Classifications

• • E—FIXED CONSTRUCTIONS
  • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
  • E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
  • E01D15/00—Movable or portable bridges; Floating bridges
  • E01D15/12—Portable or sectional bridges
  • E01D15/127—Portable or sectional bridges combined with ground-supported vehicles for the transport, handling or placing of such bridges or of sections thereof

Definitions

• the invention relates to a method for receiving a deployable bridge element with a bridge laying vehicle, wherein a laying arm of the bridge laying vehicle is aligned with the bridge element.
• Another subject of the invention is a bridge laying vehicle for receiving a deployable bridge element with a laying arm, which is designed such that it can be aligned with the bridge element.
• Layable bridge elements are used, in particular in military applications, as temporary bridges for crossing rivers and ditches in the area. Embodiments are known in which modular bridges ckenieri can be strung together for larger obstacles.
• the bridge elements For transport on a bridge laying vehicle, the bridge elements can be laid by the bridge laying vehicle and resumed. The laying and picking up of a bridge element usually takes place with a laying arm of the bridge laying vehicle, which is movable relative to the chassis of the bridge laying vehicle. To accommodate the deployable bridge element, it is necessary to align the laying arm of the bridge laying vehicle on the bridge element.
• the laying arm of the bridge laying vehicle is first roughly aligned with the bridge laying vehicle by laying the bridge laying vehicle as a whole opposite the bridge element.
• the laying arm in addition to the movement of the bridge laying vehicle, the laying arm can also be moved relative to the chassis.
• the object is achieved by the fact that the position of the bridge element to be accommodated is detected by means of a detection device of the bridge laying vehicle for alignment.
• the position of the male bridge element can be detected even if the driver's view is limited. It is not necessary for the vehicle driver or another crew member of the bridge laying vehicle to determine the position of the bridge element. As a result, the deployable bridge element can be absorbed faster.
• advantageous embodiments of the method with regard to the detection of the bridge element are to be represented:
• the detection device has a camera, in particular a thermal imaging camera or a laser scanner.
• the camera can be aligned in the direction of travel of the bridge laying vehicle.
• a detection area can be formed in front of the bridge laying vehicle, in which the position of the bridge element can be detected.
• a thermal imager offers the advantage that a good contrast between the bridge element and the background is achieved even in the dark can be.
• the camera can also be arranged on the vehicle directionally, the directional movement is preferably remote controlled. With a laser scanner, the surroundings of the vehicle can be scanned like a grid, whereby the position of the bridge element can be detected and / or the bridge element can be measured.
• the detection device is arranged on the laying arm of the bridge laying vehicle, with which the bridge element is received.
• the detection device may be arranged on the laying arm so that it points in a predetermined detection direction in front of the laying arm.
• the detection device may also be oriented such that it can detect an interface area between the laying arm and the bridge element.
• a detection device arranged on the laying arm is particularly advantageous if the laying arm is aligned with the bridge element and / or the coupling process between the laying arm and the bridge element is monitored.
• the contour of the bridge element is detected to determine the position of the bridge element.
• Excellent sections of the bridge element in particular edges or corners, can be recognized.
• the position of the bridge element can be determined, in particular by means of a computer. For this example, methods of pattern recognition can be used.
• one or more markers arranged on the bridge element are detected.
• the marker can be designed such that it forms a high contrast with respect to other sections of the bridge element when detected by the detection device.
• the marker may differ in its shape, its color, its pattern or the heat radiation emitted by it from other areas of the bridge element or the background.
• the marker can be integrally connected to the bridge element.
• the marker can be releasably or firmly connected to the bridge element.
• the markers can be passive or active.
• the marker emits an electromagnetic wave, in particular a light or radio wave, and / or an ultrasonic wave.
• the detection device preferably has a receiver for the wave emitted by the marker. An active marker that emits a wave can be detected reliably by the detection device, in particular even if the marker is dirty.
• the relative position of the bridge element relative to the laying arm of the bridge laying vehicle is determined, in particular by means of a computer.
• the distance between two excellent points of the bridge element and the bridge laying vehicle can be determined.
• the angular position of the bridge element relative to a coordinate system of the bridge laying vehicle is determined.
• the angle between a longitudinal or transverse axis of the bridge element and a longitudinal or transverse axis of the bridge laying vehicle can be determined.
• the position of the bridge element relative to the coordinate system of a satellite navigation system in particular GPS (Global Position System), can be determined.
• the alignment of the laying arm of the bridge laying carriage can be determined. done on the bridge element.
• a handling instruction for aligning the laying arm of the bridge laying vehicle to the bridge element is determined. This can be displayed to the driver acoustically and / or visually. It is possible to determine a route for approaching the bridge element with the bridge laying vehicle, which is displayed to the vehicle driver.
• the display can be made by means of acoustic and / or optical commands.
• the display can be done by means arranged in the vehicle acoustic and / or optical display devices.
• the driver of the bridge laying vehicle can be given instructions by which he can spend the bridge laying vehicle in a suitable position for receiving the bridge element position.
• the route can be visually displayed to the vehicle driver in the manner of a map display or a three-dimensional view of the surroundings.
• the laying arm of the bridge laying vehicle can also be aligned automatically, in particular fully automatically, according to the handling instruction.
• the orientation of the laying arm of the bridge laying vehicle on the bridge element by means of a display device, the position of the bridge element and a positioning aid are displayed, the positioning aid on a predetermined portion of the bridge element, in particular a marker, by moving the laying arm of the bridge laying vehicle is aligned.
• a detection device with a Camera can be displayed in the display device captured by the camera image.
• the positioning aid can be superimposed in the image of the camera and display the orientation of the bridge laying vehicle, in particular the laying arm.
• the positioning aid in the display device can always be displayed at the same location of the picture.
• the image of the bridge element may be variable in the display device.
• the driver can spend the bridge laying vehicle in a position, wherein the positioning aid is aligned in a predetermined position relative to the bridge element.
• the positioning aid is designed in the manner of an auxiliary marking, which is brought into coincidence with a predetermined section of the bridge element, in particular a marker.
• the position of the bridge element relative to the laying arm of the bridge laying vehicle can be indicated by the position of the bridge element in the positioning aid indicating device.
• the bridge member and the laying arm of the bridge laying vehicle may be aligned with each other by overlapping the positioning aid with a predetermined portion of the bridge member.
• the laying arm of the bridge laying vehicle has an engagement element, in particular a roller carriage, which is introduced into the bridge element when the bridge element is received.
• the engagement element can be inserted into a guide channel of the bridge element, whereby a guide of the engagement element in the bridge element ment is made possible.
• the bridge element can be received by the Brückenverlege- vehicle.
• the laying arm has a second engaging element, in particular a second roller carriage, wherein the Brückenverlegef herning, in particular the laying arm, is aligned by means of the positioning aid, before the second engaging element is inserted into the bridge element. Characterized in that the laying arm is aligned by means of the positioning aid, the insertion of the second engaging element can be made possible in the bridge element.
• the orientation of the laying arm of the bridge laying vehicle is remote controlled.
• the control of the bridge laying vehicle can be remotely controlled from a safe distance.
• the orientation of the laying arm of the bridge laying vehicle is carried out automatically by means of a control device of the bridge laying vehicle.
• a control device of the bridge laying vehicle the picking up of the bridge element can be completely self-sufficient.
• the jumper vehicle it is not necessary that the jumper vehicle be controlled by a vehicle driver.
• the object is achieved by the bridge laying vehicle having a detection device for detecting the position of the bridge element. By means of a detection device, the position of the male bridge element can be detected even with limited visibility of the driver. It is therefore not necessary for the vehicle driver or another crew member of the bridge laying vehicle to determine the position of the bridge element, as a result of which the deployable bridge element can be picked up more quickly.
• FIG. 1 is a side view of a bridge laying vehicle when starting a bridge element
• FIGS. 2 to 3 is an enlarged partial view of the bridge laying vehicle facing the end of the bridge element as shown in FIGS. 2 to 3
• Fig. 5a and b is a symbolic representation of the display of a display device when aligning the bridge laying vehicle on the bridge element
• Fig. 6 in a view from above the bridge laying vehicle at
• Fig. 7 different positions of the bridge laying vehicle at
• FIG. 1 shows a bridge laying vehicle 1, with which displaceable bridge elements 10 of a deployable bridge can be transported, relocated and resumed.
• the bridge laying vehicle 1 has a chassis 2, which is equipped with a chain drive. Above the chassis 2, a laying arm 3 for holding, laying and receiving a bridge element 10 is pivotally hinged to the chassis 2. By means of a lifting cylinder 4, the laying arm 3 can be pivoted about a substantially horizontally extending pivot axis S. On the laying arm 3 2 engagement elements 6, 7 are further provided, which are designed as a roller carriage.
• the roller carriages comprise a plurality of rotatably mounted rollers arranged in a row.
• the support device 8 is designed as a support plate, which is pivotally hinged to the chassis 2.
• the bridge laying vehicle 1 has a detection device 5, which is arranged on the laying arm 3.
• the detection device 5 of the bridge laying vehicle 1 has a camera, which is designed as a thermal imaging camera and is directed onto the detection area C, whereby the detection of the position of the bridge element 10 to be accommodated is made possible, cf. Fig. 6.
• the contour of the bridge element 10 is detected by means of the thermal imaging camera of the detection device 5 and the contour of the bridge element 10 relative to the contour Bridge laying vehicle 1 determined.
• the image data acquired by the thermal imager is first supplied to a pattern recognition algorithm implemented in a computer, which detects predetermined regions of the bridge element 10. Then the distances of the detected areas and their orientation to each other are determined. The distance and orientation data are compared by means of another algorithm implemented in a computer with design data of the bridge element 10 which correspond to different orientations of the bridge element 10 with respect to the bridge laying vehicle 1. Alternatively, with knowledge of the dimensions of the bridge element 10, the position of the bridge element 10 can also be calculated directly from the distance and orientation data.
• the bridge element 10 which may be formed passive and / or active. Passive markers can be marked by prominent parts of the bridge element 10, for example, edges, corners, recesses or projections are formed. Furthermore, as a passive marker also markers can be used which are detachably or firmly connected to the bridge element 10, for example, reflectors, colored and / or high-contrast stickers or paints.
• active markers can be arranged on the bridge element.
• An active marking may emit an electromagnetic wave, in particular light or radio wave, and / or an ultrasonic wave.
• the detection device 5 When using active markers, the detection device 5 must be suitable for receiving the wave emitted by the active marker.
• the signal range of the active marker should be less than 100m, preferably less than 50 m, chosen to prevent unwanted clarification of the laid bridge element 10.
• a recommended route R for starting the bridge element 10 from an actual position I in a desired position S is determined, cf. FIG. 7.
• the determination of the route R takes place by means of an algorithm implemented in a computer.
• several routes can be stored in the computer, from which a suitable route R is selected in dependence on the determined actual position I of the bridge laying vehicle 1 relative to the bridge element 10.
• a handling instruction for aligning the laying arm 3 of the bridge laying vehicle 1 to the bridge element 10 is determined and displayed acoustically and / or visually to the driver.
• the display can be done by means arranged in the bridge laying vehicle 1 acoustic and / or optical display devices. alternatives
• the route R can be visually displayed to the vehicle driver in the form of a map display or a three-dimensional view of the surroundings.
• the bridge element 10 After starting the bridge element 10 with the bridge laying vehicle 1, the coarse alignment, the bridge element 10 can be accommodated with the laying arm 3.
• the bridge element 10 has two parallel track carriers 13, 14, which are interconnected by a plurality of cross members 15.
• a guide channel 11 On the inside of the track carriers 13, 14, a guide channel 11 is in each case arranged in which the engagement elements 6, 7 of the laying arm 3 can be introduced in order to receive the bridge element 10.
• the guide channel 11 is formed by the profiling of the insides of the track carrier 13, 14.
• the bridge element 10 is shown in a sectional view in FIGS. 2 to 4c, so that the inside of the rear track carrier 13, 14 with respect to the image plane is visible with the guide channel 11.
• the guide channel 11 has a recess 12 in the end-side end region of the bridge element 10, through which the engagement element 6 of the laying arm 3 can be introduced into the guide channel 11.
• the recess 12 is dimensioned such that upon insertion of the engaging element 6 in the recess 12 sufficient clearance remains.
• the recess 12 has a length which is at least twice as long as the length of the engaging element 6.
• both the front engaging element 6 and the rear engaging element 7 must be inserted into the guide channel 11 of the bridge element 10.
• the bridge laying vehicle 1 is shown in a position in which the laying arm 3 of the bridge 1 is pivoted such that the front engaging element 6 engages in the guide channel 11 of the bridge element 10. This position also corresponds to the detailed representation of Fig. 4b.
• the front engaging element 6 In order to enable the insertion of the rear engaging element 7 in the guide channel 11 from this position, the front engaging element 6 must first be retracted to the so-called threading depth T in the position shown in FIG. 4c. The retraction of the engaging element 6 in the bridge element 10 is carried out by the Brückenverlegef hitch 1 in the direction of the bridge element 10 is moved.
• the laying arm 3 is then pivoted upward in the direction of the arrow A shown in FIG.
• the bridge element 10 is lifted on the bridge laying vehicle 1 side facing the ground and pivoted about the support point P on the side facing away from the bridge laying vehicle 1 in the direction B.
• the front engaging element 6 thereby moves further into the bridge element 10 and the rear A gripping element 7 dives into the recess 12 on the bridge element 10 a.
• the picking up of the bridge element 10 is made more difficult in that the threading depth T is dependent on the position of the bridge element 10 relative to the bridge laying vehicle 1.
• the thermal imaging camera of the detection device 5 can again be used.
• the thermal imaging camera is moved to a position in which it is directed to the coupling region between laying arm 3 and bridge element 10.
• the position of the bridge element 10 is detected by the camera and displayed to the vehicle driver in a display device 20 of the bridge laying vehicle, cf. Fig. 5a.
• a positioning aid 21 is displayed, which is designed in the manner of an auxiliary marker.
• the laying arm 3 of the bridge laying vehicle 1 is aligned such that the positioning aid 21 is brought into coincidence with a predetermined section of the bridge element 10, eg the front right corner of the left track carrier 13, cf. Fig. 5b.
• the predetermined portion of the bridge member 10 may alternatively be marked by a marker 16 and the positioning aid may be brought into overlap with the marker 16.
• the laying gear 3 can be pivoted, whereby the rear engaging element 7 is moved in the direction of the recess 12 and can dip into the guide channel 11.
• the bridge laying vehicle 1 can be moved further in the direction of the bridge element 10. By a pivoting movement of the laying arm 3, the bridge element 10 can then be completely absorbed.
• the alignment of the laying arm 3 of the bridge laying vehicle 1 described above on the bridge element 10 can be carried out remotely. In this case, it is not necessary for a driver to be inside the bridge laying vehicle 1.
• the orientation of the laying arm 3 of the Bridge laying vehicle 1 automatically by means of a control device of the bridge laying vehicle 1 done.
• the position of the bridge element 10 to be picked up can be detected and evaluated by means of the detection device 5. It is not necessary for the vehicle driver or another crew member to determine the position of the bridge element 10 for aligning the laying arm 3 of the bridge laying vehicle 1 with the bridge element 10. As a result, the deployable bridge element can be absorbed faster.

Landscapes

• Engineering & Computer Science (AREA)
• Architecture (AREA)
• Civil Engineering (AREA)
• Structural Engineering (AREA)
• Bridges Or Land Bridges (AREA)
• Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)

Applications Claiming Priority (2)

Publications (2)

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ID=45928594

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Family Cites Families (6)

• 2011
  • 2011-02-04 DE DE201110000509 patent/DE102011000509A1/de not_active Withdrawn
• 2012
  • 2012-02-01 WO PCT/DE2012/000023 patent/WO2012103861A2/de not_active Ceased
  • 2012-02-01 ES ES12711745.5T patent/ES2613638T3/es active Active
  • 2012-02-01 WO PCT/DE2012/100023 patent/WO2012103887A1/de not_active Ceased
  • 2012-02-01 EP EP12711745.5A patent/EP2670917B1/de active Active

Non-Patent Citations (1)

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