EP4223944A1 - System for preventing collisions between a charging device and a load vehicle - Google Patents

Abstract

A system for avoiding collisions between a loading device (1) with a loader arm (2) and a truck (3) comprising a position detector for the loader arm (2) assigned to the loading device (1), an obstacle detector ( 4) for detecting obstacles in the vicinity of the loader arm (3) and a controller (5) for controlling loader functions depending on a distance (a) between the loader arm (2) and one of the obstacle detection (4) detected obstacles. In order to increase the collision safety, it is proposed that the obstacle detection (4) determines the position of the truck (3) in space, that a virtual safety area (9) enclosing a driver's cab (8) is recognized and/or calculated and that the control ( 5) controls the loader arm (2) in such a way that a collision of the loader arm (2) with the virtual safety area (9) and possibly with the trough (6) is avoided.

Description

The invention relates to a system for avoiding collisions between a loading device, in particular a loader arm, and a truck, comprising position detection for a loader arm assigned to a loader, obstacle detection assigned to the loader for determining obstacles in the area surrounding the loader arm, and a controller for activating loader functions depending on the distance between the loader arm and an obstacle detected by the obstacle detection.

In the present sense, trucks are vehicles for transporting loads with a driver's cab and loading area, such as dumpers, which represent a special case of trucks. Dumpers are used to transport material on a construction site over short distances. When loading the dumper with a loader, in particular an excavator, a wheel loader or the like, a typical sequence of movements usually results. The excavator picks up the material to be loaded with its shovel and then swings in the direction of the waiting dumper. This pivoting movement repeatedly causes accidents because the excavator shovel pivots into the cab or driver's cab of the dumper. Drivers therefore always have to leave the dumper when loading.

The DE 102016224076 A1 discloses a method and a device for determining a position of a loader arm using a LIDAR system arranged on an excavator, the method comprising the following steps: emitting a plurality of laser beams in order to illuminate a plurality of measuring points on the loader arm, receiving beams reflected from the measuring points laser beams and determining a position of the loader arm relative to at least one reference point associated with the excavator using the reflected laser beams. For this purpose, it is known by means of the device in connection with a corresponding object and image processing that there are also people or objects in the vicinity of the excavator and clearly distinguishable from the detailed loading arm. In this way, collisions with the surroundings, for example with buildings, other vehicles, people or high-voltage lines can be avoided, for which purpose it is important to know the location and position of the entire loader arm in space, in particular protruding components. In the movement area of the loader arm, for example between a loading and a cutting area, there may be obstacles during the movement process, which are recognized by the LIDAR system of the device and avoided by appropriate control of the sub-segments of the loader arm or optionally by moving the entire excavator. If an obstacle cannot be avoided, the system stops by itself.

From the DE102017215379 A1 a method for determining a risk of collision between a commercial vehicle and a mobile working machine when loading and/or unloading a transport surface of the commercial vehicle is known, with the following steps. Detecting a distance between the commercial vehicle and the mobile working machine when loading and/or unloading the transport surface of the commercial vehicle using a loading unit of the mobile working machine and determining the risk of collision as a function of the detected distance. The charging unit of the mobile working machine and/or a warning device and/or a drive device and/or a braking system of the commercial vehicle and/or the mobile working machine can then be activated by means of a control signal depending on the risk of collision determined.

A particular disadvantage of this prior art is that the operator of the vehicle to be loaded often has to get on and off, which takes time and is uncomfortable. However, the operators often do not get off, so there is a risk of injury, particularly in the case of dumpers that do not have a driver's cab, i.e. are open. Such a driver's cab can therefore also not be reliably detected by the known collision systems.

The invention is therefore based on the object of creating a system of the type described at the outset, with which injuries to persons staying in the driver's cab of a truck during the course of a loading process can be reliably avoided.

The invention solves the task in that the obstacle detection determines the position of the truck in space, that a virtual safety area enclosing a driver's cab is recognized and/or calculated and that the controller controls the loader arm in such a way that a collision of the loader arm with the virtual Safety area and possibly avoided with the trough.

According to the invention, the loading device is controlled in such a way that a collision with the truck to be loaded and in particular a penetration of the loader arm into the safety area bordering a driver's cab is avoided. At best, it should not be possible for the vehicles to collide at all, so in particular a collision with the trough should also be avoided. The main goal, however, is to avoid colliding with the driver's cab or cab. In particular, the lifting arm of the loading machine should not swing too close to the cab. For this purpose, a virtual safety area enclosing the driver's cab and possibly a cabin is recognized and/or calculated and the loader arm is controlled via the controller in such a way that a collision of the loader arm with the virtual safety area and possibly with the trough is avoided. A loader driver will operate the loading device in the usual way. However, the control prevents the loading arm from entering the safety area.

For this purpose, the obstacle detection can determine the position of a trough of the loader in space and, following the trough, recognize and/or calculate a virtual safety area enclosing the driver's cab or the cabin.

In order to be able to advantageously identify the position of the truck and possibly the trough in space, it is proposed that the obstacle detection can include active and/or passive sensors assigned to the loader, with at least one active sensor in particular being directed towards the surroundings of the loader arm, which sensor detects an approach of the loader arm to the virtual safety area. The loading vehicle has sensors that on the one hand monitor the position of the loader arm and on the other hand recognize the position of the truck. The possibilities of monitoring the position of the loader arm are known from the prior art. In one variant, for example, angle sensors can be used to measure the position of the individual elements of the loader arm so that the position of the attachment can be calculated. On some excavators, especially mini excavators, the loader arm can also be pivoted sideways relative to the superstructure. In this case, the respective position can also be taken into account. The dimensions of the respective attachment tool can also be stored or entered in the electronics of the excavator, so that, for example, the actual position of a shovel edge or the tool in general is known. Preferably, the loading device can be equipped with a tool recognition and the position recognition for the loading arm can determine the position of the tool in space by means of geometric data of the recognized tool. In another alternative, a camera or sensor system can also be provided, which detects the position of the loader arm and, if applicable, the attachment tool.

The at least one active sensor directed toward the surroundings of the loader arm can include a 3D LIDAR sensor, at least two 2D LIDAR sensors and/or at least one radar sensor. Conventional sensors can be used to determine the position of the truck. In general, all sensors are suitable as sensors, such as can also be used in the automotive sector for autonomous driving. The / The sensors are arranged on the excavator, in particular on the superstructure. For example, the cabin can be used to mount the sensors. However, it would also be possible to position the sensors directly on the loader arm.

Because the greatest hazard is when the loader arm swings, the preferred design is to position one sensor on each loader arm near the excavator bucket. The sensors are aligned on both sides of the loader arm in such a way that when the loader arm is pivoted, an approach to the vehicle to be loaded can be detected.

When the controller detects an approach, a pre-selected action can be taken. For example, a warning to the driver, a reduction in the speed of movement or slowing down of the movement to a standstill. For this purpose, the respective actions can be controlled by the controller. The slewing gear or the hydraulics can be deactivated so that the hydraulic resistance in the hydraulic system causes a braking effect when the valves are closed. Various brakes, such as in particular a slewing gear brake or the like, can also be activated.

It could be distinguished by the control between the trough and security area. For this purpose, the truck and its alignment could be recognized, for example, with the help of image recognition software. For example, it could be permissible to get very close to the trough or even to touch it, since the risk to the truck driver is relatively small here. On the other hand, the cab or driver's station could be provided with a larger safety distance so that the loader arm is kept at a significant distance from it.

The safety system according to the invention can also be overridden by the operator of the loading device if, for example, the load has to be distributed evenly in the trough and the arm has to be moved very close to the safety area of the truck. In the deactivated or overridden state, the permitted movement speed of the machine is preferably limited.

The system described so far relates only to the charging device. In order to achieve greater accuracy, it would be conceivable to arrange additional elements on the truck. In addition, the obstacle detection can include active and/or passive sensors assigned to the truck. In an analogous manner, at least one active sensor can be directed toward the surroundings of the truck. The corresponding sensors have already been described above.

The at least one active sensor can span the virtual safety area around the driver's cab, which is detected by at least one active and/or passive sensor assigned to the excavator when the loader arm approaches the safety area.

For example, sensors or transmitters could be attached to the cab of the truck or in the vicinity/surroundings of the driver's cab, which allow improved detection or localization of the cab. The sensors on the excavator can be configured to use these signals for improved control.

For example, active transmitters could be used, based on the signals from which the excavator control system can calculate the exact distance. However, passive elements can also be used (e.g. reflectors) with which corresponding sensors on the excavator can also carry out improved measurements.

In one variant, a kind of bubble can be stretched around the cabin with a simple near-field sensor or similar, which an intelligent excavator with sensors recognizes as described. So that you can easily protect cabins but also particularly endangered areas on construction sites with this system by attaching such a sensor to the position to be protected. The "intelligent" excavator can then recognize this automatically.

The invention also includes loaders and trucks equipped with a system according to the invention.

Fig. 1

ein erfindungsgemäßes System mit Ladeeinrichtung und Lastfahrzeug in Seitenansicht und

Fig. 2

ein alternatives System mit Ladeeinrichtung und Lastfahrzeug in Seitenansicht.

In the drawing, the subject of the invention is shown as an example. Show it

1

an inventive system with charging device and truck in side view and

2

an alternative system with loading device and truck in side view.

A system according to the invention for collision avoidance between a loading device 1, in particular a loader arm 2 with associated tool, and a truck 3 comprises a position detector for the loader arm 2 assigned to the loading device 1, an obstacle detector 4 assigned to the loading device 1 for detecting obstacles in the area surrounding the loader arm 2 and a controller 5 for controlling loader functions depending on a distance a between the loader arm 2 and an obstacle detected by the obstacle detector 4, here a trough 6 of the truck 3.

In order to prevent the loading arm, in particular a loading tool 7 assigned to it, from penetrating into the driver's cab area of the truck 3, the obstacle detector 4 determines the position of the truck 3 in space, and a virtual safety area 9 surrounding a driver's cab 8 is recognized and/or calculated and controlled the controller 5 controls the loader arm 2 in such a way that a collision of the loader arm 4 with the virtual safety area 9 and possibly with the trough 6 is avoided.

The obstacle detection 4 preferably determines the position of the trough 6 of the loader in space, with a virtual safety area 9 enclosing the driver's cab 8 being recognized and/or calculated following the trough 6 .

The obstacle detection can include active and/or passive sensors 10 assigned to the loading device 1, with at least one active sensor 10 being directed towards the surroundings of the loader arm 2, which sensor 10 with the obstacle detection 4 detects an approach of the loader arm 2 to the virtual safety area 9.

The at least one active sensor 10, 11 directed towards the surroundings of the loader arm 2 may include a 3D LIDAR sensor, at least two 2D LIDAR sensors and/or at least one radar sensor. The active sensor 10, 11 can also be equipped to detect Bluetooth signals or with a 3D camera.

In particular, the loading device 1 can be equipped with a tool recognition and the position recognition for the loading arm 2 can determine the position of the tool in space by means of the geometric data of the recognized tool.

Obstacle detection 4 also includes active and/or passive sensors 11 assigned to truck 3. Preferably, at least one active sensor 11 is directed toward the surroundings of truck 3. The at least one active sensor 20 directed towards the surroundings of the truck 3 may in turn comprise a 3D LIDAR sensor, at least two 2D LIDAR sensors and/or at least one radar sensor.

The at least one active sensor 11 in particular spans the virtual safety area 9 around the driver's cab 8, which is detected by at least one active and/or passive sensor 11 assigned to the loading device 1 when the loader arm 2 approaches the safety area 9.

Claims (10)

System for avoiding collisions between a loading device (1) with a loading arm (2) and a truck (3) comprising a position detection for the loading device (1) for the loading arm (2), an obstacle detection (4) assigned to the loading device (1) for Determination of obstacles in the vicinity of the loader arm (3) and a controller (5) for controlling loader functions depending on a distance (a) between the loader arm (2) and an obstacle detected by the obstacle detection (4), characterized in that the obstacle detection (4) the position of the truck (3) in space is determined, that a virtual safety area (9) enclosing a driver's cab (8) is recognized and/or calculated and that the controller (5) controls the loader arm (2) in such a way that a collision of the loader arm (2) with the virtual safety area (9) and possibly with the trough (6) is avoided. System according to Claim 1, characterized in that the obstacle detection determines the position of the trough (6) of the loader in space and that a virtual safety area (9) enclosing a driver's cab (8) is recognized and/or calculated following the trough (6). becomes. System according to Claim 1 or 2, characterized in that the obstacle detection (4) comprises active and/or passive sensors (10) assigned to the loading device (1), at least one active sensor (10) being directed towards the surroundings of the loading arm (2). is which sensor (10) detects an approach of the loader arm (2) to the virtual safety area (9). System according to Claim 3, characterized in that the at least one active sensor (10) directed towards the surroundings of the loader arm (2) comprises a 3D LIDAR sensor, at least two 2D LIDAR sensors and/or at least one radar sensor. System according to one of Claims 1 to 4, characterized in that the loading device (1) is equipped with a tool recognition and that the position recognition for the loading arm (2) determines the position of the tool in space by means of geometric data of the recognized tool. System according to one of Claims 1 to 5, characterized in that the obstacle detection (4) comprises active and/or passive sensors (11) assigned to the truck (3). System according to Claim 6, characterized in that at least one active sensor (11) is directed towards the surroundings of the truck (3). System according to Claim 7, characterized in that the at least one active sensor (11) spans the virtual safety area (9) around the driver's cab (8), the active and/or passive sensor assigned to at least one of the charging device (1) at a Approach of the loader arm (2) to the safety area (9) is detected. Charging device (1) with a system according to one of Claims 1 to 5. Truck (3) with a system according to one of Claims 6 to 8.

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