Measurement of bulk density of the payload in a dragline bucket
First Claim
1. A method of measuring, with a scanning device, bulk density of a payload having a weight, a volume, and a surface in a dragline bucket having a base and sides, during dragline operation, comprising:
- scanning, by the scanning device, a loaded dragline bucket during an operating cycle of the dragline wherein the bucket is moving, to provide mathematical data relating to the surface of the payload in the loaded bucket, wherein the scanning comprises collecting scan line data from multiple scans;
calculating the volume enclosed by the surface of the payload and the base and sides of the dragline bucket from the mathematical data, wherein the calculating comprises;
analyzing the collected scan line data;
identifying a shift between scan line data from a first scan and scan line data from a second scan attributable to bucket motion between scans; and
using the shift to compensate for bucket motion;
receiving a weight of the payload; and
determining a bulk density of the payload by dividing the calculated volume into the weight.
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Abstract
In particular embodiments of the technology, the bulk density of the payload in the bucket of a large electric dragline is measured during the carry phase of dragline operation by scanning the loaded bucket using a boom mounted scanner to provide data relating to the volume of the loaded bucket. Suitable methods can further include calculating the volume enclosed by the surface of the payload and the known base and sides of the bucket to give payload volume, and dividing the payload volume into payload weight data derived from rope length and motor current data to give the payload bulk density. Methods of screening data points originating from surfaces other than the bucket and payload, and methods of dealing with bucket ope and sway are also described and claimed.
37 Citations
21 Claims
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1. A method of measuring, with a scanning device, bulk density of a payload having a weight, a volume, and a surface in a dragline bucket having a base and sides, during dragline operation, comprising:
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scanning, by the scanning device, a loaded dragline bucket during an operating cycle of the dragline wherein the bucket is moving, to provide mathematical data relating to the surface of the payload in the loaded bucket, wherein the scanning comprises collecting scan line data from multiple scans; calculating the volume enclosed by the surface of the payload and the base and sides of the dragline bucket from the mathematical data, wherein the calculating comprises; analyzing the collected scan line data; identifying a shift between scan line data from a first scan and scan line data from a second scan attributable to bucket motion between scans; and using the shift to compensate for bucket motion; receiving a weight of the payload; and determining a bulk density of the payload by dividing the calculated volume into the weight. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A computer-readable storage medium having contents configured to cause a computer to perform a method for measuring, with a scanning device, a volume of a payload having a surface in a moving dragline bucket, during dragline operation, the method comprising:
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obtaining data points by scanning, with the scanning device, a loaded, moving dragline bucket during an operating cycle of the dragline; identifying, from the obtained data points, data points associated with the bucket or the payload; translating the data points associated with the bucket or the payload to compensate for the motion of the bucket; determining a pose of the bucket; filtering out, from the data points associated with the bucket or the payload, data points not associated with the payload; estimating the payload surface using the filtered data points; calculating, from the estimated payload surface and the determined pose, the volume of the payload. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21)
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8. A method of measuring, with a scanning device, bulk density of a payload having a weight, a volume, and a surface in a dragline bucket having a base and sides, during dragline operation, wherein the dragline bucket is connected to at least one of a hoist rope and a drag rope, comprising:
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scanning, by the scanning device, a loaded dragline bucket during an operating cycle of the dragline wherein the bucket is moving, to provide mathematical data relating to the surface of the payload in the loaded bucket, wherein the scanning comprises collecting scan line data from multiple scans; calculating the volume enclosed by the surface of the payload and the base and sides of the dragline bucket from the mathematical data, wherein the calculating comprises; collecting hoist rope and drag rope length data for a first scan and for a second scan; and using the collected hoist rope and drag rope length data to determine a change in position of the loaded dragline bucket between the first scan and the second scan; receiving a weight of the payload; and determining a bulk density of the payload by dividing the calculated volume into the weight.
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9. A method of measuring, with a scanning device, bulk density of a payload having a weight, a volume, and a surface in a dragline bucket having a base and sides, during dragline operation, comprising:
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scanning, by the scanning device, a loaded dragline bucket during an operating cycle of the dragline wherein the bucket is moving, to provide mathematical data relating to the surface of the payload in the loaded bucket, wherein the scanning comprises collecting scan line data from multiple scans; calculating the volume enclosed by the surface of the payload and the base and sides of the dragline bucket from the mathematical data, wherein the calculating comprises; determining a velocity of the loaded dragline bucket; measuring a displacement of position of the loaded dragline bucket between a first scan and a second scan as a function of the determined velocity of the loaded dragline bucket; and using the measured displacement to scale the mathematical data relating to the scanned surface of the payload; receiving a weight of the payload; and determining a bulk density of the payload by dividing the calculated volume into the weight. - View Dependent Claims (10, 11, 12)
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Specification