DE102017130149B3 - System for monitoring the surroundings of brackets on a vehicle - Google Patents
System for monitoring the surroundings of brackets on a vehicle Download PDFInfo
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- DE102017130149B3 DE102017130149B3 DE102017130149.6A DE102017130149A DE102017130149B3 DE 102017130149 B3 DE102017130149 B3 DE 102017130149B3 DE 102017130149 A DE102017130149 A DE 102017130149A DE 102017130149 B3 DE102017130149 B3 DE 102017130149B3
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 9
- 238000011156 evaluation Methods 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
- 238000001514 detection method Methods 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000010363 phase shift Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/31—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles providing stereoscopic vision
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
- B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
- B60K35/22—Display screens
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
- B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
- B60R1/24—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view in front of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/16—Type of output information
- B60K2360/179—Distances to obstacles or vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/20—Optical features of instruments
- B60K2360/21—Optical features of instruments using cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/107—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using stereoscopic cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
System zur Überwachung von Auslegern (5) an einem Fahrzeug (1), mit wenigstens einer 3D-Kamera (10), die einen Ausfahrbereich der Ausleger (5), ein Umfeld des Fahrzeugs (1) und einen Wirkungsbereich einer beweglichen Arbeitseinrichtung (20) des Fahrzeugs (1) überwacht. System for monitoring cantilevers (5) on a vehicle (1), comprising at least one 3D camera (10) which has an extension region of the cantilevers (5), an environment of the vehicle (1) and a region of action of a movable working device (20) of the vehicle (1) monitored.
Description
Die Erfindung betrifft ein System zur Überwachung der Umgebung von Auslegern an einem Fahrzeug gemäß Oberbegriff des unabhängigen Anspruchs 1.The invention relates to a system for monitoring the surroundings of brackets on a vehicle according to the preamble of
Für die Überwachung eignen sich 3D-Kamerasysteme wie beispielsweise Lichtlaufzeitkamerasysteme aber auch Stereokamerasysteme, die eine dreidimensionale Erfassung der Umgebung ermöglichen.Suitable for monitoring are 3D camera systems such as, for example, light-time camera systems, but also stereo camera systems that enable a three-dimensional detection of the environment.
Mit Lichtlaufzeitkamerasystem sollen hier insbesondere Systeme umfasst sein, die Entfernungen direkt aus der Lichtlaufzeit ermitteln oder die Lichtlaufzeit aus der Phasenverschiebung einer emittierten und empfangenen Strahlung gewinnen. Als Lichtlaufzeit bzw. 3D-Kameras sind insbesondere PMD-Kameras mit Photomischdetektoren (PMD) geeignet, wie sie u.a. in der
Aus der
Aus den Offenlegungsschriften
Aufgabe der Erfindung ist es, solche Systeme für die Überwachung von Drehleitern weiter zu entwickeln.The object of the invention is to develop such systems for the monitoring of turntables on.
Die Aufgabe wird durch das erfindungsgemäße System gemäß Anspruch 1 gelöst. Vorteilhafte Ausgestaltungen der Erfindung sind in den Unteransprüchen angegeben.The object is achieved by the system according to the invention according to
Erfindungsgemäß ist ein System zur Überwachung von Auslegern an einem Fahrzeug vorgesehen,
mit mehreren 3D-Kameras, die den Ausfahrbereich des Auslegers, ein Umfeld des Fahrzeugs und einen Wirkungsbereich einer beweglichen Arbeitseinrichtung des Fahrzeugs überwachen.According to the invention, a system for monitoring cantilevers on a vehicle is provided,
with a plurality of 3D cameras that monitor the extension of the boom, an environment of the vehicle and a range of action of a movable working device of the vehicle.
Dieses Vorgehen hat den Vorteil, dass bereits vor dem Ausfahren von Auslegern die Umgebungssituation erfasst werden kann und eine für den jeweiligen Einsatzzweck geeignete Fahrzeugposition ermittelbar ist.This approach has the advantage that even before the extension of jibs, the environmental situation can be detected and a suitable for the particular application vehicle position can be determined.
Erfindungsgemäß weist das System eine Auswerteeinheit auf, die derart ausgestaltet ist, dass anhand von von den 3D-Kameras erfassten Daten ein maximal möglicher Ausfahrbereich der Ausleger ermittelbar ist.According to the invention, the system has an evaluation unit which is designed in such a way that a maximum possible extension range of the arms can be determined on the basis of data recorded by the 3D cameras.
Ferner ist eine Anzeigevorrichtung vorgesehen, mit der Bereiche dargestellt werden können, die mit der Arbeitseinrichtung wirksam erreicht und/oder
nicht erreicht werden können, wenn das Fahrzeug die Ausleger im maximal möglichen Ausfahrbereich ausfährt,
oder bei bereits ausgefahrenen Auslegern, ausgehend von der tatsächlich angefahrenen Ausfahrlänge.Furthermore, a display device is provided, with which areas can be represented that effectively reaches the working device and / or
can not be achieved if the vehicle extends the booms in the maximum possible extension range,
or with arms already extended, starting from the actually approached extension length.
Ferner ist es nützlich die Anzeigevorrichtung zur Darstellung von Bereichen auszubilden, die mit der Arbeitseinrichtung wirksam ohne Kollision erreicht werden können.Further, it is useful to form the display device for displaying areas that can be effectively reached with the working device without collision.
Nachfolgend wird die Erfindung anhand von Ausführungsbeispielen unter Bezugnahme auf die Zeichnungen näher erläutert.The invention will be explained in more detail by means of embodiments with reference to the drawings.
Es zeigen schematisch:
-
1 eine Draufsicht auf ein Fahrzeug mit Ausleger, -
2 eine Queransicht der Situation gemäß1 , -
3 eine Queransicht mit einem Fahrzeug in einer veränderten Position, -
4 eine Queransicht bzw. Displayansicht mit erlaubten und Warnbereichen.
-
1 a top view of a vehicle with boom, -
2 a cross-sectional view of thesituation 1 . -
3 a transverse view with a vehicle in an altered position, -
4 a transverse view or display view with allowed and warning areas.
Bei der nachfolgenden Beschreibung der bevorzugten Ausführungsformen bezeichnen gleiche Bezugszeichen gleiche oder vergleichbare Komponenten.In the following description of the preferred embodiments, like reference characters designate like or similar components.
Aus den 3D Daten der 3D - Kamera sowie den bekannten Grenzwerten und Parametern aus der Steuerung des Fahrzeugs kann für jede aktuelle Position des Fahrzeuges
Das 3D Bild der Umgebung ergänzt die in der Fahrzeugsteuerung vorliegenden Informationen zu den Grenzwerten des Fahrzeugs um die Maße der Umgebung.The 3D image of the environment complements the vehicle control information on the limits of the vehicle to the extent of the environment.
In der in
Die maximale mögliche Ausladung der am Fahrzeug montierten Arbeitseinrichtung 20 wird immer durch eine maximale Abstützung erreicht. Wird der Ausleger
Diese Grenzen liegen als 3D Punktewolke vor. Vergleicht man diese Grenzen über das vorliegenden 3D Bild der Kamera
Das Ergebnis wird dem Anwender in einer Anzeigevorrichtung beispielsweise als Overlay in einem 2D Bild dargestellt. Die Bereiche können in verschiedenen Farben markiert werden z.B. Grün für erreichbar, rot für nicht erreichbar.The result is displayed to the user in a display device, for example as an overlay in a 2D image. The areas can be marked in different colors e.g. Green for reachable, red for reachable.
Zur Optimierung des Vorgangs kann auch das 3D Bild der, dem Ziel abgewandten Seite herangezogen werden. Um die maximale Abstützbreite zu erreichen kann es sinnvoll sein, das Fahrzeug etwas weiter entfernt vom Ziel zu positionieren. Durch die Informationen der zielabgewandten Seite errechnet das System, ob genügend Raum besteht, das Fahrzeug umzusetzen.To optimize the process, the 3D image of the side facing away from the target can also be used. In order to achieve the maximum support width, it may be useful to position the vehicle a little further away from the target. Through the information of the off-target side, the system calculates whether there is enough space to implement the vehicle.
In den weiteren Figuren ist der Übersicht halber die bewegliche Arbeitseinrichtung
In der Situation gemäß
Wird die am Fahrzeug montierte Arbeitseinrichtung nach erfolgter Abstützung bewegt, kann über eine aktive Kollisionserkennung verhindert werden, dass beispielsweise eine Drehleiter mit einem Objekt kollidiert.If the work equipment mounted on the vehicle is moved after support has taken place, active collision detection can prevent an aerial ladder from colliding with an object, for example.
Zur Überwachung der beweglichen Arbeitseinrichtung kann das System um eine Kamera erweitert werden, die beispielsweise an der Drehleiter oder an einem Fahrkorb nach oben schaut und somit den Wirkungsbereich der Drehleiter zusätzlich überwacht. Bei Annäherung an Hindernisse kann das System eine Verlangsamung der Arbeitseinrichtung bis hin zum Stillstand bewirken.To monitor the movable work equipment, the system can be extended by a camera that looks upwards, for example, on the turntable or on a car and thus additionally monitors the scope of the turntable. When approaching obstacles, the system can cause the work equipment to slow down to a standstill.
Das System kann um Kameras erweitert werden, die überprüfen, ob vor, neben oder hinter dem Fahrzeug genügend Freiraum vorhanden ist, um beispielsweise einen Fahrkorb der Arbeitseinrichtung erdgleich abzulegen, beispielsweise zur Übergabe zu rettender Personen oder zur Montage von Anbaugeräten.The system can be extended by cameras that check whether there is enough free space in front of, beside or behind the vehicle, for example, to store a car of the working equipment on the same ground, for example to transfer persons to be rescued or to mount attachments.
Das erfindungsgemäße System kann insbesondere, ohne in der Aufzählung abschließend zu sein, auch in Gelenkmastbühnen, Autokranen und stationäre Kranen eingesetzt werden.The system according to the invention can be used in articulated mast platforms, mobile cranes and stationary cranes, in particular, without being exhaustive.
Ebenso in anderen Geräten mit beweglichem Auslegern / Armen wie z.B. Betonpumpen, Baggern, Fahrzeugen und Anbaugeräten, welche zum Betrieb Bauteile enthalten, welche außerhalb der Fahrzeugkontur ausgefahren werden müssen.Likewise in other devices with movable arms / arms, e.g. Concrete pumps, excavators, vehicles and attachments, which contain for operation components that need to be extended outside the vehicle contour.
In abgewandelter Form auch zur Kollisionsüberwachung der angehängten Ladung in Hallen- und Portalkranen.In a modified form also for collision monitoring of the attached load in hall and gantry cranes.
BezugszeichenlisteLIST OF REFERENCE NUMBERS
- 11
- Fahrzeugvehicle
- 55
- Auslegerboom
- 1010
- Kamera, 3D-KameraCamera, 3D camera
- 2020
- bewegliche Arbeitseinrichtung, Drehleiter, Wasserwerfermovable work equipment, aerial ladder, water cannon
- 3030
- Objekt, HindernisObject, obstacle
- 5050
- Gebäude, ZielobjektBuilding, target object
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Priority Applications (1)
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DE102017130149.6A DE102017130149B3 (en) | 2017-12-15 | 2017-12-15 | System for monitoring the surroundings of brackets on a vehicle |
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DE102017130149.6A DE102017130149B3 (en) | 2017-12-15 | 2017-12-15 | System for monitoring the surroundings of brackets on a vehicle |
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DE102017130149B3 true DE102017130149B3 (en) | 2018-08-23 |
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Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102014209337A1 (en) | 2013-05-17 | 2014-11-20 | Ifm Electronic Gmbh | System and method for detecting a hazardous area |
DE102014009165A1 (en) | 2014-06-25 | 2015-12-31 | Schwing Gmbh | Mobile large manipulator |
DE102016203181A1 (en) | 2016-02-29 | 2017-08-31 | Robert Bosch Gmbh | Method and control device for operating a particular mobile work machine, and system of a control device and an environment sensor |
DE102016203077A1 (en) | 2016-02-26 | 2017-08-31 | Robert Bosch Gmbh | System and method for localization |
-
2017
- 2017-12-15 DE DE102017130149.6A patent/DE102017130149B3/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102014209337A1 (en) | 2013-05-17 | 2014-11-20 | Ifm Electronic Gmbh | System and method for detecting a hazardous area |
DE102014009165A1 (en) | 2014-06-25 | 2015-12-31 | Schwing Gmbh | Mobile large manipulator |
DE102016203077A1 (en) | 2016-02-26 | 2017-08-31 | Robert Bosch Gmbh | System and method for localization |
DE102016203181A1 (en) | 2016-02-29 | 2017-08-31 | Robert Bosch Gmbh | Method and control device for operating a particular mobile work machine, and system of a control device and an environment sensor |
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