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    • 27. 发明公开
    • METHOD AND CONTROL SYSTEM FOR SURVEYING AND MAPPING A TERRAIN WHILE OPERATING A BULLDOZER
    • 方法和控制系统用于监视和图片的地基在操作过程中的推土机的
    • EP3086196A1
    • 2016-10-26
    • EP15164557.9
    • 2015-04-21
    • Hexagon Technology Center GmbH
    • Pettersson, BoZebhauser, Benedikt
    • G05D1/02E02F3/04E02F3/76
    • G01S17/08E02F3/76E02F3/842E02F3/844E02F9/2041E02F9/262G01C11/08G05D1/0251G05D1/0274G05D1/0278G05D2201/0202G06K9/0063G06K9/00805G06T17/05H04N7/181
    • A Method for generating scaled terrain information while operating a bulldozer (1), the bulldozer (1) comprising a driving unit comprising a set of drive wheels (5), particularly being part of a continuous track (6), and a motor connected to at least one of the drive wheels (5) for providing movability of the bulldozer (1), a blade (4) for altering the surface of the terrain (10,10'), at least one camera (2,2',2",2"') for capturing images of the environment, particularly of the terrain (10,10'), the camera (2,2',2" ,2" ') being positioned and aligned in a known manner relative to the bulldozer (1), and a controlling and processing unit (3), wherein the method comprises: moving the bulldozer (1) in the terrain (10,10') whilst concurrently generating a set of image data by capturing an image series of terrain sections with the at least one camera so that at least two images, particularly successive images, of the image series cover an amount of identical points in the terrain (10,10'), wherein the terrain sections are defined by a viewing field (7,7',7",7"') of the at least one camera (2,2',2" ,2" ') at respective positions of the camera (2,2',2" ,2" ') while moving, and either applying a simultaneous localisation and mapping (SLAM) algorithm or a stereo photogrammetry algorithm to the set of image data and thereby deriving terrain data, the terrain data comprising a point cloud representing the captured terrain (10,10') and position data relating to a relative position of the bulldozer (1) in the terrain (10,10'), and scaling the point cloud by applying an absolute scale information to the terrain data, particularly scaling the position data.
    • 一种用于同时操作推土机(1),推土机(1),包括驱动单元,其包括一组驱动轮的生成缩放地形信息的方法(5),特别是一个连续的轨道(6)的一部分,并连接到电动机 驱动轮(5),用于以改变的地形(10,10“)的表面上提供的推土机的可动性(1),叶片(4),至少一个摄像机(2,2”中的至少一个,2 ”,2" ‘),用于捕获图像的环境,特别的地形(10,10’),所述照相机(2,2”,2”,2" ')被定位和校准已知的相对于所述的方式 推土机(1),和一个控制和处理单元(3),worin该方法包括:在地形(10,10“)移动所述推土机(1),同时通过捕获图像系列地形同时产生一组图像数据的 与所述至少一个照相机部分所以没有在相同的点的量的至少两个图像,特别是连续的图像,图像系列盖在地形(10,10“)中,w 在地形部分通过在摄像机的位置respectivement所述至少一个摄像机的视场(7,7”,7”,7‘‘)(2,2’,2’,2" ')中所定义(2 ,2”,2”,2" ')在移动的同时,并要么施加同时定位和地图创建(SLAM)算法或立体摄影算法应用于所述图像数据集,并由此导出地形数据,地形数据,其包括点云 表示所捕获的地形(10,10“)和位置数据在地形有关的推土机(1)的相对位置(10,10”),并且通过施加一个绝对尺度信息的地形数据缩放所述点云, 特别缩放位置数据。