JP6682371B2 - 建設機械の制御システム - Google Patents
建設機械の制御システム Download PDFInfo
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- JP6682371B2 JP6682371B2 JP2016117754A JP2016117754A JP6682371B2 JP 6682371 B2 JP6682371 B2 JP 6682371B2 JP 2016117754 A JP2016117754 A JP 2016117754A JP 2016117754 A JP2016117754 A JP 2016117754A JP 6682371 B2 JP6682371 B2 JP 6682371B2
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- unit
- optical axis
- target
- light
- construction machine
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- 238000010276 construction Methods 0.000 title claims description 59
- 230000003287 optical effect Effects 0.000 claims description 207
- 238000005259 measurement Methods 0.000 claims description 98
- 238000001514 detection method Methods 0.000 claims description 86
- 238000004891 communication Methods 0.000 claims description 8
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 238000003384 imaging method Methods 0.000 description 13
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 7
- 239000000725 suspension Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 230000004907 flux Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000465 moulding Methods 0.000 description 2
- 239000010426 asphalt Substances 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 239000005304 optical glass Substances 0.000 description 1
Images
Classifications
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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
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
- E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
- G01S3/782—Systems for determining direction or deviation from predetermined direction
- G01S3/783—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived from static detectors or detector systems
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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
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
- G01S7/4812—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver transmitted and received beams following a coaxial path
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
- G01S5/163—Determination of attitude
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Measurement Of Optical Distance (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Road Paving Machines (AREA)
Description
2 測定装置本体
3 托架部
4 台座部
9 上下駆動モータ
11 上下回転角検出器
14 左右駆動モータ
16 左右回転角検出器
17 測距光射出部
18 受光部
19 測距部
21 撮像部
22 射出方向検出部
24 ターゲット検出光射出部
25 ターゲット検出光受光部
26 追尾部
27 演算制御部
30 通信部
32 発光素子
35 受光光軸
37 受光素子
39 光軸偏向部
39a 測距光軸偏向部
39b 反射測距光軸偏向部
41a,41b 光学プリズム
47 撮像光軸
56 ターゲット検出光受光素子
61 ペーバー
63 機体フレーム
64 脚部
65 走行装置
66 機械制御部
67 スクリード
71 傾斜センサ
73a〜73c ターゲット
Claims (9)
- 土木工事を施工する建設機械と、該建設機械の位置、姿勢を測定する測定装置を具備する建設機械の制御システムであって、前記建設機械は該建設機械の所要位置に設置された少なくとも2のターゲットと、前後方向の傾斜を検出する傾斜検出部と、前記建設機械を駆動させる駆動部と、該駆動部を制御する機械制御部と、前記測定装置との間で通信可能な機械通信部とを具備し、前記測定装置は、測距光を射出し、反射測距光を受光して測距を行う測距部と、測距光、反射測距光の共通光路に設けられ、測距光、反射測距光の光軸を同一の偏角、同一の方向で偏向する光軸偏向部と、該光軸偏向部による偏角、偏向方向を検出する射出方向検出部と、前記測距部の測距結果と前記射出方向検出部の検出結果に基づき測定点の3次元位置を測定し、測定結果を前記機械制御部に通信する測定制御部とを具備し、該測定制御部は前記光軸偏向部を制御して前記測距部に前記ターゲットを交互に視準させ、前記ターゲットを時分割で交互に測定させ、該ターゲットの3次元位置と前記傾斜検出部の検出結果に基づき前記建設機械の向きと前後左右の傾斜を演算し、前記機械制御部は前記測定制御部の演算結果に基づき前記駆動部を制御する建設機械の制御システム。
- 前記傾斜検出部は、前記建設機械の機体フレームに設けられた傾斜センサである請求項1に記載の建設機械の制御システム。
- 前記ターゲットが前記建設機械の3箇所に設けられ、前記測定装置により3の前記ターゲットの3次元位置を測定し、前記測定制御部は3の前記ターゲットの3次元位置に基づき前記建設機械の向きと前後左右の傾斜を演算する様構成された請求項1に記載の建設機械の制御システム。
- 前記測定装置がターゲット検出光を射出するターゲット検出光射出部と、反射ターゲット検出光を受光するターゲット検出光受光部と、反射ターゲット検出光を受光することで前記ターゲットを検出し追尾する追尾部とを具備し、該追尾部は測定対象の前記ターゲットを切替える度に前記測距部に測定対象の前記ターゲットを検出させ視準させる請求項1〜請求項3のうちいずれか1項に記載の建設機械の制御システム。
- 前記測定装置は、前記測距部と、前記光軸偏向部と、前記射出方向検出部と、前記測定制御部とを収納する測定装置本体と、該測定装置本体を上下方向及び左右方向に回転可能に支持する支持部と、前記測定装置本体を上下方向及び左右方向に回転する回転駆動部と、前記測定装置本体の上下角、左右角を検出する角度検出器とを具備する請求項1〜請求項4のうちいずれか1項に記載の建設機械の制御システム。
- 前記光軸偏向部は、中心部に形成され、測距光を所要の偏角、所要の方向で偏向する測距光軸偏向部と、外周部に形成され、該測距光軸偏向部と同一の偏角、同一の方向で反射測距光を偏向する反射測距光軸偏向部とを有する請求項1〜請求項5のうちいずれか1項に記載の建設機械の制御システム。
- 前記光軸偏向部は、重なり合う一対の円板状の光学プリズムで構成され、該光学プリズムのそれぞれは独立して回転可能である請求項6に記載の建設機械の制御システム。
- 前記光軸偏向部を構成する前記光学プリズムは、フレネルプリズムである請求項7に記載の建設機械の制御システム。
- 測距光の光軸と平行で既知の関係を有する撮像光軸を有する撮像部を更に具備し、前記光軸偏向部により偏向される測距光の偏向範囲と、前記撮像部の画角とが一致又は略一致する様構成された請求項1〜請求項8のうちいずれか1項に記載の建設機械の制御システム。
Priority Applications (2)
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JP2016117754A JP6682371B2 (ja) | 2016-06-14 | 2016-06-14 | 建設機械の制御システム |
US15/620,929 US9932719B2 (en) | 2016-06-14 | 2017-06-13 | Control system for construction machine |
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JP2016117754A JP6682371B2 (ja) | 2016-06-14 | 2016-06-14 | 建設機械の制御システム |
Publications (2)
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JP2017223492A JP2017223492A (ja) | 2017-12-21 |
JP6682371B2 true JP6682371B2 (ja) | 2020-04-15 |
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US (1) | US9932719B2 (ja) |
JP (1) | JP6682371B2 (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2017042402A2 (de) * | 2016-11-10 | 2017-03-16 | Leica Geosystems Ag | Laserscanner |
US11243531B2 (en) * | 2018-08-09 | 2022-02-08 | Caterpillar Paving Products Inc. | Navigation system for a machine |
CN110629636B (zh) * | 2019-09-29 | 2020-05-19 | 徐州工业职业技术学院 | 一种摊铺机熨平板负仰角纠正*** |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2688960B2 (ja) * | 1988-12-12 | 1997-12-10 | 本田技研工業株式会社 | 自走車の操向位置検出装置 |
US4981354A (en) * | 1989-03-13 | 1991-01-01 | The United States Of America As Represented By The Secretary Of The Air Force | Optical differential tilt sensor |
JPH0445415A (ja) * | 1990-06-13 | 1992-02-14 | Hamamatsu Photonics Kk | 走査型光検出装置 |
US5671160A (en) * | 1995-06-05 | 1997-09-23 | Gcs Properties | Position sensing system |
JPH09125700A (ja) * | 1995-11-07 | 1997-05-13 | Fujita Corp | 振動ローラの遠隔操作支援システム |
SE9704398L (sv) * | 1997-11-28 | 1998-12-14 | Spectra Precision Ab | Anordning och förfarande för att bestämma läget för bearbetande del |
JP2002161696A (ja) * | 2000-11-27 | 2002-06-04 | Kumagai Gumi Co Ltd | トンネル掘削機の位置検出システム |
JP2004212058A (ja) | 2002-12-26 | 2004-07-29 | Topcon Corp | 作業位置測定装置 |
JP4328654B2 (ja) | 2004-03-23 | 2009-09-09 | 株式会社トプコン | レーザ測定方法及びレーザ測定システム |
US20060198700A1 (en) * | 2005-03-04 | 2006-09-07 | Jurgen Maier | Method and system for controlling construction machine |
JP5469899B2 (ja) * | 2009-03-31 | 2014-04-16 | 株式会社トプコン | 自動追尾方法及び測量装置 |
JP5968626B2 (ja) * | 2012-01-11 | 2016-08-10 | 株式会社トプコン | アタッチメント装置及びトータルステーション |
EP2620746A1 (de) * | 2012-01-30 | 2013-07-31 | Hexagon Technology Center GmbH | Vermessungsgerät mit Scanfunktionalität und Einzelpunktmessmodus |
US8788154B2 (en) | 2012-09-12 | 2014-07-22 | Kabushiki Kaisha Topcon | Construction machine control method and construction machine control system |
US9279679B2 (en) | 2012-09-12 | 2016-03-08 | Kabushiki Kaisha Topcon | Construction machine control method and construction machine control system |
EP2789739A1 (en) * | 2013-04-10 | 2014-10-15 | Leica Geosystems AG | Automatic track alignment control kit and method for automated track alignment |
JP6560596B2 (ja) | 2015-11-18 | 2019-08-14 | 株式会社トプコン | 測量装置 |
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2016
- 2016-06-14 JP JP2016117754A patent/JP6682371B2/ja active Active
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2017
- 2017-06-13 US US15/620,929 patent/US9932719B2/en active Active
Also Published As
Publication number | Publication date |
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JP2017223492A (ja) | 2017-12-21 |
US9932719B2 (en) | 2018-04-03 |
US20170356158A1 (en) | 2017-12-14 |
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