JP5227139B2 - 建設機械 - Google Patents
建設機械 Download PDFInfo
- Publication number
- JP5227139B2 JP5227139B2 JP2008290388A JP2008290388A JP5227139B2 JP 5227139 B2 JP5227139 B2 JP 5227139B2 JP 2008290388 A JP2008290388 A JP 2008290388A JP 2008290388 A JP2008290388 A JP 2008290388A JP 5227139 B2 JP5227139 B2 JP 5227139B2
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- Prior art keywords
- blade
- target
- construction machine
- cameras
- construction
- 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.)
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Links
- 238000010276 construction Methods 0.000 title claims description 63
- 238000000034 method Methods 0.000 claims description 15
- 238000001514 detection method Methods 0.000 description 96
- 230000036544 posture Effects 0.000 description 15
- 238000004364 calculation method Methods 0.000 description 13
- 238000005286 illumination Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 239000011248 coating agent Substances 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- PXFBZOLANLWPMH-UHFFFAOYSA-N 16-Epiaffinine Natural products C1C(C2=CC=CC=C2N2)=C2C(=O)CC2C(=CC)CN(C)C1C2CO PXFBZOLANLWPMH-UHFFFAOYSA-N 0.000 description 1
- 238000001444 catalytic combustion detection Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000011499 joint compound Substances 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000004043 responsiveness Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- 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
- G01C11/04—Interpretation of pictures
- G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
-
- 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
- E02F3/7609—Scraper blade mounted forwardly of the tractor on a pair of pivoting arms which are linked to the sides of the tractor, e.g. bulldozers
- E02F3/7618—Scraper blade mounted forwardly of the tractor on a pair of pivoting arms which are linked to the sides of the tractor, e.g. bulldozers with the scraper blade adjustable relative to the pivoting arms about a horizontal axis
-
- 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
- E02F3/844—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically
- E02F3/847—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically using electromagnetic, optical or acoustic beams to determine the blade position, e.g. laser beams
-
- 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
Description
と表したとき、領域Sのモーメントは次式で定義される。
Mpq=Σip jq f(i,j)
この時、ターゲットの中心座標(x,y)は、次式によって算出できる。
x=M10/M00
y=M01/M00
Y=y1×B/(x1−x2)
Z=−f×B/(x1−x2)
B:ステレオカメラの基線長、f:カメラの焦点距離、
ターゲットの画像座標 左座標:p1(x1、y1)
右座標:p2(x2、y2)
ΔXY=H×ΔP/f ΔPは画素サイズ、fは焦点距離
8 ブレード
14 ブルドーザ本体
17 姿勢検出装置
18 カメラ
19 カメラ
21 ブレード検出用ターゲット
22 照明装置
23 演算処理装置
26 同期制御部
27 制御演算部
28 記憶部
29 画像処理部
31 ブレード制御部
Claims (6)
- 建設機本体と、該建設機本体に設けられた工事作業具と、前記建設機本体の機械中心に対して既知の位置に設けられた2つのカメラと、前記工事作業具に設けられ、前記2つのカメラの視野にそれぞれ含まれる様に配置された少なくとも3のターゲットと、前記2つのカメラで取得したステレオ画像から各画像中で共通する少なくとも3のターゲット像を抽出し、該各ターゲット像の3次元位置を求め、求めた3次元位置に基づき前記工事作業具の前記建設機本体に対する位置、姿勢を算出する演算処理装置とを具備することを特徴とする建設機械。
- 前記カメラはビデオカメラであり、前記演算処理装置は、各フレーム画像毎にターゲットの位置、姿勢を算出する様にした請求項1の建設機械。
- 前記ターゲットは円形の反射部、及び該反射部の周囲に非反射部が形成された板又は板状である請求項1の建設機械。
- 前記ターゲットの反射部が形成するターゲット像は、カメラ受光部の少なくとも5画素以上を占め、前記演算処理装置はターゲット像の中心をモーメント法により算出する請求項1の建設機械。
- 前記建設機本体に設けられ、該建設機本体の位置座標を求めるGPS装置を更に備え、前記演算処理装置は前記GPS装置が測定した位置座標に基づき、前記工事作業具の位置座標を演算する請求項1の建設機械。
- 前記GPS装置は、前記2つのカメラの視野に含まれる様配置されたターゲットを有し、前記演算処理装置は前記GPS装置が測定した位置座標に基づき、前記工事作業具の位置座標を演算する請求項5の建設機械。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008290388A JP5227139B2 (ja) | 2008-11-12 | 2008-11-12 | 建設機械 |
EP09156186.0A EP2187166B1 (en) | 2008-11-12 | 2009-03-25 | Industrial Machine |
US12/387,971 US8412418B2 (en) | 2008-11-12 | 2009-05-11 | Industrial machine |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008290388A JP5227139B2 (ja) | 2008-11-12 | 2008-11-12 | 建設機械 |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2010117230A JP2010117230A (ja) | 2010-05-27 |
JP2010117230A5 JP2010117230A5 (ja) | 2011-10-20 |
JP5227139B2 true JP5227139B2 (ja) | 2013-07-03 |
Family
ID=41668302
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2008290388A Active JP5227139B2 (ja) | 2008-11-12 | 2008-11-12 | 建設機械 |
Country Status (3)
Country | Link |
---|---|
US (1) | US8412418B2 (ja) |
EP (1) | EP2187166B1 (ja) |
JP (1) | JP5227139B2 (ja) |
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RU2465410C1 (ru) * | 2011-05-03 | 2012-10-27 | Государственное образовательное учреждение высшего профессионального образования "Сибирская государственная автомобильно-дорожная академия (СибАДИ)" | Устройство для определения положения рабочего органа дорожно-строительной машины с помощью спутниковых систем навигации gps/глонасс или световых, например лазерных, излучателей |
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-
2008
- 2008-11-12 JP JP2008290388A patent/JP5227139B2/ja active Active
-
2009
- 2009-03-25 EP EP09156186.0A patent/EP2187166B1/en not_active Not-in-force
- 2009-05-11 US US12/387,971 patent/US8412418B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
EP2187166A3 (en) | 2013-11-13 |
US20100121540A1 (en) | 2010-05-13 |
JP2010117230A (ja) | 2010-05-27 |
US8412418B2 (en) | 2013-04-02 |
EP2187166B1 (en) | 2016-01-13 |
EP2187166A2 (en) | 2010-05-19 |
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