JP6670127B2 - 建設機械の制御システム - Google Patents
建設機械の制御システム Download PDFInfo
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- JP6670127B2 JP6670127B2 JP2016033383A JP2016033383A JP6670127B2 JP 6670127 B2 JP6670127 B2 JP 6670127B2 JP 2016033383 A JP2016033383 A JP 2016033383A JP 2016033383 A JP2016033383 A JP 2016033383A JP 6670127 B2 JP6670127 B2 JP 6670127B2
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- 238000010276 construction Methods 0.000 title claims description 76
- 238000005259 measurement Methods 0.000 claims description 45
- 238000001514 detection method Methods 0.000 claims description 40
- 238000004891 communication Methods 0.000 claims description 28
- 230000003287 optical effect Effects 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 4
- 230000001678 irradiating effect Effects 0.000 description 4
- 238000000465 moulding Methods 0.000 description 4
- 239000000758 substrate Substances 0.000 description 3
- 238000005056 compaction Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
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- 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
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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
- 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
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/70—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith 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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- 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
- 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
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/53—Determining attitude
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- 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
- E01C19/48—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for laying-down the materials and consolidating them, or finishing the surface, e.g. slip forms therefor, forming kerbs or gutters in a continuous operation in situ
-
- 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
- E01C19/48—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for laying-down the materials and consolidating them, or finishing the surface, e.g. slip forms therefor, forming kerbs or gutters in a continuous operation in situ
- E01C19/4886—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for laying-down the materials and consolidating them, or finishing the surface, e.g. slip forms therefor, forming kerbs or gutters in a continuous operation in situ for forming in a continuous operation kerbs, gutters, berms, safety kerbs, median barriers or like structures in situ, e.g. by slip-forming, by extrusion
- E01C19/4893—Apparatus designed for railless operation
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Optics & Photonics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Road Paving Machines (AREA)
- Operation Control Of Excavators (AREA)
Description
2 スリップフォーム舗装機械
4 光波距離測定装置
5 レーザ回転照射装置
6 測距光
7 ターゲット
8 レーザ光線
8a,8b 扇状ビーム
12 走行装置
13 機械制御装置
14 受光センサ
15 スクリード
17a,17b ビーム検出器
20a,20b GPS装置
21 測量演算制御部
23 測量通信部
24 測距光照射部
25 測距部
26 測角部
27 ビーム回転照射部
28 姿勢検出部
30 傾斜センサ
35 機械演算制御部
37 機械通信部
39 検出器用通信部
44 望遠鏡部
46 測量制御装置
Claims (5)
- レーザ光線を定速で回転照射するレーザ測量装置と、前記レーザ光線の受光範囲で稼働する建設機械と、該建設機械の向きを検出する向き検出部とを具備し、前記建設機械は、工事を施工する作業機械部と、該作業機械部を制御する機械制御装置と、機械通信部と、前記建設機械の装置基準位置に対して既知の位置に設けられた2つのビーム検出器及び少なくとも1つのターゲットと、前記建設機械の前後の傾斜を検出する傾斜センサとを有し、前記レーザ測量装置は、複数の扇状ビームで構成され、少なくとも1つの該扇状ビームが水平面に対して傾斜している前記レーザ光線を回転照射するレーザ回転照射装置と、前記ターゲットを追尾する機能を有し、該ターゲットの測距を行う光波距離測定装置と、前記機械通信部との間で通信を行う測量通信部とを有し、各ビーム検出器は、少なくとも1つの点状の受光センサを有し、該受光センサによる前記レーザ光線の受光結果を前記レーザ測量装置、又は前記機械制御装置に送信し、前記レーザ測量装置又は前記機械制御装置は前記受光結果に基づき前記2つのビーム検出器のそれぞれの高低角を求め、該高低角と前記ターゲットの測距結果に基づき前記建設機械の左右の傾斜を演算し、前記機械制御装置は、前記向き検出部の検出結果、前記傾斜センサによる前後の傾斜、前記ターゲットの測距結果、左右の傾斜に基づき、前記建設機械の作動を制御する建設機械の制御システム。
- 前記向き検出部は、前記建設機械の既知の位置に設けられた2つのGPS装置を具備し、該2つのGPS装置より取得した地心座標により、前記建設機械の向きを検出する請求項1に記載の建設機械の制御システム。
- 前記向き検出部は、前記建設機械の既知の位置に設けられた2つのターゲットと、前記光波距離測定装置とを含み、該光波距離測定装置は前記2つのターゲットを交互に測定し、該2つのターゲットの測距結果に基づき前記建設機械の向きが検出される請求項1に記載の建設機械の制御システム。
- 前記向き検出部は、前記2つのビーム検出器及び前記レーザ回転照射装置とを含み、前記2つのビーム検出器はそれぞれ水平方向に既知の間隔で設けられた2つの受光センサを有し、該2つの受光センサが前記扇状ビームを受光した際の受光信号の時間差に基づき、前記2つの受光センサ間の回転角が求められ、該回転角と前記間隔に基づき各ビーム検出器及び前記レーザ回転照射装置間の距離が求められ、前記2つのビーム検出器について求められた距離に基づき前記建設機械の向きが検出される請求項1に記載の建設機械の制御システム。
- 前記向き検出部は、前記建設機械の既知の位置に設けられた2つのGPS装置と、前記建設機械の既知の位置に設けられた2つのターゲットと、前記光波距離測定装置とを有し、前記2つのGPS装置より取得した地心座標により、前記建設機械の向きが検出され、又、前記光波距離測定装置は前記2つのターゲットを交互に測定し、該2つのターゲットの測距結果に基づき前記建設機械の向きが検出され、作業環境に応じて検出された2つの前記建設機械の向きの1つが用いられる請求項1に記載の建設機械の制御システム。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016033383A JP6670127B2 (ja) | 2016-02-24 | 2016-02-24 | 建設機械の制御システム |
US15/435,392 US10372137B2 (en) | 2016-02-24 | 2017-02-17 | Control system for construction machine |
Applications Claiming Priority (1)
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JP2016033383A JP6670127B2 (ja) | 2016-02-24 | 2016-02-24 | 建設機械の制御システム |
Publications (2)
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JP2017150220A JP2017150220A (ja) | 2017-08-31 |
JP6670127B2 true JP6670127B2 (ja) | 2020-03-18 |
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JP2016033383A Active JP6670127B2 (ja) | 2016-02-24 | 2016-02-24 | 建設機械の制御システム |
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US (1) | US10372137B2 (ja) |
JP (1) | JP6670127B2 (ja) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10113877B1 (en) * | 2015-09-11 | 2018-10-30 | Philip Raymond Schaefer | System and method for providing directional information |
CN108801234B (zh) * | 2018-08-28 | 2021-04-13 | 苏州百搭王者物流技术有限公司 | 一种运动场地施工布基准的装置 |
CN109112928A (zh) * | 2018-08-28 | 2019-01-01 | 江苏诚大运动场地新材料有限公司 | 一种运动产地施工布基准的装置及施工方法 |
CN109162178A (zh) * | 2018-10-29 | 2019-01-08 | 李展 | 一种数字化摊铺设备及摊铺方法 |
CN109323660B (zh) * | 2018-12-05 | 2020-05-19 | 重庆交通大学 | 一种基于全站仪的滑坡位移三维监测系统与方法 |
CN110160816A (zh) * | 2019-06-05 | 2019-08-23 | 西南交通建设集团股份有限公司 | 摊铺机摊铺作业测速方法 |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2004212058A (ja) | 2002-12-26 | 2004-07-29 | Topcon Corp | 作業位置測定装置 |
JP4282432B2 (ja) | 2003-10-14 | 2009-06-24 | 株式会社トプコン | 回転レーザ装置の受光装置 |
JP4328654B2 (ja) | 2004-03-23 | 2009-09-09 | 株式会社トプコン | レーザ測定方法及びレーザ測定システム |
US20060198700A1 (en) | 2005-03-04 | 2006-09-07 | Jurgen Maier | Method and system for controlling construction machine |
JP5150329B2 (ja) * | 2008-03-26 | 2013-02-20 | 株式会社トプコン | 測量装置及び測量システム |
US8788154B2 (en) | 2012-09-12 | 2014-07-22 | Kabushiki Kaisha Topcon | Construction machine control method and construction machine control system |
US9279679B2 (en) | 2012-09-12 | 2016-03-08 | Kabushiki Kaisha Topcon | Construction machine control method and construction machine control system |
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2016
- 2016-02-24 JP JP2016033383A patent/JP6670127B2/ja active Active
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2017
- 2017-02-17 US US15/435,392 patent/US10372137B2/en active Active
Also Published As
Publication number | Publication date |
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JP2017150220A (ja) | 2017-08-31 |
US20170242439A1 (en) | 2017-08-24 |
US10372137B2 (en) | 2019-08-06 |
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