Method and material removal system

Abstract

According to various embodiments, a material removal system (200) may have: a material removal machine (202) having a chisel (5) and designed to remove material by the chisel (5); an infrared camera (6) for capturing temperature-based image data representative of the chisel (5); a data processing device (106) designed to: determine (101) an indication representing at least one geometric characteristic of the chisel (5) on the basis of the temperature-based image data; a status of the chisel (5) is determined (103) as a function of the indication.

Description

Technical Field

[0001] Various embodiments relate to a method and a mining system. Background Art

[0002] In mining, tunnelling or underground construction, mechanical rock cutters (such as roadheaders, continuous miners, surface miners and tunnel boring machines, etc.) are used to some extent to excavate rock or valuable minerals and the surrounding rock. This so-called mechanical cutting is already established in coal mining, salt mining and the cutting of soft minerals (such as clay, gypsum or limestone, etc.), but is also increasingly used for gangue minerals. In tunnels and underground construction, special rock cutters are used to produce contours, shafts and trenches.

[0003] Tool wear is a major challenge in this context and therefore requires a lot of effort. The effort to monitor the wear and change the worn cutting tool at the optimal time with respect to high cutting performance and the use or number of working tools required for this requires a lot of effort and time, which in practice is often performed manually, i.e. without any type of automation.

[0004] Mechanical excavation or cutting with rock cutters is mainly performed by means of a rotatable machine collector (hereinafter also referred to as collector for short) mounted on a rotating cutting head, wherein a distinction is made between two basic types.

[0005] Particularly in the coal industry, mining is also carried out on so-called shearer machines or shearer loaders with fixed collectors (so-called radial collectors). Wear is caused by continuous wear of the machine collectors when processing rock or by chipping or even breaking of the collector head or collector edges due to excessive loads during cutting. Friction leads to heating of the collectors at the tip or edge to normal operating temperatures, which can be greater than 100° C. or even up to 400° C. Excessive loads, however, can cause this thermal heating to reach the melting point of the material relatively quickly. Avoiding this situation is therefore a key goal in operating management and requires, in particular, experienced operating personnel to date.

[0006] Tool wear is usually responsible for inspection cycles based on local conditions and the experience of the machine operator, typically involving a detailed visual inspection of each individual collector. This involves stopping the machine, roughly cleaning the machine in some cases, and introducing lighting if necessary so that each individual collector can be inspected from all sides. To this end, the collector is rotated by hand in the holder and, if necessary, loosened with a hammer if the material has been stuck in the holder (also known as collector jam) and prevents the wear distribution of the collector from rotating. When cutting in very hard rocks, it may be necessary to perform inspection cycles every hour. Even in rock salt rich in anhydrite, such inspections are performed up to four times per shift (i.e., every two hours). Frequent inspections mean considerable loss of working time, which reduces the utilization of expensive machines and therefore increases production costs. Conventional concepts for automated inspections are based on measurements on the powertrain, acoustic emission measurements, or measurements on the collector itself, such as by measuring the collector profile with an optical camera or laser or by non-contact temperature measurements on the collector tip. These concepts may provide adequate results under favorable operating conditions, such as in road construction and open-pit mining, but are significantly affected by difficult operating conditions, such as those typically encountered in tunneling or underground mining.

[0007] Measurements of the power train do not allow any conclusions to be drawn about which specific collector is worn and to what extent or in what manner. An increased power consumption of the power train can only indicate a large number of severely worn collectors, since the power consumption of the power train is averaged over all machine collectors.

[0008] The measurement of the collector itself (e.g. its temperature) is often subject to a variety of influencing variables, such as rock hardness and thrust, among which the wear state of the collector (also called collector wear state) is only one influencing variable and is therefore difficult to distinguish from other influencing variables as causes. Although even experienced personnel cannot notice the total loss of a single collector during operation, it immediately causes serious damage to the collector holder, which can lead to machine failure. Therefore, the inspection according to the fixed cycle is usually not enough to prevent damage to the machine that occurs in the case of unfavorable wear. On the one hand, the measurement of acoustic emissions is problematic with respect to the fact that there are many noise sources when operating a rock cutting machine, but due to the limited space and sometimes rough walls underground, various coverings may occur, which greatly hinders analysis and clear classification. Changing the operator's cutting parameters or changing the rock conditions also significantly changes these noises. Therefore, it is difficult to determine which collector causes them.

[0009] According to various embodiments, it is clearly recognized that conventional imaging measurements rely on good visibility and lighting conditions (e.g., using external lighting), which is why this is very sensitive to dust formation, dust deposition, water mist and water accumulation, which greatly limits possible applications, such as in the absence of light and especially underground. For example, when there is a lot of dust and water mist, external lighting is ineffective. In addition, due to dust formation, dust deposition and / or similar coloration of rock, dust and machine collectors (also called collectors in a simplified sense), the tips or edges of the collectors may often be almost indistinguishable from the background of the image.

[0010] In this context, it is recognized that infrared radiation is less subject to these limitations than visible light. It is clearly recognized that machine collectors heat up during normal operation and therefore they themselves become a source of infrared radiation without the need for external illumination, and that such infrared radiation emitted by the collectors penetrates dust better and is subject to fewer distorting influences than visible light. Therefore, the infrared radiation emitted by the heated collector is more easily distinguished from the (relatively cooler) image background in infrared images (also colloquially referred to as thermal imaging) than reflections of visible light in traditional imaging methods. It is also recognized that conventional infrared measurement methods focus mainly on exceeding absolute temperature thresholds. However, measurements of absolute temperature are sensitive to typical interferences in construction (particularly mining) caused by dust and water, which is why such methods have not yet been developed for practical application.

[0011] According to a number of embodiments, the spatial geometry (e.g., profile) of a machine collector (also referred to herein as collector geometry for short) (e.g., the geometry of a component that influences its cutting performance) is determined using the invention based on the infrared radiation (also commonly known as thermal radiation) emitted by it (i.e., emitted by it). Based on the determined collector geometry, the state of the machine collector (e.g., its wear state) is then determined in comparison with a defined reference state (also referred to as reference state). This determination of the collector geometry based on infrared radiation is to be distinguished from a separate measurement of the machine collector temperature (also referred to as collector temperature), even if this collector temperature is determined using an infrared camera (also commonly known as thermal camera). This is because, compared to the collector temperature, the collector geometry depends only on the wear state of the machine collector and is therefore subject to fewer influencing variables than the collector temperature. This also applies to the case of temporary adhesion of material, since this is released again within a short time due to rock contact, so that clear (e.g., by simple statistical averaging over a few revolutions of the cutting head) measurement results can be produced.

[0012] Determining the collector geometry thus enables a more reliable determination of the state of the machine collector than if, for example, the temperature collected by the machine were taken as a basis.

[0013] The mechanical interaction that occurs at the contact point of the machine collector and the rock during the excavation process excavates the rock on the one hand and releases heat energy on the other hand, so that the collector temperature increases during the excavation process until a balance is reached between the friction heat input during the actual cutting process and the heat radiation during the idling of the collector, and the machine collector itself is worn (also called collector wear). Collector wear is the result of the fact that during the excavation process, the collector is also subjected to mechanical stress at its contact point with the rock and is therefore exhausted, eroded, deformed and / or broken (also called collector fracture). Collector wear changes the collector geometry (e.g., collector profile) and can increase the contact surface between the machine collector and the rock, so that the collector temperature can continue to increase as the collector wears. The temperature of the collector tip or collector edge can reach more than 1000°C and even cause softening or melting of multiple parts of the collector tip or collector edge. This in turn accelerates collector wear, so that collector wear does not have to be linear in time, but is accelerated over time, for example exponentially.

[0014] Although this is partially offset by the fact that heavily worn machine pickers penetrate shallower into the rock than adjacent and less worn machine pickers, this only transfers the cutting forces to the less worn machine pickers, causing these machine pickers to wear faster than if, for example, all machine pickers would be worn evenly. In addition, when the machine pickers are worn differently, the fluctuating cutting forces may cause the cutting head to vibrate, which significantly reduces the cutting performance. For the same reason, an imbalance may occur in the load distribution, which leads to faster wear of the new machine pickers and excessive vibrations on the cutting head. In the case of undetected picker breakage, there is also a risk that the valuable picker holder comes into contact with the rock and is damaged.

[0015] Therefore, in the conventional process, a plurality of conical collectors are rotatably mounted so that the friction surface produced is not enlarged but distorted by generating lateral forces on the collectors. In this way, the collector tips of the conical collectors are eroded more evenly until the collector head with the carbide tip is largely ground into a rounded shape. This so-called symmetrical wear state can be detected by visual inspection during regular inspections, so that the corresponding collectors are replaced regularly. However, dust inevitably enters the collector holder and often causes the collector to get stuck. Then, the conical collector can no longer rotate, resulting in a very fast-growing, larger friction surface. The force required to push the collector as deep into the rock as it is only slightly or often worn increases in proportion to the size of the surface. This so-called asymmetrical wear then leads to overheating, melting, partial or complete breakage of the collector head and the above-mentioned serious consequences in a very short time (much shorter than any control cycle).

[0016] Therefore, access to collector wear and its monitoring is very important for efficient, especially cost-effective rock cutting. This will help to detect in time significantly worn machine collectors, which for example need to be replaced or are otherwise no longer functional, thus saving costs that may be incurred due to damage to other collectors, collector holders, repair time and reduced cutting performance. This can for example prevent not only the collectors from being worn, but also the collector holders from being damaged to the point of complete erosion, which would result in considerable repair time and therefore downtime.

[0017] The above-mentioned situations and circumstances are considered according to different embodiments. The methods, computer implementations thereof and excavation systems provided according to different embodiments simplify condition monitoring (e.g., wear monitoring) of machine collectors. This includes early detection of progressive wear on the collector, but also timely detection of individual damaged or severely worn collectors, even outside of fixed inspection intervals, so that the operating time of the machine and its power consumption produce optimal cutting performance. Specifically, severe wear can be prevented, for example, due to the breakage of the collector tip (including the breakage and erosion of the valuable collector holder welded to the cutting drum) and overloading and severe wear of other collectors, which may cause extreme wear and overloading of the collector within a few minutes. Since such and similar accidents may result in very long repairs, and due to the lack of excavation volume, very expensive downtime of expensive machines (which are usually only obtained in small quantities in mines) can also be avoided. In some operations, downtime costs of ten thousand or more euros per hour are realistic.

[0018] Failure of the collector in so-called tunnel boring machines (TBM) is also serious. Here, the inspection involves not only a short stop, but also moving back the entire machine, which weighs several hundred tons and is supported in the tunnel, in order to enter the excavation site from the inside of the machine and check the collector. Summary of the invention

[0019] The method and correspondingly equipped excavation system provided according to different embodiments of the present invention facilitate condition monitoring (e.g. wear monitoring) of a machine collector, in particular under conditions of severely restricted visibility (release of dust and water mist) and possibly also in the event of temporary sinking into the loose material being excavated or in the event of significant contamination of the working tool.

[0020] The embodiments described herein are applicable to any type of excavator (e.g., rock cutter), in particular an excavator equipped with a rotating cutting drum having a conical collector. Examples of such excavators include so-called roadheaders, continuous miners, shearer loaders, horizontal cutters, surface miners, and drum cutters. These types of excavators are used in coal, salt, silicate or ore mining, underground and surface mining, tunnel construction, road and hydraulic engineering, quarries, and building demolition.

[0021] The embodiments described herein produce considerable economic advantages over conventional concepts in mines using mechanical cutting. These result from significantly higher potential utilization of highly complex cutting machines, because the present invention significantly reduces the number of regular, periodic cutting head inspections, and accidents after collector breakage can be almost completely avoided, and from an increase in operational safety, because less frequent personal inspections are required at the cutting head, directly at the excavation face. If widely used, the embodiments described herein produce considerable economic benefits in the form of increasing the efficiency of the rock excavation process in mining and underground construction, combined with lower producer prices for industrially extracted raw materials and lower construction costs for underground structures. Therefore, the embodiments described herein also promote the expansion of the use of rocks and mechanical cutting instead of drilling and blasting and subsequent resource-efficient technologies for crushing and processing. This in turn has the potential for economic viability, ecological footprint, and ultimately also the indispensable mining of different base materials accepted by industrial society. The present invention therefore also represents a contribution to the long-term security of resources.

[0022] One basic type known from, but not limited to, so-called full-surface cutters or tunnel boring machines (TBM) uses so-called roller cutters (e.g. disc cutters) arranged on a cutting head that rotates at different distances from the center in the direction of advance and presses against the rock by rolling on the rotating hardened cutting edges. Other basic types use so-called cone collectors on the cutting head that preferably rotate vertically, but sometimes also in the direction of advance, and press against the rock by friction with the hardened tip. However, the cone collector itself can and should be rotated about its attack axis in order to ensure even wear and thus increase the service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A schematic flowchart is shown of a process according to various embodiments;

[0024] Figure 2 , Figure 3 as well as Figure 4 Each shows an excavation system according to a different embodiment in a different diagram;

[0025] Figure 5A and Figure 5B Each shows an excavation system according to different embodiments in a schematic perspective view;

[0026] Fig. 6A and Figure 6B Each shows an excavation system according to different embodiments in a schematic perspective view;

[0027] Figure 7 is a schematic perspective view of an excavation system according to various embodiments;

[0028] Figure 8 , Fig. 9 , Fig.10 and Fig.11 The various components of the method according to various embodiments are schematically illustrated;

[0029] Fig.12 and Fig.19 Each shows a configuration of a camera system during an image sensing process according to different embodiments in a schematic perspective view;

[0030] Fig.13 , Fig.14 , Fig.15 as well as Fig.16 Each shows a schematic side view of a machine collector according to a different embodiment;

[0031] Fig.17A and Fig. 17B as well as Fig. 20A and Fig. 20B each showing in schematic perspective a machine collector in different states according to different embodiments and in schematic views a resulting geometrical representation; and

[0032] Fig.18 is a graphical user interface of an excavator in a schematic top view. DETAILED DESCRIPTION

[0033] In the following detailed description, reference is made to the accompanying drawings, which form a part thereof and in which specific embodiments are shown for the purpose of illustration, in which the present invention can be put into practice. In this regard, directional terms such as "top", "downward", "forward", "backward", "front", "backward", etc. are used with reference to the direction of the accompanying drawings described. Because the components of the embodiments can be positioned in many different orientations, directional terms are used for illustrative purposes and are not limited in any way. It should be understood that other embodiments can be used and structural or logical changes can be made without departing from the scope of protection of the present invention. It should be understood that the features of the various exemplary embodiments described herein can be combined with each other, unless otherwise specifically stated. Therefore, the following detailed description should not be understood in a restrictive sense. The scope of protection of the present invention is defined by the appended claims.

[0034] In the context of this specification, the terms "connected", "attached" and "coupled" are used to describe both direct connections (e.g. form fit or material bonding) and indirect connections (e.g. via signal paths), direct or indirect attachments and direct or indirect couplings. In the drawings, identical or similar elements are provided with the same reference numerals, wherever this is appropriate.

[0035] The actual state of an entity (e.g., equipment, article, system, process, or method) can be understood as the state of an entity that actually exists or can be detected by a sensor. The target state of an entity can be understood as a desired state (i.e., specification) that can be optionally stored in, for example, a data memory. Control can be understood as the expected impact on the current state of an entity (also referred to as the actual state). The current state can be changed according to the specification (also referred to as the target state), for example, by changing one or more operating parameters (then also referred to as manipulated variables) of the entity, such as using an actuator. Closed-loop control can be understood as control, wherein, in addition, the state change of the entity caused by the fault is offset. For this purpose, the actual state is compared with the target state and the entity is affected, such as using an actuator, so that the deviation of the actual state from the target state is minimized. Compared with a separate forward sequential controller, closed-loop control has a progressive impact of the output variable on the input variable, which is realized by a control loop (also referred to as feedback). In other words, it can be understood in this article that closed-loop control can be used alternatively or additionally for open-loop control (or actuation), or closed-loop control can be used alternatively or additionally for open-loop control.

[0036] The term "data processing device" may be understood as any type of logical implementation entity, which may include, for example, a circuit and / or processor that can execute software, firmware, or a combination thereof stored in a storage medium, and output instructions based thereon. The data processing device may be established, for example, using code segments (e.g., software) to control the operation (e.g., its operating point) of a system (e.g., a machine or device, e.g., its components).

[0037] The term "processor" may be understood as any type of entity that allows processing of data or signals. For example, data or signals may be processed according to at least one (i.e., one or more) specific functions performed by a processor. The processor may include or be formed by an analog circuit, a digital circuit, a mixed signal circuit, a logic circuit, a microprocessor, a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processor (DSP), a field programmable gate array (FPGA), an integrated circuit (IC), or any combination thereof. Any other type of embodiment of the corresponding functions described in more detail below may also be understood as a processor or a logic circuit. It should be understood that one or more of the method steps described in detail herein may be performed (e.g., implemented by one or more specific functions performed by a processor). Therefore, the processor may be configured to perform one of the methods described herein or its information processing component.

[0038] According to different embodiments, the data storage (also more generally referred to as storage medium) may be a non-volatile data storage. For example, the data storage may include or be formed by a hard disk and / or at least one semiconductor memory (such as a read-only memory, a random access memory and / or a flash memory, etc.). The read-only memory may be, for example, an erasable programmable read-only memory (also referred to as EPROM). The random access memory may be a non-volatile random access memory (also referred to as NVRAM). For example, in the data storage, one or more of the following may be stored: a database (also referred to as a reference database); a processing algorithm; a criterion; a code segment implementing, for example, one or more processing algorithms (also referred to as algorithms for simplicity). The database may include one or more data sets, each of which associates a product identifier with payment information and / or a sales restriction. This may be read by a data processing device.

[0039] Different embodiments relate to machine collectors (also referred to herein as collectors for short) and their states. The term "machine collector" as used herein may be understood as a machine tool that may include components that are (e.g., rigidly) connected to each other (e.g., in a material-bonded, press-fit and / or form-fitting manner). Examples of machine collectors include: roller cutters (e.g., disc cutters or button cutters), conical collectors (e.g., of road construction machines, tunneling machines or ground mining machines), radial collectors (e.g., of coal mining machine loaders), excavation teeth (e.g., of excavators, such as collector bucket wheel excavators), roller cutters such as disc cutter types (e.g., but not limited to tunnel boring machines, mobile mining machines). Two or more of the components of the machine collector may optionally be part of an integral body (e.g., made of a single piece). Examples of components of a machine collector include: assembly components and cutting components.

[0040] In the case of a conical collector or a radial collector, the assembly component may be shaft-shaped (then also referred to as a collector shaft, for shorter shafts) and the cutting component may be head-shaped (then also referred to as a collector head). The collector head and / or the collector shaft may, for example, be a rotating body. The conical collector or the radial collector may extend longitudinally (e.g., from its rear side to its front side) along a longitudinal axis (also referred to as the collector shaft). The conical collector or the radial collector may include a collector tip (illustratively on the front side), for example, the collector axis may extend through the collector tip. In the case of a roller cutter (e.g., a disc cutter), the assembly component may include a bearing (or at least be configured to receive a bearing) and the cutting component may be annular (then also referred to as a roller base body).

[0041] The cutting member (e.g., collector head) comprises a cutting edge, such as a cutting angle or a cutting tip (also referred to as a collector tip) (e.g., on the front of a machine collector). In the case of a roller cutter (e.g., a disc cutter), the cutting edge may be annular (also referred to as a cutting ring). The cutting member of a roller cutter (e.g., a disc cutter) may comprise one or more cutting rings.

[0042] The collector tip (e.g., of a conical collector) for example forms the front edge of the collector and may include a tapered (e.g., conical) shape toward the front. The collector head may be connected to the handle (the handle extends toward the rear) on the side opposite to the collector tip or on the side facing the rear of the machine collector (e.g., with a material connection). The collector head may optionally include a thickening extending from the collector tip and / or the collector shaft.

[0043] Optionally, the cutting component (e.g., collector head) can be composed of several materials, one of which (also referred to as cutting blade material) provides the cutting blade. In the case of a conical collector, the cutting blade material can be pin-shaped (then also referred to as collector pin). The cutting blade material preferably comprises a greater hardness than the rest of the cutting component (e.g., collector head) and / or the mounting component (e.g., collector shaft). The collector pin can, for example, be embedded (e.g., pressed into) the rest of the collector head. The collector pin can be conical, parabolic or stepped. The collector pin can, for example, be ceramic or include at least one ceramic (e.g., carbide, such as tungsten carbide and / or nitride, etc.) or be produced therefrom. The collector head and / or the collector shaft can be metallic or include at least one metal (e.g., steel) or be produced therefrom.

[0044] In another embodiment, such as a so-called roller cutter (eg a disc cutter), the cutter extends concentrically from its cutter axis (also referred to in this case as a central axis) (the cutter may be rotatably mounted about the axis) and comprises a cutter edge made of a hardened material.

[0045] Here, reference is made to image data and its processing. Image data may be a digital (e.g., data-based) image of reality (e.g., within a field of view) at one or more points in time when image data is captured (also referred to as image sensing). For example, the imaging of reality may occur using a lens (also referred to as a camera lens) that projects electromagnetic radiation (e.g., visible light or infrared light) onto the surface of an image sensing sensor (e.g., an infrared sensor of an infrared camera). Sensing image data may include reading out an image sensing sensor while radiation (e.g., infrared radiation) is projected onto its surface. Image data obtained in this manner may initially be in a so-called raw data format (also referred to as RAW), which includes measurements (e.g., representing light intensity) read out pixel by pixel by pixel by an image sensing sensor and / or processed as such. Image data may optionally be converted to another image format during processing or converted to another image format (e.g., converted to a raster graphic) (different from RAW as a raster graphic) or a vector graphic, so that further processing thereof is performed in an image format, or may be converted between these as required. The conversion may optionally include interpolating the image sensing sensor's measurements (e.g., using demosaicing) to obtain full multi-color information for each pixel or to require less memory or computing power. The image data may optionally be compressed (e.g., to require less storage space or computing power) or uncompressed (e.g., to avoid distortion). The corresponding image format may also define a color space according to which the color information is specified.

[0046] The simplest case is a monochrome color space, which can be a binary color space, for example, where each pixel stores a black and white value. In a slightly more complex monochrome color space (also called grayscale color space), intermediate levels between black and white (also called grayscale values) are also stored. In a monochrome color space, the recorded radiant energy (for example, from infrared radiation) is added pixel by pixel and mapped to a grayscale value of the monochrome color space, which represents the intensity of the radiation recorded at a wavelength or wavelength range (for example, infrared range) at which the monochrome image sensing sensor is sensitive. However, the color space can also be spanned by several (i.e., two or more) reference colors (such as red, green and blue, etc.). If a wavelength-sensitive image sensing sensor (also called a multi-color image sensing sensor) is used, the measured value per pixel can display the radiant energy and the wavelength additionally assigned to the radiant energy. This will improve the accuracy of the optional temperature measurement based on the image data. Such a measured value can be displayed using a multi-color red space, or it can also be converted into a monochrome color space. In a similar manner, values ​​from a monochrome color space can also be converted into a multi-color color space, for example in the case of a so-called pseudo-color representation.

[0047] In order to visually reproduce the image data on a display device, the image data is converted into an image format specified by the image memory of the graphics card. For easier understanding, the image data described herein is presented as such a visual reproduction. Typically, image data, such as stored in a storage medium, can be used as a file (also referred to as a digital image or image file) in a corresponding image format.

[0048] The image data may include one or more frames (e.g., from different perspectives) as a digital (e.g., within the field of view) realistic data-based image, each frame corresponding to a sensed time. For example, for each sensed time, the image data may include one or more frames as a real image at that time (also referred to as the image sensing time). For example, the image data may include one or more frames (e.g., from different perspectives) for each time point in a sequence of several time points, for example in the form of a video. Several frames (e.g., from different perspectives or from different time points) may be combined alternatively or additionally to form a new frame (e.g., along a time axis and / or a spatial axis). For example, several frames sensed during the rotation of the cutting head (each frame representing only a portion of the cutting head) may be combined to form a new frame assigned to any time point starting from the duration of the rotation.

[0049] A camera may be understood as an optical device comprising a camera lens and an image sensing sensor, the optical devices interacting in such a way that light from the camera's field of view (also referred to as image sensing area) is projected onto a surface of the image sensing sensor using the camera lens. Furthermore, the camera may include a processor configured to provide the measurements read out by the image sensing sensor as image data, for example to output them.

[0050] An image sensing sensor (also referred to as an image sensor) is a type of photoelectric sensor and may include one or more photoelectrically active regions (also referred to as pixels) that generate and / or modify electrical signals (e.g., in response to electromagnetic radiation (e.g., infrared light)). For example, an image sensing sensor may include 10 of the number B. 2 pixels (also called image resolution) or more, such as 10 3 pixels or more, for example 10 4 pixels or more, for example 10 5 The image sensing sensor may alternatively or additionally include a raster R of [k×l] pixels. (e.g., where B=k*l), where k and / or l are greater than about 50, greater than about 100, or greater than about 1000. However, in general, the image resolution may also be greater than B.

[0051] In some embodiments, the infrared camera (also referred to as a thermal camera) and / or the image sensing sensor is configured (e.g., arranged and / or oriented) so that the image sensing sensor senses a portion of the machine collector including the number of pixels B and / or the raster R. If the portion is small, frames from several infrared cameras and / or image sensing sensors may be superimposed on each other in order to increase the resolution and / or the raster of each machine collector. Alternatively or additionally, a camera lens with a larger focal length may be used.

[0052] The image sensing sensor may, for example, comprise or be formed of a CCD sensor (charge coupled device sensor) and / or an active pixel sensor (also referred to as a CMOS sensor). Optionally, the image sensing sensor may be configured to be wavelength sensitive (e.g. for detecting color information). For example, several color filters (e.g. in the form of a grid) are used and thus distinguish between different wavelengths.

[0053] An infrared camera may be understood as a camera that (e.g., its image sensing sensor) is configured to be (e.g., only) sensitive to infrared radiation (also commonly known as thermal radiation) and does not necessarily have to be wavelength sensitive (i.e., may be a monochrome camera). For example, an infrared camera may include a greater sensitivity (i.e., sensitivity) to infrared radiation, such as in the range of about 3.5 μm to about 15 μm.

[0054] The infrared radiation to which the infrared camera is sensitive may include light having a wavelength in the range from about 0.78 μm (micrometer) to about 1000 μm (e.g., mid-infrared (e.g., 3 μm to 50 μm) and optionally near-infrared (e.g., 0.78 μm to 3 μm) and / or far-infrared (e.g., 50 μm to 1000 μm)). The infrared radiation to which the infrared camera is sensitive may, for example, be light having a wavelength in the range of about 3.5 μm to about 15 μm, which best corresponds to the expected temperature of the machine collector.

[0055] In general, a body may, for example, emit infrared radiation from its surface, as an alternative or in addition to visible light. According to Planck's radiation law, the emitted infrared radiation (e.g., the distribution of electromagnetic radiation power as a function of wavelength) depends on the temperature of the body. The measured value of the image sensor of the infrared camera read out (e.g., representing the intensity of the infrared radiation recorded pixel by pixel) is therefore a function of the spatial temperature distribution, in particular the spatial distribution of the infrared radiation, which in turn is a function of the temperature of the surface emitting the infrared radiation in the field of view of the infrared camera, but not exclusively. Other examples of parameters that influence the spatial distribution of infrared radiation include: (e.g., material dependence and / or roughness dependence of the surface emitting the infrared radiation) reflectivity and / or emissivity. For example, there are materials that almost completely reflect infrared radiation, such as glass or calm water surfaces, and also bare metal surfaces, and therefore different "color values" can be generated even at the same temperature. Surface roughness, for example, affects the so-called emissivity, for example for infrared radiation. For example, rusted or scratched steel emits significantly more infrared radiation than bare steel at the same temperature. These parameters have a significant impact on absolute temperature measurements. In other words, the image data sensed by the infrared camera is based on sensed infrared radiation which is a function of the temperature of the infrared radiation source, i.e. the image data is based on infrared radiation (also referred to as being based on infrared radiation). The image data may optionally be assigned to a temperature indication or (after optional error correction of reflection or material parameters and / or surface parameters) be converted into a temperature indication.

[0056] The color information of the image data may for example represent the intensity of the infrared radiation recorded pixel by pixel or may have encoded a temperature indication.For example, the color information of the image data may be monochrome or polychromatic (eg in the case of a false color representation).

[0057] Optionally, the infrared camera can be part of a camera system comprising a plurality of infrared cameras, the fields of view of the plurality of infrared cameras overlapping, for example. The plurality of infrared cameras can optionally be configured to provide image data of the field of view of the camera system from a plurality of optical perspectives (e.g., provided by using a plurality of lenses), for example, stereo image data. The stereo image data facilitates distinguishing between symmetrical and asymmetrical acquisition wear. However, the stereo image data can also be provided by using a single infrared camera, as will be described in more detail later.

[0058] A transducer may be understood as a sensor (also referred to as a detector) that is configured to sense a characteristic of its environment (e.g. a physical property, radiation intensity, chemical property and / or material property) corresponding to a sensor type as a measured variable (e.g. qualitatively or quantitatively). A measured variable is a physical variable (also referred to as a controlled variable) that is measured using a sensor. An example of a quantitatively recorded measured variable is, for example, radiation intensity, the actual state of which can be converted into a measured value using a sensor.

[0059] Each sensor may be part of a measurement chain including a corresponding infrastructure (e.g., a processor, a storage medium and / or a bus system, etc.). The measurement chain may be configured to control the corresponding sensor (e.g., an image sensing sensor) to process a measurement variable sensed by it as an input variable and, based thereon, to provide an electrical signal as an output variable representing the sensed input variable. For example, the output variable may indicate a measurement value. The measurement chain may, for example, be implemented using a data processing device or using a data processing device.

[0060] Reference is made herein to the state of a machine collector (also referred to as collector state). The state of a machine collector may depend on one or more wear parameters, for example on the degree of wear of the machine collector (also referred to as progression of uniform, symmetrical wear) as a wear parameter and / or on the symmetry of wear of the machine collector (then also referred to as wear type) as a wear parameter. A target state of a collector may, for example, be the state of an unused machine collector. The actual state of a collector may deviate from the target state depending on the duration and intensity of use.

[0061] In various embodiments, the collector state may be specified numerically (e.g., as a percentage or an absolute value). Alternatively or additionally, the collector state may be specified as a category from a group of categories (e.g., including a category "unworn" and a category "worn"). Determining the collector state may then include selecting one or more categories (also referred to as classifications) from the group of categories. It is understood that the group of categories (e.g., each wear parameter) may include two or more categories, such as "high wear", "medium wear", and / or "low wear".

[0062] Further examples of categories are those that include one or more of the following: the presence of a collector (e.g., "collector missing"), if the collector requires maintenance (e.g., if the collector is blocked and / or if asymmetric collector wear is beginning), if the collector needs to be replaced (e.g., if collector wear is critical and / or if remaining useful life is zero), or the remaining useful life of the collector (e.g., "machine collector OK" or "machine collector at 75% of expected useful life").

[0063] Similar to the degree of wear, the wear symmetry may be specified numerically and / or as a category from a group of categories (e.g., a category "asymmetric" and a category "symmetric" and optionally including intermediate stages thereof). Determining the collector state may then include classifying the actual wear symmetry (e.g., as "asymmetric" or "symmetric"). For example, symmetric wear (e.g., abrasive wear) may occur if the mechanical collector is continuously worn and / or if the mechanical collector rotates about its collector axis during the excavation process. Asymmetric (also called asymmetric) wear may occur, for example, if brittle fracture (e.g., carbide pins), if carbide pins fall out due to improper padding, or if the rotation of the machine collector about its collection axis is blocked during the excavation process (also called collector blocking).

[0064] According to various embodiments, condition monitoring (e.g., collector wear condition monitoring) is automatically implemented with the aid of an infrared imaging process, particularly for underground working conditions where the collector has no visibility during the cutting process. Due to the extreme friction during cutting, the contact point of the collector with the rock heats up significantly. The heat generated is usually distributed from the collector tip through the collector head and the collector shaft to the collector holder by heat conduction, resulting in a different temperature distribution that can be clearly distinguished from the more distant parts in each case, which is sensed by one or more high-resolution infrared cameras. During installation, not only in the case of sudden wear (e.g., fracture or integral fracture), but also due to continuous wear, the shape of the collector head and its surface roughness change significantly compared to the new state (e.g., target state). During cutting, the shape of the collector head can be clearly detected in the infrared image (also commonly known as thermal imaging), so the corresponding contour can be extracted using an image processing algorithm and compared with a reference image (corresponding to the target state). If the collector is missing during the cutting process, this is indicated by the infrared image. For example, there will be a dark area at the position where the collector should be located in the infrared image. For example, instead of the collector, the infrared image shows its background, such as other parts of the cutting head or the mining environment, until the collector holder itself comes into contact with the rock and heats up. This situation can also be detected at an early stage by comparing it with the reference image, so that wear of the collector holder can be completely avoided.

[0065] Different embodiments are based on a high-resolution, fast infrared camera and an analysis system (e.g. implemented using a processor) configured to immediately process (e.g. analyze) image data (also called recordings) provided by the infrared camera (e.g. during or after a cutting phase) from a collector that is significantly heated due to a large interaction with the rock, and to visualize (e.g. using a graphical user interface) the results of the state analysis in the form of an evaluation map of the cutting drum with the collector position. The recording can be performed after the cutting phase as soon as the cutting head warms up or cools down (e.g. 2 to 5 minutes after cutting or even more). In this case, the recording can be performed using a period of time when the machine is not cutting (wherein the cutting head can be scanned perceptually).

[0066] In various embodiments, at each rotation of the cutting head, all collectors are identified quasi-periodically, for example in combination with an angle sensor sensing the position of the cutting head or based on their (e.g. stored) position and / or their relative arrangement on the cutting head, their geometrical profile can be determined from multiple angles (also called views) and compared with a target state.

[0067] The visualization of the evaluation map (also called condition map) can take place in the cab, facilitating the user to follow the condition of each collector (e.g. virtually) in real time and to detect problematic signs of wear at an early stage. For this purpose, it is not necessary to determine the absolute temperature of the collector. Optional markings on the surface of the collector head greatly facilitate image processing.

[0068] According to various embodiments, one or preferably multiple infrared cameras are arranged near a cutting head equipped with a collector, preferably but not limited to a conical collector (for example, protected from falling rocks), and continuously or periodically (for example, after completing a cutting operation for the entire surface height and / or width) record an infrared image (commonly known as thermal imaging) of the collector entering the recording area of ​​the infrared camera, the infrared image having the thermal characteristics of the cutting just performed or the completed cutting cycle from the cutting area. The shape or, for example, a three-dimensional profile of each collector is derived from the acquired infrared image and compared with a reference image when the collector is installed. Based on the results of the comparison, the wear state is assigned and visualized as a state map on the cutting drum map, for example using colored dots, numbers, codes, etc. In the event of exceeding a predetermined value, an acoustic and / or visual alarm can be triggered, which notifies the user of the excess through the determined state. Alternatively or additionally, the alarm can initiate an emergency stop, for example, in the event that a collector is blocked or a collector is broken, as a collector state.

[0069] Various embodiments are configured to distinguish between different types of wear during determination of collector start status, which may have different effects on the urgency of collector start changes and, therefore, facilitate significant optimization of the operation of the excavator.

[0070] In contrast to conventional concepts, according to various embodiments, an imaging process is used to perform an evaluation of the geometry profile. This allows early detection of the type of wear and the size of the affected area, and operating the cutting machine proactively and / or without fixed inspection stops. When the wear-related higher normal forces and reduced cutting performance are in a favorable ratio, the acquisition is ideally changed at the optimal time. Conventional concepts using infrared cameras ignore the geometry of the worn collector (also called geometry) and the worn surface, and determine the absolute temperature value of the collector.

[0071] According to various embodiments, the collector state can be reliably determined based on image data, even if the image data is from a collector that is not currently fully involved in cutting and has cooled down or has cut material adhering to it. This significantly improves the detectability of changes in collector shape.

[0072] According to various embodiments, infrared-based shape sensing of the collector head is performed during operation. Compared to the conventional concept of sensing only the absolute temperature of the collector tip using an infrared camera depending on both rock and operating conditions, according to various embodiments, even slight temperature differences may be sufficient to reliably determine the collector state, which is therefore significantly more robust against interferences (such as dust and water, etc.). Another aspect according to various embodiments is the spatial shape detection of the rotationally mounted collector, which further improves the data basis for determining the collector state.

[0073] According to different embodiments, for example, the individual wear of each collector on the cutting head is quantitatively determined during operation, and a corresponding step-by-step evaluation is assigned to each collector. The type of wear can also be identified, for example, distinguishing between asymmetric wear (for example, when multiple parts of the collector tip break off) and symmetric wear (for example, normal wear on all sides). The status analysis can be performed during operation, and the results can be visually communicated to the operator and directly to the power train, for example to trigger an emergency stop after a collector breaks or indicate that a specific collector needs to be replaced to prevent more serious damage.

[0074] With the conventional concept, actual temperature distribution and / or infrared images are required, for example, by searching for a peak value of temperature based on these.

[0075] In contrast, according to various embodiments, there is no assessment of temperature (e.g., absolute temperature), but based on image data representing the spatial distribution of infrared radiation intensity (obviously an infrared radiation intensity image), for example representing associated radiation values, a profile, such as a gradient, is identified. In some embodiments, one or more collector heads are determined (e.g., their position and / or identity) based on the image data. Based on the image data, a 3D profile of the collector head is extracted to compare the 3D profile with a reference profile (i.e., a distribution map of a reference state), which is invariant to temperature.

[0076] This takes into account the fact that infrared images and temperature indications based on them may be susceptible to interferences, for example due to differences in the emissivity of infrared radiation (also called IR radiation), which may depend on the material and surface conditions. In contrast, according to various embodiments, it is recognized that the determination of the profile is less susceptible to interferences than the temperature indication (absolute value) or the estimation of the collector state based thereon.

[0077] Figure 1 A method 100 according to different embodiments is illustrated in a schematic flow chart. The method includes determining an indication (also referred to as a geometry indication) representing a geometric characteristic of at least one (i.e., one or more than one) collector in 101 (also referred to as geometry determination 101); and determining a state of the collector (also referred to as collector state) based on the indication in 103 (also referred to as state determination 103). The collector geometry can be determined based on image data 807i, which, for example, includes one or more frames of the collector and / or represents the collector from multiple perspectives. The result of the state determination 103 may include an actual state (also referred to as a determined state) (also referred to as an actual collector state) of the collector. For ease of understanding, the wear state is referred to as an exemplary collector state in this document. What is described can also be similarly applied to other types of collector states.

[0078] To shorten the description, this document particularly refers to state analysis 807 (e.g., implementing state monitoring), which includes geometry determination 101 and state determination 103. Further, it will be appreciated that what is described herein with respect to a single collector (e.g., image data processing, etc.) may be similarly applied to each collector in a group of collectors (also referred to as a monitoring group).

[0079] Optionally, the method includes one or more of the following steps: in 801, reading image data 807i from an infrared camera (also known as readout process 801); in 803, capturing image data using an infrared camera (also known as image sensing 803 or optical sensing); in 805, generating instructions based on the results of state determination 103 (also known as instructions 805); in 809, using a collector to excavate material (also known as material to be excavated) (also known as excavation process 809 or cutting process 809); and / or in 811, comparing the geometric structure indication with a reference state of the collector (also known as geometry comparison 811).

[0080] During the excavation process 809 (e.g., rock excavation process), the collector 5 can be repeatedly moved (also referred to as collector movement), for example, according to an excavation sequence, which includes a first phase 809a (also referred to as a cutting phase or short cutting) in which the collector is in contact with the material to be excavated and a second phase 809b (also referred to as a standby phase), in which the collector 5 is at a distance from the material to be excavated. In the standby phase, the collector 5 can be moved away from the material to be excavated and / or towards the material to be excavated, for example, along a closed path (also referred to as a collector path). If the material excavation process 809 is terminated (e.g., interrupted), the collector can still move along the collector path, but without contacting the material to be excavated (also referred to as a standby operation).

[0081] If the collector is attached to a so-called cutting head, the collector path can be circular (also called circular motion) or defined by the rotation of a carrier chain equipped with a plurality of collectors. Alternatively or additionally, the (e.g. circular) collector path along which the collector 5 moves can lie in a so-called rotation plane 1002 of the collector (see e.g. Fig.11 ).

[0082] For example, while the readout process 801 and / or image sensing 803 is occurring, the collector movement may occur repeatedly, for example according to an excavation sequence. Alternatively, the collector movement may interrupt the duration of the image sensing 803.

[0083] In some embodiments, the instructions may be generated according to a network communication protocol (eg, as a message or in the form of another signal). The instructions optionally include an indication of the result of the state determination 103 (eg, the determined state).

[0084] In a first exemplary implementation of instructions 805, the instructions direct outputting the result of the state determination 103 or at least providing a human-perceivable output based on the result of the state determination 103. The instructions may then be addressed, for example, to a user interface controlled using the instructions.

[0085] In a first or alternative second exemplary embodiment of the instructions 805, the instructions include changing the movement of the collector (e.g., stopping, slowing down, speeding up). The instructions may then be addressed to, for example, a powertrain controlled using the instructions. The powertrain may, for example, be configured to supply kinetic energy to the collector 5 (so as to drive the collector to move). For example, the instructions may instruct the powertrain to stationary the collector in a predetermined position and / or to change its speed of movement. For example, the predefined position may be configured to facilitate access to the collector (e.g., for inspection or replacement).

[0086] Image sensing 803 can optionally be synchronized with the collector motion (also referred to as synchronized image sensing). For example, in this way, their frequencies are dependent on each other. Synchronous image sensing can be implemented, for example, using a sensor (e.g., a rotation angle sensor) configured to sense collector motion (e.g., circular motion). For example, the rotation angle sensor can be configured to sense rotation (e.g., the rotation frequency and / or rotation speed of the cutting head). Control of the infrared camera can then be based on data derived from the sensor and / or representing the collector motion.

[0087] The duration of a full circular motion may, for example, correspond to the duration of a digging sequence. In particular, reference is made herein to a circular motion, wherein it is understood that what is described may apply analogously if the collector path is shaped differently.

[0088] However, the sensing frequency can also be controlled by a specific position of the movable cutting head carrier (height, lateral deflection) or by a signal provided by the machine control system so that the collector status is always sensed after a complete cut on the entire surface and for this purpose the camera is only briefly exposed to harsh ambient conditions outside the active cutting process.

[0089] Different implementations of the method 100 of using a mining system are explained below, which implementations should be understood as exemplary.

[0090] Figure 2 An excavation system 200 is illustrated in a schematic layout diagram according to various embodiments.

[0091] The excavation system 200 includes an excavator 202 and an infrared camera 6. The excavator 202 includes a collector 5 and is configured to excavate the material to be excavated using the collector 5, for example by pressing the collector 5 against the material to be excavated. The infrared camera 6 can be configured to sense image data. During operation of the excavation system 200, for example when performing an excavation process 809 using the excavator 202, the infrared camera 6 can be pointed at the excavator 202, for example, on the collector 5 of the excavator 202 or at least on the collector path, so that image data of the collector 5 can be sensed using the infrared camera 6.

[0092] Mining system 200 also includes data processing device 106 configured to perform method 100. Furthermore, data processing device 106 may be communicatively coupled 204 to infrared camera 6 during operation (eg, wirelessly and / or via a cable).

[0093] An exemplary implementation of an excavator 202 comprises a cutting head 2, which is configured to hold one or more collectors 5. Furthermore, the cutting head 2 may, for example, comprise one or more so-called collector holders 8, wherein each collector holder 8 is configured to hold a collector 5. The collector holder 8 may, for example, comprise a cavity for receiving the collector 5 (also referred to as a collector slot) and an optional locking device (not shown). The locking device is configured to non-permanently lock the collector 5 accommodated in the cavity. Thereby, the collector 5 can be replaced quickly and cost-effectively. The cavity may optionally comprise an insert made of a wear-resistant material (a so-called wear-resistant bushing).

[0094] The cutting head 2 may form the last component of the power train of the excavator 202 (i.e., its kinematic chain). The power train may further include one or more drives configured to supply kinetic energy to the collector 5, for example by supplying torque to the cutting head 2 or by displacing the cutting head 2. The rotational movement of the cutting head 2 causes the collector 5 to move in a circular motion around the axis of rotation 201 of the cutting head 2. The frequency of the rotational movement of the cutting head 2 and the frequency of the circular motion of the collector 5 (also referred to as the rotational frequency of the collector 5) may be the same. The rotational frequency at which each collection appears in the field of view of the camera may be in the range of about 0.2 Hz to about 2 Hz, for example, about 0.5 Hz (which corresponds to 30 drum rotations per minute).

[0095] The cutting head 2 is rotatably mounted about a rotation axis 201, which is arranged in the cutting head 2. For example, the excavator 202 may include a support device including a pivot support providing a pivot axis 201, also called a head axis 201. The head axis 201 may be transverse to the rotation plane 1002 of each collector 5 moved using the cutting head 2.

[0096] Alternatively, the support device may comprise an arm (also referred to as a boom) holding the cutting head 2. In this case, the support device (e.g., its arm) may be configured to move the axis of rotation 201 of the cutting head 2, e.g., to displace and / or rotate it along a direction of motion (also referred to as a pivoting motion in the case of rotation).

[0097] If the collector is a so-called conical collector, the collector may be configured to be able to rotate in the collector slot about its collector axis 203 (also referred to as collector rotation or, for simplicity, internal rotation). This improves the symmetry of wear of the collector 5. The rotation of the collector axis may occur (e.g. only) during the cutting phase and / or be stimulated by interaction with the material to be excavated (e.g. rock).

[0098] Examples of excavators 202 include: coal mining machines, excavators, roadheaders, so-called continuous miners, so-called surface miners or tunnel boring machines. In the following, some embodiments of the excavation system 200 are first described and then specific embodiments of the method 100 are discussed. In addition, reference is made to image data provided by a camera system on which the geometry determination 101 is based. It is understood that what is described for the image data from the camera system is analogously applicable to image data provided by exactly one or more infrared cameras.

[0099] Figure 3 An excavation system 200 according to various embodiments 300 is illustrated in a schematic perspective view, wherein an excavator 202 is configured as a so-called continuous miner 7 (also called a "continuous cutting machine"). The continuous miner 7 comprises one or more cutting heads 2 configured as transverse cutting heads. The cutting head may be cylindrical (then also called a cutting drum).

[0100] The pivoting movement 301b of the excavator 202 may be about a rotation axis 301 which is arranged parallel to the head axis 201 and outside the cutting head 2. Alternatively or additionally, the support device 3 may be configured to displace the head axis 201 along one or more translation axes and / or to rotate about one or more additional rotation axes (see arrows).

[0101] In addition, the excavation system 200 may include one or more infrared cameras 6, and exemplary installation locations of the one or more infrared cameras 6 include: on the boom 3 (for example, the front side or the rear side of the boom 3), on the user cabin 4 of the excavator 202, adjacent to the excavator 202 (for example, supported on the base of the excavator 202), and on the chassis of the excavator 202.

[0102] An exemplary implementation of an infrared camera 6 disposed adjacent to the excavator 202 may be carried by a stand 352 including one or more legs (e.g., a tripod) disposed on a base on which the excavator 202 is disposed. As an alternative or in addition to the legs, the stand 352 may also include a handle to be carried by a user. This increases the flexibility of the excavation system 200.

[0103] In general, it should be noted that any other mounting position may also be selected provided that it allows the infrared camera 6 mounted there to be pointed towards the collector 5 so that the collector path is at least partially arranged in the field of view of the infrared camera. The geometry determination 101 may be based on image data from only one infrared camera 6 or on image data from several infrared cameras 6 that differ from one another in their mounting positions. The more infrared cameras 6 or different mounting positions are used, the better the data basis for the geometry determination 101, as will be explained in more detail later.

[0104] Optionally, the image data may be displayed directly using a graphical user interface, for example a display device thereof in the cabin 4 or a display device on a remote control and monitoring unit.

[0105] As shown, the cutting head 2 may include several collectors 5 that differ from each other in the collector paths along which they move. Alternatively or additionally, the cutting head 2 may include a plurality of collectors 5 that match in the collector paths along which they move. However, it should be noted that it is not absolutely necessary to arrange the movement path of each collector 5 on the cutting head 2 in the field of view of the infrared camera 6 of the camera system. In other words, the monitoring group does not have to include all collectors. A random state analysis 807 may also be performed.

[0106] Similar to embodiment 300, Figure 4 An excavation system 200 according to various embodiments 400 is illustrated in a schematic perspective view, wherein an excavator 202 is configured as a so-called roadheader 1. The roadheader 1 comprises one or more cutting heads 2, which are configured as transverse cutting heads. For example, a boom 3 can be arranged between two transverse cutting heads.

[0107] Reference is made herein by way of example to a roadheader and also to a continuous miner, it being understood that what is described with respect to a roadheader may similarly apply to a continuous miner and vice versa, and also to different types of excavators.

[0108] Figure 5A and Figure 5B Excavation systems 200 according to different embodiments 500a, 500b are illustrated in schematic perspective views each viewing the cutting head 2, which differ from one another in the configuration of the camera system 502. As hinted above, the camera system 502 may include a plurality of infrared cameras 6, which are mounted, for example, on the boom 3, and the image data on which the geometry determination 101 is based originate from the plurality of infrared cameras.

[0109] According to embodiment 500a, camera system 502 is configured (e.g., arranged and aligned) so that each collector 5 of the monitoring group moves through the field of view of more than one infrared camera 6 of camera system 502 at each rotation of cutting head 2. Then, image data includes multiple collector frames for each collector and each circular motion, and the viewing angles (also called viewing angles) of these frames are different from each other. This helps to more reliably determine the degree and / or type of wear, as will be explained in more detail later.

[0110] In an exemplary implementation of embodiment 500a, the camera system 502 is configured to sense stereoscopic image data of one or more collectors 5. For example, directly adjacent infrared cameras 6 (also referred to as camera pairs) of the camera system 502 are configured so that their fields of view on the cutting head 2 overlap. For example, the stereoscopic image data has two frames of the collectors 5 (e.g., at the same position and / or at the same time) of each collector 5 and the circular motion of each collector 5, whose corresponding viewing angles (also referred to as viewing angles) are different from each other.

[0111] According to embodiment 500b, camera system 502 is configured to sense only single field of view image data of one or more collectors 5. For example, directly adjacent infrared cameras 6 of camera system 502 are configured so that their fields of view on cutting head 2 are adjacent to each other or include at least a distance from each other. Embodiment 500b is advantageous, for example, if fewer infrared cameras 6 are available for each shot, if a higher image resolution is required, or if the available infrared cameras 6 include too low a resolution to sense several collectors 5 with sufficient accuracy.

[0112] According to embodiment 500b, for example, each collector 5 may move through the field of view of exactly one infrared camera 6 each time the cutting head 2 is rotated. For example, the collector may be sensed from only one viewing angle each time the cutting head 2 is rotated.

[0113] If the collector 5 is configured for self-rotation (which may be the rule for a conical collector), then image sensing 803 according to embodiment 500b may be sufficient (e.g., equivalent to embodiment 500a). This is because in this case, due to the rotation of the collector, the rotational position of the collector relative to the infrared camera 6 during image sensing is at least slightly different during consecutive circular movements. Therefore, consecutive frames also differ in the viewing angle of optically sensing the collector 5.

[0114] If the collector rotation is blocked (also referred to as collector blocking), the collectors in embodiment 500b and in embodiment 500a are repeatedly sensed one after another in the same position. Therefore, this collector blocking can be determined using a comparison of continuously sensed image data or using a geometric structure comparison 811, as will be explained in more detail below. For example, if the comparison result of the continuously sensed image data or the result of the geometric structure comparison 811 is below a threshold, the state determination can determine collector blocking as a collector state.

[0115] In an exemplary implementation not shown of embodiment 500a, the excavation system 200 includes a plurality of camera systems 502 according to embodiment 500b, with the boom 3 being arranged between the camera systems 502. Obviously, one of the camera systems 502 may be directed to the lower part of the cutting head 2, and one of the camera systems may be directed to the upper part of the cutting head 2.

[0116] Fig. 6A and Figure 6B Excavation systems 200 according to different embodiments 600a, 600b are illustrated in schematic perspective views and views of a cutting head 2, which differ from one another in the configuration of a camera system 502 similar to the embodiments 500a, 500b. In contrast, the support device 3 additionally comprises a crossbeam 602, which projects above the boom and carries the camera system 502. The crossbeam 602 improves the perspective of the camera system 502 and thus improves the data basis for the geometry determination 101.

[0117] For example, each cutting head 2 may be associated with an infrared camera 6, which is pointed toward the cutting head 2, e.g., such that its field of view senses (e.g., the entire) cutting head 2. For example, the entire cutting head 2 may be arranged in the field of view of the infrared camera 6 assigned to it (see embodiment 600b).

[0118] Similar to embodiment 500a, the camera system 502 according to embodiment 600a is configured (e.g., arranged and oriented) such that, with each rotation of the cutting head 2, the collector 5 or each collector 5 moves through the field of view of more than one infrared camera 6 of the camera system 502, for example such that stereoscopic image data of at least one (i.e., one or more than one) collector 5 is sensed.

[0119] Similar to embodiment 500b, the camera system 502 according to embodiment 600b is configured (e.g., arranged and aligned) such that, each time the cutting head 2 is rotated, at least one collector 5 moves through the field of view of exactly one infrared camera 6 of the camera system 502, for example, such that only single-field-of-view image data of at least one collector 5 is sensed.

[0120] Figure 7An excavation system 200 according to various embodiments 700 is illustrated in a schematic perspective view, wherein the view of the cutting head 2 is similar to the embodiments 600a, 600b, but with the difference that two infrared cameras 6 (also referred to as camera pairs) are assigned to each cutting head 2, which are pointed toward the cutting head 2, for example so that their field of view senses (e.g. the entire) cutting head 2. This further improves the data base. Naturally, each cutting head 2 can also have more than two infrared cameras and these infrared cameras are pointed toward the cutting head 2.

[0121] Similar to embodiment 600a , each pair of cameras may be configured (eg, arranged and oriented) so as to sense stereoscopic image data of the cutting head 2 , with the infrared camera 6 of each pair of cameras pointing toward the cutting head 2 .

[0122] Different exemplary implementations of the method for embodiments of the camera system mentioned herein are explained below.

[0123] Figure 8 The geometry determination 101 according to various embodiments is illustrated in schematic diagram 800. The geometry determination 101 may be configured to process image data 807i as input and output a geometry indication 852 (as a result of the geometry determination 101).

[0124] The geometry determination 101 may include, in 851, determining a data-based representation 13 (also referred to as a geometry representation 13) of the geometry of the collector 5 (e.g., here exemplified as the outline 13 of the collector head) based on the image data. The geometry representation 13 may represent one or more of the following geometrical characteristics of the collector (e.g., the collector head): an outline; a cross-sectional area enclosed by the outline of the collector (e.g., the collector head) and / or a planar projection thereof (from the perspective of the infrared camera); a geometric extension.

[0125] The determination 851 of the geometric structure representation 13 can be performed, for example, using one or more image processing algorithms. The image processing algorithm can, for example, include a filter (also referred to as an image filter or a graphic filter) that is configured to output multiple image components (e.g., pixel coordinates) of a frame that meets a predetermined criterion (also referred to as filtering) for each frame. Examples of image processing algorithms include: edge detection, Fourier high-pass filter, threshold filter, Fourier low-pass filter, color value difference analysis, object detection, geometric structure detection, training algorithm. The algorithm can be trained using machine learning, for example based on training data, which includes acquired image data with known geometry.

[0126] The trained algorithm may be, for example, a single or multi-layer artificial neural network (ANN) combined with a gradient descent method. The network may, for example, be a feedback or feed-forward multi-layer perceptron. The ANN may, for example, perform self-learning classification using learning vector quantization, it may contain random or statistical learning variables (probabilistic ANN) or process delayed indications from previous runs in order to achieve better classification (delayed ANN).

[0127] Alternatively or additionally, generally any planimetry method may be used to determine the geometrical representation 13 .

[0128] For example, the color value difference analysis may include a difference criterion as a criterion that an image component (e.g., a pixel) satisfies if the difference between the color value of the pixel and the neighboring pixels exceeds a threshold value. This helps determine the contour of the geometric structure representation 13. By analogy, a gradient threshold value calculated based on an equalization of several color values ​​may serve as a criterion. Alternatively or additionally, those image components may be filtered out, whose color values ​​exceed a threshold value and / or whose difference between the color value of the pixel and the neighboring pixels falls below a threshold value (also referred to as a homogeneity criterion). This helps determine the area of ​​the geometric structure representation 13.

[0129] The geometric indication may include or at least be derived from one or more characteristics (also referred to as geometric characteristics) of the data-based geometric representation 13. Examples of geometric characteristics include: the perimeter 13u of the geometric representation 13; the (e.g., geometric) center of gravity 13m (preferably, the center of gravity 13m of the plane projection enclosed by the contour of the collector), for example, its location; the area of ​​the surface 13a (e.g., representing the cross-sectional area of ​​the collector); the angle 13w enclosed by the two edges of the geometric representation 13 (e.g., at the collector tip, also referred to as the wedge angle 13w); the extension 13d of the geometric representation 13 (e.g., starting from the collector tip, for example, along the collector axis, also referred to as the collector height); one or more geometric characteristics (also referred to as marking characteristics) of the thermal mark, which will be discussed in more detail later.

[0130] Each of these geometry characteristics, by itself, may be a sufficient basis upon which to perform a reliable state determination 103. However, it will be appreciated that the reliability of the state determination 103 may be improved if the geometry indication 852 includes multiple geometry attributes that may optionally be weighted. The weighting enables additional degrees of freedom to adapt the method 100 to different types of interference sources and thus compensate for them.

[0131] Shown is a multi-component geometry indication 852, including multiple numerical values ​​as components (here exemplified as w_1, ..., w_n; m_1, ..., m_n; d_1, ..., d_n; a_1, ..., a_n) and expressed in vector form herein to shorten notation. The multi-component geometry indication 852 improves the reliability of the information on which the state determination 103 is based. Expressed in this vector representation, the multi-component geometry indication 852 may include one or more dimensions, each dimension referencing an attribute whose values ​​(e.g., time, type, etc.) are different from each other.

[0132] For example, a first dimension 852a of the geometry indication 852 may reference the type of geometry property. Alternatively or additionally, a second dimension 852b of the geometry indication 852 may reference the frame (here exemplified as #1, #2, etc.) on which the geometry indication 852 is based (e.g., the number of images thereof and / or the time thereof), and / or in another way a temporal history. Reference may naturally be made to more or fewer attributes of the geometry indication 852. For example, reference may alternatively or additionally be made to the perspective on which the component is based, e.g., the circular motion of each collector and / or the collector.

[0133] In the exemplary matrix shown, all entries of column #1 may be based on the same frame or several frames at the same time. Alternatively or additionally, all entries of the row of angle 13w may indicate the value of the angle 13w enclosed by two edges of the geometric structure representation 13 (e.g., at the collector tip). The entries along the second dimension 852b then map the progression of the geometric structure characteristics over time, which helps detect small changes in the collector geometry.

[0134] Optionally, the state determination 103 may be based on a function (e.g., weighted) value of multiple geometric properties of different types and / or at different times. This increases the reliability of the information on which the state determination 103 is based. Weighting the values ​​of multiple geometric properties of different types and / or at different times helps to adapt the method to a specific application.

[0135] Optionally, the image processing algorithm may include an algorithm configured to convert a preliminary stage of the geometric structure representation 13 into the geometric structure representation 13. Such an example is the smoothing of the surface 13a, the contour 13u, etc. An alternative or additional example is the adjustment calculation of converting a set of pixel coordinates into a vector-based path. The path may be, for example, a polyhedron used as a contour 13u and / or smoothed. The same applies to the nodes of the path.

[0136] As described above, the method 100 optionally includes a geometry comparison 811. In this case, the state determination is based on the result of the geometry comparison 811 (also referred to as the comparison result). In its first exemplary embodiment, the geometry indication 852 is compared with a (e.g. stored) target state of the collector, as a reference state (also referred to as an absolute comparison), for example, with a target geometry indication. In its first exemplary implementation or in an alternative second exemplary implementation, the geometry indication is compared with a previous (e.g. stored) geometry indication of the same collector as the reference state (also referred to as a relative comparison). This may optionally be necessary if the newly inserted, actually unused collector comprises different surface characteristics than the used collector and thus makes the contour detection more difficult. Then, for example, the target geometry indication can be determined after a defined low number of operating hours. The relative comparison may alternatively or additionally include comparing several components of the same type of geometry indication with each other, provided that the geometry indication is time-dependent.

[0137] The absolute comparison facilitates the comparison of several collectors with one another and / or allows the remaining useful life of a collector to be determined. The relative comparison increases the reliability of the process.

[0138] In the exemplary case, the geometrical characteristics (e.g., contours) of the collector are superimposed by the rock material to which it is adhered. However, errors due to such superposition can be avoided by statistical comparison with previous images as a relative comparison and an instruction to issue a slightly delayed warning (as a signal). Alternatively or additionally, the adhered material can appear darker in absolute comparison due to lower thermal conductivity and emissivity differences and can therefore be distinguished from the actual collector.

[0139] The method 100 may optionally include classifying the determined geometry indication 852 and / or the underlying image data as invalid (also referred to as discarding) based on the result of the geometry comparison 811. In this case, the state determination 103 may optionally be configured to ignore all geometry indications 852 that are classified as invalid. In an exemplary implementation of discarding, this may be based on the result of the relative comparison, for example, if the deviation of the actual geometry indication from the previous geometry indication exceeds a threshold. For example, a collector profile may be classified as valid only if it is repeated in a similar form, otherwise it may be discarded as an outlier.

[0140] Different implementations of the method 100 are explained below, in which a geometry representation 13 is determined.

[0141] Fig. 9The method 100 according to various embodiments is shown in a schematic flow chart 900. The image sensing 803 and / or the camera system 502 performing the image sensing 803 may be configured to sense image data 807i, the image data 807i comprising exactly every (e.g., n) frame 9 of circular motion of the collector 5 around the rotation axis 201 (n may, for example, be 1 or greater). For example, the image sensing 803 may be synchronized with the circular motion of the collector 5, for example, such that the image sensing frequency f_B (also referred to as the image sensing frequency) is a function of the rotation frequency f_D of the collector 5. For example, the relationship may be satisfied: n·f_D≤f_B, where n is a natural number.

[0142] It may be advantageous to perform the state analysis 807 individually for each collector 5 on the cutting head 2 (i.e., the monitoring group includes all collectors 5 on the cutting head 2). Therefore, it will be appreciated that the processing of the image data described herein may be performed by analogy for each collector 5 on the cutting head 2, but need not be so. It may also be sufficient not to perform the state analysis 807 for all collectors 5 at the cutting head 2 in order to save resources. In that case, the monitoring group may include only a portion of the collectors 5 at the cutting head 2 (e.g., less than 90% or less than 75%).

[0143] It may be further advantageous if the state analysis 807 of each collector 5 of the monitoring group is based on at least one frame of the collector 5 per time interval. The time interval may be, for example, the duration of a complete cyclic motion of the collector 5 (i.e., 1 / f_D). In this case, each time the collector 5 passes the camera system, the collector 5 can be optically sensed. However, the more collectors 5 the cutting head 2 holds, for example, this may exceed the image sensing frequency at which the camera system 502 provides reliable frames. In this case, or for other reasons, it may also be sufficient if n times the duration of the cyclic motion of the collector 5 is used as this time interval. It may be further advantageous to adjust the image sensing frequency according to the job sequence, for example, after each full cut on the face when the machine is idling and the boom is moved to a new starting position.

[0144] As part of the image data 807i, a temperature-based frame 9 (also referred to as infrared image 9) of the collector 5 during the excavation process 809 is shown here as an example. Due to the mechanical friction of the collector 5 on the material to be excavated during the excavation process 809, thermal dynamics are introduced into the collector 5 (mainly at the tip of the collector), which leads to heating of the collector 5. This is counteracted by cooling of the collector by emission of infrared radiation and heat transfer to its environment, for example, by heat conduction in the collector and at contact points on the collector holder. Cooling and heating reach equilibrium when the collector reaches a so-called operating temperature, around which the actual temperature of the collector 5 fluctuates in the cycle of the cyclic movement and / or the excavation sequence. In normal operation, without increasing wear events (such as, for example, clogging, etc.), the average operating temperature of the collector can be, for example, above about 150° C. or above about 250° C., while at the tip, for example, even in normal operation, it can reach more than 750° C. for a short time.

[0145] The heat release from the collector to the collector holder is, for example, a function of the thermal conductivity of these, the contact area of ​​these thermal conductivities with one another and the contact time of these thermal conductivities with one another.

[0146] In simple terms, there is a heat flow from the collector tip 10 through the collector head 11 to the collector holder 8 or at least the collector rod, which results in a temperature gradient represented by the color information of the infrared image 9. For example, higher brightness values ​​of the infrared image 9 correspond to higher temperatures and therefore to the collector head 11.

[0147] This temperature gradient occurs shortly after the excavation process 809 begins (e.g., after a short cutting phase) and can also be sensed during the entire circular motion of the collector, even if the collector is in contact with the material to be excavated for only a portion of the circular motion. The same applies to times when the excavation process 809 is interrupted, for example when there is no cutting, which can be the case when repositioning after cutting the face height from top to bottom with a roadheader or continuous cutter or vice versa.

[0148] Depending on the specific implementation, image sensing may occur only when the excavation process 809 is interrupted, ie, when no collector is in contact with the material to be excavated and / or the excavator 202 is at a distance from the material to be excavated.

[0149] In one embodiment (e.g., the case explained above, preferably where recording is performed during a cutting process, where the risk is particularly high), the excavation system may include a camera protection device that protects (e.g., covers) the camera system (e.g., one or more camera lenses thereof) from solid particles (e.g., flying debris) from the excavation process 809. However, it should be understood that the camera protection device may alternatively or additionally be used in other examples, as will be described in more detail later.

[0150] In further embodiments, image sensing may be performed while the excavation process 809 is being performed using the cutting head 2 (e.g., the cutting drum 2), for example when the collector is in a standby phase of its collector path or even in a standby mode (e.g., in idling) after the excavation process 809. Optionally, the collector 5 and collector holder 8 may be sensed at multiple viewing angles.

[0151] When the infrared camera 6 starts image sensing (also called recording) after the excavation process 809 or even during the excavation process, due to the temperature gradient to the collector holder 8, the cutting drum 2 and / or the environment, for example using an image processing algorithm or another process of image processing, the collector 5 can be easily detected in the infrared image 9. On the infrared image 9 from the infrared camera 6, the highest temperature is detected at the collector tip 10 (e.g., based on brightness), followed by the collector head 11 and the collector holder 8.

[0152] If the temperature is encoded using brightness values, the image areas with the highest temperature are brightest in the infrared image 9, and the background 12 (which can be the cutting drum 2 or the environment) is slightly darker. In this case, the geometry determination can be used to determine the acquisition contour 13 of the collector head 11 based on the bright image areas of the infrared image 9 as a geometry representation 13.

[0153] If the collector 5 and the collector holder 8 differ in their thermal conductivity and / or in the material from which they are made, the temperature difference between them is greater and therefore easier to determine. However, the radiation emitted by an object detected in an infrared image may also depend on the emissivity of the object's surface, so that objects with the same temperature may appear differently on a sensed infrared image (e.g., a new collector (or collector holder), a worn collector (or collector holder), and a corroded collector (or collector holder)). Collectors with scratches, adhering dirt, and corrosion emit infrared radiation better than new collectors with relatively smooth surfaces, so that the longer they are in use, the more their outlines can be detected on an infrared image.

[0154] Fig.10The method 100 is illustrated according to various embodiments in a schematic flow chart 1000 similar to the flow chart 900, except that the camera system 502 senses several frames of the collector 5 (e.g., each circular motion) that differ from each other in perspective (also referred to as image perspective). For example, the same infrared camera 6 is used to sense multiple frames (infrared images) from different angles.

[0155] Fig.11 The method 100 according to various embodiments is illustrated in a schematic flow chart 1100 similar to the flow charts 900, 1000, except that the infrared camera 6 is arranged adjacent to a plane 1002 (also called a rotation plane) in which the collector path is arranged (also called a lateral stereogram). Image sensing 803 is shown on the left side (viewing direction along the head axis 201) and on the right side (viewing direction transverse to the head axis 201).

[0156] This lateral stereogram can be produced, for example, if several collection paths arranged next to each other pass through the field of view of the same infrared camera 6. However, if the collector axis of the collector 5a (see Figure 5B ) is at an angle to the rotation plane 1002 of the collector 5a, then this rotation plane occurs, for example, at an edge section of the cutting head 2 (for example, the cutting drum 2), if a transversely oriented excavation process 809 is advantageous.

[0157] In case of lateral viewing angles, the same infrared camera 6 can be used to determine several geometry representations 13 corresponding to different viewing angles of the cutting head 2. This provides the same possibility as an evaluation using stereo image data sensed by several infrared cameras corresponding to the same image sensing time.

[0158] Fig.12 The configuration of the camera system during image sensing 803 (e.g., image sensing 803 similar to flowcharts 900, 1000, and / or 1100) according to various embodiments is illustrated in schematic stereogram 1200. The camera system can include two or more infrared cameras 6 that observe the sensing collector 5 (e.g., simultaneously) from different viewing angles (also referred to as stereoscopic views). This helps provide stereoscopic image data. This stereoscopic view makes it easier to determine fluctuations in the collector geometry and / or determine the dependence of the collector geometry on the viewing angle. This helps distinguish symmetric and asymmetric collector wear as wear types.

[0159] Fig.13A collector 5 according to various embodiments 1300 is illustrated in a schematic side view 1300a having a perspective transverse to the collector axis 203 and in a schematic top view 1300b having a perspective along the collector axis 203, wherein the collector 5 comprises a mark 14 (also referred to as a thermal mark 14, a wear mark or simply a mark) on the collector head 11. According to various embodiments, it is clearly recognized that such a thermal mark 14 can be identified from the image data and stands out from the rest of the collector 5. For example, it is observed that in an infrared image, a brand new collector already having a new scratch appears darker.

[0160] The thermal marker 14 may include one or more segments (also referred to as marker segments). The thermal marker 14 of the collector 5 (e.g., each marker segment thereof) may differ from the collector head 11 (e.g., the thickened portion 11k and / or the collector tip 10) in at least one thermal property (e.g., thermal emissivity and / or thermal conductivity). This enables the thermal marker 14 to become visible as a non-uniformity in an infrared image, for example even with a small temperature difference and / or if the heat flow through the collector 5 is time-invariant.

[0161] The thermal marker 14 can be made of, for example, ceramic (e.g., tungsten carbide), aluminum brass, aluminum, bronze, stainless steel, enamel or brass. In addition, grooves can be made on the collector head so that the cut rock blocks the grooves, thereby continuously generating one or more corresponding thermal markers during operation.

[0162] An exemplary implementation of the thermal marker 14 (e.g., each marker segment thereof) is formed using a coating and / or material having a different thermal conductivity and / or emissivity than the collector head 11. An exemplary implementation of the thermal marker 14 (e.g., one or more marker segments thereof) is embedded in the collector head 11, cut out of the collector head, or applied to the collector head as a coating. An exemplary implementation of the thermal marker 14 (e.g., one or more marker segments thereof) is disposed between the thickened portion 11k and the collector tip 10.

[0163] For example, the geometry indication may be based on the thermal signature 14, which makes the geometry determination 101 more reliable. More specifically, an incomplete and / or deformed thermal signature 14 may indicate where and / or how the collector 5 is worn (e.g. on its outer surface), whereas the contour image only indicates the wear along the contour lines.

[0164] If the collector 5 comprises a thermal marker 14, the geometric representation 13 (e.g. each marker segment) may comprise or consist of a data-based representation of the geometry (also referred to as a marker representation) of the thermal marker 14 of the collector 5. Examples of geometric properties (also referred to as marker properties in this case) derived from the marker representation in this case include the perimeter 13u of the marker representation; the center of gravity 13m of the (e.g. geometric) marker representation (preferably the center of gravity 13m of the projection of a plane enclosed by the contour of the thermal marker or at least the marker segment), e.g. its position; the surface area of ​​the marker representation; the angle enclosed by two edges of the marker representation; the extension of the marker representation; a plurality of marker segments.

[0165] As shown, the thermal marker 14 may comprise several strip-shaped (then also referred to as strips) and / or annular marking segments extending around the collector axis 203. With increasing wear, these strips 14 disappear, resulting in a different infrared image 9.

[0166] The thermal markings 14 clearly provide a means which can be considered in the infrared image as an alternative or in addition to the planar geometry of the collector 5 in order to determine the collector's wear condition (eg, degree of wear).

[0167] In an exemplary implementation, the strips 14 are embedded in the collector head 11. In other exemplary implementations, the collector head 11 is coated with strips 14 that include a different thermal conductivity and / or emissivity than the underlying collector head 11. Such a coating 15 (see also Fig.16 ) is progressively detected in the infrared image as a difference from the reference image pattern. In a further exemplary implementation, the strip 14 is cut out from the surface of the collector head and filled with the cut material during operation.

[0168] The state analysis 807 can be based on several strips 14 or coatings 15 of the collector 5 to determine the wear on the collector head 11 in the infrared image 9. Using the state analysis 807 including determining one or more geometrical characteristics of the strips 14 or coatings 15, the wear state can be determined, for example, the degree of wear can be quantitatively estimated.

[0169] Fig.14 A collector 5 is illustrated in a schematic side view 1400a with a perspective transverse to the collector axis 203 and in a schematic top view 1400b with a perspective along the collector axis 203 according to a different embodiment 1400 similar to the embodiment 1300, wherein the thermal marker 14 comprises a plurality of lines and / or strips extending away from the collector tip.

[0170] Fig.15The collector 5 is illustrated in a schematic side view 1500a with a perspective transverse to the collector axis 203 and in a schematic top view 1500b with a perspective along the collector axis 203 according to a different embodiment 1500 similar to embodiments 1300 , 1400 , wherein the thermal marker 14 comprises a plurality of stripes extending along a helix.

[0171] Fig.16 A collector 5 is illustrated in a schematic side view 1600a with a perspective transverse to the collector axis 203 and in a schematic top view 1600b with a perspective along the collector axis 203 according to a different embodiment 1600 similar to embodiments 1400, 1500, wherein the thermal marker 14 includes a coating 15 of the collector head 11 arranged between the collector tip 10 and the thickened portion 11k.

[0172] Fig.17A The schematic perspective view 17 shows a collector 5 in different wear states according to different embodiments and in a schematic perspective view Fig.19 The geometric structure obtained in the first stereogram 1700a (e.g., Fig.12 Image data of the stereogram A). Fig. 17B FIG. 1700 is a diagram illustrating a method of generating a pixel based on a pixel from a second perspective view 1700b (eg, Fig.12 The image data in the stereogram B) is schematically shown in the stereogram Fig.18 The same collector 5 as in FIG. 1 and the resulting geometrical representation in schematic view 20 .

[0173] The collector state 1701 represents an unused collector 5 whose wear degree is, for example, 0 (e.g., as a target state). The collector state 1703 represents a used collector 5 whose wear degree is, for example, greater than 0 and whose wear type (also referred to as wear type) is symmetrical wear. The collector state 1705 represents a used collector 5 whose wear degree is greater than, for example, 0 and whose wear type is asymmetrical wear. Fig.19 The area is shown as a first geometry attribute, and its ratio (in %) to the target collector state 1701 is shown as a second geometry attribute.

[0174] Asymmetric wear may include breaking off portions of the collector tip 10 or grinding on one side due to collector blockage. As can be appreciated, symmetric wear may be difficult to distinguish from asymmetric wear if image data is only available from one perspective. For example, asymmetric wear may then be difficult to detect if the infrared camera 6 is in an unfavorable position due to collector blockage.

[0175] According to various embodiments, the collector state may be based on the results of the geometry comparison 811, which includes a comparison of geometry indications from different viewing angles. This may help distinguish symmetrical from asymmetrical wear.

[0176] For example, if a fluctuation in a geometric characteristic (eg, surface content and / or profile) between a first viewing angle and the second viewing angle exceeds a threshold, asymmetric wear may be determined as a fuzzing condition.

[0177] In an exemplary implementation, Fig.19 Geometric representations of the profiles 13 of collectors 5 in different wear states are shown, which can be determined based on one or more infrared images 9 of each collector 5. As can be appreciated from the collectors 5 shown in the stereogram 17 above, the different wear states result in similar indications regarding the area content or the ratio to the target collector state 1701. Nevertheless, the estimated remaining useful life can be determined as a collector state based on the geometric representation (e.g. its area content or its ratio to the target collector state 1701). The same collector state from different stereograms Fig.18 , 20 are shown.

[0178] Alternatively or additionally, the collector height of the collector head 11 , the wedge angle of the collector 5 and / or the position of the center of gravity of the determined collector profile 13 may be determined in order to determine the degree of wear, the remaining service life and / or the type of wear.

[0179] In an exemplary embodiment, after each rotational movement of the cutting head, the actual state of one or more (e.g., each) collector 5 of the cutting head is updated. For example, the actual collector state can be represented as a continuously updated value (also referred to as a state value). The state value can, for example, indicate how large the difference is between the actual collector state (e.g., the actual area content of the geometric structure representation) and the target state of the corresponding collector 5.

[0180] If the variation of the geometry indication between several viewing angles exceeds a threshold, the state determination may entail determining an asymmetric wear type, and otherwise determining a symmetric wear type, as a component of the collector state. Alternatively or additionally, the state determination may include converting fluctuations in the geometry indication into a degree of wear asymmetry as a component of the collector state.

[0181] Fig.18The graphical user interface 21 of the excavator 202 is illustrated in a schematic plan view 1800, wherein the method 100 includes graphically outputting the (e.g., updated) actual collector state of the or each collector (as a result of the state determination 103) at least in the form of a graphical representation and / or as a state value. Thus, the updated actual collector state is made more visible to an operator of the excavator 202.

[0182] The graphical user interface may be implemented using the data processing device 106 and / or a display device (eg, including a display and / or a touch screen). The graphical user interface may include both physical components and code-based components (eg, software).

[0183] The graphical representation may indicate, for example, the position of each collector 5 on the cutting head 2 as a symbol 22 (e.g., a pictogram), supplemented by a condition value, a wear type and / or a collector number. For example, the collector number may include a code indicating the position of the collector (e.g., L1-1 for the first collector 5 of the first spiral on the left cutting drum 2).

[0184] In an exemplary implementation, the graphical user interface is configured to display a symbol 22 (also referred to as a collector symbol) for each collector 5 in addition to the collector number (including the condition value and the wear type 23). In the display, the indication "S" corresponds to a symmetrical wear type and "A" corresponds to an asymmetrical wear type. If the area of ​​the surface 13a is below a threshold, for example below 70% of the nominal area of ​​the surface 13a, the color of the collector symbol is changed, for example to red, to indicate a high degree of wear as a component of the actual collector condition.

[0185] Alternatively or additionally, the graphical user interface may be configured to output infrared image 9 in response to user input, for example, which provides the user with an alternative basis for controlling excavator 202 .

[0186] Fig.19 The configuration of the camera system according to different embodiments during the image sensing 803 process is illustrated in a schematic stereogram 1900, which is, for example, similar to the image sensing 803 of the flowcharts 1600, 1700 and / or 1800, and similar to the stereogram 1200, except that the collector 5 is a roller cutter of the disc cutter type. What is described herein for the disc cutter can be similarly applied to a roller cutter of the button cutter type. The roller cutter 5 is rotatably mounted around its cutter axis during operation, for example using a pivot bearing. The pivot bearing can, for example, be integrated into the roller cutter 5 or the cutter holder 8.

[0187] The camera system may include at least one infrared camera 6, for example two or more infrared cameras 6. The several infrared cameras 6 may be configured to sense the roller cutter 5 from different perspectives (also referred to as stereoscopic views) (e.g., perspective A and perspective B) (e.g., simultaneously). In this regard, the contents described herein (see Fig.17A and Fig. 17B ) applies similarly.

[0188] Fig. 20A The resulting geometrical representation of a roller cutter 5 in a schematic side view 2017 and in a schematic side view 2018 according to various embodiments is shown. Fig.19 The geometric structure representation obtained in the first perspective 2000a (for example, Fig.19 Image data of perspective A). Fig. 20B The same roller cutter 5 in schematic side view 2018 and the resulting geometric representation in schematic view 20 according to different embodiments are illustrated, the geometric representation being based on the second viewing angle 2000b (e.g., Fig.19 In this regard, the content described in this article (see, for example, Fig.17A and Fig. 17B ) applies similarly.

[0189] The following is a detailed description of various embodiments of the camera system 502, which can be used alone or also used to implement one or more of the aspects described herein, such as the excavation system 200 and / or the method 100. The camera system 502 includes one or more camera protection devices and at least one (i.e., one or more) infrared imaging camera in each camera protection device. The camera protection device is used to protect at least one infrared camera (e.g., at least its camera lens) from liquid (e.g., water) and / or solid particles (e.g., dust, debris, and debris).

[0190] In a first exemplary implementation of camera system 502, the camera guard or each camera guard comprises a pressurized gas source for periodically cleaning (also referred to as blowing) and / or continuously displacing solid particles from at least one infrared camera (e.g., a lens thereof) using a gas stream. In a second exemplary implementation of camera system 502, the camera guard or each camera guard comprises a shutter in front of the lens for opening (e.g., only) for a duration of image sensing (e.g., for an aperture time or longer).

[0191] In a second exemplary implementation or a third exemplary implementation of the camera system 502, the camera protection device or each camera protection device comprises a housing, at least one infrared camera is arranged in the housing and the housing comprises an opening (also referred to as a housing opening) at which the infrared camera is guided. The housing opening can be covered with a shutter that moves relative to the housing. Alternatively or additionally, the housing can be arranged in a recess and is used to move out of the recess (e.g., fold out) for a duration of image sensing (e.g., for a duration of the aperture time or longer) and then move back (e.g., fold in).

[0192] In a fourth exemplary implementation of the camera system 502, each camera protection device comprises a (e.g., wall-shaped) carrier that is transparent to infrared radiation (also referred to as a shield), toward which the infrared camera is directed. The carrier can, for example, be arranged in a fixed position relative to the infrared camera, or can be movably mounted (and, for example, driven) relative to the infrared camera. Alternatively or additionally, the carrier can be in the form of a hollow cylinder, in which the infrared camera is arranged and / or the hollow cylinder rotates. Alternatively or additionally, the carrier can be in the form of a rotating disk and / or plate, for example. The carrier can, for example, be made of ceramic (e.g., chalcogenide glass) or plastic. Alternatively, or in addition to a moving carrier, an airflow can be directed toward the carrier.

[0193] Various examples related to the above description and drawings are described below.

[0194] Example 1 is an excavation system comprising: an excavator (preferably configured as a crusher or a cutter), the excavator including a machine collector (simplified herein as collector) or at least one collector holder for holding a machine collector (which is, for example, movably mounted), and configured to excavate materials using the machine collector; at least one (i.e., one or more) infrared camera, at least one infrared camera for sensing (for example, based on infrared or at least based on temperature) image data representing the machine collector and / or the collector holder; a data processing device, the data processing device being configured to: determine an indication of at least one geometric structural attribute representing the machine collector based on the image data; determine a state of the machine collector based on the indication; and preferably output indications and / or instructions based on the state of the machine collector.

[0195] Example 2 is a camera system having at least one infrared camera or an excavation system according to claim 1, the camera system further comprising: a camera protection device configured to protect at least one infrared camera from solid particles. This improves the service life of the infrared camera.

[0196] Example 3 is configured as described in Example 2, wherein the camera protection device includes a pressurized air source configured to direct air flow onto the camera or flow around the camera using air flow. This is less complicated to implement and cheaper.

[0197] Example 4 is configured as described in Example 2 or 3, wherein the camera protection device includes a shutter having a shutter flap, wherein the camera lens of the at least one infrared camera is arranged between the shutter flap and the infrared image sensor of the at least one infrared camera, and wherein the shutter is configured to open the shutter flap during sensing and then (e.g., otherwise) close the shutter flap. This better protects the infrared camera from debris.

[0198] Example 5 is configured as described in any one of Examples 2 to 4, wherein the camera protection device includes a housing, at least one infrared camera is arranged in the housing, and the housing is configured to fold out the at least one infrared camera during the sensing process and fold in the at least one infrared camera afterwards or otherwise. This better protects the infrared camera from fine dust.

[0199] Example 6 is configured as described in any one of Examples 2 to 5, wherein the camera protection device includes a transparent and / or wall-shaped carrier (e.g., at least for infrared radiation), and sensing is performed through the transparent and / or wall-shaped carrier, wherein, preferably, the camera lens of at least one infrared camera is arranged between the carrier and the infrared image sensor of at least one infrared camera. This better protects the infrared camera from fine dust and debris and is more mechanically reliable.

[0200] Example 7 is configured as described in Example 6, further comprising: a drive device configured to set the carrier into motion (e.g., in rotational motion and / or relative to the infrared camera). This extends the useful life of the carrier (e.g., until cleaning).

[0201] Example 8 is configured as described in Example 6 or 7, wherein the carrier: is plate-shaped and / or disk-shaped; (e.g. formed as a glass cylinder) surrounds a cavity in which at least one infrared camera is arranged; is formed as a foil; and / or comprises or consists of plastic or glass. This is cost-effective.

[0202] Example 9 is a machine collector (e.g., a machine collector as described in any one of Examples 1 to 8), the machine collector comprising: a cutting component (e.g., a collector head), the cutting component comprising a cutting blade, the cutting blade preferably being formed as a collector tip (e.g., provided using an embedded collector pin); a mounting component (illustrated for mounting the machine collector) preferably formed as an axis (also referred to as a collector axis) or an axis extending away from the cutting blade (e.g., along or transverse to the axis (e.g., longitudinal axis or rotational axis) of the machine collector); and a mark, the mark being embedded or cut into the cutting component or the cutting component being coated with the mark, wherein the cutting component and the mark differ from each other in at least one thermal property, preferably in thermal emissivity and / or thermal conductivity; wherein, preferably, the mounting component and the cutting component are rigidly connected to each other, and / or wherein the mark is strip-shaped and / or ring-shaped or comprises at least several strip-shaped and / or ring-shaped marking segments; wherein preferably, the mounting component is shaft-shaped, comprises a shaft, or comprises at least one through hole for receiving a shaft. This improves state detection.

[0203] Example 10 is a method (e.g., for operating an excavation system, a camera system, or Examples 1 to 9), comprising: determining an indication of geometric structural characteristics of a machine collector based on image data representing a machine collector and preferably a collector holder that holds the machine collector; determining a state of the machine collector based on the indication; and preferably driving an excavation process performed using the machine collector based on the result of determining the state of the machine collector.

[0204] Example 11 is a computer program configured to perform the method according to claim 10. This facilitates automation of the method.

[0205] Example 12 is a computer readable medium storing instructions (eg using code segments) which, when executed by a processor, are configured to cause the processor to perform the method according to claim 10. This facilitates automation of the method.

[0206] Example 13 is a data processing device (eg, for a camera system or an excavator according to any one of claims 1 to 12), comprising one or more processors configured to perform the method according to claim 11. This facilitates automation of the method.

[0207] Example 14 is an excavation system comprising: an excavator comprising a machine collector or at least one collector holder for holding a machine collector, and configured to excavate material using the machine collector; at least one infrared camera, at least one infrared camera for sensing image data representing the machine collector and / or the collector holder; and a data processing device according to claim 13.

[0208] Example 15 is configured as in any of Examples 1 to 14, wherein at least one infrared camera is attached to the excavator. This facilitates implementation.

[0209] Example 16 is configured as any one of Examples 1 to 15, further comprising: a stand that carries at least one infrared camera, wherein the stand: comprises a handle to be carried by a user during operation; and / or comprises one or more feet to be placed upright on a surface during operation. This increases flexibility.

[0210] Example 17 is configured as in any of Examples 1 to 16, wherein the excavator comprises a (eg rotatably mounted) cutting head to which the machine collector is attached (eg form-fittingly). This increases the excavation rate.

[0211] Example 18 is configured as in any one of Examples 1 to 17, wherein at least one infrared camera is configured to sense one or more (e.g., infrared-based) frames of the cutting head as image data for each rotation of the cutting head. This improves the data base.

[0212] Example 19 is configured as in any one of Examples 1 to 18, wherein the cutting head is configured as a transverse cutting head or a longitudinal cutting head, wherein the transverse cutting head is preferably drum-shaped (eg, configured as a drum cutter). This increases the excavation rate.

[0213] Example 20 is configured as in any one of Examples 1 to 19, wherein the excavator includes a pivot support, and the machine collector (eg, its cutting head) is movably mounted (eg, rotatable) using the pivot support. This increases the excavation rate.

[0214] Example 21 is configured as in any of Examples 1 to 20, wherein the excavator includes a drive train (eg, including a cutting head) configured to set the machine collector into rotational motion. This increases the excavation rate.

[0215] Example 22 is configured as in any of Examples 1 to 21, wherein an image sensing frequency during operation of the at least one infrared camera is greater than a rotational speed of the rotational motion. This improves the data base.

[0216] Example 23 is configured as any one of Examples 1 to 22, wherein at least one infrared camera includes one or more camera lenses (e.g., forming a lens) and an infrared image sensor. This improves the data base. For example, the camera lens (e.g., one or more lenses thereof) may include or consist of infrared-transmitting glass.

[0217] Example 24 is configured as in any one of Examples 1 to 23, wherein the data processing device and / or the instructions are configured to control the excavator based on the result of the determination of the state of the machine collector. This facilitates automation.

[0218] Example 25 is configured as in any of Examples 1 to 24, wherein determining the indication comprises: determining a data-based representation (e.g., a profile), preferably a geometry based on image data, a geometry of a machine collector from a viewpoint of at least one infrared camera; wherein the indication comprises or is at least based on one or more characteristics of the data-based representation of the geometry. This facilitates state determination.

[0219] Example 26 is configured as in Example 25, wherein the data-based representation of the geometry of the machine collector includes one or more of the following: a data-based outline of the geometry of the machine collector; a data-based surface enclosed by the outline of the geometry of the machine collector; and / or a planar projection of the machine collector (from the perspective of the camera). This further facilitates state determination.

[0220] Example 27 is configured as in Example 25 or 26, wherein the indication includes or is at least based on one or more of the following (e.g., geometric) characteristics of the data-based representation: perimeter; (e.g., geometric) center of gravity (preferably the center of gravity of a plane projection enclosed by the outline of the machine tool collector); area; shape; angle enclosed by two edges of the data-based representation. This further facilitates state determination.

[0221] Example 28 is configured as in Examples 25 to 27, wherein determining the data-based representation comprises: determining a plurality of image components (e.g., pixels or voxels) of the image data that satisfy a criterion; wherein the data-based representation is based on the plurality of image components; wherein the criterion preferably comprises a criterion of a filter (e.g., edge detection) and / or comprises a uniformity criterion and / or a gradient criterion. This further facilitates state determination.

[0222] Example 29 is configured as in Example 28, wherein the determination of the data-based representation comprises: converting the plurality of image components into a closed path (e.g., a polyhedron), wherein the data-based representation comprises, consists of, or is at least based on the path; wherein the conversion is preferably performed using smoothing. This further facilitates the state determination.

[0223] Example 30 is configured as in any of Examples 1 to 29, wherein the at least one geometrical characteristic represents (e.g., includes) one or more of the following characteristics: a shape and / or a symmetry of a shape of a machine tool picker; an extension (e.g., a length) of a machine picker; and / or a wedge angle of a machine picker. This further facilitates state determination.

[0224] Example 31 is configured as any one of Examples 1 to 30, wherein the indication includes a plurality of components, each component being associated with a geometric structure attribute, wherein the determination of the state includes weighting the plurality of components. This helps to adapt the state determination to variable conditions.

[0225] Example 32 is configured as in any of Examples 1 to 31, wherein the state of the machine collector is indicative of wear of the machine collector, preferably one or more characteristics (e.g., symmetry and / or progression of wear of the machine collector). This facilitates preventive response, thereby reducing operating costs.

[0226] Example 33 is configured as any one of Examples 1 to 32, wherein the image data includes a plurality of frames, each frame representing a machine collector, wherein the determination of the indication is based on the plurality of frames. This improves the data basis.

[0227] Example 34 is configured as in Example 33, wherein the indication comprises a plurality of components, wherein a first component is based on a first frame of the plurality of frames, and a second component is based on a second frame of the plurality of frames, wherein the determination of the state is preferably based on a comparison of the first component and the second component with each other. This reduces resources used for data processing.

[0228] Example 35 is configured as in Example 33 or 34, wherein the image data is combined to form a panoramic image, and the determination of the indication is made based on the panoramic image. This reduces the resources required for data processing.

[0229] Example 36 is configured as any of Examples 1 to 35, wherein the determination of the state comprises selecting one of several predefined (eg, stored) states. This reduces resources used for data processing.

[0230] Example 37 is configured as in Example 36, wherein the plurality of predefined states include one or more of the following states: the machine collector is missing; the machine collector requires maintenance (e.g., when the remaining useful life of the machine collector is greater than zero); the machine collector requires replacement (i.e., the remaining useful life of the machine collector is zero); and / or the remaining useful life of the machine collector is greater than 0. This reduces resources used for data processing.

[0231] Example 38 is configured as any one of Examples 1 to 37, further comprising: outputting an indication or instruction based on the state of the machine collector. This helps preventive response, thereby reducing operating costs.

[0232] Example 39 is configured as in Example 38, wherein the instructions include at least instructions for operating a collector and / or are configured to control an excavation process performed using a machine collector. This facilitates preventive response, thereby further reducing operating costs.

[0233] Example 40 is configured as in any one of Examples 1 to 39, wherein the machine collector includes a mark (e.g., providing a pattern), which is preferably embedded in, cut into, or coated with a collector head (wherein, for example, the collector head and the mark differ from each other in at least one thermal property, preferably in thermal emissivity and / or thermal conductivity), the pattern preferably forms a scale, wherein the determination of the indication is based on the mark (wherein, the indication includes, for example, an indication of a geometrical structural property of the mark). This facilitates state determination.

[0234] Example 41 is configured as in Example 40, wherein the machine collector includes a coating and / or a material or groove having different thermal conductivities, and the marking is formed using the coating and / or material. This further facilitates state determination.

[0235] Example 42 is configured as any one of Examples 1 to 41, further comprising: driving at least one infrared camera based on data from a sensor (e.g., a rotation angle sensor), the sensor being configured to sense movement of the mechanical collector. This facilitates preventive response, thereby further reducing operating costs.

[0236] Example 43 is configured as in any of Examples 1 to 42, wherein the at least one infrared camera comprises a plurality of infrared cameras. This improves the data base.

[0237] Example 44 is configured as in any of Examples 1 to 43, wherein the image data comprises a stereoscopic image pair (e.g., representing a machine collector) and / or stereoscopic image data formed thereby, wherein the state (e.g., its state value) is preferably based on a difference between frames of the image pair. This improves the data basis.

[0238] Example 45 is configured as in any one of Examples 1 to 44, wherein the image data comprises or consists of stereoscopic image data. This improves the data basis.

[0239] Example 46 is configured as in any one of Examples 1 to 45, wherein the image data representing machine acquisition includes thermal imaging information of the machine acquirer. This improves the data basis in the case of dust and water mist.

[0240] Example 47 is configured as in any one of Examples 1 to 46, wherein the condition of the machine collector is a wear condition of the machine collector, for example, indicating a degree of wear and / or wear symmetry of the machine collector. This facilitates preventive response, thereby further reducing operating costs.

[0241] Example 48 is configured as in any one of Examples 1 to 47, wherein the image data is infrared-based image data. This improves the data basis in the case of dust and water mist.

[0242] Example 49 is configured as in any one of Examples 1 to 48, wherein the infrared camera is configured to sense image data based on infrared radiation (e.g., emitted by at least a machine collector). This improves the data basis in the case of dust and water mist.

[0243] Example 50 is configured as in any one of Examples 1 to 49, wherein the image data includes a representation of a spatial temperature distribution (e.g., at least from a machine collector) (e.g., based on data and / or based on pixels). This improves the data basis in the case of dust and water mist.

[0244] Example 51 is configured as any one of Examples 1 to 50, wherein the state of the machine collector is determined to be an actual state of the machine collector.

[0245] Example 52 is configured as any one of Examples 1 to 51, wherein the machine collector is movably mounted along a motion path, wherein the infrared camera is directed toward the motion path.

[0246] Example 53 is configured as any of Examples 1 to 52, wherein at least one infrared camera includes multiple infrared cameras whose fields of view overlap or are at a distance from each other (e.g., in a movement path of a collector holder and / or machine collector).

[0247] Example 54 is configured as any of Examples 1 to 53, wherein at least one infrared camera is directed toward a motion path of the collector holder and / or the machine collector.

[0248] Example 55 is configured as in any of Examples 1 to 54, wherein the geometric structure property is invariant with respect to (eg, an average value) or at least independent of the emissivity of the machine collector. This allows the geometric structure property to be determined without the need to determine the temperature.

[0249] Example 56 is configured as in any of Examples 1 to 55, wherein the geometrical property is invariant to or at least independent of calibration of the infrared camera. This allows not having to determine the temperature in order to determine the geometrical property.

[0250] Example 57 is configured as any of Examples 1 to 56, wherein the image data is based on infrared radiation (also referred to as infrared radiation based), for example, emitted at least from a machine collector (optionally from a collector holder and / or an environment of the machine collector) and / or sensed using at least one infrared camera.

[0251] Example 58 is configured as any one of Examples 1 to 57, wherein the thermal characteristic is a characteristic that affects infrared radiation.

[0252] Example 59 is configured as any one of Examples 1 to 58, wherein the emissivity is the emissivity of infrared radiation (also known as thermal emissivity).

[0253] Example 60 is configured as in any one of Examples 1 to 59, wherein the image data includes or consists of at least infrared image data (also called thermal imaging data).

[0254] Example 61 is configured as any one of Examples 1 to 60, wherein thermal imaging is used to sense the image data.

[0255] Different exemplary embodiments are explained below, which relate to the aspects described herein, eg a data processing chain from image data to classification.

[0256] An exemplary implementation of determining a geometric structure indication representing at least one geometric structure characteristic of a collector is performed using one or more first algorithms, examples of which include: image processing algorithms, contrast enhancement algorithms, feature detection algorithms, segmentation algorithms (e.g., threshold algorithms). One or more of these exemplary algorithms can be provided, for example, using a library, examples of which include: OpenCV, Scikit-Image, SciPy, NumPy, and other libraries. For example, a threshold transformation can be used to convert temperature-based image data into a black and white image as an exemplary image processing algorithm. Optionally, the temperature-based image data can be transformed using a Gaussian blur filter to remove (e.g., small-scale) image noise and / or sharpened using an erosion algorithm, for example to clarify a blurred image. Optionally, the black and white image can be converted into a contour image, for example, using a Sobel edge detection algorithm.

[0257] An exemplary implementation of the determination of the geometric structure representation is performed using an image processing algorithm, examples of which include: edge detection, Fourier high pass filter, threshold filter, Fourier low pass filter, color value difference analysis, object detection, geometric structure detection, training algorithm.

[0258] Examples of edge detection algorithms include: Sobel edge detection, Canny edge detection. An exemplary library that provides analysis of color value differences is the so-called color math library. Examples of algorithms for object recognition include: YOLO ("You Only Look One", referring to a class of end-to-end deep learning models for fast object recognition), RCNN (area-based convolutional neural network), Faster-RCNN, for example, provided using libraries such as OpenCV or TensorFlow. Examples of algorithms for geometric structure recognition include: Hough transform (in OpenCV).

[0259] An exemplary implementation of object recognition using the YOLO algorithm includes a first step in which a region of the temperature-based image is identified that shows the collector head with a certain high degree of certainty. A second step is identifying edges or salient points in the region.

[0260] An exemplary implementation of determining a geometry indication representing at least one geometric characteristic of a collector may be implemented as follows:

[0261] Converting the image data into a blurred image using a transformation (also called transforming);

[0262] Converting the blurred image to a black and white image using a filter (also called filtering);

[0263] Converting a black and white image into a contour image using an edge detection algorithm (also referred to as edge detection); determining one or more boundary points of a smooth contour line, and determining a contour model (e.g., a vector image as an exemplary contour model, which is also referred to as a vector model) based thereon;

[0264] determining region contents of closed contours in the contour image (e.g., based on a vector model), e.g., using an algorithm configured for this purpose;

[0265] For example, determining feature geometric parameters as geometric indications of a closed contour in a contour image (e.g., according to a vector model) based on coordinates of the outermost points of the contour (examples include: height of the collector head, opening angle of the collector head tip, etc.);

[0266] Further contour features are optionally determined, for example by using algorithms configured for this purpose (eg using known mathematical operations) as geometric structure indicators (eg contour moments, center of gravity and perimeter of one or more contours).

[0267] An exemplary implementation of determining the collector state based on the geometric structure indication is performed using one or more second algorithms (examples of which include: reference comparison algorithms, statistical algorithms such as those provided from libraries, examples of which include: numPy, Pandas). For example, a shape matching algorithm (e.g., matchShapes from OpenCV library) can be used to convert the geometric structure indication into the collector wear state as a comparison algorithm. Optionally, a projection correction can be used to transform the geometric structure indication to compensate for the effect of the viewing angle, and the projection correction can be used alternatively or additionally to select a suitable reference model.

[0268] An exemplary implementation of the shape comparison algorithm includes comparing the detected surface area of ​​the collector head with the detected surface area of ​​the same collector head in a new condition (as a reference).

[0269] An exemplary implementation of determining the collector state based on the geometric structure indication may be implemented as follows:

[0270] comparing the geometric structure indication to a reference, such as using matchShape as an exemplary shape comparison algorithm;

[0271] determining one or more differences between the geometry indication (e.g., collector head height or other geometry characteristic of the collector) and the reference based on comparing the geometry indication to the reference (e.g., one or more geometry indications thereof);

[0272] comparing one or more difference values ​​to a standard, which may be, for example, a threshold value for deviation in collector head height (or other geometric characteristic of the collector);

[0273] classifying the geometric indication based on a comparison of the one or more difference values ​​to the indicator;

[0274] Examples of references include: an indication of the geometry of a reference collector determined in a similar manner as explained above; a model of the reference collector; a statistical model of the reference collector.

[0275] An exemplary implementation of the output of instructions based on the state of a machine collector using the generation of a message according to a communication protocol. The message may, for example, include an indication of the state of the machine collector, such as a result of a classification, etc. The message may, for example, include a warning and / or instruction to change the machine collector. The message may, for example, include a symbol output on a display device (e.g., a display), which visually shows the wear state of the collector using color. The message may, for example, be addressed to a graphics driver that controls the display device and / or a machine operator and / or a machine control system (e.g., containing instructions such as "stop moving forward"). Examples of communication protocols include: TCP / IP, UDP, eBus, USB, ProfiBus, CANopen (a communication protocol based on a controller area network (CAN) bus).

[0276] As described above, it is understood that the embodiments described herein can be applied to various types of excavators, such as cutters (e.g., rock cutters), and the like, particularly those excavators equipped with a rotating cutting drum having a conical collector. Examples of such excavators include so-called roadheaders, continuous miners, shearer loaders, horizontal cutters, surface miners, roadheaders, and drum cutters, which are typically used to excavate material (e.g., a growing or otherwise large and extensive body of rock), which are associated with the ground (e.g., loosening the strata from a layer (e.g., a rock layer) of the ground, so as to, for example, advance into the ground (also known as a tunnel). Other examples of such excavators also include so-called crushers (e.g., drum crushers or roller crushers, cone crushers, or in the form of another crusher), which are used to crush blocky (or other loose) materials (e.g., blocks or other materials loosened from the ground). In other words, the term "excavation" can be generally understood to refer to breaking (e.g., pulverizing) solid material (e.g., agglomerates or grinding layers, such as rock layers) (e.g., crushing (e.g., breaking into multiple smaller bodies) material) so as to form bulk material or at least reduce the grain size. By analogy, such a crusher (e.g., a rock crusher) can include a drum on which one or more collectors are mounted (e.g., in corresponding holders), exemplarily one or more conical collectors are mounted in corresponding collector holders, which collector holders are used, for example, in combination with an exemplary infrared camera and data processing system.

Claims

1. A mining system, comprising: an excavator, the excavator preferably being configured as a crusher or a cutter, the excavator comprising at least one mechanical collector or a collector holder for holding the mechanical collector, and being configured to excavate material using the mechanical collector; at least one infrared camera for sensing image data representative of the machine collector and preferably the collector holder; A data processing device, the data processing device being configured to: determining an indication of at least one geometric characteristic of the machine collector based on the image data; Determining a status of the machine collector based on the indication; • Preferably outputting indications and / or instructions based on the status of the machine collector.

2. The excavation system according to claim 1, wherein: The at least one infrared camera is directed toward the collector holder and / or the movement path of the machine collector.

3. The excavation system according to claim 1 or 2, wherein: The excavator includes a cutting head, and the machine collector is attached to the cutting head.

4. The excavation system according to claim 3, wherein: The at least one infrared camera is configured to sense a plurality of frames of the cutting head as image data per revolution of the cutting head.

5. The excavation system according to any one of claims 1 to 4, wherein: The state of the machine collector is indicative of the wear of the machine collector, preferably the symmetry and / or progression of the wear.

6. The excavation system according to any one of claims 1 to 5, wherein: The image data is stereoscopic image data.

7. The excavation system according to any one of claims 1 to 6, further comprising: • A camera protection device configured to protect the at least one infrared camera from solid particles.

8. The excavation system according to any one of claims 1 to 7, wherein: The determination of the indication includes: determining a data-based representation of the geometry of the machine collector based on the image data, preferably from the viewpoint of the at least one infrared camera; • wherein said indication comprises or is at least based on one or more characteristics of said data-based representation.

9. The excavation system according to any one of claims 1 to 8, wherein: The indication includes or is at least based on one or more of the following geometric characteristics of the data-based representation: ·perimeter; Center of gravity; Area; and / or shape; and / or • An angle enclosed by two edges of the data-based representation.

10. The excavation system according to any one of claims 1 to 9, ·in, The machine collector includes a marking that is embedded or cut into a collector head of the machine collector or the collector head is coated with the marking, wherein the collector head and the marker differ from each other in at least one thermal characteristic; wherein the indication is determined based on the marking, Wherein, the at least one thermal property preferably comprises emissivity and / or thermal conductivity.

11. A method comprising: Determining an indication of a geometrical property of the machine collector based on temperature-based image data representing the machine collector; Determining a status of the machine collector based on the indication; Preferably, an instruction is output, wherein the instruction is based on the state of the machine collector or indicates the state of the machine collector.

12. A computer program configured to perform the method according to claim 11.

13. A computer readable medium storing instructions which, when executed by a processor, cause the processor to perform the method of claim 11.

14. A data processing apparatus comprising one or more processors configured to perform the method according to claim 11.

15. A machine collector, comprising: a cutting member, the cutting member comprising a cutting edge; A mounting member for mounting a machine collector, the mounting member being rigidly connected to the cutting member; as well as a marking which is embedded in or cut into the cutting member, or with which the cutting member is coated, wherein said cutting member and said marking differ from each other in at least one thermal characteristic, The marking preferably comprises a plurality of strip-shaped and / or ring-shaped marking segments.

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