JP2021085322A - 機械の場所及び向きを決定するための方法 - Google Patents
機械の場所及び向きを決定するための方法 Download PDFInfo
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- 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
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
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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
-
- 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
-
- 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
-
- 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
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
-
- 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
- G01S17/66—Tracking systems using electromagnetic waves other than radio waves
-
- 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
- G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
- G01S17/875—Combinations of systems using electromagnetic waves other than radio waves for determining attitude
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- 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
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/22—Image preprocessing by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition
- G06V10/225—Image preprocessing by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition based on a marking or identifier characterising the area
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/62—Extraction of image or video features relating to a temporal dimension, e.g. time-based feature extraction; Pattern tracking
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V2201/00—Indexing scheme relating to image or video recognition or understanding
- G06V2201/06—Recognition of objects for industrial automation
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Civil Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Multimedia (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Electromagnetism (AREA)
- Theoretical Computer Science (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Operation Control Of Excavators (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
2 キャリッジ
2a 下部キャリッジ
2b 上部キャリッジ
3 回転アクスル
4 回転軸
5 ブーム
5a 第1のブーム部位
5b 第2のブーム部位
6 ジョイント
7 バケット
8 ジョイント
9 制御キャビン
10 オペレータ
11 制御ユニット
12 アンテナ
13 作業現場
WCS 作業現場座標系
MCS 機械座標系
RM 基準マーカ
RP 基準点
MA マーカ
MP マーカ点
SM センサ
TA 追跡装置
TD 追跡デバイス
B ベース
STA センサ
Claims (11)
- 作業現場内の機械の場所及び向きを決定するための方法であって、前記作業現場に、少なくとも1つの基準点(RP)が配備され、
追跡装置を前記機械上に設置することと、
前記追跡装置を用いて、前記追跡装置に対する前記作業現場内の少なくとも1つの基準点(RP)の場所を決定することによって前記機械を追跡することと、
前記追跡に関するデータを前記追跡装置から位置決定ユニットに送信することと、
前記位置決定ユニットによって、前記追跡装置から受信された前記データに少なくとも部分的に基づいて、前記作業現場内の前記機械の前記場所及び向きを決定することと
を含む、方法。 - 機械座標系内の前記追跡装置の場所及び向きを決定することによって前記追跡装置の追跡状態を初期化することをさらに含む、請求項1に記載の方法。
- 前記追跡装置から受信された前記データによって達成される前記機械の前記場所及び向きに関する現在の正確度レベルを、前記位置決定ユニットによって指示することをさらに含む、請求項1又は2に記載の方法。
- 達成されるべき前記機械の前記場所及び向きに関する正確度レベルを決定することと、
前記位置決定ユニットによって前記機械の前記場所及び向きに関するより高い正確度レベルの必要性を検出することと、
前記位置決定ユニットによって前記追跡装置から追加の追跡データを取得することと
をさらに含む、請求項1又は2に記載の方法。 - 前記追跡装置からの追加の追跡データが、半自動又は自動のうちの少なくとも一方によって取得される、請求項4に記載の方法。
- 前記追跡装置から前記追加の追跡データを半自動的に取得することが、
前記追跡装置が少なくとも1つの基準点(RP)を検出する必要があることをオペレータに指示すること、
前記追跡装置が別の基準点(RP)を検出する必要があることを前記オペレータに指示すること、又は
前記追跡装置が少なくとも1つのさらなる基準点(RP)を検出する必要があることを前記オペレータに指示すること
のうちの少なくとも1つを提供するように前記位置決定ユニットを配置することを含み、
前記オペレータが、前記指示に従って前記機械を動作させる、請求項5に記載の方法。 - 前記追跡装置の前記機械上への前記設置が、調整可能なベース上の前記機械上に前記追跡装置を設置することを含み、
前記オペレータが、前記指示に従って前記調整可能なベースを動作させ、
前記調整可能なベースの各動作の後、前記機械座標系内の前記追跡装置の場所及び向きを決定することによる前記追跡装置の前記追跡状態の初期化が行われる、請求項6に記載の方法。 - 前記追跡装置の前記機械上への前記設置が、調整可能なベース上の前記機械上に前記追跡装置を設置することを含み、
前記追跡装置からの前記追加の追跡データが、前記追跡装置又は前記位置決定ユニットのうちの少なくとも一方によって前記調整可能なベースを制御することによって自動的に取得される、請求項5に記載の方法。 - 前記追跡装置又は前記位置決定ユニットのうちの少なくとも一方による前記調整可能なベースの前記制御の後、前記機械座標系内の前記追跡装置の場所及び向きを決定することによる前記追跡装置の前記追跡状態の初期化が行われる、請求項8に記載の方法。
- 1つ又は複数の追加の追跡装置を前記作業現場に設置し、前記機械に、前記機械座標系内で既知の少なくとも1つのマーカ点(MP)を配備することと、
前記1つ又は複数の追加の追跡装置によって、前記1つ又は複数の追加の追跡装置のそれぞれに対する基準点(RP)及びマーカ点(MP)の場所を追跡することによってデータを取得することと、
前記取得されたデータを前記1つ又は複数の追加の追跡装置から前記少なくとも1つの位置決定ユニットに送信することと、
前記少なくとも1つの位置決定ユニットによって、前記追跡装置又は前記1つ若しくは複数の追加の追跡装置のうちの少なくとも1つから受信された前記データに少なくとも部分的に基づいて、前記作業現場座標系内の前記機械の前記場所及び向きを決定することと
をさらに含む、請求項1から9までのいずれか一項に記載の方法。 - 前記機械内に設置された前記追跡装置の前記場所及び向きが、前記追加の追跡装置のうちの1つを使用して前記機械座標系(MCS)内で画定され得る、請求項10に記載の方法。
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FI20196023 | 2019-11-27 | ||
FI20196023A FI20196023A1 (en) | 2019-11-27 | 2019-11-27 | Method for determining the position and orientation of a machine |
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JP2021085322A true JP2021085322A (ja) | 2021-06-03 |
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US (1) | US11796316B2 (ja) |
EP (1) | EP3828499A1 (ja) |
JP (1) | JP2021085322A (ja) |
CN (1) | CN112854355B (ja) |
FI (1) | FI20196023A1 (ja) |
Cited By (1)
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WO2023228244A1 (ja) * | 2022-05-23 | 2023-11-30 | 日本電気株式会社 | 情報処理装置、情報処理方法、および記録媒体 |
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US11840823B2 (en) * | 2021-03-30 | 2023-12-12 | Darrell Cobb | Backhoe camera assembly |
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- 2020-10-08 JP JP2020170328A patent/JP2021085322A/ja active Pending
- 2020-10-20 EP EP20202819.7A patent/EP3828499A1/en active Pending
- 2020-11-24 CN CN202011329477.6A patent/CN112854355B/zh active Active
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US11796316B2 (en) | 2023-10-24 |
CN112854355A (zh) | 2021-05-28 |
US20210156119A1 (en) | 2021-05-27 |
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CN112854355B (zh) | 2023-08-18 |
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