Patent Grant
9637887
The present invention relates to a three-dimensional (3D) volume rate control method and apparatus for controlling the reclaim rate of a stockpile reclaimer and relates particularly, though not exclusively, to such a method and apparatus applied to a slewing bucket-wheel reclaimer.
Slewing bucket-wheel reclaimers are the most common type of reclaimers used in the iron ore and coal industries. Another common type of reclaimer is the bridge reclaimer.
Bucket-wheel reclaimers are a high cost mining asset. Individual machine cost may exceed $30 M, with supporting stockyard infrastructure adding significant cost. Relatively small improvement in reclaimer productivity will provide a significant economic benefit to the business. As an example of the economic benefit that can be achieved is given below:
Slewing bucket-wheel reclaimers operate in the following manner. The stockpile is reclaimed in a series of ‘Benches’ where each bench defines a layer of the stockpile, as illustrated in
At the end of each face cut, the reclaimer travels forward (Step Advance) a short distance (typically 1.0 m for a 5.0 m bucket-wheel), and then begins the next cut. The rate of reclaiming is controlled during the face cut by adjusting the speed of the slew motion. The general formula for reclaim rate when digging a full height bench face, in cubic meters per second, at any point along the face cut is:
Face Height (meters)×Face Cut Depth (meters)×Radial Slew Speed (meters per second).
Where: Face Cut Depth=Cosine (Slew Angle)×Step Advance Distance
The actual rate will depend on the shape of the stockpile at the bucket-wheel face.
The overwhelming majority of bucket-wheel reclaimers are fitted with power-based reclaim rate controllers. Power-based reclaim rate controllers derive an implied reclaim rate based on the digging power of the bucket-wheel.
Reclaiming is undertaken in order to move product from a stockpile to a destination, be it a train, ship or another stockpile via a transport system.
In general terms, minimum cost to move the product is achieved by transporting the product at the maximum rate supported by the transport equipment. The maximum rate supported by transport equipment is determined by the maximum volume rate. For example:
Although volume is normally the limiting factor, current reclaim rate controllers use an implied reclaim weight rate controller (controls in tonnes per hour). One of the disadvantages of prior art reclaim rate controllers is the inability to control the reclaim rate in terms of volume. This results from the inability to measure the volume rate at the bucket-wheel. Inability to control the volume rate means that they cannot achieve the maximum transport volume rate.
Whilst volume is generally the limiting factor for transport equipment, there are cases where weight is also a limiting factor. For example, a conveyor trestle may have a weight limitation that overrides the volume limitation of the belt conveyor itself. In these cases, maximum transport efficiency is achieved by maintaining a consistent transport rate. Current reclaim rate controllers have poor performance in terms of rate fluctuation. This is due to their inability to accurately measure the reclaim rate based on implied measurement techniques. This is further explained in the following section.
In the case where there is a requirement to reclaim at a low rate, the inaccurate rate measurement of existing rate controllers results in incorrect rate and high rate fluctuations. Power based rate controllers are unable to determine the stockpile edges at low reclaim rates and often require operator intervention to set fixed reclaim slew range limits.
Due to the low cut depth at the outer slew region of a stockpile face cut, it is advantageous to finish the cut early for several cuts before cleaning up the ridge with a single longer cut. This practice is known a ‘Waltz Step’ of ‘Clean-Up Pass’. However ‘Waltz Step’ reclaiming is rarely used with power based rate controllers, due primarily to their inability to adequately control the rate during the step changes in cut depth between the current face and the outer ridge.
Current reclaim rate control systems use implied methods to measure the reclaim rate, including digging energy (bucket-wheel current) or digging force (bucket-wheel torque). The achieved reclaim rate depends on the bucket-wheel digging efficiency (cubic meters per unit of energy/force) which is affected by a range of parameters including:
As the state of the stockpile is unknown, it is not possible to provide compensation for these factors. This results in less than optimal reclaim rates. Efforts to improve reclaimer productivity are limited by the reclaim rate measurement error.
Various systems attempt to improve the accuracy of the implied reclaim rate by use of single point or 2D radar sensors. These systems may collectively be referred to as ‘predictive rate controllers’. Predictive rate controllers use 2D radar scanners to predict the approximate volume that will be reclaimed by the bucket-wheel. Predictive volume based systems perform a vertically orientated 2D scan of the stockpile face, with the third dimension being provided by the slew motion. The 2D scanner is located at a position ahead of the bucket-wheel.
An example of a prior art predictive rate controller utilising a 2D radar scanner is the system marketed by Indurad (Germany) as a ‘Bucket-wheel Excavator Predictive Cutting Control’. The control is described to provide customer benefits of ‘Predictive volume flow information and operator assistance’.
The radar scanners used in existing predictive systems are based on 77 GHz vehicle collision avoidance radar units. The combination of field of view (FOV) angle resolution (typically 4 degrees) and target distance accuracy (typically +−150 mm) results in inability to measure the stockpile face volume, particularly when the bucket-wheel cut depth is less than one meters (1.0 m).
During reclaiming operations, the stockpile area around the bucket-wheel will collapse and flow as product is removed. Accurate measurement of the reclaim rate requires that the volume in the area abutting the bucket-wheel be continuously measured. The 2D nature of the predictive volume scanning system means that the actual volume being reclaimed by the bucket-wheel cannot be measured. Instead, the reclaim volume is predicted. Collapsing and dynamic movement of the stockpile due to flow of product is not measured.
Predictive volume systems are typically used for operator assistance on manually operated reclaimers or as the theoretical (feed forward) speed of an implied (current/torque) reclaim rate controller. Whilst predictive volume systems improve the performance of an implied rate controller, the control performance is still affected by the same factors as the standard implied rate controller.
Prior art use of 3D laser scanning for stackers and reclaimers is described in European patent EP1278918, also published as US 2005/0246133. This prior art document is referred to hereinafter as P2.
The system described in P2 scans the stockpile to determine the stockpile shape for the purpose of controlling the movement of the reclaimer to the facing up position and to determine the slewing range of the bucket-wheel during reclaiming.
One of the problems that P2 seeks to overcome is the inaccuracies in the stockpile model that occur when using a 2D scanner where the stockpile shape is initially determined by way of a measurement pass of the bucket-wheel device and the 2D scanner, and then after the removal or stacking process is initiated the controller calculates a provisional stockpile model.
However this 2D system cannot detect changes of the stockpile shape which occur during the operation of the bucket-wheel device, for example, due to rainfall and the natural downslide processes or the like, as well as slides or downslides triggered by the removal process itself. P2 overcomes these problems by scanning the stockpile using a 3D laser scanner to determine the actual stockpile shape independently of the operation of the bucket-wheel device. The system described in P2 includes GPS receivers to provide accurate position information for the bucket-wheel reclaimer and/or the bucket-wheel itself. A claimed benefit of the system described in P2 is that the stockpile shape may be captured without carrying out a measurement pass and that bumping into the stockpile is avoided.
The system described in P2 is not able to measure the reclaimed volume at the bucket-wheel as the area abutting the bucket-wheel is not scanned. Furthermore there is no disclosure or suggestion in P2 of calculating a reclaim volume of material that will be cut from the stockpile face, based on the shape of the excavation tool and the 3D stockpile shape, to determine a cut reclaim volume rate. In fact there is no reference whatsoever in P2 to either volume measurement or reclaim rate control. The described control function is to position the bucket-wheel device in dependence on the measured stockpile shape, in order to optimise initial face-up positioning of the bucket-wheel and to control the bucket-wheel swing range based on the shape of the stockpile.
A commercial implementation of P2 was developed by iSAM AG (Germany) and is marketed by FL Smidt as the ‘iSAM Automation System for Stacker Reclaimers.’ The referred commercial implementation of P2 uses bucket-wheel power based implied reclaim rate control.
The present invention was developed with a view to providing a 3D volume rate controller method and apparatus which is less susceptible to the above-noted problems and disadvantages of the prior art implied reclaim rate controllers and predictive rate controllers.
References to prior art in this specification are provided for illustrative purposes only and are not to be taken as an admission that such prior art is part of the common general knowledge in Australia or elsewhere.
According to one aspect of the present invention there is provided a three dimensional (3D) volume rate control apparatus for a stockpile reclaimer, the apparatus comprising:
a plurality of 3D image sensors mounted adjacent an excavation tool of the stockpile reclaimer and adapted to provide 3D images of a stockpile bench face; and,
a data processor for:
Preferably respective 3D image sensors are mounted on each side and adjacent to the excavation tool to provide 3D images of a complete cutting arc of the excavation tool on the stockpile face. Preferably the 3D image sensors also provide 3D images extending along a swing arc of the complete cutting arc for a sufficient distance to cover areas of the stockpile bench face that may flow or collapse around the excavation tool.
Typically four 3D image sensors are provided, two on each side of the excavation tool respectively, in order to avoid image occlusion by an excavation drive and support structures. In one embodiment the 3D image sensors are 3D time-of-flight cameras which measure the distance to an object in front of the camera by analyzing the time for a light pulse to travel from an illumination source to the object and back.
Typically the stockpile reclaimer is a bucket-wheel reclaimer and the excavation tool is a bucket-wheel. In a preferred embodiment the bucket-wheel reclaimer is a slewing bucket-wheel reclaimer. Advantageously the four 3D cameras are located immediately adjacent to the bucket-wheel and orientated such that the complete cutting arc of the bucket-wheel is measured.
By providing accurate reclaim volume measurement the reclaim volume rate becomes independent of the product characteristics, stockpile face shape and bucket-wheel cutting characteristics.
Whilst measurement and calculation of the reclaim volume is complex, the application of the bucket-wheel speed control is simplified as there is no longer any requirement to apply the customised correction parameters that are typically required to improve performance of power based controllers.
The measured stockpile face shape is also used to provide improved machine safety and bucket-wheel position control that operate in unison with the 3D volume rate controller to provide reclaimer performance improvements.
According to another aspect of the present invention there is provided a method of three dimensional (3D) volume rate control for a stockpile reclaimer, the method comprising the steps of:
obtaining 3D images of a stockpile face;
processing the 3D images to generate a 3D stockpile bench face profile;
calculating a reclaim cut volume rate based on a measured change in volume of the 3D stockpile bench face profile in the area abutting an excavation tool of the stockpile reclaimer;
calculating a reclaim cut volume of material that will be cut from the stockpile bench face based on the shape of the excavation tool and the 3D stockpile bench face profile to determine a feed forward cut volume rate profile; and,
calculating an operating parameter for the reclaimer based on a desired reclaim cut volume rate compared to the measured reclaim cut volume rate and the feed forward reclaim cut volume rate profile.
Preferably the step of calculating the reclaim cut volume of material is performed by producing an excavation tool cut height map, which is a two dimensional array of distance values measured from a reference on the excavation tool to an edge of the excavation tool where it cuts into the stockpile bench face.
Typically the stockpile reclaimer is a bucket-wheel reclaimer, the excavation tool is a bucket-wheel, and the excavation tool cut height map is a bucket-wheel cut height map. In a preferred embodiment the bucket-wheel reclaimer is a slewing bucket-wheel reclaimer.
Typically the reference on the excavation tool is an arc formed by a point at the center of the bucket-wheel as it is slewed outwards across the stockpile bench face, this arc being referred to as “the bench arc”. The distance values are preferably defined as the distance (in meters) from the bench arc and are measured along a series of cut arc rays running perpendicular to a bucket-wheel axle. The series of rays typically extend from a ray pointing vertically down to a ray pointing forward to the center face of the bucket-wheel. Advantageously the angular separation between the rays is chosen to match the camera target point size at a face of the bucket-wheel.
Typically the step of calculating a reclaim cut volume rate involves a step of calculating a reclaim cut volume of material at the stockpile bench face. Preferably the step of calculating the volume of material at the stockpile bench face is performed by calculating the sum of the volumes for each point of the 3D stockpile bench face profile in the area abutting the bucket-wheel.
Preferably the reclaim volume rate is calculated by comparing the stockpile bench face volume at two points in time as the bucket-wheel cuts the stockpile bench face.
Preferably a profile map is created to store the 3D stockpile bench face profile, with each profile point defined in terms of the distance from the bench arc along a cut arc ray.
Preferably a bucket-wheel face height map is calculated from the 3D stockpile bench face profile, with each point representing the distance from the bench arc.
Preferably the bucket-wheel face height map is subsequently used to calculate a bucket-wheel cut volume per meter of bench arc length at intervals along a bench arc of the stockpile bench face based on a known cut radius of the bucket-wheel.
Preferably the reclaim volume rate and the bucket-wheel cut volume per meter of bench arc are used in conjunction with the desired reclaim volume rate to calculate the bucket-wheel slew speed at all points along the bench arc.
Preferably the calculated bucket-wheel slew speed is published to a reclaimer slew speed control system.
Throughout the specification, unless the context requires otherwise, the word “comprise” or variations such as “comprises” or “comprising”, will be understood to imply the inclusion of a stated integer or group of integers but not the exclusion of any other integer or group of integers. Likewise the word “preferably” or variations such as “preferred”, will be understood to imply that a stated integer or group of integers is desirable but not essential to the working of the invention.
The nature of the invention will be better understood from the following detailed description of several specific embodiments of 3D volume rate control method and apparatus, given by way of example only, with reference to the accompanying drawings, in which:
A preferred embodiment of the 3D volume rate control apparatus 10 in accordance with the invention, as illustrated in
Typically four 3D image sensors 12 are provided, two on each side of the bucket-wheel 14 respectively. Advantageously the four 3D image sensors 12 are located immediately adjacent to the bucket-wheel 14 and orientated such that the complete cutting arc of the bucket-wheel 14 is measured, as shown in
The 3D volume rate control apparatus 10 further comprises a data processor 20 (see
The 3D volume rate control apparatus 10 provides improved reclaimer performance in comparison to existing ‘State of the Art’ Implied Rate systems. This improved performance is achieved by the accurate and dynamic measurement of the reclaimed volume using the change in volume around the bucket-wheel 14 to control the reclaim volume rate. Accurate reclaim volume measurement is achieved by capturing the changing volume of the area abutting each side of the bucket-wheel 14. The high speed 3D image sensors (cameras 12) are used to measure the volume which is being removed from the stockpile face area abutting the bucket-wheel 14.
The stockpile face area abutting the bucket-wheel 14 is subject to change in profile due to product flow, face collapses and product being thrown out of the buckets. The flow and collapse characteristics are unpredictable and product may also flow and the face collapse, even when the bucket-wheel is not slewing. By providing accurate reclaim volume measurement the reclaim volume rate becomes independent of the product characteristics, stockpile face shape and bucket-wheel cutting characteristics.
Whilst measurement and calculation of the reclaim volume is complex, the application of the bucket-wheel speed control is simplified as there is no longer any requirement to apply the customised correction parameters that are typically required to improve performance of power based controllers.
The measured stockpile face shape is also used to provide improved machine safety and bucket-wheel position control that operate in unison with the 3D volume rate controller to provide reclaimer performance improvements.
A preferred method of 3D volume rate control for a stockpile reclaimer 16, using the apparatus of
The area in which stockpiles reside is called a stockyard. The stockyard area in which the reclaimer 16 is operating is defined as a horizontal plane extending for the full length and width of the stockyard and being parallel to the machine rails. The Stockyard North direction is defined as the direction of positive travel along the machine rails.
The preferred 3D volume rate control method uses a local (right-hand) Cartesian coordinate system (x, y, and z, as shown in
The component positions and orientations on the reclaimer 16 are defined with reference to the reclaimer local reference point and with all motions are their home positions. The reclaimer 16 local reference position is typically defined as the center of slew and at rail height. Forward kinematic methods are used to transform the component local coordinates to stockyard area co-ordinates, based on the current motion positions.
The reclaimer motion pivots and components (bucket-wheel 14 and cameras 12) are modelled, (step 104 in
In the case where the bucket-wheel 14 is not tilted or skewed, then the cut of the bucket-wheel is described as a torus with a circular cross section. Where the bucket-wheel 14 is tilted and/or skewed, then the cut of the bucket-wheel is a torus with an elliptical cross-section.
The method further comprises the step 114 (in
Accurate cut volume calculation is achieved, irrespective of the bucket-wheel tilt and/or skew, by calculating the volume along the direction of the bucket-wheel face cut. That is, the cut direction is along the line that runs around the tilted/skewed bucket-wheel 14.
Target position data supplied by each camera is mapped from the Camera Coordinates to Stockyard Area Coordinates. The 3D time of flight cameras 12 return a target distance for each pixel in the field of view (FOV), as shown in
The depth distance (Z) produced by each camera 12 is the perpendicular distance from the target point to the lens entrance pupil plane (the entrance pupil plane is behind the front glass of the camera). The depth distance is different from the range distance which is the straight line distance from the target point to the corresponding pixel in the lens entrance pupil plane. Note that for the target point lying on the optical axis of the camera 12, the depth and range distances are the same. The camera coordinate reference point (x=0, y=0 and z=0) is located where the optical axis intersects the lens entrance pupil plane.
The position of each target point is described by the target distance along the z axis and the angular offset along the camera x and y axis. The target point data from the multiple 3D cameras 12 is combined to create a stockpile bench face profile expressed in terms of the stockyard coordinate system.
Each camera is capable of providing target point data at a high frame rate (typically up to 30 frames per second). A high frame rate is not essential for stockpile face profiling as the reclaimer moves relatively slowly. For stockpile bench face profiling, a frame rate of 10 Hz is adequate. For a camera 12 with a pixel array size of 160×120, the number of target values returned by each camera is 192,000 per second (160×120×10 Hz).
In creating the stockpile face profile from the camera target values, it is important to:
As the objective is to calculate the cut reclaim volume of the bucket-wheel 14, the target points from all cameras 12 are mapped into a reclaim face point map. The reclaim face point map is a two dimensional array of points coordinates. One dimension of the array extends along the length of the reclaim arc (90 degrees) whilst the second dimension wraps around the arc. The number of elements in each dimension is selected to match the available resolution of the cameras 12.
The stockpile bench face profile is stored as a height map wrapped around the bench arc. This format provides maximum resolution for rate control. The bench arc is defined as the center of the bucket-wheel 14. The bench base level and hence the arc level may vary due to any east/west slope of the stockpile base level. Distance height is stored as a UINT (unsigned int16) with a scaling factor of 0.5 mm. The bench arc length for a bench radius of 60 m is 94.75 m (π0.5*60.0). The height map wraps around the bench arc from the base to a point above bench arc. The cutting arc length for a 5.0 m radius bucket-wheel 14 is 7.85 m. A height map of 12 m is required for a profile that extends 2 m above the bench arc and 2 m behind the bench arc.
The storage requirements for a bench height map with horizontal scale of 200 mm and a vertical scale of 100 mm is 60,000 words (500×120×UINT). The height map above the bench arc level is referenced to a line running vertically up from the bench arc. The height map may be wrapped back behind the bucket-wheel base to provide for product detected behind the bucket-wheel center. The level of the height map behind the bench arc is referenced to the line running horizontally to the bench arc.
The reclaim arc is the path of the bucket-wheel center as it is slewed across the face of the stockpile. The reclaim arc center point is nominally located at the X and Y axis positions of the reclaimer reference position (slew pivot) and at the level of the bucket-wheel center point. The arc reference point is maintained at one location for the duration of a complete slew cut and then moves forward (along the X axis) in unison with the reclaimer on consecutive bench cuts. At the completion of each bench face cut, the current Reclaim Face Point Map is processed to determine the reclaimer travel target position for the next bench face cut, based on the required bucket-wheel cut depth.
Finally, the 3D volume rate control method comprises calculating a control parameter for the reclaimer 16 based on a desired reclaim volume rate 120 (see
Preferably the reclaimer 3D volume rate control method provides both the travel target position and travel target speed in order to control the reclaim rate during the step advance motion of the reclaimer 16. The method provides reclaim rate control during the forward motion (step advance) by determination of the volume for meter (cubic meter per meter), similarly to the control strategy for slew motion.
On each occasion that the reclaimer steps forward, the current Reclaim Face Point Map is processed to create a new Reclaim Face Point Map where the bench arc pivot is located at the new reclaimer slew pivot position.
Mapping the camera target points (expressed in terms of the camera coordinates) to the stockyard area coordinate system is accomplished by rotation and translation of the target points via a camera to area Transform Matrix. The Transform Matrix is composed of a Local Transform Matrix and an Area Transform Matrix. The Local Transform Matrix provides mapping of target points from camera coordinates to reclaimer local coordinates based on the position and orientation of the camera in the local coordinate system. The Area Transform Matrix provides mapping of target points from the reclaimer local coordinates to stockyard area coordinates based on the position of each reclaimer motion.
The Local Transform Matrix for mapping the camera target points to the machine local coordinate system is calculated as follows. The position and orientation of each camera 12 in relation to the reclaimer local coordinate system is known by accurate measurement. The camera position is described by the translation of the camera coordinate reference point with respect to the reclaimer coordinate system reference point. Thus for a camera mounted 50 m from the slew pivot point, 10 m to the left of the reclaimer x axis and 15 m above the rail, the translation is x=50.0, y=−10.0 and z=15.0.
The camera orientation can be described by the direction (rotation) of the optical axis (z axis) with reference to the machine x axis and the direction (rotation) of the camera y axis with reference to the reclaimer y axis. The camera orientation is expressed as a Quaternion but can also be expressed as Euler Angles or a Rotation Matrix. The orientation quaternion and position translation are combined to provide the Local Transform Matrix.
The steps of composing the camera transform matrix, and subsequently transforming the camera image to the stockyard coordinate system is shown in
Mapping of points expressed in terms of the reclaimer local coordinates to the stockyard area coordinate system is accomplished by transformation (rotation and translation) of the points using an Area Transform Matrix. The transformation is described by the translation of the points based on the position of the reclaimer coordinate reference position within the stockyard area (x=south/north, y=east/west, z=level) and the rotation of the points based on the positions of the linked axis between the reclaimer local reference point and the point to be transformed.
The apparatus and method of reclaimer volume rate control controls the reclaim volume rate (cubic meter per second) based on the directly measured 3D stockpile bench face profile. The stockpile bench face profile is measured by the four 3D cameras 12 mounted on each side of the reclaimer bucket-wheel 14.
The individual 3D camera images are combined to provide a high resolution stockpile bench face map. The resolution of the stockpile face map depends on the camera pixel resolution and the distance from the camera to the stockpile. Typically, the stockpile face target point size is less than 40 mm in both the vertical and horizontal planes.
Parts of the bucket-wheel 14 and reclaimer boom structure 24 may encroach into the camera field of view. Image points corresponding to reclaimer structural elements are ignored when mapping the composite image to the stockpile bench face profile array. This is accomplished by provision of 3D models of the bucket-wheel 14 and boom structure 24. Target points falling within the 3D model space are ignored. Culling of the bucket-wheel image points is shown at step 132 in
A profile map is created to store the stockpile bench face profile, with each profile point defined in terms of the distance from the bench arc, along a cut arc ray. The stockpile bench face profile obtained at 118 is mapped onto the buckle-wheel cut height profile to provide a bucket-wheel cut height profile at 113. The step of calculating the cut volume profile (115) of material at the stockpile bench face is performed by calculating at step 114 the sum of the volumes for each point of the stockpile bench face profile in the area abutting the bucket-wheel.
The bucket-wheel cut height profile 113 is a two dimensional array of distance values. The distance values are defined as the distance (in meter) from an arc formed by the point at the center of the bucket-wheel 14 as it is slewed outwards across the stockpile face. The distances are measured along a series of rays running perpendicular to the bucket-wheel axle. The series of rays extends from a ray pointing vertically down to a ray pointing forward to center face of the bucket-wheel 14. Where the ray extends above the center of the bucket-wheel 14, then the ray will be horizontal and the origin will lie on a line extending vertically upwards from the center of the bucket-wheel. Where the ray extends behind the center of the bucket-wheel 14, then the ray will be vertical and the origin will lie on a line extending horizontally backwards from the center of the bucket-wheel. This is illustrated in
The bench cut height profile 113 is used to calculate at step 117 the bench face cut volume in the area abutting the bucket-wheel excavation tool. The reclaim cut volume rate 119 is then calculated at step 123 as the change in volume of the stockpile bench face between two points in time. The time interval between volume sampling is chosen to provide continuous update of the reclaim volume rate 119.
The bench cut height profile 113 is also used to calculate at step 114 the cut volume profile (115 in
The bucket-wheel cut volume per meter (cut volume profile 115) is also used to calculate, at step 122 (in
Due to compaction, the bulk density of stacked material will be higher than the reclaimed material bulk density. Fines material has a higher compaction factor than lump material. Material excavated by the bucket-wheel 14 will be made up of a mixture of compacted and loose material. The mix depends on the product flow characteristics and the presence of collapsed material. Compensation for the change in bulk density may be provided by a ‘Material Volume Compensation’ factor which is defined as the ratio of the ‘Reclaimed Material Volume’ to the ‘Stacked Material Volume’. This factor may be provided by a lookup table which contains a factor for each material type, or optionally by measurement of the reclaimed volume and subsequent calculation of the ‘Material Volume Compensation’ for the current stockpile product.
Calculation of the ‘Material Volume Compensation’ is achieved by a software routine which tracks the ‘Stacked Material Volume’ from the bucket-wheel to a position on the reclaimer boom conveyor where the ‘Reclaimed Material Volume’ is measured. Measurement of the ‘Reclaimed Material Volume’ is typically provided by a belt profile scanner, using a 2D laser line scanner or a 3D image capture instrument.
It is normally necessary to ensure that the bucket-wheel power (or torque) is maintained within the drive operating power limits. The reclaim rate is limited in high power scenarios to control both the instantaneous peak power and longer term thermal power limits of the bucket-wheel drive. This is accomplished in step 124 (see
The 3D volume rate control apparatus and method preferably also provides both the travel target position and travel target speed in order to control the reclaim rate during the step advance motion. The apparatus and method provide reclaim rate control during the forward motion (step advance) by determination of the volume for meter (cubic meter per meter), similarly to the control strategy for slew motion.
Now that preferred embodiments of the 3D volume rate control method and apparatus have been described in detail, it will be apparent that the described embodiments provide a number of advantages over the prior art, including the following:
It will be readily apparent to persons skilled in the relevant arts that various modifications and improvements may be made to the foregoing embodiments, in addition to those already described, without departing from the basic inventive concepts of the present invention. For example, other suitable types of 3D image sensors may be employed apart from the time-of-flight 3D cameras described. Therefore, it will be appreciated that the scope of the invention is not limited to the specific embodiments described.
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| Publishing Document | Publishing Date | Country | Kind |
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| WO2014/040137 | 3/20/2014 | WO | A |
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