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

Abstract

Exemplary embodiments are directed to a method for detecting and tracking the position of a mobile transferring device/loading device of a bucket-wheel excavator or bucket chain excavator. The bucket-wheel excavator or bucket chain excavator includes an extraction device having a pivotable superstructure, which has inclinable cantilever, a track-drivable substructure, and a transferring device having a loading cantilever and renders conveyed material through a bench conveyor. An open-loop/closed-loop control device establishes the pivot angle and the inclination of the loading cantilever of the transferring device according to the signals of a plurality of sensors.

What is claimed is: 
     
         1 . A method for detecting and tracking a position of a movable transferring device/loading device of a bucket-wheel excavator, which 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;   detecting, in a sixth sensor, a current vertical positioning of the loading boom above the bench conveyor; and   monitoring, in a seventh sensor, overfilling at the transfer point of the loading boom.   
     
     
         2 . The method as claimed in  claim 1 , comprising:
 supplying the loading boom of the bench conveyor with conveyed material via a loading chute, wherein the open-loop or closed-loop control device establishes the pivot angle and the inclination of the loading chute the method comprising:   detecting, in an eighth sensor, a current load state of a bench conveyor belt of the bench conveyor;   detecting, in a ninth sensor, any current skewing of the bench conveyor belt of the bench conveyor;   detecting, in a tenth sensor, a current angular position of the loading chute; and   detecting, in an eleventh sensor, a current inclination of the loading chute.   
     
     
         3 . The method as claimed in  claim 1 , wherein the open-loop or closed-loop control device is fed signals of at least one of the first through seventh sensors for detecting a current load upon a loading belt of the loading boom. 
     
     
         4 . The method as claimed in  claim 1 , wherein the open-loop or closed-loop control device is fed signals of a twelfth sensor for detecting a current belt pass-over point between a take-up belt of the boom and a loading belt of the loading boom. 
     
     
         5 . The method as claimed in  claim 1 , wherein the open-loop or closed-loop control device is additionally fed signals of a thirteenth sensor for detecting a current belt pass-over point between a loading belt of the loading boom and the bench conveyor belt of the bench conveyor. 
     
     
         6 . The method as claimed in  claim 1 , wherein the open-loop or closed-loop control device is fed signals of a fourteenth sensor for detecting objects within range of pivot of the loading boom. 
     
     
         7 . A method for detecting and tracking a position of a movable transferring device/loading device of a bucket-wheel excavator or bucket chain excavator, which 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 loading boom;   detecting, in a fifth sensor, a current distance of the loading boom above the bench conveyor or above the take-up belt of the mobile transfer conveyor;   detecting, in a sixth sensor, a 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; and   monitoring, in a seventh sensor, an overfilling at the transfer point of the loading boom.   
     
     
         8 . The method as claimed in  claim 7 , comprising:
 supplying the loading boom of the bench conveyor or the take-up belt of the mobile transfer conveyor with conveyed material via a loading chute, wherein the open-loop or closed-loop control device establishes the pivot angle and the inclination of the loading chute, the method comprising:   detecting, in an eighth sensor, the current load state of the bench conveyor belt of the bench conveyor or of the take-up belt of the mobile transfer conveyor;   detecting, in a ninth sensor, any current skewing of the bench conveyor belt of the bench conveyor or of the take-up belt of the mobile transfer conveyor;   detecting, in a tenth sensor, a current angular position of the loading chute; and   detecting, in an eleventh sensor, a current inclination of the loading chute.   
     
     
         9 . The method as claimed in  claim 7 , wherein the open-loop or closed-loop control device is fed signals of a twelfth sensor for detecting a current load upon the loading belt of the loading boom. 
     
     
         10 . The method as claimed in  claim 7 , wherein the open-loop or closed-loop control device is fed signals of a thirteenth sensor for detecting a current belt pass-over point between the take-up belt of the boom and the loading belt of the loading boom. 
     
     
         11 . The method as claimed in  claim 7 , wherein the open-loop or closed-loop control device is additionally fed signals of a fourteenth sensor for detecting a current belt pass-over point between the loading belt of the loading boom and the bench conveyor belt of the bench conveyor or the take-up belt of the mobile transfer conveyor. 
     
     
         12 . The method as claimed in  claim 7 , wherein the open-loop or closed-loop control device is fed signals of a fourteenth sensor for detecting objects within range of pivot of the loading boom.