EP3744904B1 - Anti-collision system for a construction machine and construction machine provided with such an anti-collision system - Google Patents

Anti-collision system for a construction machine and construction machine provided with such an anti-collision system Download PDF

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Publication number
EP3744904B1
EP3744904B1 EP20161671.1A EP20161671A EP3744904B1 EP 3744904 B1 EP3744904 B1 EP 3744904B1 EP 20161671 A EP20161671 A EP 20161671A EP 3744904 B1 EP3744904 B1 EP 3744904B1
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EP
European Patent Office
Prior art keywords
construction machine
obstacle
collision system
audible warning
obstacle detection
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EP20161671.1A
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German (de)
French (fr)
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EP3744904A1 (en
Inventor
Cédric DUMONT
Thomas BEAUBERNARD
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Option Automatismes
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Option Automatismes
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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 movement of the vehicle, based on radar technology or laser technology, possibly associated with vision 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 gear, or emit audible warnings in the event of an obstacle at the rear of the vehicle while the latter is backing up.
  • 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 the detection of an obstacle.
  • 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 the detection of an obstacle.
  • 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 can also be used 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 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 warning device, an electromagnetic warning device, an electronic warning device, etc.
  • External audible warning means could 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 audible 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 top 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 scan the angular ranges when it is determined that the construction machine is stationary or moving 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 zone 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 building site.
  • 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 whose apex angle will be greater than the apex angle 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, of which the drive 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 machine 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 sound warning means can be constituted by any known means, such as for example a mechanical warning device, an electromagnetic warning device, an electronic warning device, etc.
  • the audible warning means can emit different audible 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, so 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 with respect to the machine 1, and of whether the the obstacle is an object reflecting or not, and, by the acquisition unit 10, the direction of movement and 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. the direction of movement and 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 stationary on the basis of the acquisition carried out 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 scan 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 and in dotted lines the detection cones after pivoting backwards, designated by C2, are shown in solid lines, 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 configure 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 front.
  • 'machine 1 and for, in the case of the detection of an obstacle outside the dedicated zone Zd, to emit an audible warning or not to 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 set up a dedicated zone Zd, as illustrated in the figure. 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 machine 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 sub-part 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 sounds closer together 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 if 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 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.

Description

La présente invention se rapporte au domaine des engins de chantier, et porte plus particulièrement sur un système anti-collision entre un engin de chantier et des obstacles présents dans l'environnement de l'engin de chantier, et sur un engin de chantier équipé d'un tel système anti-collision.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.

Dans la présente demande, on entend par le terme « obstacle » aussi bien des objets que des personnes, immobiles ou en mouvement.In the present application, the term “obstacle” is understood to mean both objects and people, stationary or in motion.

Afin de prévenir les accidents de collision d'un véhicule avec un obstacle, il a été proposé d'équiper les véhicules, notamment les automobiles, de systèmes anti-collision comprenant des moyens de détection d'obstacle dans le sens de déplacement du véhicule, basés sur une technologie radar ou une technologie laser, éventuellement associés à des moyens de vision, tels qu'une caméra, et des moyens d'avertissement sonore, le système anti-collision étant configuré pour, par exemple, arrêter le véhicule dans le cas où un obstacle est détecté à l'avant du véhicule alors que ce dernier est en marche avant, ou émettre des avertissements sonores dans le cas d'un obstacle à l'arrière du véhicule tandis que ce dernier recule.In order to prevent accidents of collision of a vehicle with an obstacle, it has been proposed to equip vehicles, in particular automobiles, with anti-collision systems comprising means for detecting an obstacle in the direction of movement of the vehicle, based on radar technology or laser technology, possibly associated with vision 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 gear, or emit audible warnings in the event of an obstacle at the rear of the vehicle while the latter is backing up.

Dans le cas d'un engin de chantier, qui dispose d'un outil de travail situé à l'avant de celui-ci et dont les mouvements sont commandés par un opérateur se trouvant dans la cabine de l'engin de chantier, il a été proposé d'assister l'opérateur par la détection des obstacles présents dans son champ de vision et avec lesquels l'outil de travail serait susceptible d'entrer en collision. Un tel système anti-collision comprend des moyens de détection d'obstacle ayant une zone de détection en avant de l'engin de chantier, dans le champ de vision de l'opérateur, et constituée par un cône de détection dont le sommet est à angle droit, des moyens de vision de ladite zone de détection avec écran de contrôle installé dans la cabine de l'engin de chantier, et des moyens d'avertissement sonore dans le cas de la détection d'un obstacle. EP 2 978 213 A1 divulgue un système anti-collision selon le préambule de la revendication indépendante 1.In the case of a construction machine, which has a work tool located at the front of it and whose movements are controlled by an operator located in the cabin of the construction machine, it has It has been proposed to assist the operator by detecting obstacles present in his field of vision and with which the work tool is likely to collide. 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 the detection of an obstacle. EP 2 978 213 A1 discloses an anti-collision system according to the preamble of independent claim 1.

Un tel système anti-collision pour engin de chantier ne permet toutefois pas de prévenir l'opérateur de la présence d'un obstacle qui ne se trouve pas dans son champ de vision, de sorte que l'opérateur doit à la fois commander l'outil de travail et le déplacement de l'engin de chantier tout en prenant garde à la présence d'obstacles.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.

La présente invention vise à proposer un système anti-collision permettant de prévenir les risques de collision tout en permettant à l'opérateur de se concentrer sur la commande de l'outil de travail, et qui soit par ailleurs utilisables avec des engins de chantier déjà en utilisation.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 can also be used with construction machinery already in use.

La présente invention a ainsi pour objet un système anti-collision destiné à équiper un engin de chantier comprenant un avant, un arrière, un outil de travail et une cabine d'opérateur dans laquelle se situe un siège pour l'opérateur et offrant à ce dernier un champ de vision en avant de la cabine d'opérateur qui, en vue de dessus, est délimité par deux droites se rejoignant au niveau du siège en formant un premier angle, dit angle de champ de vision d'opérateur, l'outil de travail étant présent dans le champ de vision de l'opérateur et l'engin de chantier étant mobile dans la direction avant-arrière, dite direction de déplacement, le système anti-collision comprenant :

  • des moyens de détection d'obstacle configurés pour détecter la présence d'un obstacle dans une zone de détection d'obstacle et sa distance aux moyens de détection d'obstacle ;
  • des moyens d'avertissement sonore configurés pour émettre un avertissement sonore dans la cabine d'opérateur ; et
  • des moyens de traitement en communication fonctionnelle avec les moyens de détection d'obstacle et les moyens d'avertissement sonore et configurés pour amener les moyens d'avertissement sonore à émettre un avertissement sonore dans le cas d'une détection, par les moyens de détection d'obstacle, d'un obstacle dans la zone de détection d'obstacle,
    le système anti-collision étant caractérisé par le fait qu'il comprend en outre des moyens d'acquisition configurés pour acquérir le sens de déplacement, le long de la direction de déplacement, et la vitesse de l'engin de chantier et des moyens de liaison configurés pour monter de manière amovible les moyens de détection d'obstacle sur l'engin de chantier de telle sorte qu'une fois montés sur l'engin de chantier, les moyens de détection d'obstacle sont aptes à détecter la présence d'un obstacle dans une zone de détection d'obstacle formée par une première région de détection, dite région arrière, qui se situe en arrière de la cabine d'opérateur, et deux secondes régions de détection, dites régions latérales, qui se situent sur les deux côtés latéraux de la cabine d'opérateur, les moyens de traitement étant également en communication fonctionnelle avec les moyens d'acquisition et configurés pour amener les moyens d'avertissement sonore à émettre un avertissement sonore uniquement dans le cas où les moyens de traitement déterminent qu'un obstacle détecté présente un risque de collision remplissant une condition d'avertissement définie en fonction du sens de déplacement et de la vitesse de l'engin de chantier acquis par les moyens d'acquisition.
The present invention thus relates to an anti-collision system intended to equip 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 this last a field of vision in front of the operator's cabin which, when viewed from above, 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 tool work being present in the operator's field of vision and the construction machine being mobile in the front-rear direction, called the direction of movement, the anti-collision system comprising:
  • obstacle detection means configured to detect the presence of an obstacle in an obstacle detection zone and its distance from the obstacle detection means;
  • audible warning means configured to sound an audible warning in the operator's cabin; and
  • processing means in functional communication with the obstacle detection means and the audible warning means and configured to cause the audible warning means to emit an audible warning in the event of detection, by the detection means obstacle, an obstacle in the obstacle detection zone,
    the anti-collision system being characterized by the fact that it further comprises acquisition means configured to acquire the direction of movement, along the direction of movement, and the speed of the construction machine and means of connection configured to removably mount the obstacle detection means on the construction machine so that once mounted on the construction machine, the obstacle detection means are able to detect the presence of an obstacle in an obstacle detection zone formed by a first detection region, called the rear region, which is located behind the operator's cabin, and two second detection regions, called lateral regions, which are located on the two lateral sides of the operator's cabin, the processing means also being in functional communication with the acquisition means and configured to cause the audible warning means to emit an audible warning only in the The case where 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.

Facultativement, la condition d'avertissement peut être définie en fonction également de la distance à l'obstacle détecté.Optionally, the warning condition can be set depending also on the distance to the detected obstacle.

Avec le système anti-collision selon la présente invention, l'opérateur dans la cabine d'opérateur est prévenu en cas de détection d'un obstacle non présent dans son champ de vision et avec lequel l'engin de chantier est susceptible d'entrer en collision, et ce d'une manière fiable puisqu'il est tenu compte du déplacement de l'engin de chantier, de sorte que l'opérateur n'a plus qu'à effectivement se concentrer sur la commande de l'outil de travail.With the anti-collision system according to the present invention, 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 on controlling the work tool.

Les moyens de traitement peuvent être constitués par un processeur, un microprocesseur, un microcontrôleur, un dispositif de traitement de signaux numériques (DSP), une matrice prédiffusée programmable (FPGA), un circuit intégré spécifique à une application (ASIC), etc.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.

Les moyens d'avertissement sonore peuvent être constitués par tout moyen connu, comme par exemple un avertisseur mécanique, un avertisseur électromagnétique, un avertisseur électronique, etc.The audible warning means can be constituted by any known means, such as for example a mechanical warning device, an electromagnetic warning device, an electronic warning device, etc.

On pourra également prévoir des moyens d'avertissement sonore extérieurs, destinés à être placés hors de la cabine d'opérateur, pour avertir du risque de collision les personnes présentes dans l'environnement de l'engin de chantier.External audible warning means could 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.

Selon une première caractéristique facultative préférée du système anti-collision de la présente invention :

  • une condition d'avertissement est la présence d'au moins un obstacle réfléchissant dans la zone de détection d'obstacle et la détermination, par les moyens de traitement, du fait que l'engin de chantier est à l'arrêt sur la base de l'acquisition réalisée par les moyens d'acquisition ;
  • les moyens de détection d'obstacle sont aptes à assurer une discrimination entre un obstacle réfléchissant et un obstacle non-réfléchissant ; et
  • les moyens de traitement sont configurés pour amener les moyens d'avertissement sonore à émettre un avertissement sonore dans le cas où ladite condition d'avertissement précitée est remplie.
According to a first preferred optional characteristic of the anti-collision system of the present invention:
  • a warning condition is the presence of at least one reflective obstacle in the obstacle detection zone and the determination, by the processing means, that the construction machine is stationary on the basis of the acquisition carried out by the acquisition means;
  • the obstacle detection means are able to discriminate between a reflecting obstacle and a non-reflecting obstacle; and
  • the processing means are configured to cause the audible warning means to emit an audible warning in the event that said aforementioned warning condition is fulfilled.

De cette manière, la zone d'action potentielle d'un outil de travail, notamment dans le cas d'un engin de chantier à tourelle, est surveillée par le système anti-collision, ce qui permet d'anticiper la présence d'opérateurs avant toute utilisation de l'outil de travail ou tout mouvement de l'engin de chantier.In this way, 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.

On souligne ici que, sur un chantier, les opérateurs portent un gilet réfléchissant qui constitue l'objet réfléchissant détecté.It is emphasized here that, on a construction site, the operators wear a reflective vest which constitutes the reflective object detected.

Selon une deuxième caractéristique facultative préférée du système anti-collision de la présente invention, compatible avec ladite première caractéristique :

  • une condition d'avertissement est la présence d'au moins un obstacle réfléchissant dans au moins l'une des deux régions latérales de la zone de détection d'obstacle, et éventuellement également dans la région arrière, et la détermination, par les moyens de traitement, du fait que l'engin de chantier est en marche avant, notamment à faible vitesse, sur la base de l'acquisition réalisée par les moyens d'acquisition ;
  • les moyens de détection d'obstacle sont aptes à assurer une discrimination entre un obstacle réfléchissant et un obstacle non-réfléchissant ; et
  • les moyens de traitement sont configurés pour amener les moyens d'avertissement sonore à émettre un avertissement sonore dans le cas où ladite condition d'avertissement précitée est remplie.
According to a second preferred optional characteristic of the anti-collision system of the present invention, compatible with said first characteristic:
  • a warning condition is 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 means of treatment, because the construction machine is in forward motion, in particular at low speed, on the basis of the acquisition carried out by the acquisition means;
  • the obstacle detection means are able to discriminate between a reflecting obstacle and a non-reflecting obstacle; and
  • the processing means are configured to cause the audible warning means to emit an audible warning in the event that said aforementioned warning condition is fulfilled.

Là encore, c'est la zone d'action potentielle de l'outil de travail qui est surveillée par le système anti-collision, ce qui permet d'anticiper la présence d'opérateurs avant toute utilisation de l'outil de travail.Here again, it is the potential action zone of the work tool which is monitored by the anti-collision system, which makes it possible to anticipate the presence of operators before any use of the work tool.

Selon une troisième caractéristique facultative préférée du système anti-collision de la présente invention, compatible avec lesdites première et deuxième caractéristiques, le système anti-collision est destiné à équiper un engin de chantier dont la cabine d'opérateur et l'outil de travail sont portés par une tourelle, l'engin de chantier ou le système anti-collision comprenant des seconds moyens d'acquisition pour acquérir l'orientation angulaire de la tourelle par rapport à la direction de déplacement de l'engin de chantier, et le système anti-collision est caractérisé par le fait que les moyens de liaison sont destinés à relier le système anti-collision à la tourelle de l'engin de chantier, et par le fait que :

  • une condition d'avertissement est la présence d'au moins un obstacle dans une partie spécifique de la zone de détection d'obstacle, ladite partie spécifique consistant, en vue de dessus, en une bande centrée sur la direction de déplacement de l'engin de chantier et dont la largeur est définie pour être au moins égale à la largeur de l'engin de chantier, et la détermination, par les moyens de traitement, du fait que l'engin de chantier est en marche arrière sur la base de l'acquisition réalisée par les moyens d'acquisition et du fait que la tourelle présente une orientation angulaire par rapport à la direction de déplacement de l'engin de chantier sur la base de l'acquisition par les seconds moyens d'acquisition ;
  • les moyens de traitement sont en communication fonctionnelle avec les seconds moyens d'acquisition, ou le cas échéant destinés à être en communication fonctionnelle avec ces derniers une fois le système anti-collision monté sur l'engin de chantier, et les moyens de traitement sont configurés pour amener les moyens d'avertissement sonore à émettre un avertissement sonore dans le cas où ladite condition d'avertissement précitée est remplie.
According to a third preferred optional characteristic of the anti-collision system of the present invention, compatible with said first and second characteristics, the anti-collision system is intended to equip a construction machine, the operator's cabin and the work tool of which are carried by a turret, the construction machine or the anti-collision system comprising second acquisition means for acquiring the angular orientation of the turret with respect to the direction of movement of the construction machine, and the anti-collision system -collision is characterized by the fact that the connecting means are intended to connect the anti-collision system to the turret of the construction machine, and by the fact that:
  • a warning condition is 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 strip centered on the direction of movement of the machine construction site and the width of which is defined to be at least equal to the width of the construction machine, and the determination, by the processing means, that the construction machine is in reverse on the basis of the acquisition carried out by the acquisition means and the fact that the turret has an angular orientation with respect to the direction of movement of the construction machine on the basis of the acquisition by the second acquisition means;
  • the processing means are in functional communication with the second acquisition means, or where appropriate intended to be in functional communication with the latter once the anti-collision system is mounted on the construction machine, and the processing means are configured to cause the audible warning means to emit an audible warning in the event that said aforesaid warning condition is met.

Ceci permet d'anticiper correctement et à temps la présence d'obstacles pendant le mouvement en marche arrière.This makes it possible to anticipate correctly and in time the presence of obstacles during the movement in reverse.

De préférence, les moyens d'avertissement sonore sont aptes à émettre un avertissement sonore consistant en une série de sons.Preferably, the audible warning means are able to emit a warning. sound consisting of a series of sounds.

Selon une caractéristique facultative préférée du système anti-collision de la présente invention :

  • la partie spécifique de la zone de détection d'obstacle est divisée en une pluralité de sous-parties successives dans la direction de déplacement de l'engin de chantier, chaque limite entre deux sous-parties adjacentes se trouvant à une distance respective des moyens de détection d'obstacle, chacune desdites distances respectives constituant un seuil de distance de détection, ladite partie spécifique étant, de préférence, divisée en trois sous-parties ;
  • les moyens d'avertissement sonore sont aptes à émettre des avertissements sonores différents, chacun consistant en une série de sons avec un intervalle entre deux sons consécutifs et/ou un niveau sonore qui est différent de celui des autres avertissements sonores, le nombre d'avertissements sonores que peuvent émettre les moyens d'avertissement sonore étant égal au nombre de sous-parties successives, et un avertissement sonore étant associé à chacune des sous-parties de telle sorte que plus le seuil de distance de détection est proche des moyens de détection d'obstacle, plus l'intervalle entre deux sons consécutifs est petit et/ou plus le niveau sonore est élevé ; et
  • les moyens de traitement sont configurés pour, lorsqu'un obstacle est détecté dans l'une des sous-parties successives, amener les moyens d'avertissement sonore à émettre l'avertissement sonore associé à ladite sous-partie.
According to a preferred optional characteristic of the anti-collision system of the present invention:
  • the specific part of the obstacle detection zone is divided into a plurality of successive sub-parts in the direction of movement of the construction machine, each boundary between two adjacent sub-parts being at a respective distance from the means of obstacle detection, each of said respective distances constituting a detection distance threshold, said specific part preferably being divided into three sub-parts;
  • the sound warning means are able to emit different sound warnings, each consisting of a series of sounds with an interval between two consecutive sounds and / or a sound level which is different from that of the other sound warnings, the number of warnings sound that the sound warning means can emit being equal to the number of successive sub-parts, and an audible warning being associated with each of the sub-parts so that the closer the detection distance threshold is to the detection means d obstacle, the smaller the interval between two consecutive sounds and / or the higher the sound level; and
  • the processing means are configured to, when an obstacle is detected in one of the successive sub-parts, cause the audible warning means to emit the audible warning associated with said sub-part.

De préférence, les moyens de traitement sont configurés pour modifier lesdits seuils de distance respectifs en fonction de la vitesse de l'engin de chantier acquise par les moyens d'acquisition, de telle sorte que le seuil de distance de détection le plus proche des moyens de détection d'obstacle augmente si la vitesse augmente et diminue si la vitesse diminue.Preferably, 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.

Ceci augmente encore l'efficacité de l'anticipation des obstacles pendant le mouvement en marche arrière, puisque l'on tient compte de la vitesse afin de garantir une distance d'arrêt suffisante pour effectivement empêcher une collision avec l'obstacle détecté.This further increases the effectiveness of obstacle anticipation during reverse movement, since speed is taken into account in order to ensure a sufficient stopping distance to effectively prevent a collision with the detected obstacle.

De préférence, les moyens de détection d'obstacle sont configurés pour détecter des obstacles jusqu'à une distance de 30 mètres. Ceci est particulièrement avantageux dans le cas d'engins de chantier qui peuvent se déplacer par exemple jusqu'à 25 km/h.Preferably, 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.

Selon un mode de réalisation particulier, les moyens de détection d'obstacle comprennent un capteur central d'obstacle destiné à être situé derrière la cabine d'opérateur et deux capteurs latéraux d'obstacle destinés à être situés chacun derrière la cabine d'opérateur et sur un côté respectif de l'engin de chantier, le capteur central ayant un cône de détection qui, une fois le capteur central monté sur l'engin de chantier, est centré sur la direction avant-arrière de l'engin de chantier.According to a particular embodiment, 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.

Chaque capteur peut avoir un cône de détection et la somme des angles au sommet des cônes de détection des capteurs est égale à environ 270°, de préférence chaque capteur a un cône de détection dont l'angle au sommet est de 90°.Each sensor may have a detection cone and the sum of the angles at the top of the detection cones of the sensors is equal to about 270 °, preferably each sensor has a detection cone whose apex angle is 90 °.

De préférence, chaque capteur latéral est monté sur un pivot vertical destiné à être monté de manière amovible sur l'engin de chantier par les moyens de liaison, chaque capteur latéral étant apte à tourner autour dudit pivot sous la commande des moyens de traitement de façon à être apte à balayer une plage angulaire dont l'angle au sommet est supérieur à celui du cône de détection du capteur latéral, les moyens de traitement étant en outre configurés pour, le cas échéant, faire pivoter de manière continue les deux capteurs latéraux pour balayer les plages angulaires lorsqu'il est déterminé que l'engin de chantier est à l'arrêt ou en marche avant, et, le cas échéant, pour également faire pivoter l'un des capteurs latéraux pour l'orienter de façon à couvrir ladite partie spécifique de la zone de détection d'obstacle lorsqu'il est déterminé que l'engin de chantier est en marche arrière et que la tourelle présente une orientation angulaire par rapport à la direction de déplacement de l'engin de chantier.Preferably, 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 scan the angular ranges when it is determined that the construction machine is stationary or moving 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 zone 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 building site.

On souligne ici que l'on pourrait prévoir que chaque capteur ait un cône de détection et que la somme des angles au sommet des cônes de détection des capteurs soit inférieure à 270°. Dans un tel cas, chaque capteur latéral sera de préférence monté sur pivot vertical comme décrit au paragraphe précédent, de façon à couvrir les régions latérales par balayage angulaire.It is emphasized here that provision could be made for each sensor to 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 °. In such a case, 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.

De préférence, les moyens de détection d'obstacle, le cas échéant chaque capteur d'obstacle, sont au moins une caméra 3D et à émission infrarouge. De tels moyens permettent en particulier d'assurer une détection précise et fiable d'obstacle jusqu'à une distance de 30 m.Preferably, the obstacle detection means, where appropriate each obstacle sensor, 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.

La présente invention a également pour objet un engin de chantier, comprenant un avant, un arrière, un outil de travail et une cabine d'opérateur dans laquelle se situe un siège pour l'opérateur et offrant à ce dernier un champ de vision en avant de la cabine d'opérateur qui, en vue de dessus, est délimité par deux droites se rejoignant au niveau du siège en formant un premier angle, dit angle de champ de vision d'opérateur, l'outil de travail étant présent dans le champ de vision de l'opérateur et l'engin de chantier étant mobile dans la direction avant-arrière, dite direction de déplacement, l'engin de chantier étant caractérisé par le fait qu'il est équipé d'un système anti-collision tel que défini ci-dessus, monté de manière amovible sur l'engin de chantier.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. 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.

De préférence, la cabine d'opérateur et l'outil de travail sont portés par une tourelle, le système anti-collision est monté sur la tourelle, et l'engin de chantier ou le système anti-collision comprend des seconds moyens d'acquisition pour acquérir l'orientation angulaire de la tourelle par rapport à la direction de déplacement de l'engin de chantier.Preferably, the operator's cabin and the work tool are carried by a turret, the anti-collision system is mounted on the turret, and 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.

On souligne ici que l'engin de chantier selon la présente invention peut être un engin routier ou un engin rail/route.It is emphasized here that the construction machine according to the present invention can be a road machine or a rail / road machine.

Pour mieux illustrer l'objet de la présente invention, on va en décrire ci-après un mode de réalisation particulier, avec référence aux dessins annexés. Sur ces dessins :

  • [fig.1] est une vue en perspective arrière d'un engin de chantier selon la présente invention, montré avec la tourelle non orientée angulairement par rapport à la direction de déplacement de l'engin de chantier.
  • [fig.2] est une vue de détail de la Figure 1, montrant plus particulièrement le système anti-collision selon le mode de réalisation particulier de la présente invention.
  • [fig.3] est une vue en perspective arrière analogue à la Figure 1, la tourelle étant orientée angulairement sur la droite.
  • [fig.4] est une vue de détail de la Figure 3, montrant plus particulièrement le système anti-collision.
  • [fig.5] est une autre vue de détail montrant le système anti-collision suivant un autre angle de vue.
  • [fig.6] est une vue de détail d'un capteur latéral, montrant son montage sur l'engin de chantier.
  • [fig.7] est une vue schématique de dessus de l'engin de chantier selon la présente invention, à l'arrêt, tourelle non orientée angulairement, les régions de détection des deux capteurs latéraux du système anti-collision étant illustrées schématiquement.
  • [fig.8] est une vue analogue à la Figure 7, l'engin de chantier étant en marche avant, tourelle non orientée angulairement.
  • [fig.9] est une vue analogue à la Figure 8, l'engin de chantier étant en marche arrière, tourelle orientée angulairement à 45°, la partie spécifique de la zone de détection d'obstacle étant divisée en trois sous-parties illustrées schématiquement.
  • [fig.10] est une vue analogue à la Figure 9, la tourelle étant orientée angulairement à 90°.
To better illustrate the object of the present invention, a particular embodiment will be described below, with reference to the accompanying drawings. On these drawings:
  • [ fig. 1 ] is a rear perspective view of a construction machine according to the present invention, shown with the turret not oriented angularly with respect to the direction of movement of the construction machine.
  • [ fig. 2 ] is a detail view of the Figure 1 , showing more particularly the anti-collision system according to the particular embodiment of the present invention.
  • [ fig.3 ] is a rear perspective view similar to the Figure 1 , the turret being angularly oriented to the right.
  • [ fig.4 ] is a detail view of the Figure 3 , showing more particularly the anti-collision system.
  • [ fig.5 ] is another detail view showing the anti-collision system from another angle of view.
  • [ fig.6 ] is a detail view of a side sensor, showing its mounting on the construction machine.
  • [ fig.7 ] is a schematic top view of the construction machine according to the present invention, stationary, the turret not oriented angularly, the detection regions of the two lateral sensors of the anti-collision system being illustrated schematically.
  • [ fig.8 ] is a view analogous to Figure 7 , the construction machine being in forward gear, turret not oriented angularly.
  • [ fig.9 ] is a view analogous to Figure 8 , the construction machine being in reverse, the turret oriented angularly at 45 °, the specific part of the obstacle detection zone being divided into three sub-parts illustrated schematically.
  • [ fig.10 ] is a view analogous to Figure 9 , the turret being angularly oriented at 90 °.

Si l'on se réfère à la Figure 1, on peut voir que l'on y a représenté un engin 1 de chantier qui est ici un engin rail/route, comprenant un châssis roulant 2 définissant un avant Av et un arrière Ar de l'engin 1, et une tourelle 3 portant une cabine 4 d'opérateur et un bras 5 formant l'outil de travail de l'engin 1. De manière classique, et comme on peut le voir sur la Figure 3, la tourelle 3, et donc la cabine 4 et le bras 5, peut tourner autour d'un axe vertical, de sorte que la tourelle 3 peut être orientée angulairement par rapport à la direction avant-arrière de l'engin 1.If we refer to the Figure 1 , we can see that there is shown 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. Conventionally, and as can be seen in the figure Figure 3 , 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.

L'engin 1 se distingue des engins rail/route classiques par le fait qu'il est équipé d'un système anti-collision 6 selon un mode de réalisation particulier de la présente invention.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.

Comme on peut mieux le voir sur les Figures 2 et 4, le système anti-collision 6 comprend des moyens de détection d'obstacle constitués ici par un capteur central d'obstacle 7 et par deux capteurs latéraux d'obstacle 8.As you can best see on the Figures 2 and 4 , the anti-collision system 6 comprises obstacle detection means constituted here by a central obstacle sensor 7 and by two lateral obstacle sensors 8.

Chaque capteur 7, 8 est ici une caméra à émission infrarouge et à réception 3D, à savoir comprenant un module d'émission infrarouge M1 et un module de réception 3D M2, qui permet de détecter un obstacle jusqu'à 30 m de distance, tout en assurant une discrimination entre un objet réfléchissant et un objet non-réfléchissant.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.

Chaque capteur 7, 8 a un cône de détection dont l'angle au sommet est de 90°.Each sensor 7, 8 has a detection cone whose apex angle is 90 °.

Les deux modules M1 et M2 de chaque capteur 7, 8 sont portés par une tige verticale 9 reliée de manière amovible à la tourelle 3 par tout moyen approprié, comme par exemple par fixations sandwichs type « Crapaud ». Ces moyens constituent les moyens de liaison amovible des moyens de détection d'obstacle à l'engin de chantier.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.

Dans le cas des capteurs latéraux 8, la tige verticale 9 est montée pivotante par rapport à l'engin de chantier, et le mouvement de pivotement de la tige verticale 9, et donc du capteur latéral 8 associé à celle-ci, est entraîné par actionneur asservi en position. Chaque capteur latéral 8 peut ainsi balayer une plage angulaire de détection dont l'angle au sommet sera supérieur à l'angle au sommet du cône de détection du capteur latéral 8, comme cela sera discuté ci-après.In the case of the lateral sensors 8, 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 whose apex angle will be greater than the apex angle of the detection cone of the side sensor 8, as will be discussed below.

De manière plus spécifique, comme on peut mieux le voir sur les Figures 5 et 6, la tige verticale 9 est reliée par liaison pivot à une platine 11 vissée, et donc fixée de manière amovible, sur la tourelle 3, laquelle platine 11 porte également un moteur 12, en particulier un moteur pas à pas, dont l'arbre de sortie est relié à la tige verticale 9 de façon à être apte à faire tourner cette dernière, autour de son axe longitudinale, dans les deux sens de rotation.More specifically, as we can better see on the Figures 5 and 6 , 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, of which the drive 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.

Le capteur central 7 est situé derrière la cabine 4 et son cône de détection est centré sur la direction avant-arrière de l'engin 1.The central sensor 7 is located behind the cabin 4 and its detection cone is centered on the front-rear direction of the machine 1.

Chaque capteur latéral 8 est situé également derrière la cabine 4, mais sur un côté respectif de l'engin 1, et orienté de telle sorte que son cône de détection couvre la région latérale à l'engin 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.

On constate donc que les capteurs 7, 8 permettent de détecter des obstacles dans une zone de détection d'obstacle formée par une première région de détection, dite région arrière, qui se situe en arrière de la cabine d'opérateur et qui est couverte par le capteur central 7, et deux secondes régions de détection, dites régions latérales, qui se situent sur les deux côtés latéraux de la cabine 4 et qui sont couvertes chacune par un capteur latéral 8 respectif. La zone de l'environnement de l'engin 1 non couverte par les capteurs 7, 8 est celle correspondant au champ de vision de l'opérateur se trouvant dans la cabine 4.It can therefore be seen that 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.

Le système anti-collision 6 comprend en outre des moyens d'acquisition du sens de déplacement et de la vitesse de déplacement de l'engin de chantier 1, se présentant sous la forme d'un boîtier d'acquisition 10 lui-aussi monté de manière amovible sur la tourelle par tout moyen approprié, comme par exemple par fixations sandwichs type « Crapaud ».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.

En particulier, ce boîtier d'acquisition 10 acquiert le sens de déplacement par exemple par mesure du sens des accélérations, par tout moyen approprié tel qu'un accéléromètre, et la vitesse de déplacement par exemple par intégration des valeurs d'accélération.In particular, 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.

Le système anti-collision 6 comprend en outre, non visibles, des moyens d'avertissement sonore à l'intérieur de la cabine 4 et des moyens de traitement.The anti-collision system 6 further comprises, not visible, sound warning means inside the cabin 4 and processing means.

Comme indiqué précédemment, les moyens d'avertissement sonore peuvent être constitués par tout moyen connu, comme par exemple un avertisseur mécanique, un avertisseur électromagnétique, un avertisseur électronique, etc.As indicated above, the sound warning means can be constituted by any known means, such as for example a mechanical warning device, an electromagnetic warning device, an electronic warning device, etc.

Dans le mode de réalisation particulier, les moyens d'avertissement sonore peuvent émettre différents avertissements sonores, consistant chacun en une série de sons, l'intervalle entre deux sons consécutifs d'un avertissement sonore étant différent de celui des autres avertissements.In the particular embodiment, the audible warning means can emit different audible 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.

Egalement comme indiqué précédemment, les moyens de traitement peuvent être constitués par un processeur, un microprocesseur, un microcontrôleur, un dispositif de traitement de signaux numériques (DSP), une matrice prédiffusée programmable (FPGA), un circuit intégré spécifique à une application (ASIC), etc.Also as indicated above, 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.

Selon la présente invention, les moyens de traitement sont en communication fonctionnelle, par exemple de manière filaire ou sans fil, avec les capteurs 7, 8, le boîtier d'acquisition 10 et les moyens d'avertissement sonore, de telle sorte que les moyens de traitement sont informés, par les capteurs 7, 8, notamment de la présence d'un ou plusieurs obstacles, de leur distance à l'engin 1, de leur déplacement par rapport à l'engin 1, et du point de savoir si l'obstacle est un objet réfléchissant ou non, et, par le boîtier d'acquisition 10, du sens de déplacement et de la vitesse de l'engin 1, et de telle sorte que les moyens de traitement sont capables de commander l'émission d'un avertissement sonore par les moyens d'avertissement sonore.According to the present invention, 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, so 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 with respect to the machine 1, and of whether the the obstacle is an object reflecting or not, and, by the acquisition unit 10, the direction of movement and 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.

En particulier, les moyens de traitement sont configurés pour amener les moyens d'avertissement sonore à émettre un avertissement sonore dans le cas où les moyens de traitement déterminent qu'un obstacle détecté présente un risque de collision remplissant une condition d'avertissement définie en fonction du sens de déplacement et de la vitesse de l'engin de chantier acquis par les moyens d'acquisition.In particular, 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. the direction of movement and the speed of the construction machine acquired by the acquisition means.

On se réfère maintenant aux Figures 7 à 10 pour la discussion des différentes conditions d'avertissement selon la présente invention, en fonction des modes de fonctionnement de l'engin 1.We now refer to Figures 7 to 10 for the discussion of the different warning conditions according to the present invention, depending on the operating modes of machine 1.

On a tout d'abord illustré sur la Figure 7 la condition d'avertissement qu'appliquent les moyens de traitement dans le cas où ils déterminent que l'engin 1 est à l'arrêt : le boîtier d'acquisition 10 indique une vitesse nulle.We first illustrated on the Figure 7 the warning condition applied by the processing means in the event that they determine that the machine 1 is stationary: the acquisition unit 10 indicates zero speed.

Dans ce cas, le système anti-collision vise à surveiller le rayon d'action du bras 5 et de préférence également la région à l'arrière de l'engin 1, ce qui permet d'anticiper la présence d'opérateurs avant toute utilisation du bras 5 ou tout mouvement de l'engin 1.In this case, 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.

La condition d'avertissement est dans ce cas la présence d'au moins un obstacle réfléchissant dans la zone de détection d'obstacle, un obstacle réfléchissant correspondant au gilet réfléchissant que porte un opérateur, et la détermination, par les moyens de traitement, du fait que l'engin de chantier 1 est à l'arrêt sur la base de l'acquisition réalisée par les moyens d'acquisition 10.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 stationary on the basis of the acquisition carried out by the acquisition means 10.

Ainsi, si les moyens de traitement déterminent que l'engin 1 est à l'arrêt et sont informés par les capteurs 7, 8 de la présence d'un obstacle réfléchissant, la condition d'avertissement est considérée comme remplie et les moyens d'avertissement sonore sont amenés à émettre un avertissement sonore.Thus, if 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.

Comme illustré sur la Figure 7, les moyens de traitement peuvent en outre être configurés pour, lorsqu'ils déterminent que l'engin 1 est à l'arrêt, faire pivoter de manière continue les deux capteurs latéraux 8 de manière à balayer une plage angulaire plus grande que le simple cône de détection des capteurs latéraux 8, de façon à couvrir une zone de détection plus grande. Sur la Figure 7 on a illustré en traits continus les cônes de détection des capteurs latéraux 8 avant pivotement, désignés par C1, et en traits pointillés les cônes de détection après pivotement vers l'arrière, désignés par C2, le champ de vision de l'opérateur étant désigné par C0.As shown on the Figure 7 , 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 scan an angular range greater than the simple cone detection side sensors 8, so as to cover a larger detection area. On the Figure 7 the detection cones of the side sensors 8 before pivoting, designated by C1, and in dotted lines the detection cones after pivoting backwards, designated by C2, are shown in solid lines, the operator's field of vision being designated by C0.

On peut également souligner ici que l'opérateur peut paramétrer les moyens de traitement via un moyen d'entrée d'instructions, bien connu en soi, comme par exemple un écran tactile, etc.It can also be emphasized here that the operator can configure the processing means via an instruction input means, well known per se, such as for example a touch screen, etc.

L'opérateur peut ainsi paramétrer une distance de détection des capteurs 7, 8 de façon à définir une zone dédiée Zd, comme par exemple une zone à pas plus d'une distance de l'engin 1, en arrière et/ou latéralement à l'engin 1.The operator can thus configure 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.

Dans le cas de l'engin 1 à l'arrêt, l'opérateur pourrait par exemple paramétrer les moyens de traitement pour définir une distance de détection à 15 mètres dans la direction avant-arrière et une distance de détection à 10 mètres latéralement à l'engin 1, et pour, dans le cas de la détection d'un obstacle hors de la zone dédiée Zd, émettre un avertissement sonore ou ne pas émettre d'avertissement sonore, le risque de collision avec l'obstacle étant considérée comme très faible ou inexistant, et émettre un avertissement sonore dans le cas de la détection d'un obstacle dans la zone dédiée Zd, le cas échéant un avertissement sonore consistant en une série de sons avec un intervalle entre deux sons consécutifs bien plus petit, ou un niveau sonore bien plus élevé, que celui de l'avertissement sonore émis pour un obstacle détecté hors de la zone dédiée Zd. Une telle zone dédiée Zd a été illustrée schématiquement sur la Figure 7.In the case of machine 1 stationary, 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 front. 'machine 1, and for, in the case of the detection of an obstacle outside the dedicated zone Zd, to emit an audible warning or not to 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 .

L'opérateur est ainsi informé très intuitivement de la proximité de l'obstacle, et donc du risque plus ou moins important de collision.The operator is thus very intuitively informed of the proximity of the obstacle, and therefore of the greater or lesser risk of collision.

On a ensuite illustré sur la Figure 8 la condition d'avertissement qu'appliquent les moyens de traitement dans le cas où ils déterminent que l'engin 1 est en marche avant : le boîtier d'acquisition 10 indique un sens de déplacement vers l'avant et une vitesse non nulle.We then illustrated on the Figure 8 the warning condition applied by the processing means in the event that they determine that the machine 1 is moving forward: the acquisition unit 10 indicates a direction of forward movement and a non-zero speed.

Dans ce cas, le système anti-collision vise à surveiller le rayon d'action du bras 5 et à anticiper la présence d'opérateurs avant toute utilisation du bras 5.In this case, 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.

La condition d'avertissement est dans ce cas la présence d'au moins un obstacle réfléchissant dans au moins l'une des deux régions latérales de la zone de détection d'obstacle, et éventuellement également dans la région arrière, et la détermination, par les moyens de traitement, du fait que l'engin de chantier 1 est en marche avant, notamment à faible vitesse, sur la base de l'acquisition réalisée par les moyens d'acquisition 10.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.

Ainsi, si les moyens de traitement déterminent que l'engin 1 est en marche avant et sont informés par les capteurs 7, 8 de la présence d'un obstacle réfléchissant, la condition d'avertissement est considérée comme remplie et les moyens d'avertissement sonore sont amenés à émettre un avertissement sonore.Thus, if 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.

Là encore, les moyens de traitement peuvent commander les capteurs latéraux 8 pour un balayage continu et/ou l'opérateur pourra paramétrer une zone dédiée Zd, comme illustré sur la Figure 8.Here again, the processing means can control the side sensors 8 for continuous scanning and / or the operator can set up a dedicated zone Zd, as illustrated in the figure. Figure 8 .

On a enfin illustré sur les Figures 9 et 10 la condition d'avertissement qu'appliquent les moyens de traitement dans le cas où ils déterminent que l'engin 1 est en marche arrière : le boîtier d'acquisition 10 indique un sens de déplacement vers l'arrière et une vitesse non nulle.We have finally illustrated on the Figures 9 and 10 the warning condition applied by the processing means in the event that they determine that the machine 1 is in reverse: the acquisition unit 10 indicates a direction of movement backwards and a non-zero speed.

La condition d'avertissement est dans ce cas la présence d'au moins un obstacle dans une partie spécifique de la zone de détection d'obstacle, ladite partie spécifique consistant, en vue de dessus, en une bande B centrée sur la direction de déplacement de l'engin de chantier et dont la largeur est définie pour être au moins égale à la largeur de l'engin 1, ici la largeur de la voie sur laquelle circule l'engin 1 rail/route, et la détermination, par les moyens de traitement, du fait que l'engin de chantier 1 est en marche arrière sur la base de l'acquisition réalisée par les moyens d'acquisition 10.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. of 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.

Ainsi, si les moyens de traitement déterminent que l'engin 1 est en marche arrière et sont informés par les capteurs 7, 8 de la présence d'un obstacle dans la bande B, la condition d'avertissement est considérée comme remplie et les moyens d'avertissement sonore sont amenés à émettre un avertissement sonore.Thus, if 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.

Dans le mode de réalisation représenté, l'engin 1 est un engin à tourelle et, selon la présente invention, l'engin 1 ou le système anti-collision 6 comprend des seconds moyens d'acquisition (non représentés) pour acquérir l'orientation angulaire de la tourelle 3 par rapport à la direction de déplacement de l'engin 1. Les moyens de traitement sont en communication fonctionnelle, de manière filaire ou sans fil, avec les seconds moyens d'acquisition, et sont donc informés si la tourelle 3 présente une orientation angulaire par rapport à la direction avant-arrière de l'engin 1 et, le cas échéant, la valeur de l'orientation angulaire.In the embodiment shown, 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 machine 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.

Le système anti-collision 6 étant installé sur la tourelle 3, dans le cas où la tourelle 3 a été amenée à pivoter, les moyens de traitement commande le pivotement du capteur latéral 8 qui se situe alors côté arrière dans la direction avant-arrière, de telle sorte que le cône de détection du capteur latéral 8 couvre la région à l'arrière de l'engin 1, et notamment la bande B. Comme on peut le voir sur les Figures 9 et 10, l'orientation du cône de détection du capteur latéral 8 a été modifiée pour tenir compte de l'orientation angulaire de la tourelle 3, qui est à 45° sur la Figure 9 et à 90° sur la Figure 10.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. As can be seen on the Figures 9 and 10 , 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 .

Bien entendu, les moyens de traitement sont configurés pour commander automatiquement l'orientation des capteurs latéraux 8 en fonction de la valeur de l'orientation angulaire que les seconds moyens d'acquisition leur communiquent.Of course, the 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.

Là encore, l'opérateur peut également paramétrer les moyens de traitement de façon à diviser la bande B en plusieurs sous-parties, ici en trois sous-parties B1, B2 et B3, par la définition de différents seuils de distance, ici un premier seuil à 10 mètres et un deuxième seuil à 5 mètres, avec une distance maximale de détection à 15 mètres. A chaque sous-partie B1, B2 et B3 est associé un avertissement sonore consistant en une série de sons dont l'intervalle diminue à mesure que la distance à l'engin 1 diminue. Par conséquent, un avertissement sonore avec des sons plus rapprochés ou un niveau sonore plus élevé sera émis dans le cas où l'obstacle détecté est dans la sous-partie B3, c'est-à-dire à moins de 5 mètres, tandis qu'un avertissement sonore avec des sons plus écartés ou un niveau sonore moins élevé sera émis dans le cas où l'obstacle est dans la sous-partie B2 ou B1.Here again, 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 sub-part 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. Therefore, an audible warning with sounds closer together 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 if the obstacle is in subpart B2 or B1.

L'opérateur est ainsi là encore informé très intuitivement de la proximité de l'obstacle, et donc du risque plus ou moins important de collision.The operator is thus again very intuitively informed of the proximity of the obstacle, and therefore of the greater or lesser risk of collision.

De plus, les moyens de traitement peuvent le cas échéant être configurés pour modifier lesdits seuils de distance respectifs en fonction de la vitesse de l'engin 1, de façon à augmenter les seuils de distance de détection si la vitesse augmente et à les diminuer si la vitesse diminue, pour ainsi tenir compte de la distance d'arrêt parcourue par l'engin 1 en cas de freinage, et par là garantir une distance d'arrêt suffisante pour effectivement empêcher une collision avec l'obstacle détecté. Cette modification pourra par exemple être proportionnelle ou une loi de commande spécifique pourra être incorporée dans les moyens de traitement, par exemple tenant compte du poids de l'engin 1, etc.In addition, 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.

On constate donc qu'avec le système anti-collision selon la présente invention, l'opérateur dans la cabine d'opérateur est prévenu en cas de détection d'un obstacle non présent dans son champ de vision et avec lequel l'engin de chantier est susceptible d'entrer en collision, et ce d'une manière fiable puisqu'il est tenu compte du déplacement de l'engin de chantier, de sorte que l'opérateur n'a plus qu'à effectivement se concentrer sur la commande de l'outil de travail.It can therefore be seen that with the anti-collision system according to the present invention, 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 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.

Il est bien entendu que le mode de réalisation particulier qui vient d'être décrit a été donné à titre indicatif et non limitatif.It is understood that the particular embodiment which has just been described has been given by way of indication and not by way of limitation.

Claims (14)

  1. Anti-collision system (6) intended to equip a construction machine (1) including a front (Av), a rear (Ar), a work tool (5) and an operator cab (4) in which there is a seat for the operator and which provides the latter with a field of vision in front of the operator cab (4) which, in top view, is delimited by two straight lines meeting at the seat so as to form a first angle, so-called operator's field of view angle, the work tool (5) being present in the operator's field of view and the construction machine (1) being movable in the front-rear axis, so-called axis of travel, the anti-collision system (6) including:
    - obstacle detection means (7, 8) configured to detect the presence of an obstacle in an obstacle detection area and its distance from the obstacle detection means (7, 8) ;
    - audible warning means configured to emit an audible warning in the operator cab (4); and
    - processing means in operative communication with the obstacle detection means (7, 8) and the audible warning means and configured to cause the audible warning means to emit an audible warning in the event of detection, by the obstacle detection means (7, 8), of an obstacle in the obstacle detection area,
    the anti-collision system (6) being characterised in that it further includes acquisition means (10) configured to acquire the direction of travel, along the axis of travel, and the speed of the construction machine (1) and connection means configured to removably mount the obstacle detection means (7, 8) on the construction machine (1) such that once mounted on the construction machine (1), the obstacle detection means (7, 8) are capable of detecting the presence of an obstacle in an obstacle detection area formed by a first detection region, so-called rear region, which is located rearward of the operator cab (4), and two second detection regions, so-called side regions, which are located on both lateral sides of the operator cab (4), the processing means also being in operative communication with the acquisition means (10) and configured to cause the audible warning means to emit an audible warning only in the event that the processing means determines that a detected obstacle presents a risk of collision meeting a warning condition defined as a function of the direction of travel and the speed of the construction machine (1) that have been acquired by the acquisition means (10).
  2. Anti-collision system (6) according to claim 1, characterised in that:
    - a warning condition is the presence of at least one reflective obstacle in the obstacle detection area and the determination, by the processing means, that the construction machine (1) is stationary on the basis of the acquisition carried out by the acquisition means (10) ;
    - the obstacle detection means (7, 8) are capable of discriminating between a reflective obstacle and a non-reflective obstacle; and
    - the processing means is configured to cause the audible warning means to emit an audible warning in the event that said warning condition is met.
  3. Anti-collision system (6) according to any one of claims 1 and 2, characterised in that:
    - a warning condition is the presence of at least one reflective obstacle in at least one of the two side regions of the obstacle detection area, and possibly also in the rear region, and the determination, by the processing means, 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 obstacle detection means (7, 8) are capable of discriminating between a reflective obstacle and a non-reflective obstacle; and
    - the processing means is configured to cause the audible warning means to emit an audible warning in the event that said warning condition is met.
  4. Anti-collision system (6) according to any one of claims 1 to 3, intended to equip a construction machine (1) the operator cab (4) and work tool (5) of which are carried by a turret (3), the work machine (1) or the anti-collision system (6) including second acquisition means for acquiring the angular orientation of the turret (3) with respect to the axis of travel of the work machine (1), characterised in that the connection means are intended to connect the anti-collision system (6) to the turret (3) of the work machine (1), and in that:
    - a warning condition is the presence of at least one obstacle in a specific portion (B) of the obstacle detection area, said specific portion (B) consisting, in top view, of a strip (B) centred on the axis of travel of the construction machine (1) and the width of which is defined to be at least equal to the width of the construction machine (1), and the determination, by the processing means, that the construction machine (1) is in reverse gear on the basis of the acquisition carried out by the acquisition means (10) and that the turret (3) has an angular orientation with respect to the axis of travel of the construction machine (1) on the basis of the acquisition by the second acquisition means (10);
    - the processing means are in operative communication with the second acquisition means, or if applicable intended to be in operative communication with the latter once the anti-collision system (6) has been mounted on the construction machine (1), and the processing means are configured to cause the audible warning means to emit an audible warning in the event that said warning condition is met.
  5. An anti-collision system (6) according to any one of claims 1 to 4, characterised in that the audible warning means are adapted to emit an audible warning consisting of a series of sounds.
  6. Anti-collision system (6) according to claim 5, when taken in dependence on claim 4, characterised in that:
    - the specific part (B) of the obstacle detection area is divided into a plurality of successive subparts (B1, B2, B3) in the axis of travel of the construction machine (1), each boundary between two adjacent subparts (B1, B2, B3) being at a respective distance from the obstacle detection means (7, 8), each of said respective distances constituting a detection distance threshold, said specific part (B) preferably being divided into three subparts (B1, B2, B3);
    - the audible warning means are adapted to emit different audible warnings, each consisting of a series of sounds with an interval between two consecutive sounds and/or a sound level which is different from that of the other audible warnings, the number of audible warnings that the audible warning means can emit being equal to the number of successive subparts (B1, B2, B3), and each of the subparts (B1, B2, B3) is assigned an audible warning such that the closer the detection distance threshold is to the obstacle detection means (7, 8), the smaller the interval between two consecutive sounds and/or the higher the sound level; and
    - the processing means are configured to, when an obstacle is detected in one of the successive subparts (B1, B2, B3), cause the audible warning means to emit the audible warning assigned to said subpart (B1, B2, B3).
  7. Anti-collision system (6) according to claim 6, characterised in that the processing means are configured to modify said respective distance thresholds as a function of the speed of the construction machine (1) acquired by the acquisition means (10), so that the detection distance threshold closest to the obstacle detection means (7, 8) increases if the speed increases and decreases if the speed decreases.
  8. An anti-collision system (6) according to any one of claims 1 to 7, characterised in that the obstacle detection means (7, 8) are configured to detect obstacles up to a distance of 30 metres.
  9. An anti-collision system (6) according to any one of claims 1 to 8, characterised in that the obstacle detection means (7, 8) includes a central obstacle sensor (7) intended to be located behind the operator cab (4) and two lateral obstacle sensors (8) intended to be located each behind the operator cab (4) and on a respective side of the construction machine (1), the central sensor (7) having a detection cone which, once the central sensor (7) has been mounted on the construction machine (1), is centred on the front-rear axis of the construction machine (1) .
  10. The anti-collision system (6) according to claim 9, characterised in that each sensor (7, 8) has a detection cone and the sum of the included angles of the detection cones of the sensors (7, 8) is equal to about 270°, preferably each sensor (7, 8) having a detection cone the included angle of which is 90°.
  11. Anti-collision system (6) according to any one of claims 9 and 10, characterised in that each lateral sensor (8) is mounted on a vertical pivot (9) intended to be mounted removably on the construction machine (1) by the connecting means, each lateral sensor (8) being able to rotate about said pivot (9) under the control of the processing means so as to be able to scan an angular range the included angle of which is greater than that of the detection cone of the side sensor (8), the processing means being further configured to, if applicable, continuously rotate the two lateral sensors (8) to scan the angular ranges when it is determined that the construction machine (1) is stationary or in forward motion, and, if applicable, to also rotate one of the lateral sensors (8) to orient it to cover said specific part (B) of the obstacle detection area when it is determined that the construction machine (1) is in reverse gear and that the turret (3) has an angular orientation with respect to the axis of travel of the construction machine (1).
  12. Anti-collision system (6) according to any one of claims 1 to 11, characterised in that the obstacle detection means (7, 8), if applicable each obstacle sensor (7, 8), are at least an infrared and 3D camera.
  13. Construction machine (1), including a front (Av), a rear (Ar), a work tool (5) and an operator cab (4) in which there is a seat for the operator and which provides the latter with a field of vision in front of the operator cab (4) which, in top view, is delimited by two straight lines meeting at the seat so as to form a first angle, so-called operator's field of vision angle, the work tool (5) being present in the operator's field of vision and the construction machine (1) being mobile in the front-rear axis, so-called axis of travel, the construction machine (1) being characterised in that it is equipped with an anti-collision system (6) as defined in any one of claims 1 to 12, mounted removably on the construction machine (1).
  14. A construction machine (1) according to claim 13, characterised in that the operator cab (4) and the work tool (5) are carried by a turret (3), the anti-collision system (6) is mounted on the turret (3), and the construction machine (1) or the anti-collision system (6) includes second acquisition means for acquiring the angular orientation of the turret (3) with respect to the axis of travel of the construction machine (1).
EP20161671.1A 2019-04-24 2020-03-06 Anti-collision system for a construction machine and construction machine provided with such an anti-collision system Active EP3744904B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1904317A FR3095392B1 (en) 2019-04-24 2019-04-24 Anti-collision system for construction machinery, and construction machinery equipped with such an anti-collision system

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EP3744904A1 EP3744904A1 (en) 2020-12-02
EP3744904B1 true EP3744904B1 (en) 2021-12-15

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Publication number Priority date Publication date Assignee Title
EP4012118A1 (en) * 2020-12-08 2022-06-15 Volvo Construction Equipment AB Method of controlling working machine, control system and working machine
CN113250255B (en) * 2021-06-08 2022-08-19 上海三一重机股份有限公司 Engineering machine control method and device based on electronic enclosing wall and engineering machine

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Publication number Priority date Publication date Assignee Title
DE4342963A1 (en) * 1993-12-16 1995-06-22 Atlas Weyhausen Gmbh Limiting movement of powered arm of construction machine
JPH09158258A (en) * 1995-12-05 1997-06-17 Shin Caterpillar Mitsubishi Ltd Monitoring device of construction equipment
JP2006161306A (en) * 2004-12-03 2006-06-22 Hitachi Constr Mach Co Ltd Wiring routing structure of construction machinery
US9113047B2 (en) * 2010-10-22 2015-08-18 Hitachi Construction Machinery Co., Ltd. Peripheral monitoring device for working machine
JP6545430B2 (en) * 2013-03-19 2019-07-17 住友重機械工業株式会社 Shovel
EP3020868B1 (en) * 2014-11-14 2020-11-04 Caterpillar Inc. Machine of a kind comprising a body and an implement movable relative to the body with a system for assisting a user of the machine

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FR3095392A1 (en) 2020-10-30
FR3095392B1 (en) 2021-04-16

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