Method of determining mining progress in open cast mining by means of satellite geodesy

• US 5,144,317 A
• Filed: 03/27/1991
• Issued: 09/01/1992
• Est. Priority Date: 04/07/1990
• Status: Expired due to Term

• Current Assignee: Rheinbraun AG (RWE AG)
• Original Assignee: Rheinbraun AG (RWE AG)
• Inventors: Duddek, Herbert, Klemmer, Wilfried, Koeppen, Herbert
• Primary Examiner(s): Blum, Theodore M.
• Application Number:
  US07/675,691
• Time in Patent Office: 524 Days
• Field of Search: 342/357, 342/356, 342/463, 37/DIG. 1, 37/DIG. 14, 37/DIG. 20, 299/1, 364/424.01
• US Class Current: 342/357.27
• CPC Class Codes: E02F 3/26 Safety or control devices safety devices in general F16P; controlling in general G05B
• CPC Class Codes: E02F 9/2025 Particular purposes of control systems not otherwise provided for E02F3/16, E02F3/26, sub-groups of E02F3/43, E02F3/651, sub-groups of E02F3/84, E02F3/907, E02F5/145 take precedence
• CPC Class Codes: G01S 19/09 providing processing capability normally carried out by the receiver
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G01S 19/51 Relative positioning
• CPC Class Codes: G01S 19/53 Determining attitude

Abstract

In a method of determining mining progress and the mined masses in open cast mining the position and orientation of the extraction device such as a bucket wheel of a travelling excavator are ascertained by means of satellite geodesy using a receiver in the vicinity of the bucket wheel and a further receiver at another location on the excavator.

Claims

1. A method of determining mining progress and the mined mass in a deposit to be mined in open cast mining, using a large-scale extraction apparatus which comprises a travelling support structure, a support portion mounted movably thereon, and at least one extraction device carried on the support portion, comprising the step, carried out when mining material in the deposit, of:

receiving signals from at least four satellites by means of a first receiver disposed on said support portion of the extraction apparatus;

while said signals from at least four satellites are being received by said first receiver, receiving said signals by means of at least one further receiver disposed on the extraction apparatus at a position which is spaced from, but defined with respect to, the first receiver;

ascertaining the geodetic position of said first receiver from the signals received by said first receiver;

ascertaining the geodetic position of said further receiver from the signals received by said further receiver; and

determining, from the geodetic positions of said first and further receivers, the orientation in space of the support portion of the extraction apparatus;

whereby a model of the deposit can be established in which the parts of the deposit which have already been mined are identified.

2. A method as set forth in claim 1 wherein said extraction device which is carried by the support portion of the extraction apparatus is such as to preclude a receiver for the signals from said at least four satellites being disposed on said extraction device, and wherein the position of said extraction device is determined from the geodetic position and the orientation in space of the support portion.

3. A method as set forth in claim 1 including the step, carried out while receiving signals from said at least four satellites by means of said first and further receivers, of receiving said signals by means of a third receiver which serves as a reference receiver and which is arranged in a known geodetic position at a stationary location at a spacing from the extraction apparatus, and ascertaining, from the signals received by said first, further and third receivers, the co-ordinates of the first and the further receivers relative to those of the third receiver.

4. A method as set forth in claim 3 wherein the third receiver is disposed at a position representing a reference point in a local coordinate system which is relevant to the deposit to be mined, and wherein the detected positions of the first and further receivers on the extraction apparatus are transformed into co-ordinates of said local co-ordinate system.

5. A method as set forth in claim 1 wherein the operation of detecting the positions of the receivers is repeated at time intervals of between 0.3 second and 600 seconds.

6. A method as set forth in claim 1 wherein the operation of detecting the positions of the receivers is repeated at time intervals of about one second.

7. A method as set forth in claim 1 wherein said further receiver is disposed on said travelling support structure on which said support portion is movably mounted and including the step of ascertaining the spacing of said first and further receivers from each other from the detected positions of said first and further receivers.

8. A method as set forth in claim 1 wherein said extraction apparatus is a bucket wheel excavator.

9. A system for determining mining progress in open cast mining using an installation comprising a large-scale extraction apparatus including a travelling support structure, a support portion mounted movably thereon, an extraction device carried on the support portion and operable to mine material from the deposit, a first receiver disposed on the support portion for receiving signals from at least four satellites, a second receiver for receiving signals from said at least four satellites and disposed on the extraction apparatus at a position spaced from said first receiver, and a third receiver adapted to operate as a reference receiver and disposed at a known stationary geodetic location at a spacing from said extraction apparatus, whereby, when mining material from the deposit, the coordinates of the first and second receivers relative to those of the third receiver can be determined from the signals received from said satellites by said first, second and third receivers and the positions of the first and second receivers, and therefrom the orientation in space of the support portion of the extraction apparatus, can be determined during mining for control of the mining operation.