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1. 发明公开

EP4324988A1 METHOD AND SYSTEM OF CONFIGURING A MACHINE CONTROL UNIT OF A CONSTRUCTION MACHINE 审中-实审
公开(公告)号：EP4324988A1
公开(公告)日：2024-02-21
申请号：EP22190684.5
申请日：2022-08-17
申请人： Leica Geosystems Technology A/S
发明人： KEAN, Michael Goulet
IPC分类号： E02F3/84 , E02F9/26
摘要： System (70) and method for configuring a machine control unit (75) of a construction machine for performing an earth-moving operation, the earth-moving operation comprising a multitude of phases that are to be performed consecutively, the method comprising, by a computing unit (71): receiving three-dimensional measuring data of a terrain in a surrounding of the construction machine in at least a first detection range, detecting elements of a previous phase of the earth-moving operation based on the three-dimensional measuring data, and configuring, based at least on the detected elements, the machine control unit to at least partially perform the next phase of the earth-moving operation automatically.

2. 发明公开

EP3865895A1 CONSTRUCTION MACHINE WITH MEASURING SYSTEM AND CONSTRUCTION SITE MEASURING SYSTEM 审中-实审
公开(公告)号：EP3865895A1
公开(公告)日：2021-08-18
申请号：EP20157719.4
申请日：2020-02-17
申请人： Leica Geosystems Technology A/S , Leica Geosystems AG , Hexagon Geosystems Services AG
发明人： Thibblin, Magnus , Kauppinen, Tommi Juhani , Böckem, Burkhard , Wieser, Matthias , Steffen, Roman , Gohl, Pascal
IPC分类号： G01S7/00 , G01S7/481 , G01S7/497 , G01S17/66 , G01S17/86 , G01S17/875 , G01S17/88 , G01S17/89 , G01S17/931 , E02F3/84 , E02F9/26 , G05D1/02
摘要： The invention relates to a construction machine, in particular a grader, a dozer, or an excavator, the construction machine comprising a chassis, a steering, and a powertrain for driving the construction machine by the chassis, an earth-moving tool for working a terrain, and a measuring system having a first measuring unit that is configured for generating first measuring data in a first detection range and comprising at least a first camera and a first LiDAR scanner, the first LiDAR scanner configured for rotating a first measuring beam around a first axis and around a second axis non-parallel to the first axis with a rotating speed of at least 0.5 Hz with respect to each axis, an interface connecting the first measuring unit to a computer, wherein the computer is configured for, based on the first measuring data, at least one of generating a three-dimensional model of the terrain within the first detection range, identifying an obstacle or a person within the first detection range, and controlling at least one of the steering, the powertrain, and the earth-moving tool. The invention also relates to a construction site measuring system.

3. 发明授权

EP2542726B1 AN APPARATUS AND A METHOD FOR HEIGHT CONTROL FOR A DOZER BLADE 有权转让
公开(公告)号：EP2542726B1
公开(公告)日：2020-11-11
申请号：EP11750214.6
申请日：2011-03-05
申请人： Leica Geosystems Technology A/S
发明人： JØRGENSEN, Claus , KJAEGAARD, Lars
IPC分类号： E02F3/84 , E02F9/26 , G01C19/02 , G05B11/42 , G05B13/02 , E02F3/76

4. 发明公开

EP3426852A1 MEASURING EQUIPMENT FOR DETERMINING THE RESULT OF EARTHMOVING WORK 有权
公开(公告)号：EP3426852A1
公开(公告)日：2019-01-16
申请号：EP17762576.1
申请日：2017-03-09
申请人： Leica Geosystems Technology A/S
发明人： LINDSKOV, Anders
IPC分类号： E02F9/26 , E02F1/00 , G01F13/00

5. 发明授权

EP2563978B1 POSITIONING APPARATUS FOR EXCAVATING AND SIMILAR EQUIPMENT 有权转让
公开(公告)号：EP2563978B1
公开(公告)日：2018-10-24
申请号：EP11771613.4
申请日：2011-04-18
申请人： Leica Geosystems Technology A/S
发明人： LINDSKOV, Anders
IPC分类号： E02F3/43 , G01S1/80 , E02F9/26 , G01S15/02 , G01S15/08 , G01S5/22
CPC分类号： E02F9/264 , E02F9/2025 , E02F9/26 , E02F9/265 , G01S5/22 , G01S15/025 , G01S15/08
摘要： The complex movements performed by the various components carrying a bucket that performs earth moving work are monitored by means of ultrasound devices relating lengths and angles obtained during a calibration step and instant measurements in a processing unit in order to output either a visual indication of the position of the bucket or signals for automatic control of a digging or other earth-moving operation.

6. 发明授权

EP2563977B1 MEASURING APPARATUS FOR EXCAVATING AND SIMILAR EQUIPMENT 有权转让
标题翻译：测量设备的开挖和类似设备
公开(公告)号：EP2563977B1
公开(公告)日：2018-01-10
申请号：EP11771612.6
申请日：2011-04-18
申请人： Leica Geosystems Technology A/S
发明人： LINDSKOV, Anders
IPC分类号： E02F3/43 , F15B15/28 , G01S15/88
CPC分类号： G01S15/88 , E02F3/435 , E02F9/264 , G01S7/52004 , G01S7/52006
摘要： In the use of a backhoe digger an indication of the precise depth of the bucket is required. This may be done by measuring the angles and extensions of the elements of the backhoe and calculating the result. This is commonly done by means of angle resolvers and linear encoders. Retro-fitting and calibration of such equipment is very difficult, and according to the invention the same data may be obtained by means of an inclinometer and length measuring devices based on pulsed ultrasound.

7. 发明公开

EP4431873A1 SENSOR CHAIN FUSION ALGORITHM 审中-公开
公开(公告)号：EP4431873A1
公开(公告)日：2024-09-18
申请号：EP23161566.7
申请日：2023-03-13
申请人： Leica Geosystems Technology A/S
发明人： KEAN, Michael Goulet
IPC分类号： G01C21/16 , E02F3/84 , E02F9/20 , E02F9/26
CPC分类号： G01C21/16 , E02F3/845 , E02F9/264 , E02F9/267
摘要： The invention relates to a computer program product for deriving a heading (512) of an implement (2) of a work vehicle (1). The work vehicle (1) comprises, as independently tracked components, the implement (2), a chassis (4) and an arm (3) connecting the two. For each of the independently tracked components, a respective IMU (52-57) is correspondingly associated, wherein the IMU provides an IMU reference frame of the component representing a measured pose of said component. The computer program product derives, on the basis of the IMU reference frames, internal and external constraints consistent component reference frames. The heading (512) of the implement is derived utilizing the consistent component reference frames.

8. 发明公开

EP4361355A1 VISUAL LOCALIZATION AND FEATURE DETECTION FOR A WORK VEHICLE IMPLEMENT TRACKING SYSTEM 审中-实审
公开(公告)号：EP4361355A1
公开(公告)日：2024-05-01
申请号：EP22203409.2
申请日：2022-10-24
申请人： Leica Geosystems Technology A/S
发明人： KEAN, Michael Goulet , KAUPPINEN, Tommi Juhani , NISSEN, Morten
IPC分类号： E02F3/96 , E02F9/26 , G01C3/02 , G05B15/02
CPC分类号： E02F9/264
摘要： The present invention relates to a method for tracking a movable implement of a work vehicle. The method comprises the steps of 1.) accessing images during movement of the work vehicle providing a view onto an environment and at least part of the implement, 2.) providing by a feature tracking algorithm a 3D environment model and referencing of the sensor pose to the 3D environment model, 3.) tracking implement features at different poses of the implement and, determining implement tracking data providing positional and arrangement information for the implement features, 4.) accessing benchmark information providing a real distance between two benchmark points, 5.) using the benchmark information to provide the implement tracking data with absolute scale information, and 6.) using the implement tracking data for the tracking of the implement.

9. 发明公开

EP4321690A1 CONTROLLING OF A DUMPING OF A LOAD OF AN EARTH MOVING MACHINE 审中-实审
公开(公告)号：EP4321690A1
公开(公告)日：2024-02-14
申请号：EP22190189.5
申请日：2022-08-12
申请人： Leica Geosystems Technology A/S
发明人： KEAN, Michael Goulet , KAUPPINEN, Tommi Juhani
IPC分类号： E02F3/43 , E02F9/20
摘要： The invention relates to an improved controlling of a dumping of a load of an earth moving machine (1), which has a conveying container (6) configured for carrying the load. Control data for maneuvering the conveying container (6) according to a selected dumping mode are generated by analyzing (24) perception data and/or machine sensing data to determine (25) a material parameter providing information (17, 18, 19, 20) on an adhesive property of a current load of the conveying container (6). Based on the material parameter, an appropriate dumping mode is selected (26), e.g. to improve efficiency of the unloading sequence and to reduce wear of the earth moving machine (1).

10. 发明公开

EP4431876A1 CALIBRATION ROUTINE FOR IMU MOUNTING ALIGNMENTS 审中-公开
公开(公告)号：EP4431876A1
公开(公告)日：2024-09-18
申请号：EP23161611.1
申请日：2023-03-13
申请人： Leica Geosystems Technology A/S
发明人： KEAN, Michael Goulet
IPC分类号： G01C25/00 , E02F9/26
CPC分类号： G01C25/005 , E02F9/267 , E02F9/264 , E02F3/845
摘要： The invention relates to a computer program product comprising a program code, wherein the program code is configured for calibrating mounting alignments of a set of inertial measurement units (IMUs) on a construction vehicle 1, wherein the set of IMUs comprises at least two IMUs each being mounted on different parts 3,6,7 of the construction vehicle 1, and provides an at least partially automatically executing calibration routine for the mounting alignments of the set of IMUs on the construction vehicle 1, wherein for the calibration routine the following is defined: a sequence of N calibration measurements, with N greater than or equal to three, is to be carried out by the set of IMUs, and for each I-th of the N calibration measurements, with I consecutively from one to N, an I-th pose of the construction vehicle 1 is to be adopted, wherein the following is carried out in course of the calibration routine: after adoption of the I-th pose of the construction vehicle the I-th of the N calibration measurements is initiated by an onset of a trigger event specifically predefined for the I-th of the N calibration measurements, wherein the N calibration measurements comprise at least acceleration values of acceleration sensors of the set of IMUs, and calibration data relating to the respective mounting alignments of the set of IMUs on the construction vehicle 1 are determined or updated based on the N calibration measurements.

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