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EP0105867A2 - Apparatus for defining the position of the cutting head of a boring or mining machine - Google Patents

Apparatus for defining the position of the cutting head of a boring or mining machine Download PDF

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Publication number
EP0105867A2
EP0105867A2 EP83890168A EP83890168A EP0105867A2 EP 0105867 A2 EP0105867 A2 EP 0105867A2 EP 83890168 A EP83890168 A EP 83890168A EP 83890168 A EP83890168 A EP 83890168A EP 0105867 A2 EP0105867 A2 EP 0105867A2
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EP
European Patent Office
Prior art keywords
cutting head
receiver
distance
cutting
transmitter
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
EP83890168A
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German (de)
French (fr)
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EP0105867A3 (en
EP0105867B1 (en
Inventor
Eduard Dipl.-Ing. Schellenberg
Alfred Zitz
Bernhard Dipl.-Ing. Dröscher
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Voestalpine AG
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Voestalpine AG
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Publication of EP0105867A2 publication Critical patent/EP0105867A2/en
Publication of EP0105867A3 publication Critical patent/EP0105867A3/en
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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E21C35/302—Measuring, signaling or indicating specially adapted for machines for slitting or completely freeing the mineral
    • 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
    • E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
    • E21F17/18—Special adaptations of signalling or alarm devices

Definitions

  • the invention relates to a device for detecting the position of the cutting head of a tunneling or extraction machine.
  • a device for detecting the position of the cutting head of a tunneling or extraction machine In order to detect the position of the cutting head of a tunneling or extraction machine relative to a target profile to be cut, it has already become known to arrange radiation receivers on the frame of the cutting machine, which, together with the signals of a transmitter fixed in the path, allow the spatial coordinates of the longitudinal axis of the cutting machine to be determined.
  • additional devices for determining the swivel position of the cutting arm relative to the cutting machine were now based on the coordinates of the cutting head with the aid of additional signals and above all with signals closed.
  • the device according to the invention is characterized by a receiver which is oriented relative to the longitudinal axis and which can be attached in a distance, a transmitter for electromagnetic radiation in the wavelength range from 1 .mu.m to 10 cm on the cutting head and / or a cutting arm and a range finder for determining the distance at least one reference point on the cutting head and / or cutting arm from the receiver, and preferably a display device for the position of the cutting head relative to a desired profile to be cut.
  • a transmitter for electromagnetic radiation is now provided directly on the head or a reference point on the cutting arm, while taking into account the distance of this point from the receiver which is fixedly arranged in the route, allows an exact representation of the position of the cutting head in polar coordinates by means of a single angle determination express and use in a display device or as a control signal for automatic control of the tunneling or mining machine.
  • radiation is chosen for this purpose which shows less scatter than visible light and has a higher penetration capacity, etc. preferably electromagnetic radiation in a wave range of 1 .mu.m to 10 cm, which is longer than visible light.
  • the heat development can be exploited during the cutting work, since the chisels and the cutting head have a significantly higher temperature than the surroundings and thus act as infrared radiation transmitters.
  • the large temperature difference between the hot chisels of the cutting heads and the environment enables the use of relatively insensitive receivers, although there is usually no need for complex cooling of the receiver.
  • the receiver is preferably designed as a thermal imaging camera which is arranged in a fixed manner in the route and is aligned with the longitudinal axis of the route, for example using the laser beam guide beam which is usually used.
  • thermal imagers have a line scan and the video signal obtained in this way can be used directly with known electronic devices, displayed on screens and / or fed to a control device.
  • the design can also be such that the receiver is arranged pivotably and can be aligned to at least one reference point of the cutting head formed by the transmitter for determining the angle between a parallel line to the longitudinal axis of the line and the reference point of the cutting head.
  • the servo-motoric tracking of such a swiveling receiver and alignment with the transmitter immediately gives a measure of the angle to be measured. Together with the distance measured in a known manner, for example using infrared rays, the position of the cutting head can be displayed directly.
  • the transmitter it is advisable to arrange it near the axis of rotation of the cutting head, because then, based on the known geometry of the head and the known dimension of a head, together with the measured distance, the exact position of the cutting head in any rotational position of the same can be determined.
  • the distance can also be measured between the stationary receiver and the face itself, since the cutting head is in engagement with the face.
  • the transmitter designed as an infrared radiation transmitter is itself formed by the cutting head which is at the operating temperature.
  • the entire contour of the hot cutting head is detected with the receiver and the distance measurement could in this case be carried out by measuring the contour larger or smaller for a given dimension of the cutting head at different distances from the cutting head to the thermal imaging camera.
  • a reduction in the cutting head contour measured at a fixed focal length of the thermal imager corresponds to a greater distance from the thermal imager.
  • the display device advantageously contains a screen on which the position of the cutting head relative to the target profile can be displayed, the target profile display or the cutting head display depending on the distance of the cutting head from an infrared radiation receiver or the thermal imaging camera being changeable in size.
  • the scale representation on the screen can be maintained. This can be done in a simple manner in that the thermal imaging camera has a zoom lens which can be adjusted in focal length as a function of the distance of the cutting head.
  • the preferred embodiment of the device according to the invention is that the thermal imager is arranged in a fixed manner in the route, that the thermal image is scanned line by line in a manner known per se, and that the video signal obtained in this way is displayed by the display device and / or a control device for the movement the cutting head is fed.
  • FIG. 1 shows a schematic representation of the arrangement of the device in a distance
  • FIGS. 2 and 3 show the geometric conditions that apply to the determination of the spatial coordinates
  • FIG. 4 shows a schematic side view of the device according to FIGS. 1 and 5 the picture a display device which is connected to the arrangement according to FIG. 1
  • FIG. 6 shows a schematic illustration of the circuit arrangement required for the evaluation of the signals received.
  • a partial cutting machine 1 is shown within the route 2.
  • the cutting arm of this partial cutting cutting machine is designated 3 and has at its end two rotating cutting heads 4 which are rotatably mounted about the axis 5 extending transversely to the axis of the cutting arm.
  • a reference point 6 formed by an infrared transmitter is arranged on the cutting arm 3 near this axis 5.
  • a thermal imager 8, which is aligned in a corresponding manner on the laser path guide beam 9, is arranged in a stationary manner on an expansion frame 7.
  • the fixed receiver 8 determines the distance between the reference point 6 formed by an infrared transmitter on the cutting arm and the receiver 8.
  • the Cartesian coordinates of the reference system of the receiver are indicated by x, y and z, and two angles are measured relative to this coordinate system, as is the case here is explained in Figs. 2 and 3.
  • Fig. 2 the Cartesian reference system is shown with the origin at the measuring point of the thermal imager 8.
  • the xy plane of this reference system is oriented in a simple manner parallel to the route guide beam 9.
  • the reference point 6 of the cutting arm or cutting head is now in polar coordinates by the angle , and expressed the distance r.
  • Two angles and the distance between the origin of the reference system of the thermal imager 8 and the reference point on the cutting head or cutting arm are thus measured.
  • the outer contour of the cutting heads, designated by 10 in FIG. 1 is equally well known Entire be scanned by a thermal imager.
  • the angles to be measured are shown in Fig. 3.
  • the receiver 8 is in turn fixed on a removal frame 7 and oriented relative to the longitudinal axis of the line.
  • the angle 1 is measured in relation to the xy plane of the reference system of the receiver and therefore appears in relation to the angle V in Fig. 3 reduced by 90 °.
  • the angle is obtained in an analogous manner in the top view, not shown S starting from the x-axis of the reference system of the receiver.
  • the distance a from the receiver 8 to the face 11 can be measured, since this distance is only slightly different from the distance r when the receiver 8 is at a greater distance from the reference point 6.
  • the screen display shown in FIG. 5 can be obtained directly from the video signal of the thermal imaging camera obtained.
  • the screen of the monitor 12 is designated 13 and shows the target profile 14 of the route to be covered. The images of the cutting heads 4 can be seen within this target profile 14, the traces of the rotating chisels being clearly shown as essentially vertical lines.
  • FIG. 6 A circuit suitable for scanning the video signal of the thermal imaging camera is shown schematically in FIG. 6.
  • the thermal imager is also designated 8 here, as is the receiver.
  • the camera is fed signals for vertical and horizontal deflection via lines 15 and 16, respectively.
  • the video signal arrives via line 17 and Differentiator 18 to a comparator 19 and can be fed directly to the monitor 12.
  • this signal can also be fed to an image evaluation circuit 20.
  • Separate control signals can be obtained via lines 21 for the three-space coordinates of the position of the cutting head.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Geology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Mechanical Engineering (AREA)
  • Environmental & Geological Engineering (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Radiation Pyrometers (AREA)
  • Laser Beam Processing (AREA)
  • Machine Tool Sensing Apparatuses (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)

Abstract

Die Einrichtung zur Erfassung der Position eines Schrämkopfes (4) einer Streckenvortriebs- oder Gewinnungsmaschine (1) weist einen ortsfest angeordneten Empfänger (8), insbesondere eine Wärmebildkamera auf. Am Schrämkopf (4) oder am Schrämarm (3) ist ein Sender (6) angeordnet. Es wird der Abstand (r) dieses Senders (6) sowie die Winkellage relativ zu den Koordinaten (x,y,z) des Empfängers (8) gemessen.The device for detecting the position of a cutting head (4) of a tunnel boring or extraction machine (1) has a stationary receiver (8), in particular a thermal imaging camera. A transmitter (6) is arranged on the cutting head (4) or on the cutting arm (3). The distance (r) of this transmitter (6) and the angular position relative to the coordinates (x, y, z) of the receiver (8) are measured.

Description

Die Erfindung bezieht sich auf eine Einrichtung zur Erfassung der Position des Schrämkopfes einer Vortriebs- oder Gewinnungsmaschine. Zur Erfassung der Position des Schrämkopfes einer Vortriebs- oder Gewinnungsmaschine relativ zu einem zu schrämenden Sollprofil ist es bereits bekannt geworden, am Rahmen der Schrämmaschine Strahlungsempfänger anzuordnen, welche zusammen mit den Signalen eines ortsfest in der Strecke festgelegten Senders die Ermittlung der Raumkoordinaten der Schrämmaschinenlängsachse erlauben. Ausgehend von den auf diese Weise bestimmten Raumkoordinaten des Rahmens der Schrämmaschine bzw. der Längsachse der Schrämmaschine, wurde nun noch unter Zuhilfenahme zusätzlicher Signale und vor allen Dingen unter Hinzuziehung von Signalen weiterer Einrichtungen zur Bestimmung der Schwenklage des Schrämarmes relativ zur Schrämmaschine auf die Koordinaten des Schrämkopfes geschlossen. Es ist bereits bekannt, bei derartigen Maschinen Anzeigevorrichtungen vorzusehen, bei welchen die Abbildung des Schrämkopfes relativ zum Sollprofil in räumlicher oder ebener Darstellung erfolgte. Gemeinsam ist den bekannten Konstruktionen, daß die Position des Schrämkopfes selbst nie unmittelbar bestimmt werden konnte, und daß vielmehr aus den horizontalen und vertikalen Parallelabweichungen, der Schrägstellung und Neigung zur Streckenachse, sowie dem Rollwinkel der Maschine, unter beträchtlichem technischen Aufwand auf die tatsächlichen Raumkoordinaten des Schrämkopfes geschlossen wird. Bedingt durch die große Anzahl der hiefür erforderlichen Bauteile, ergab sich auch eine erhöhte Störanfälligkeit derartiger Einrichtungen.The invention relates to a device for detecting the position of the cutting head of a tunneling or extraction machine. In order to detect the position of the cutting head of a tunneling or extraction machine relative to a target profile to be cut, it has already become known to arrange radiation receivers on the frame of the cutting machine, which, together with the signals of a transmitter fixed in the path, allow the spatial coordinates of the longitudinal axis of the cutting machine to be determined. On the basis of the spatial coordinates of the frame of the cutting machine or the longitudinal axis of the cutting machine determined in this way, additional devices for determining the swivel position of the cutting arm relative to the cutting machine were now based on the coordinates of the cutting head with the aid of additional signals and above all with signals closed. It is already known to provide display devices in such machines in which the cutting head is depicted in spatial or planar representation relative to the desired profile. Common to the known constructions is that the position of the cutting head itself could never be determined directly, and that rather from the horizontal and vertical parallel deviations, the inclination and inclination to the line axis, and the roll angle of the machine, with considerable technical effort to the actual spatial coordinates of the Schrämkopfes is closed. Due to the large number of components required for this, there was also an increased susceptibility to such devices.

Die Erfindung zielt nun darauf ab, die Position eines Schrämkopfes bzw. der Schrämköpfe von Teilschnittschrämmaschinen unmittelbar und ohne Ermittlung der Lage des Fahrwerkes der Schrämmaschine relativ zur Strecke zu erfassen. Zur Lösung dieser Aufgabe ist die erfindungsgemäße Einrichtung gekennzeichnet durch einen relativ zur Streckenlängsachse orientierten, in einer Strecke anbringbaren Empfänger, einen Sender für elektromagnetische Strahlung im Wellenlängenbereich von 1 um bis 10 cm am Schrämkopf und/oder einem Schrämarm und einen Entfernungsmesser für die Ermittlung des Abstandes wenigstens eines Bezugspunktes am Schrämkopf und/oder Schrämarm von dem Empfänger, sowie vorzugsweise eine Anzeigevorrichtung für die Position des Schrämkopfes relativ zu einem zu schrämenden Sollprofil. Dadurch, daß nun ein Sender für elektromagnetische Strahlung unmittelbar am Kopf oder einem Bezugspunkt am Schrämarm vorgesehen ist, läßt sich bei gleichzeitiger Berücksichtigung des Abstandes dieses Punktes von dem in der Strecke ortsfest angeordneten Empfänger durch eine einzige Winkelbestimmung eine exakte Darstellung der Position des Schrämkopfes in Polarkoordinaten ausdrücken und in einer Anzeigevorrichtung bzw. als Steuersignal für eine automatische Steuerung der Vortriebs- oder Gewinnungsmaschine verwerten. Mit Rücksicht auf die im Bereich der Ortsbrust und damit in unmittelbarer Nähe des Schrämkopfes vorherrschende staubbeladene Atmosphäre, werden zu diesem Zweck Strahlungen gewählt, welche eine geringere Streuung als sichtbares Licht zeigen und ein höheres Durchdringungsvermögen aufweisen, u.zw. vorzugsweise elektromagnetische Strahlung in einem gegenüber sichtbarem Licht längeren Wellenbereich von 1 um bis 10 cm. In besonders vorteilhafter Weise kann hiebei die Wärmeentwicklung bei der Schrämarbeit ausgenutzt werden, da hiebei die Meißel und der Schrämkopf eine wesentlich höhere Temperatur als die Umgebung aufweisen und somit als Infrarotstrahlensender wirken. Die große Temperaturdifferenz zwischen den heißen Meißeln der Schrämköpfe und der Umgebung ermöglicht die Verwendung relativ unempfindlicher Empfänaer, wobei auch eine aufwendige Kühlung des Empfängers in der Regel entfallen kann.The invention now aims to determine the position of a cutting head or the cutting heads of partial cut cutting machines directly and without determining the position of the undercarriage To record the cutting machine relative to the route. To achieve this object, the device according to the invention is characterized by a receiver which is oriented relative to the longitudinal axis and which can be attached in a distance, a transmitter for electromagnetic radiation in the wavelength range from 1 .mu.m to 10 cm on the cutting head and / or a cutting arm and a range finder for determining the distance at least one reference point on the cutting head and / or cutting arm from the receiver, and preferably a display device for the position of the cutting head relative to a desired profile to be cut. The fact that a transmitter for electromagnetic radiation is now provided directly on the head or a reference point on the cutting arm, while taking into account the distance of this point from the receiver which is fixedly arranged in the route, allows an exact representation of the position of the cutting head in polar coordinates by means of a single angle determination express and use in a display device or as a control signal for automatic control of the tunneling or mining machine. In view of the dust-laden atmosphere prevailing in the area of the working face and thus in the immediate vicinity of the cutting head, radiation is chosen for this purpose which shows less scatter than visible light and has a higher penetration capacity, etc. preferably electromagnetic radiation in a wave range of 1 .mu.m to 10 cm, which is longer than visible light. In a particularly advantageous manner, the heat development can be exploited during the cutting work, since the chisels and the cutting head have a significantly higher temperature than the surroundings and thus act as infrared radiation transmitters. The large temperature difference between the hot chisels of the cutting heads and the environment enables the use of relatively insensitive receivers, although there is usually no need for complex cooling of the receiver.

Vorzugsweise ist der Empfänger hiebei als Wärmebildkamera ausgebildet, welche ortsfest in der Strecke angeordnet ist und zur Streckenlängsachse, beispielsweise an Hand des üblicherweise 'verwendeten , Laserstrahlenleitstrahles ausgerichtet wird. Derartige Wärmebildkameras weisen eine Zeilenabtastung auf und es kann das auf diese Weise erhaltene Videosignal unmittelbar mit bekannten elektronischen Einrichtungen verwertet, auf Bildschirmen angezeigt und/oder einer Steuereinrichtung zugeführt werden. Die Ausbildung kann aber auch so getroffen sein, daß der Empfänger schwenkbar angeordnet ist und auf wenigstens einen von dem Sender gebildeten Bezugspunkt des Schrämkopfes zur Bestimmung des Winkels zwischen einer Parallelen zur Streckenlängsachse und dem Bezugspunkt des Schrämkopfes ausrichtbar ist. Die servomotorische Nachführung eines derartig schwenkbar ausgeführten Empfängers und Ausrichtung auf den Sender, ergibt hiebei unmittelbar ein Maß für den zu messenden Winkel. Zusammen mit der in bekannter Weise, beispielsweise unter Verwendung von Infrarotstrahlen, gemessenen Entfernung läßt sich die Position des Schrämkopfes unmittelbar darstellen.The receiver is preferably designed as a thermal imaging camera which is arranged in a fixed manner in the route and is aligned with the longitudinal axis of the route, for example using the laser beam guide beam which is usually used. Such thermal imagers have a line scan and the video signal obtained in this way can be used directly with known electronic devices, displayed on screens and / or fed to a control device. However, the design can also be such that the receiver is arranged pivotably and can be aligned to at least one reference point of the cutting head formed by the transmitter for determining the angle between a parallel line to the longitudinal axis of the line and the reference point of the cutting head. The servo-motoric tracking of such a swiveling receiver and alignment with the transmitter immediately gives a measure of the angle to be measured. Together with the distance measured in a known manner, for example using infrared rays, the position of the cutting head can be displayed directly.

Wenn lediglich ein Bezugspunkt als Sender gewählt wird, empfiehlt es sich, diesen nahe der Drehachse des Schrämkopfes anzuordnen, da dann auf Grund der bekannten Geometrie des Kopfes und der bekannten Dimension eines Kopfes zusammen mit der gemessenen Entfernung die exakte Position des Schrämkopfes in jeder Drehlage desselben ermittelt werden kann. Die Entfernung kann auch zwischen dem ortsfest angeordneten Empfänger und der Ortsbrust selbst gemessen werden, da ja der Schrämkopf mit der Ortsbrust in Eingriff steht.If only one reference point is selected as the transmitter, it is advisable to arrange it near the axis of rotation of the cutting head, because then, based on the known geometry of the head and the known dimension of a head, together with the measured distance, the exact position of the cutting head in any rotational position of the same can be determined. The distance can also be measured between the stationary receiver and the face itself, since the cutting head is in engagement with the face.

Insbesondere bei Verwendung einer Wärmebildkamera ist es jedoch besonders vorteilhaft, wenn der als Infrarotstrahlensender ausgebildete Sender von dem auf Betriebstemperatur befindlichen Schrämkopf selbst gebildet ist. In diesem Fall wird mit dem Empfänger die gesamte Kontur des heißen Schrämkopfes erfaßt und die Entfernungsmessung könnte in diesem Fall dadurch erfolgen, daß bei gegebener Dimension des Schrämkopfes bei unterschiedlichem Abstand des Schrämkopfes von der Wärmebildkamera die Kontur größer bzw. kleiner gemessen wird. Eine Verkleinerung der bei fester Brennweite der Wärmebildkamera gemessenen Schrämkopfkontur entspricht einem größeren Abstand von der Wärmebildkamera.Particularly when using a thermal imaging camera, however, it is particularly advantageous if the transmitter designed as an infrared radiation transmitter is itself formed by the cutting head which is at the operating temperature. In this case the entire contour of the hot cutting head is detected with the receiver and the distance measurement could in this case be carried out by measuring the contour larger or smaller for a given dimension of the cutting head at different distances from the cutting head to the thermal imaging camera. A reduction in the cutting head contour measured at a fixed focal length of the thermal imager corresponds to a greater distance from the thermal imager.

In vorteilhafter Weise enthält die Anzeigevorrichtung einen Bildschirm, auf welchem die Lage des Schrämkopfes relativ zum Sollprofil darstellbar ist, wobei die Sollprofildarstellung oder die Schrämkopfdarstellung in Abhängigkeit vom Abstand des Schrämkopfes von einem Infrarotstrahlungsempfänger bzw. der Wärmebildkamera in der Größe veränderbar ist. Auf diese Weise kann die maßstäbliche Darstellung am Bildschirm beibehalten werden. In einfacher Weise kann dies dadurch geschehen, daß die Wärmebildkamera ein in Abhängigkeit von der Entfernung des Schrämkopfes in seiner Brennweite verstellbares Varioobjektiv aufweist.The display device advantageously contains a screen on which the position of the cutting head relative to the target profile can be displayed, the target profile display or the cutting head display depending on the distance of the cutting head from an infrared radiation receiver or the thermal imaging camera being changeable in size. In this way, the scale representation on the screen can be maintained. This can be done in a simple manner in that the thermal imaging camera has a zoom lens which can be adjusted in focal length as a function of the distance of the cutting head.

Die bevorzugte Ausführung der erfindungsgemäßen Einrichtung besteht darin, daß die Wärmebildkamera ortsfest in der Strecke orientiert angeordnet ist, daß das Wärmebild in an sich bekannter Weise zeilenweise abgetastet wird, und daß das auf diese Weise erhaltene Videosignal der Anzeigevorrichtung und/oder einer Steuereinrichtung für die Bewegung des Schrämkopfes zugeführt ist.The preferred embodiment of the device according to the invention is that the thermal imager is arranged in a fixed manner in the route, that the thermal image is scanned line by line in a manner known per se, and that the video signal obtained in this way is displayed by the display device and / or a control device for the movement the cutting head is fed.

Die Erfindung wird nachfolgend an Hand von in der Zeichnung dargestellten Ausführungsbeispielen näher erläutert. In dieser zeigen Fig. 1 eine schematische Darstellung der Anordnung der Einrichtung in einer Strecke, Fig. 2 und 3 eine Darstellung der für die Ermittlung der Raumkoordinaten geltenden geometrischen Bedingungen, Fig. 4 eine schematische Seitenansicht der Einrichtung nach Fig. 1, Fig. 5 das Bild einer Anzeigevorrichtung, welche an die Anordnung nach Fig. 1 angeschlossen ist, und Fig. 6 eine schematische Darstellung der für die Auswertung der erhaltenen Signale erforderlichen Schaltungsanordnung.The invention is explained in more detail below with reference to exemplary embodiments shown in the drawing. 1 shows a schematic representation of the arrangement of the device in a distance, FIGS. 2 and 3 show the geometric conditions that apply to the determination of the spatial coordinates, FIG. 4 shows a schematic side view of the device according to FIGS. 1 and 5 the picture a display device which is connected to the arrangement according to FIG. 1, and FIG. 6 shows a schematic illustration of the circuit arrangement required for the evaluation of the signals received.

In Fig. 1 ist eine Teilschnittschrämmaschine 1 innerhalb der Strecke 2 dargestellt. Der Schrämarm dieser Teilschnittschrämmaschine ist mit 3 bezeichnet und weist an seinem Ende zwei rotierbar gelagerte Schrämköpfe 4 auf, welche um die sich quer zur Achse des Schrämarmes erstreckende Achse 5 rotierbar gelagert sind. Ein von einem Infrarotsender gebildeter Bezugspunkt 6 ist nahe dieser Achse 5 am Schrämarm 3 angeordnet. An einem Ausbaurahmen 7 ist ortsfest eine Wärmebildkamera 8 angeordnet, welche in entsprechender Weise am Laserstreckenleitstrahl 9 ausgerichtet ist. Der ortsfeste Empfänger 8 ermittelt die Distanz zwischen von einem Infrarotsender gebildeten Bezugspunkt 6 am Schrämarm und dem Empfänger 8. Die cartesischen Koordinaten des Bezugssystems des Empfängers sind mit x, y und z angedeutet, und es werden zwei Winkel relativ zu diesem Koordinatensystem gemessen, wie dies in Fig. 2 und 3 erläutert ist.In Fig. 1 a partial cutting machine 1 is shown within the route 2. The cutting arm of this partial cutting cutting machine is designated 3 and has at its end two rotating cutting heads 4 which are rotatably mounted about the axis 5 extending transversely to the axis of the cutting arm. A reference point 6 formed by an infrared transmitter is arranged on the cutting arm 3 near this axis 5. A thermal imager 8, which is aligned in a corresponding manner on the laser path guide beam 9, is arranged in a stationary manner on an expansion frame 7. The fixed receiver 8 determines the distance between the reference point 6 formed by an infrared transmitter on the cutting arm and the receiver 8. The Cartesian coordinates of the reference system of the receiver are indicated by x, y and z, and two angles are measured relative to this coordinate system, as is the case here is explained in Figs. 2 and 3.

In Fig. 2 ist hiebei das cartesische Bezugssystem mit dem Ursprung am Meßpunkt der Wärmebildkamera 8 dargestellt. Die x-y-Ebene dieses Bezugssystems wird hiebei in einfacher Weise parallel zum Streckenleitstrahl 9 orientiert. Ausgehend von einer derartigen Orientierung des Bezugssystems der Wärmebildkamera wird nun der Bezugspunkt 6 des Schrämarmes bzw. Schrämkopfes in Polarkoordinaten durch die Winkel

Figure imgb0001
,
Figure imgb0002
und den Abstand r ausgedrückt. Es werden somit zwei Winkel und die Strecke zwischen dem Ursprung des Bezugssystems der Wärmebildkamera 8 und dem Bezugspunkt am Schrämkopf bzw. Schrämarm gemessen. Ebenso gut kannt aber auch die in Fig. 1 mit 10 bezeichnete Außenkontur der Schrämköpfe in ihrer Gesamtheit durch eine Wärmebildkamera abgetastet werden. Die zu messenden Winkel
Figure imgb0003
Figure imgb0004
sind in Fig. 3 eingezeichnet.In Fig. 2 the Cartesian reference system is shown with the origin at the measuring point of the thermal imager 8. The xy plane of this reference system is oriented in a simple manner parallel to the route guide beam 9. Starting from such an orientation of the reference system of the thermal imaging camera, the reference point 6 of the cutting arm or cutting head is now in polar coordinates by the angle
Figure imgb0001
,
Figure imgb0002
and expressed the distance r. Two angles and the distance between the origin of the reference system of the thermal imager 8 and the reference point on the cutting head or cutting arm are thus measured. However, the outer contour of the cutting heads, designated by 10 in FIG. 1, is equally well known Entire be scanned by a thermal imager. The angles to be measured
Figure imgb0003
Figure imgb0004
are shown in Fig. 3.

In Fig. 4 ist wiederum der Empfänger 8.ortsfest und relativ zur Streckenlängsachse orientiert an einem Aushaurahmen 7 festgelegt. Der Winkel

Figure imgb0003
1 ist hiebei zur x-y-Ebene des Bezugssystems des Empfängers gemessen und erscheint daher gegenüber dem Winkel
Figure imgb0003
V in Fig. 3 um 90° verringert. In analoger Weise ergibt sich in der nicht dargestellten Draufsicht der Winkel
Figure imgb0004
S ausgehend von der x-Achse des Bezugssystems des Empfängers. Anstelle des Abstandes r zwischen dem Bezugspunkt 6 am Schrämarm und dem Meßpunkt des Empfängers 8 kann der Abstand a vom Empfänger 8 zur Ortsbrust 11 gemessen werden, da dieser Abstand bei größerem Abstand des Empfängers 8 vom Bezugspunkt 6 nur unwesentlich von der Distanz r verschieden ist.In FIG. 4, the receiver 8 is in turn fixed on a removal frame 7 and oriented relative to the longitudinal axis of the line. The angle
Figure imgb0003
1 is measured in relation to the xy plane of the reference system of the receiver and therefore appears in relation to the angle
Figure imgb0003
V in Fig. 3 reduced by 90 °. The angle is obtained in an analogous manner in the top view, not shown
Figure imgb0004
S starting from the x-axis of the reference system of the receiver. Instead of the distance r between the reference point 6 on the cutting arm and the measuring point of the receiver 8, the distance a from the receiver 8 to the face 11 can be measured, since this distance is only slightly different from the distance r when the receiver 8 is at a greater distance from the reference point 6.

Wenn nun abweichend von den für einen bestimmten, von. einem Infrarotsender gebildeten Bezugspunkt 6 am Schrämarm oder Schrämkopf, die gesamte Außenkontur 10 der Schrämköpfe 4 von der Wärmebildkamera erfaßt wird, läßt sich unmittelbar aus dem erhaltenen Videosignal der Wärmebildkamera die -in Fig. 5 gezeigte Bildschirmdarstellung erzielen. Der Bildschirm des Monitors 12 ist hiebei mit 13 bezeichnet und zeigt das Sollprofil 14 der aufzufahrenden Strecke. Innerhalb dieses Sollprofils 14 sind die Abbildungen der schrämköpfe 4 ersichtlich, wobei die Spuren der rotierenden Meißel deutlich als im wesentlichen vertikal verlaufende Striche abgebildet sind.If now deviating from that for a certain one, from. a reference point 6 formed on the cutting arm or cutting head, the entire outer contour 10 of the cutting heads 4 is detected by the thermal imaging camera, the screen display shown in FIG. 5 can be obtained directly from the video signal of the thermal imaging camera obtained. The screen of the monitor 12 is designated 13 and shows the target profile 14 of the route to be covered. The images of the cutting heads 4 can be seen within this target profile 14, the traces of the rotating chisels being clearly shown as essentially vertical lines.

Eine für die Abtastung des Videosignals der Wärmebildkamera geeignete Schaltung ist in Fig. 6 schematisch dargestellt. Die Wärmebildkamera ist hiebei ebenso wie der Empfänger mit 8 bezeichnet. Der Kamera werden Signale für die vertikale und horizontale Ablenkung über Leitungen 15 bzw. 16 zugeführt. Das Videosignal gelangt über eine Leitung 17 und ein Differenzierglied 18 zu einem Komparator 19 und kann unmittelbar dem Monitor 12 zugeführt werden.A circuit suitable for scanning the video signal of the thermal imaging camera is shown schematically in FIG. 6. The thermal imager is also designated 8 here, as is the receiver. The camera is fed signals for vertical and horizontal deflection via lines 15 and 16, respectively. The video signal arrives via line 17 and Differentiator 18 to a comparator 19 and can be fed directly to the monitor 12.

Zum Zwecke der automatischen Steuerung der Arbeitsbewegung des Schrämkopfes bzw. Schrämarmes kann dieses Signal aber auch einer Bildauswertungsschaltung 20 zugeführt werden. Für die drei-Raumkoordinaten der Position des Schrämkopfes können hiebei gesonderte Stellsignale über Leitungen 21 erhalten werden.However, for the purpose of automatically controlling the working movement of the cutting head or cutting arm, this signal can also be fed to an image evaluation circuit 20. Separate control signals can be obtained via lines 21 for the three-space coordinates of the position of the cutting head.

Claims (8)

1. Einrichtung zur Erfassung der Position des Schrämkopfes einer Vortriebs- oder Gewinnungsmaschine, gekennzeichnet durch einen relativ zur Streckenlängsachse orientierten in einer Strecke anbringbaren Empfänger (8), einen Sender (6) für elektromagnetische Strahlung im Wellenlängenbereich von 1 µm bis 10 cm am Schrämkopf (4) und/oder an einem Schrämarm (3) und einen Entfernungsmesser für die Ermittlung des Abstandes (r) wenigstens eines Bezugspunktes am Schrämkopf (4) und/oder Schrämarm (3) von dem Empfänger (8), sowie vorzugsweise eine Anzeigevorrichtung (12) für die Position des Schrämkopfes (4) relativ zu einem zu schrämenden Sollprofil (14).1. Device for detecting the position of the cutting head of a tunneling or extraction machine, characterized by a receiver (8) that can be attached in a distance relative to the longitudinal axis of the route, a transmitter (6) for electromagnetic radiation in the wavelength range from 1 μm to 10 cm on the cutting head ( 4) and / or on a cutter arm (3) and a range finder for determining the distance (r) of at least one reference point on the cutter head (4) and / or cutter arm (3) from the receiver (8), and preferably a display device (12 ) for the position of the cutting head (4) relative to a target profile (14) to be cut. 2. Einrichtung nach Anspruch 1, dadurch gekennzeichnet, daß der Empfänger (8) als Wärmebildkamera ausgebildet ist.2. Device according to claim 1, characterized in that the receiver (8) is designed as a thermal imager. 3. Einrichtung nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß der Empfänger (8) schwenkbar angeordnet ist und auf wenigstens einen von dem Sender (6) gebildeten Bezugspunkt des Schrämkopfes (4) zur Bestimmung des Winkels
Figure imgb0003
) zwischen der Parallelen zur Streckenlängsachse und dem Bezugspunkt des Schrämkopfes ausrichtbar ist.3. Device according to claim 1 or 2, characterized in that the receiver (8) is pivotally arranged and on at least one reference point of the cutting head (4) formed by the transmitter (6) for determining the angle
Figure imgb0003
) can be aligned between the parallel to the line longitudinal axis and the reference point of the cutting head. 4. Einrichtung nach Anspruch 3, dadurch gekennzeichnet, daß der Bezugspunkt am Schrämkopf (4) nahe der Drehachse (5) des Schrämkopfes (4) angeordnet ist. -4. Device according to claim 3, characterized in that the reference point on the cutting head (4) near the axis of rotation (5) of the cutting head (4) is arranged. - 5. Einrichtung nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, daß der Sender (6) als Infrarotstrahlensender ausgebildet ist und vorzugsweise von dem auf Betriebstemperatur befindlichen Schrämkopf (4) gebildet ist.5. Device according to one of claims 1 to 4, characterized in that the transmitter (6) is designed as an infrared radiation transmitter and is preferably formed by the cutting head located at the operating temperature (4). 6. Einrichtung nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, daß die Anzeigevorrichtung (12) einen Bildschirm (13) enthält, auf welchem die Lage des Schrämkopfes (4) relativ zum Sollprofil (14) darstellbar ist, und daß die Sollprofildarstellung oder die Schrämkopfdarstellung in Abhängigkeit vom Abstand (r) des Schrämkopfes (4) von einem Infrarotstrahlungsempfänger (8) bzw. der Wärmebildkamera in der Größe veränderbar ist.6. Device according to one of claims 1 to 5, characterized in that the display device (12) contains a screen (13) on which the position of the cutting head (4) relative to the target profile (14) can be displayed, and that the target profile display or the size of the cutting head representation depending on the distance (r) of the cutting head (4) from an infrared radiation receiver (8) or the thermal imaging camera. 7. Einrichtung nach Anspruch 2 oder 6, dadurch gekennzeichnet, daß die Wärmebildkamera (8) ein in Abhängigkeit von der Entfernung (r) des Schrämkopfes in seiner Brennweite verstellbares Varioobjektiv aufweist.7. Device according to claim 2 or 6, characterized in that the thermal imaging camera (8) has a focal length adjustable focal length depending on the distance (r) of the cutting head. 8.-Einrichtung nach Anspruch 2, 6 oder 7, dadurch gekennzeichnet, daß die Wärmebildkamera (8) ortsfest in der Strecke orientiert angeordnet ist, daß das Wärmebild in an sich bekannter Weise zeilenweise abgetastet wird, und daß das auf diese Weise erhaltene Videosignal der Anzeigevorrichtung (12) und/oder einer Steuereinrichtung für die Bewegung des Schrämkopfes (4) zugeführt ist.8. Device according to claim 2, 6 or 7, characterized in that the thermal imaging camera (8) is arranged in a fixed manner in the route, that the thermal image is scanned line by line in a manner known per se, and that the video signal obtained in this way Display device (12) and / or a control device for the movement of the cutting head (4) is supplied.
EP83890168A 1982-09-23 1983-09-22 Apparatus for defining the position of the cutting head of a boring or mining machine Expired EP0105867B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT3548/82 1982-09-23
AT0354882A AT375153B (en) 1982-09-23 1982-09-23 DEVICE FOR DETECTING THE POSITION OF THE CUTTING HEAD OF A PITCHING OR RECOVERY MACHINE

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EP0105867A2 true EP0105867A2 (en) 1984-04-18
EP0105867A3 EP0105867A3 (en) 1985-12-27
EP0105867B1 EP0105867B1 (en) 1988-02-03

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JP (1) JPS5980899A (en)
AT (1) AT375153B (en)
AU (1) AU563232B2 (en)
CA (1) CA1229675A (en)
CS (1) CS687583A2 (en)
DE (1) DE3375595D1 (en)
HU (1) HU191876B (en)
IN (1) IN159093B (en)
PL (1) PL142733B1 (en)
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DE3806224A1 (en) * 1988-02-26 1989-09-07 Siemens Ag Device for tracking the movement of a moving object, especially of a getter machine in mining
GB2260051A (en) * 1991-09-13 1993-03-31 Samsung Electronics Co Ltd Tracking and ranging apparatus
EA014851B1 (en) * 2008-07-28 2011-02-28 Айкхофф Бергбаутехник Гмбх METHOD OF MANAGEMENT CUTTING CLEANING MACHINE
CN102587911A (en) * 2012-03-08 2012-07-18 三一重型装备有限公司 Tunneling control system and method for tunneling machine and tunneling machine
US9733081B2 (en) 2011-01-10 2017-08-15 Leica Geosystems Ag Geodesic measuring device comprising a thermographic camera
CN109538208A (en) * 2018-12-21 2019-03-29 冀中能源峰峰集团有限公司 A kind of compound positioning system of cutting head of roadheader and method
CN111472841A (en) * 2020-03-05 2020-07-31 天地科技股份有限公司 Fully mechanized coal mining face equipment group pose unifying method
CN114718650A (en) * 2022-03-22 2022-07-08 中煤科工开采研究院有限公司 A universal conversion device and installation method

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CN108655821B (en) * 2018-05-20 2019-11-29 李君毅 Centralizer and application method
CN109356653B (en) * 2018-11-01 2023-10-24 云南昆钢电子信息科技有限公司 Drop shaft depth measuring device and method
CN112963165B (en) * 2021-03-17 2022-01-04 大连理工大学 A Design Method of Guided Positioning Interface for Cutting Tool System of Full-face Rock Roadheader Based on Machine Operation
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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3806224A1 (en) * 1988-02-26 1989-09-07 Siemens Ag Device for tracking the movement of a moving object, especially of a getter machine in mining
GB2260051A (en) * 1991-09-13 1993-03-31 Samsung Electronics Co Ltd Tracking and ranging apparatus
GB2260051B (en) * 1991-09-13 1996-01-10 Samsung Electronics Co Ltd Object tracking apparatus and method
EA014851B1 (en) * 2008-07-28 2011-02-28 Айкхофф Бергбаутехник Гмбх METHOD OF MANAGEMENT CUTTING CLEANING MACHINE
US8469455B2 (en) 2008-07-28 2013-06-25 Eickhoff Bergbautechnik Gmbh Method for controlling a cutting extraction machine
US9733081B2 (en) 2011-01-10 2017-08-15 Leica Geosystems Ag Geodesic measuring device comprising a thermographic camera
CN102587911A (en) * 2012-03-08 2012-07-18 三一重型装备有限公司 Tunneling control system and method for tunneling machine and tunneling machine
CN102587911B (en) * 2012-03-08 2014-04-23 三一重型装备有限公司 Tunneling control system and method for tunneling machine and tunneling machine
CN109538208A (en) * 2018-12-21 2019-03-29 冀中能源峰峰集团有限公司 A kind of compound positioning system of cutting head of roadheader and method
CN111472841A (en) * 2020-03-05 2020-07-31 天地科技股份有限公司 Fully mechanized coal mining face equipment group pose unifying method
CN111472841B (en) * 2020-03-05 2021-11-05 天地科技股份有限公司 Fully mechanized coal mining face equipment group pose unifying method
CN114718650A (en) * 2022-03-22 2022-07-08 中煤科工开采研究院有限公司 A universal conversion device and installation method

Also Published As

Publication number Publication date
EP0105867A3 (en) 1985-12-27
HU191876B (en) 1987-04-28
PL142733B1 (en) 1987-11-30
CS687583A2 (en) 1988-09-16
AU1842883A (en) 1984-03-29
PL243526A1 (en) 1984-04-09
AT375153B (en) 1984-07-10
RO89261A (en) 1986-03-15
EP0105867B1 (en) 1988-02-03
ATA354882A (en) 1983-11-15
DE3375595D1 (en) 1988-03-10
CA1229675A (en) 1987-11-24
ZA836472B (en) 1984-04-25
AU563232B2 (en) 1987-07-02
IN159093B (en) 1987-03-21
JPS5980899A (en) 1984-05-10

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