JP4971146B2 - 表面変更機械のコントロール方法 - Google Patents
表面変更機械のコントロール方法 Download PDFInfo
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- JP4971146B2 JP4971146B2 JP2007513784A JP2007513784A JP4971146B2 JP 4971146 B2 JP4971146 B2 JP 4971146B2 JP 2007513784 A JP2007513784 A JP 2007513784A JP 2007513784 A JP2007513784 A JP 2007513784A JP 4971146 B2 JP4971146 B2 JP 4971146B2
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/841—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine
- E02F3/842—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine using electromagnetic, optical or photoelectric beams, e.g. laser beams
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2045—Guiding machines along a predetermined path
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/05—Geographic models
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/30—Polynomial surface description
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- Geometry (AREA)
- Software Systems (AREA)
- General Physics & Mathematics (AREA)
- Structural Engineering (AREA)
- Computer Graphics (AREA)
- Theoretical Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Mathematical Physics (AREA)
- Optics & Photonics (AREA)
- Mechanical Engineering (AREA)
- Algebra (AREA)
- Mathematical Analysis (AREA)
- Mathematical Optimization (AREA)
- Remote Sensing (AREA)
- Pure & Applied Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Operation Control Of Excavators (AREA)
- Processing Or Creating Images (AREA)
- Image Processing (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Description
上記の高さのばらつきは、処理過程を細かくコントロールするために意図的に利用することもできる。したがって流動性材料からなる堆積物に対して、エッジを導出することができ、その高さにより、同時に***部の堀り崩しおよび凹部の充填が可能になる。
Claims (12)
- 表面変更機械(3)をコントロールする方法であって、
該方法は、
− 前記の機械(3)によって処理すべき表面の目標形状をモデリングするモデルを、データ点として準備するステップを有しており、
ただし、前記の処理すべき表面は、空間ポジション(P)のグリッドによって示されており、前記の目標形状は、処理すべき表面の形状でありかつ前記の機械によって目標にしたがって達成しようとする形状であり、
上記の方法はさらに、
− 前記の表面の実際形状を表す表面点(5)から形成されておりかつ測距式のスキャナシステムによって記録した点群(1c)を準備するステップを有しており、
上記の方法はさらに、
− 前記の表面点(5)のポジションを、走査過程用のスキャンシステムには既知である前記の点群のただ1つの固定点(B)に基づいて定めるステップと、
− 少なくとも2つの表面点(5)に少なくとも1つの空間ポジション(P)を対応させるステップとを有しており、ただし、多数の表面点(5)により、曲線または曲面を定め、当該の曲線または曲面は前記の表面の生じ得る実際形状を表すかまたは近似しており、
上記の方法はさらに、
− 当該の曲線または曲面を前記のコントロール指令に使用するステップを有することを特徴とする、
表面変更機械(3)をコントロールする方法。 - 前記のコントロール指令を導出する際、目標形状と点群(1c)との前記の比較により、前記の目標形状の空間ポジション(P)毎に、前記の表面の実際形状の少なくとも2つの空間ポジション(P)の表面点(5)を考慮する、
請求項1に記載の方法。 - 前記のグリッドの各空間ポジション(P)に、当該の空間ポジション(P)から所定の半径内にあるすべての表面点(5)を対応付ける、
請求項1または2に記載の方法。 - 対応付けられる前記の表面を、
− 最小誤差2乗法、
− ファジィ集合の手法、
− 画像処理法、
− パターン識別法、
− ヒューリスティック
のうちの少なくとも1つの手法によって導出する、
請求項3に記載の方法。 - 前記の表面の実際形状の空間位置(P)毎に前記のコントロール指令を導出する際、少なくとも2つの対応する表面点(5)の空間的な差分を考慮する、
請求項1から4までのいずれか1項に記載の方法。 - 前記の点群(1c)の準備には、前記の方法を実行中に当該の点群(1c)を更新することが含まれており、
ただし当該の更新は、処理される表面部分を走査して検出することによって行われる、
請求項1から5までのいずれか1項に記載の方法。 - 前記の点群(1c)を準備する際、
− 画像処理法および/または
− パターン認識法および/または
− スキャン固定点の絶対的な参照
によって前記の処理される表面部分を前記の点群(1c)に組み込む、
請求項6に記載の方法。 - 前記の点群(1c)は、表面点(5)の区別可能な部分集合からなり、
各部分集合には、特性量が対応付けられている、
請求項1から7までのいずれか1項に記載の方法。 - 前記の空間ポジション(P)に対応付けられる表面点(5)の数は、可変である、
請求項1から8までのいずれか1項に記載の方法。 - 前記の空間ポジション(P)に対応付けられる表面点(5)を集合にまとめて、当該の空間ポジション(P)に平均値を対応付ける、
請求項1から9までのいずれか1項に記載の方法。 - 各空間ポジション(P)に、所定数の表面点(5)を対応付け、
当該の所定数は、すべての空間ポジション(P)についての平均が1よりも大きい、
請求項1から10までのいずれか1項に記載の方法。 - 記録媒体への記録またはデータ信号の形式で、請求項1〜10の何れか1項に記載の方法を実施するコンピュータプログラム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP04012226.9 | 2004-05-24 | ||
EP04012226A EP1600564A1 (de) | 2004-05-24 | 2004-05-24 | Verfahren zur Steuerung einer oberflächenverändernden Maschine |
PCT/EP2005/005595 WO2005116348A1 (de) | 2004-05-24 | 2005-05-24 | Verfahren zur steuerung einer oberflächenverändernden maschine |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2008500471A JP2008500471A (ja) | 2008-01-10 |
JP2008500471A5 JP2008500471A5 (ja) | 2011-11-04 |
JP4971146B2 true JP4971146B2 (ja) | 2012-07-11 |
Family
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Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2007513784A Active JP4971146B2 (ja) | 2004-05-24 | 2005-05-24 | 表面変更機械のコントロール方法 |
Country Status (7)
Country | Link |
---|---|
US (1) | US7899598B2 (ja) |
EP (2) | EP1600564A1 (ja) |
JP (1) | JP4971146B2 (ja) |
CN (1) | CN1957145B (ja) |
AU (1) | AU2005248053B2 (ja) |
CA (1) | CA2567752C (ja) |
WO (1) | WO2005116348A1 (ja) |
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2004
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- 2005-05-24 JP JP2007513784A patent/JP4971146B2/ja active Active
- 2005-05-24 CN CN2005800168321A patent/CN1957145B/zh active Active
- 2005-05-24 EP EP05752617.0A patent/EP1753921B1/de active Active
- 2005-05-24 WO PCT/EP2005/005595 patent/WO2005116348A1/de active Application Filing
- 2005-05-24 US US11/569,556 patent/US7899598B2/en active Active
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CA2567752A1 (en) | 2005-12-08 |
US20070214687A1 (en) | 2007-09-20 |
CA2567752C (en) | 2012-10-16 |
EP1753921B1 (de) | 2013-07-10 |
WO2005116348A1 (de) | 2005-12-08 |
AU2005248053A1 (en) | 2005-12-08 |
AU2005248053B2 (en) | 2009-09-24 |
EP1600564A1 (de) | 2005-11-30 |
US7899598B2 (en) | 2011-03-01 |
EP1753921A1 (de) | 2007-02-21 |
CN1957145B (zh) | 2010-07-21 |
CN1957145A (zh) | 2007-05-02 |
JP2008500471A (ja) | 2008-01-10 |
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