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1. 发明专利

JP2010086031A Guidance system and guidance method 审中-公开
标题翻译：指导系统和指导方法
公开(公告)号：JP2010086031A
公开(公告)日：2010-04-15
申请号：JP2008251123
申请日：2008-09-29
申请人： Kajima Corp , National Institute Of Advanced Industrial Science & Technology , 独立行政法人産業技術総合研究所 , 鹿島建設株式会社
发明人： OSHIO MAKOTO , MATSUNAGA YOSHINORI , HIRAMATSU YUJI , HAMAMOTO KENICHI , MATSUI NOBUYUKI , KAGAMI SATOSHI , SIMON THOMPSON , MATSUI TOSHIHIRO
IPC分类号： G05D1/02 , E21F13/02
摘要： PROBLEM TO BE SOLVED: To provide a guidance system and a guidance method which can suppress a burden of equipment required for guidance of a mobile object and can stably guide the mobile object without deteriorating the reliability even if a dynamic obstacle is detected. SOLUTION: The guidance system refers to a three-dimensional map which associates shape information along a traveling route R with position and posture information of a conveyor vehicle 3A, obtains the position and posture information of the conveyor vehicle 3A based on the observation shape data obtained by a laser scanner 13, and performs travel control by absolute guidance. Meanwhile, when the reliability of the position and posture information is lower than a predetermined reference, the system obtains a guidance section to be used as a reference of relative guidance along with the traveling route, and switches it to travel control of the conveyor vehicle 3A by relative guidance. Consequently, the system can flexibly respond to sudden dynamic disturbance by dynamic obstructs, such as an oncoming vehicle, and can stably guide the mobile object without deteriorating the reliability. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够抑制移动体的引导所需的设备的负担的引导系统和引导方法，即使检测到动态障碍物，也能够稳定地引导移动体，而不会降低可靠性。导向系统是指将沿着行进路径R的形状信息与输送车辆3A的位置和姿势信息相关联的三维地图，基于观察结果获取输送车辆3A的位置和姿势信息由激光扫描器13获得的形状数据，并且通过绝对引导进行行驶控制。同时，当位置和姿势信息的可靠性低于预定参考值时，系统获得用作与行进路线相关的引导的引导部分，并将其切换到输送车辆3A的行驶控制通过相关指导。因此，系统能够通过诸如迎面而来的车辆之类的动态障碍灵活地应对突然的动态干扰，并且可以稳定地引导移动对象而不会恶化可靠性。版权所有（C）2010，JPO＆INPIT

2. 发明专利

JP2010086038A Moving body guidance system and guidance method 有权
标题翻译：移动身体指导系统和指导方法
公开(公告)号：JP2010086038A
公开(公告)日：2010-04-15
申请号：JP2008251230
申请日：2008-09-29
申请人： Kajima Corp , National Institute Of Advanced Industrial Science & Technology , 独立行政法人産業技術総合研究所 , 鹿島建設株式会社
发明人： HAMAMOTO KENICHI , MATSUNAGA YOSHINORI , HIRAMATSU YUJI , OSHIO MAKOTO , MATSUI NOBUYUKI , KAGAMI SATOSHI , SIMON THOMPSON , MATSUI TOSHIHIRO
IPC分类号： G05D1/02
摘要： PROBLEM TO BE SOLVED: To provide a moving body guidance system and a guidance method allowing a moving body to be more precisely guided with relatively simple facilities in a tunnel. SOLUTION: The moving body guidance system includes: a laser scanner 13; a storage unit 15a for storing a three dimensional map along a longitudinal direction in a tunnel T; a position estimator 15b for estimating a position in the longitudinal direction by using a moving distance detected by an internal sensor 14; a position estimator 15c for estimating the position in the longitudinal direction based on a relative position to a light reflector Ts; a selector 15d for preferentially selecting the position in the longitudinal direction estimated by the position estimator 15c; a corrector 15e for correcting a measurement start position of the position estimator 15b; an arithmetic unit 15f for finding out the position and posture information of a carrier vehicle 3A from observed shape data, shape data of the three dimensional map, and the estimate position selected by the selector 15d; and an absolute guidance controller 15g for absolutely guiding the carrier vehicle 3A based on the position and posture information. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种移动体引导系统和引导方法，其允许通过隧道中相对简单的设备更精确地引导移动体。移动体引导系统包括：激光扫描器13; 用于在隧道T中沿纵向存储三维地图的存储单元15a; 用于通过使用由内部传感器14检测到的移动距离估计纵向位置的位置估计器15b; 基于与光反射器Ts的相对位置来估计纵向位置的位置估计器15c; 选择器15d，用于优先选择由位置估计器15c估计的纵向位置; 用于校正位置估计器15b的测量开始位置的校正器15e; 用于根据观察到的形状数据，三维图的形状数据和由选择器15d选择的估计位置来查找运载工具3A的位置和姿势信息的算术单元15f; 以及绝对引导控制器15g，用于基于位置和姿势信息绝对引导载体车3A。版权所有（C）2010，JPO＆INPIT

3. 发明专利

JP2010086035A Guidance system and guidance method 审中-公开
标题翻译：指导系统和指导方法
公开(公告)号：JP2010086035A
公开(公告)日：2010-04-15
申请号：JP2008251165
申请日：2008-09-29
申请人： Kajima Corp , National Institute Of Advanced Industrial Science & Technology , 独立行政法人産業技術総合研究所 , 鹿島建設株式会社
发明人： OSHIO MAKOTO , MATSUNAGA YOSHINORI , HIRAMATSU YUJI , HAMAMOTO KENICHI , MATSUI NOBUYUKI , KAGAMI SATOSHI , SIMON THOMPSON , MATSUI TOSHIHIRO
IPC分类号： G05D1/02
摘要： PROBLEM TO BE SOLVED: To provide a guidance system and a guidance method which can suppress a burden of equipment required for guidance of a mobile object and can stably guide the mobile object. SOLUTION: The guidance system includes: a laser scanner 13 which obtains observation shape data about a surrounding environment of a conveyor vehicle 3A; a map storage part 15a which stores a three-dimensional map which associates the observation shape data and the position and posture information of the conveyor vehicle 3A; an operation part 15b which obtains the position and posture information of the conveyor vehicle 3A by referring to the observation shape data obtianed by the laser scanner 13 in the three-dimensional map; and an absolute guidance control means 15c which performs absolute guidance of the conveyor vehicle 3A based on the position and posture information thus obtained. By this guidance system 1A, guidance of the conveyor vehicle 3A is made possible without installation of guide equipment for guidance, an equipment burden required for guidance of the conveyor vehicle 3A is suppressed and the conveyor vehicle 3A can be stably guided. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够抑制移动体的引导所需的设备的负担并且可以稳定地引导移动体的引导系统和引导方法。导向系统包括：激光扫描仪13，其获取关于输送车辆3A的周围环境的观察形状数据; 存储将观察形状数据与输送车辆3A的位置和姿势信息相关联的三维地图的地图存储部15a; 通过参照三维地图中的激光扫描仪13所具有的观察形状数据来获取输送车辆3A的位置和姿势信息的操作部15b; 以及基于由此获得的位置和姿势信息执行输送车辆3A的绝对引导的绝对引导控制装置15c。通过该引导系统1A，能够在不设置引导用引导装置的情况下进行输送车辆3A的引导，能够抑制输送车辆3A的引导所需的设备负担，并且可以稳定地引导输送车辆3A。版权所有（C）2010，JPO＆INPIT

4. 发明专利

JP2009295107A Guidance system and guidance method 有权
标题翻译：指导系统和指导方法
公开(公告)号：JP2009295107A
公开(公告)日：2009-12-17
申请号：JP2008150778
申请日：2008-06-09
申请人： Kajima Corp , 鹿島建設株式会社
发明人： OSHIO MAKOTO , MATSUNAGA YOSHINORI , HIRAMATSU YUJI , HAMAMOTO KENICHI
IPC分类号： G05D1/02 , B62D6/00 , B62D137/00
摘要： PROBLEM TO BE SOLVED: To reduce a facility load required to guide a mobile object, and to provide a guidance system and a guidance method obtaining stable guidance in a closed space.
SOLUTION: Cross-sectional profile data of a gallery T are obtained by a laser scanner 13, and an observation ellipse Ec is estimated from the cross-sectional profile data, in order to relatively guide a conveyer vehicle 3A along an inner wall Ta of the gallery T. A reference ellipse E
0 of the gallery T is previously stored. The attitude angle and relative position of the conveyer vehicle 3A are obtained from a geometric relationship between the observation ellipse Ec and the reference ellipse E
0 . A travelling control along a traveling route R is performed on the basis of the attitude angle and relative position. As a result, stable guidance is obtained along the traveling route R.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：减少引导移动物体所需的设施负荷，并提供在封闭空间中获得稳定的引导的引导系统和引导方法。解决方案：通过激光扫描器13获得画廊T的横截面轮廓数据，并且从横截面轮廓数据估计观察椭圆Ec，以便相对地沿着内壁引导输送车辆3A 画廊T的Ta。预先存储画廊T的参考椭圆E 0 。输送车辆3A的姿态角度和相对位置是从观测椭圆Ec与参考椭圆E 0 之间的几何关系得到的。基于姿态角度和相对位置进行沿行驶路线R的行驶控制。因此，沿着行驶路线R获得稳定的指导。版权所有（C）2010，JPO＆INPIT

5. 发明专利

JP2003315011A Method of detecting running position of rolling stock and device therefor and program therefor 有权
标题翻译：检测轧辊运行位置的方法及其设备及其程序
公开(公告)号：JP2003315011A
公开(公告)日：2003-11-06
申请号：JP2002115751
申请日：2002-04-18
申请人： Kajima Corp , 鹿島建設株式会社
发明人： HAMAMOTO KENICHI , HIRAMATSU YUJI , SHIBATA MANABU
IPC分类号： E01B23/02 , B61B13/00 , B61B13/10 , G01B11/00 , G01B11/26 , G05D1/02 , G08G1/00
摘要： PROBLEM TO BE SOLVED: To provide a method and a device detecting the running position of a rolling stick with a simple constitution without needing a vertical side wall, and to provide a program therefor. SOLUTION: This device is constituted such that a guide member 3 having a constant width (w) parallel to the running path 1 of the rolling stock 2 is longitudinally laid with a constant inclination angle, and an image pick up machine 4 is mounted on the rolling stock 2 wherein the guide member 3 is focused in a view field of the image pick up machine. The position of the rolling stock 2 to the guide member 3 is calculated from 2-dimensional coordinates p1, p2 which are coordinates of both ends of the guide member 3 on an image plane 4g of the image pick up machine. Preferably, a pair of image pick up machines 4A, and 4B coupled with each direction of optical axis θA and θB coincident on the same plane 12 are mounted on the rolling stock 2. The position of the rolling stock 2 to the guide member 3 is calculated from 2-dimensional coordinates of both the edge parts A1, and A2 of the guide member 3, which is placed in both the view fields of both the image pick up machines 4A, and 4B, on both the image planes 4gA, and 4gB. COPYRIGHT: (C)2004,JPO
摘要翻译：要解决的问题：提供一种方法和装置，以简单的结构检测滚动棒的运行位置，而不需要垂直侧壁，并提供一种程序。解决方案：该装置构造成使得具有与机动车辆2的行进路径1平行的一定宽度（w）的引导构件3以恒定的倾斜角度纵向地铺设，并且图像拾取机4是安装在车辆2上，其中引导构件3在图像拾取机的视野中聚焦。通过图像拾取机的图像平面4g上的引导构件3的两端的坐标的二维坐标p1，p2，计算出导轨构件3的位置。优选地，将与在同一平面12上重合的光轴θA和θB的每个方向耦合的一对图像拾取机4A和4B安装在机车车辆2上。车辆2到引导构件3的位置是由两个图像拾取机4A和4B的两个视场中的两个像平面4gA和4gB上的引导构件3的两个边缘部分A1和A2的二维坐标计算出的。版权所有（C）2004，JPO

6. 发明专利

JPS63265098A METHOD OF MEASURING TAIL CLEARANCE OF SHIELDING MACHINE 失效
公开(公告)号：JPS63265098A
公开(公告)日：1988-11-01
申请号：JP9743987
申请日：1987-04-22
申请人： KAJIMA CORP
发明人： HIRAMATSU YUJI , SAKAI KATSUMI , EMORI MICHIO
IPC分类号： E21D9/06 , E21D9/093 , G01B21/16 , G01B21/20

7. 发明专利

JPS62178624A DRIVER FOR CONCRETE UNDER WATER 失效
公开(公告)号：JPS62178624A
公开(公告)日：1987-08-05
申请号：JP1887186
申请日：1986-01-30
申请人： KAJIMA CORP
发明人： KONNO SHOZO , YAGI KENICHIRO , KANAI MASAO , HIRAMATSU YUJI
IPC分类号： E02D15/06
摘要： PURPOSE:To properly determine the driving face of concrete in mud water by a method in which a cable reel, a vibrator, and a concrete top sensor are provided, and the vibrator is operated only when the top of concrete is detected by a controller. CONSTITUTION:A cable reel 6 is set in an excavated pit 1 and operated under control by a controller 7, and a hanging cable 9 is sent into the pit 1 and wound up. A vibrator 11 is attached to the lower end of the cable 9 and operated by applying electric current to it through the cable 9, whereby compacting concrete 5. A concrete top sensor 10 is attached to the upper portion by a given length from the vibrator 11 of the cable 9, by which the presence of concrete 5 between three electrodes is detected from differences in conductivity between mud water 4 and the concrete 5.

8. 发明专利

JP2001021438A DEVICE FOR DETECTING LOCATION OF WATER LEAKAGE IN WASTE DISPOSAL SITE 失效
公开(公告)号：JP2001021438A
公开(公告)日：2001-01-26
申请号：JP19195599
申请日：1999-07-06
申请人： KAJIMA CORP
发明人： HIRAMATSU YUJI , MURAKAMI HISANORI , AOKI SHOZO , OZAKI YOSHINOBU
IPC分类号： G01M3/16
摘要： PROBLEM TO BE SOLVED: To provide a water leakage location detecting device capable of speedily and accurately detecting the location of water leakage in an impervious sheet in a waste disposal site. SOLUTION: An upper electrode A is provided on the top face side of an impervious sheet 10. An group of first linear electrodes Bi are arranged in parallel with a predetermined direction on the ground side of the impervious sheet 10, and a group of second linear electrodes Cj are insulated from the group of first linear electrodes and arranged in parallel with the direction that intersects the group of first linear electrodes. One end of a power source 16 is connected to the upper electrode A, and the other end of the power source 16 is connected to all the linear electrodes Bi and Cj to detect currents IBi and lCj, which each pass through the linear electrodes Bi and Cj. The sum (=IBi+ICj) of the currents IBi and ICj each of the linear electrodes Bi and Cj which intersect at the locations of intersection (Bi and Cj) between the linear electrodes Bi and Cj is computed for every location of intersection to detect the location of water leakage 11 in a waste disposal site 2 from the sum (IBi+ICj) of the currents. Preferably, the product (IBi×ICj) of the currents is computed to detect the location of water leakage from the product (IBi×ICj) of the currents.

9. 发明专利

JPH06239587A RUNNING POSITION DETECTING METHOD FOR CABLE CRANE 失效
公开(公告)号：JPH06239587A
公开(公告)日：1994-08-30
申请号：JP2922993
申请日：1993-02-18
申请人： KAJIMA CORP
发明人： HARADA AKIRA , MITSUHATA SAKAE , HIROYAMA HIROSHI , HIRAMATSU YUJI
IPC分类号： B65G67/24 , B66C13/46 , B66C21/00 , E02B7/00 , G01C15/00
摘要： PURPOSE:To perform accurate detection of the running position of a moving tower by a method wherein an ID sensor is mounted on the moving tower to support one end of a main cable and position data of a data carrier arranged along a running rail is read by the ID sensor. CONSTITUTION:A moving tower 10 to support one end of a main cable is movable installed on a running rail through wheels. In the running rails, three rails are juxtaposed from the outside in a radial direction toward the inside and in this case, a plurality of data carriers 6 in which position data is stored are disposed at a given pitch radially internally of a second rail 3 in a position at a distance L1 through a base 5. Meanwhile, an ID sensor 13 is attached to the moving tower 10 through a bracket 12 in a position situated facing the data carrier 6 with a given distance L2 therebetween. During running of the moving tower 10, position data of the data carrier 6 is read by the ID sensor 13 and the present position of the moving tower 10 is detected by a running position detecting device.

10. 发明专利

JPH06239585A RUNNING POSITION DETECTING METHOD FOR CABLE CRANE 失效
公开(公告)号：JPH06239585A
公开(公告)日：1994-08-30
申请号：JP2921293
申请日：1993-02-18
申请人： KAJIMA CORP
发明人： HARADA AKIRA , MITSUHATA SAKAE , HIROYAMA HIROSHI , HIRAMATSU YUJI
IPC分类号： B65G67/24 , B66C13/46 , B66C21/00 , B66C21/04 , E02B7/00 , G01C15/00
摘要： PURPOSE:To perform accurate detection of a running position by a method wherein a moving tower to support one end of a main cable is run on a running rail and the number of attachments, arranged to the running rail, passing through a reference position is detected by means of an approach switch arranged to the moving tower. CONSTITUTION:A moving tower 10 to support one end of a main cable is movably arranged on an arcuate cable crane running rail through a wheel. In the running rail, three rails are juxtaposed from the outer side in a radial direction toward the inner side, and in this case, and an attachment 6 made of iron is mounted on one of a plurality of paired bolts 5 for fixing a rail to fix both sides of the lower end of a second rail 3. Meanwhile, a pair of approach switches 12 are mounted in a position, situated facing the attachment 6, on the moving tower 10 with a given distance L therebetween. During running of the moving tower 10, the number of the attachments 6 passing through a reference point is read by an approach switch 12, and from the number, the running position of the moving tower 10 from the reference point is computed by a running position detecting device.

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