JP2008500471A - 表面変更機械のコントロール方法 - Google Patents
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- 238000000034 method Methods 0.000 title claims abstract description 78
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Images
Classifications
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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
-
- G—PHYSICS
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- G06T17/30—Polynomial surface description
Abstract
【解決手段】地面の所望の状態および実際の状態の情報を提供し、その状態の比較に基づき、機械をコントロールする命令を導出するのに使用する。実際の状態の情報は、点集団により不連続な表面の点の空間分布として表示される。コントロールコマンドの導出に、各点集団から少なくとも2つの表面の点が、水平位置に使用され、
種々の面の識別を可能とする所望の状態の情報を導出する。
【選択図】図11
Description
Claims (11)
- 表面変更機械(3)をコントロールする方法が、
整備する表面の所望の状態に関する情報を用意する、
距離測定の走査装置で、不連続な表面の点(5)の空間分布として記録された点集団(1c)および表面の実際の状態に関する情報を用意する、
所望の状態と点集団(1c)の比較で、機械(3)に対するコントロール命令を導出する、
導出したコントロール命令で機械(3)をコントロールする、ここで空間位置(P)に対して、所望の位置と点集団(1c)の比較に、点集団(1c)の少なくとも2つの表面の点(5)を使用し、特に、表面の点を互いにリンクさせてコントロール命令を導出する、
工程から成る、ことを特徴とする方法。 - 所望の状態の各空間位置(P)に対する所望の状態と点集団(1c)の比較に、実際の状態の少なくとも2つの空間位置(P)の表面の点(5)を使用して、コントロール命令を導出する、ことを特徴とする請求項1記載の方法。
- 実際の状態の可能な実際の表面を表す、または近似する少なくとも1つの表面、特に1つの平面が、少なくとも2つの表面の点(5)で座標化される、ことを特徴とする請求項1または2記載の方法。
- 指定された表面が、最小自乗法、ファジー理論法、画像処理方法、パターン認識方法、発見的方法の少なくとも1つの方法で導出される、ことを特徴とする請求項3記載の方法。
- 実際の状態の各空間位置(P)に対して、少なくとも2つの指定した表面の点(5)の空間の差異、特に高さの差異を使用してコントロール命令を導出する、ことを特徴とする請求項1〜4の何れか1項記載の方法。
- 点集団(1c)の用意が、前記方法を実施中に、整備された表面部分の走査、好ましくはLIDAR走査による点集団(1c)の更新を含む、ことを特徴とする請求項1〜5の何れか1項記載の方法。
- 点集団(1c)の用意で、整備された表面の部分を点集団(1c)に整合させるのを、画像処理方法および/またはパターン認識方法および/または走査の固定点の絶対基準化で行なう、ことを特徴とする請求項6記載の方法。
- 点集団(1c)が、表面の点(5)の識別できるサブセットから成り、特に特性量、例えば時間マークまたはスペクトル範囲が、それぞれのサブセットで関連付けされている、ことを特徴とする請求項1〜7の何れか1項記載の方法。
- 空間位置(P)で座標化される表面の点(5)の数が可変で、特に時間または位置の関数である、ことを特徴とする請求項1〜8の何れか1項記載の方法。
- 空間位置(P)で座標化される表面の点(5)が、特に重み関数の使用で集合される、ことを特徴とする請求項1〜9の何れか1項記載の方法。
- 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 true JP2008500471A (ja) | 2008-01-10 |
JP2008500471A5 JP2008500471A5 (ja) | 2011-11-04 |
JP4971146B2 JP4971146B2 (ja) | 2012-07-11 |
Family
ID=34925104
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Application Number | Title | Priority Date | Filing Date |
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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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- 2005-05-24 JP JP2007513784A patent/JP4971146B2/ja active Active
- 2005-05-24 WO PCT/EP2005/005595 patent/WO2005116348A1/de active Application Filing
- 2005-05-24 CN CN2005800168321A patent/CN1957145B/zh active Active
- 2005-05-24 US US11/569,556 patent/US7899598B2/en active Active
- 2005-05-24 AU AU2005248053A patent/AU2005248053B2/en active Active
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Also Published As
Publication number | Publication date |
---|---|
CA2567752A1 (en) | 2005-12-08 |
AU2005248053B2 (en) | 2009-09-24 |
EP1753921B1 (de) | 2013-07-10 |
AU2005248053A1 (en) | 2005-12-08 |
EP1753921A1 (de) | 2007-02-21 |
CN1957145A (zh) | 2007-05-02 |
US20070214687A1 (en) | 2007-09-20 |
US7899598B2 (en) | 2011-03-01 |
JP4971146B2 (ja) | 2012-07-11 |
CA2567752C (en) | 2012-10-16 |
EP1600564A1 (de) | 2005-11-30 |
CN1957145B (zh) | 2010-07-21 |
WO2005116348A1 (de) | 2005-12-08 |
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