EP3744904A1 - Antikollisionssystem für baustellenmaschine, und baustellenmaschine, die mit einem solchen antikollisionssystem ausgestattet ist - Google Patents

Antikollisionssystem für baustellenmaschine, und baustellenmaschine, die mit einem solchen antikollisionssystem ausgestattet ist Download PDF

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Publication number
EP3744904A1
EP3744904A1 EP20161671.1A EP20161671A EP3744904A1 EP 3744904 A1 EP3744904 A1 EP 3744904A1 EP 20161671 A EP20161671 A EP 20161671A EP 3744904 A1 EP3744904 A1 EP 3744904A1
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EP
European Patent Office
Prior art keywords
obstacle
construction machine
operator
collision system
detection
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Granted
Application number
EP20161671.1A
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English (en)
French (fr)
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EP3744904B1 (de
Inventor
Cédric DUMONT
Thomas BEAUBERNARD
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Option Automatismes
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Option Automatismes
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Publication of EP3744904A1 publication Critical patent/EP3744904A1/de
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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/02—Travelling-gear, e.g. associated with slewing gears
    • E02F9/022—Travelling-gear, e.g. associated with slewing gears for moving on rails
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/0858—Arrangement of component parts installed on superstructures not otherwise provided for, e.g. electric components, fenders, air-conditioning units
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/24—Safety devices, e.g. for preventing overload
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/261—Surveying the work-site to be treated

Definitions

  • the present invention relates to the field of construction machinery, and relates more particularly to an anti-collision system between a construction machine and obstacles present in the environment of the construction machine, and to a construction machine equipped with 'such an anti-collision system.
  • obstacle is understood to mean both objects and people, stationary or in motion.
  • anti-collision systems comprising means for detecting an obstacle in the direction of travel of the vehicle, based on radar technology or laser technology, possibly associated with viewing means, such as a camera, and audible warning means, the anti-collision system being configured to, for example, stop the vehicle in the event where an obstacle is detected in front of the vehicle while the latter is in forward motion, or emit audible warnings in the event of an obstacle at the rear of the vehicle while the latter is backing up.
  • Such an anti-collision system comprises obstacle detection means having a detection zone in front of the construction machine, in the operator's field of vision, and constituted by a detection cone whose top is at right angle, means for viewing said detection zone with a control screen installed in the cabin of the construction machine, and audible warning means in the event of an obstacle being detected.
  • Such an anti-collision system for a construction machine does not, however, make it possible to warn the operator of the presence of an obstacle which is not in his field of vision, so that the operator must at the same time control the tool and the movement of the construction machine while taking care of the presence of obstacles.
  • the present invention aims to provide an anti-collision system making it possible to prevent the risk of collision while allowing the operator to concentrate on the control of the work tool, and which is moreover usable with construction machinery already in use.
  • the warning condition can be set depending also on the distance to the detected obstacle.
  • the operator in the cabin operator is warned in the event of detection of an obstacle not present in his field of vision and with which the construction machine is likely to collide, and this in a reliable manner since the displacement of the construction machine, so that the operator only has to concentrate effectively on controlling the work tool.
  • the processing means may consist of a processor, a microprocessor, a microcontroller, a digital signal processing device (DSP), a programmable pre-broadcast matrix (FPGA), an application specific integrated circuit (ASIC), etc.
  • DSP digital signal processing device
  • FPGA programmable pre-broadcast matrix
  • ASIC application specific integrated circuit
  • the audible warning means can be constituted by any known means, such as for example a mechanical alarm, an electromagnetic alarm, an electronic alarm, etc.
  • External audible warning means can also be provided, intended to be placed outside the operator's cabin, to warn people present in the environment of the construction machine of the risk of collision.
  • the potential action zone of a work tool in particular in the case of a construction machine with a turret, is monitored by the anti-collision system, which makes it possible to anticipate the presence of operators. before any use of the work tool or any movement of the construction machine.
  • the sound warning means are able to emit a warning. sound consisting of a series of sounds.
  • the processing means are configured to modify said respective distance thresholds as a function of the speed of the construction machine acquired by the acquisition means, such that the detection distance threshold closest to the means Obstacle detection rate increases if speed increases and decreases if speed decreases.
  • the obstacle detection means are configured to detect obstacles up to a distance of 30 meters. This is particularly advantageous in the case of construction machinery which can move for example up to 25 km / h.
  • the obstacle detection means comprise a central obstacle sensor intended to be located behind the operator's cabin and two lateral obstacle sensors each intended to be located behind the operator's cabin and on a respective side of the construction machine, the central sensor having a detection cone which, once the central sensor is mounted on the construction machine, is centered on the front-rear direction of the construction machine.
  • Each sensor may have a detection cone and the sum of the angles at the apex of the detection cones of the sensors is equal to about 270 °, preferably each sensor has a detection cone whose apex angle is 90 °.
  • each lateral sensor is mounted on a vertical pivot intended to be removably mounted on the construction machine by the connecting means, each lateral sensor being able to rotate around said pivot under the control of the processing means so to be able to scan an angular range the angle of which at the apex is greater than that of the detection cone of the side sensor, the processing means being further configured to, where appropriate, continuously rotate the two side sensors to sweep the angular ranges when it is determined that the construction machine is stationary or forward, and, if applicable, to also rotate one of the side sensors to orient it so as to cover said specific part of the obstacle detection area when it is determined that the construction machine is in reverse and the turret has an angular orientation with respect to the direction of travel of the machine in of construction.
  • each sensor prefferably have a detection cone and for the sum of the angles at the top of the detection cones of the sensors to be less than 270 °.
  • each side sensor will preferably be mounted on a vertical pivot as described in the previous paragraph, so as to cover the side regions by angular scanning.
  • the obstacle detection means are at least one 3D camera and infrared emission.
  • Such means make it possible in particular to ensure precise and reliable obstacle detection up to a distance of 30 m.
  • the present invention also relates to a construction machine, comprising a front, a rear, a work tool and an operator's cabin in which is a seat for the operator and offering the latter a field of vision forward.
  • a construction machine comprising a front, a rear, a work tool and an operator's cabin in which is a seat for the operator and offering the latter a field of vision forward.
  • of the operator's cabin which, in top view, is delimited by two straight lines joining at the level of the seat forming a first angle, called the operator's field of vision angle, the working tool being present in the field of vision of the operator and the construction machine being mobile in the front-rear direction, called the direction of movement
  • the construction machine being characterized by the fact that it is equipped with an anti-collision system such as defined above, removably mounted on the construction machine.
  • the operator's cabin and the work tool are carried by a turret
  • the anti-collision system is mounted on the turret
  • the construction machine or the anti-collision system comprises second acquisition means. to acquire orientation angular of the turret with respect to the direction of movement of the construction machine.
  • the construction machine according to the present invention can be a road machine or a rail / road machine.
  • a construction machine 1 which is here a rail / road machine, comprising a rolling frame 2 defining a front Av and a rear Ar of the machine 1, and a turret 3 carrying a operator's cabin 4 and an arm 5 forming the working tool of the machine 1.
  • the turret 3, and therefore the cabin 4 and the arm 5 can rotate about a vertical axis, so that the turret 3 can be oriented angularly with respect to the front-rear direction of the vehicle 1.
  • the machine 1 differs from conventional rail / road vehicles by the fact that it is equipped with an anti-collision system 6 according to a particular embodiment of the present invention. invention.
  • the anti-collision system 6 comprises obstacle detection means constituted here by a central obstacle sensor 7 and by two lateral obstacle sensors 8.
  • Each sensor 7, 8 is here an infrared emission and 3D reception camera, namely comprising an infrared emission module M1 and a 3D reception module M2, which makes it possible to detect an obstacle up to 30 m away, all by ensuring discrimination between a reflecting object and a non-reflecting object.
  • Each sensor 7, 8 has a detection cone whose apex angle is 90 °.
  • the two modules M1 and M2 of each sensor 7, 8 are carried by a vertical rod 9 removably connected to the turret 3 by any suitable means, such as for example by “Toad” type sandwich fasteners. These means constitute the removable connection means of the obstacle detection means to the construction machine.
  • the vertical rod 9 is mounted to pivot relative to the construction machine, and the pivoting movement of the vertical rod 9, and therefore of the lateral sensor 8 associated therewith, is driven by servo actuator in position.
  • Each side sensor 8 can thus sweep a detection angular range, the angle of which at the apex will be greater than the angle at the apex of the detection cone of the side sensor 8, as will be discussed below.
  • the vertical rod 9 is connected by a pivot connection to a plate 11 screwed on, and therefore fixed in a removable manner, on the turret 3, which plate 11 also carries a motor 12, in particular a stepping motor, whose shaft output is connected to the vertical rod 9 so as to be able to rotate the latter, around its longitudinal axis, in both directions of rotation.
  • the central sensor 7 is located behind the cabin 4 and its detection cone is centered on the front-rear direction of the vehicle 1.
  • Each side sensor 8 is also located behind the cabin 4, but on a respective side of the machine 1, and oriented so that its detection cone covers the region lateral to the machine 1.
  • the sensors 7, 8 make it possible to detect obstacles in an obstacle detection zone formed by a first detection region, called the rear region, which is located behind the operator's cabin and which is covered by the central sensor 7, and two second detection regions, called lateral regions, which are located on the two lateral sides of the cabin 4 and which are each covered by a respective lateral sensor 8.
  • the zone of the environment of the machine 1 not covered by the sensors 7, 8 is that corresponding to the field of vision of the operator in the cabin 4.
  • the anti-collision system 6 further comprises means for acquiring the direction of movement and the speed of movement of the construction machine 1, in the form of an acquisition unit 10 which is also mounted on removable manner on the turret by any suitable means, such as for example by “Toad” type sandwich fasteners.
  • this acquisition unit 10 acquires the direction of movement, for example by measuring the direction of the accelerations, by any suitable means such as an accelerometer, and the speed of movement for example by integrating the acceleration values.
  • the anti-collision system 6 further comprises, not visible, sound warning means inside the cabin 4 and processing means.
  • the audible warning means can be constituted by any known means, such as for example a mechanical alarm, an electromagnetic alarm, an electronic alarm, etc.
  • the sound warning means can emit different sound warnings, each consisting of a series of sounds, the interval between two consecutive sounds of an audible warning being different from that of the other warnings.
  • the processing means can be constituted by a processor, a microprocessor, a microcontroller, a digital signal processing device (DSP), a programmable pre-broadcast matrix (FPGA), an integrated circuit specific to an application (ASIC ), etc.
  • DSP digital signal processing device
  • FPGA programmable pre-broadcast matrix
  • ASIC integrated circuit specific to an application
  • the processing means are in functional communication, for example in a wired or wireless manner, with the sensors 7, 8, the acquisition unit 10 and the sound warning means, such that the means processors are informed, by the sensors 7, 8, in particular of the presence of one or more obstacles, of their distance from the machine 1, of their displacement relative to the machine 1, and of whether the the obstacle is a reflective object or not, and, by the acquisition unit 10, of the direction of movement and of the speed of the machine 1, and so that the processing means are capable of controlling the emission of an audible warning by means of audible warning.
  • the processing means are configured to cause the audible warning means to emit an audible warning in the event that the processing means determine that an obstacle detected presents a risk of collision fulfilling a warning condition defined as a function. of the direction of movement and of the speed of the construction machine acquired by the acquisition means.
  • the anti-collision system aims to monitor the range of action of the arm 5 and preferably also the region at the rear of the vehicle 1, which makes it possible to anticipate the presence of operators before any use. arm 5 or any movement of machine 1.
  • the warning condition is in this case the presence of at least one reflecting obstacle in the obstacle detection zone, a reflecting obstacle corresponding to the reflecting vest worn by an operator, and the determination, by the processing means, of the that the construction machine 1 is stopped on the basis of the acquisition made by the acquisition means 10.
  • the processing means determine that the machine 1 is stationary and are informed by the sensors 7, 8 of the presence of a reflecting obstacle, the warning condition is considered to be fulfilled and the means of audible warning are caused to emit an audible warning.
  • the processing means can also be configured to, when they determine that the machine 1 is stationary, continuously rotate the two side sensors 8 so as to sweep an angular range greater than the simple cone detection side sensors 8, so as to cover a larger detection area.
  • the detection cones of the side sensors 8 before pivoting, designated by C1 are illustrated in solid lines, and the detection cones after pivoting backwards, designated by C2, in dotted lines, designated by C2, the operator's field of vision being designated by C0.
  • the operator can configure the processing means via an instruction input means, well known per se, such as for example a touch screen, etc.
  • the operator can thus set a detection distance for the sensors 7, 8 so as to define a dedicated zone Zd, such as for example a zone no more than a distance from the machine 1, behind and / or laterally to the gear 1.
  • the operator could for example configure the processing means to define a detection distance of 15 meters in the front-rear direction and a detection distance of 10 meters laterally to the 'machine 1, and for, in the case of the detection of an obstacle outside the dedicated zone Zd, emit an audible warning or not emit an audible warning, the risk of collision with the obstacle being considered to be very low or non-existent, and emit an audible warning in the event of detection of an obstacle in the dedicated zone Zd, where appropriate an audible warning consisting of a series of sounds with an interval between two consecutive sounds much smaller, or a much higher sound level, than that of the sound warning emitted for an obstacle detected outside the dedicated zone Zd.
  • Such a dedicated zone Zd has been schematically illustrated on the Figure 7 .
  • the acquisition unit 10 indicates a direction of forward movement and a non-zero speed.
  • the anti-collision system aims to monitor the range of action of the arm 5 and to anticipate the presence of operators before any use of the arm 5.
  • the warning condition is in this case the presence of at least one reflective obstacle in at least one of the two lateral regions of the obstacle detection zone, and possibly also in the rear region, and the determination, by the processing means, due to the fact that the construction machine 1 is moving forward, in particular at low speed, on the basis of the acquisition carried out by the acquisition means 10.
  • the processing means determine that the machine 1 is moving forward and are informed by the sensors 7, 8 of the presence of a reflecting obstacle, the warning condition is considered to be fulfilled and the warning means sound are caused to emit an audible warning.
  • the processing means can control the side sensors 8 for continuous scanning and / or the operator can configure a dedicated zone Zd, as illustrated in Figure 8 .
  • the acquisition unit 10 indicates a direction of movement backwards and a non-zero speed.
  • the warning condition is in this case the presence of at least one obstacle in a specific part of the obstacle detection zone, said specific part consisting, in top view, of a band B centered on the direction of movement.
  • the construction machine and the width of which is defined to be at least equal to the width of the machine 1, here the width of the track on which the rail / road machine 1 is traveling, and the determination, by the means processing, due to the fact that the construction machine 1 is in reverse gear on the basis of the acquisition carried out by the acquisition means 10.
  • the processing means determine that the machine 1 is in reverse and are informed by the sensors 7, 8 of the presence of an obstacle in the band B, the warning condition is considered fulfilled and the audible warning means are caused to emit an audible warning.
  • the machine 1 is a turret machine and, according to the present invention, the machine 1 or the anti-collision system 6 comprises second acquisition means (not shown) for acquiring the orientation angular of the turret 3 with respect to the direction of movement of the vehicle 1.
  • the processing means are in functional communication, in a wired or wireless manner, with the second acquisition means, and are therefore informed if the turret 3 has an angular orientation with respect to the front-rear direction of the machine 1 and, where appropriate, the value of the angular orientation.
  • the anti-collision system 6 being installed on the turret 3, in the case where the turret 3 has been caused to pivot, the processing means controls the pivoting of the lateral sensor 8 which is then located on the rear side in the front-rear direction, so that the detection cone of the lateral sensor 8 covers the region at the rear of the vehicle 1, and in particular the band B.
  • the orientation of the detection cone of the side sensor 8 has been modified to take into account the angular orientation of the turret 3, which is at 45 ° on the Figure 9 and 90 ° on the Figure 10 .
  • processing means are configured to automatically control the orientation of the lateral sensors 8 as a function of the value of the angular orientation that the second acquisition means communicate to them.
  • the operator can also configure the processing means so as to divide the band B into several sub-parts, here into three sub-parts B1, B2 and B3, by defining different distance thresholds, here a first threshold at 10 meters and a second threshold at 5 meters, with a maximum detection distance of 15 meters.
  • Each subpart B1, B2 and B3 is associated with an audible warning consisting of a series of sounds the interval of which decreases as the distance to the machine 1 decreases.
  • an audible warning with closer sounds or a higher sound level will be emitted in the event that the detected obstacle is in the subpart B3, that is, within 5 meters, while 'an audible warning with more distant sounds or a lower sound level will be emitted in the event that the obstacle is in subpart B2 or B1.
  • the processing means can if necessary be configured to modify said respective distance thresholds as a function of the speed of the machine 1, so as to increase the detection distance thresholds if the speed increases and to decrease them if the speed decreases, thus taking into account the stopping distance traveled by the machine 1 in the event of braking, and thereby guaranteeing a sufficient stopping distance to effectively prevent a collision with the detected obstacle.
  • This modification could for example be proportional or a specific control law could be incorporated into the processing means, for example taking into account the weight of the machine 1, etc.
  • the operator in the operator's cabin is warned in the event of detection of an obstacle not present in his field of vision and with which the construction machine is liable to collide, and this in a reliable manner since the movement of the construction machine is taken into account, so that the operator only has to concentrate effectively on the control of the working tool.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Component Parts Of Construction Machinery (AREA)
EP20161671.1A 2019-04-24 2020-03-06 Antikollisionssystem für baustellenmaschine, und baustellenmaschine, die mit einem solchen antikollisionssystem ausgestattet ist Active EP3744904B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1904317A FR3095392B1 (fr) 2019-04-24 2019-04-24 Système anti-collision pour engin de chantier, et engin de chantier équipé d’un tel système anti-collision

Publications (2)

Publication Number Publication Date
EP3744904A1 true EP3744904A1 (de) 2020-12-02
EP3744904B1 EP3744904B1 (de) 2021-12-15

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FR (1) FR3095392B1 (de)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113250255A (zh) * 2021-06-08 2021-08-13 上海三一重机股份有限公司 一种基于电子围墙的工程机械控制方法、装置及工程机械
CN115339528A (zh) * 2022-08-03 2022-11-15 北京主线科技有限公司 一种卡车驾驶室翻转控制方法、装置及存储介质

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4012118A1 (de) * 2020-12-08 2022-06-15 Volvo Construction Equipment AB Verfahren zur steuerung einer arbeitsmaschine, steuerungssystem und arbeitsmaschine

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JPH09158258A (ja) * 1995-12-05 1997-06-17 Shin Caterpillar Mitsubishi Ltd 建設機械の監視装置
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EP2631374A1 (de) * 2010-10-22 2013-08-28 Hitachi Construction Machinery Co., Ltd. Periphere überwachungsvorrichtung für eine arbeitsmaschine
EP2978213A1 (de) * 2013-03-19 2016-01-27 Sumitomo Heavy Industries, Ltd. Peripherieüberwachungsvorrichtung für eine arbeitsmaschine
EP3020868A1 (de) * 2014-11-14 2016-05-18 Caterpillar Inc. System zur Unterstützung eines Benutzers einer Maschine mit einem Körper und einem hinsichtlich des Körpers beweglichen Werkzeugs

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DE4342963A1 (de) * 1993-12-16 1995-06-22 Atlas Weyhausen Gmbh Einrichtung zur Bewegungsbegrenzung eines antreibbaren Auslegers einer Baumaschine
JPH09158258A (ja) * 1995-12-05 1997-06-17 Shin Caterpillar Mitsubishi Ltd 建設機械の監視装置
JP2006161306A (ja) * 2004-12-03 2006-06-22 Hitachi Constr Mach Co Ltd 建設機械の配線引き回し構造
EP2631374A1 (de) * 2010-10-22 2013-08-28 Hitachi Construction Machinery Co., Ltd. Periphere überwachungsvorrichtung für eine arbeitsmaschine
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Publication number Priority date Publication date Assignee Title
CN113250255A (zh) * 2021-06-08 2021-08-13 上海三一重机股份有限公司 一种基于电子围墙的工程机械控制方法、装置及工程机械
WO2022257537A1 (zh) * 2021-06-08 2022-12-15 上海三一重机股份有限公司 一种基于电子围墙的工程机械控制方法、装置及工程机械
CN115339528A (zh) * 2022-08-03 2022-11-15 北京主线科技有限公司 一种卡车驾驶室翻转控制方法、装置及存储介质
CN115339528B (zh) * 2022-08-03 2024-04-26 北京主线科技有限公司 一种卡车驾驶室翻转控制方法、装置及存储介质

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EP3744904B1 (de) 2021-12-15
FR3095392A1 (fr) 2020-10-30
FR3095392B1 (fr) 2021-04-16

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