EP2990534B1 - Engin automobile et procede de commande d'un engin automobile - Google Patents

Engin automobile et procede de commande d'un engin automobile Download PDF

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Publication number
EP2990534B1
EP2990534B1 EP15181641.0A EP15181641A EP2990534B1 EP 2990534 B1 EP2990534 B1 EP 2990534B1 EP 15181641 A EP15181641 A EP 15181641A EP 2990534 B1 EP2990534 B1 EP 2990534B1
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EP
European Patent Office
Prior art keywords
working
object signals
construction machine
ground
predictive
Prior art date
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EP15181641.0A
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German (de)
English (en)
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EP2990534A1 (fr
Inventor
Christian Berning
Cyrus Barimani
Günter HÄHN
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Wirtgen GmbH
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Wirtgen GmbH
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Publication of EP2990534A1 publication Critical patent/EP2990534A1/fr
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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
    • 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, contours 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. 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 be automatic, d. H. after actuation of the operating element, the milling drum of the road milling machine is automatically raised at the right time, when the manhole cover is possibly at the level of the milling drum, taking into account a safety distance. 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 at the exact moment 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 13 for generating object-oriented object signals ( 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 4C 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 16 thus records a sequence of images which are assigned to the distance traveled by the construction machine (number of "steps"). For example, the image recording unit 16 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 actuating 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Mechanical Engineering (AREA)
  • Component Parts Of Construction Machinery (AREA)
  • Road Repair (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Claims (17)

  1. Engin automobile avec
    un châssis (3) qui présente des roues avant et arrière dans le sens de travail ou des mécanismes de roulement (4A, AB),
    un bâti machine (2) qui est porté par le châssis (3),
    un dispositif de travail (21) pour l'érection de corps de construction sur le terrain ou pour la modification du terrain dans une zone de travail prédéfinie,
    une unité de commande (12) pour la commande de l'engin,
    caractérisé en ce que
    l'engin présente en outre :
    un dispositif (13) pour la génération de signaux d'objet prévisionnels qui sont caractéristiques de la position d'objets (O) se trouvant dans une section du terrain qui se situe, suivant le sens de travail (A), avant la zone de travail (22) du dispositif de travail (21), et
    un dispositif de traitement de signal (14) traitant les signaux d'objet prévisionnels qui est configuré de telle manière que pendant l'avance de l'engin, des signaux d'objet relatifs à la zone de travail (22) du dispositif de travail (21) sont obtenus à partir des signaux d'objet prévisionnels, lesquels sont caractéristiques de la position des objets (O) dans une section du terrain qui se rapporte à la zone de travail (22) du dispositif de travail (21).
  2. Engin selon la revendication 1, caractérisé en ce que le dispositif de traitement de signal (14) est configuré de telle manière que les signaux d'objet relatifs à la zone de travail (22) du dispositif de travail (21) soient obtenus à partir des signaux d'objet prévisionnels en tenant compte de la durée, pendant laquelle l'engin parcourt la distance qui se trouve entre la section se trouvant dans le sens de travail (A) avant la zone de travail (22) du dispositif de travail (21) et la section du terrain, qui se rapporte à la zone de travail (22) du dispositif de travail (21).
  3. Engin selon la revendication 1 ou 2, caractérisé en ce que le dispositif de traitement de signal (14) est configuré de telle manière que pendant l'avance de l'engin, les signaux d'objet prévisionnels sont introduits dans une unité de mémoire (24).
  4. Engin selon la revendication 3, caractérisé en ce que
    le dispositif de traitement de signal (14) est configuré de telle manière que soit détecté respectivement le moment auquel les signaux d'objet prévisionnels sont déterminés, sachant que pour l'obtention des signaux d'objet relatifs à la zone de travail (22) du dispositif de travail (21), les signaux d'objet prévisionnels sont sortis de l'unité de mémoire (24) après l'expiration d'un intervalle de temps après le moment respectif, auquel les signaux d'objet prévisionnels ont été déterminés, ou
    le dispositif de traitement de signaux (14) est configuré de telle manière que soit détecté respectivement l'endroit sur lequel les signaux d'objet prévisionnels sont déterminés, sachant que pour l'obtention des signaux d'objet relatifs à la zone de travail (22) du dispositif de travail (21), les signaux d'objet prévisionnels sont sortis de l'unité de mémoire (24) après le parcours d'une distance prédéfinie après l'endroit respectif, sur lequel les signaux d'objet prévisionnels ont été déterminés.
  5. Engin selon l'une quelconque des revendications 1 à 4, caractérisé en ce que les signaux d'objet prévisionnels et les signaux d'objet relatifs à la zone de travail (22) du dispositif de travail (21) sont des signaux d'image,
    le dispositif (13) présente pour la génération de signaux d'objet prévisionnels une unité de prise d'image (16) qui est configurée de telle manière qu'une section du terrain soit enregistrée, laquelle se trouve avant la zone de travail (22) du dispositif de travail (21), et l'engin présente une unité d'affichage (18), dans lequel le dispositif de traitement de signal (13) est configuré de telle manière que la section enregistrée par l'unité de prise d'image (16) du terrain soit affichée avec un retard temporel sur l'unité d'affichage (18).
  6. Engin selon la revendication 5, caractérisé en ce que l'unité d'affichage (18) et/ou le dispositif de traitement de signal (14) est réalisé de telle manière que la ligne de délimitation (22A, 22B, 22C, 22D) avant et/ou arrière et/ou gauche et/ou droite dans le sens de travail (A) de la zone de travail (22) du dispositif de travail (21) soit superposée à l'affichage de la section enregistrée par l'unité de prise d'image (16) du terrain.
  7. Engin selon l'une quelconque des revendications 1 à 4, caractérisé en ce que le dispositif (13) pour la génération de signaux d'objet présente un dispositif d'actionnement (25) avec un élément de commande (27), le dispositif d'actionnement (25) étant réalisé de telle manière que les signaux d'objet prévisionnels soient générés par actionnement de l'élément de commande (27).
  8. Engin selon la revendication 7, caractérisé en ce que l'unité de commande (12) de l'engin est configurée de telle manière que l'unité de commande (12) établisse, après réception d'un signal d'objet relatif à la zone de travail (22) du dispositif de travail (21), un signal de commande pour une intervention dans la commande de machine ou la génération d'une alarme.
  9. Engin selon l'une quelconque des revendications 1 à 8, caractérisé en ce que l'engin est une fraiseuse de route, dans lequel le dispositif de travail est un rouleau de fraisage (21) réglable en hauteur par rapport à la surface du terrain.
  10. Procédé de commande d'un engin automobile qui présente un dispositif de travail (21) pour l'érection de corps de construction sur le terrain ou pour la modification du terrain dans une zone de travail prédéfinie (22),
    caractérisé en ce que
    des signaux d'objet prévisionnels sont générés, lesquels sont caractéristiques de la position d'objets (O) se trouvant dans une section du terrain qui se trouve dans le sens de travail (A) avant la zone de travail (22) du dispositif de travail (21), et à partir des signaux d'objet prévisionnels, on obtient des signaux d'objet relatifs à la zone de travail (22) du dispositif de travail (21), lesquels sont caractéristiques de la position des objets (O) dans une section du terrain qui se rapporte à la zone de travail (22) du dispositif de travail (21).
  11. Procédé selon la revendication 10, caractérisé en ce que les signaux d'objet relatifs à la zone de travail (22) du dispositif de travail (21) sont obtenus à partir des signaux d'objet prévisionnels en tenant compte de la durée, pendant laquelle l'engin parcourt la distance qui se trouve entre la section se trouvant dans le sens de travail (A) avant la zone de travail (22) du dispositif de travail (21) et la section du terrain qui se rapporte à la zone de travail (22) du dispositif de travail (21).
  12. Procédé selon la revendication 11, caractérisé en ce qu'on détecte respectivement le moment auquel les signaux d'objet prévisionnels sont déterminés, sachant que pour l'obtention des signaux d'objet relatifs à la zone de travail du dispositif de travail (21), les signaux d'objet prévisionnels sont sortis après expiration d'un intervalle de temps après le moment respectif, auquel les signaux d'objet prévisionnels ont été déterminés, ou en ce qu'on détecte respectivement l'endroit sur lequel les signaux d'objet prévisionnels sont déterminés, sachant que pour l'obtention des signaux d'objet relatifs à la zone de travail (22) du dispositif de travail (21), les signaux d'objet prévisionnels sont sortis après le parcours d'une distance prédéfinie après l'endroit respectif, sur lequel les signaux d'objet prévisionnels ont été déterminés.
  13. Procédé selon l'une quelconque des revendications 10 à 12, caractérisé en ce que les signaux d'objet prévisionnels et les signaux d'objet relatifs à la zone de travail (22) du dispositif de travail (21) sont des signaux d'image,
    une section du terrain est enregistrée, laquelle se trouve dans le sens de travail (A) avant la zone de travail (22) du dispositif de travail (21) et
    la section enregistrée du terrain est affichée avec un retard temporel.
  14. Procédé selon la revendication 13, caractérisé en ce que la ligne de délimitation (22A, 22B, 22C, 22D) avant et/ou arrière et/ou gauche et/ou droite dans le sens de travail (A) de la zone de travail (22) du dispositif de travail (21) est superposée à l'affichage de la section enregistrée du terrain.
  15. Procédé selon l'une quelconque des revendications 10 à 12, caractérisé en ce que les signaux d'objet prévisionnels sont générés par actionnement d'un élément de commande (27).
  16. Procédé selon la revendication 15, caractérisé en ce qu'après réception d'un signal d'objet relatif à la zone de travail (22) du dispositif de travail (21), un engagement dans la commande machine est entrepris ou une alarme est donnée.
  17. Procédé selon la revendication 16, caractérisé en ce que l'engin est une fraiseuse de route, dans lequel le dispositif de travail est un rouleau de fraisage (21) réglable en hauteur par rapport à la surface du terrain.
EP15181641.0A 2014-08-28 2015-08-19 Engin automobile et procede de commande d'un engin automobile Active EP2990534B1 (fr)

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US10273642B2 (en) 2019-04-30
US11619011B2 (en) 2023-04-04
CN105386398B (zh) 2017-09-29
US20160060826A1 (en) 2016-03-03
US9915041B2 (en) 2018-03-13
JP6586322B2 (ja) 2019-10-02
JP2016050480A (ja) 2016-04-11
CN205024575U (zh) 2016-02-10
US20220178090A1 (en) 2022-06-09
CN105386398A (zh) 2016-03-09
DE102014012825A1 (de) 2016-03-03
AU2015218516B2 (en) 2017-02-23
US11072893B2 (en) 2021-07-27
EP2990534A1 (fr) 2016-03-02
US20180258595A1 (en) 2018-09-13
US20190292733A1 (en) 2019-09-26
AU2015218516A1 (en) 2016-03-17

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