DK3351963T3 - Jordflytningsmaskine, afstandsmåleranordning og fremgangsmåde til 3d-scanning - Google Patents

Jordflytningsmaskine, afstandsmåleranordning og fremgangsmåde til 3d-scanning Download PDF

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Publication number
DK3351963T3
DK3351963T3 DK18151554.5T DK18151554T DK3351963T3 DK 3351963 T3 DK3351963 T3 DK 3351963T3 DK 18151554 T DK18151554 T DK 18151554T DK 3351963 T3 DK3351963 T3 DK 3351963T3
Authority
DK
Denmark
Prior art keywords
scanning
distance meter
meter device
movement machine
earth movement
Prior art date
Application number
DK18151554.5T
Other languages
English (en)
Inventor
Visa Hokkanen
Jukka Tervahauta
Mikko Vesanen
Original Assignee
Novatron Oy
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Novatron Oy filed Critical Novatron Oy
Application granted granted Critical
Publication of DK3351963T3 publication Critical patent/DK3351963T3/da

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Classifications

    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F3/00Dredgers; Soil-shifting machines
    • E02F3/04Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/76Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
    • E02F3/80Component parts
    • E02F3/84Drives or control devices therefor, e.g. hydraulic drive systems
    • E02F3/841Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine
    • E02F3/842Devices 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
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F9/00Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26Indicating devices
    • E02F9/264Sensors and their calibration for indicating the position of the work tool
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88Lidar systems specially adapted for specific applications
    • G01S17/89Lidar systems specially adapted for specific applications for mapping or imaging
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F9/00Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26Indicating devices
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F9/00Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26Indicating devices
    • E02F9/261Surveying the work-site to be treated
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06Systems determining position data of a target
    • G01S13/42Simultaneous measurement of distance and other co-ordinates
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • G01S13/89Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06Systems determining position data of a target
    • G01S17/42Simultaneous measurement of distance and other co-ordinates
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88Lidar systems specially adapted for specific applications
    • G01S17/89Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/894Three-dimensional [3D] imaging with simultaneous measurement of time-of-flight at a two-dimensional [2D] array of receiver pixels, e.g. time-of-flight cameras or flash lidar
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/28Details of pulse systems
    • G01S7/285Receivers
    • G01S7/295Means for transforming co-ordinates or for evaluating data, e.g. using computers
    • G01S7/2955Means for determining the position of the radar coordinate system for evaluating the position data of the target in another coordinate system
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02FDREDGING; SOIL-SHIFTING
    • E02F3/00Dredgers; Soil-shifting machines
    • E02F3/04Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/32Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Civil Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Optics & Photonics (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Measurement Of Optical Distance (AREA)
DK18151554.5T 2017-01-18 2018-01-15 Jordflytningsmaskine, afstandsmåleranordning og fremgangsmåde til 3d-scanning DK3351963T3 (da)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FI20175035A FI127505B (en) 2017-01-18 2017-01-18 Excavator, distance measuring arrangement and procedure for 3D scanning

Publications (1)

Publication Number Publication Date
DK3351963T3 true DK3351963T3 (da) 2023-07-24

Family

ID=60972106

Family Applications (1)

Application Number Title Priority Date Filing Date
DK18151554.5T DK3351963T3 (da) 2017-01-18 2018-01-15 Jordflytningsmaskine, afstandsmåleranordning og fremgangsmåde til 3d-scanning

Country Status (5)

Country Link
US (1) US10329740B2 (da)
EP (1) EP3351963B1 (da)
DK (1) DK3351963T3 (da)
ES (1) ES2950579T3 (da)
FI (1) FI127505B (da)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7624291B2 (ja) * 2019-05-31 2025-01-30 株式会社小松製作所 マップ生成システム及びマップ生成方法
US12535818B2 (en) * 2020-12-18 2026-01-27 Husqvarna Ab Concrete surface mapping robots, systems, and methods for processing concrete surfaces
CN115142513B (zh) * 2022-05-25 2024-05-07 中科云谷科技有限公司 用于挖掘机的控制方法及装置、处理器及存储介质
US12509859B2 (en) * 2023-01-26 2025-12-30 Deere & Company Terrain measurement for automation control and productivity tracking of work machine

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6717654B1 (en) * 1999-02-08 2004-04-06 Vantageport, Inc. Combined range-finding, sighting and scanning system and method
US6922234B2 (en) 2002-01-23 2005-07-26 Quantapoint, Inc. Method and apparatus for generating structural data from laser reflectance images
AU2005227398B1 (en) 2005-10-28 2006-04-27 Leica Geosystems Ag Method and apparatus for determining the loading of a bucket
US7544945B2 (en) 2006-02-06 2009-06-09 Avago Technologies General Ip (Singapore) Pte. Ltd. Vertical cavity surface emitting laser (VCSEL) array laser scanner
US8363210B2 (en) 2007-10-26 2013-01-29 Deere & Company Three dimensional feature location from an excavator
WO2012061896A1 (en) * 2010-11-11 2012-05-18 The University Of Sydney Radar image processing
EP2756328A2 (en) 2011-09-13 2014-07-23 Sadar 3D, Inc. Synthetic aperture radar apparatus and methods
AU2013267148B9 (en) 2012-06-01 2017-04-06 Seatrax, Inc. System and method to determine relative velocity of crane and target load
JP6093261B2 (ja) 2013-07-19 2017-03-08 株式会社日本自動車部品総合研究所 監視装置およびプログラム
WO2015041689A1 (en) 2013-09-20 2015-03-26 Caterpillar Inc. Positioning system
JP6538315B2 (ja) 2014-06-26 2019-07-03 住友建機株式会社 ショベル
US9378554B2 (en) 2014-10-09 2016-06-28 Caterpillar Inc. Real-time range map generation
US9732502B2 (en) 2015-07-02 2017-08-15 Caterpillar Inc. Excavation system providing impact detection

Also Published As

Publication number Publication date
US10329740B2 (en) 2019-06-25
EP3351963B1 (en) 2023-05-24
EP3351963A1 (en) 2018-07-25
ES2950579T3 (es) 2023-10-11
US20180202132A1 (en) 2018-07-19
FI127505B (en) 2018-08-15

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