JPH09512072A - 作業場所における複数ジオメトリー変更マシンの監視および協働方法と装置 - Google Patents
作業場所における複数ジオメトリー変更マシンの監視および協働方法と装置Info
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- JPH09512072A JPH09512072A JP7527042A JP52704295A JPH09512072A JP H09512072 A JPH09512072 A JP H09512072A JP 7527042 A JP7527042 A JP 7527042A JP 52704295 A JP52704295 A JP 52704295A JP H09512072 A JPH09512072 A JP H09512072A
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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
- G05D1/0276—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
- E01C19/004—Devices for guiding or controlling the machines along a predetermined path
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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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- 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
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/04—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing carrier phase data
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- 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
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- 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
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
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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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- 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
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0297—Fleet control by controlling means in a control room
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Abstract
Description
Claims (1)
- 【特許請求の範囲】 1.作業場所(12)上で複数のモービルジオメトリー変更マシン(14)の作動を監視 し協働させる装置(40,50,60)において、 場所(12)のジオメトリーの場所モデル(64)を表すデータを記憶する場所デー タベース手段(66,126)と、 前記場所(12)上で前記ジオメトリー変更マシン(14)の瞬間的な三次元座標位 置を表す信号を作り出す手段(62,124)と、 前記信号に従って前記場所データベース手段(66,126)を更新する手段(62,12 4)と、 前記場所データベース手段(66,126)の更新に応答して、前記ジオメトリー変 更マシン(14)に伝達するように制御信号を与える手段(62,124)と、 を備えている装置(40,50,60)。 2.複数のジオメトリー変更マシン(14)を含んでいることを特徴とする請求項1 に記載の装置(40,50,60)。 3.前記場所データベース手段(66,126)は前記マシン(14)から離れて配置されて いることを特徴とする請求項2に記載の装置(40,50,60)。 4.前記場所データベース手段(66,126)は、一つかそれ以上のマシン(14)上に 配置されていることを特徴とする請求項2に記載の装置(40,50,60)。 5.場所データベース手段(66,126)が設けられた各マシン(14)は、さらに通信手 段(68,122)を含んでおり、別のマシンまたはマシン(14)上の前記場所データベ ース手段(66,126)に前記位置信号を送信し、前記場所データベース手段(66,126) から前記位置信号を受信することを特徴とする請求項4に記載の装置(40,50,60) 。 6.前記通信手段(68,122)は、単位時間あたり一つのマシン(14)のみがその位置 信号を前記別のマシン(14)に通信するような時間があけられた非同時性通信手段 (68a,68b,68c)を備えていることを特徴とする請求項5に記載の装置(40,50,60) 。 7.位置表示信号を作り出す前記手段(68,122)は、前記位置信号を各マシン(14) から前記場所データベース手段(16)を更新するための手段(62,124)に非同時に通 信する手段(68a,68b,68c)を含むことを特徴とする請求項1か2に記載の装置(40 ,50,60)。 8.前記通信手段(68,122)はさらにID信号手段(68a,68b,68c)を含んでおり、マ シン識別信号を前記位置信号とともに通信することを特徴とする請求項7に記載 の装置(40,50,60)。 9.前記場所データベース手段(66,126)を更新するための前記手段(62,124)は、 マシンパラメータを前記マシン(14)からのID信号を整合させるマシンパラメータ ライブラリー手段(126)を含んでいることを特徴とする請求項8に記載の装置(40 ,50,60)。 10.オペレータディスプレー手段(22)を備える前記マシンの作動を行なう手段(6 0)を含んでいることを特徴とする請求項1から9のいずれかに記載の装置(40,50 ,60)。 11.前記オペレータディスプレー手段(22)は、前記場所モデル(64)と該場所モデ ル(64)上の前記マシン(14)の位置のディスプレーを含むことを特徴とする請求項 10に記載の装置(40,50,60)。 12.前記オペレータディスプレー手段(22)は前記マシン(14)の一つに配置されて いることを特徴とする請求項10か11のいずれかに記載の装置(40,50,60)。 13.前記オペレータディスプレー手段(22)は、前記マシン(14)から離れて配置さ れていることを特徴とする請求項10か11のいずれかに記載の装置(40,50,60) 。 14.前記マシン(14)間で干渉を防ぐように該マシン(14)相互の作動を監視する手 段(22)を含んでいることを特徴とする請求項1から13のいずれかに記載の装置 (40,50,60)。 15.前記マシン(14)の前記作動を監視する前記手段(22)は、マシン(14)のまわり にマシン干渉境界を形成し、別のマシン(14)の位置が該境界内であると判定され ることに応答して警告信号(85)を与える手段(83,83')を含んでいることを特徴と する請求項14に記載の装置(40,50,60)。 16.前記マシン(14)の前記作動を監視する手段(22)は、マシン(14)のまわりにマ シン干渉境界を形成し、一つのマシン(14)の境界が別のマシン(14)の境界と重な っている判定されることに応答して警告信号(85)を与える手段(83,83')を含んで いることを特徴とする請求項14に記載の装置(40,50,60)。 17.前記マシンの作動モードに従ってマシン(14)の干渉境界(83,83')の大きさを 変更する手段(62,124)を含んでいることを特徴とする請求項16に記載の装置(4 0,50,60)。 18.マシン(14)のまわりに同時に形成された異なる大きさの複数の境界(83,83') を備えているとを特徴とする請求項16に記載の装置(40,50,60)。 19.前記場所モデル(64)の前記オペレータディスプレー(22)は各干渉境界(83,83 ')を示していることを特徴とする請求項10と15から18のいずれかに記載の 装置(40,50,60)。 20.マシンの位置信号を別のマシン(14)に送り、別のマシン(14)から位置信号を 受信する、各マシン(14)上の手段(68,122)を備えていることを特徴とする請求項 2あるいはこれに従属する請求項のいずれかに記載の装置(40,50,60)。 21.複数のモービルジオメトリー変更マシン(14)の作動を作業場所(12)上で監視 し協働させる方法(100,101,102,104,106,108,108a,109,110)において、 場所(12)のジオメトリーの場所モデル(104,106)を表すデータを含む場所デ ータベース(66)を維持し、 前記場所(12)上の前記ジオメトリー変更マシン(14)の瞬間的な三次元座標位 置を表す信号を発信し、 該信号を受信して、該信号に従って前記場所データベース手段(66)を更新し 、 該場所データベース手段(66)を更新することに応答して前記ジオメトリー変 更マシン(14)に伝達するように制御信号を与える、 段階からなる方法(100,101,102,104,106,108,108a,109,110)。 22.前記場所データベース(66)に従って前記マシン(14)の作動を行なわせる段階 を備える請求項21に記載の方法(100,101,102,104,106,108,108a,109,110)。 23.前記場所データベース手段(66)は前記各マシン(14)上に配置されており、各 マシン(14)の前記位置信号を各マシン(14)上の前記場所データベース手段(66)で 共有し、各マシン(14)からの前記位置信号に従って各マシン(14)上の前記 場所データベース(66)を更新する、段階を含んでいることを特徴とする請求項2 1か22に記載の方法(100,101,102,104,106,108,108a,109,110)。 24.単位時間あたり一つのマシン(14)のみがその位置信号を別のマシン(14)上の 前記場所データベース(66)に通信するように、各マシン(14)の前記位置信号を非 同時に通信する段階を含むことを特徴とする請求項23に記載の方法(100,101,1 02,104,106,108,108a,109,110)。 25.各マシン(14)上の前記場所データベース(66)内に前記マシン識別信号を記録 し、該マシン識別信号を前記位置信号とともに通信し、各マシン(14)からの前記 位置/ID信号をマシンパラメータと整合し、これに従って前記場所データベース( 66)を更新する段階を含むことを特徴とする請求項24に記載の方法(100,101,10 2,104,106,108,108a,109,110)。 26.前記位置信号を各マシン(14)から前記場所データベース(66)に非同時に通信 する段階を含むことを特徴とする請求項21から25のいずれかに記載の方法(1 00,101,102,104,106,108,108a,109,110)。 27.マシン識別信号を前記位置信号とともに通信する段階を含むことを特徴とす る請求項24から26のいずれかに記載の方法(100,101,102,104,106,108,108a, 109,110)。 28.マシン(14)からの前記位置/ID信号をマシンパラメータと整合し、これに従 って前記場所データベース(66)を更新する段階を含むことを特徴とする請求項2 7に記載の方法(100,101,102,104,106,108,108a,109,110)。 29.前記第2マシン(14)に関連して前記第1マシン(14)を作動させる前記段階は 前記場所データベースのディスプレー(22)を形成する段階を含むことを特徴とす る請求項21から28のいずれかに記載の方法(100,101,102,104,106,108,108a, 109,110)。 30.前記オペレータディスレプレー(22)は、前記場所モデル(64)と、該場所モデ ル(64)上の前記マシン(14)の位置のディスプレーを含むことを特徴とする請求項 29に記載の方法(100,101,102,104,106,108,108a,109,110)。 31.前記マシン(14)を作動させる前記段階は、リアルタイムで制御信号を前記マ シン(14)上の自動マシン制御に与える段階を含むことを特徴とする請求項22 に記載の方法(100,101,102,104,106,108,108a,109,110)。 32.前記マシン(14)の相互の作動を監視し、これらの間で干渉を防ぐように警告 (85)を与える段階を含むことを特徴とする請求項21から31のいずれかに記載 の方法(100,101,102,104,106,108,108a,109,110)。 33.マシン(14)の作動を監視する前記段階は、マシン(14)のまわりにマシン干渉 境界(83,83')を形成する段階と、別のマシン(14)の前記位置がその境界(83,83') 内にあると判定されると、警告信号(85)を与える段階を含むことを特徴とする請 求項32に記載の方法(100,101,102,104,106,108,108a,109,110)。 34.前記マシン(14)の作動を監視する前記段階は、前記マシン(14)のそれぞれの まわりにマシン干渉境界(83,83')を形成し、一つのマシン(14)の前記境界(83)が 前記別のマシン(14)の前記境界(83')と重なると判定されるときに警告信号(85) を与える段階を含むことを特徴とする請求項32に記載の方法(100,101,102,104 ,106,108,108a,109,110)。 35.マシン(14)の作動モードに従って前記マシン(14)の干渉境界(83,83')の大き さを変更する段階を含んでいることを特徴とする請求項34に記載の方法(100,1 01,102,104,106,108,108a,109,110)。 36.マシン(14)のまわりに同時に形成された異なる大きさの複数の境界(83,83') を形成することからなることを特徴とする請求項34に記載の方法(100,101,102 ,104,106,108,108a,109,110)。 37.前記場所モデル上(64)の前記ディスプレー(22)上に、前記場所モデル(64)上 の前記第1および第2マシン(14)の位置と、それぞれの干渉境界(83,83')を表示 する段階を含むことを特徴とする請求項29および35または36に記載の方法 (100,101,102,104,106,108,108a,109,110)。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US22883794A | 1994-04-18 | 1994-04-18 | |
US08/228,837 | 1994-04-18 | ||
PCT/US1995/004432 WO1995028524A1 (en) | 1994-04-18 | 1995-04-12 | Method and apparatus for monitoring and coordination of multiple geography-altering machines on a work site |
Publications (2)
Publication Number | Publication Date |
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JPH09512072A true JPH09512072A (ja) | 1997-12-02 |
JP3678426B2 JP3678426B2 (ja) | 2005-08-03 |
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Application Number | Title | Priority Date | Filing Date |
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JP52704295A Expired - Fee Related JP3678426B2 (ja) | 1994-04-18 | 1995-04-12 | 作業場所における複数ジオメトリー変更マシンの監視および協働方法と装置 |
Country Status (8)
Country | Link |
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US (1) | US5646844A (ja) |
EP (1) | EP0756653B1 (ja) |
JP (1) | JP3678426B2 (ja) |
AU (1) | AU690979B2 (ja) |
CA (1) | CA2184481A1 (ja) |
DE (1) | DE69501401T2 (ja) |
WO (1) | WO1995028524A1 (ja) |
ZA (1) | ZA952853B (ja) |
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- 1995-04-12 WO PCT/US1995/004432 patent/WO1995028524A1/en active IP Right Grant
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- 1995-04-12 DE DE69501401T patent/DE69501401T2/de not_active Expired - Lifetime
- 1995-04-12 JP JP52704295A patent/JP3678426B2/ja not_active Expired - Fee Related
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JP2004062824A (ja) * | 2002-07-31 | 2004-02-26 | Nippon Telegr & Teleph Corp <Ntt> | 危険地域作業安全確保支援方法及びシステム |
JP2006522881A (ja) * | 2003-04-14 | 2006-10-05 | ワツカー コンストラクション イクイップメント アクチェンゲゼルシャフト | 自動化された地面突固めのためのシステム及び方法 |
JP2015059380A (ja) * | 2013-09-20 | 2015-03-30 | 株式会社Ihiエアロスペース | センサ埋設システム及びその方法 |
JP2017115387A (ja) * | 2015-12-24 | 2017-06-29 | 株式会社Nippo | 建設機械自動制御システム |
JP2018200274A (ja) * | 2017-05-29 | 2018-12-20 | 株式会社クボタ | 自動走行作業車両のための衛星測位システム |
Also Published As
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CA2184481A1 (en) | 1995-10-26 |
DE69501401D1 (de) | 1998-02-12 |
AU2246095A (en) | 1995-11-10 |
EP0756653B1 (en) | 1998-01-07 |
EP0756653A1 (en) | 1997-02-05 |
JP3678426B2 (ja) | 2005-08-03 |
ZA952853B (en) | 1995-12-21 |
US5646844A (en) | 1997-07-08 |
WO1995028524A1 (en) | 1995-10-26 |
AU690979B2 (en) | 1998-05-07 |
DE69501401T2 (de) | 1998-08-06 |
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