EP1982247A1 - Unité de commande d'application - Google Patents

Unité de commande d'application

Info

Publication number
EP1982247A1
EP1982247A1 EP07703302A EP07703302A EP1982247A1 EP 1982247 A1 EP1982247 A1 EP 1982247A1 EP 07703302 A EP07703302 A EP 07703302A EP 07703302 A EP07703302 A EP 07703302A EP 1982247 A1 EP1982247 A1 EP 1982247A1
Authority
EP
European Patent Office
Prior art keywords
application
marking
control unit
application unit
unit
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.)
Withdrawn
Application number
EP07703302A
Other languages
German (de)
English (en)
Inventor
Peter Kipfer
Christian Betschon
Bernd Walser
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beamrider Ltd
Original Assignee
Leica Geosystems AG
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=36636576&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP1982247(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Leica Geosystems AG filed Critical Leica Geosystems AG
Priority to EP16155829.1A priority Critical patent/EP3045998B1/fr
Priority to EP07703302A priority patent/EP1982247A1/fr
Priority to DK16155829.1T priority patent/DK3045998T3/en
Priority to EP17183643.0A priority patent/EP3267276A1/fr
Publication of EP1982247A1 publication Critical patent/EP1982247A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C19/00—Design or layout of playing courts, rinks, bowling greens or areas for water-skiing; Covers therefor
    • A63C19/06—Apparatus for setting-out or dividing courts
    • A63C19/065—Line markings, e.g. tapes; Methods therefor
    • A63C2019/067—Machines for marking
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
    • A63C2203/00—Special features of skates, skis, roller-skates, snowboards and courts
    • A63C2203/18—Measuring a physical parameter, e.g. speed, distance

Definitions

  • the invention relates to an application control unit for a marking substance application unit according to claim 1 and a marking trolley according to claim 9.
  • Markers are used to create ground-based markers, such as those used to define playgrounds and sports fields.
  • the marking devices have an outlet for marking substance and are generally designed to be mobile as marking trolleys. Before the actual marking activity begins, the field or the lines and / or surfaces to be marked must be staked out in a defined manner.
  • An improvement in marking in terms of accuracy, time and ease of handling provides the use of optical guide beams for guiding a marking cart.
  • a system with an arrangement for guiding an object along a reference straight line which works with two static components.
  • a measuring light beam is emitted by a static transmitter, which in turn is received by a statically positioned detector.
  • the unit to be moved has a defined edge, which is guided in the measurement light beam and by shading of the detector allows a relative position determination. Due to the shading principle, a defined edge must always be kept in the uninterrupted beam path between the static transmitter and the detector, which also presents difficulties due to imaging and scattered light problems.
  • this approach requires the placement of two precisely aligned components, which is detrimental to the easy and rapid creation of floor markings.
  • a mobile system for marking trolleys is described, for example, in WO 2006/013386.
  • a beam with fan-shaped geometry and elliptical beam cross-section is generated. This beam is emitted to define one side of a sports field.
  • the marking trolley used to apply the marking substance has a detector for the laser radiation, the position of the marking trolley being displayed relative to the vertically oriented beam.
  • the user of the car can guide it using the laser fan as a guide beam.
  • the object of the invention is to provide an application control unit for a mobile marking device with improved marking accuracy.
  • Another object of the invention is the provision of a marking device, in particular marking vehicle, for more accurate marking of sports fields.
  • Another task is the compensation of tilting errors during marking work.
  • an application control unit comprising a radiation sensor for detecting electromagnetic radiation, wherein the position of the marking substance application unit relative to an electromagnetic reference signal relative to a reference plane defined by the signal can be detected by means of the radiation sensor, and which application control unit further comprises means for detecting the orientation of the application unit relative to the reference plane.
  • the reference signal is received and determined on the basis of the received signal, the relative position of application unit and reference signal.
  • the relative position of the unit can be derived from the knowledge of the position of the radiation sensor relative to the reference plane and the knowledge of the orientation of the orientation detection means relative to the reference plane. Based on the knowledge of this position, the application control unit according to the invention can provide control instructions for the application unit, in particular for position correction or application correction.
  • a position detected relative to the reference signal can also be represented as a position relative to the reference plane defined by the signal.
  • a very high marking accuracy can thus be achieved in that the position and orientation of the dispensing unit relative to the reference plane can be precisely determined and optionally compensated.
  • Determining the position and orientation of the application unit implies a determination of position and orientation of an outlet for marking substance of the application unit and vice versa.
  • the outlet is definedly connected to or integrated with the application unit, e.g. as the opening of the unit.
  • the reference plane or several reference planes or the reference signal (s) are provided by a reference beam generator, in particular a laser transmission unit.
  • the reference beam generator is thereby defined defined before the start of the actual marking process and aligned such that the electromagnetic radiation emitted by the generator is available as reference radiation defining one or more reference planes / n for guiding the device.
  • the orientation is such that the reference plane is vertical on the surface to be marked.
  • a marking device can represent any movable, in particular mobile, device with a marking substance application unit.
  • the marking device is designed as a marking cart, which can be pushed by an operator or externally controlled.
  • a seat and a control device may be provided for a driver.
  • the marking device has a carrier carriage and wheels.
  • a wheel sensor which e.g. detects the revolutions of the wheels per unit time and thus the speed of the vehicle, a further parameter in the control, in particular in the automatic control, the marking can be utilized, which optionally serves a further increase in the marking accuracy.
  • the marking device has a reservoir with marking substance, as well as a connection and transmission device between the reservoir and the application unit.
  • marking substance as well as a connection and transmission device between the reservoir and the application unit.
  • connection and transmission device between the reservoir and the application unit.
  • the marking substance application unit is provided with an outlet for marking substance, for example a nozzle, whereby the outlet and the application unit can be connected directly or indirectly.
  • the marking substance is transported from the reservoir to the outlet, generally by means of a pump device and a connecting hose - -
  • the marking substance is preferably liquid, but may also be a powder or solid particles, which may be e.g. be atomized by means of the nozzle and adhere to a surface.
  • the outlet may further comprise a closure device.
  • the application unit is preferably designed for attachment to the carriage, in particular for releasable attachment. By a removable application unit, for example, a cleaning of the same is facilitated.
  • the application unit is directly or indirectly positionally connected to the marking device so that the position and orientation of the marking substance outlet relative to the marking device, e.g. a chassis of the device, are adjustable. This can e.g. can be achieved by means of an actuator device which allows a defined displacement of the outlet transversely to the direction of travel - optionally on both sides - of the marking and a defined adjustment / tilting of the outlet about a longitudinal and transverse axis of the device, for example by means of a joint with two rotational degrees of freedom.
  • the arrangement of the application unit is selected on the marking device in particular criteria of the most reliable and accurate signal detection and handling and compactness of the arrangement.
  • the radiation sensor for receiving the reference signal from the outlet is arranged offset in order to facilitate the guidance of the device by a - the reference signal generating - transmitting unit.
  • the various components and the marking device are designed so that a flexible arrangement on the device is possible - depending on the circumstances of the environment to be marked.
  • the sensors / means may be variable in position.
  • a control program can be used which takes into account various input parameters.
  • the attitude adjustment of the application unit via the application control unit which generally comprises several components.
  • the - generally several - components are in a defined positional relationship with the application unit, so that position and orientation determinations carried out by means of the components can be unambiguously linked to the position of the application unit.
  • the radiation sensor is, for example, a linear or planar arrangement of photosensitive areas, e.g. as a CCD line or CCD area formed.
  • a reference or guide beam of a transmitting unit in particular a laser transmitting unit, can be detected.
  • the detected beam allows the detection of the sensor position relative to the beam and thus also the determination of the position of the application unit, which is associated with the sensor.
  • the guide beam establishes a reference plane for the marking carriage such that, given appropriate guidance of the carriage at the reference plane, a correct marking is produced.
  • the radiation sensor can in principle be used as an optical detector, such as a photodetector, arrangement of laser sensors or image recording apparatus, which has the possibility of receiving the Reference signal and deriving the position thereof on the detector provides executed.
  • an optical detector such as a photodetector, arrangement of laser sensors or image recording apparatus, which has the possibility of receiving the Reference signal and deriving the position thereof on the detector provides executed.
  • the application control unit further comprises means for detecting the orientation of the application unit relative to the reference plane.
  • An inclination detecting means may be a - e.g. mounted on the application unit - based on the effect of gravity single or biaxial inclination sensor. Likewise, two inclination sensors can be used.
  • the radiation sensor may be formed as the means for detecting the orientation, e.g. with a spatial arrangement of sensors for electromagnetic radiation, in particular laser sensors. With a spatial arrangement of sensors position and orientation relative to a received reference signal can be detected. For such an arrangement, the reference plane, for example, not vertically to the ground marking plane, but obliquely aligned to this. Likewise, it is possible to work with polarized laser radiation and the polarization filter associated with the sensor arrangement.
  • the output control unit is generally associated with a computing unit, by means of which the detected position parameters can be further processed and optionally output.
  • the arithmetic unit may be integrated into the application control unit and arranged, for example, on or in the device. Likewise, the arithmetic unit may communicate as an external component with the components of the application control unit - e.g. using a connection via cable or a wireless connection.
  • control instructions are issued - directly or indirectly - to the - -
  • Application unit or the application unit of the identified deviation is controlled accordingly.
  • the control can be done in different ways. For example, in the event of a positional deviation, the omission of the marking substance is stopped, the position corrected and only then marking substance is left out.
  • the application of the marking substance - optionally to correct deviations - be regulated, for example by exhaust parameters, such as direction or speed of the discharged substance, are controllable.
  • the application controller may relate to pressure regulation of a pump device.
  • the control can also take place in such a way that ascertained deviations are continuously corrected without interrupting the marking work by appropriate control of the application unit as long as certain limit values are not exceeded. If the deviations lie outside a specified tolerance interval, the marking process is interrupted.
  • a corresponding stop function can be activated. When activated, the transport of the marking substance to the outlet is interrupted, e.g. the pumping device is switched off and / or the outlet is closed or the connection to the reservoir is interrupted.
  • the detection of the deviation can be indicated by mechanical, optical or acoustic means.
  • the detected - and possibly processed - values can be displayed for example on a monitor of the operator.
  • FIG. 1A the representation of a marking process with a marking trolley according to the invention when marking a soccer field
  • FIG. 1B shows a further illustration of a marking process
  • 2A shows a laser transmitting unit, which generates guide beams
  • Reference signals spans a reference plane and an inventive Ausbringuns Kunststoff- unit for detecting the position of a
  • 3C is a display device with three indicator lights and two switches
  • FIG. 4A shows an embodiment of an actuator device with optical detector and inclination sensor
  • Fig. 5 is a sketch-like representation for explaining the function of the inventive
  • FIGS. 6A-6D show four embodiments of radiation sensors of an application control unit according to the invention.
  • FIG. 1A depicts a marking process with a mobile marking cart Wl according to the invention. Shown is a top view to be marked sports field SF - here a football field - and the marking Wl when generating ground-based markers M. The lines to be marked are indicated, solid lines represent already marked lines.
  • the marking Wl is externally controlled, for example a computing unit communicating with the car.
  • a laser transmitting unit Ll is fixedly positioned by means of a carrier plate T in a corner of the field, which laser transmitting unit Ll two fan-shaped - -
  • the laser transmission unit Ll comprises a laser for emitting laser radiation, a beam expander for generating a radiation fan and a further optical component - e.g. a pentaprism - for splitting the fan into two part compartments.
  • the transmitting unit is positioned and aligned in such a way that the guiding beams span two vertical reference planes on the surface to be marked - the football field - the reference planes serve to define the marking lines - the field is optically disconnected by means of the transmitting unit.
  • the marking cart Wl has an application unit 1a for marking substance, as well as a - not shown
  • Marking substance reservoir Through an outlet of the application unit Ia, the substance is discharged to the field.
  • the design of the application unit Ia according to the invention such that their position and thus the position of the outlet is defined adjustable. The adjustment takes place according to instructions of an application control unit according to the invention.
  • This application control unit comprises a radiation sensor 2 for receiving the respective reference signal, so that via the received signal position on the radiation sensor 2 its relative position and derived therefrom the position of the marking carriage relative to the corresponding reference plane can be determined.
  • the application control unit and the radiation sensor 2 can be mounted on the marking cart Wl and are moved with this and the application unit Ia, so that the sensor surface of the radiation sensor 2 is moved so that it always detects the guide beam and scans along it.
  • the output control unit is associated with a biaxial inclination sensor 6 for detecting two inclination angles of the application unit. Radiation sensor 2 and tilt sensor 6 are fixedly connected to the application unit Ia.
  • the position of the radiation sensor 2 or the associated application unit relative to the reference plane can be determined from a combination of the sensor signals.
  • the inventive application control unit Upon detection of a deviation from the predetermined by the reference plane position, the inventive application control unit provides appropriate control instructions for the application unit Ia. If necessary, these control statements can cause the marking process to stop. In particular, however, a position correction of the application unit Ia takes place via the control instructions. This makes a fast and very accurate marking of the sports field possible.
  • a marking vehicle W2 is again shown producing ground-based markings M '.
  • the vehicle is designed for guidance by an operator.
  • a display module 7 with a plurality of indicator lamps 7 ' is arranged on the vehicle.
  • Three indicator lamps 1 ' are configured to indicate the position of the marking substance application unit Ib relative to laser radiation emitted by a laser transmitter L2, two indicator lamps 7' to indicate the orientation of the application unit Ib relative to the laser radiation.
  • the position relative to the laser beams is detected by means of a laser receiver, values for orientation determination by means of a tilt indicator.
  • Laser receiver and inclination indicator are housed in a common housing G and mounted on a connection component V between the marking vehicle W2 and application unit Ib.
  • the radiation emission occurs at a predefined angle - here 90 °.
  • a reflector unit R is arranged on the laser transmitter L2 opposite end of the field.
  • the reflector unit R is usable for correct alignment of the laser transmitter L2 before the start of the marking work.
  • An alternative or additional use of reflector units represents - with appropriate training and arrangement - the use of the same for the optical "staking" of the entire field. With alignable reflector units so different lines and / or surfaces can be staked and traveled with a marker.
  • the guidance of the marking vehicle W2 takes place at the reference signals RS '', RS '''and the optical connection via the laser receiver - the same to the vehicle.
  • the marking vehicle W2 To mark a line, the marking vehicle W2 must be guided so that the laser receiver can receive the signals.
  • the marking line and the line or plane defined by the signal are not congruent due to the offset arrangement of receiver and outlet.
  • the operator On the basis of the outputs of laser receiver and inclination indicator, the operator is informed of deviations in the position of the application unit 1 b from a position predetermined by the reference planes, which reference planes are determined on the basis of the reference signals RS ", RS '". The operator can then make the appropriate corrections, or corrections can of course also be made via an automatic control.
  • FIG. 2A shows the illustration of a laser transmission unit L3 for generating reference beams / guide beams LS as reference signals.
  • the laser transmission unit L3 has a base plate B which can be fixed relative to the marking surface.
  • the base plate B itself can be designed to be coarse adjustment with respect to the surface adjustable.
  • On the base plate B is a laser diode, arranged with beam guiding means for emission of the conductive radiation adjustable.
  • the emitted radiation has an asymmetric, here elliptical, beam cross-section.
  • FIG. 2B once again shows the representation of a transmission unit L4 in the emission of electromagnetic radiation as guide beams.
  • the guide beams define a fan-shaped reference plane RE.
  • Means for detecting the orientation of the application control unit derive the orientation or position of a laser detector 2 'as a radiation sensor relative to the reference plane RE.
  • an inventive application control unit with laser detector 2 'and inclination sensor 6' is thus on the determination of the position of the laser detector 2 'with respect to the reference plane RE, the relative position of a application unit Ic for Markiersubstanz and the inclination about the longitudinal and transverse axis LA, QA of the plane determined.
  • control instructions for position adjustment of the application unit Ic are generated by the application control unit, the position being correspondingly adjustable by means of an actuator device 8.
  • FIG. 3A shows a first exemplary embodiment of a marking carriage W3 with an application unit Id for marking substance arranged on the front side of the carriage, the arrangement being configured so as to be adjustable in position on a rail S on the carriage.
  • an opening of the application unit Id the substance is discharged onto a processing surface.
  • a sensor for electromagnetic radiation of an inventive application control unit is firmly connected.
  • the sensor used is a spatial arrangement of laser sensors 5, by means of which spatial arrangement of sensors a reference signal can be detected and the position of the application unit Ic relative to the reference plane defined by the reference signal can be determined. Detected position deviations from the reference plane can be compensated by appropriate adjustment of the application unit Id and thus the opening.
  • the adjustment encompasses the possibilities of displacement transversely to the direction of travel and the tilting of the application unit Id about a longitudinal and a transverse axis.
  • the adjustments for compensating for positional deviations can be carried out automatically using mechanical components manually or using electronic components.
  • FIG. 3B shows a plan view of a second exemplary embodiment of a marking cart W4 with an application unit Ie mounted on the carrier cart T on the front side.
  • the carriage is equipped with an inventive application control unit.
  • Commercially available "base vehicles” can be upgraded, for example, with an adjustable application unit according to the invention and an application control unit according to the invention
  • the position controller is designed as a linear arrangement of photodiodes 3-diode array, the inclinometer as gravity-controlled two-axis tilt sensor 6 '. Arranged are position and inclinometer on the application unit Ie of the car.
  • An inclination thereof with respect to a fixed reference plane about a longitudinal axis (axis in the direction of travel) and a transverse axis perpendicular thereto can be determined by means of the inclination sensor 6 '.
  • the position indicator in turn determines the position of the application unit relative to the reference plane. Deviations from setpoint values for the position and orientation of the application unit Ie detected by the application control unit are compensated for by adjusting the application unit Ie correspondingly in position and orientation.
  • a lateral lateral movement of the unit is in this case made possible via a guide F on the marking wagon W4, an angular adjustment of the unit can be carried out by means of a joint coupling, not shown.
  • control command can - for example by means of appropriate electronics - an automatic immediate stopping of the mark, for example by automatically stopping a pump, cause, or the disclosure of information to an operator who then takes the other measures.
  • FIG. 3C shows a display device 9 for a marking device according to the invention.
  • Three indicator lights indicate the position of the marking substance application unit of the device. If the middle lamp 9a - for example green - illuminates, then the application unit is in the intended position. The illumination of the right or left lamp 9b, 9c - eg yellow - indicates a deviation to the right or left of the intended position. For settings of the device is the - -
  • first switch 10 thus, for example, functions such as automatic operation, parking position or cleaning position for the device can be selected.
  • second switch 10 ' is a pump for transporting the marking substance on and off.
  • a display device with three position indicator lamps is shown.
  • indicators for indicating the orientation of the application unit can also be provided on a display device.
  • This embodiment of the display device 9 is purely exemplary.
  • FIG. 3D Shown in FIG. 3D is a third exemplary embodiment of a marking trolley W5 with an application unit If according to the invention arranged at the side of the trolley and an application control unit according to the invention.
  • Application unit If and control unit are designed so that they can be easily connected to the car. So these parts can also be provided as modules for commercially available devices.
  • the application control unit has the following components: a CCD area array 4 as an optical detector and a tilt sensor 6 "connected to the application unit If, an actuator device 8 'for attitude adjustment of the application unit If, and a housing having electronics E for processing the Detector / sensor outputs and providing instructions for controlling the attitude of the application unit If.
  • the inclination sensor 6 is disposed directly above the outlet of the application unit If.
  • CCD area array 4 and tilt sensor 6 '' are used - analogous to the above - the relative position determination.
  • the electronics By means of the electronics, detected position values with respect to reference values are evaluated and, if necessary, compensation values are determined and provided. In the case of deviations of the position values from the reference values via the electronics E and the - -
  • Actuator 8 'a change in position of the application unit If based on the compensation values. If necessary, also a stop - and resumption - of the marking process. By aligning the marking trolley W5 when marking surfaces on a predefined reference plane, the marking process can thus be carried out automatically with high accuracy.
  • the marking trolley W6 from FIG. 3E shown as a third exemplary embodiment in FIG. 3E, likewise has a lateral outlet for marking substance.
  • positional and orientation parameters can be determined relative to an optical reference plane.
  • an inclined plane can be provided as a reference plane for such an embodiment of the marking trolley W6.
  • the outlet can be adjusted in position via a connecting element V of the application unit Ig mounted in a slidable and tiltable manner.
  • the marking wagon W6 is further equipped with a wheel sensor S for providing measured values for controlling and controlling the driving speed.
  • FIG. 4A shows the representation of coupled components of an application control unit according to the invention.
  • An application unit Ih for marking substance is designed adjustable in position by means of an actuator device 8 ".
  • the actuator device 8 '' comprises a square tube 11 and a linear axis 12 mounted in the square tube 11, wherein the linear axis 12 is laterally displaceable via a motor.
  • the motor is housed in a housing G ', in which there are also several electronic components.
  • the actuator device 8 “comprises an articulated coupling 13, which has a defined adjustment of the application unit about a longitudinal and transverse axis LA ', QA'. - -
  • a - arranged here on the linear axis 12 - two-dimensional arrangement of photosensitive areas 4 'as a radiation detector provides a signal with respect to a relative position of the fixedly connected to the linear axis 12 application unit Ih.
  • a relative orientation of the application unit Ih can be determined by means of a tilt sensor 6 '"mounted on the application unit Ih.
  • FIG. 4B shows a section through an application unit Ii with actuator device 8 '".
  • a square tube 11 'of the actuator device 8''' is a longitudinal bearing 14 with rack and pinion drive.
  • rack-and-pinion drive By means of the rack-and-pinion drive, a linear axis 12 'of the actuator device 8'"is displaceable.
  • a joint 13 'with two rotational degrees of freedom allows the orientation setting of the application unit Ii.
  • the actuator device 8 '''here has an element 15 for holding the application unit Ii in a parking position.
  • the application unit is Ii means of the element in the park position.
  • the application unit Ii is shown in the active position for marking.
  • the bottom view shows linear axis 12 'and application unit Ii in the extended position, which is taken for example to compensate for a detected deviation from a predetermined position.
  • FIG. 5 shows a sketch-like representation of geometric relationships between a detector unit 16, an application unit Ij, reference line RL and marking line ML, reference being made to the above explanations for the function of the respective elements.
  • the detector unit 16 is designed here for determining the position and orientation of the application unit Ij.
  • a transmitting unit (not shown) indirectly defines the marking line ML to be marked by means of the application unit Ij, in that a reference line RL is generated by the radiation emitted by the transmitting unit at a distance D from the desired marking line ML.
  • FIGS. 6A to 6D show four exemplary embodiments of radiation sensors of an inventive device
  • the respective images output a signal corresponding to the size or shape and the intensity of the imaged reference signal.
  • the radiation sensor is designed as a CCD area sensor 4a.
  • the sensor area is aligned perpendicular to the centric reference signal.
  • the reference signal image on the radiation sensor configured as CCD sensor 4b has moved out of its centric position, that is, the sensor surface is inclined relative to the reference signal axis.
  • Such an image of the signal is obtained, for example, when the sensor or the output control unit - in reference to the above - inclined transversely to the direction of travel.
  • FIG. 6C shows the radiation sensor in a third exemplary embodiment as an arrangement of two CCD line sensors 3a, 3b.
  • the image of the reference signal indicates a correct relative position of radiation sensor and reference signal.
  • the fourth exemplary embodiment from FIG. 6D represents a radiation detector designed as an arrangement of two matrix-shaped CCDs 4c, 4d.
  • the two CCDs 4c, 4d are arranged with a space in two planes.
  • both an inclination of the CCD's 4c, 4d and the application control unit can be detected transversely to the direction of travel as well as in the direction of travel.
  • the magnitude of the inclination can be determined, for example, from parameters such as light intensity or eccentricity of the position of the image on the CCDs 4c, 4d. It is also possible to determine the inclination based on a previously performed calibration.

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Road Repair (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention concerne une unité de commande d'application destinée à une unité d'application (1c) pour une substance de marquage. Cette unité de commande d'application présente un capteur de rayonnement (2') qui permet de déterminer la position relative de l'unité d'application (1c) par rapport à un plan de référence (RE). A l'aide de systèmes conçus pour détecter l'orientation (6') de l'unité de commande d'application par rapport au plan de référence (RE), la position relative de l'unité d'application (1c) peut être déterminée à partir de la combinaison d'informations de position et d'orientation, de manière que ladite unité de commande d'application puisse produire des instructions de commande, en particulier des instructions de correction de position. Ces instructions de commande permettent de régler de façon correspondante la position de l'unité d'application (1c) à l'aide d'un dispositif actionneur (8).
EP07703302A 2006-02-09 2007-02-06 Unité de commande d'application Withdrawn EP1982247A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP16155829.1A EP3045998B1 (fr) 2006-02-09 2007-02-06 Chariot et procédé de traçage
EP07703302A EP1982247A1 (fr) 2006-02-09 2007-02-06 Unité de commande d'application
DK16155829.1T DK3045998T3 (en) 2006-02-09 2007-02-06 Marking vehicle and method
EP17183643.0A EP3267276A1 (fr) 2006-02-09 2007-02-06 Chariot de traçage et procédé

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP06101449A EP1818747A1 (fr) 2006-02-09 2006-02-09 Unité de commande d'épandage
EP07703302A EP1982247A1 (fr) 2006-02-09 2007-02-06 Unité de commande d'application
PCT/EP2007/000994 WO2007090604A1 (fr) 2006-02-09 2007-02-06 Unité de commande d'application

Related Child Applications (2)

Application Number Title Priority Date Filing Date
EP16155829.1A Division EP3045998B1 (fr) 2006-02-09 2007-02-06 Chariot et procédé de traçage
EP17183643.0A Division EP3267276A1 (fr) 2006-02-09 2007-02-06 Chariot de traçage et procédé

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EP1982247A1 true EP1982247A1 (fr) 2008-10-22

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Family Applications (4)

Application Number Title Priority Date Filing Date
EP06101449A Withdrawn EP1818747A1 (fr) 2006-02-09 2006-02-09 Unité de commande d'épandage
EP17183643.0A Withdrawn EP3267276A1 (fr) 2006-02-09 2007-02-06 Chariot de traçage et procédé
EP16155829.1A Revoked EP3045998B1 (fr) 2006-02-09 2007-02-06 Chariot et procédé de traçage
EP07703302A Withdrawn EP1982247A1 (fr) 2006-02-09 2007-02-06 Unité de commande d'application

Family Applications Before (3)

Application Number Title Priority Date Filing Date
EP06101449A Withdrawn EP1818747A1 (fr) 2006-02-09 2006-02-09 Unité de commande d'épandage
EP17183643.0A Withdrawn EP3267276A1 (fr) 2006-02-09 2007-02-06 Chariot de traçage et procédé
EP16155829.1A Revoked EP3045998B1 (fr) 2006-02-09 2007-02-06 Chariot et procédé de traçage

Country Status (9)

Country Link
US (1) US8596217B2 (fr)
EP (4) EP1818747A1 (fr)
JP (1) JP2009525793A (fr)
CN (1) CN101379450B (fr)
AU (1) AU2007214032B2 (fr)
CA (1) CA2641530C (fr)
DK (1) DK3045998T3 (fr)
ES (1) ES2662843T3 (fr)
WO (1) WO2007090604A1 (fr)

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EP2006448A1 (fr) 2007-06-21 2008-12-24 Leica Geosystems AG Train de finisseuses pour la fabrication d'une couche de revêtement routier en béton ou en asphalte
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Also Published As

Publication number Publication date
AU2007214032B2 (en) 2010-06-17
ES2662843T3 (es) 2018-04-10
US20090010712A1 (en) 2009-01-08
JP2009525793A (ja) 2009-07-16
CN101379450A (zh) 2009-03-04
CA2641530A1 (fr) 2007-08-16
EP1818747A1 (fr) 2007-08-15
EP3045998B1 (fr) 2017-09-13
AU2007214032A1 (en) 2007-08-16
US8596217B2 (en) 2013-12-03
EP3045998A1 (fr) 2016-07-20
CA2641530C (fr) 2014-09-02
EP3267276A1 (fr) 2018-01-10
DK3045998T3 (en) 2018-01-02
CN101379450B (zh) 2012-05-09
WO2007090604A1 (fr) 2007-08-16

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