EP2395150A2 - Dispositif et procédé destinés à la détermination de la position d'un appareil de travail - Google Patents

Dispositif et procédé destinés à la détermination de la position d'un appareil de travail Download PDF

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Publication number
EP2395150A2
EP2395150A2 EP20110004157 EP11004157A EP2395150A2 EP 2395150 A2 EP2395150 A2 EP 2395150A2 EP 20110004157 EP20110004157 EP 20110004157 EP 11004157 A EP11004157 A EP 11004157A EP 2395150 A2 EP2395150 A2 EP 2395150A2
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EP
European Patent Office
Prior art keywords
light
light emitting
light beam
light receiving
implement
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP20110004157
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German (de)
English (en)
Inventor
Otto W. Dr. Stenzel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wacker Neuson Produktion GmbH and Co KG
Original Assignee
Wacker Neuson SE
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Wacker Neuson SE filed Critical Wacker Neuson SE
Publication of EP2395150A2 publication Critical patent/EP2395150A2/fr
Withdrawn legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/004—Devices for guiding or controlling the machines along a predetermined path
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/004—Devices for guiding or controlling the machines along a predetermined path
    • E01C19/006—Devices for guiding or controlling the machines along a predetermined path by laser or ultrasound

Definitions

  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the light emitting device and the light receiving device are reversed.
  • 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.
  • 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.
  • 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.
  • a signal is generated at the moment when a light beam is currently received by the light receiving device.
  • the light beam is bright or strong enough, it is detected by the light receiving device, which then generates the light receiving signal.
  • the evaluation can thus determine exactly the time at which a light beam impinges on the light receiving device.
  • a signal can be transmitted which transmits time information, for example in an absolute time system, to the evaluation device.
  • time information for example in an absolute time system
  • the light receiving device contains its own timer with which the desired time information can be generated and then sent to the evaluation device.
  • 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.
  • 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.
  • the receiver 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.
  • 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.
  • 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.
  • a receiver e.g., a photodetector
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the definition of a reference system is usually required, e.g. the two light emitting devices can also relate to each other.
  • a so-called "zero angle" for the output of a synchronization signal e.g. a compass direction or an initially set angle are set.
  • the synchronization signal is generated by the light emitting device and transmitted to the evaluation device.
  • the passage of the light beam can be detected at another reference location and determined as a zero angle.
  • the evaluation device 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.
  • a single light source light emitting device
  • a synchronization between the light emitting device and the evaluation device is also required in order to determine the respective angle can.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • vibration plate 1 is steered by means of a remote control or by means of an automatic control.
  • 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.
  • the two rotating lasers 3, 4 are shown as light-emitting devices.
  • 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.
  • 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.
  • the evaluation device 7 receives information about when a light beam was detected by the receiver 5.
  • the information signal may also contain information about which rotary laser 3, 4 the light beam originates from.
  • 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.
  • 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.
  • the two rotary lasers 3, 4 and at least the evaluation device 7, but possibly also the receiver 5 are synchronized with each other.
  • each of the two rotary lasers 3, 4 is provided with a reference or zero angle N.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Length Measuring Devices By Optical Means (AREA)
EP20110004157 2010-06-11 2011-05-19 Dispositif et procédé destinés à la détermination de la position d'un appareil de travail Withdrawn EP2395150A2 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102010023461A DE102010023461A1 (de) 2010-06-11 2010-06-11 Vorrichtung und Verfahren zum Bestimmen der Position eines Arbeitsgeräts

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Publication Number Publication Date
EP2395150A2 true EP2395150A2 (fr) 2011-12-14

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EP20110004157 Withdrawn EP2395150A2 (fr) 2010-06-11 2011-05-19 Dispositif et procédé destinés à la détermination de la position d'un appareil de travail

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EP (1) EP2395150A2 (fr)
DE (1) DE102010023461A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107271960A (zh) * 2017-05-26 2017-10-20 中国科学院半导体研究所 飞行器定位系统及其定位方法
WO2017206571A1 (fr) * 2016-05-31 2017-12-07 陈朝阳 Procédé de positionnement de cible utilisant un balayage laser et appareil de réception laser
CN113466791A (zh) * 2021-07-14 2021-10-01 深圳市武测空间信息有限公司 一种激光测绘定位设备及方法
US11427972B2 (en) 2019-04-18 2022-08-30 Caterpillar Paving Products Inc. Compactor drum edge indication device

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202013001071U1 (de) 2012-03-09 2013-02-27 Wacker Neuson Produktion GmbH & Co. KG Vorrichtung zum Bestimmen der Position eines Arbeitsgeräts
DE102012223924A1 (de) 2012-12-20 2014-06-26 Hilti Aktiengesellschaft Verfahren und Vorrichtung zum Bestimmen der Ortskoordinaten eines Zielobjektes

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10317160A1 (de) 2003-04-14 2004-11-18 Wacker Construction Equipment Ag System und Verfahren zur automatisierten Bodenverdichtung

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IE59553B1 (en) * 1986-10-30 1994-03-09 Inst For Ind Res & Standards Position sensing apparatus
CA2089662C (fr) * 1990-08-17 1996-12-03 Yvan Joseph Beliveau Systeme de positionnement spatial
US5652593A (en) * 1994-09-29 1997-07-29 Von Schrader Company Method and apparatus for guiding a machine
DE102004014273A1 (de) * 2004-03-22 2005-10-13 BSH Bosch und Siemens Hausgeräte GmbH Flächenbearbeitungssystem

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10317160A1 (de) 2003-04-14 2004-11-18 Wacker Construction Equipment Ag System und Verfahren zur automatisierten Bodenverdichtung

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017206571A1 (fr) * 2016-05-31 2017-12-07 陈朝阳 Procédé de positionnement de cible utilisant un balayage laser et appareil de réception laser
CN107271960A (zh) * 2017-05-26 2017-10-20 中国科学院半导体研究所 飞行器定位系统及其定位方法
US11427972B2 (en) 2019-04-18 2022-08-30 Caterpillar Paving Products Inc. Compactor drum edge indication device
CN113466791A (zh) * 2021-07-14 2021-10-01 深圳市武测空间信息有限公司 一种激光测绘定位设备及方法

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