EP2990534A1 - Self-propelled construction machine and method for controlling same - Google Patents
Self-propelled construction machine and method for controlling same Download PDFInfo
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- EP2990534A1 EP2990534A1 EP15181641.0A EP15181641A EP2990534A1 EP 2990534 A1 EP2990534 A1 EP 2990534A1 EP 15181641 A EP15181641 A EP 15181641A EP 2990534 A1 EP2990534 A1 EP 2990534A1
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- European Patent Office
- Prior art keywords
- working
- object signals
- construction machine
- terrain
- working area
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- 238000010276 construction Methods 0.000 title claims abstract description 88
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000003801 milling Methods 0.000 claims abstract description 112
- 238000012545 processing Methods 0.000 claims abstract description 17
- 238000001514 detection method Methods 0.000 abstract description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 7
- 230000001419 dependent effect Effects 0.000 description 6
- 230000012447 hatching Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000003466 anti-cipated effect Effects 0.000 description 1
- 230000000454 anti-cipatory effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000001454 recorded image Methods 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
Images
Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/01—Devices or auxiliary means for setting-out or checking the configuration of new surfacing, e.g. templates, screed or reference line supports; Applications of apparatus for measuring, indicating, or recording the surface configuration of existing surfacing, e.g. profilographs
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
- E01C23/08—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades
- E01C23/085—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades using power-driven tools, e.g. vibratory tools
- E01C23/088—Rotary tools, e.g. milling drums
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
- E01C23/12—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for taking-up, tearing-up, or full-depth breaking-up paving, e.g. sett extractor
- E01C23/122—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for taking-up, tearing-up, or full-depth breaking-up paving, e.g. sett extractor with power-driven tools, e.g. oscillated hammer apparatus
- E01C23/127—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for taking-up, tearing-up, or full-depth breaking-up paving, e.g. sett extractor with power-driven tools, e.g. oscillated hammer apparatus rotary, e.g. rotary hammers
Definitions
- the invention relates to a self-propelled construction machine, in particular a road milling machine, which has a chassis which has front and rear wheels or drives in the working direction, a machine frame carried by the chassis and a working device. Moreover, the invention relates to a method for controlling a self-propelled construction machine, in particular a road milling machine.
- construction machines There are various types of self-propelled construction machines known. These machines include, for example, the known road milling machines or slipform pavers. These construction machines are characterized by the fact that they have a working device for changing the terrain or for building structures on the site. In the known road milling machines, the working device has a milling drum equipped with milling tools, with which material can be milled from the road surface in a given working area.
- the milling drum of a road milling machine must, for example, when driving over a manhole cover, taking into account a safety distance within a predetermined distance, which is dependent on the dimensions of the manhole cover, from a predetermined position with respect to changing surface to be raised.
- the operator can not recognize the exact position of the manhole cover at the level of the milling drum in practice, since the milling drum is located below the control station. Therefore, the position of a manhole cover in the field is in practice marked with lateral lines that are recognizable to the operator or other person.
- the marking of existing objects in the field proves to be disadvantageous in practice. First, the marking of the objects requires an additional step.
- the use of a display unit to facilitate the handling of a construction machine is from the DE 10 2010 048 185 A1 known.
- the DE 10 2010 048 185 A1 but describes a device for facilitating the maneuvering of a construction machine in the field, which detects with sensors the steering angle of the drives set by the operator.
- On the display unit the trainer of the construction machine descriptive trajectories are displayed to the operator.
- the US 2009/0016818 A1 and US 2012/0001638 A1 describe construction machinery that has a device for detecting metallic objects that may lie below the terrain surface. If a metal object is detected, the road milling machine can be stopped or the milling drum raised. Detection of hidden objects can be done with a metal detector.
- the invention has for its object to provide a self-propelled construction machine, in particular a road milling machine, with the control of the construction machine, taking into account existing objects in the field is simplified in practice.
- Another object of the invention is to provide a method with which makes it possible to simplify the control of the construction machine taking into account objects present in the terrain.
- the construction machine according to the invention and the method according to the invention for controlling the construction machine are based on the detection of the objects located in the terrain at a time at which the objects can be readily detected, since they are not covered by parts of the machine at this time. Although the objects are detected in advance, the operator obtains the information necessary for controlling the construction machine at the time when the objects require intervention in the machine control.
- the construction machine has a device for generating predictive object signals that are characteristic of the position of objects that lie in a section of the terrain that lies in the working direction in front of the working area of the working device.
- the objects may be readily detected by the predictive object signal generation facility.
- object signals are understood to mean all signals which contain information about the position of the objects. These signals can describe the location of only one or more reference points of the objects. For example, the signals may describe the outline of the objects.
- the object signals are image signals with which the objects can be represented as individual images or a sequence of images (video). It is crucial that the machine operator receives sufficient information (data) about the position of the objects with the object signals in order to be able to intervene in the machine control. This intervention in the machine control can also be done automatically.
- the construction machine has a signal processing device which receives the forward-looking object signals and is configured in such a way that object signals relating to the working device are obtained from the forward-looking object signals during the feed of the construction machine Characteristic of the terrain, which refers to the working area of the construction machine.
- This section preferably also comprises, in addition to the section of the terrain in which the working area of the working device is located, a section which lies in the working direction in front of and behind the working area of the construction machine and possibly also laterally thereof, d. H. the terrain immediately adjacent to the work area of the construction machine. Of these sections, only sections need to be detected. Consequently, the area can be detected, in which the working device of the construction machine moves towards the object or moves away from the object.
- the signal processing device may be a separate computing unit or part of the central computing and control unit of the construction machine.
- the current object signals relating to the working area of the working device are preferably obtained from the forward-looking object signals, taking into account the time duration in which the construction machine covered the distance traveled between the section lying in the working direction in front of the working area of the working device and on the Work area of the construction machine related section of the site is located.
- the distance traveled by the construction machine therefore depends on the predetermined distance between the observed terrain section and the current working area of the working device. It is important to take into account that an intervention in the machine control already has to be made when an off-site object is located at a predetermined safety distance in front of the working area of the working device.
- characteristic reference points or reference lines can be defined in or outside the section located in front of the working area of the working device and / or in or outside the section of the area in which the working area of the construction machine is located, for example outlines or Symmetrical axes in working direction in front of or behind the respective sections.
- the time period in which the construction machine travels the distance depends on the feed rate of the construction machine.
- the time at which the working device of the construction machine is located in a predetermined safety distance in the working direction in front of the object for example, via a path length measurement can be determined.
- the means for generating object signals in this preferred embodiment comprises an image recording unit configured to record a portion of the terrain that lies in the working direction in front of the working area of the working facility.
- the image recording unit may include one or more camera systems. If the image recording unit has a plurality of camera systems, the image section can be composed of a plurality of images, each recorded with a camera system. Each camera system can also be assigned a separate image section.
- the image section should be chosen such that all relevant areas for the control of the construction machine areas are detected in the environment of the objects, the image section may also include areas that are not visible to the operator from the control station.
- the camera system may include one camera or two cameras (stereo camera system). If a three-dimensional scene is imaged onto the two-dimensional image plane of the camera during the recording with a camera, a clear correlation between the coordinates of an object, the coordinates of the object, is obtained Image of the object on the image plane and the focal length of the camera. However, the depth information is lost due to the two-dimensional image.
- the camera system has only one camera, since in practice, the curvature of the terrain surface in the captured by the camera image detail can be neglected. Moreover, only two-dimensional scenes are relevant to the invention, i. H. the outlines of objects in a plane (terrain surface). However, the invention is not limited thereto.
- the at least one camera system of the image recording unit can also be a stereo camera system comprising two cameras, which are arranged parallel to the axis at a predetermined horizontal distance, in accordance with the known methods the disparity to gain the depth information.
- the signal processing device is configured such that the portion of the terrain recorded by the image recording unit is displayed on a display unit with a time delay. Consequently, the machine operator can recognize the objects on the display unit when the work area of the work equipment, in particular the milling drum, is immediately in front of the object, on the object or immediately after the object, so that it can intervene in the machine control Can make time, although at this time neither he nor a camera could capture the relevant image detail.
- a further preferred embodiment provides that at least a part of the working area of the working device is visualized on the display unit, so that the machine operator can recognize the position of the objects with respect to the working area of the working device, in particular the working area of the milling drum.
- the visualization of the workspace can be done not only by boundary lines, but also by color shading or hatching.
- the relevant parts of the work area are its front and rear area, especially the front Area that can be estimated particularly badly in practice.
- the display unit is preferably designed such that the front and / or rear boundary line of the working area of the working device and possibly also the right and left lateral boundary line are displayed in the working direction.
- the signal processing device is configured such that during the advancement of the construction machine, the object signals are read into a memory unit, wherein the anticipated object signals read into the memory unit at specific times with a time delay which depends on the feed rate of the construction machine depends, are read as current object signals from the memory unit and displayed.
- the object signals read out with a time delay may be time-coded object signals, i. H. be timestamped signals that are decoded via the feed rate of the construction machine, so that they are displayed delayed.
- the object signals are path-coded signals, i. H.
- the predictive image data can be stored, for example, depending on the position of the construction machine on the route to be covered at certain intervals and read out after the return of a predetermined distance, which is dependent on the geometric dimensions of the construction machine including their working device as current image data and displayed become.
- the construction machine preferably has an actuating device with a control element which is designed such that after actuation of the operating element, a control signal for engaging in the machine control is generated, wherein the control unit of the construction machine is configured such that the control unit after receiving the control signal makes an intervention in the machine control, for example, raises the milling drum or lowers or stops the construction machine.
- a control unit has every conventional road milling machine.
- the means for generating object signals is an actuator with an operating element which is designed such that the forward-looking object signals are generated after actuation of the operating element, wherein the control unit is configured such that the control unit, after receiving a current Object signal makes an intervention in the machine control or triggers an alarm.
- the means for generating object signals may include an image recording unit configured to record a portion of the terrain that is located in the working direction in front of the working area of the working facility and having a display unit for displaying that terrain area. The operator can thus recognize the object on the display unit, even if he can not see it from the control station.
- a recording and display unit is not mandatory.
- a control element of an actuating device for example a button in a control panel
- a single predictive object signal can be generated when the outline of an object approaches a reference point or a reference line.
- the reference point or the reference line may be a point provided on the construction machine or a line visible to the operator.
- a current object signal is then obtained with a time delay, which contains the information that an intervention in the machine control has to be made.
- This intervention in the machine control can take place automatically, ie after actuation of the operating element, the milling drum of the road milling machine is raised automatically at the right time, when the manhole cover, taking into account a safe distance, is at the height of the milling drum. Consequently, the current object signal is a control signal for the control unit of the construction machine for raising or lowering the milling drum.
- the current object signal can also be an alarm signal that prompts the machine operator to raise or lower the milling drum.
- FIGS. 1A and 1B show in side view and plan view as an example of a self-propelled construction machine a road milling machine. Since road milling machines as such belong to the prior art, only the components essential to the invention will be described here.
- the road milling machine 1 has a machine frame 2, which is supported by a chassis 3.
- the chassis 3 has two front and two rear crawler tracks 4A, 4B, which are attached to front and rear lifting columns 5A, 5B. But it can also be provided only a front or rear drive.
- the working direction (direction of travel) of the road milling machine is marked with an arrow A.
- the chain drives 4A, 4B and lifting columns 5A, 5B form the driving device of the road milling machine for performing translational and / or rotational movements on the terrain.
- the machine frame 2 By raising and lowering the lifting columns 5A, 5B, the machine frame 2 can be moved with respect to the ground in the height and inclination.
- the track drives 4A, 4B With the track drives 4A, 4B, the road milling machine can be moved back and forth.
- the road milling machine 1 has a working device for changing the terrain. This is a milling device 6 with a milling drum equipped with milling tools 21 (FIG. FIGS. 3 to 7 ), which in the Figures 1A and 1B but not recognizable.
- the milled material is transported away with a conveyor F.
- Fig. 2 The road surface to be changed with a road milling machine is in Fig. 2 shown.
- the project is to milled the pavement of the road.
- objects O on the road for example manhole cover in the middle of the road surface and water inlets on the side of the road surface.
- Fig. 2 shows two manhole covers 9, 10 and a water inlet 11, which are indeed run over by the road milling machine, but should not be detected by the milling drum.
- the representation in Fig. 2 does not correspond to the field of vision of the machine operator.
- the objects O on the road can not be seen by the operator on the platform of the construction machine, since they are located directly in front of the construction machine or below the machine.
- the machine operator can not recognize the manhole cover, in particular, when the milling drum is only a short distance in front of the manhole cover, ie, exactly at the time when the machine operator has to lift the milling drum. However, this area can not be monitored with a camera because of the flying milling material in the milling drum housing.
- the construction machine has a central control unit 12 for controlling the drive device for the drives 4A, 4B and the lifting columns 5A, 5B ( Fig. 8 ).
- the road milling machine has a device 13 for generating predictive object signals and a signal processing device 14, which are connected to one another via a data line 15.
- the signal processing device 14 is connected to the control unit 12 via a data line 28.
- the device 13 for generating object-oriented object signals has an image recording unit 16 which has a camera system 17 arranged on the machine frame 2, with which a section of the terrain to be processed, ie the road surface 8 with the manhole covers 9, 10 and water inlets 11 , is recorded.
- the road milling machine has a display unit 18, for example an LC display, which is connected to the signal processing device 14 via a data line 19.
- FIGS. 3A to 3C show in a simplified schematic representation the field of view 20 of the camera system 17 of the image recording unit 16 of the device for generating object-oriented object signals 13 (FIG. Fig. 3A ), the milling drum 21 ( Fig. 3B ) and the display unit 18 (FIG. Fig. 3C ) of the road milling machine 1.
- the field of view of the camera system is in an area that can not be seen by the operator.
- the image recorded by the camera system is not displayed to the operator on the display unit.
- the camera system may be a stereo camera system or a camera system with only one camera. With negligible curvature of the terrain surface and / or the consideration of only two-dimensional objects but a camera system with only one camera is sufficient. In the following, therefore, the camera system will be referred to only as a camera.
- the milling drum 21 has a rectangular working area 22, which is determined by the geometric dimensions of the cylindrical roller body.
- the working area 22 is delimited by a working direction front boundary line 22A, a rear boundary line 22B and lateral boundary lines 22C, 22D. These lines indicate the area where the milling bits of the milling drum 21 penetrate into the surface of the terrain. Under the working area 22 of the milling drum 21 so a terrain section is understood.
- the milling drum 21 can be raised or lowered by extending or retracting the lifting columns 5A, 5B with respect to the ground surface in order to be able to adjust the milling depth.
- the rectangular working area 22 of the milling drum 21 also changes.
- a reduction in the depth of cut leads to a reduction in the distance between the front and rear boundary lines 22A, 22B, while an increase in the depth of cut increases the distance between the front and rear boundary line 22A, 22B. Since the depth of cut relative to the ground and the geometrical dimensions of the milling drum are known, the working area 22 of the milling drum 21 can be calculated.
- the camera 17 detects a portion of the terrain, which is not visible to the operator on the control station.
- the field of view 20 of the camera 17 is a portion of the terrain to be changed, which is run over by the milling machine, which moves at a predetermined feed rate v in the working direction A.
- the rectangular field of view 20 of the camera 17 is delimited by front and rear boundary lines 20A, 20B and lateral boundary lines 20C, 20D.
- the longitudinal axis 20E of the field of view 20 lies in the working direction A at a predetermined distance x in front of the rotational axis 21E of the milling drum 21 or the longitudinal axis of the rectangular working area 22.
- This distance x is determined by the arrangement and the viewing angle (orientation) of the camera 17 on the machine frame 2 and on the arrangement of the milling drum 21 on the machine frame 2 dependent.
- the distance x 1 or x 2 between the longitudinal axis 20E of the field of view 20 of the camera 17 and the front or rear boundary line 22A, 22B of the milling drum 21 is not only the arrangement and the viewing angle of the camera 17 and the arrangement of the milling drum 21, but also from the geometric dimensions (diameter) of the milling drum 21 and the milling depth dependent.
- the longitudinal axis 20E of the field of view 20 represents a reference line over which the objects O move during the advancement of the construction machine.
- the outline of the objects O for example the circular outline 9 'of the manhole cover 9 moving towards the reference line 20E, touches the line 20E, then cuts the line at two intersections, then again touches the line at one point and finally leaves the field of view 20 of the camera 17.
- the FIGS. 3A to 3C show the manhole cover 9 at a time when the manhole cover 9 in the field of view 20 of the camera 17 is located.
- the display unit 18 does not display the live image of the camera but a recorded image (video), that is, the image recorded by the camera with a time delay.
- the image detail 23 displayed on the display unit 18 is delimited again by front and rear boundary lines 23A, 23B and lateral boundary lines 23C, 23D.
- the rectangular image section 23 of the display unit 18 in the geometric dimensions corresponds exactly to the field of view 20 of the camera 17 (FIG. Fig. 3C ).
- the image section 23 can also be a reduced or enlarged section if the display unit 18 has a zoom function.
- the working area 22 of the milling drum 21 is marked by its front, rear and lateral boundary lines 22A, 22B, 22C, 22D. Fig. 3B ).
- the distance of the boundary lines 22A, 22B, 22C, 22D is dependent on the dimensions of the milling drum 21 and the set milling depth.
- a change in the depth of cut results in shifting the front and rear boundary lines 22A and 22B which are superimposed on the image recorded by the image recording unit and displayed on the display unit 18 with a time delay.
- the display unit 18 is within the field of vision of the machine operator, so that the machine operator can recognize on the display unit when the object O, for example the manhole cover 9, moves towards the milling drum 21.
- FIGS. 4A to 4D show the field of view 20 of the camera 17, the milling drum 21 and the display unit 18 at a time at which the manhole cover 9 leaves the field of view 20 of the camera 17, wherein the manhole cover 9 is not displayed on the display unit 18,
- the Figs. 5A to 5C show the field of view 20 of the camera 17 and the display unit 18 at a time when a water inlet 11 has entered the field of view 20 of the camera 17, the manhole cover 9 but still on the display unit 18 is not displayed, the FIGS.
- FIGS. 6A to 6C show the field of view 20 of the camera 17 and the display unit 18 at a time when the second manhole cover 10 enters the field of view 20 of the camera 17 and the front edge of the previously recorded first manhole cover 9 reaches the front boundary line 22A of the work area 22, and Figs. 7A to 7C show the field of view 20 of the camera 17 and the display unit 18 at a time when the second manhole cover 10 has left the field of view 20 of the camera 17 and the rear edge of the first manhole cover 9 has just exceeded the rear boundary line 22B.
- the times are critical to which the contour line 9 ', 10' of the chess cover 9, 10, the front and rear boundary line 22A, 22B of the working area 22 of the milling drum 21 touches, ie when the milling drum 21 on the manhole cover 9, 10 or the water inlet 11 moves.
- the milling drum 21 must be raised when the outline 9 ', 10' of the chess cover 9, 10 is at a predetermined safety distance in front of the front boundary line 22A ( Fig. 6C ) and must be lowered when the contour line 9 ', 10' is at a predetermined safety distance behind the front boundary line 22A ( Fig. 7C ).
- the prospective object signals are image signals of the image recording unit 16.
- the image signals are image data of a digital camera 17 which records the relevant portion of the terrain.
- the image data may be displayed as a sequence of individual images at successive times or as a continuous sequence of images (video).
- the signal processing device 14 has in the Embodiment, a memory unit 24, in which the predictive image signals are successively read and read out after a time interval as current image signals again.
- the object signals thus represent time-coded signals.
- These image signals are displayed as images on the display unit 18, which show the current position of the object O, for example the chess cover 9, 10 with respect to the milling drum 21.
- the length of this time interval is calculated from the quotient of the predetermined distance between the front and rear boundary lines 20A and 20B of the field of view 20 and the front and rear boundary lines 23A and 23B of the image section 23 and the feed rate v at which the Construction machine moves in working direction A, if the recorded and displayed image section have the same scale.
- This distance corresponds to the distance x between the longitudinal axis 20E of the field of view and the axis of rotation 21E of the milling drum.
- the image recording unit records an image each time the construction machine has traveled a predetermined distance in working direction A.
- This distance should be as small as possible, for example, be only one or a few centimeters or even millimeters, so that the sequence of images on the total distance traveled can be detected with sufficient resolution.
- the construction machine has an odometer ("pedometer").
- the image recording unit 18 thus records a sequence of images that are assigned to the distance traveled by the construction machine (number of "steps"). For example, the image recording unit 18 records an image each time the construction machine has moved in the working direction A by one centimeter on the way.
- the object signals thus represent image signals coded away or provided with a distance mark.
- the path-coded image signals are respectively displayed on the display unit 18 when the construction machine has traveled a predetermined total distance following the acquisition of the image, which corresponds to the distance x between the longitudinal axis 20E of the field of view 20 and the axis of rotation 21E of the milling drum corresponds.
- the image recorded at a certain point in time, ie at a specific location of the route (distance mark) on which the construction machine is located, is therefore only displayed on the display unit 18 when the construction machine has a specific position Total wake, which corresponds to a certain number of "steps", for example, has traveled 100 "steps" of 1 cm.
- the number of revolutions of the drive means driving the drives, for example the drive shafts or wheels, etc., can be detected.
- Fig. 6C shows how the outline 9 'of the chess lid 9 reaches the front boundary line 22A of the working area 22 of the milling drum 21, so that the machine operator must lift the milling drum 21 while Fig. 7C shows how the outline 9 'of the chess lid 9 leaves the rear boundary line 22B of the working area 22 of the milling drum 21, so that the machine operator can lower the milling drum 21.
- the machine operator can, on the display unit 18, if necessary taking into account a safety distance, accurately estimate the time at which he must undertake the intervention in the machine control.
- the construction machine has an actuating device 25, which is connected via a control line 26 to the control unit 12 of the construction machine.
- the operating device 25 has an operating element 27 which the machine operator actuates when the outline of the chess cover reaches the front boundary line of the milling drum or leaves the rear boundary line of the milling drum, taking into account a safety distance.
- the actuating device 25 then generates a control signal, which the control unit 12 receives, so that the control unit 12, for example, controls the lifting columns 5A, 5B such that the milling drum 21 is raised or lowered.
- the objects O and the milling drum 21 can be visualized on the display unit 18, for example, by hatching and / or color schemes. Also, the safety distance to be observed can be visualized, for example, by additional lines and / or hatching and / or color schemes. It is also possible to provide a further display unit which displays the image recorded by the camera.
- FIGS. 3 to 7 show the case that the construction machine travels an even distance.
- the consideration of this case is sufficient in practice, since the distance x between the longitudinal axis 20E of the field of view 20 and the longitudinal axis 21E of the milling drum 21 is relatively small, so that on this path a curvature is negligible.
- the actual object signals relating to the working area of the working equipment can be accurately determined with the known calculation methods, since the geometrical relationships between the field of view of the image acquisition unit and the working area of the image acquisition unit Working equipment are known.
- the course of the trajectory covered by the construction machine can be determined, for example, from the distance traveled by the construction machine and the steering angles set at certain distance mark marks.
- the course of the trajectory in turn results in the rotation and the lateral displacement of the object between the time of recording and display of the image, which can be disregarded in practice, since a curvature can be neglected on the relevant path.
- FIG. 9A to 9B A simplified embodiment of the invention is described, which differs from the above embodiment in that on the display unit 18 is no indication of the current conditions.
- the live image currently recorded by the camera 17 is displayed.
- the display unit 18 thus receives not the current, but the predictive image signals of the camera 17.
- the representation on the display unit 18 is otherwise not different from the representation of the above embodiment.
- the operation corresponds to the above embodiment.
- FIGS. 9A and 9B show the rectangular field of view 20 of the camera 17, which is bounded by the front and rear boundary lines 20A, 20B and the lateral boundary lines 20C, 20D.
- the working area 22 of the milling drum 21, which does not correspond to the current conditions is marked by the front and rear and lateral boundary lines 22A, 22B, 22C, 22D, which are superimposed on the camera image.
- These boundary lines 22A, 22B, 22C, 22D shift again depending on the geometric dimensions of the milling drum 21 used in each case and the set milling depth.
- Fig. 9A shows the Time at which the boundary line 9 'of the manhole cover 9 reaches the front boundary line 22A of the working area 22 of the milling drum 21, while Fig.
- FIG 9B shows the time points at which the boundary line 9 'of the manhole cover 9 leaves the rear boundary line 22B of the working area 22 of the milling drum 21.
- control unit 12 receives the control unit 12 with the predetermined time delay as control signals, so that the control unit raises or lowers the milling drum 21 at the right time, or simply stops the machine.
- the control signal can trigger only an optical and / or audible and / or tactile alarm to which the operator has to respond accordingly.
- the time delay is again the quotient of the distance x between the longitudinal axis 20E of the field of view 20 and the longitudinal axis 21E of the milling drum 21 and the feed rate v of the construction machine.
- the control can also be based on the distance that has to be covered by the construction machine until the axis of rotation 21E of the milling drum 21 has reached the longitudinal axis 20E of the terrain section which was previously recorded by the camera.
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Abstract
Die Anmeldung betrifft eine selbstfahrende Baumaschine, insbesondere eine Straßenfräsmaschine, die über ein Fahrwerk 3, das in Arbeitsrichtung vordere und hintere Räder oder Laufwerke 4A, 4B aufweist, einen von dem Fahrwerk 3 getragenen Maschinenrahmen 3 und eine Arbeitseinrichtung 21 verfügt. Darüber hinaus betrifft die Anmeldung ein Verfahren zur Steuerung einer selbstfahrenden Baumaschine, insbesondere einer Straßenfräsmaschine. Die Anmeldung beruht auf der Erfassung von im Gelände befindlichen Objekten O zu einem Zeitpunkt, zu dem sich die Objekte O ohne weiteres erfassen lassen. Die Baumaschine verfügt über eine Einrichtung 13 zur Erzeugung von vorausschauenden Objekt-Signalen, die für die Lage von Objekten charakteristisch sind, die in einem Abschnitt des Geländes liegen, der in Arbeitsrichtung A vor dem Arbeitsbereich 22 der Arbeitseinrichtung 21 liegt. Darüber hinaus weist die Baumaschine eine die Objekt-Signale empfangende Signalverarbeitungseinrichtung 14 auf, die derart konfiguriert ist, dass während des Vorschubs der Baumaschine aus den vorausschauenden Objekt-Signalen auf die Arbeitseinrichtung bezogene Objekt-Signale gewonnen werden, die für die Lage der Objekte in einem Abschnitt des Geländes charakteristisch sind, der sich auf den Arbeitsbereich (22) der Arbeitseinrichtung (21) bezieht.The application relates to a self-propelled construction machine, in particular a road milling machine, which has a chassis 3, the front and rear wheels or drives 4A, 4B in the working direction, carried by the chassis 3 machine frame 3 and a working device 21. Moreover, the application relates to a method for controlling a self-propelled construction machine, in particular a road milling machine. The application is based on the detection of off-site objects O at a time at which the objects O can be readily detected. The construction machine has a device 13 for generating predictive object signals which are characteristic of the position of objects lying in a section of the terrain which lies in working direction A in front of the working area 22 of the working device 21. In addition, the construction machine has a signal processing device 14 receiving the object signals, which is configured in such a way that during the feed of the construction machine from the prospective object signals object-related object signals are obtained which correspond to the position of the objects in one Characteristic of the area, which refers to the working area (22) of the working device (21).
Description
Die Erfindung betrifft eine selbstfahrende Baumaschine, insbesondere eine Straßenfräsmaschine, die über ein Fahrwerk, das in Arbeitsrichtung vordere und hintere Räder oder Laufwerke aufweist, einen von dem Fahrwerk getragenen Maschinenrahmen und eine Arbeitseinrichtung verfügt. Darüber hinaus betrifft die Erfindung ein Verfahren zur Steuerung einer selbstfahrenden Baumaschine, insbesondere einer Straßenfräsmaschine.The invention relates to a self-propelled construction machine, in particular a road milling machine, which has a chassis which has front and rear wheels or drives in the working direction, a machine frame carried by the chassis and a working device. Moreover, the invention relates to a method for controlling a self-propelled construction machine, in particular a road milling machine.
Es sind verschiedene Arten von selbstfahrenden Baumaschinen bekannt. Zu diesen Maschinen zählen beispielsweise die bekannten Straßenfräsmaschinen oder Gleitschalungsfertiger. Diese Baumaschinen zeichnen sich dadurch aus, dass sie über eine Arbeitseinrichtung zum Verändern des Geländes oder zum Errichtung von Baukörpern auf dem Gelände verfügen. Bei den bekannten Straßenfräsen weist die Arbeitseinrichtung eine mit Fräswerkzeugen bestückte Fräswalze auf, mit der von der Straßenoberfläche Material in einem vorgegebenen Arbeitsbereich abgefräst werden kann.There are various types of self-propelled construction machines known. These machines include, for example, the known road milling machines or slipform pavers. These construction machines are characterized by the fact that they have a working device for changing the terrain or for building structures on the site. In the known road milling machines, the working device has a milling drum equipped with milling tools, with which material can be milled from the road surface in a given working area.
Bei der Planung und Ausführung eines Bauvorhabens, das mit den bekannten Straßenfräsmaschinen durchgeführt werden soll, stellt sich das Problem, dass bereits im Gelände vorhandene Objekte, beispielsweise Schachtdeckel, Wasserabläufe oder Hydranten, Berücksichtigung finden müssen. Der Bereich des Geländes, in dem beispielsweise ein Schachtdeckel liegt, sollte mit der Straßenfräse nicht verändert werden, da der Schachtdeckel und die Straßenfräse ansonsten beschädigt werden könnten.When planning and executing a construction project that is to be carried out using the familiar road milling machines, the problem arises that objects already present in the terrain, for example manhole covers, water drains or hydrants, must be taken into account. The area of the terrain in which, for example, a manhole cover is located should not be changed with the road milling machine, since the manhole cover and the road milling machine could otherwise be damaged.
Zur Berücksichtigung von im Gelände vorhandenen Objekten ist ein Eingriff in die Maschinensteuerung notwendig. Die Fräswalze einer Straßenfräsmaschine muss beispielsweise beim Überfahren eines Schachtdeckels unter Berücksichtigung eines Sicherheitsabstandes innerhalb einer vorgegebenen Wegstrecke, die von den Abmessungen des Schachtdeckels abhängig ist, aus einer vorgegebenen Position in Bezug auf die zu verändernde Oberfläche angehoben werden. Der Maschinenführer kann die genaue Position des Schachtdeckels auf der Höhe der Fräswalze in der Praxis aber nicht erkennen, da sich die Fräswalze unterhalb des Fahrstandes befindet. Daher wird die Position eines Schachtdeckels in dem Gelände in der Praxis mit seitlichen Linien markiert, die für den Maschinenführer oder eine andere Person erkennbar sind. Die Markierung vorhandener Objekte im Gelände erweist sich aber in der Praxis als nachteilig. Zunächst erfordert die Markierung der Objekte einen zusätzlichen Arbeitsschritt. Darüber hinaus ist es schwierig, die Linien exakt im rechten Winkel zur Fahrtrichtung zu ziehen. Ferner sind die Linien bei Dunkelheit nicht oder nur schwer zu erkennen. Im Übrigen ist die Markierung der Objekte bei Regen nicht ohne weiteres möglich. Wegen der Ungenauigkeiten ist es daher erforderlich, einen relativ großen Sicherheitsabstand zu wählen, der größere Nacharbeiten erforderlich macht.To take into account existing terrain objects an intervention in the machine control is necessary. The milling drum of a road milling machine must, for example, when driving over a manhole cover, taking into account a safety distance within a predetermined distance, which is dependent on the dimensions of the manhole cover, from a predetermined position with respect to changing surface to be raised. However, the operator can not recognize the exact position of the manhole cover at the level of the milling drum in practice, since the milling drum is located below the control station. Therefore, the position of a manhole cover in the field is in practice marked with lateral lines that are recognizable to the operator or other person. The marking of existing objects in the field proves to be disadvantageous in practice. First, the marking of the objects requires an additional step. In addition, it is difficult to draw the lines exactly at right angles to the direction of travel. Furthermore, the lines are not or hardly recognizable in the dark. Incidentally, the marking of the objects in the rain is not readily possible. Because of the inaccuracies, it is therefore necessary to choose a relatively large safety margin, which requires major reworking.
Der Einsatz einer Anzeigeeinheit zur Vereinfachung der Handhabung einer Baumaschine ist aus der
Die
Der Erfindung liegt die Aufgabe zugrunde, eine selbstfahrende Baumaschine, insbesondere eine Straßenfräsmaschine, zu schaffen, mit der die Steuerung der Baumaschine unter Berücksichtigung von im Gelände vorhandenen Objekten in der Praxis vereinfacht wird. Eine weitere Aufgabe der Erfindung liegt darin, ein Verfahren anzugeben, mit dem sich die Steuerung der Baumaschine unter Berücksichtigung von im Gelände vorhandenen Objekten vereinfachen lässt.The invention has for its object to provide a self-propelled construction machine, in particular a road milling machine, with the control of the construction machine, taking into account existing objects in the field is simplified in practice. Another object of the invention is to provide a method with which makes it possible to simplify the control of the construction machine taking into account objects present in the terrain.
Die Lösung dieser Aufgaben erfolgt erfindungsgemäß mit den Merkmalen der unabhängigen Patentansprüche. Die Gegenstände der abhängigen Ansprüche betreffen bevorzugte Ausführungsformen der Erfindung.The solution of these objects is achieved according to the invention with the features of the independent claims. The subject matters of the dependent claims relate to preferred embodiments of the invention.
Die erfindungsgemäße Baumaschine und das erfindungsgemäße Verfahren zur Steuerung der Baumaschine beruhen auf der Erfassung der in dem Gelände befindlichen Objekte zu einem Zeitpunkt, zu dem sich die Objekte ohne weiteres erfassen lassen, da sie zu diesem Zeitpunkt nicht von Teilen der Maschine verdeckt werden. Obwohl die Objekte im Voraus erfasst werden, erhält der Maschinenführer die zur Steuerung der Baumaschine erforderlichen Informationen zu dem Zeitpunkt, zu dem auf Grund der Objekte ein Eingriff in die Maschinensteuerung erforderlich ist.The construction machine according to the invention and the method according to the invention for controlling the construction machine are based on the detection of the objects located in the terrain at a time at which the objects can be readily detected, since they are not covered by parts of the machine at this time. Although the objects are detected in advance, the operator obtains the information necessary for controlling the construction machine at the time when the objects require intervention in the machine control.
Die erfindungsgemäße Baumaschine verfügt über eine Einrichtung zur Erzeugung von vorausschauenden Objekt-Signalen, die für die Lage von Objekten charakteristisch sind, die in einem Abschnitt des Geländes liegen, der in Arbeitsrichtung vor dem Arbeitsbereich der Arbeitseinrichtung liegt. In diesem Geländeabschnitt, der außerhalb des Arbeitsbereichs der Arbeitseinrichtung liegt, können die Objekte von der Einrichtung zur Erzeugung von vorausschauenden Objekt-Signalen ohne weiteres erfasst werden.The construction machine according to the invention has a device for generating predictive object signals that are characteristic of the position of objects that lie in a section of the terrain that lies in the working direction in front of the working area of the working device. In this terrain section, which is outside the work area of the work facility, the objects may be readily detected by the predictive object signal generation facility.
In diesem Zusammenhang werden unter Objekt-Signalen sämtliche Signale verstanden, die Informationen zu der Lage der Objekte beinhalten. Diese Signale können die Lage von nur einem oder mehreren Referenzpunkten der Objekte beschreiben. Beispielsweise können die Signale die Umrisslinien der Objekte beschreiben. Bei einer bevorzugten Ausführungsform der Erfindung sind die Objekt-Signale Bildsignale, mit denen sich die Objekte als einzelne Bilder oder eine Folge von Bildern (Video) darstellen lassen. Entscheidend ist, dass der Maschinenführer mit den Objekt-Signalen ausreichende Informationen (Daten) über die Lage der Objekte erhält, um einen Eingriff in die Maschinensteuerung vornehmen zu können. Dieser Eingriff in die Maschinensteuerung kann aber auch automatisch erfolgen.In this context, object signals are understood to mean all signals which contain information about the position of the objects. These signals can describe the location of only one or more reference points of the objects. For example, the signals may describe the outline of the objects. In a preferred embodiment of the invention, the object signals are image signals with which the objects can be represented as individual images or a sequence of images (video). It is crucial that the machine operator receives sufficient information (data) about the position of the objects with the object signals in order to be able to intervene in the machine control. This intervention in the machine control can also be done automatically.
Darüber hinaus weist die Baumaschine eine die vorausschauenden Objekt-Signale empfangende Signalverarbeitungseinrichtung auf, die derart konfiguriert ist, dass während des Vorschubs der Baumaschine aus den vorausschauenden Objekt-Signalen auf die Arbeitseinrichtung bezogene Objekt-Signale gewonnen werden, die für die Lage der Objekte in einem Abschnitt des Geländes charakteristisch sind, der sich auf den Arbeitsbereich der Baumaschine bezieht. Dieser Abschnitt umfasst vorzugsweise neben dem Abschnitt des Geländes, in dem der Arbeitsbereich der Arbeitseinrichtung liegt, auch einen Abschnitt, der in Arbeitsrichtung vor bzw. hinter dem Arbeitsbereich der Baumaschine und ggf. auch seitlich davon liegt, d. h. den an den Arbeitsbereich der Baumaschine unmittelbar angrenzenden Geländeabschnitt. Von diesen Abschnitten brauchen nur Teilabschnitte erfasst zu werden. Folglich kann der Bereich erfasst werden, in dem sich die Arbeitseinrichtung der Baumaschine auf das Objekt zubewegt bzw. von dem Objekt wegbewegt. Wenn das Objekt sich dem Arbeitsbereich nähert bzw. den Arbeitsbereich verlässt, kann unter Berücksichtigung eines vorgegebenen Sicherheitsabstandes zwischen dem Objekt und dem Arbeitsbereich der Arbeitseinrichtung ein Eingriff in die Maschinensteuerung vorgenommen werden, beispielsweise die Fräswalze angehoben bzw. abgesenkt oder die Baumaschine angehalten werden. Dieser Eingriff kann manuell oder auch automatisch erfolgen. Aus den vorausschauenden Objekt-Signalen werden also aktuelle Objektsignale gewonnen, die dem Maschinenführer die erforderlichen Informationen geben. Die Signalverarbeitungseinrichtung kann eine separate Recheneinheit oder Teil der zentralen Rechen- und Steuereinheit der Baumaschine sein.In addition, the construction machine has a signal processing device which receives the forward-looking object signals and is configured in such a way that object signals relating to the working device are obtained from the forward-looking object signals during the feed of the construction machine Characteristic of the terrain, which refers to the working area of the construction machine. This section preferably also comprises, in addition to the section of the terrain in which the working area of the working device is located, a section which lies in the working direction in front of and behind the working area of the construction machine and possibly also laterally thereof, d. H. the terrain immediately adjacent to the work area of the construction machine. Of these sections, only sections need to be detected. Consequently, the area can be detected, in which the working device of the construction machine moves towards the object or moves away from the object. When the object approaches the work area or leaves the work area, taking into account a predetermined safety distance between the object and the work area of the working device an intervention in the machine control can be made, for example, the milling drum raised or lowered or the construction machine stopped. This intervention can be done manually or automatically. From the forward-looking object signals, therefore, current object signals are obtained, which provide the machine operator with the required information. The signal processing device may be a separate computing unit or part of the central computing and control unit of the construction machine.
Die auf den Arbeitsbereich der Arbeitseinrichtung bezogenen aktuellen Objekt-Signale werden vorzugsweise aus den vorausschauenden Objekt-Signalen unter Berücksichtigung der Zeitdauer gewonnen, in der die Baumaschine die Wegstrecke zurückgelegt, die zwischen dem in Arbeitsrichtung vor dem Arbeitsbereich der Arbeitseinrichtung liegenden Abschnitt und dem sich auf den Arbeitsbereich der Baumaschine beziehenden Abschnitt des Geländes liegt. Die von der Baumaschine zurückzulegende Wegstrecke ist also von dem vorgegebenen Abstand zwischen dem beobachteten Geländeabschnitt und dem aktuellen Arbeitsbereich der Arbeitseinrichtung abhängig. Dabei ist zu berücksichtigen, dass ein Eingriff in die Maschinensteuerung schon dann vorgenommen werden muss, wenn sich ein im Gelände befindliches Objekt in einem vorgegebenen Sicherheitsabstand vor dem Arbeitsbereich der Arbeitseinrichtung befindet. Zur Berechnung des hier relevanten Zeit-/Wegversatzes können charakteristische Referenzpunkte oder Referenzlinien in oder außerhalb des vor dem Arbeitsbereich der Arbeitseinrichtung liegenden Abschnitts und/oder in oder außerhalb des Abschnitts des Geländes, in dem der Arbeitsbereich der Baumaschine liegt, festgelegt werden, beispielsweise Umrisslinien oder Symmetrieachsen in Arbeitsrichtung vor oder hinter den jeweiligen Abschnitten. Die Zeitdauer, in der die Baumaschine die Wegstrecke zurücklegt, ist von der Vorschubgeschwindigkeit der Baumaschine abhängig. Zur Gewinnung der aktuellen Objekt-Signale kann der Zeitpunkt, zu dem sich die Arbeitseinrichtung der Baumaschine in einem vorgegebenen Sicherheitsabstand in Arbeitsrichtung vor dem Objekt befindet, beispielsweise auch über eine Weglängenmessung bestimmt werden.The current object signals relating to the working area of the working device are preferably obtained from the forward-looking object signals, taking into account the time duration in which the construction machine covered the distance traveled between the section lying in the working direction in front of the working area of the working device and on the Work area of the construction machine related section of the site is located. The distance traveled by the construction machine therefore depends on the predetermined distance between the observed terrain section and the current working area of the working device. It is important to take into account that an intervention in the machine control already has to be made when an off-site object is located at a predetermined safety distance in front of the working area of the working device. In order to calculate the time / distance offset relevant here, characteristic reference points or reference lines can be defined in or outside the section located in front of the working area of the working device and / or in or outside the section of the area in which the working area of the construction machine is located, for example outlines or Symmetrical axes in working direction in front of or behind the respective sections. The time period in which the construction machine travels the distance depends on the feed rate of the construction machine. To obtain the current object signals, the time at which the working device of the construction machine is located in a predetermined safety distance in the working direction in front of the object, for example, via a path length measurement can be determined.
Eine bevorzugte Ausführungsform der Erfindung sieht vor, dass die vorausschauenden Objekt-Signale und die aktuellen Objekt-Signale Bildsignale sind. Die Einrichtung zur Erzeugung von Objekt-Signalen weist bei dieser bevorzugten Ausführungsform eine Bildaufzeichnungseinheit auf, die derart konfiguriert ist, dass ein Abschnitt des Geländes aufgezeichnet wird, der in Arbeitsrichtung vor dem Arbeitsbereich der Arbeitseinrichtung liegt. Die Bildaufzeichnungseinheit kann eine oder mehrere Kamera-Systeme umfassen. Wenn die Bildaufzeichnungseinheit mehrere Kamera-Systeme aufweist, kann der Bildausschnitt aus mehreren Bildern zusammengesetzt werden, die jeweils mit einem Kamera-System aufgenommen werden. Jedem Kamera-System kann aber auch ein eigener Bildausschnitt zugeordnet werden. Der Bildausschnitt sollte so gewählt werden, dass sämtliche für die Steuerung der Baumaschine relevanten Bereiche im Umfeld der Objekte erfasst werden, wobei der Bildausschnitt auch Bereiche umfassen kann, die für den Maschinenführer vom Fahrstand aus nicht einsehbar sind.A preferred embodiment of the invention provides that the anticipatory object signals and the current object signals are image signals. The means for generating object signals in this preferred embodiment comprises an image recording unit configured to record a portion of the terrain that lies in the working direction in front of the working area of the working facility. The image recording unit may include one or more camera systems. If the image recording unit has a plurality of camera systems, the image section can be composed of a plurality of images, each recorded with a camera system. Each camera system can also be assigned a separate image section. The image section should be chosen such that all relevant areas for the control of the construction machine areas are detected in the environment of the objects, the image section may also include areas that are not visible to the operator from the control station.
Das Kamera-System kann eine Kamera oder zwei Kameras (Stereokamera-System) umfassen. Wenn bei der Aufnahme mit einer Kamera eine dreidimensionale Szene auf die zweidimensionale Bildebene der Kamera abgebildet wird, ergibt sich ein eindeutiger Zusammenhang zwischen den Koordinaten eines Objektes, den Koordinaten der Abbildung des Objektes auf der Bildebene und der Brennweite der Kamera. Allerdings geht durch die zweidimensionale Abbildung die Tiefeninformation verloren.The camera system may include one camera or two cameras (stereo camera system). If a three-dimensional scene is imaged onto the two-dimensional image plane of the camera during the recording with a camera, a clear correlation between the coordinates of an object, the coordinates of the object, is obtained Image of the object on the image plane and the focal length of the camera. However, the depth information is lost due to the two-dimensional image.
Für die Erfindung ist ausreichend, wenn das Kamera-System nur eine Kamera aufweist, da in der Praxis die Krümmung der Geländeoberfläche in dem von der Kamera aufgenommenen Bildausschnitt vernachlässigt werden kann. Außerdem sind für die Erfindung nur zweidimensionale Szenen relevant, d. h. die Umrisslinien der Objekte in einer Ebene (Geländeoberfläche). Darauf ist die Erfindung aber nicht beschränkt.For the invention is sufficient if the camera system has only one camera, since in practice, the curvature of the terrain surface in the captured by the camera image detail can be neglected. Moreover, only two-dimensional scenes are relevant to the invention, i. H. the outlines of objects in a plane (terrain surface). However, the invention is not limited thereto.
Zur Erfassung dreidimensionaler Szenen und/oder der Berücksichtigung einer Krümmung der Geländeoberfläche kann das mindestens einer Kamera-System der Bildaufzeichnungseinheit auch ein Stereokamera-System sein, das zwei Kameras umfasst, die achsparallel in einem vorgegebenen horizontalen Abstand angeordnet sind, um nach den bekannten Verfahren aus der Disparität die Tiefeninformation gewinnen zu können.For detecting three-dimensional scenes and / or taking into account a curvature of the terrain surface, the at least one camera system of the image recording unit can also be a stereo camera system comprising two cameras, which are arranged parallel to the axis at a predetermined horizontal distance, in accordance with the known methods the disparity to gain the depth information.
Die Signalverarbeitungseinrichtung ist derart konfiguriert, dass der von der Bildaufzeichnungseinheit aufgezeichnete Abschnitt des Geländes mit einer zeitlichen Verzögerung auf einer Anzeigeeinheit angezeigt wird. Folglich sind für den Maschinenführer die Objekte auf der Anzeigeeinheit dann zu erkennen, wenn sich der Arbeitsbereich der Arbeitseinrichtung, insbesondere die Fräswalze, unmittelbar vor dem Objekt, auf dem Objekt oder unmittelbar nach dem Objekt befindet, so dass er einen Eingriff in die Maschinensteuerung zum richtigen Zeitpunkt vornehmen kann, obwohl zu diesem Zeitpunkt weder er noch eine Kamera den relevanten Bildausschnitt erfassen könnte.The signal processing device is configured such that the portion of the terrain recorded by the image recording unit is displayed on a display unit with a time delay. Consequently, the machine operator can recognize the objects on the display unit when the work area of the work equipment, in particular the milling drum, is immediately in front of the object, on the object or immediately after the object, so that it can intervene in the machine control Can make time, although at this time neither he nor a camera could capture the relevant image detail.
Eine weitere bevorzugte Ausführungsform sieht vor, dass auf der Anzeigeeinheit zumindest ein Teil des Arbeitsbereichs der Arbeitseinrichtung visualisiert wird, so dass der Maschinenführer die Lage der Objekte in Bezug auf den Arbeitsbereich der Arbeitseinrichtung, insbesondere den Arbeitsbereich der Fräswalze, erkennen kann. Die Visualisierung des Arbeitsbereichs kann nicht nur durch Begrenzungslinien, sondern auch durch farbliche Unterlegungen oder Schraffuren erfolgen. Die hier relevanten Teile des Arbeitsbereichs sind dessen vorderer und hinterer Bereich, insbesondere der vordere Bereich, der in der Praxis besonders schlecht abgeschätzt werden kann. Die Anzeigeeinheit ist vorzugsweise derart ausgebildet, dass die in Arbeitsrichtung vordere und/oder hintere Begrenzungslinie des Arbeitsbereichs der Arbeitseinrichtung und ggf. auch die rechte sowie linke seitliche Begrenzungslinie angezeigt werden.A further preferred embodiment provides that at least a part of the working area of the working device is visualized on the display unit, so that the machine operator can recognize the position of the objects with respect to the working area of the working device, in particular the working area of the milling drum. The visualization of the workspace can be done not only by boundary lines, but also by color shading or hatching. The relevant parts of the work area are its front and rear area, especially the front Area that can be estimated particularly badly in practice. The display unit is preferably designed such that the front and / or rear boundary line of the working area of the working device and possibly also the right and left lateral boundary line are displayed in the working direction.
Für die Gewinnung der aktuellen Objekt-Signale aus den vorausschauenden Objekt-Signalen können die unterschiedlichsten Verfahren herangezogen werden. Bei einer bevorzugten Ausführungsform ist die Signalverarbeitungseinrichtung derart konfiguriert, dass während des Vorschubs der Baumaschine die Objekt-Signale in eine Speichereinheit eingelesen werden, wobei die zu bestimmten Zeitpunkten in die Speichereinheit eingelesenen vorausschauenden Objekt-Signale mit einer zeitlichen Verzögerung, die von der Vorschubgeschwindigkeit der Baumaschine abhängig ist, als aktuelle Objekt-Signale aus der Speichereinheit ausgelesen und zur Anzeige gebracht werden. Die mit einer zeitlichen Verzögerung ausgelesenen Objekt-Signale können zeitkodierte Objekt-Signale sein, d. h. mit einem Zeitstempel versehene Signale sein, die über die Vorschubgeschwindigkeit der Baumaschine dekodiert werden, so dass sie verzögert zur Anzeige gebracht werden. Es ist aber auch möglich, dass die Objekt-Signale wegkodierte Signale sind, d. h. mit einer Wegstreckenmarke versehene Signale sein, die über die von der Baumaschine zurückgelegte Wegstrecke dekodiert werden. Die vorausschauenden Bilddaten können beispielsweise in Abhängigkeit von der Position der Baumaschine auf der zurückzulegenden Wegstrecke in bestimmten Abständen abgespeichert werden und nach der Zurücklegung einer vorgegebenen Wegstrecke, die von den geometrischen Abmessungen der Baumaschine einschließlich deren Arbeitseinrichtung abhängig ist, als aktuelle Bilddaten ausgelesen und zur Anzeige gebracht werden.For the acquisition of the current object signals from the predictive object signals, a variety of methods can be used. In a preferred embodiment, the signal processing device is configured such that during the advancement of the construction machine, the object signals are read into a memory unit, wherein the anticipated object signals read into the memory unit at specific times with a time delay which depends on the feed rate of the construction machine depends, are read as current object signals from the memory unit and displayed. The object signals read out with a time delay may be time-coded object signals, i. H. be timestamped signals that are decoded via the feed rate of the construction machine, so that they are displayed delayed. However, it is also possible that the object signals are path-coded signals, i. H. be provided with a Wegstreckenmarke signals that are decoded over the distance covered by the construction machine. The predictive image data can be stored, for example, depending on the position of the construction machine on the route to be covered at certain intervals and read out after the return of a predetermined distance, which is dependent on the geometric dimensions of the construction machine including their working device as current image data and displayed become.
Wenn der Maschinenführer sieht, dass sich ein Objekt, beispielsweise ein Schachtdeckel, dem Arbeitsbereich der Arbeitseinrichtung, insbesondere der Fräswalze, nähert, nimmt er den Eingriff in die Maschinensteuerung vor, beispielsweise hebt er die Fräswalze in Bezug auf die Oberfläche des Geländes an. Wenn der Schachtdeckel überfahren ist und hinter dem Arbeitsbereich liegt, senkt er die Fräswalze wieder ab. Dadurch wird eine Beschädigung des Schachtdeckels oder der Baumaschine sicher verhindert. Die Baumaschine weist vorzugsweise eine Betätigungseinrichtung mit einem Bedienelement auf, die derart ausgebildet ist, dass nach Betätigung des Bedienelements ein Steuersignal für einen Eingriff in die Maschinensteuerung erzeugt wird, wobei die Steuereinheit der Baumaschine derart konfiguriert ist, dass die Steuereinheit nach Empfang des Steuersignals einen Eingriff in die Maschinensteuerung vornimmt, beispielsweise die Fräswalze anhebt bzw. absenkt oder die Baumaschine anhält. Über eine derartige Bedieneinheit verfügt jede konventionelle Straßenfräsmaschine.When the operator sees that an object, such as a manhole cover, is approaching the working area of the work equipment, particularly the milling drum, it engages the machine control, for example raising the milling drum with respect to the surface of the terrain. When the manhole cover is run over and behind the working area, it lowers the milling drum again. As a result, damage to the manhole cover or the construction machine is reliably prevented. The construction machine preferably has an actuating device with a control element which is designed such that after actuation of the operating element, a control signal for engaging in the machine control is generated, wherein the control unit of the construction machine is configured such that the control unit after receiving the control signal makes an intervention in the machine control, for example, raises the milling drum or lowers or stops the construction machine. Such a control unit has every conventional road milling machine.
Für die Erfindung ist grundsätzlich nicht erforderlich, die im Gelände befindlichen Objekte mit einer Kamera aufzunehmen und auf einer Anzeigeeinheit anzuzeigen. Eine alternative Ausführungsform der Erfindung, die besonders einfach in der Realisierung ist, verzichtet auf eine Darstellung der Objekte mit einem korrekten Bezug zur Position der Arbeitseinrichtung. Bei dieser Ausführungsform ist die Einrichtung zur Erzeugung von Objekt-Signalen eine Betätigungseinrichtung mit einem Bedienelement, die derart ausgebildet ist, dass die vorausschauenden Objekt-Signale nach Betätigung des Bedienelements erzeugt werden, wobei die Steuereinheit derart konfiguriert ist, dass die Steuereinheit nach Empfang eines aktuellen Objekt-Signals einen Eingriff in die Maschinensteuerung vornimmt oder einen Alarm auslöst.For the invention is basically not necessary to record the objects located in the field with a camera and display on a display unit. An alternative embodiment of the invention, which is particularly simple to implement, dispenses with a representation of the objects with a correct reference to the position of the working device. In this embodiment, the means for generating object signals is an actuator with an operating element which is designed such that the forward-looking object signals are generated after actuation of the operating element, wherein the control unit is configured such that the control unit, after receiving a current Object signal makes an intervention in the machine control or triggers an alarm.
Die Einrichtung zur Erzeugung von Objekt-Signalen kann eine Bildaufzeichnungseinheit aufweisen, die derart konfiguriert ist, dass ein Abschnitt des Geländes aufgezeichnet wird, der in Arbeitsrichtung vor dem Arbeitsbereich der Arbeitseinrichtung liegt, und die eine Anzeigeeinheit zur Anzeige dieses Geländeabschnitts aufweist. Der Maschinenführer kann das Objekt somit auf der Anzeigeeinheit erkennen, selbst wenn er es vom Fahrstand aus nicht einsehen kann. Eine Aufnahme- und Anzeigeeinheit ist aber nicht zwingend erforderlich. Im einfachsten Fall kann durch Betätigung eines Bedienelements einer Betätigungseinrichtung, beispielsweise einer Taste in einem Bedienfeld, ein einziges vorausschauendes Objekt-Signal erzeugt werden, wenn sich die Umrisslinie eines Objektes einem Referenzpunkt oder einer Referenzlinie nähert. Dabei kann der Referenzpunkt oder die Referenzlinie ein an der Baumaschine vorgesehener Punkt oder eine Linie sein, die für den Maschinenführer sichtbar ist. Aus dem vorausschauenden Objekt-Signal wird dann mit zeitlicher Verzögerung ein aktuelles Objekt-Signal gewonnen, das die Information beinhaltet, dass ein Eingriff in die Maschinensteuerung vorgenommen werden muss. Dieser Eingriff in die Maschinensteuerung kann automatisch erfolgen, d. h. nach Betätigung des Bedienelements wird die Fräswalze der Straßenfräsmaschine zum richtigen Zeitpunkt, wenn sich der Schachtdeckel gegebenenfalls unter Berücksichtigung eines Sicherheitsabstandes auf der Höhe der Fräswalze befindet, automatisch angehoben. Folglich ist das aktuelle Objekt-Signal ein Steuersignal für die Steuereinheit der Baumaschine zum Anheben bzw. Absenken der Fräswalze. Das aktuelle Objekt-Signal kann aber auch ein Alarmsignal sein, das den Maschinenführer zum Anheben bzw. Absenken der Fräswalze auffordert.The means for generating object signals may include an image recording unit configured to record a portion of the terrain that is located in the working direction in front of the working area of the working facility and having a display unit for displaying that terrain area. The operator can thus recognize the object on the display unit, even if he can not see it from the control station. A recording and display unit is not mandatory. In the simplest case, by operating a control element of an actuating device, for example a button in a control panel, a single predictive object signal can be generated when the outline of an object approaches a reference point or a reference line. Here, the reference point or the reference line may be a point provided on the construction machine or a line visible to the operator. From the forward-looking object signal, a current object signal is then obtained with a time delay, which contains the information that an intervention in the machine control has to be made. This intervention in the machine control can take place automatically, ie after actuation of the operating element, the milling drum of the road milling machine is raised automatically at the right time, when the manhole cover, taking into account a safe distance, is at the height of the milling drum. Consequently, the current object signal is a control signal for the control unit of the construction machine for raising or lowering the milling drum. The current object signal can also be an alarm signal that prompts the machine operator to raise or lower the milling drum.
Im Folgenden werden Ausführungsbeispiele der Erfindung unter Bezugnahme auf die Zeichnungen näher erläutert.In the following, embodiments of the invention will be explained in more detail with reference to the drawings.
Es zeigen:
- Fig. 1A
- ein Ausführungsbeispiel einer Straßenfräsmaschine in der Seitenansicht,
- Fig. 1B
- die Straßenfräsmaschine von
Fig. 1A in der Draufsicht, - Fig. 2
- die mit der Straßenfräsmaschine zu bearbeitende Straßenoberfläche,
- Fig. 3A bis 3C
- das Blickfeld des Kamera-Systems der Bildaufzeichnungseinheit der Einrichtung zur Erzeugung von vorausschauenden Objekt-Signalen, die Fräswalze sowie die Anzeigeeinheit der Straßenfräsmaschine in einer vereinfachten schematischen Darstellung zu einem Zeitpunkt, zu dem ein Schachtdeckel in dem Blickfeld der Kamera liegt,
- Fig. 4A bis 4C
- das Blickfeld des Kamera-Systems, die Fräswalze sowie die Anzeigeeinheit zu einem Zeitpunkt, zu dem der Schachtdeckel das Blickfeld der Bildaufzeichnungseinheit verlässt,
- Fig. 5A bis 5C
- das Blickfeld des Kamera-Systems, die Fräswalze sowie die Anzeigeeinheit zu einem Zeitpunkt, zu dem ein Wassereinlauf in dem Blickfeld der Bildaufzeichnungseinheit liegt,
- Fig. 6A bis 6C
- das Blickfeld des Kamera-Systems, die Fräswalze sowie die Anzeigeeinheit zu einem Zeitpunkt, zu dem ein anderer Schachtdeckel in das Blickfeld der Bildaufzeichnungseinheit eintritt,
- Fig. 7A bis 7C
- das Blickfeld des Kamera-Systems, die Fräswalze sowie die Anzeigeeinheit zu einem Zeitpunkt, zu dem der andere Schachtdeckel das Blickfeld der Bildaufzeichnungseinheit verlassen hat,
- Fig. 8
- ein Blockschaltbild mit den für die Erfindung wesentlichen Komponenten der Baumaschine,
- Fig. 9A und 9B
- das Blickfeld des Kamera-Systems zu zwei aufeinanderfolgenden Zeitpunkten eines weiteren Ausführungsbeispiels, bei dem auf der Anzeigeeinheit das von der Kamera aufgenommene Bild angezeigt wird.
- Fig. 1A
- an embodiment of a road milling machine in side view,
- Fig. 1B
- the road milling machine of
Fig. 1A in the plan view, - Fig. 2
- the road surface to be worked with the road milling machine,
- Figs. 3A to 3C
- the field of view of the camera system of the image recording unit of the device for generating predictive object signals, the milling drum and the display unit of the road milling machine in a simplified schematic representation at a time when a manhole cover is in the field of view of the camera,
- FIGS. 4A to 4C
- the field of view of the camera system, the milling drum and the display unit at a time when the manhole cover leaves the field of view of the image recording unit,
- Figs. 5A to 5C
- the field of view of the camera system, the milling drum and the display unit at a time when a water inlet is in the field of view of the image recording unit,
- FIGS. 6A to 6C
- the field of view of the camera system, the milling drum and the display unit at a time when another manhole cover enters the field of view of the image recording unit,
- Figs. 7A to 7C
- the field of view of the camera system, the milling drum and the display unit at a time when the other manhole cover has left the field of view of the image recording unit,
- Fig. 8
- a block diagram with the essential for the invention components of the construction machine,
- Figs. 9A and 9B
- the field of view of the camera system at two successive points in time of a further embodiment, wherein on the display unit, the image recorded by the camera is displayed.
Die
Der Straßenfräsmaschine 1 weist einen Maschinenrahmen 2 auf, der von einem Fahrwerk 3 getragen wird. Das Fahrwerk 3 weist zwei vordere und zwei hintere Kettenlaufwerke 4A, 4B auf, die an vorderen und hinteren Hubsäulen 5A, 5B befestigt sind. Es kann aber auch nur ein vorderes oder hinteres Laufwerk vorgesehen sein. Die Arbeitsrichtung (Fahrtrichtung) der Straßenfräsmaschine ist mit einem Pfeil A gekennzeichnet.The
Die Kettenlaufwerke 4A, 4B und Hubsäulen 5A, 5B bilden die Antriebseinrichtung der Straßenfräsmaschine zum Ausführen von translatorischen und/oder rotatorischen Bewegungen auf dem Gelände. Durch Anheben und Absenken der Hubsäulen 5A, 5B kann der Maschinenrahmen 2 gegenüber dem Boden in der Höhe und Neigung bewegt werden. Mit den Kettenlaufwerken 4A, 4B kann die Straßenfräsmaschine vor- und zurückbewegt werden.The chain drives 4A, 4B and lifting
Die Straßenfräsmaschine 1 verfügt über eine Arbeitseinrichtung zum Verändern des Geländes. Hierbei handelt es sich um eine Fräseinrichtung 6 mit einer mit Fräswerkzeugen bestückten Fräswalze 21 (
Die mit einer Straßenfräsmaschine zu verändernde Straßenoberfläche ist in
Da der Maschinenführer die Schachtdeckel 9, 10 nicht erkennen kann, werden in der Praxis auf der Höhe der Schachtdeckel seitliche Markierungen angebracht, die in
Die Baumaschine weist eine zentrale Steuereinheit 12 zur Steuerung der Antriebseinrichtung für die Laufwerke 4A, 4B und die Hubsäulen 5A, 5B auf (
Die
Das Kamera-System kann ein Stereokamera-System oder ein Kamera-System mit nur einer Kamera sein. Bei zu vernachlässigender Krümmung der Geländeoberfläche und/oder der Berücksichtigung nur zweidimensionaler Objekte ist aber ein Kamera-System mit nur einer Kamera ausreichend. Nachfolgend wird das Kamera-System daher nur als Kamera bezeichnet.The camera system may be a stereo camera system or a camera system with only one camera. With negligible curvature of the terrain surface and / or the consideration of only two-dimensional objects but a camera system with only one camera is sufficient. In the following, therefore, the camera system will be referred to only as a camera.
Die Fräswalze 21 weist einen rechteckförmigen Arbeitsbereich 22 auf, der von den geometrischen Abmessungen des zylindrischen Walzenkörpers bestimmt wird. Der Arbeitsbereich 22 wird durch eine in Arbeitsrichtung vordere Begrenzungslinie 22A, eine hintere Begrenzungslinie 22B und seitliche Begrenzungslinien 22C, 22D begrenzt. Diese Linien kennzeichnen den Bereich, an denen die Fräsmeißel der Fräswalze 21 in die Oberfläche des Geländes eindringen. Unter dem Arbeitsbereich 22 der Fräswalze 21 wird also ein Geländeabschnitt verstanden.The milling
Die Fräswalze 21 kann durch Ausfahren bzw. Einfahren der Hubsäulen 5A, 5B in Bezug auf die Bodenoberfläche angehoben oder abgesenkt werden, um die Frästiefe einstellen zu können. Wenn die Frästiefe verändert wird, verändert sich auch der rechteckförmige Arbeitsbereich 22 der Fräswalze 21. Eine Verringerung der Frästiefe führt zu einer Verringerung des Abstandes zwischen der vorderen und hinteren Begrenzungslinie 22A, 22B, während eine Vergrößerung der Frästiefe zu einer Vergrößerung des Abstandes zwischen der vorderen und hinteren Begrenzungslinie 22A, 22B führt. Da die Frästiefe gegenüber dem Boden und die geometrischen Abmessungen der Fräswalze bekannt sind, kann der Arbeitsbereich 22 der Fräswalze 21 berechnet werden.The milling
Die Kamera 17 erfasst einen Abschnitt des Geländes, der vom Maschinenführer auf dem Fahrstand nicht einsehbar ist. Im Blickfeld 20 der Kamera 17 liegt ein Abschnitt des zu verändernden Geländes, der von der Fräsmaschine überfahren wird, die sich mit einer vorgegebenen Vorschubgeschwindigkeit v in Arbeitsrichtung A bewegt. Das rechteckförmige Blickfeld 20 der Kamera 17 wird durch eine vordere und hintere Begrenzungslinie 20A, 20B und seitliche Begrenzungslinien 20C, 20D begrenzt. Die Längsachse 20E des Blickfeldes 20 liegt in Arbeitsrichtung A in einem vorgegebenen Abstand x vor der Rotationsachse 21E der Fräswalze 21 bzw. der Längsachse des rechteckförmigen Arbeitsbereichs 22. Dieser Abstand x ist von der Anordnung und dem Blickwinkel (Ausrichtung) der Kamera 17 am Maschinenrahmen 2 und von der Anordnung der Fräswalze 21 am Maschinenrahmen 2 abhängig. Der Abstand x1 bzw. x2 zwischen der Längsachse 20E des Blickfeldes 20 der Kamera 17 und der vorderen bzw. hinteren Begrenzungslinie 22A, 22B der Fräswalze 21 ist nicht nur von der Anordnung und dem Blickwinkel der Kamera 17 und der Anordnung der Fräswalze 21, sondern auch von den geometrischen Abmessungen (Durchmesser) der Fräswalze 21 und der Frästiefe abhängig.The
Die Längsachse 20E des Blickfeldes 20 stellt eine Referenzlinie dar, über die sich während des Vorschubs der Baumaschine die Objekte O bewegen. Die Umrisslinie der Objekte O, beispielsweise die kreisförmige Umrisslinie 9' des sich auf die Referenzlinie 20E zubewegenden Schachtdeckels 9 berührt die Linie 20E, schneidet daraufhin die Linie an zwei Schnittpunkten, berührt die Linie dann wieder an einem Punkt und verlässt schließlich das Blickfeld 20 der Kamera 17. Die
Die Anzeigeeinheit 18 zeigt nicht das Live-Bild der Kamera, sondern ein aufgezeichnetes Bild (Video), d. h. das von der Kamera aufgezeichnete Bild mit einer zeitlichen Verzögerung. Der auf der Anzeigeeinheit 18 angezeigte Bildausschnitt 23 wird wieder durch vordere und hintere Begrenzungslinien 23A, 23B sowie seitliche Begrenzungslinien 23C, 23D begrenzt. Bei dem vorliegenden Ausführungsbeispiel entspricht der rechteckförmige Bildausschnitt 23 der Anzeigeeinheit 18 in den geometrischen Abmessungen exakt dem Blickfeld 20 der Kamera 17 (
Die Anzeigeeinheit 18 liegt im Blickfeld des Maschinenführers, so dass der Maschinenführer auf der Anzeigeeinheit erkennen kann, wann sich das Objekt O, beispielsweise der Schachtdeckel 9, auf die Fräswalze 21 zubewegt.The
Die
Für die Steuerung der Straßenfräsmaschine 1 sind die Zeitpunkte entscheidend, zu denen die Umrisslinie 9', 10' des Schachdeckels 9, 10 die vordere und hintere Begrenzungslinie 22A, 22B des Arbeitsbereichs 22 der Fräswalze 21 berührt, d. h. wann sich die Fräswalze 21 über den Schachtdeckel 9, 10 oder den Wassereinlauf 11 bewegt. Die Fräswalze 21 muss angehoben werden, wenn sich die Umrisslinie 9', 10' des Schachdeckels 9, 10 in einem vorgegebenen Sicherheitsabstand vor der vorderen Begrenzungslinie 22A befindet (
Bei dem vorliegenden Ausführungsbeispiel sind die vorausschauenden Objekt-Signale Bild-Signale der Bildaufzeichnungseinheit 16. Bei den Bild-Signalen handelt es sich um Bild-Daten einer digitalen Kamera 17, die den betreffenden Abschnitt des Geländes aufzeichnet. Die Bild-Daten können als eine Folge von einzelnen Bildern zu aufeinanderfolgenden Zeitpunkten oder als kontinuierliche Folge von Bildern (Video) zur Anzeige gebracht werden. Die Signalverarbeitungseinrichtung 14 weist bei dem Ausführungsbeispiel eine Speichereinheit 24 auf, in die die vorausschauenden Bild-Signale sukzessive eingelesen und nach Ablauf eines Zeitintervalls als aktuelle Bildsignale wieder ausgelesen werden. Die Objekt-Signale stellen also zeitkodierte Signale dar. Diese Bild-Signale werden als Bilder auf der Anzeigeeinheit 18 angezeigt, die die aktuelle Position des Objektes O, beispielsweise des Schachdeckels 9, 10 in Bezug auf die Fräswalze 21 zeigen. Die Länge dieses Zeitintervalls berechnet sich aus dem Quotienten von dem vorgegebenen Abstand zwischen der vorderen bzw. hinteren Begrenzungslinie 20A bzw. 20B des Blickfeldes 20 und der vorderen bzw. hinteren Begrenzungslinie 23A bzw. 23B des Bildausschnitts 23 und der Vorschubgeschwindigkeit v, mit der sich die Baumaschine in Arbeitsrichtung A bewegt, wenn der aufgezeichnete und angezeigte Bildschnitt den gleichen Maßstab haben. Dieser Abstand entspricht dem Abstand x zwischen der Längsachse 20E des Blickfeldes und der Rotationsachse 21E der Fräswalze.In the present embodiment, the prospective object signals are image signals of the
Eine alternative Ausführungsform sieht vor, dass die Bildaufzeichnungseinheit jeweils dann ein Bild aufzeichnet, wenn die Baumaschine in Arbeitsrichtung A eine vorgegebene Wegstrecke zurückgelegt hat. Diese Wegstrecke sollte möglichst klein sein, beispielsweise nur einen oder wenige Zentimeter oder gar Millimeter betragen, so dass die Folge von Bildern auf der insgesamt zurückzulegenden Wegstrecke mit ausreichender Auflösung erfasst werden kann. Zur Erfassung dieser Wegstrecke verfügt die Baumaschine über einen Wegstreckenzähler ("Schrittzähler"). Die Bildaufzeichnungseinheit 18 zeichnet folglich eine Folge von Bildern auf, die der von der Baumaschine zurückgelegten Wegstrecke (Anzahl der "Schritte") zugeordnet werden. Beispielsweise zeichnet die Bildaufzeichnungseinheit 18 jeweils dann ein Bild auf, wenn sich die Baumaschine in Arbeitsrichtung A auf der Wegstrecke um einen Zentimeter bewegt hat. Die Objekt-Signale stellen also wegkodierte oder mit einer Wegstreckenmarke versehene Bild-Signale dar. Die wegkodierten Bild-Signale werden auf der Anzeigeeinheit 18 jeweils dann zur Anzeige gebracht, wenn die Baumaschine nach der Aufnahme des Bildes eine vorgegebene Gesamtwegstrecke zurückgelegt hat, die dem Abstand x zwischen der Längsachse 20E des Blickfeldes 20 und der Rotationsachse 21E der Fräswalze entspricht. Das zu einem bestimmten Zeitpunkt, d. h. an einem bestimmten Ort der Wegstrecke (Wegstreckenmarke), an dem sich die Baumaschine befindet, aufgenommene Bild wird also erst dann auf der Anzeigeeinheit 18 angezeigt, wenn die Baumaschine eine bestimmte Gesamtweckstrecke, die einer bestimmten Anzahl von "Schritten" entspricht, beispielsweise 100 "Schritte" von jeweils 1 cm zurückgelegt hat. Zur Bestimmung der von der Baumaschine zurückgelegten Gesamtwegstrecke kann beispielsweise die Anzahl von Umdrehungen der die Laufwerke antreibenden Antriebsmittel, beispielsweise der Antriebswellen oder -räder, etc. erfasst werden.An alternative embodiment provides that the image recording unit records an image each time the construction machine has traveled a predetermined distance in working direction A. This distance should be as small as possible, for example, be only one or a few centimeters or even millimeters, so that the sequence of images on the total distance traveled can be detected with sufficient resolution. To record this route, the construction machine has an odometer ("pedometer"). The
Die Baumaschine verfügt über eine Betätigungseinrichtung 25, die über eine Steuerleitung 26 mit der Steuereinheit 12 der Baumaschine verbunden ist. Die Betätigungseinrichtung 25 weist ein Bedienelement 27auf, das der Maschineführer betätigt, wenn die Umrisslinie des Schachdeckels die vordere Begrenzungslinie der Fräswalze erreicht bzw. die hintere Begrenzungslinie der Fräswalze unter Berücksichtigung eines Sicherheitsabstandes verlässt. Die Betätigungseinrichtung 25 erzeugt dann ein Steuersignal, das die Steuereinheit 12 empfängt, so dass die Steuereinheit 12 beispielsweise die Hubsäulen 5A, 5B derart ansteuert, dass die Fräswalze 21 angehoben bzw. abgesenkt wird.The construction machine has an
Die Objekte O und die Fräswalze 21 können auf der Anzeigeeinheit 18 beispielsweise auch durch Schraffuren und/oder farbliche Unterlegungen visualisiert werden. Auch kann der einzuhaltende Sicherheitsabstand beispielsweise durch zusätzliche Linien und/oder Schraffuren und/oder farbliche Unterlegungen visualisiert werden. Es kann auch eine weitere Anzeigeeinheit vorgesehen sein, die das von der Kamera aufgezeichnet Bild zeigt.The objects O and the milling
Die
Nachfolgend wird unter Bezugnahme auf die
Die
Claims (17)
einem Fahrwerk (3), das in Arbeitsrichtung vordere und hintere Räder oder Laufwerke (4A, 4B) aufweist,
einem Maschinenrahmen (2), der von dem Fahrwerk (3) getragen wird,
einer Arbeitseinrichtung (21) zur Errichtung von Baukörpern auf dem Gelände oder zum Verändern des Geländes in einem vorgegebenen Arbeitsbereich,
einer Steuereinheit (12) zur Steuerung der Baumaschine,
dadurch gekennzeichnet, dass
die Baumaschine weiterhin aufweist:
a running gear (3) which has front and rear wheels or drives (4A, 4B) in the working direction,
a machine frame (2) carried by the chassis (3),
a working device (21) for erecting building structures on the site or for altering the site in a predetermined working area,
a control unit (12) for controlling the construction machine,
characterized in that
the construction machine further comprises:
die Signalverarbeitungseinrichtung (14) derart konfiguriert ist, dass jeweils der Zeitpunkt erfasst wird, zu dem die vorausschauenden Objekt-Signale ermittelt werden, wobei zur Gewinnung der auf den Arbeitsbereich (22) der Arbeitseinrichtung (21) bezogenen Objekt-Signale die vorausschauenden Objekt-Signale nach Ablauf eines Zeitintervalls nach dem jeweiligen Zeitpunkt, zu dem die vorausschauenden Objekt-Signale ermittelt worden sind, aus der Speichereinheit (24) ausgelesen werden, oder
die Signalverarbeitungseinrichtung (14) derart konfiguriert ist, dass jeweils der Ort erfasst wird, an der die vorausschauenden Objekt-Signale ermittelt werden, wobei zur Gewinnung der auf den Arbeitsbereich (22) der Arbeitseinrichtung (21) bezogenen Objekt-Signale die vorausschauenden Objekt-Signale nach Zurücklegung einer vorgegebenen Wegstrecke nach dem jeweiligen Ort, an dem die vorausschauenden Objekt-Signale ermittelt worden sind, aus der Speichereinheit (24) ausgelesen werden.Construction machine according to claim 3, characterized in that
the signal processing device (14) is configured such that in each case the point in time at which the prospective object signals are determined, wherein the object signals for obtaining the object signals related to the working area (22) of the working device (21) after expiration of a time interval after the respective time at which the forward-looking object signals have been determined, are read from the memory unit (24), or
the signal processing device (14) is configured in such a way that in each case the location at which the prospective object signals are determined, wherein the object signals for obtaining the object signals related to the working area (22) of the working device (21) after reading a predetermined distance to the respective location at which the forward-looking object signals have been determined, are read out of the memory unit (24).
die vorausschauenden Objekt-Signale und die auf den Arbeitsbereich (22) der Arbeitseinrichtung (21) bezogenen Objekt-Signale Bild-Signale sind,
die Einrichtung (13) zur Erzeugung von vorausschauenden Objekt-Signalen eine Bildaufzeichnungseinheit (16) aufweist, die derart konfiguriert ist, dass ein Abschnitt des Geländes aufgezeichnet wird, der vor dem Arbeitsbereich (22) der Arbeitseinrichtung (21) liegt, und die Baumaschine eine Anzeigeeinheit (18) aufweist, wobei die Signalverarbeitungseinrichtung (13) derart konfiguriert ist, dass der von der Bildaufzeichnungseinheit (16) aufgezeichnete Abschnitt des Geländes mit einer zeitlichen Verzögerung auf der Anzeigeeinheit (18) angezeigt wird.Device according to one of claims 1 to 4, characterized in that
the forward-looking object signals and the object signals related to the working area (22) of the working device (21) are image signals,
the means (13) for generating predictive object signals comprises an image recording unit (16) configured to record a portion of the terrain that lies in front of the working area (22) of the working facility (21) and the construction machine Display unit (18), wherein the signal processing means (13) is configured such that the portion of the terrain recorded by the image recording unit (16) is displayed on the display unit (18) with a time delay.
dadurch gekennzeichnet, dass
vorausschauende Objekt-Signale erzeugt werden, die für die Lage von Objekten (O) charakteristisch sind, die in einem Abschnitt des Geländes liegen, der in Arbeitsrichtung (A) vor dem Arbeitsbereich (22) der Arbeitseinrichtung (21 liegt, und aus den vorausschauenden Objekt-Signalen auf den Arbeitsbereich (22) der Arbeitseinrichtung (21) bezogene Objekt-Signale gewonnen werden, die für die Lage der Objekte (O) in einem Abschnitt des Geländes charakteristisch sind, der sich auf den Arbeitsbereich (22) der Arbeitseinrichtung (21) bezieht.Method for controlling a self-propelled construction machine, which has a working device (21) for erecting building structures on the site or for altering the terrain in a predetermined working area (22),
characterized in that
generating prospective object signals characteristic of the location of objects (O) lying in a portion of the terrain which lies in the working direction (A) in front of the working area (22) of the working facility (21) and out of the prospective object Signals to the working area (22) of the working device (21) are obtained, which are characteristic of the position of the objects (O) in a section of the terrain which is directed to the working area (22) of the working device (21). refers.
die vorausschauenden Objekt-Signale und die auf den Arbeitsbereich (22) der Arbeitseinrichtung (21) bezogenen Objekt-Signale Bild-Signale sind,
ein Abschnitt des Geländes aufgezeichnet wird, der in Arbeitsrichtung (A) vor dem Arbeitsbereich (22) der Arbeitseinrichtung (21) liegt, und
der aufgezeichnete Abschnitt des Geländes mit einer zeitlichen Verzögerung angezeigt wird.Method according to one of claims 10 to 12, characterized in that
the forward-looking object signals and the object signals related to the working area (22) of the working device (21) are image signals,
a portion of the terrain is recorded, which is in the working direction (A) in front of the working area (22) of the working device (21), and
the recorded portion of the terrain is displayed with a time delay.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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DE102014012825.3A DE102014012825A1 (en) | 2014-08-28 | 2014-08-28 | Self-propelled construction machine and method for controlling a self-propelled construction machine |
Publications (2)
Publication Number | Publication Date |
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EP2990534A1 true EP2990534A1 (en) | 2016-03-02 |
EP2990534B1 EP2990534B1 (en) | 2017-01-25 |
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ID=53938182
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EP15181641.0A Active EP2990534B1 (en) | 2014-08-28 | 2015-08-19 | Self-propelled construction machine and method for controlling same |
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US (4) | US9915041B2 (en) |
EP (1) | EP2990534B1 (en) |
JP (1) | JP6586322B2 (en) |
CN (2) | CN205024575U (en) |
AU (1) | AU2015218516B2 (en) |
DE (1) | DE102014012825A1 (en) |
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2018
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Also Published As
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CN105386398A (en) | 2016-03-09 |
AU2015218516B2 (en) | 2017-02-23 |
US20160060826A1 (en) | 2016-03-03 |
US10273642B2 (en) | 2019-04-30 |
JP2016050480A (en) | 2016-04-11 |
US20190292733A1 (en) | 2019-09-26 |
JP6586322B2 (en) | 2019-10-02 |
US11072893B2 (en) | 2021-07-27 |
CN105386398B (en) | 2017-09-29 |
DE102014012825A1 (en) | 2016-03-03 |
CN205024575U (en) | 2016-02-10 |
US20180258595A1 (en) | 2018-09-13 |
AU2015218516A1 (en) | 2016-03-17 |
EP2990534B1 (en) | 2017-01-25 |
US20220178090A1 (en) | 2022-06-09 |
US9915041B2 (en) | 2018-03-13 |
US11619011B2 (en) | 2023-04-04 |
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