METHOD FOR DETECTING AND TRACKING THE POSITION OF A MOVABLE TRANSFERRING DEVICE/LOADING DEVICE OF A BUCKET- WHEEL EXCAVATOR OR BUCKET CHAIN EXCAVATOR

摘要

The invention relates 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 (1), which bucket-wheel excavator or bucket chain excavator comprises an extraction device (2) having a pivotable superstructure having an inclinable cantilever (4), a track-drivable substructure (9), and a transferring device (12) having a loading cantilever (13) and renders conveyed material by means of a bench conveyor (17) with/without an intermediately arranged mobile transfer conveyor (37). An open-loop/closed-loop control device (20) specifies the pivot angle and the inclination of the loading cantilever of the transferring device according to the signals of the following sensors: a sensor (21) for detecting the current spatial coordinates (xB/vB/zB) of the bucket-wheel excavator or bucket chain excavator (1), a sensor (22) for detecting the current spatial coordinates (xS/yS/zS) of the discharging conveyor, a sensor (23) for detecting the current longitudinal inclination and transverse inclination of the loading cantilever (13), a sensor (24) for detecting the current pivot angle of the loading cantilever (13), a sensor (26) for detecting the current distance of the loading cantilever (13) above the discharging conveyor, a sensor (27) for detecting the current vertical positioning of the loading cantilever (13) above the discharging conveyor, and a sensor for monitoring cover filling in/at the transfer point of the loading cantilever (13).