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EP0412400A1 - Collision safety device for earth moving machines - Google Patents

Collision safety device for earth moving machines Download PDF

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Publication number
EP0412400A1
EP0412400A1 EP90114613A EP90114613A EP0412400A1 EP 0412400 A1 EP0412400 A1 EP 0412400A1 EP 90114613 A EP90114613 A EP 90114613A EP 90114613 A EP90114613 A EP 90114613A EP 0412400 A1 EP0412400 A1 EP 0412400A1
Authority
EP
European Patent Office
Prior art keywords
protection device
collision
collision protection
objects
light
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
EP90114613A
Other languages
German (de)
French (fr)
Other versions
EP0412400B1 (en
Inventor
Edmund Heimes
Hans-Jörg Nüsslin
Johann Hipp
Franz-Josef Hartlief
Franz-Arno Fassbender
Ralf Eckoldt
Peter 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 AT90114613T priority Critical patent/ATE102276T1/en
Publication of EP0412400A1 publication Critical patent/EP0412400A1/en
Application granted granted Critical
Publication of EP0412400B1 publication Critical patent/EP0412400B1/en
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
    • 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
    • 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
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/24—Safety devices, e.g. for preventing overload

Definitions

  • the invention relates to a collision protection device for excavators, open-pit conveyors or the like, which have cantilevers which are protected by sensors against a collision with the material or with other objects.
  • collision protection devices are required in order to avoid high-cost damage to the devices and loss of production.
  • sensors in rod or wire form are attached to the devices or are stretched between devices and their brackets.
  • Suspended collision protection sensors tensioned by weights are also known.
  • the known devices have the disadvantage that they only respond to contact with obstacles and do not recognize the position and location of the touched obstacles. Furthermore, they work sluggishly and are prone to failure.
  • contact-free object detection should be possible over longer distances.
  • the range of motion of the conveying device can then be better utilized and the security against collisions can be increased taking into account the braking distance.
  • the sensors are designed as light beams which are generated in a device and detect the collision objects via reflection, the position of the detected objects in relation to the device being determined and evaluated by a computer.
  • the collision safety can also be considerably improved even in the case of open-cast conveyor devices.
  • a display with the help of a computer evaluation also offers the possibility of monitoring the working area of a conveyor device in a way never before achieved. Monitoring is possible at much greater distances than before.
  • a general or a special collision protection e.g. on embankment edges.
  • the attachment of the sensors can be varied depending on the task to be solved.
  • the light beams consist of laser light, in particular of pulsed IR laser light (wavelength e.g. approx. 900 nanometers).
  • Laser light especially pulsed laser light, has a high energy density and is relatively insensitive to environmental influences. The reflection obtained is high, so that such a device can be operated particularly safely.
  • considerable distances can be bridged.
  • Stroboscopic flashes can also be used to monitor small distances. Both options allow scanning.
  • the scanning is carried out by line scanning in the direction of movement of the conveying device or its extension arm, it being advantageously advantageously possible to monitor a disk-shaped or disk-segment-shaped area against collisions.
  • An enlargement of the monitoring area is grid-like due to the radiation of the light rays possible over a predetermined solid angle, in particular line by line as in a television camera or through conical or spherical radiation areas. For this purpose, swiveling movements that can only be achieved by simple optical devices are necessary.
  • the occupational safety of the collision protection device according to the invention is increased if the light beam is connected to an evaluation device and a computer in which a free space calculation is carried out and in particular if this free space is displayed on a screen.
  • the changes in the open space can also be visually recorded and monitored.
  • a security room can also be inserted in the display, the reaching of which is indicated optically or acoustically.
  • This safety area can be determined by a distance-to-go calculation in relation to the collision objects, so that braking and stopping of the moving parts of the conveying device in front of an obstacle is always ensured.
  • the detection of the safety area increases the collision safety considerably with the help of the collision protection device and, in the past, with the mechanically working devices, was difficult to implement.
  • the collision protection device is designed to measure from time to time on control markings. In this way, a permanent functional check can be carried out, but it is also possible to position the device or the moving parts of the conveyor in the room.
  • the control marks can be continuous, e.g. for rail-bound conveyors, but also gradually, relocated and realigned. In this way, progress of the control markings with work progress is guaranteed.
  • the computer of the control device stores contours of collision objects which are compared with the contours of the detected objects.
  • the collision protection can advantageously be expanded to include general information about the shape of the objects, for example embankments, located in the area of the collision protection device.
  • a statement about the correct approach to objects that limit the work area, for example, is possible. Information of this type is of considerable interest for the control of the conveyor and its individual parts.
  • 1 denotes the schematically indicated conveying device, which in the exemplary embodiment represents a bucket wheel excavator.
  • the device 2 of the collision protection device is arranged on the conveyor device 1 and can be pivoted independently of the conveyor device 1.
  • the pivoting is advantageously carried out according to a predetermined program, which is based on the intended working area of the conveyor 1.
  • the position of the device 2 is advantageously chosen so that the working area of the conveyor 1 can be scanned as undisturbed as possible by the conveyor 1.
  • the conveyor 1, in the example shown here a bucket wheel excavator, is arranged on a chassis 3 which can be moved via the drives 4.
  • the paddle wheel 5 works on a conveyor belt 6, which delivers the conveyed material to a further belt 8.
  • an apron 7 is arranged in the area of the excavator, which derives falling material.
  • the excavator stands on the ground 9, above which there is material 10 to be removed in the example.
  • the material 10 to be removed is delimited at the top by a cover layer 11, on which collision objects (12) can also be located. In this case, for which mechanical sensors do not offer a solution, the highest possible location of the device 2 is indicated.
  • Light rays 14 emanate from the device 2 and hit the material to be mined and the collision objects 12 at points 13.
  • the collision objects are diverse in nature, they can be boulders, sunken embankment parts, the edge of a mining contour, as well as broken down machines of all kinds or even parts of other conveying devices. In all cases, for timely braking and stopping of the movements of the conveyor 1 and its individual parts, e.g. 5 or 6, care should be taken.
  • FIG. 2 shows an attachment of light-beam generating devices, such as are known in principle, for example from “Lasertechnik: e.Einf.”, Wegig-Verlag, Heidelberg, 1982, p. 368 ff., To both sides of a paddle wheel 23 its axis 24 stored in the boom 20 approximately in the plane in which the devices 15 and 16 are located. Similar to that shown in FIG. 1, these continuously emit beams, preferably light beams, in particular pulsed laser beams, which continuously scan along the scan lines 18 and 19 one level in front of and one behind the paddle wheel 23 and the dismantling front 21 and the details on the surface , such as the boulder 22.
  • these continuously emit beams preferably light beams, in particular pulsed laser beams, which continuously scan along the scan lines 18 and 19 one level in front of and one behind the paddle wheel 23 and the dismantling front 21 and the details on the surface , such as the boulder 22.
  • the pulsed laser beams have a pulse frequency in the kilohertz range. So is a perfect off evaluation of the duration of the impulses possible. When evaluating a large number of impulses statistically, the measuring accuracy of a few millimeters is obtained with commercially available electronic components.
  • a laser scanner is arranged both in the working direction in front of the paddle wheel 23 and behind it. In this way, collision protection can be achieved in both directions, and data relating to the conveying process can be continuously determined, which can serve to regulate the mining process.
  • 25 denotes the light rays, if advantageous, emitted in all directions within a hemisphere, which e.g. are generated in a laser scanner 28.
  • the values from the object detection by the light beams 25 in the collision protection device are first fed to an evaluation device 26, which sends them to a computer 27.
  • Control signals 29 for braking or stopping the conveyor device or its individual parts are emitted by the computer 27, which preferably has a monitor 30. The further control of the movements is now carried out visually by hand.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Component Parts Of Construction Machinery (AREA)
  • Control Of Conveyors (AREA)
  • Control And Safety Of Cranes (AREA)
  • Special Conveying (AREA)
  • Attitude Control For Articles On Conveyors (AREA)

Abstract

Anti-collision device for excavators, earth-moving machines or the like which have booms which are protected by sensors from colliding with the material or other objects. The sensors are designed as light beams (14) which are produced in a device (2, 28) and detect the collision objects (9, 10, 11, 12, 21, 22) via reflection, the position of the material (9, 10, 11, 21) or of the other detected objects (12, 22) with regard to the device (2, 28) being determined and analysed by a computer (27). <IMAGE>

Description

Die Erfindung betrifft eine Kollisionsschutzeinrichtung für Bagger, Tagebau-Fördergeräte o. dgl., die Ausleger aufweisen, welche durch Sensoren vor einer Kollision mit dem Material oder mit anderen Objekten geschützt sind.The invention relates to a collision protection device for excavators, open-pit conveyors or the like, which have cantilevers which are protected by sensors against a collision with the material or with other objects.

Im gesamten Gebiet des "material-handling", insbesondere aber in Abbaubetrieben für Kohle, Erze etc. im Tagebau, also für Bagger, Schüttgutaufnehmer, Schüttgutabsetzer oder dergleichen, werden Kollisionsschutzeinrichtungen benötigt, um mit hohen Kosten verbundene Beschädigungen der Geräte und Produktionsausfälle zu vermeiden. Es ist bekannt, hierfür als Sensoren Fühler in Stab- oder Drahtform zu verwenden, die an den Geräten angebracht sind oder zwischen Geräten und ihren Auslegern aufgespannt werden. Auch herabhängende, durch Gewichte gespannte Kollisions­schutz-Sensoren sind bekannt. Die bekannten Einrichtungen haben den Nachteil, daß sie nur auf eine Berührung mit Hindernissen ansprechen und die Position und Lage der berührten Hindernisse nicht erkennen. Desweiteren arbeiten sie träge und sind stö­rungsanfällig.In the entire field of "material handling", but especially in mining operations for coal, ores, etc. in opencast mining, i.e. for excavators, bulk material receivers, bulk material settlers or the like, collision protection devices are required in order to avoid high-cost damage to the devices and loss of production. For this purpose it is known to use sensors in rod or wire form as sensors, which are attached to the devices or are stretched between devices and their brackets. Suspended collision protection sensors tensioned by weights are also known. The known devices have the disadvantage that they only respond to contact with obstacles and do not recognize the position and location of the touched obstacles. Furthermore, they work sluggishly and are prone to failure.

Es ist Aufgabe der Erfindung, eine Kollisionsschutzeinrichtung für Bagger, Fördergeräte, Schüttgutaufnehmer-Schüttgutabsetzer oder dergleichen anzugeben, mit der die vorstehenden Nachteile vermieden werden. Insbesondere soll eine berührungsfreie Objek­terfassung auf größere Entfernungen möglich sein. Damit kann dann der Bewegungsbereich des Fördergerätes besser ausgenutzt und die Sicherheit gegen Kollisionen unter Berücksichtigung des Bremsweges erhöht werden.It is an object of the invention to provide a collision protection device for excavators, conveyors, bulk material pick-up or bulk material dispensers or the like, with which the above disadvantages are avoided. In particular, contact-free object detection should be possible over longer distances. The range of motion of the conveying device can then be better utilized and the security against collisions can be increased taking into account the braking distance.

Die Aufgabe wird dadurch gelöste daß die Sensoren als Licht­strahlen ausgebildet sind, die in einem Gerät erzeugt werden und die Kollisionsobjekte über Reflektion erfassen, wobei die Position der erfaßten Objekte in bezug auf das Gerät durch einen Rechner ermittelt und ausgewertet wird. Mit Hilfe der erfindungsgemäßen Erfassung von Kollisionsmöglichkeiten aller Art durch einen Lichtstrahl kann die Kollisionssicherheit auch bei Tagebau-Fördergeräten erheblich verbessert werden. Durch eine Anzeige mit Hilfe einer Rechnerauswertung ergibt sich darüber hinaus die Möglichkeit, den Arbeitsbereich eines För­dergerätes in bisher unerreichter Weise zu überwachen. Die Überwachung ist dabei auf wesentlich grössere Entfernungen als bisher möglich. Je nach Anbringungsart der Kollisionsschutz­einrichtung am Fördergerät oder an seinen Auslegern kann dabei ein allgemeiner oder ein spezieller Kollisionsschutz, z.B. an Böschungskanten, erreicht werden. Die Anbringung der Sensoren kann dabei je nach der zu lösenden Aufgabe variiert werden.The object is achieved in that the sensors are designed as light beams which are generated in a device and detect the collision objects via reflection, the position of the detected objects in relation to the device being determined and evaluated by a computer. With the aid of the detection of collision possibilities of all kinds according to the invention by means of a light beam, the collision safety can also be considerably improved even in the case of open-cast conveyor devices. A display with the help of a computer evaluation also offers the possibility of monitoring the working area of a conveyor device in a way never before achieved. Monitoring is possible at much greater distances than before. Depending on how the collision protection device is attached to the conveyor or to its brackets, a general or a special collision protection, e.g. on embankment edges. The attachment of the sensors can be varied depending on the task to be solved.

In Ausgestaltung der Erfindung ist es vorteilhaft, wenn die Lichtstrahlen aus Laserlicht, insbesondere aus gepulstem IR-­Laserlicht (Wellenlänge z.B. ca. 900 Nanometer), bestehen. Laserlicht, insbesondere gepulstes Laserlicht hat eine hohe Energiedichte und ist gegen Umwelteinflüsse relativ unempfind­lich. Die erhaltene Reflektion ist hoch, so daß eine solche Einrichtung besonders sicher betrieben werden kann. Je nach Wellenlänge des verwendeten Laserlichtes können erhebliche Entfernungen überbrückt werden. Für die Überwachung kleiner Entfernungen kann auch mit Stroboskop-Lichtblitzen gearbeitet werden. Beide Möglichkeiten erlauben ein Scannen.In an embodiment of the invention, it is advantageous if the light beams consist of laser light, in particular of pulsed IR laser light (wavelength e.g. approx. 900 nanometers). Laser light, especially pulsed laser light, has a high energy density and is relatively insensitive to environmental influences. The reflection obtained is high, so that such a device can be operated particularly safely. Depending on the wavelength of the laser light used, considerable distances can be bridged. Stroboscopic flashes can also be used to monitor small distances. Both options allow scanning.

Das Scannen erfolgt im einfachsten Fall durch eine Linienabta­stung in Bewegungsrichtung des Fördergerätes oder seiner Aus­leger, wobei vorteilhaft einfach ein scheibenförmiger oder scheibensegmentförmiger Bereich gegen Kollisionen überwacht werden kann. Eine Vergrößerung des Überwachungsbereiches ist dabei durch eine Abstrahlung der Lichtstrahlen rasterartig über einen vorgegebenen Raumwinkel, insbesondere zeilenweise wie bei einer Fernsehkamera oder durch kegel- oder kugelförmige Abstrahlbereiche möglich. Hierfür sind lediglich durch einfache optische Einrichtungen erreichbare Schwenkbewegungen notwendig.In the simplest case, the scanning is carried out by line scanning in the direction of movement of the conveying device or its extension arm, it being advantageously advantageously possible to monitor a disk-shaped or disk-segment-shaped area against collisions. An enlargement of the monitoring area is grid-like due to the radiation of the light rays possible over a predetermined solid angle, in particular line by line as in a television camera or through conical or spherical radiation areas. For this purpose, swiveling movements that can only be achieved by simple optical devices are necessary.

Die Arbeitssicherheit der erfindungsgemäßen Kollisionsschutz­einrichtung wird erhöht, wenn der Lichtstrahl mit einem Aus­wertegerät und einem Rechner verbunden ist, in dem eine Frei­raumberechnung durchgeführt wird und insbesondere, wenn dieser Freiraum auf einem Bildschirm dargestellt wird. So lassen sich die Veränderungen des Freiraumes auch visuell erfassen und überwachen. In die Darstellung kann dabei auch noch ein Sicher­heitsraum eingefügt werden, dessen Erreichen optisch oder aku­stisch angezeigt wird. Dieser Sicherheitsbereich kann durch eine Restwegberechnung in bezug auf die Kollisionsobjekte ermittelt werden, so daß stets für eine Abbremsung und einen Stopp der bewegten Teile des Fördergerätes vor einem Hindernis gesorgt wird. Die Erkennung des Sicherheitsbereiches erhöht die Kolli­sionssicherheit mit Hilfe der Kollisionsschutzeinrichtung er­heblich und in bisher, mit den mechanisch arbeitenden Einrich­tungen, nur schwer realisierbarer Weise.The occupational safety of the collision protection device according to the invention is increased if the light beam is connected to an evaluation device and a computer in which a free space calculation is carried out and in particular if this free space is displayed on a screen. The changes in the open space can also be visually recorded and monitored. A security room can also be inserted in the display, the reaching of which is indicated optically or acoustically. This safety area can be determined by a distance-to-go calculation in relation to the collision objects, so that braking and stopping of the moving parts of the conveying device in front of an obstacle is always ensured. The detection of the safety area increases the collision safety considerably with the help of the collision protection device and, in the past, with the mechanically working devices, was difficult to implement.

Zur weiteren Erhöhung der Sicherheit ist vorgesehen, daß die Kollisionsschutzeinrichtung von Zeit zu Zeit auf Kontrollmar­kierungen messend ausgebildet ist. Hierdurch kann zum einen eine beständige Funktionskontrolle durchgeführt werden, desweiteren ist aber auch noch eine Positionierung des Gerätes oder der be­wegten Teile des Fördergerätes im Raum möglich. Die Kontroll­markierungen können fortlaufend, z.B. bei schienengebundenen Fördergeräten, aber auch schrittweise, versetzt und neu ausge­richtet werden. So ist ein Fortschritt der Kontrollmarkierungen mit dem Arbeitsfortschritt gewährleistet.To further increase security, it is provided that the collision protection device is designed to measure from time to time on control markings. In this way, a permanent functional check can be carried out, but it is also possible to position the device or the moving parts of the conveyor in the room. The control marks can be continuous, e.g. for rail-bound conveyors, but also gradually, relocated and realigned. In this way, progress of the control markings with work progress is guaranteed.

Von besonderem Vorteil ist es, wenn in dem Rechner der Kontroll­einrichtung Konturen von Kollisionsobjekten gespeichert sind, die mit den Konturen der erfaßten Objekte verglichen werden. Hierdurch kann vorteilhaft der Kollisionsschutz erweitert wer­den auf eine allgemeine Information über die Gestalt der im Bereich der Kollisionsschutzeinrichtung liegenden Objekte, z.B. Böschungen. Desweiteren ist eine Aussage über die korrekte Annäherung an Objekte, die z.B. den Arbeitsbereich begrenzen, möglich. Informationen dieser Art sind für die Steuerung des Fördergerätes und seiner Einzelteile von erheblichen Interesse.It is particularly advantageous if the computer of the control device stores contours of collision objects which are compared with the contours of the detected objects. In this way, the collision protection can advantageously be expanded to include general information about the shape of the objects, for example embankments, located in the area of the collision protection device. Furthermore, a statement about the correct approach to objects that limit the work area, for example, is possible. Information of this type is of considerable interest for the control of the conveyor and its individual parts.

Weitere Vorteile und Einzelheiten der Erfindung ergeben sich aus der nachfolgenden Beschreibung eines Ausführungsbeispieles an­hand der Zeichnung und in Verbindung mit den Unteransprüchen. Es zeigen:

  • FIG 1 die Erfindung in Prinzipdarstellung mit einer Anbringung der Kollisionsschutzeinrichtung am Pylon eines Schaufel­radbaggers von der Seite,
  • FIG 2 eine Anordnung der Kollisionsschutzeinrichtung am Schau­felradausleger von oben und
  • FIG 3 ein Blockschaltbild der Einrichtung mit ihrem Rechner in vereinfachter Form.
Further advantages and details of the invention emerge from the following description of an exemplary embodiment with reference to the drawing and in conjunction with the subclaims. Show it:
  • 1 shows the invention in principle with an attachment of the collision protection device to the pylon of a bucket wheel excavator from the side,
  • 2 shows an arrangement of the collision protection device on the bucket wheel boom from above and
  • 3 shows a block diagram of the device with its computer in a simplified form.

In FIG 1 ist mit 1 das schematisch angedeutete Fördergerät be­zeichnet, das in dem Ausführungsbeispiel einen Schaufelradbagger darstellt. Auf dem Fördergerät 1 ist das Gerät 2 der Kollisi­onsschutzeinrichtung angeordnet, das gegenüber dem Fördergerät 1 unabhängig verschwenkbar ist. Die Verschwenkung erfolgt vorteilhaft nach einem vorgegebenen Programm, das sich an dem vorgesehenen Arbeitsbereich des Fördergerätes 1 orientiert. Die Position des Gerätes 2 ist vorteilhaft so gewählt, daß ein von dem Fördergerät 1 möglichst ungestörtes Abtasten des Arbeitsbe­reiches des Fördergerätes 1 möglich ist.In FIG. 1, 1 denotes the schematically indicated conveying device, which in the exemplary embodiment represents a bucket wheel excavator. The device 2 of the collision protection device is arranged on the conveyor device 1 and can be pivoted independently of the conveyor device 1. The pivoting is advantageously carried out according to a predetermined program, which is based on the intended working area of the conveyor 1. The position of the device 2 is advantageously chosen so that the working area of the conveyor 1 can be scanned as undisturbed as possible by the conveyor 1.

Das Fördergerät 1, in dem hier dargestellten Beispiel ein Schau­felradbagger, ist auf einem Fahrgestell 3 angeordnet, das über die Laufwerke 4 verfahrbar ist. Das Schaufelrad 5 arbeitet auf ein Förderband 6, das das geförderte Material auf ein weiter­führendes Band 8 abgibt. Unter dem Förderband 6 ist im Bereich des Baggers eine Schürze 7 angeordnet, die herabfallendes Ma­terial ableitet. Der Bagger steht auf dem Grund 9, über dem sich in dem Beispiel abzutragendes Material 10 befindet. Oben wird das abzutragende Material 10 durch eine Deckschicht 11 begrenzt, auf der sich auch Kollisionsobjekte (12) befinden können. In diesem Fall, für den mechanische Sensoren keine Lösungsmöglich­keit bieten, ist ein möglichst hoher Standort des Gerätes 2 an­gezeigt.The conveyor 1, in the example shown here a bucket wheel excavator, is arranged on a chassis 3 which can be moved via the drives 4. The paddle wheel 5 works on a conveyor belt 6, which delivers the conveyed material to a further belt 8. Under the conveyor belt 6, an apron 7 is arranged in the area of the excavator, which derives falling material. The excavator stands on the ground 9, above which there is material 10 to be removed in the example. The material 10 to be removed is delimited at the top by a cover layer 11, on which collision objects (12) can also be located. In this case, for which mechanical sensors do not offer a solution, the highest possible location of the device 2 is indicated.

Von dem Gerät 2 gehen Lichtstrahlen 14 aus, die in den Punkten 13 auf das abzubauende Material und auf Kollisionsobjekte 12 treffen. Die Kollisionsobjekte sind vielfältiger Natur, es kann sich sowohl um Felsbrocken, eingefallene Böschungsteile, die Kante einer Abbaukontur als auch um liegengebliebene Maschinen aller Art oder sogar um Teile anderer Fördervorrichtungen han­deln. In allen Fällen muß für ein rechtzeitiges Bremsen und Abstoppen der Bewegungen der Fördervorrichtung 1 und ihrer einzelnen Teile, z.B. 5 oder 6, Sorge getragen werden.Light rays 14 emanate from the device 2 and hit the material to be mined and the collision objects 12 at points 13. The collision objects are diverse in nature, they can be boulders, sunken embankment parts, the edge of a mining contour, as well as broken down machines of all kinds or even parts of other conveying devices. In all cases, for timely braking and stopping of the movements of the conveyor 1 and its individual parts, e.g. 5 or 6, care should be taken.

Eine Anbringung von Lichtstrahlenerzeugungsgeräten, wie sie z.B. aus "Lasertechnik: e.Einf.", Hüthig-Verlag, Heidelberg, 1982, S. 368 ff. prinzipiell bekannt sind, zu beiden Seiten eines Schaufelrades 23 zeigt FIG 2. Das Schaufelrad 23 ist mit seiner Achse 24 im Ausleger 20 etwa in der Ebene gelagert, in der sich die Geräte 15 und 16 befinden. Diese senden, ähnlich wie in FIG 1 gezeigt, fortlaufend Strahlen, vorzugsweise Lichtstrahlen, insbesondere gepulste Laserstrahlen, aus, die entlang der Scan­linien 18 und 19 je eine Ebene vor und hinter dem Schaufelrad 23 fortlaufend abtasten und die Abbaufront 21 sowie die Einzel­heiten auf der Oberfläche, wie den Felsbrocken 22, erfassen. Die gepulsten Laserstrahlen haben bei einer Pulsdauer von einigen Nanosekunden, vorteilhaft 1-2 Nanosekunden, eine Puls­frequenz im Kilohertzbereich. So ist eine einwandfreie Aus­ wertung der Laufdauer der Impulse möglich. Bei statistischer Auswertung einer großen Impulszahl ergibt sich mit im Handel befindlichen Elektronikbausteinen eine Meßgenauigkeit von einigen Millimetern.FIG. 2 shows an attachment of light-beam generating devices, such as are known in principle, for example from “Lasertechnik: e.Einf.”, Hüthig-Verlag, Heidelberg, 1982, p. 368 ff., To both sides of a paddle wheel 23 its axis 24 stored in the boom 20 approximately in the plane in which the devices 15 and 16 are located. Similar to that shown in FIG. 1, these continuously emit beams, preferably light beams, in particular pulsed laser beams, which continuously scan along the scan lines 18 and 19 one level in front of and one behind the paddle wheel 23 and the dismantling front 21 and the details on the surface , such as the boulder 22. With a pulse duration of a few nanoseconds, advantageously 1-2 nanoseconds, the pulsed laser beams have a pulse frequency in the kilohertz range. So is a perfect off evaluation of the duration of the impulses possible. When evaluating a large number of impulses statistically, the measuring accuracy of a few millimeters is obtained with commercially available electronic components.

Es besonders vorteilhaft, wenn sowohl in Arbeitsrichtung vor dem Schaufelrad 23 ein Laserscanner angeordnet ist als auch dahinter. Hierdurch kann sowohl ein Kollisionsschutz in beiden Richtungen erreicht werden, als auch mit dem Fördervorgang zusammenhängende Daten fortlaufend ermittelt werden, die der Regelung des Abbauvorganges dienen können.It is particularly advantageous if a laser scanner is arranged both in the working direction in front of the paddle wheel 23 and behind it. In this way, collision protection can be achieved in both directions, and data relating to the conveying process can be continuously determined, which can serve to regulate the mining process.

In FIG 3 bezeichnen 25 die, falls vorteilhaft, nach allen Rich­tungen innerhalb einer Halbkugel, abgestrahlten Lichtstrahlen, die z.B. in einem Laserscanner 28 erzeugt werden.In FIG. 3, 25 denotes the light rays, if advantageous, emitted in all directions within a hemisphere, which e.g. are generated in a laser scanner 28.

Wie sich aus dem Blockschaltbild in FIG 3 ergibt, werden die Werte aus der Objekterfassung durch die Lichtstrahlen 25 in der Kollisionsschutzeinrichtung zunächst einem Auswertegerät 26 zugeführt, das diese einem Rechner 27 aufgibt. Dieser er­mittelt den Abstand und die Winkellage des Objektes und errech­net den noch verbliebenen Freiraum sowie bei einer weiteren Annäherung des Fördergerätes oder eines seiner Teile an das Kollisionsobjekt den Restweg, der zur sicheren Abbremsung und zum Stopp der bewegten Teile notwendig ist. Von dem Rechner 27, der vorzugsweise einen Monitor 30 aufweist, werden Steuersignale 29 zur Abbremsung oder zum Stopp des Fördergerätes oder seiner einzelnen Teile abgegeben. Die weitere Steuerung der Bewegungen erfolgt nunmehr visuell geführt von Hand.As can be seen from the block diagram in FIG. 3, the values from the object detection by the light beams 25 in the collision protection device are first fed to an evaluation device 26, which sends them to a computer 27. This determines the distance and the angular position of the object and calculates the remaining free space and, if the conveyor or one of its parts comes closer to the collision object, the distance that is necessary for safe braking and stopping of the moving parts. Control signals 29 for braking or stopping the conveyor device or its individual parts are emitted by the computer 27, which preferably has a monitor 30. The further control of the movements is now carried out visually by hand.

Die vorstehende Erfindung ist anhand von Beispielen beschrieben. Es versteht sich dabei für den Fachmann von selbst, daß nahelie­gende Ausgestaltungen, z.B. bezüglich des Lichtstrahles, seiner Erzeugung und Auswertung, mit von der Erfindung umfaßt werden. Gerade auf dem Gebiet der Laser- und Rechnertechnik ist zur Zeit ein schneller Fortschritt zu beobachten.The above invention is described by means of examples. It goes without saying for the person skilled in the art that obvious configurations, e.g. with regard to the light beam, its generation and evaluation, are included in the invention. Rapid progress can currently be observed, particularly in the field of laser and computer technology.

Claims (14)

1. Kollisionsschutzeinrichtung für Bagger, Tagebau-Fördergeräte o.ä., die Ausleger aufweisen, welche durch Sensoren vor einer Kollision mit dem Material oder mit anderen Objekten geschützt sind, dadurch gekennzeichnet, daß die Sensoren als Lichtstrahlen (14) ausgebildet sind, die in einem Gerät (2, 28) erzeugt werden und die Kollisionsobjekte (9, 10, 11, 12, 21, 22) über Reflektion erfassen, wobei die Position des Materials (9, 10, 11, 21) oder der anderen erfaßten Objekte (12, 22) in bezug auf das Gerät (2, 28) durch einen Rechner (27) ermittelt und ausgewertet wird.1. collision protection device for excavators, open-pit conveyors or the like, which have cantilevers, which are protected by sensors from a collision with the material or with other objects, characterized in that the sensors are designed as light beams (14) which in a device (2, 28) are generated and the collision objects (9, 10, 11, 12, 21, 22) are detected by reflection, the position of the material (9, 10, 11, 21) or the other detected objects (12 , 22) with respect to the device (2, 28) is determined and evaluated by a computer (27). 2. Kollisionsschutzeinrichtung nach Anspruch 1, dadurch gekennzeichnet, daß die Lichtstrahlen (14) aus Laserlicht, insbesondere aus gepulstem IR-Laserlicht (Wellen­länge z.B. 900 Nanometer), bestehen.2. Collision protection device according to claim 1, characterized in that the light beams (14) consist of laser light, in particular of pulsed IR laser light (wavelength eg 900 nanometers). 3. Kollisionsschutzeinrichtung nach Anspruch 1 oder 2, da­durch gekennzeichnet, daß das Gerät (2, 28) zur Erzeugung der Lichtstrahlen (14) als Scanner aus­gebildet ist.3. Collision protection device according to claim 1 or 2, characterized in that the device (2, 28) for generating the light beams (14) is designed as a scanner. 4. Kollisionsschutzeinrichtung nach Anspruch 1 oder 3, da­durch gekennzeichnet, daß das Gerät (2, 28) zur Erzeugung der Lichtstrahlen (14) als Stroboskop­scanner ausgebildet ist.4. Collision protection device according to claim 1 or 3, characterized in that the device (2, 28) for generating the light beams (14) is designed as a stroboscope scanner. 5. Kollisionsschutzeinrichtung nach Anspruch 1, 2, 3 oder 4, dadurch gekennzeichnet, daß die Wellen­länge des Lichtes der Lichtstrahlen (14) im Infrarotbereich liegt und daß das Licht von einem Festkörperlaser erzeugt wird.5. collision protection device according to claim 1, 2, 3 or 4, characterized in that the wavelength of the light of the light rays (14) is in the infrared region and that the light is generated by a solid-state laser. 6. Kollisionsschutzeinrichtung nach Anspruch 1, 2, 3, 4 oder 5, dadurch gekennzeichnet, daß die Licht­strahlen (14) scheibenförmig oder in Scheibensegmenten abge­strahlt werden.6. collision protection device according to claim 1, 2, 3, 4 or 5, characterized in that the light beams (14) are radiated disc-shaped or in disc segments. 7. Kollisionsschutzeinrichtung nach Anspruch 1, 2, 3, 4 oder 5, dadurch gekennzeichnet, daß die Licht­strahlen (14) rasterförmig über einen vorgegebenen Raumwinkel, insbesondere zweilenweise abgestrahlt werden.7. collision protection device according to claim 1, 2, 3, 4 or 5, characterized in that the light beams (14) are emitted in a grid pattern over a predetermined solid angle, in particular in two rows. 8. Kollisionsschutzeinrichtung nach Anspruch 1, 2, 3, 4, 5 oder 6, dadurch gekennzeichnet, daß die Lichtstrahlen (14) kegel- oder kugelförmig abgestrahlt werden.8. collision protection device according to claim 1, 2, 3, 4, 5 or 6, characterized in that the light beams (14) are emitted conically or spherically. 9. Kollisionsschutzeinrichtung nach Anspruch 1, 2, 3, 4, 5, 6, 7 oder 8, dadurch gekennzeichnet, daß sie ein Auswertegerät (26) und einen Rechner (27) aufweist, in dem insbesondere auch eine Freiraumberechnung durchgeführt wird.9. collision protection device according to claim 1, 2, 3, 4, 5, 6, 7 or 8, characterized in that it has an evaluation device (26) and a computer (27), in which in particular a free space calculation is carried out. 10. Kollisionsschutzeinrichtung nach Anspruch 1, 2, 3, 4, 5, 6, 7, 8 oder 9, dadurch gekennzeichnet, daß die Kollisionsobjekt-Anzeige auf einem Bildschirm (30) insbe­sondere in Form einer Freiraumdarstellung, erfolgt.10. Collision protection device according to claim 1, 2, 3, 4, 5, 6, 7, 8 or 9, characterized in that the collision object is displayed on a screen (30) in particular in the form of a free space representation. 11. Kollisionsschutzeinrichtung nach Anspruch 9 oder 10, da­durch gekennzeichnet, daß in dem Rechner (27) eine Restwegberechnung in bezug auf die Kollisionsobjekte unter Berücksichtigung des Bremsweges durchgeführt wird.11. Collision protection device according to claim 9 or 10, characterized in that in the computer (27) a distance-to-go calculation is carried out with respect to the collision objects, taking into account the braking distance. 12. Kollisionsschutzeinrichtung nach einem oder mehreren der vorhergehenden Ansprüche, dadurch gekennzeich­net, daß es von Zeit zu Zeit auf Positions- und Kontroll­markierungen messend ausgebildet ist.12. Collision protection device according to one or more of the preceding claims, characterized in that it is designed to measure position and control markings from time to time. 13. Kollisionsschutzeinrichtung nach einem oder mehreren der vorhergehenden Ansprüche, dadurch gekennzeich­net, daß in einem Rechner (27) Konturen von Kollisionsob­jekten gespeichert sind, die mit den Konturen der erfaßten Ob­jekte, insbesondere zur Annäherungssteuerung, verglichen werden.13. Collision protection device according to one or more of the preceding claims, characterized in that contours of collision objects are stored in a computer (27), which are compared with the contours of the detected objects, in particular for proximity control. 14. Kollisionsschutzeinrichtung nach einem oder mehreren der vorhergehenden Ansprüche, gekennzeichnet durch die Verwendung eines reflektierten, insbesondere in einem Laser­scanner erzeugten, Lichtstrahles zur Kollisionsüberwachung von Baggern, Tagebau-Fördergeräten o. dgl.14. Collision protection device according to one or more of the preceding claims, characterized by the use of a reflected, in particular generated in a laser scanner, light beam for collision monitoring of excavators, opencast mining equipment or the like.
EP90114613A 1989-08-08 1990-07-30 Collision safety device for earth moving machines Expired - Lifetime EP0412400B1 (en)

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AT90114613T ATE102276T1 (en) 1989-08-08 1990-07-30 COLLISION PROTECTION DEVICE FOR CONVEYOR DEVICES.

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DE3926224 1989-08-08
DE3926224 1989-08-08

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WO2010017823A1 (en) * 2008-08-09 2010-02-18 Eickhoff Bergbautechnik Gmbh Method and device for monitoring a cutting extraction machine
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CN108130933A (en) * 2011-12-26 2018-06-08 住友重机械工业株式会社 The method for displaying image and device of excavator, excavator
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US11808891B2 (en) 2017-03-31 2023-11-07 Velodyne Lidar Usa, Inc. Integrated LIDAR illumination power control
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US11939748B2 (en) 2021-03-29 2024-03-26 Joy Global Surface Mining Inc Virtual track model for a mining machine
US11987961B2 (en) 2021-03-29 2024-05-21 Joy Global Surface Mining Inc Virtual field-based track protection for a mining machine
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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
GB2316668B (en) * 1996-08-24 2000-05-17 Robert Wilson Excavator arm having an elevation limiting system
GB2316668A (en) * 1996-08-24 1998-03-04 Robert Wilson Elevation limiting safety device for excavator arm
GB2332415A (en) * 1997-12-19 1999-06-23 Univ Carnegie Mellon Plural terrain scanning sensor arrangement for an earth working machine
GB2332415B (en) * 1997-12-19 2001-11-21 Univ Carnegie Mellon Sensor configuration for an earthmoving machine
GB2342640A (en) * 1998-10-09 2000-04-19 Univ Carnegie Mellon System for autonomous excavation and truck loading
GB2342640B (en) * 1998-10-09 2002-08-21 Univ Carnegie Mellon System for automatic excavation and truck loading
DE10021675A1 (en) * 2000-05-05 2001-11-15 Isam Inma Ges Fuer Angewandte Control system for automatic control of movable bucket wheel device guarantees permanent detection of mound shape irrespective of operation of movable bucket wheel device
US6970801B2 (en) 2000-05-05 2005-11-29 Isam Holding Gmbh Control system or process for the automatic control of a moveable bucket wheel device
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EA016425B1 (en) * 2008-08-09 2012-04-30 Айкхофф Бергбаутехник Гмбх Method for monitoring a cutting extraction machine
WO2010017823A1 (en) * 2008-08-09 2010-02-18 Eickhoff Bergbautechnik Gmbh Method and device for monitoring a cutting extraction machine
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US8345926B2 (en) 2008-08-22 2013-01-01 Caterpillar Trimble Control Technologies Llc Three dimensional scanning arrangement including dynamic updating
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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
US9745721B2 (en) 2012-03-16 2017-08-29 Harnischfeger Technologies, Inc. Automated control of dipper swing for a shovel
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US11550056B2 (en) 2016-06-01 2023-01-10 Velodyne Lidar Usa, Inc. Multiple pixel scanning lidar
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US11796648B2 (en) 2018-09-18 2023-10-24 Velodyne Lidar Usa, Inc. Multi-channel lidar illumination driver
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DE59004748D1 (en) 1994-04-07
EP0412400B1 (en) 1994-03-02
ES2049876T3 (en) 1994-05-01
ATE102276T1 (en) 1994-03-15

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