, BAUCH, THOMAS, GRALOW, BERND
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    • 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
    • E02F3/22—Component parts
    • E02F3/26—Safety or control devices
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F13/00—Transport specially adapted to underground conditions
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F7/00—Equipment for conveying or separating excavated material
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F7/00—Equipment for conveying or separating excavated material
    • E02F7/02—Conveying equipment mounted on a dredger
    • 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
    • E02F9/205—Remotely operated machines, e.g. unmanned vehicles
    • 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
    • E21C47/02—Machines for obtaining or the removal of materials in open-pit mines for coal, brown coal, or the like

Definitions

  • the disclosure relates to a method for detecting and tracking the position of a movable transferring device/loading device of a bucket-wheel excavator or bucket chain excavator.
  • a known bucket-wheel excavator comprises (e.g., includes) in standard designs a pivotable superstructure having an inclinable boom with a bucket wheel fastened thereto, a track-mobile substructure, and a transferring device or loading device with loading boom inclusive of loading belt. During operation, the superstructure pivots back and forth on the track-mobile substructure within its working range.
  • the bucket-wheel excavator transfers the masses which it has extracted in block operation (bench block or side block operation, or the conveyed material) for example coal or spoils, to a shiftable bench conveyor.
  • Track-mounted bucket chain excavators are equipped with a pivot mechanism for the superstructure. They can operate in upward cutting or downward cutting mode.
  • the excavator superstructure receives perpendicular to the direction of travel the bucket ladder, the lower, movable part of which is suspended articulately from the superstructure and from a boom by means of one or more bucket ladder winches.
  • On the bucket ladder runs an endless bucket chain.
  • the bucket chain excavator is equipped with a transferring device.
  • the design of the transferring device takes into account that the angle between the loading belt of the transferring device and the bench conveyor belt axis in ground plan is adjustable.
  • the pivot motion of the transferring device enables the unloading of the transferring device to be adapted to the distance of the shiftable bench conveyor from the excavator axis (center axis of the tracked substructure).
  • the shiftable bench conveyor lies parallel to the direction of travel of the track-mobile substructure of the excavator (bucket chain excavator or bucket-wheel excavator) and is shifted in dependence on the rate of advance.
  • An interposed mobile transfer conveyor can be used, for example, to enlarge the radius of action of the bucket-wheel excavator or bucket chain excavator during mining.
  • a fundamental object in respect of the loading consists in the operation of a pivot mechanism/lifting gear of the loading boom inclusive of loading belt of the transferring device, including operation of a loading chute for the correct belt loading of the bench conveyor or of a mobile transfer conveyor and control of the mass stream or of the conveyed material stream. This object is fulfilled by a loading attendant.
  • the loading attendant conducts the operation of the pivot mechanism/lifting gear for the loading boom and the operation of the loading chute for the correct belt loading and control of the mass stream.
  • An exemplary method for detecting and tracking a position of a movable transferring device/loading device of a bucket-wheel excavator includes an extraction apparatus having a pivotable superstructure with an inclinable boom, a track-mobile substructure, and a transferring device with a loading boom, the superstructure delivers conveyed material by means of a bench conveyor without an interposed mobile transfer conveyor or transfer point, wherein an open-loop or closed-loop control device establishes the pivot angle and the inclination of the loading boom of the transferring device, the method comprising: detecting, in a first sensor, current spatial coordinates of the bucket-wheel excavator; detecting, in a second sensor, current spatial coordinates of the bench conveyor; detecting, in a third sensor, current longitudinal inclination and transverse inclination of the loading boom; detecting, in a fourth sensor, a current pivot angle of the loading boom; detecting, in a fifth sensor, a current distance of the loading boom above the bench conveyor;
  • the excavator includes an extraction apparatus having a pivotable superstructure with an inclinable boom, a track-mobile substructure, and a transferring device with a loading boom, the superstructure delivers conveyed material by means of a bench conveyor with an interposed mobile transfer conveyor or transfer point, wherein an open-loop or closed-loop control device establishes the pivot angle and the inclination of the loading boom of the transferring device, the method comprising: detecting, in a first sensor, current spatial coordinates of the bucket-wheel excavator or bucket chain excavator; detecting, in a second sensor, current spatial coordinates of the bench conveyor or of the take-up belt of the mobile transfer conveyor; detecting, in a third sensor, current longitudinal inclination and transverse inclination of the loading boom; detecting, in a fourth sensor, a current pivot angle of the
  • FIG. 1 shows a schematic view of an underground mining operation including as the main components a bucket-wheel excavator or bucket chain excavator in accordance with an exemplary embodiment of the present disclosure.
  • FIG. 2 shows a mobile transfer conveyor provided between the bucket-wheel excavator or bucket chain excavator and the bench conveyor in accordance with an exemplary embodiment of the present disclosure.
  • Exemplary embodiments of the present disclosure specify an optimized method for detecting and tracking the position of a movable transferring device/loading device of a bucket-wheel excavator or bucket chain excavator.
  • an open-loop/closed-loop control device can define (e.g., establish) the pivot angle and the inclination of the loading boom of the transferring device in dependence on the signals of the following sensors: a sensor for detecting the current spatial coordinates of the bucket-wheel excavator or bucket chain excavator, a sensor for detecting the current spatial coordinates of the bench conveyor or of the take-up belt of the mobile transfer conveyor, a sensor for detecting the current longitudinal inclination and transverse inclination of the loading boom, a sensor for detecting the current pivot angle of the loading boom, a sensor for detecting the current distance of the loading boom above the bench conveyor or above the take-up belt of the mobile transfer conveyor, a sensor for detecting the current vertical positioning of the loading boom above the bench conveyor or above the take-up belt of the mobile transfer conveyor, inclusive of detection of the belt middle, a sensor for monitoring overfilling in/at the transfer point of the loading boom.
  • the advantages obtainable with the exemplary embodiments disclosed herein can include, for example, making an additional loading attendant obsolete, since the operation of a pivot mechanism/lifting gear of the loading boom inclusive of the loading belt of the transferring device, including operation of a loading chute for the correct belt loading of the bench conveyor or of the take-up belt of a mobile transfer conveyor and the control of the mass stream and of the conveyed material stream, can be fulfilled by the exemplary open-loop/closed-loop control device disclosed herein.
  • the manual positioning is replaced by an automatic positioning (e.g., manless operation) of the loading boom for the transfer of conveyed material to the discharging conveyor—bench conveyor or mobile transfer conveyor with take-up belt.
  • the open-loop/closed-loop control device exerts a direct influence on the belt running of the bench conveyor belt or of the take-up belt of a mobile transfer conveyor, with due regard to the dirt contamination of the conveyor.
  • the conveyed material is loaded with due regard to the belt transfers.
  • a signal is delivered to the bucket-wheel excavator or bucket chain excavator to adjust the conveyance.
  • bucket-wheel excavators having a loading boom for transfer to the bench conveyor
  • bucket chain excavators having a loading boom for transfer to the bench conveyor
  • bucket-wheel excavators having a loading boom for transfer to an interposed mobile transfer conveyor
  • bucket chain excavators having a loading apparatus for transfer to the bench conveyor.
  • FIG. 1 shows a schematic view of an underground mining operation including as the main components a bucket-wheel excavator or bucket chain excavator in accordance with an exemplary embodiment of the present disclosure.
  • the bucket wheel conveyor or bucket chain conveyor inclusive of a movable transferring device and a bench conveyor (e.g., face conveyor) inclusive of bench conveyor belt (e.g., discharging belt) is shown, wherein the movable transferring device is constructed with a pivot mechanism/lifting gear.
  • the bucket-wheel excavator or bucket chain excavator 1 has as the main components an extraction apparatus 2 for the conveyed material, for example coal or spoils, and a movable transferring device 12 for the conveyed material.
  • the extraction apparatus 2 includes, for example in a bucket-wheel excavator: a pivotable superstructure 3 , with inclinable boom 4 fastened thereon, inclusive of take-up belt, a bucket wheel 5 , fastened to the end face of the boom 4 , for the conveyance of the conveyed material, inclusive of chute 6 (e.g., conveyed material transferring device) for transfer of the conveyed material from the bucket wheel 5 to the take-up belt, a crawler-mounted mobile substructure 9 .
  • a pivotable superstructure 3 with inclinable boom 4 fastened thereon, inclusive of take-up belt
  • a bucket wheel 5 fastened to the end face of the boom 4
  • chute 6 e.g., conveyed material transferring device
  • both the direction of travel 10 of the substructure 9 and the pivot direction/pivot angle 8 of the boom 4 are shown over the block width, wherein the block width or the pivot angle determines the working range, e.g., the removal of the conveyed material.
  • the transferring device 12 includes a loading boom 13 (e.g., discharge conveyor) inclusive of loading belt and loading chute 14 (e.g., transfer chute), a pivot mechanism/lifting gear 15 for the loading boom 13 (e.g., fastened to the extraction apparatus 2 ), a take-up chute 7 (e.g., conveyed material transferring device) for transfer of the conveyed material from the take-up belt of the boom 4 to the transferring device 12 .
  • a loading boom 13 e.g., discharge conveyor
  • loading chute 14 e.g., transfer chute
  • a pivot mechanism/lifting gear 15 for the loading boom 13 (e.g., fastened to the extraction apparatus 2 )
  • a take-up chute 7 e.g., conveyed material transferring device
  • the loading device 12 has—as already mentioned—a loading chute 14 (e.g., rotating chute, conveyed material transferring device, transfer chute) for transfer of the conveyed material from the loading boom 13 to the bench conveyor 17 .
  • a loading chute 14 e.g., rotating chute, conveyed material transferring device, transfer chute
  • the bench conveyor axis 18 is shown, which forms the belt middle of the discharging conveyor or bench conveyor 17 .
  • FIG. 2 shows a mobile transfer conveyor provided between the bucket-wheel excavator or bucket chain excavator and the bench conveyor in accordance with an exemplary embodiment of the present disclosure.
  • a mobile transfer conveyor is additionally provided between the bucket-wheel excavator or bucket chain excavator and the bench conveyor.
  • a bucket-wheel excavator or bucket chain excavator 1 having a loading boom 13 fastened above the pivot mechanism/lifting gear 15 can be identified, wherein the loading chute 14 transfers the conveyed material to the take-up belt 39 of the mobile transfer conveyor 37 .
  • the mobile transfer conveyor 37 is moved by means of its crawler-mounted substructure 38 that can be parallel to the bench conveyor 17 and transfers the conveyed material via a transfer chute 40 to the bench conveyor belt of the bench conveyor 17 .
  • exemplary embodiments of the present disclosure can include the following sensors: a sensor 21 for detecting the current spatial coordinates x B /y B /z B of the bucket-wheel excavator or bucket chain excavator 1 , a sensor 22 for detecting the current spatial coordinates x S /y S /z S of the bench conveyor axis 18 of the bench conveyor 17 (e.g., under the conditions of the exemplary embodiment according to FIG.
  • a sensor 23 for detecting the current longitudinal inclination and transverse inclination of the loading boom 13 a sensor 24 for detecting the current pivot angle of the loading boom 13 , a sensor 25 for detecting the current load upon the loading belt of the loading boom 13 , and a sensor 26 for detecting the current distance of the loading boom 13 to the track level or above the bench conveyor or above the bench conveyor belt of the bench conveyor 17 (e.g., under the conditions of the exemplary embodiment according to FIG. 1 ) or above the take-up belt 39 of the mobile transfer conveyor 37 (e.g., under the conditions of the exemplary embodiment according to FIG. 2 ).
  • the exemplary embodiments can include a sensor 27 for detecting the current vertical positioning of the loading boom 13 above the bench conveyor belt of the bench conveyor 17 (e.g., under the conditions of the exemplary embodiment according to FIG. 1 ) or above the take-up belt 39 of the mobile transfer conveyor 37 (e.g., under the conditions of the exemplary embodiment according to FIG. 2 ), inclusive of detection of the belt middle, a sensor 28 for detecting the current load state of the bench conveyor belt of the bench conveyor 17 (e.g., under the conditions of the exemplary embodiment according to FIG. 1 ) or of the take-up belt 39 of the mobile transfer conveyor 37 (e.g., under the conditions of the exemplary embodiment according to FIG.
  • a sensor 30 for detecting the current angular position of the loading chute 14 a sensor 31 for detecting the current inclination of the loading chute 14 , a sensor 32 for detecting objects within the range of pivot of the loading boom 13 (e.g., impact protection), a sensor 33 for detecting the current belt pass-over point between the take-up belt of the boom 4 and the loading belt of the loading boom 13 (e.g., collision protection), and a sensor 34 for detecting the current belt pass-over point between the loading belt of the loading boom 13 and the bench conveyor belt of the bench conveyor 17 (e.g., under the conditions of the exemplary embodiment according to FIG. 1 ) or the take-up belt 39 of the mobile transfer conveyor 37 (collision protection, e.g., under the conditions of the exemplary embodiment according to FIG. 2 ).
  • the signal A of the sensor 21 the signal B of the sensor 22 , the signal C of the sensor 23 , the signal D of the sensor 24 , the signal E of the sensor 25 , the signal F of the sensor 26 , the signal G of the sensor 27 , the signal H of the sensor 28 , the signal I of the sensor 29 , the signal K of the sensor 30 , the signal L of the sensor 31 , the signal M of the sensor 32 , the signal N of the sensor 33 , and the signal O of the sensor 34 .
  • the open-loop/closed-loop control device 20 processes these supplied signals, links them together in a predefined manner and, in dependence on these signals and in dependence on target value presets/parameter presets 35 for the above-cited sensors, drives the pivot mechanism/lifting gear 15 , the loading chute 14 and, in another exemplary embodiment, the extraction apparatus 2 , see the drive signal Q for the transferring device 12 , the drive signal R for the loading chute 14 , and the drive signal S for the extraction apparatus 2 .
  • the open-loop/closed-loop control device 20 hereupon can define the pivot angle and the inclination of the loading boom 13 of the transferring device 12 in the form of the drive signal Q in dependence on the signals of the following sensors: the signal A of the sensor 21 for detecting the current spatial coordinates x B /y B /z B of the bucket-wheel excavator or bucket chain excavator 1 , the signal B of the sensor 22 for detecting the current spatial coordinates x S /y S /z S of the bench conveyor 17 (e.g., under the conditions of the exemplary embodiment according to FIG. 1 ) or of the take-up belt 39 of the mobile transfer conveyor 37 (e.g., under the conditions of the exemplary embodiment according to FIG.
  • the signal C of the sensor 23 for detecting the current longitudinal and transverse inclination of the loading boom 13 the signal D of the sensor 24 for detecting the current pivot angle of the loading boom 13 , the signal F of the sensor 26 for detecting the current distance of the loading boom 13 above the bench conveyor 17 (e.g., under the conditions of the exemplary embodiment according to FIG. 1 ) or above the take-up belt 39 of the mobile transfer conveyor 37 (e.g., under the conditions of the exemplary embodiment according to FIG. 2 ), the signal G of the sensor 27 for detecting the current vertical positioning of the loading boom 13 above the bench conveyor 17 (e.g., under the conditions of the exemplary embodiment according to FIG. 1 ) or above the take-up belt 39 of the mobile transfer conveyor 37 (e.g., under the conditions of the exemplary embodiment according to FIG. 2 ), inclusive of detection of the belt middle.
  • the open-loop/closed-loop control device 20 can define the pivot angle and the inclination of the loading chute 14 in the form of the signal R in dependence on the signals of the following sensors: the signal H of the sensor 28 for detecting the current load state of the bench conveyor belt of the bench conveyor 17 (e.g., under the conditions of the exemplary embodiment according to FIG. 1 ) or of the take-up belt 39 of the mobile transfer conveyor 37 (e.g., under the conditions of the exemplary embodiment according to FIG. 2 ), the signal I of the sensor 29 for detecting any current skewing of the bench conveyor belt of the bench conveyor 17 (e.g., under the conditions of the exemplary embodiment according to FIG.
  • the signal K of the sensor 30 for detecting the current angular position of the loading chute 14 the signal L of the sensor 31 for detecting the current inclination of the loading chute 14 .
  • the open-loop/closed-loop control device 20 can be additionally fed the signal E of the sensor 25 for detecting the current load upon the loading belt of the loading boom 13 .
  • a possible material jam in the loading chute 14 is detected and an appropriate output signal S can be transmitted to the extraction apparatus 2 in order to stop the bucket-wheel excavator or bucket chain excavator and avoid overfilling of the loading chute 14 .
  • the open-loop/closed-loop control device 20 can be additionally fed the signals O of the sensor 34 for detecting the current belt pass-over point between the loading belt of the loading boom 13 and the bench conveyor belt of the bench conveyor 17 (e.g., under the conditions of the exemplary embodiment according to FIG. 1 ) or the take-up belt 39 of the mobile transfer conveyor 37 (e.g., under the conditions of the exemplary embodiment according to FIG. 2 ).
  • the open-loop/closed-loop control device 20 can be additionally fed the signals M of the sensor 32 for detecting objects within the range of pivot of the loading boom 13 (e.g., collision protection).
  • the exemplary open-loop/closed-loop control system of the present disclosure produces high availability of the components to be used and, for example, high availability of the desired “manless operation” (e.g., automatic) function.
  • the desired “manless operation” e.g., automatic
  • an independence from environmental influences such as strong solar radiation, heavy rain, snowfall, fog, frost, is obtained.
  • insensitivity to steaming coal or steaming conveyed material is obtained.
  • High accuracy with respect to the positioning and surveying of the belt edges, as well as with respect to belt running detection, is obtained.
  • both equipment protection and personal protection are ensured under all operating conditions.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Control Of Conveyors (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)
  • Operation Control Of Excavators (AREA)
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US14/073,496 2011-05-07 2013-11-06 Method for detecting and tracking the position of a movable transferring device/loading device of a bucket-wheel excavator or bucket chain excavator Abandoned US20140067194A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102011100890.3 2011-05-07
DE102011100890A DE102011100890A1 (de) 2011-05-07 2011-05-07 Verfahren zur Erkennung und Nachführung der Position einer ortsveränderlichen Übergabeeinrichtung / Verladeeinrichtung eines Schaufelradbaggers oder Eimerkettenbaggers
PCT/EP2012/058202 WO2012152674A1 (de) 2011-05-07 2012-05-04 Verfahren zur erkennung und nachführung der position einer ortsveränderlichen übergabeeinrichtung/verladeeinrichtung eines schaufelradbaggers oder eimerkettenbaggers

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PCT/EP2012/058202 Continuation WO2012152674A1 (de) 2011-05-07 2012-05-04 Verfahren zur erkennung und nachführung der position einer ortsveränderlichen übergabeeinrichtung/verladeeinrichtung eines schaufelradbaggers oder eimerkettenbaggers

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US (1) US20140067194A1 (zh)
EP (1) EP2707547B1 (zh)
CN (1) CN103732831B (zh)
AU (1) AU2012252544B2 (zh)
BR (1) BR112013028622A2 (zh)
CA (1) CA2833999A1 (zh)
CL (1) CL2013003170A1 (zh)
DE (1) DE102011100890A1 (zh)
HR (1) HRP20150753T1 (zh)
HU (1) HUE026594T2 (zh)
PE (1) PE20141751A1 (zh)
PL (1) PL2707547T3 (zh)
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CN112785644A (zh) * 2019-11-08 2021-05-11 大唐环境产业集团股份有限公司 一种基于图像处理的斗轮机大车行走定位方法
CN113003149A (zh) * 2021-02-24 2021-06-22 中冶南方工程技术有限公司 一种臂架型斗轮堆取料机自动取料的控制方法
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DE102018109498A1 (de) * 2018-02-23 2019-08-29 Liebherr-Components Biberach Gmbh Schaufelradbagger und Verfahren zum Steuern eines Schaufelradbaggers
DE102019200773A1 (de) 2019-01-23 2020-07-23 Thyssenkrupp Ag Tagebau-Anordnung und Verfahren zum Betreiben einer Tagebau-Anordnung
BE1027170B1 (de) * 2019-04-03 2020-11-05 Thyssenkrupp Ind Solutions Ag Verfahren und Einrichtung zum automatisierbaren Betrieb einer insbesondere im Tagebau eingesetzten Bandförderanlage
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CL2013003170A1 (es) 2014-05-16
HRP20150753T1 (hr) 2015-09-11
RU2013154104A (ru) 2015-06-20
BR112013028622A2 (pt) 2017-01-24
EP2707547B1 (de) 2015-04-08
RU2556095C1 (ru) 2015-07-10
AU2012252544B2 (en) 2015-09-03
RS54115B1 (en) 2015-12-31
EP2707547A1 (de) 2014-03-19
CA2833999A1 (en) 2012-11-15
CN103732831B (zh) 2015-12-02
CN103732831A (zh) 2014-04-16
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