EP2395150A2 - Device and procedure to determine the position of a work device - Google Patents

Abstract

The device has two rotating lasers (3, 4) for producing rotary light beams (3a, 4a) and separated from each other and from a workpiece i.e. vibration plate (1). A light receiver (5) temporarily receives the beams. An evaluation device (7) determines a current position of the receiver and the workpiece based on well-known places e.g. edge or outer side, of a predetermined area (2), and is coupled with the rotating lasers and the receiver. The rotating lasers are arranged at the places, where the receiver receives the beams from the rotating lasers at a time point. An independent claim is also included for a method for determining a position of a workpiece in a predetermined area.

Description

The invention relates to a device and a method for determining the current position of a working device, in particular a construction device, such as a working device. a vibration plate on a construction site.

It is known to determine the current position of an object in an inertial system (earth coordinate system) using GPS (Global Positioning System). In addition, very costly systems using laser tracking are known.

The GPS system requires the reception of signals from multiple satellites. Therefore, it usually works only in largely open terrain with satisfactory accuracy. Various aids can be used to improve the quality of the GPS systems and thus the accuracy of the position determined. This includes e.g. the additional evaluation of the Russian GLONASS satellites, the reduction of reusable effects by means of signal processing or the establishment of a phase-differential correction transmitter on a geodetically measured point. Statistical methods can be used to further improve the measurements. However, the repetition rate of the GPS signals is only one second. If the object to be determined during this time moves reproducibly or predictably, its position coordinates can be interpolated to determine the location of the object within this period of one second with sufficient accuracy.

However, if the object to be monitored moves on incomprehensible, rather random tracks with directions and speeds of change of motion, a statistical evaluation is hardly possible. A determination of the current position in real time is thus impossible.

From the DE 103 17 160 A1 is a system for automatically performing and monitoring a soil compaction using a vibrating plate known. A central aspect of the system is that the current position of the soil compacting device is detected and adjusted with a predetermined path. In order to reliably drive over the soil area to be compacted at all points, it is essential that the current position of the soil compacting device can be determined with sufficient accuracy and as far as possible in real time. The accuracy achievable with GPS systems on moving objects of at most one to two meters is not sufficient, since the working width of a typical vibration plate is less than one meter.

For a comprehensive compaction control, it is therefore necessary to determine the position of the ground compaction device to be monitored (in particular a vibrating plate) with an accuracy of ± 0.1 m. If, in addition, soil compaction is to be automated with the aid of a corresponding system, an accuracy of 0.02 m to 0.05 m is required. In addition, detection of the current orientation of the soil compaction device is desirable.

The invention is therefore based on the object to provide an apparatus and a method for determining the position of a working device, with which the position can be determined with far greater accuracy than is possible with known systems.

The object is achieved by devices according to claims 1 and 2 and by the method according to claims 14 and 15.

A device for determining the position of a working device in a predetermined area has at least two light emitting devices which can be arranged separately from the working device and separately from one another at a known location for generating a respective light beam rotating about a vertical axis. Furthermore, a light receiving device which can be arranged on the working device for temporarily receiving the light beams and an evaluation device coupled to the light emitting devices and the light receiving device is provided for determining the current position of the light receiving device and thus of the working device on the basis of the known locations at which the light emitting devices are arranged, and due to the times at which the light receiving device receives the light beams from the light emitting devices, respectively.

Thus, at least two light emitting devices are provided separately from the implement. The light-emitting devices can be arranged, for example, at the edge or else outside the predetermined area to be monitored. Your exact location should be determined with utmost precision, eg geodetic.

The light emitting devices each generate a rotating light beam that sweeps over at least the predetermined area in which the implement is to move during operation.

In this way it is achieved that the implement is alternately detected by both light beams. It is expedient if it is ensured that the implement is never exactly simultaneously irradiated by two light beams of the two light emitting devices.

The provided on the implement light receiving device detects each of the reception of the light beam currently (briefly) on the implement and thus on the light receiving device.

Due to the times at which the two light beams are received and based on the known locations at which the two light emitting devices are positioned, or due to the relative position of the two light emitting devices to each other, the evaluation device can e.g. Determine the current location of the light receiving device and thus also of the implement with the help of the known triangulation.

It is useful if the light rays rotate at a frequency higher than 1 s ^-1 to determine the exact location of the implement several times per second.

In an alternative embodiment, the light emitting device and the light receiving device are reversed. In this case, only one light emitting device is provided, which is however arranged on the working device and emits a light beam rotating about the vertical axis. Separated from the implement and separated from each other at least two light receiving devices are provided at a known location, for example, at the edge of the given area, which can temporarily receive the light beam from the light emitting device. The evaluation device is coupled to the light receiving devices and the light emitting device in order to analogously as in the variant described above, the current position of the light emitting device and thus of the implement due to the known locations and due to the times at which the light receiving devices each receive the light beam from the light emitting device receive, determine.

The evaluation device can be provided on the implement itself, but also spatially separated from the implement, wherein a data transmission device between the light receiving device (or in the alternative embodiment between the light receiving means) and the evaluation is provided for transmitting information parameters, the light receiving device upon receiving receives the respective light beam. In addition, the evaluation device can also be coupled to the one light-emitting device or the plurality of light-emitting devices, as will be explained later.

The evaluation device thus receives the information which is necessary, e.g. Use the triangulation method to precisely determine the current position of the implement. For this purpose, the evaluation device is also able, from the respective times at which the light receiving device receives a light signal, suitable angle -. in the horizontal plane - to determine on the basis of which the triangulation procedure can be carried out. The angles may be defined in terms of an absolute coordinate system (e.g., earth coordinate system) or relative relative system of coordinates (e.g., equipment coordinate system or individual coordinate system for each light emitting device).

The information parameters that can be received by the light receiving device when the light beam strikes can be selected from the group light reception signal, time information or identifier.

As a light receiving signal, a signal is generated at the moment when a light beam is currently received by the light receiving device. When the light beam is bright or strong enough, it is detected by the light receiving device, which then generates the light receiving signal. In direct coupling with the evaluation, the evaluation can thus determine exactly the time at which a light beam impinges on the light receiving device.

As time information, a signal can be transmitted which transmits time information, for example in an absolute time system, to the evaluation device. This includes in particular the exact time at which the light receiving device has detected an impact of a light beam. In this case, the light receiving device contains its own timer with which the desired time information can be generated and then sent to the evaluation device.

It is also possible to transmit an identifier of the respectively received light beam. Thus, all light beams alike or even each light beam can be individually provided with its own identifier. The identifier may be that the light beam consists of a particular sequence of light rays (e.g., laser pulses). But it is also possible to emit light beams with different wavelengths, so that it can be determined due to the diversity of the wavelengths, from which light emitting device the respective light beam originates.

The light beam can be designed in the form of a spot beam or a vertical fan shape. When the light beam is spot beam shaped, it is necessary to provide a sufficiently large detection surface at the receiver to ensure that the light beam also strikes the light receiving device during each revolution. For this reason, it may be more appropriate to radiate the light beam vertically-fan-shaped to irradiate a sufficiently high space above the area to be traveled. If the light beam is fanned out as a vertical light band, it is sufficient if the receiver is punctiform.

In contrast, if the light beam is formed as a spot beam, then the receiver must have a vertical extension. If the location at which the light beam impinges on the receiver can be determined, it is also possible to generate height information about the relative height ratio between the light emitting device and the light receiving device.

The light emitting device may include a rotary laser device for generating the rotating light beam.

Additionally or alternatively, the circulating light beam can also be generated by one or more rotating light sources (laser, diode arrays), one or more circulating mirrors or one or more circulating lenses. It is also possible, one after the other circumferentially distributed light sources on and off, to produce each bundled light rays, which cause a circulating effect by clever switching on and off. This creates a seemingly continuously circulating jet.

The rotational frequency of the two light beams is the same in this variant. In another embodiment, the circulating frequencies can also be set differently, it being expedient to set the frequency or circulation time of a respective light beam to a prime number in order to create as few undefined states that can be caused by the simultaneous occurrence of two light beams on the light receiving device.

The light receiving device may comprise a reflector, a transponder and / or a receiver (e.g., a photodetector) for generating a signal representing the information parameter.

If the light receiving device is constituted only by one or more reflectors (e.g., cat's eyes), another light receiving means must be provided on the light emitting device which receives the light beam reflected from the reflector and passes the necessary information to the evaluating device. In this case, by definition, the light receiving device should consist of both the reflector and the spatially separated from the reflector provided actual photosensitive element. Since the reflector is arranged in this case on the working device, this arrangement is to be understood in the sense of claim 1 such that the light receiving device is arranged on the working device. In this case, it is not harmful that the light receiving device has other components (photosensitive element on, for example, the respective light emitting device) that are not disposed on the working device.

The light receiving device can also be formed by one or more transponders, which transmit a signal (information parameter) immediately after receiving a light beam. This signal may optionally be provided with an identifier. The signal can be transmitted in the form of a light pulse, but also as a radio or infrared signal to the evaluation.

Finally, one or two receivers may also be provided on the light receiving device, which detect the impact of the light beam and process it accordingly, as already described above.

Two light receiving devices may be provided on the working device, in which case the evaluation device may be designed to determine an alignment of the light receiving devices and thus of the working device over ground due to the light beams received by the two light receiving devices. In this case, two light emitting devices are thus provided which each strip a light beam over the area to be monitored to let. The respective light beam is detected by the two light receiving devices. Due to the different time and angle information can be precisely determine the orientation of the two light receiving devices and thus also this bearing working device. The alignment of the working device makes it possible to automatically generate more precise control commands, for example, in the case of automatic control of a vibration plate.

A synchronizing device for synchronizing the evaluation device with - according to a variant - the light emitting device which can be arranged on the working device or - according to the other variant - the light emitting devices which can be arranged separately from the working device, be provided.

In order to determine the current location of the implement, it is necessary that the light emitting devices and the evaluation are synchronized with each other. The synchronization of the light emitting devices and the evaluation device and possibly also of the light receiving device is important to avoid the e.g. to be able to precisely determine the angle important for the triangulation method. For synchronization, the definition of a reference system is usually required, e.g. the two light emitting devices can also relate to each other.

As a so-called "zero angle" for the output of a synchronization signal, e.g. a compass direction or an initially set angle are set. Whenever the light beam assumes the predetermined compass direction or the preset angle is passed, the synchronization signal is generated by the light emitting device and transmitted to the evaluation device.

It is also possible to detect the passage of the light beam at the respective other, opposite light-emitting device, so that the light-emitting devices refer to each other.

Additionally or alternatively, the passage of the light beam can be detected at another reference location and determined as a zero angle.

With the aid of the evaluation device, it is then possible to detect the angle which the light beam passes over between the zero angle and the irradiation of the light receiving device. Since in this way the angles of both light emitting devices are determined, can be - taking into account the known positions of the light emitting devices - the location of the light receiving device and thus determine the implement.

The above description of the synchronizer and the associated synchronizing method relates to an arrangement in which two light emitting devices irradiate a light receiving device. In other arrangements, e.g. a single light source (light emitting device) generates a rotating light beam which is detected by a plurality of light receiving devices, a synchronization between the light emitting device and the evaluation device is also required in order to determine the respective angle can.

• Ausrichten der Lichtstrahlen aller Lichtsendeeinrichtungen derart, dass sie stets parallel zueinander ausgerichtet sind. Dabei werden z.B. die Lichtsendeeinrichtungen exakt mit gleicher Drehgeschwindigkeit betrieben und zwar so, dass die Lichtstrahlen immer exakt in die gleiche Richtung strahlen, also parallel zueinander verlaufen. Bei entsprechender Anordnung in Bezug auf das zu überwachende Gebiet ist es sichergestellt, dass die Lichtstrahlen nie gleichzeitig auf die Lichtempfangseinrichtung auftreffen können.
• Bestimmen einer jeweiligen Relativposition des Lichtstrahls zu der ihn aussendenden Lichtsendeeinrichtung und Bestimmen einer Relativposition dieses Lichtstrahls über Grund aufgrund einer vorbekannten Ausrichtung der Lichtsendeeinrichtung über Grund. Hierbei ist die jeweilige Relativstellung des Lichtstrahls in Bezug auf das Gehäuse der Lichtsendeeinrichtung bekannt. Wenn das Gehäuse an dem bekannten Ort in der entsprechenden Weise ausgerichtet wird, lässt sich dementsprechend auch immer die Richtung des Lichtstrahls in Bezug auf diesen Ort feststellen.
• Vorgeben der Reihenfolge der Lichtstrahlen beim Auftreffen auf die Lichtempfangseinrichtung und Ansteuern der Lichtsendeeinrichtungen derart, dass die vorgegebene Reihenfolge stets eingehalten wird. Hierbei werden die Lichtsendeeinrichtungen z.B. durch die Auswerteeinrichtung derart angesteuert, dass während eines Messzyklus stets der Lichtstrahl der einen Lichtsendeeinrichtung kurz vor dem Lichtstrahl der anderen Lichtsendeeinrichtung auf die Lichtempfangseinrichtung auftrifft. Auf diese Weise ist eine eindeutige Zuordnung zwischen den empfangenen Lichtstrahlen und den Lichtsendeeinrichtungen möglich. Somit wird der Fehler, der sich durch einen Ortswechsel des Arbeitsgeräts zwischen den Auftreffzeitpunkten der verschiedenen Lichtstrahlen auf der jeweiligen Empfangseinrichtung ergeben kann, reduziert.

The synchronization device is designed in particular for carrying out at least one of the following measures:

• Aligning the light beams of all light emitting devices such that they are always aligned parallel to each other. In this case, for example, the light emitting devices are operated exactly at the same rotational speed and in such a way that the light rays always radiate exactly in the same direction, ie parallel to each other. With appropriate arrangement with respect to the area to be monitored, it is ensured that the light beams can never impinge on the light receiving device at the same time.
• Determining a respective relative position of the light beam to the light emitting device emitting it and determining a relative position of this light beam over ground due to a previously known orientation of the light transmitting device over ground. Here, the respective relative position of the light beam with respect to the housing of the light emitting device is known. Accordingly, if the housing is oriented in the known manner in the appropriate manner, the direction of the light beam with respect to that location can always be determined.
• Specifying the order of the light beams when hitting the light receiving device and driving the light emitting devices such that the predetermined order is always maintained. Here, the light emitting devices are controlled, for example by the evaluation such that during a measuring cycle always the light beam of a light emitting device shortly before the light beam of the other light emitting device impinges on the light receiving device. In this way, a unique association between the received Light beams and the light emitting devices possible. Thus, the error, which can result from a change of location of the working device between the time of impact of the different light beams on the respective receiving device is reduced.

The synchronization of the transmitting devices is also possible because the light beam from a transmitting device impinges on the other transmitting device and is detected there. In this way, the axis extending between the two light emitting devices can be determined, so that later the angle of rotation of the rotating light beam can be tracked with respect to this axis.

• Vergleichen der aktuell bestimmten Position mit der davor zuletzt bestimmten Position; daraus Bestimmen der aktuellen Fortbewegungsgeschwindigkeit und/oder Fortbewegungsrichtung des Arbeitsgeräts; Hochrechnen einer Veränderung der Position des Arbeitsgeräts unter Berücksichtigung der aktuellen Fortbewegungsgeschwindigkeit und/oder Fortbewegungsrichtung sowie eines Zeitverzugs seit dem letzten Bestimmen der aktuellen Position. Bei dieser Maßnahme wird somit differenziell die Fortbewegungsgeschwindigkeit und gegebenenfalls auch die Fortbewegungsrichtung des Arbeitsgeräts ermittelt. Daraus kann die weitere Bewegung des Arbeitsgeräts wenigstens grob prognostiziert werden, so dass die soeben aktuell bestimmte, aber doch schon in der Vergangenheit liegende Position des Arbeitsgeräts korrigiert werden kann. Geht man davon aus, dass eine Vibrationsplatte z.B. auf 10 cm präzise geführt werden muss, kann hierdurch eine wertvolle Verbesserung der Positionsbestimmungsgenauigkeit erreicht werden.
• Hochrechnen einer Veränderung der Position unter Berücksichtigung der aktuellen Maschinendaten des Arbeitsgeräts. Bei dieser Variante ist eine zusätzliche Maschinendatenerfassungseinrichtung erforderlich, mit der wesentliche Maschinenparameter erfasst werden können, die für die Fortbewegung des Arbeitsgeräts von Bedeutung sind. Hierzu gehören z.B. die Parameter Motordrehzahl, Schwingungsfrequenz, Schwingungsamplitude, Lenkverhalten (z.B. unsymmetrische Ansteuerung bei lenkfähigen Schwingungserregern); andere Lenkmaßnahmen.
• Hochrechnen der tatsächlichen aktuellen Position aufgrund der durch die Auswertung der erfassten Lichtstrahlen aktuell bestimmten Position und unter Berücksichtigung der bisherigen Geschwindigkeit und/oder Bewegungsrichtung des Arbeitsgeräts und unter Berücksichtigung von einer durch einen an dem Arbeitsgerät vorgesehenen Bewegungssensor erfassten Bewegungsänderung. Bei dieser Variante wird somit zunächst die aktuelle Position des Arbeitsgeräts mit Hilfe der Lichtstrahlen in der oben beschriebenen Weise bestimmt. Darüber hinaus kann auf dem Arbeitsgerät wenigstens ein Bewegungssensor vorgesehen sein, der die Bewegung des Arbeitsgeräts erfasst. Ein derartiger Bewegungssensor kann z.B. als Beschleunigungsgeber, Drehratengeber, Neigungssensor und/oder Kompass ausgebildet sein. Die von dem Bewegungssensor erfasste Änderung des Arbeitsgeräts, z.B. eine Richtungsänderung oder eine Drehung, wird zur Korrektur genutzt, um Fehler, die sich dadurch ergeben, dass die Lichtstrahlen zu verschiedenen Zeitpunkten die verschiedenen Empfangseinrichtungen erfassen, auszugleichen.

The evaluation device may have a correction device for correcting the position of the working device currently determined on the basis of the evaluation of the detected light beams with the aid of at least one of the following measures:

• Comparing the currently determined position with the previously determined position; determining therefrom the current travel speed and / or travel direction of the implement; Upsetting a change in the position of the work implement taking into account the current travel speed and / or travel direction and a time delay since the last determination of the current position. In this measure, the speed of movement and possibly also the direction of movement of the implement is thus determined differentially. From this, the further movement of the implement can at least roughly be predicted, so that the just currently determined, but already lying in the past position of the implement can be corrected. Assuming that a vibrating plate has to be precisely guided, for example, to 10 cm, a valuable improvement of the positioning accuracy can be achieved thereby.
• Upsetting a change in position taking into account the current machine data of the implement. In this variant, an additional machine data acquisition device is required, with the essential machine parameters can be detected, which are important for the movement of the implement. These include, for example, the parameters engine speed, oscillation frequency, oscillation amplitude, steering behavior (eg asymmetrical activation in the case of steerable vibration exciters); other steering measures.
• Upsetting the actual current position based on the currently determined by the evaluation of the detected light rays position and taking into account the previous speed and / or direction of movement of the implement and taking into account a detected by a provided on the implement motion sensor change. In this variant, therefore, the current position of the working device is first determined by means of the light beams in the manner described above. In addition, on the implement at least one motion sensor may be provided which detects the movement of the implement. Such a motion sensor can be designed, for example, as an acceleration transmitter, rotation rate sensor, tilt sensor and / or compass. The change in the implement detected by the motion sensor, such as a change of direction or rotation, is used for correction to compensate for errors resulting from the light beams detecting the various receiving means at different times.

In general, it may therefore be useful to take into account the movement of the working device between the respective impact times of the light beams on the receiver or receivers and derive therefrom a corresponding correction of the determined position of the working device. Otherwise, an error affecting the measuring accuracy could be caused by the movement of the working device in conjunction with the different impact times of the light beams on the respective receiver.

In one variant, three light-emitting devices or three light-receiving devices may be provided, which are arranged in the corner points of a triangle circumscribing at least part of the predetermined region, in particular of a right-angled triangle. By providing a third light emitting device or - in the above-mentioned principle reversal - by a third light receiving device, which is arranged perpendicular to a connecting line between the other two devices, "blind spots" can be monitored when using only two light transmitters - or light receiving devices can occur. These are in particular very acute or obtuse angles to the connecting line in the respective device.

The installation of the two transmitting devices should not take place in such a way that the object to be detected passes over or approaches the connecting line, since then triangulation is not possible or positioning is only inaccurate becomes. If this is unavoidable, the third light emitting device will be appropriate. The use of more than two light emitting devices also offers the advantage that shadowing by persons or objects in the interstitial space can be partially compensated.

Finally, two methods are also provided for determining the position of a work implement in a given area. The methods relate in each case to the mode of operation of the two different principle variants in which light is emitted either from the outside onto the implement or from the implement itself.

The determined by the evaluation device position of the implement can be used in various ways. It is thus possible to log and document the current position and thus the movement of the working device, in order, e.g. track and demonstrate the progress of compaction or compaction work at a later date. It is also possible to automatically guide and move the implement within the given area, thus overrunning the entire area. This is e.g. then advantageous if it is the implement to a vibrating plate for soil compaction, which is to drive over and compact a given area automatically.

Fig. 1

den prinzipiellen Aufbau einer Vorrichtung zum Bestimmen der Position eines Arbeitsgeräts; und

Fig. 2

eine Skizze zum Erläutern des Verfahrens zur Positionsbestimmung.

These and other features of the invention will be explained in more detail using an exemplary embodiment with the aid of the accompanying figures. Show it:

Fig. 1

the basic structure of a device for determining the position of a working device; and

Fig. 2

a sketch for explaining the method for determining position.

Fig. 1 schematically shows a device for determining the position of a working device in a given area.

The implement is represented in this case by a vibrating plate 1, which is to be moved within a predetermined area 2 such that it gradually overruns the entire area of the area 2 and thus causes a uniform soil compaction. For this purpose, the vibrating plate 1 can be moved, for example, with the direction of movement X in the area 2.

The vibrating plate 1 may be in a known manner e.g. have a two-wave vibration exciter. In addition, it should be steerable to allow shunting in the given area 2.

If the position determining device is only used to record the path of movement of the vibrating plate 1, it can also be detected by an operator, e.g. be guided by means of a drawbar.

It is also possible that the vibration plate 1 is steered by means of a remote control or by means of an automatic control.

Outside the predetermined area 2, a rotary laser 3 serving as a first light-emitting device and a rotary laser 4 also serving as a light-emitting device are arranged. The two rotating lasers 3, 4 should stand in such a way to each other that it is excluded in any case that the vibrating plate 1 is a connecting line (line AB in Fig. 2 ) can drive over between the two rotary lasers 3, 4. This is achieved, for example, by arranging the two rotary lasers 3, 4 on one side of the predetermined area 2, as in FIG Fig. 1 shown.

Each of the rotary lasers 3, 4 generates a rotating laser or light beam 3a or 4a. The light beams 3a, 4a are generated at least in such a way that they cover the entire predetermined area 2. That is, when the respective light emitting device 3, 4 radiates due to the rotation in a direction other than the predetermined region 2, the generation of the respective light beam 3a, 4a can be interrupted.

In the example shown, the two rotating lasers 3, 4 are shown as light-emitting devices. Of course it is possible to use the desired rotating light beams also with other technical measures, e.g. to be generated by means of rotating headlights, rotating mirrors, rotating light-emitting diode arrays or with circulating sequentially switched light sources.

The rotary lasers 3, 4 are positioned with the greatest possible accuracy at points that were previously measured precisely, eg by a geodesic. In this way, a clear reference of the later to be determined position data of the vibration plate 1 is guaranteed to the geographical data.

The rotary lasers can also use the relatively inexpensive laser range finding method today.

In the course of the rotation of each light beam 3a, 4a this also hits the vibration plate 1 at a certain time, namely when the light beam 3a occupies the beam direction 3b and the light beam 4a assumes the beam direction 4b.

On the vibrating plate 1 serving as a light receiving device receiver 5 is provided, which detects the impact of the respective light beam 3a, 4a.

The receiver 5 is designed in such a way that when receiving a light beam 3a, 4a it emits a corresponding information signal 6 to an evaluation device 7. With the information signal 6, the evaluation device 7 receives information about when a light beam was detected by the receiver 5. In addition, the information signal may also contain information about which rotary laser 3, 4 the light beam originates from. For this purpose, e.g. the light beams 3a, 4a contain a suitable identifier (light pulses or sequences, different light colors, etc.).

The information signal 6 may be suitably, e.g. be transmitted via radio or infrared link to the evaluation device 7.

The evaluation device 7 is able due to the interaction of the two light beams 3a, 4a and the time of their impact on the receiver 5 to determine the position of the receiver 5 and thus the vibration plate 1 precisely. For this purpose, the evaluation device 7 can be used e.g. operate the known triangulation method, a method used in optical measurement method for distance measurement with light.

In order to perform the measurement reliably, it is necessary that the two rotary lasers 3, 4 and at least the evaluation device 7, but possibly also the receiver 5 are synchronized with each other.

For this purpose, each of the two rotary lasers 3, 4 is provided with a reference or zero angle N. This means that each rotating laser 3, 4 "knows" at which angle the respectively emitted light beam 3a, 4a is in relation to the zero angle N. If the zero angle N is aligned accordingly in the terrain, can also provide appropriate information to the evaluation 7, which makes it possible to determine the current angle between the respective light beam 3a, 4a above ground, when the respective light beam impinges on the receiver 5.

The zero angle N can be e.g. with the help of a - possibly also in the rotating laser 3, 4 integrated - compass are aligned with respect to the north pole. Likewise, it is possible to align it with respect to a given, existing in the area of area 2 or any other known point.

With the aid of the zero angle N serving for the synchronization, it is possible to determine the respective rotational angle α or β between the zero angle N and the light beam 3a, 4a when the light beam 3a, 4a impinges on the receiver 5.

The evaluation device 7 can determine the current position of the vibrating plate 1 in the form of relative (eg with respect to the given area 2) or absolute (with respect to the Erdinertialsystem) coordinates and provide other facilities available. These devices may include a logging device that logs the path of movement of the vibrating plate 1. It is also possible, the position information to an example from the DE 103 17 160 A1 Passing known automatic steering device, the object of which is to control the vibrating plate 1 so that it gradually overruns the entire predetermined area and so, for example, evenly compacts the soil.

Fig. 2 shows a variant that illuminates some details of the measurement process.

In this case, in addition to the two rotary lasers 3, 4, a third rotary laser 8 is provided. The rotary laser 8 is disposed on the third corner of a right triangle ABC formed by the three rotary lasers 3, 4, 8.

Unlike the in Fig. 1 Thus, the emitted laser beam is reflected by the receiver 5 so that the respective rotary laser 3, 4, 8 can detect the distance between the laser and the receiver 5.

That on the basis of Fig. 1 and 2 described principle can be easily reversed. In this case, a rotating laser is provided on the vibrating plate 1, which has a light beam rotating about the vertical axis of the vibrating plate 1 generated. At the edge of the predetermined area 2, two or more light receivers are placed at precisely measured locations, which temporarily receive the rotating light beam and deliver corresponding signals to the evaluation device 7.

• Zusätzlich kann ein als Referenz dienender Empfänger z.B. außerhalb des vorgegebenen Gebiets 2 angeordnet werden. Wenn der umlaufende Laserstrahl diesen Empfänger trifft, wird ein Nullsignal generiert und an die Auswerteeinrichtung 7 gesendet. Dann wird die Zeitdifferenz bis zum Passieren des Laserstrahls am Empfänger 5 der Vibrationsplatte 1 (Maschine M) gemessen und in das Verhältnis zu seiner Gesamtumlaufzeit (Rotationsgeschwindigkeit des Lichtstrahls) gesetzt. Auf diese Weise kann der Drehwinkel zu der Referenzbasis (Nullsignal N) gemessen werden.
• Aus den Winkeln der beiden Lichtstrahlen 3a, 4a der beiden Rotationslaser 3, 4 kann bei Kenntnis der Orte der Rotationslaser 3, 4 der Schnittpunkt am Empfänger 5 eindeutig bestimmt werden.
• Bei sehr stumpfen Winkeln, z.B. wenn die Vibrationsplatte die Position M₂ in Fig. 2 erreicht hat, verlaufen die Lichtstrahlen der Rotationslaser 3, 4 in sehr spitzem Winkel zu der Verbindungslinie AB. In diesem Fall kann die Bestimmung ungenau werden. Für diese Bereiche ist es zweckmäßig, den dritten Rotationslaser 8 vorzusehen, der winklig zu der Grundlinie AB der beiden anderen Rotationslaser 3, 4 stehen sollte.
• Die Drehgeschwindigkeiten der Lichtstrahlen müssen nicht idealerweise gleich und synchron sein. Vielmehr ist es auch möglich, unterschiedliche Drehzahlverhältnisse zu realisieren, wobei die Drehzahlen sich an Primzahlen orientieren sollten, um möglichst selten eine Überdeckung der Lichtstrahlen, insbesondere am Ort der Vibrationsplatte 1, zu bewirken.

Other aspects:

• In addition, a receiver serving as a reference, for example, outside the predetermined area 2 can be arranged. When the circulating laser beam hits this receiver, a null signal is generated and sent to the evaluation device 7. Then, the time difference until passing the laser beam is measured at the receiver 5 of the vibrating plate 1 (machine M) and set in proportion to its total revolution time (rotation speed of the light beam). In this way, the rotation angle to the reference base (zero signal N) can be measured.
• From the angles of the two light beams 3a, 4a of the two rotating lasers 3, 4, the point of intersection at the receiver 5 can be unambiguously determined, knowing the locations of the rotating lasers 3, 4.
• At very obtuse angles, eg if the vibration plate is in position M ₂ in Fig. 2 has reached, the light rays of the rotating laser 3, 4 extend at a very acute angle to the connecting line AB. In this case, the determination may become inaccurate. For these areas, it is expedient to provide the third rotary laser 8, which should be at an angle to the baseline AB of the other two rotary lasers 3, 4.
• The rotational speeds of the light beams need not ideally be the same and synchronous. Rather, it is also possible to realize different speed ratios, the speeds should be based on primes in order to rarely overlap the light rays, especially at the location of the vibrating plate 1, to effect.

Claims (15)

Device for determining the position of a work implement (1) in a predetermined area (2), with - At least two separate from the working device (1) and separately from each other at a known location can be arranged light emitting devices (3, 4) for generating in each case a rotating about a vertical axis of light beam (3a, 4a); - One on the working device (1) can be arranged light receiving means (5) for temporarily receiving the light beams (3a, 4a); and with - One with the light emitting devices (3, 4) and the light receiving device (5) coupled evaluation device (7) for determining the current position of the light receiving device (5) and thus of the working device (1) due to the known places where the light emitting devices (3, 4), and due to the timings at which the light receiving means (5) respectively receive the light beams (3a, 4a) from the light emitting means (3, 4). Device for determining the position of a work implement (1) in a predetermined area (2), with - One on the working device (1) can be arranged light emitting device for generating a light beam rotating about a vertical axis; - At least two separate from the working device (1) and can be arranged separately from each other at a known location can be arranged light receiving means for temporarily receiving the light beam; - An evaluation device (7) coupled to the light receiving means and the light emitting device for determining the current position of the light emitting device and thus of the working device (1) due to the known locations where the light receiving devices are arranged, and due to the times at which the light receiving devices respectively Receive light beam from the light emitting device. Apparatus according to claim 1 or 2, characterized in that - The evaluation device (7) is provided spatially separated from the working device (1); and that - A data transmission device (6) between the light receiving means (5) and the evaluation device (7) is provided for transmitting information parameters, which receives the light receiving means (5). Device according to one of claims 1 to 3, characterized in that the information parameters are selected from the group light reception signal (signal that a light beam is currently received by the light receiving device (5)), time information (time at which a light beam is received), Identification of the respective received light beam. Device according to one of claims 1 to 4, characterized in that the light beam is formed punktstrahlförmig or vertically-fan-shaped. Device according to one of claims 1 to 5, characterized in that at least one of the light beams has an individual identifier in the form of a sequence of light pulses or a predetermined wavelength. Device according to one of claims 1 to 6, characterized in that the light-emitting device (3, 4) has a rotary laser device. Device according to one of claims 1 to 7, characterized in that the light receiving device (5) comprises a reflector, a transponder and / or a receiver (photodetector), for generating a signal representing the information parameter. Device according to one of claims 1 to 8, characterized in that - Two light receiving means (5) on the working device (1) are provided; - The evaluation device (7) is adapted to determine an orientation of the implement over ground due to the light beams received by the two light receiving means (5). Device according to one of claims 1 to 9, characterized in that a synchronizing device (N) for synchronizing the evaluation device (7) with the on the working device (1) can be arranged light transmitting device or arranged separately from the working device light emitting devices (3, 4) is provided , Device according to one of claims 1 to 10, characterized in that the synchronizing device (N) is designed for carrying out at least one of the following measures: - Aligning the light beams (3a, 4a) of all the light emitting devices (3, 4) such that they are always aligned parallel to each other; - determining a respective relative position of the light beam to the light emitting device (3, 4) emitting it; Determining a relative position of this light beam over ground due to a prior art orientation of the light emitting device (3, 4) over ground; - Specifying the order of the light beams when hitting the light receiving device (5) and driving the light emitting devices (3, 4) such that the predetermined order is always maintained. Device according to one of Claims 1 to 11, characterized in that the evaluation device (7) has a correction device for correcting the position of the working device (1) currently determined on the basis of the evaluation of the detected light beams with the aid of at least one of the following measures: - comparing the currently determined position with the previously determined position; determining therefrom the current travel speed and / or direction of travel of the implement (1); Computing a change in the position of the work implement (1) taking into account the current travel speed and / or travel direction and a time delay since the last determination of the current position; - Upgrading a change in position taking into account the current machine data of the implement (1); - Upsetting the actual current position due to the currently determined by the evaluation of the detected light rays position and taking into account the previous speed and / or direction of movement of the implement (1) and taking into account a detected by a on the implement (1) motion sensor movement change. Device according to one of claims 1 to 12, characterized in that separate from the working device (1) three light emitting devices (3, 4, 8) or three light receiving means are provided which circumscribe in the vertices of at least a part of the predetermined area (2) Triangles are arranged. Method for determining the position of an implement (1) in a predetermined area (2), with the measures - emitting each of a light beam (3a, 4a) rotating about a vertical axis by at least two light emitting devices (3, 4) arranged separately from the working device (1) at a respective known location; - Receiving the light beams (3a, 4a) by a on the working device (1) can be arranged light receiving means (5) and generating corresponding signals (6); Evaluating the signal (6) by means of an evaluation device (7) coupled to the light-emitting devices (3, 4) and the light-receiving device (5) and determining the current position of the light-receiving device (5) and thus of the working device (1) on the basis of the known locations, on which the light emitting devices (3, 4) are arranged, and the timings at which the light receiving device (5) receives the light beams from the light emitting devices (3, 4), respectively. Method for determining the position of an implement (1) in a predetermined area (2), with the measures - emitting from a light beam rotating about a vertical axis through a light emitting device which can be arranged on the working device; - Receiving the light beam by at least two separate from the working device (1) and separately from each other can be arranged in a known place light receiving devices and generating corresponding signals; Evaluating the signals by means of an evaluation device coupled to the light-emitting device and the light-receiving devices and determining the current position of the light-emitting device and thus of the working device on the basis of the known locations at which the light-receiving devices are arranged, and of the times at which the light-receiving devices respectively emit the light beam from receive the light emitting device.

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