WO2023066978A1 - Verfahren und vorrichtung zum erfassen der arbeitsleistung eines erdbaugeräts innerhalb eines baugrunds sowie erdbaugerät umfassend eine solche vorrichtung - Google Patents
Verfahren und vorrichtung zum erfassen der arbeitsleistung eines erdbaugeräts innerhalb eines baugrunds sowie erdbaugerät umfassend eine solche vorrichtung Download PDFInfo
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- WO2023066978A1 WO2023066978A1 PCT/EP2022/079066 EP2022079066W WO2023066978A1 WO 2023066978 A1 WO2023066978 A1 WO 2023066978A1 EP 2022079066 W EP2022079066 W EP 2022079066W WO 2023066978 A1 WO2023066978 A1 WO 2023066978A1
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- WIPO (PCT)
- Prior art keywords
- earth
- terrain
- moving device
- topography
- sensors
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 23
- 239000002689 soil Substances 0.000 title claims abstract description 12
- 238000012876 topography Methods 0.000 claims description 69
- 238000011156 evaluation Methods 0.000 claims description 24
- 238000004891 communication Methods 0.000 claims description 16
- 239000011435 rock Substances 0.000 claims description 9
- 238000005259 measurement Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 2
- 238000009412 basement excavation Methods 0.000 description 15
- 238000010276 construction Methods 0.000 description 15
- 239000000463 material Substances 0.000 description 11
- 239000003086 colorant Substances 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000003190 augmentative effect Effects 0.000 description 1
- 239000004566 building material Substances 0.000 description 1
- 230000010267 cellular communication Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- -1 loam Substances 0.000 description 1
- 239000003415 peat Substances 0.000 description 1
- 238000009420 retrofitting Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- 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
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2054—Fleet management
-
- 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
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0639—Performance analysis of employees; Performance analysis of enterprise or organisation operations
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/08—Construction
-
- 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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
- G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
Definitions
- the invention relates to a method and a device for recording the performance of such an earth-moving device within a subsoil, and to an earth-moving device comprising such a device.
- Earth-moving equipment is used for loosening, loading, transporting, installing and compacting earth masses or bulk materials over short distances.
- the devices are equipped with different chassis and attachments.
- a basic distinction is made between stationary, mobile and flat and suction excavators for earthmoving equipment.
- the present invention relates to such earth moving equipment.
- a number of assistance systems for earth-moving equipment are known from the prior art, which are also able to survey the subsoil.
- the disadvantage of this is that there has not yet been an assistance system for earth-moving equipment that can neither perform an optical survey of the subsoil nor determine the performance of such and thus indirectly the resulting costs for said earthmoving during operation of the earth-moving equipment.
- the work carried out with the earth-moving device should be able to be recorded and billed more easily and with less effort than before, so that the billing of the work performed with the earth-moving device can be simplified.
- a method for detecting the work output of an earth-moving device within a subsoil comprises the following steps: a) detecting the topography of the original subsoil - original terrain - in time before or at the beginning of the implementation of the earth movements by means of the earth-moving equipment; b) detecting the topography of the subsoil—actual terrain—which changes as a result of carrying out the earth movements while the earth movements are being carried out by means of the earth-moving device; c) Carrying out step b) until a predetermined topography of the subsoil is reached—target terrain; d) comparing the original terrain with the actual terrain to record the earth movements already made with the earth-moving equipment; or e) comparing the original terrain with the target terrain to record all earth movements made with the earthmoving equipment on the subsoil to create the target terrain; or f) comparing two different recorded actual terrains to record the earth movements already carried out between them with the earth-moving device; g) determining the work output
- the term work performance is understood to mean a volume of work performed by means of the construction equipment within a working time.
- the working volume can be characterized by an earth volume removed with the earth-moving equipment, also called excavation, or by an earth volume added to the subsoil, then called embankment.
- the work output can be characterized by the volume of the excavation or the landfill on the one hand and by the actual physical work performed by the earthmoving equipment on the other. From the work performed, costs such as the fuel costs required to perform the work or the disposal costs of the excavation produced on the subsoil with the earth-moving equipment can then be determined indirectly.
- the original site is the environment as it appeared before the earthmoving equipment began to carry out the earthmoving work.
- the topography of the subsoil can be recorded using appropriate topography sensors.
- the subsoil is sampled (scanned) during the movement or the work of the earth-moving equipment on the subsoil.
- the original terrain i.e. the building ground
- the first scanned points which are not classified/deleted as stray points, at a certain position, ultimately result in the original terrain.
- the actual terrain is the current appearance of the environment and is always (continuously) recorded based on the current scan of the subsoil. This means that in the course of the present invention, several actual terrains are recorded one after the other in a chronological sequence. This is done by corresponding, chronologically consecutive scans using the topography sensors.
- Components that are disruptive such as parts of the earthmoving equipment, building material or people, can be filtered out of the data. This can be done through the data generated by the topography sensors, such as cameras, which detect objects that should not or may not be detected. In order to have the smallest possible error deviation, scattering errors of the topography sensors can also be filtered out by comparing the data with the data already stored and strongly deviating data are not stored.
- Areas of the subsoil where no changes have been made using the construction equipment are continuously averaged in order to achieve even greater accuracy.
- the continuous, i.e. chronologically recorded, scans of the actual terrain show the subsoil in the individual phases of excavation or filling by the earthmoving equipment.
- the excavation or the change in the terrain can be displayed over time and the work process can be analyzed later on. This can be done by comparing the point clouds of the terrain (original, actual, target terrain) but also by the data from the topography sensors, such as camera images.
- the topography sensors can also be used to document work performance, to increase the efficiency of the work carried out with the earthmoving equipment and to validate the measurements, for example the measured values using the other topography sensors, such as lidar systems, using point clouds.
- at least one camera and at least one lidar system are provided as topography sensors for optical measurement of the subsoil.
- construction sections can also be examined or evaluated with regard to the work performance, in that the comparison according to the invention between two different actual sites, i.e., for example, chronologically separated from one another and recorded consecutively, in particular of the same order, i.e. for carrying out the work that is necessary to achieve the target terrain is carried out.
- Target terrain is understood to mean a predetermined topography of the subsoil that is to be achieved by excavation work using the earth-moving device. It is the result of the earthworks to be achieved.
- the target terrain can be, for example, a specified 3D model of the subsoil with a completed excavation pit. In the ideal case, the target terrain then corresponds to the last scanned actual terrain immediately after the end of the earth movements using the earth-moving equipment.
- the just-mentioned actual terrain recorded by means of the topography sensors can also be used.
- the operator it is possible for the operator to enter the current soil classification using an input tool, since different soil materials can be billed differently.
- the system always links the input to the respective quantity or environment that is being processed at the time a parameter is set. This makes it possible to determine exactly what quantity of which soil material was excavated.
- different tools or configurations of the machine itself can also be set, since this also requires different billing.
- the device according to the invention can be set up in such a way that the current soil classification is entered, for example, by the operator of the earth-moving device during the earth-moving work himself. In this way, the currently actually removed material (excavation) or the material added to the subsoil (fill) can be recorded.
- the data thus obtained by the topography and/or vehicle sensors during operation of the earth mover can be used after completion or during work as follows:
- the target terrain or a comparison of the actual terrain with the target terrain can be imported into the earthmoving device, for example, and displayed on an output tool (e.g. display, virtual or augmented reality), so that the operator can use the comparison of target and actual terrain can operate more precisely
- an output tool e.g. display, virtual or augmented reality
- the terrain can be constantly surveyed with lidar or radar systems. Pictures of the construction site can be taken with an additional camera unit.
- the number of topography sensors, i.e. 3D scanners, radar or cameras, is flexible and varies depending on the area of application.
- the terrain is constantly surveyed by the earth-moving device itself during the earth-moving work by the invention.
- the resulting 3D model of the terrain is georeferenced via additional vehicle sensors on the earthmoving device, which measure the position and joints, and a GPS system.
- an image of the real actual site is created at any point in time during the earthworks.
- the original terrain can also be recorded as a 3D model by traversing the terrain with the earthmoving equipment before construction work.
- excavation i.e. the soil that can be removed from the subsoil, as part of the earth's crust, regardless of the material (e.g. peat, loam, sand, rock) this consists.
- material e.g. peat, loam, sand, rock
- the comparison in step d) or e) or f) of the method according to the invention is preferably carried out by calculating the volume of the original terrain with the actual terrain, the original terrain with the target terrain or between two different actual terrains (e.g. a chronologically earlier and a chronologically later) in a Cartesian coordinate system with the same zero point, so that the work output is determined as a function of the entire volume of earth actually removed or moved by the earthmoving equipment on the subsoil.
- the subsoil is first surveyed before (original terrain), then continuously during (actual terrain) until the end of the earth movements using the earthmoving equipment.
- a corresponding 3D model of the original and the respective actual terrain can be created from the measurements.
- the raw data recorded by the sensors can also be output in the form of point clouds.
- the 3D model can also be converted into a corresponding CAD format and then imported into corresponding CAD systems for evaluation.
- corresponding views of or cross sections through the 3D model can also be created and output from the 3D model (eg in the output tool mentioned or a user tool).
- the user tool can be a computer-based system decoupled from the earth-moving device, such as a (cloud) database system, to which the topographies of the original, actual and target terrain can be transmitted from the earth-moving device via a wireless radio network or the mobile network.
- the Cartesian coordinate system can be a local coordinate system, preferably of the earth-moving device, or a world coordinate system in which the earth-moving device moves.
- topography sensors (2) such as cameras, preferably 3D cameras, such as TOF cameras or PMD cameras, radar or lidar systems in particular as a georeferenced polygon network or point cloud.
- the topography sensors such as cameras, preferably 3D cameras, such as TOF cameras or PMD cameras, radar or lidar systems are known, proven and comparatively inexpensive systems.
- At least one attribute can be assigned to at least one predetermined point of the polygon network or at least one predetermined point of the point cloud, which is a property, in particular a property of the earth-moving equipment, such as the identification of the earth-moving equipment or the actual terrain (I), such as the soil condition or the rock classes of the volume of earth to be removed or its color values, the time of recording or the measurement accuracy, wherein the at least one attribute is preferably recorded by means of the topography sensors.
- the captured 3D model has that is available as a polygon mesh or point cloud Parameter options, which can be expanded to a BIM model (Building Information Model). The parameters can be added to an existing 3D model afterwards or directly during the surveying (i.e.
- the parameters or attributes can be rock classes.
- the rock class can be stored in the point cloud during earthworks. This is either selected manually on the display of the earth-moving equipment and entered by the operator, or it is optically recognized by the built-in topography sensors, such as camera systems, or recorded by reflections from the lidar system and then automatically added as an attribute to the corresponding point in the point cloud or the polygon network. Since the rock classes vary during the work, the rock class can also be changed several times in a 3D model, so that multiple entries by the operator are required. Finally, a point cloud is generated, which can be divided into respective rock classes.
- the cameras attached to the earthmoving device and the lidar system can also be used to color the point clouds based on the colors of the terrain they detect, so that a color value is added as an attribute to the corresponding point.
- the point cloud will also reflect the terrain in color using an additional RGB value per point. The operator can thus see the colors on the 3D model that correspond to the colors of the terrain in reality.
- the display in the earth-moving device also allows other parameters of the surveying system to be stored during earth-moving work. Project and construction phases, which describe the current construction process, can also be stored in order to subsequently break down the point cloud, just like with rock classes. Time, construction machine, notes, etc. can also be stored with the 3D model while the 3D model is being created. In this way, meta information can be saved as attributes, as they are also stored in the BIM model, for the points of the point cloud or the polygon mesh.
- the movements of the earth-moving equipment over the subsoil and movements of the earth-moving equipment itself or parts thereof, such as booms can be detected by means of vehicle sensors, such as inclination or position sensors, which can preferably be attached to parts of the earth-moving equipment, such as the boom, with preference being given to these Movements can also be used to determine the work output of the earth-moving equipment.
- vehicle sensors such as inclination or position sensors
- inclination or position sensors can also be used to determine the work output of the earth-moving equipment.
- the sensors can be set up in such a way that they can also be applied subsequently to any known earth-moving device.
- the kinematic chains of all joints (or even the tip of the bucket of the excavation machine) and also the History of all movements of the earth-moving equipment or parts thereof can be recorded.
- the vehicle sensors record the movement, position and, if applicable, the operating status of the earth-moving equipment.
- Inclination sensors can be used to record the movement and position of the individual joints of the earth-moving device or parts thereof, such as boom, arm, stick and superstructure.
- the position of all components, joints and connections in the local coordinate system can be determined.
- the location coordinate system can have the zero point in the center of the earthmoving device.
- GNSS global navigation satellite system
- GPS GPS, GALILEO or GLONASS
- GLONASS global navigation satellite system
- the movements of the earth-moving device can be recorded during (that is to say simultaneously in time) the recording of the topography of the original terrain or the actual terrain. This means that the movements of the earthmoving equipment and the topography of the subsoil are recorded simultaneously.
- the vehicle sensors and the topography sensors can preferably be attached to the earth-moving device, so that the actual terrain is recorded from different positions and orientations, with the vehicle sensors and the topography sensors preferably being able to be attached to parts of the earth-moving device, such as the boom.
- the topography sensors By positioning the topography sensors on the earth-moving device, the topography of the subsoil is recorded automatically, i.e. during earthworks (earth movements) using the earth-moving device.
- the data recorded by the vehicle sensors can be used in order to advantageously transfer the recorded topography (original, actual target terrain) of the subsoil from the local coordinate system of the earth-moving device to the world coordinate system. This is done, for example, by means of kinematic chains, such as forward kinematics, e.g. using the Denavit-Hartenberg transformation.
- the costs actually incurred by means of the earth-moving device as a result of carrying out the earth movements can be indirectly inferred from the determined work output. For example, when excavating an excavation pit using the earthmoving equipment, the actual costs incurred for this work can be deduced from the work performed. The finished excavation no longer has to be done by hand be measured, this is done indirectly, while the earth-moving equipment performs the necessary earth movements.
- the invention also relates to a device for detecting the performance of an earth-moving device within a subsoil, comprising at least one, preferably a plurality of topography sensors, such as cameras, preferably 3D cameras, such as TOF cameras or PMD cameras, radar or lidar systems, a plurality vehicle sensors, such as inclination or position sensors, the topography sensors and/or the vehicle sensors preferably being attached or attachable to parts of the earth-moving equipment, such as the boom of the earth-moving equipment, and an evaluation unit which is or can be connected to the topography sensors and the vehicle sensors and is set up in such a way that it carries out a method according to the invention.
- topography sensors such as cameras, preferably 3D cameras, such as TOF cameras or PMD cameras, radar or lidar systems
- vehicle sensors such as inclination or position sensors
- the topography sensors and/or the vehicle sensors preferably being attached or attachable to parts of the earth-moving equipment, such as the boom of the earth-moving equipment
- the evaluation unit can be arranged or can be arranged outside of the earth-moving device and is or can be connected to the topography sensors and the vehicle sensors of the earth-moving device via wireless communication channels.
- the evaluation unit can be connected or can be connected to the topography and vehicle sensors via appropriate communication channels (wired or wireless).
- Wireless communication channels can be cellular communication channels of cellular standards such as LTE, 5G.
- the topography and vehicle sensors can be connected or can be connected to the evaluation unit via a communication unit, comprising a transmitter and a receiver, in order to transmit the values detected by means of the topography and vehicle sensors to the evaluation unit, wherein the communication unit can be attached to the earth-moving equipment.
- the evaluation unit can be a computer, PLC (programmable logic controller), microcontroller, industrial PC or any other type of computing unit.
- the evaluation unit is preferably a cloud computer in a data center. It records the data, either directly or via an adapter module from the vehicle and topography sensors.
- the device according to the invention can be set up in such a way that it can be retrofitted to already known earth-moving equipment and is preferably set up in such a way that it works independently of the vehicle control of the earth-moving equipment.
- the device can transmit the data recorded by means of topography or vehicle sensors or the results of the mentioned comparison to a user tool via a wireless radio network or the mobile radio network for further evaluation.
- the invention also relates to an earth-moving device comprising a device according to the invention for recording its work output.
- the earth-moving equipment can preferably be a standing excavator such as a hydraulic excavator, a mobile excavator such as a wheel loader, a backhoe loader or a crawler loader, a flat-type excavator such as a bulldozer, grader, scraper or dragline.
- topography or vehicle sensors can be attached to the earth-moving device or its parts, this also means that attachments such as shovels or drills also belong to the earth-moving device or its parts.
- a method for retrofitting a device according to the invention on existing earth-moving equipment comprises the following steps: a) Applying the plurality of vehicle sensors and at least one, preferably a plurality of, topography sensors to the earth-moving equipment, in particular to its parts, such as Boom; b) installing an evaluation unit of the device in the earth-moving device, e.g. in its interior; c) Connecting the vehicle and topography sensor(s) to the evaluation unit via communication channels.
- FIG. 1 shows a schematic view of an earth-moving device that can be moved on a subsoil at or before the start of the earthwork;
- FIG. 2 shows a schematic view of an earth-moving device that can be moved on a subsoil before or after the end of the earthwork;
- FIG. 3 shows a schematic representation of a device according to the invention.
- an earth-moving device 1 is shown in a schematic view of a subsoil B to be processed by the earth-moving device 1 .
- 1 shows the state of the subsoil B in its original state, then referred to as the original site, in which earthmoving equipment 1 has not yet been used to move earth.
- the earth-moving device 1 is in the present case designed as an excavator, such as a hydraulic excavator, and includes a device 5 for detecting the performance of the earth-moving device 1.
- This device 5 includes an evaluation unit 4, which has not shown Communication lines with multiple vehicle sensors 3 and at least one topography sensor 2 for detecting the topography of the subsoil B is equipped.
- the vehicle sensors 3 and the at least one topography sensor 2 are arranged on the boom of the earth-moving device 1 .
- the vehicle sensors 3 can detect the movements of the earth-moving device 1 over the subsoil and the movements of the earth-moving device 1 itself or parts thereof, such as the boom or individual joints thereof.
- the at least one topography sensor 2 continuously scans the subsoil B for its changes, ie as a result of the earth movements of the earth-moving device 1 itself.
- the topography here the primeval terrain, is recorded passively. This means that no additional movements of the earth-moving equipment are necessary in order to record the topography, in particular that of the original terrain U.
- the earth-moving device 1 does not have to cover the (entire) subsoil at the beginning of the earth movement in order to scan it, but rather the detection takes place (immediately) before and during the earth-moving work itself.
- a scan of subsoil B, here as primeval terrain U, can be carried out before the earth movement begins.
- All movements of the earth-moving device 1 while it is moving over the subsoil B are recorded by means of the vehicle sensors 3 .
- the recording can be done in relation to the location coordinate system (OKS) with zero point O.
- the zero point O can, for example, be in the center of the earth-moving device 1.
- the position of the at least one topography sensor 2 in relation to the OKS can be calculated mathematically at any time from the data recorded by means of the vehicle sensors 3 arranged on the earth-moving device 1 .
- At least one corresponding 3D model of the subsoil is thus created not only before or at the beginning of the earth movements (original terrain), but also during the earth movements (actual terrain) and also at the end of the work (target terrain).
- the view from FIG. 2 can show a target site that is already finished or an intermediate stage before completion, then called the actual site.
- the corresponding 3D model of the subsoil (original, actual, target terrain) can be transferred to a world coordinate system (WKS) W starting from the OKS.
- WKS world coordinate system
- one of the vehicle sensors 3 can be part of a global navigation satellite system, so that the current position of the earth-moving device 1, the data of the 3D models can be calculated from the OKS to the WKS.
- the device 5 can be set up in such a way that it evaluates the data recorded by the sensors 2, 3 (during operation of the earth-moving device 1) and makes a corresponding comparison between the original terrain and the actual terrain, the original terrain and the target terrain, or between two different actual ones -Terrain (e.g. a chronologically earlier and a chronologically later) employs.
- This comparison allows conclusions to be drawn about the volumes that delimit these terrains.
- the volume of the excavated material from the excavation or the heap on the subsoil B can be determined using the earth-moving device 1 itself, ie while the earth-moving device 1 is in use or in operation.
- the work output of the earth-moving device 1 can then be determined from this data by means of the device 5 . In addition to the volume of the excavated material or the embankment, this can also take place through the entire recorded movements of the earth-moving device 1 .
- FIG. 3 shows, in a highly schematic and therefore not to scale illustration, a possible embodiment of a device 5 according to the invention for carrying out the method according to the invention, as can be arranged on the earth-moving device 1 in FIG. 1 or 2.
- three of the plurality of vehicle sensors 3 and also three topography sensors 2 are shown here.
- the number mentioned could vary.
- the lidar system with a camera can have a different number of sensors and cameras.
- the topography sensors 2 and the vehicle sensors 3 can be connected (wired) or connectable (wireless) to the evaluation unit 4 via appropriate communication channels (wired or wireless).
- a communication unit 6 is arranged between the topography sensors 2 , the vehicle sensors 3 and the evaluation unit 4 .
- the values or data recorded by the topography and vehicle sensors 2, 3 can then be connected or can be connected to the evaluation unit 4 via the communication unit 6, which comprises at least one transmitter and one receiver, in order to transmit them to the evaluation unit 4 or others, e.g to transmit earth-moving equipment 1 located on the subsoil.
- the invention can be attached to several, even different, earth-moving devices 1 (eg wheel loaders, graders, excavators), so that the actual terrain can also be processed by several construction machines in real time and recorded as a 3D model. Several earthmoving devices 1 then work together at the same time, especially on large construction sites.
- two or more of the systems according to the invention are used on a construction site, they can work separately but also together on a 3D model, in particular a point cloud or a polygon network.
- Two or more earthmoving devices 1 thus simultaneously and continuously create a large, shared 3D terrain model (actual terrain) of the construction site.
- a further parameter is then stored in the 3D model as an attribute of at least one point of the point cloud or of the polygon network, namely which point was measured by which machine, ie earth-moving device 1 .
- the entire device 5 can be set up in such a way that it can easily be retrofitted to existing earth-moving equipment 1 . This is done by attaching the corresponding topography sensors 2 and vehicle sensors 3 to the corresponding parts of the earth-moving equipment 1, such as the joints of the booms.
- the evaluation unit 4 can then be accommodated, for example, inside the earth-moving device 1 and can be connected to the topography sensors 2 and the vehicle sensors 3, for example by laying corresponding communication channels.
- the invention can therefore be used to determine the work done with the earth-moving device to transform the original terrain into the predetermined target terrain, and thus indirectly the costs of moving the earth for such a transformation--particularly while the earth-moving device is still in operation.
- the work carried out with the earth-moving equipment can be recorded and billed more easily and with less effort than before.
- the billing of the work performed with the earth-moving device or the necessary costs can be considerably simplified.
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Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6201883B1 (en) * | 1998-01-22 | 2001-03-13 | Komatsu Ltd. | Topography measuring device |
JP2002328022A (ja) * | 2001-05-02 | 2002-11-15 | Komatsu Ltd | 地形形状計測装置およびガイダンス装置 |
DE112016002851T5 (de) * | 2015-06-23 | 2018-03-15 | Komatsu Ltd. | Baumanagementsystem und Baumanagementverfahren |
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- 2022-10-19 WO PCT/EP2022/079066 patent/WO2023066978A1/de active Application Filing
- 2022-10-19 AU AU2022372477A patent/AU2022372477A1/en active Pending
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6201883B1 (en) * | 1998-01-22 | 2001-03-13 | Komatsu Ltd. | Topography measuring device |
JP2002328022A (ja) * | 2001-05-02 | 2002-11-15 | Komatsu Ltd | 地形形状計測装置およびガイダンス装置 |
DE112016002851T5 (de) * | 2015-06-23 | 2018-03-15 | Komatsu Ltd. | Baumanagementsystem und Baumanagementverfahren |
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