RU2716035C1 - Collision avoidance assist system for movable working platforms - Google Patents

Abstract

FIELD: computer equipment.

SUBSTANCE: invention relates to computer engineering. Technical result is achieved due to device for generation of clouds of points, which is real outer shape of vehicle for transportation of people, intended for determination of location and orientation of vehicle for transportation of people in building and relative location and orientation of at least one movable working platform inside building, containing: known control point inside building, three-dimensional scanning facility, a stationary computing device, a known reference point of a mobile working platform, an installation apparatus, a first processor designed to generate a three-dimensional model representing a mobile working platform, and also intended to determine, based on up to 6 degrees of freedom, the location and orientation of said three-dimensional model representing said movable working platform.

EFFECT: technical result is to ensure possibility of preventing collisions between movable working platform and vehicle for transportation of people.

12 cl, 19 dwg

Description

The present invention relates to the field of positioning and collision avoidance between a mobile work platform (PRP) and a vehicle for transporting people (TSPL).

The closest analogue is US 5359542, which relates to a system for determining the location of an aircraft in a hangar and for restricting the movement of a plurality of gantry cranes around the aircraft, including a plurality of movable scanners that establish locations of a plurality of collinear points along the leading edges of the wings of the aircraft, including a processor system for determining the intersection points of lines drawn through collinear points, the intersection point and lines having a known relative position with respect to to other parts of the aircraft, by which the processor system also determines the location of other parts of the aircraft, while the processor system determines the limits of movement of the cranes relative to the aircraft.

DE 102012006371 relates to a method for printing on an object.

WO 2007101475 relates to an automated system with an outboard robot for surface treatment, in particular of an airplane, including a support P consisting of a bridge crane, a movable trolley on a bridge crane and a telescopic mast carried by a trolley and pulled down from it. The processing robot is supported by a mast at its lower end. The system is equipped with a GPS-based indoor facility, including several transmitters distributed in height on the columns, mounted on the base and independent of the hangar in which the processing system is installed, receivers supported by the telescopic mast, and receivers fixed at prominent points of the object so that it was possible to detect the location of the control point of the robot in the processing space to be measured, and the location of the marked points of the object in the specified processing space, as well as I signaling locating checkpoint and visible points of the object system management support and the robot on the basis of the detected location and shape based on the volume of the object stored in the control system.

The only collision between a mobile work platform and a vehicle for transporting people can lead to significant material losses, as well as be dangerous for people on the work platform.

The closest analogue is US patent US 5359542, because it relates to the same field of technology and a similar problem to be solved.

Differences of the present invention from US 5359542 are as follows:

A device for generating a point cloud (1A) representing the actual external shape of a vehicle (1) for transporting people, for determining the orientation of a specified vehicle (1) for transporting people in a specified building, as well as for determining the relative orientation of at least one mobile worker platform (2), and the orientation of the specified vehicle (1) for transporting people and the orientation of the specified mobile working platform (2) is carried out in relation to at least one known cont the role point (R1) of the building (4), containing:

- at least one known control point (R1) of the building (4), which is the starting point of the coordinate system with 6 degrees of freedom and serving as the central common control point, and

- at least one three-dimensional scanning means (3) for determining the specified real external shape of the specified vehicle (1) for transporting people, and

at least one stationary computing means (6) for generating said point cloud (1A) representing the actual external shape of the vehicle (1) for transporting people, and

- the specified installation tool (8), which sets the orientation taking into account up to 6 degrees of freedom of the mobile work platform (2) according to the control point (R2) with respect to the control point (R1), and

at least one first processor (21) for generating a three-dimensional model (2A) representing a mobile work platform (2), and

- the specified first processor (21) for determining the position taking into account up to 6 degrees of freedom and orientation of the specified three-dimensional model (2A) representing the specified mobile working platform (2), and

- three-dimensional scanning means (3), installation means (8), stationary computing means (6) and the first processor (21) are interconnected via communication means, and

- the specified first processor (21) is used to prevent collisions between the mobile work platform (2) and the vehicle (1) for transporting people.

The technical effect of these differences between US 5359542 and the present invention is to generate a point cloud (1A) representing the actual external shape of the vehicle (1) for transporting people. A technique using a point cloud is a new technology not available at the filing date of US 5359542, and is a significant improvement because it can additionally scan protruding TSPL elements (1), such as an antenna, which is not possible in US 5359542.

The real technical problem to be solved is the creation of an alternative improved device for preventing collisions between a mobile work platform (2) and a vehicle (1) for transporting people. Another problem to be solved is to increase the accuracy and reliability of determining software constraints on the corresponding movements.

Regarding US 5359542 (also referred to as the "Boeing patent") there are the following significant differences:

A) In the Boeing patent, the surface of an airplane (obstacle) is defined in two parts, firstly, the “scanned part” (recognition of 4 wing edges using photocells and determination of height using a visual pointer to determine the position of the aircraft in the hangar) and, secondly , “The other part of the aircraft” (drawings made using CATIA (computer-aided tridimensional interactive analysis - a package of computer interactive three-dimensional graphics, - note. Translation.), Are manually converted and translated into special data blocks for programmable a logic controller). In the present invention, the entire surface of an aircraft is determined in one scanning session using a three-dimensional lidar. As a result of the scanning session, a point cloud is obtained. A point cloud is automatically tied to permanently fixed calibrated control marks and to the hangar.

B) In the Boeing patent, special data blocks for a programmable logic controller for the “other part of the aircraft”, based on the CATIA model of the aircraft, require an engineering study, which is a significant job of manually converting data for each individual type of aircraft (Visually identify the position “ lines of the apparatus ”and cut the model into“ lines of the apparatus ”(X); Visually identify the position of the“ waterlines ”(Z) in specific places on the skin; Manually design, calculate and create data for each data block (starting point of the circle, starting radius, snap line, point multiplier, origin of the ellipse, values of the increase in the ellipse; Manually develop the application software, mainly based on trigonometry, to calculate real-time distances for specific lining sections; Manually create additional data sets for different flap positions by engineering). In the present invention, the subsequent processing of the resulting point cloud is carried out automatically using software, regardless of the type of aircraft (Automatic filtering of the point cloud; Automatic addition of forms (edge zones); Automatic creation of ready-to-use complete data on the aircraft).

C) In a Boeing patent, airplane data is determined once by data blocks for an airplane model, and the same data is always reused for the same physical type of airplane. In the present invention, the aircraft is scanned anew every time it enters the hangar.

D) In the Boeing patent, the principle of collision detection works by comparing the angles of the base structure and the points of impact of the mobile work platform with the calculated surface of the aircraft. In the present invention, the principle of collision detection works by calculating the penetration of any points measured and belonging to a real external surface / shape of a vehicle for transporting people, such as an airplane, into a virtual three-dimensional model representing a mobile work platform and including all physical boundaries, such as a work surface , handrails, mounts and other auxiliary equipment, and including its supporting or suspended mast, if any.

E) The Boeing patent assumes that all additional “other objects” must be located in certain places according to the plan, for example, potential areas where garbage cans are located, must be planned, laid out on the floor and entered into data blocks in advance. In the present invention, any other object can be additionally scanned during a three-dimensional scanning session and can be automatically added to a point cloud. This means that new obstacles present in some place can be automatically integrated.

F) The Boeing patent does not have a solution for overly protruding parts. In the present invention, if the TSPL has excessively protruding parts (e.g., antennas, etc.) that need to be scanned with high resolution, then the three-dimensional scanner can be switched to a higher resolution, and individual protruding parts can be further scanned. The resulting point cloud will be automatically entered into the main point cloud.

G) In the Boeing patent, collision avoidance is carried out between platforms using ultrasonic sensors at the level of movement of the bridge crane, tracking the relative distance between two adjacent bridge cranes in a wide range. In the present invention, assistance in preventing collisions between work platforms is provided on an ongoing basis by the onboard controllers by mutual monitoring of the relative position and orientation with respect to other adjacent work platforms, not only by verifying the mutual distance between the overhead cranes, but also based on the actual positions (coordinates ) of the proposed starting points of the mobile work platform.

The invention:

The present invention relates to a device for generating a point cloud (1A), representing the actual external shape of a vehicle (1) for transporting people located in a building (4), designed to determine the location and orientation of the specified vehicle (1) for transporting people in the specified a building (4) and intended to determine the relative location and orientation of at least one mobile work platform (2) inside the building (4), the location and orientation of the specified transport orthogonal means (1) for transporting people and the location and orientation of the indicated mobile work platform (2) are determined in relation to at least one known control point (R1) inside the specified building (4), while the specified device is designed to prevent collisions between the mobile a working platform (2) and a vehicle (1) for transporting people, said device comprising:

- at least one known control point (R1) inside the specified building (4), which is the starting point of the coordinate system with 6 degrees of freedom and serving as the central common control point, and

- at least one three-dimensional scanning means (3), designed to determine the actual external shape of the vehicle (1) for transporting people, and

- at least one stationary computing means (6) designed to generate a point cloud (1A) from the data of a three-dimensional scanning tool (3), wherein said point cloud (1A) represents the actual external shape of the vehicle (1) for transporting people, and

- one known control point (R2) of the mobile work platform (2) located on the specified mobile work platform (2) inside the specified building (4), and

- at least one installation tool (8) designed to set the location and orientation taking into account up to 6 degrees of freedom of the mobile work platform (2) inside the specified building (4) according to the control point (R2) of the mobile work platform (2) with respect to the position of the control point (R1) of the building, and

- three-dimensional scanning means (3), installation means (8), stationary computing means (6) and at least one first processor (21) are interconnected via communication means (30, 31, 32), and

- the specified one first processor (21), designed to prevent collisions between the mobile work platform (2) inside the specified building (4) and the vehicle (1) for transporting people by comparing the position of individual points of the generated point cloud (1A) with location and orientation three-dimensional model (2A) for determining the risk of collision between a mobile work platform (2) and a vehicle (1) for transporting people,

characterized in that said at least one first processor (21) is designed to generate a three-dimensional model (2A) representing a mobile work platform (2), while said first processor (21) is also designed to determine, taking into account up to 6 degrees of freedom of location and the orientation of the specified three-dimensional model (2A), representing the specified mobile working platform (2).

Preferably, said three-dimensional scanning means (3) is attached to at least two reference marks (S1, S2, S3, S4, S5, S6, S7, S8, S9, S10), which themselves are attached to at least one known reference point of the building (R1).

Preferably, only one or at least one mobile work platform (2) is located on each side of the longitudinal axis of the vehicle (1) for transporting people.

Preferably, 2, 3, 4, or 5 mobile work platforms (2) are located on each side of the longitudinal axis of the vehicle (1) for transporting people.

Preferably, the movable work platform (2) is either a work platform suspended under the roof of the building, or a work platform fixed on the base, or a wheeled work platform, or a combination of a work platform suspended under the roof of the building, and fixed on the base of the work platform, and the wheeled work platform.

Preferably, the mobile work platform (2) is automatically or manually controlled.

Preferably, the at least one mobile work platform (2) carries one or more printing devices, or cameras, or robots, or surface treatment devices, or people, or a combination of a printing device, and a camera, and a robot, and a surface treatment device, and people.

Preferably, the vehicle (1) for transporting people may be an airplane, a helicopter, a rocket, a space shuttle, a launcher for spacecraft, a train, a car or a bus, or a ship, or a part of any of the previously mentioned vehicles (1) for transporting people.

Preferably, the device comprises calibrated check marks (S1, S2, S3, S4, S5, S6, S7, S8, S9, S10) that are located on the fixed elements of the building (4) during the generation of the point cloud (1A).

Preferably, during the generation of the point cloud (1A), the three-dimensional scanning means (3) can be moved using the indicated mobile work platform (2) or remain stationary.

Preferably, the communication means is based on a LAN infrastructure based on a local Ethernet network (30) or a wireless local area network (31, 32).

Preferably, the stationary computing means (6) comprises at least one main server (10), and at least one second processor (20) for processing three-dimensional data received from the three-dimensional scanning means (3), and at least one first processor ( 21) for collision avoidance management, and at least one desktop graphical user interface (11), and an Ethernet LAN infrastructure (30, 31, 32) connecting all components together.

The present invention relates to the use of a collision avoidance device between said at least one mobile work platform (2) and said vehicle (1) for transporting people.

Preferably, the on-board first processor (21) of the mobile work platform (2) compares the location of the individual points of the generated point cloud (1A) with the location and orientation of the three-dimensional model (2A), so that if a risk of collision between the mobile work platform (2) and the vehicle ( 1) for the transportation of people, a predetermined deceleration curve is realized up to a complete stop with the mandatory observance of a predetermined minimum distance to physical contact between any part of the vehicle (1) for I transport people and a mobile work platform (2).

Preferably, the minimum distance between the mobile work platform (2) and the vehicle (1) for transporting people is from 100 to 200 mm, preferably 150 mm.

Preferably, the device is intended for dynamic route planning (PDM) of at least one mobile working platform (2), in order to partially or fully automate manually controlled movements of the specified mobile working platform (2) to the vehicle (1) for transporting people along and along it in accordance with programmed paths.

The present invention also relates to a method for generating a point cloud (1A) representing the actual external shape of a vehicle (1) for transporting people located in a building (4), and for determining the location and orientation of said vehicle (1) for transporting people in said the building, as well as to determine the relative location and orientation of at least one mobile working platform (2) taking into account up to 6 degrees of freedom, and, as defined in paragraph 1, this method is designed to prevent ascheniya collision between mobile working platform (2) and a vehicle (1) for transportation of people, and comprises the steps of:

A) determining a control point (R1) of the specified famous building (4), which is the starting point of a coordinate system with 6 degrees of freedom and serving as a central common control point, and

B) determining the actual external shape of said vehicle (1) for transporting people using at least one three-dimensional scanning means (3), and

C) generating a point cloud (1A) representing the actual external shape of the vehicle (1) for transporting people using at least one stationary computing tool (6), and

D) determining a known control point (R2) of the mobile work platform (2) located on the specified mobile work platform (2), and

E) setting the location and orientation of the mobile work platform (2) taking into account up to 6 degrees of freedom in accordance with the position of the control point (R2) with respect to the control point (R1) using at least one installation tool (8), and

F) generating a three-dimensional model (2A) representing a mobile work platform (2) using at least one first processor (21), and

G) determining, taking into account up to 6 degrees of freedom, the location and orientation of said three-dimensional model (2A) representing said mobile work platform (2) using the first processor (21), and

H) communicating between the three-dimensional scanning means (3), the setting means (8), the stationary computing means (6) and the first processor (21) using the communication means, and

I) comparing the locations of the individual points of the generated point cloud (1A) with the location and orientation of the three-dimensional model (2A) to determine the risk of collision between the mobile work platform (2) and the vehicle (1) for transporting people.

Preferably, the method has an additional step J) maintaining a predetermined deceleration curve up to a complete stop with mandatory compliance with a predetermined minimum distance to physical contact between any part of the vehicle (1) for transporting people and a mobile work platform (2) using the first processor (21).

Preferably, steps B) and C) of said method take from 60 to 80 minutes.

Preferably, steps B), and C), and I) of said method have a resolution of a point cloud (1A) of a vehicle (1) for transporting people from 10 mm to 50 mm.

Description of figures:

FIG. 1 shows a top view of a point cloud (1A) representing a vehicle (1) for transporting people in a building (4), and one mobile work platform (PRP) (2) on each longitudinal side of a vehicle (1) for transporting people (TSPL ), for example, an airplane, as well as all the means essential for the implementation of the present invention. The mobile work platform (2) moves along the TSPL (1) without contact with the TSPL (1).

FIG. 2 shows a front view of a point cloud (1A) representing a TSPL (1), for example an airplane, in a building (4), a control point (R1), two work platforms (2) on each longitudinal side of the TSPL in different positions and control marks (S1 , S2, S3, S4, S5, S6, S7, S8, S9, S10).

FIG. 3 shows a side view of a point cloud (1A) representing a TSPL (1), for example an airplane, in a building (4), a control point (R1), two work platforms (2) at different locations and control marks (S1, S2, S3, S4, S5, S6, S7, S8, S9, S10).

FIG. 4 shows the position of the control point (R2) at the intersection of the floor of the mobile work platform and the vertical axis of the vertical telescopic arm, and also shows the degrees of freedom (6 degrees of freedom) of the system on the mobile work platform suspended under the roof (2).

FIG. 5 shows the position of the control point (R2) on the system fixed on the basis of the mobile work platform (2) and the degree of freedom (6 degrees of freedom).

FIG. 6A is a schematic representation of a coordinate system with six degrees of freedom with respect to R2.

FIG. 6B is a schematic representation of a coordinate system with six degrees of freedom with respect to R1.

FIG. 7 is a photograph of a TSPL, such as an airplane, in a building and on one mobile work platform at different heights on each longitudinal side of the TSPL.

FIG. 8 shows a generated cloud of points (1A) of TSPL (1), for example, an airplane, in a building (4), as well as a generated three-dimensional model (2A) of two mobile work platforms (2).

FIG. 9 shows a classical form of a building structure (4).

FIG. 10 shows an airplane-optimized shape of a building structure (4).

FIG. 11 shows a hardware configuration, a network, and a wiring diagram between equipment constituting a collision avoidance system in accordance with the present invention.

FIG. 12 shows a block diagram of data flows between equipment constituting a collision avoidance system in accordance with the present invention.

FIG. 13A shows a top view of the main parameters for determining a simplified virtual three-dimensional model (2A) for a work platform suspended under a building roof.

FIG. 13B shows a side view of the main parameters for determining a simplified virtual three-dimensional model (2A) for a work platform suspended under a building roof.

FIG. 14A shows a side view of a virtual central portion (70), containment shells (71, 72) and (R2) representing PRP (2).

FIG. 14B shows a front view of the virtual central part (70) and the protective shells (71, 72) representing the mobile work platform suspended under the roof of the building (2), and (R2).

FIG. 14C shows a top view of the virtual central part (70) and the protective shells (71, 72) representing the mobile work platform suspended under the roof of the building (2), and (R2).

FIG. 14D shows a general view of the virtual central part (70) and the protective shells (71, 72), representing a mobile work platform suspended under the roof of the building (2), and (R2).

Detailed technical description:

According to FIG. 1, FIG. 2 and FIG. 3, the positioning and collision avoidance system of the present invention is typically used in determining the external surface / shape and location of obstacles, for example, a vehicle (1) for transporting people (SPL), in particular an aircraft, within a specialized area of a building (4), such as a hangar for painting and maintenance, for determining and establishing programmed travel restrictions for at least one mobile work platform (PDP) (2), and for controlling mobile workers platforms (PDP) (2) to prevent the collision.

According to FIG. 7, FIG. 9 and FIG. 10, the system will typically operate in a building (4), such as a hangar for painting and maintenance of aircraft, when the typical total size of the building (4) for parking one particular aircraft is about 80-90 m in length, 70-80 m in width and 30-35 m in height. The shape of the building (4) can be classic (see Fig. 9) or optimized for painting the aircraft (see Fig. 10).

FIG. 7 shows an airplane (1) in a building and one mobile work platform (2) on each side of the airplane (1).

The building (4) is equipped with PRP (2), and the mobile work platforms (2) are either mobile work platforms suspended under the roof of the building, or work platforms fixed on the base, or mobile work platforms placed on the floor, or a combination of workers suspended under the roof of the building platforms fixed on the basis of work platforms and mobile work platforms placed on the floor.

FIG. 4 and FIG. 5 show typical mobile work platforms (PDPs) — either suspended under the roof of a building (FIG. 4) or fixed to the base (FIG. 5).

PDP (2) usually carries operators for close access to various points around the TSPL (1) - for inspection or other work purposes. It can also be equipped, instead of transferring operators or for transferring together with operators, specialized devices containing a printing device, or a camera, or a robot, or a surface treatment device.

PDP (2) is usually manually controlled by operators, but can also be fully or partially automated.

PRP (2) can move with up to 6 degrees of freedom.

Preferably, the building (4) is equipped with two, four or six mobile work platforms (PDP) (2), with half of them preferably moving along the left side of the TSPL (1), and the other half on the other side of the TSPL (1).

At least one TSPL (1) is parked in the building, and TSPL (1) can be an airplane, a rocket, a space shuttle, a spacecraft launcher, a train, a car, a bus, or a ship, or another, or part of any of previously indicated vehicles for the transport of people (TSPL) (1).

Inside the building (4), other equipment for specialized use can be installed, stationary or mobile, related to the building (4) or to the process - usually ramps, or stairs, or scaffolding, or docks, or other work platforms, as well as structural elements of the building such as walls or columns.

The value of the external surface / shape: since for TSPL (1) the practice of parking every time exactly at the same place inside the building (4) is not usual and since different vehicles for transporting people (TSPL) (1) will have different spatial position / orientation and will undergo changes in their external shape - in comparison with the theoretical CAD model, due to changing loads on board the TSPL (1), changing damping elements and changing tire pressure, as well as changing main and auxiliary of equipment, it is necessary to determine the real external surface / shape of the indicated TSPL (1) as a cloud of points (1A) relative to at least one known control point (R1) of the building, which serves as the central control point with respect to the absolute origin of the system with six degrees of freedom inside the building (4) with respect to which the mobile work platforms (PDP) are moving (2). In the context of the same situation, the location and orientation of the TSPL (1) are determined taking into account up to six degrees of freedom.

Preferably, this method has a resolution of the point cloud (1A) of the TSPL (1) in the range from 10 mm to 50 mm, while the resolution for simple shapes (aircraft fuselage) may be lower, and for more complex shapes (small antennas) it may be higher. Preferably, said method requires 60 to 80 minutes to collect and process data from a complete point cloud.

The installation tool (8) is usually a combination of several devices, such as at least one encoder and at least one programmable logic controller (12), see FIG. eleven.

The position of the PDP (2) is determined using the installation tool (8) to determine the known control point (R2) of the PDP (2) with respect to (R1).

In the case of a typical collision avoidance application, a three-dimensional model (2A) is generated on the basis of the installation device (8), representing the PDP (2), its position and orientation, taking into account up to 6 degrees of freedom with respect to the specified control point (R2).

The three-dimensional model (2A) is a combination of simplified forms, including not only the working surface of the mobile work platform, but also the railing, mounts, guide masts and other auxiliary elements, and it is optimized as close to reality as possible.

The resulting shell of the three-dimensional model (2A), representing the PRP (2), is expanded proportionally to achieve the desired values of the safety factors in order to form virtual protective shells around the working platform. The positions of the individual points of the generated point cloud (1A) representing the TSPL (1) are compared with the position of the three-dimensional model (2A). Thus, when a potential collision risk is detected between PRP (2) and TSPL (1), a predetermined deceleration curve is realized up to a complete stop of the PRP (2) with the required minimum distance being observed in order to avoid physical contact between any part of the TSPL (1) and PRP (2).

Conventional settings are performed to ensure a decrease in speed when the distance between the PRP (2) and TSPL (1) is about 800-1000 mm and to ensure complete stop at a minimum distance between the PRP (2) and TSPL (1) of about 100-200 mm.

The direction of potential risk is determined, so that only the movement of the PRP (2) towards the TSPL (1) is limited.

FIG. 8 shows a generated point cloud (1A) of an airplane (1) in a building, as well as a generated three-dimensional model (2A) of a mobile work platform (2).

Since the point cloud (1A) can include other points that do not belong to the TSPL (1), related to other elements located inside the building (4), and within the working range of the mobile working platform, the application of the collision avoidance method can be expanded and used also to other elements with the same effect.

Since different PDPs (2) can share the same working area, the application of the collision avoidance method can be extended to collision avoidance between mobile work platforms (PDPs) (2).

The present invention also relates to the use of a device for automating now manually controlled movements of said PRP (2) along the TSPL (1) based on programmed paths.

The terminology used to describe the coordinate system is described below, in accordance with which the real external surface / shape and location / orientation of the TSPL (1) relative to which the PRP (2) moves are determined.

According to FIG. 1, FIG. 2, FIG. 3 and FIG. 6A, one known absolute reference point (R1) of a building is a predetermined point located inside the building (4) and is the starting point of a coordinate system with six degrees of freedom. The exact location is set once, during commissioning, using a special bench measuring tool, such as a laser tracker, and may vary slightly from building to building. This point is defined as a common reference point for all systems. To determine the orientation of the X, Y, and Z axes, the following condition is accepted: the orientation of the TSPL entry (1) into the building (4) sets the direction of the X axis. The right hand rule of the Cartesian coordinate system is used to determine the other axis and rotations, where the X axis is the main horizontal direction , the Y axis is perpendicular to the X axis, and the Z axis is perpendicular to the XY plane.

According to FIG. 4, FIG. 5 and FIG. 6B, the control point (R2) of the PRP (2) is a given point belonging to the PRP (2) and identical for each type of PRP (2). R2 may be a center of mass or other arbitrary point and is determined once using CAD. R2 is the beginning of a coordinate system with six degrees of freedom with respect to the freedom of movement of the PRP (2) in three-dimensional space. PRP (2) has the freedom to change position in translation on three perpendicular axes in the form of movement forward / backward, up / down, right / left, and change orientation due to positive or negative rotation around three perpendicular axes, called tilt, rise and rotation. Preferably, the operator controls the PDP (2) with respect to R2.

At least one three-dimensional scanning means (3) is used to determine the outer surface of the TSPL (1). The three-dimensional scanning tool (3) is usually a lidar based on a technology using circular laser pulses to measure distances to a target by illuminating such a target and measuring reflected pulses using a sensor, so that there is a difference in the times of arrival of reflected laser pulses and in wavelengths can be used to create digital three-dimensional representations of the target in the form of a point cloud. This high-performance laser scanner is preferably transportable, has a built-in calibrated inclinometer, and preferably has wireless LAN equipment, a stand-alone battery system, and uses real-time data acquisition techniques such as the commercially available Faro Focus S70 scanner.

Three-dimensional scanning means (3) are attached to at least two control marks (S1, S2) of the building, which themselves are attached to at least one known reference point (R1) of the building. Preferably, these special building reference marks (S1, S2, etc.) of the building are calibrated and placed once upon first commissioning on a fixed part of the structure or on the floor using a special metrological device such as a laser tracker.

Three-dimensional scanning tool (3) will be programmed to fix, first of all, these control marks (S1, S2, S3, etc.) of the building before each scanning process and generating a point cloud (1A).

The positioning and collision avoidance system of the present invention can integrate multiple mobile PDP work platforms (2) and scanning tools (3). The number and types of mobile work platforms PRP (2) depend on the configuration of the building (4). The number of scanning tools (3) is determined by the maximum allowable duration of scanning operations. The scanning process can be carried out in parallel using several scanning tools (3). Usually the use of two scanning tools reduces the time of the scanning operation by half.

Hardware Configuration:

According to FIG. 11, which illustrates the hardware configuration, the network, and the connection diagram between the various equipment components that make up the positioning and collision avoidance system, the system being based on two PDP mobile work platforms (2) and two scanning tools (3). For greater convenience, the PRP 1 (2) is connected to the three-dimensional scanning means 1 (3) and will work on the left side of the center line of the building (4), and the PRP 2 (2) is connected to the three-dimensional scanning means 2 (3) and will work on right side of the center line of the building (4).

The system is composed of three main subsystems: three-dimensional scanning means (3), stationary computing means (b) and control equipment (7) with a mobile working platform.

The term “communication means” refers to equipment that supports communication and exchanges data through LAN interfaces based on an Ethernet local network (30) or a wireless local area network (WLAN) (31, 32).

LAN / WLAN (30, 31, 32):

To ensure the operation of the wireless LAN based on Ethernet (32), between the three-dimensional scanning means (3) and other equipment, the building (4) is equipped with access points (31) to the wireless Ethernet LAN, fixed on the building structure (4), preferably on each side of the building (4), when viewed from the center line of the building (4), to optimize operations. Depending on the configuration of the building (4), the number and location of access points (31) may vary. All access points for wireless Ethernet are connected to a LAN based on an Ethernet LAN (30). All equipment associated with a positioning and collision avoidance system and connected to a LAN based on an Ethernet LAN has the same IP range and subnet and should preferably be separated from foreign networks or IP partners to prevent interference .

Three-dimensional scanning means (3):

The three-dimensional scanning means (3) preferably have wireless LAN communication means and are configured in the LAN domain to automatically reconnect to the wireless LAN.

Stationary computing tool (6):

Stationary computing means (6) contains one first dedicated processor (21) for processing three-dimensional data (20) from three-dimensional scanning means (3). The stationary computing tool (6) also contains one main server (10), which serves as the main database for the point cloud and also acts as an interface converter for the control equipment (7) with a mobile working platform. The graphical desktop user interface (11) is typically an interactive screen specifically designed to serve as a machine-man interface.

Equipment for mobile platform control (2):

Each mobile operating platform PRP (2) contains on-board control equipment, including a programmable logic controller (PLC) (12), preferably a fail-safe type, such as Siemens Simatic S7-3xx-F. Each axis of the PRP drive (13) (2) is independently controlled by a multi-axis PLC-based drive and a control unit (14). All types of drives are suitable for the drive axis (13), and inverter drives or adjustable proportional valves are preferred for smoother control, however, the system will also work if the drives are driven directly from the motor starters. The current position of each axis of the PRP (2) is determined using a set of absolute installation tools (8), connected directly to the PLC block (12) via an industrially produced bus, for example, Profibus or Profinet, (15) and connected in accordance with the method described below. The on-board PLC unit (12) is connected to the on-board manual control panel (16), on which the operator sets the points of a series of movements, usually using the control knobs or buttons, while the PRP (2) is controlled manually. The orientation of the manual control panel (16) is determined by R2, in the X + direction from R2, and the remote control is rigidly integrated so that its orientation cannot be changed. The on-board control equipment also includes a first dedicated processor (21).

Method installation binding (8):

Now it is necessary to describe the method of fixing the installation tool (8) used to determine the location and orientation of the PDP (2), which has the origin R2. The installation means (8) are all tied once during commissioning to predetermined values with or without correction amount, at predetermined positions and in accordance with R1. The method uses a set of flags, usually arrows for greater accuracy, placed and carefully fixed on a moving structure or on the PDP (2), and the corresponding CAD models generated by the concept of PDP (2). Where necessary, the same metrological device that is used to fix R1 can be used to fix certain positions of these flags. Validation and integrity checks are built into these installation tools (8), and they are cyclically checked using the PLC airborne unit (12). These checks are: the correctness of the direction of rotation / movement relative to the direction of movement; change of rotation / displacement values without active movement; no change in rotation / displacement values with active movement; the reliability of the speed data between the speed of the point of the series of movements and the speed of the encoder; validation by checking the encoder value compared to the set value in the verification position, triggered by activating the validity sensor when passing the flag placed on a statistically frequently traveled section of the path.

This method allows you to determine the location and orientation (R2) with respect to coordinate systems having (R1) as the beginning.

Functions, and the database, and data exchange, and data input / processing / output:

FIG. 12 illustrates a data flow diagram linking various modules used during various phases of operation.

From the point of view of operation, the method is based on two main stages of operation, the first stage corresponding to the collection of points and the generation of one unique point cloud (1A), and the second stage corresponds to collision avoidance in the process of using PRP (2).

The essence of the first stage of work is the application of the following modules. One first module, called a three-dimensional scanning module (40), is responsible for collecting partial clouds (41) of points, each of which corresponds to a part of the TSPL (1). The number of three-dimensional scanning modules (40) corresponds to the number of three-dimensional scanning means used in the system. Each partial cloud (41) of points is sent to another module, called a three-dimensional module (42). The three-dimensional module (42) is responsible for collecting, filtering and co-displaying partial clouds (41) of points and for creating one unique complete cloud (1A) representing the outer surface of the full TSPL (1). The generated full point cloud (1A) is sent to the next module, called the control module (43).

The second stage of work is the application of the following modules. The control module (43) serves as the central control system for storing the resulting complete cloud (1A) generated during stage 1, and for transmitting the full cloud (1A) to other collision avoidance modules (44). The control module (43) also serves as the main user interface for operators. This control module (43) also stores all the static parameters that qualify the building (4), the installation parameters of the PDP (2), the characteristics of the TSPL (1) and all other characteristics necessary to determine the limitations of the system as a whole. The collision avoidance module (44) first combines the PDP settings (2) received from the control module (43) and the data of the current PDP location (2) received from the programmable logic controller (PLC) module (45) of the mobile working platform to build a three-dimensional model (2A) representing the PRP (2) and its current location and orientation. By comparing the correctly positioned and oriented three-dimensional model (2A) and each point of the full cloud of points (1A) received from the control module (43), the collision avoidance module (44) generates movement permissions for the PLC module (45) of the mobile work platform. The number of collision avoidance modules (44) corresponds to the number of mobile work platforms (PDPs) (2). The PLC module (45) of the mobile working platform determines the current location and orientation of the PRP (2), based on the installation tools (8) and the previously described method, and sends information to the collision avoidance module (44), and also restricts the movement of the PRP (2) based on traffic permits received from the collision avoidance module (44).

More precisely, each module consists of specialized software.

3D Scan Tool Embedded Software:

The three-dimensional scanning module (40) is formed from the firmware (46) belonging to the three-dimensional scanning means (3). The purpose of this firmware (46) is to perform each scan and generate partial clouds (41) of points. Scan requests are based on trigger signals and parameters sent via a dedicated interface (48) according to data using application software (47) for three-dimensional graphics belonging to a three-dimensional module (42). Each partial cloud (41) of points, each corresponding to a part of the TSPL (1), contains at least two control marks (S1, S2) of the building, automatically recognized by the built-in software (46). Typical parameters sent by the application software (47) for three-dimensional graphics via an interface (48) according to the data are the settings for the required resolution and settings for the required quality, since most of the three-dimensional scanning tools (3) can work with multi-level resolution at various levels quality. Resolution settings determine the relative distance between points in the point cloud and the corresponding level of detail. With increasing resolution settings, the number of recorded points increases and the relative distance between the points decreases. When the resolution settings are reduced, the number of recorded points decreases and the relative distance between the points increases. Setting resolution parameters is based on the required level of detail, the distance to the TSPL (1) and the distance to the reference marks (S1, S2). Setting quality parameters determines the measurement speed and noise reduction. With increasing quality settings, the measurement speed decreases. The time during which the scanner holds each scanned point, as well as the statistical accuracy of the measurements of each point are increased by taking numerous measurements in order to confirm the information by averaging the result. Noise reduction is performed using an internal algorithm used to determine if differences in scanned points are an accurate representation of detail or noise. The algorithm compares scanned points within a certain distance from one to another and determines whether this difference fits into the tolerance specified when setting quality parameters. If not, the scanned point is deleted. In essence, the setting of quality parameters is selected based on environmental conditions, bearing in mind that better quality requires more scanning time, lower quality increases error tolerances.

3D Scan Module / 3D Module Interface:

Via the same interface (48), according to the data, the three-dimensional scanning tool (3) immediately transfers back to the application software (47) for three-dimensional graphics its own current status of the operating mode. As soon as the partial cloud (41) of points has been completely processed, a three-dimensional scanning tool (3) compiles each set of scan data into a special file and sends it through a dedicated interface (48) according to the data to the application software (47) for three-dimensional graphics.

Application software for three-dimensional graphics:

The application software (47) for three-dimensional graphics runs either on a dedicated physical computer or on a virtual machine installed on the main server (10). Application software (47) for three-dimensional graphics collects and stores in the local database (49) all special files related to a partial point cloud (41). The next step is automatic registration and subsequent processing. Three-dimensional graphics application software (47) is an in-house development that manages additional features launched by specialized 3D graphics software (50) sold on the market, such as Faroscene by Faro or Polyworks by InnovMetric Software Inc., and interacts with it using a specialized software development kit (SDK).

During the joint display of all partial point clouds, the main aspect is the use and attention to all the control marks (S1, S2, etc.) of the building located in each partial cloud (41) of points, firstly, for the purpose of accurate display and secondly, to convert all the points that make up the full cloud of points (1A), in accordance with the control marks (S1, S2, etc.) of the building and, therefore, with R1.

In application software (47) for three-dimensional graphics, additional special features are applied depending on the configuration of the building (4) and its content.

The first special feature of the application software (47) for three-dimensional graphics excludes data that is not used for the collision avoidance system in order to limit the size of the processed files and, consequently, the time of subsequent processing. In fact, even if the three-dimensional scanning tool (3) can, with its maximum scanning range, scan the building (4) in full with all its details, for example, walls, roof, floor and other static obstacles, only data in a limited range determined by the maximum working range should be considered PDP (2) inside the building (4). A set of parameters determines the working range of the scan. This means that TSPLs are scanned (1), while additionally, if properly digitized, other building elements (4) and any of its details, such as walls, ceiling, floor and other static obstacles, are scanned within the maximum PRP range (2).

Another additional feature limits the time for subsequent processing. The method consists in obtaining points in two stages, when all static points, for example walls or other fixed obstacles, are scanned, undergo subsequent processing and stored during the first stage. The second stage corresponds to a systematic scan, as part of the first scan, to obtain points corresponding to non-static points belonging to TSPL (1), for example. Therefore, systematic post-processing is limited only to the second stage. The resulting points of the first and second stages at the end merge together.

Another feature is used to create a virtual wall of points if necessary and depending on the configuration of the building (4), and also depending on the requirements of the collision avoidance system. Creating a virtual wall of points is carried out using application software for three-dimensional graphics based on the criteria contained in the set of parameters determined during commissioning.

The result of the implementation of the filtering and mapping algorithm for all points of a partial point cloud is one combined unique full point cloud (1A), which is systematically associated with the qualifying parameters of the TSPL (1) and stored as a special file in the local database (49) belonging to the application software ( 47) for three-dimensional graphics. The associated file is used by the application software (47) for three-dimensional graphics to verify by comparing a point cloud between the newly scanned TSPL (1) and previously saved data for the same type of TSPL (1), and the percentage of similarity between them is given as statistical information by both.

In addition, each complete point cloud (1A) is transformed using specialized software (50) for three-dimensional graphics into a one-sided triangulated grid, and a file of the “.stl” format is created, which is stored in the same local database.

A dedicated local graphical user interface (51) allows the operator using specialized software (50) for three-dimensional graphics to access data stored in a local database (49) of data, in particular, data on a partial and full point cloud (41, 1A) . This user interface is mainly used, if necessary, to check specific details, but does not have any operational capabilities.

Application Management Software:

The applied management software (52) is an in-house development and should be considered as a program for the functioning of the entire system. It is installed on the one main server described above (10). The task of the applied control software (52) is to coordinate both work steps by managing the first work step and transferring the results of the first step to the second work step.

The application management software (52) stores in its dedicated database (53) all static parameters that qualify the building (4), the PRP settings (2), the characteristics of the TSPL (1) and all other characteristics for determining the limits of the system as a whole. The location of the scan positions is a determining factor for limiting the number and surface of shadows corresponding to invisible or poorly distinguishable surfaces, especially on complex or large-sized TSPLs (1). Therefore, based on the characteristics of each type of TSPL (1), the optimal location of the scan positions and the optimal resolution will differ and will be stored separately in the database.

To perform step 1, the complete set of parameters defined above is systematically transmitted with a scan request from the application control software (52) to the application software (47) for three-dimensional graphics through a dedicated interface (54) according to the data. In turn, and through the same data interface, the resulting unique full point cloud (1A) is automatically exported from the database (49) of the application software for three-dimensional graphics to the database (53) of the application management software.

One application (55) for the main graphical user interface is executed from the desktop graphical user interface (11). Application (55) for the main graphical user interface consists of several menus with different access levels and is password protected. From this central point, any installation can be checked or modified, while you can see the status and indicators of the presence of the process in the entire system.

A specially developed three-dimensional animated image in real time with respect to static and fully movable building components (4) can be visualized on the user interface (55), showing in real time the location and orientation of the building components (4), TSPL (1) and mobile work platforms (PDP) (2) during operation.

Interface Management Application / Collision Avoidance Application Software:

Through a dedicated interface (56), according to the data, the applied control software (52) shares the resulting complete point cloud (1A) with the collision avoidance application software (57) and simultaneously with the PRP settings (2). The transmitted data is stored in a local database (64) belonging to the application software (57) of the collision avoidance process.

Collision avoidance application software / PLC operation software of a mobile work platform:

The collision avoidance process application software (57) is a proprietary design for managing the collision avoidance process. The application software (57) of the collision avoidance process is installed on each onboard first processor (21) of each PRP (2).

According to FIG. 14D, the preliminary task for the application software (57) of the collision avoidance process is to build a simplified virtual three-dimensional model (2A) as a virtual main shell representing the PRP (2) and based on a set of parameters that define and include the physical boundaries of the PRP (2), such as a working surface, railings, fastenings and other additional elements, as well as including its supporting or suspended mast, if any, and having all the parameters for the origin of coordinates R2. FIG. 13A and FIG. 13B illustrate the principle applicable to any type of PDP (2). The number of volumes that make up the main shell depends on the complexity of the PRP design (2), however, this quantity must be kept fairly small, since this affects the main characteristics of the calculations.

According to FIG. 14A, 14B, 14C, 14D, another set of parameters is used to expand the main shell (70) in all directions to create virtual protective shells. Usually, the first largest containment (71) is created, which corresponds to the zone where only low speed is allowed. Next, a second smaller containment shell is created that corresponds to the area where movement is not permitted.

Returning to FIG. 12, the software (58) of the PLC operation of the mobile working platform is its own development for controlling, based on the set points, fixed from the hand-held control panel (60) used by operators, moving the axis representing the PRP (2), and also for instant determination using the above-described installation means (8) of the location, taking into account six degrees of freedom and orientation of the PRP (2) with respect to the origin of coordinates R2, as well as with respect to coordinate systems with origin in R1, using the e way to bind.

The current location, taking into account six degrees of freedom and the orientation of the PDP (2), is determined and shared by the application software (57) of the collision avoidance process through a fast and reliable dedicated interface (59) according to the data.

Based on the data obtained through this interface (59) according to the current location, taking into account six degrees of freedom and orientation of the PDP (2), the application software (57) of the collision avoidance process converts them and orientes virtual three-dimensional models (A) - the main shell (70) and containment shells (71, 72) - relative to coordinate systems with origin in R1.

A specialized application software algorithm (57) for the collision avoidance process compares the location of each individual point of the generated full point cloud (1A) representing the TSPL (1) and the starting point R1 with the set of surrounding study areas around the PDP (2) determined by data conversion and orienting virtual three-dimensional models (2A) having a starting point R1. As a result of this comparison, the application software (57) of the collision avoidance process determines, in accordance with R2, the direction (s) of potential collision risk.

So when the potential collision risk between PRP (2) and TSPL (1) is determined, the application software (57) of the collision avoidance process sets a set of permits for high speed in accordance with R2, unlocking the corresponding movement in accordance with the settings of the protective shells and combined with information regarding directions of movement. The information is instantly used in conjunction with the process (58) of the PLC of the mobile work platform using a fast and reliable dedicated interface (59) according to the data.

The process (58) of the PLC of the mobile work platform combines the set movement points recorded from the manual control panel (60) used by the operators with the permissions to unlock / block high speed, movement and direction to limit movement, obtained from the software (57) of the collision avoidance process respectively, along any axis, as well as in accordance with R2, it implements the collision avoidance function between PRP (2) and TSPL (1).

As defined above, a full cloud of points (1A) can also integrate parts of a building (4) and any of its details, such as walls, roof, floor and other static obstacles that are within the maximum range of PRP (2). Due to the expansion, the collision avoidance function can be extended not only to the vehicle for transporting people, but also to parts of the building (4) and any of its details.

The panel (61) of the local user interface shows the operator on the spot, on the PRP (2), by means of a simple light indication whether the collision avoidance system is activated, whether it is in good condition and whether or not there is a danger of a potential collision.

In the meantime, through a dedicated interface (56), according to the data, the application software (57) of the collision avoidance process instantly jointly provides the results of its calculations to the applied control software (52) for detection and tracking purposes. All input and output conditions of the second stage of work are stored in the main database (53).

Since the software (58) of the PLC process of the mobile work platform and the software (57) of the collision avoidance process are interconnected via the data interfaces described above (59, 56) and share data representing mobile work platforms (PRP) (2), related to the study areas and the current location, taking into account six degrees of freedom and orientation of each mobile work platform, the collision avoidance function can be extended to the lknoveny between different PDPs (2) with the same effect as described above, by comparing each study area for each PDP (2), all of which have a starting point R1. For greater efficiency, direct data exchange interfaces (62, 63) are provided between the PLC process software (58) and the collision avoidance application software (57).

The system can be expanded to fully automate movements during work. With this system, the applied control software (52) determines the constraints, prescribes and controls in the dynamics the trajectory of the PRP (2) for automatic movement, and also optionally controls a number of numerically controlled working bodies mounted on the PRP (2) that can spray and dosing water, cleaning agents, paint, and which can perform other operations on TSPL (1). Another extension of the system, known as dynamic trajectory planning, includes improving the health and safety of employees, as well as reducing lead times. The dedicated interface (65) according to the data is used to transmit instructions generated by the applied control software (52) on moving the PLC process software (58) to the mobile working platform, and in response to transmitting status indication signals from the PLC process software (58) to the mobile working platform platforms - back to application management software (52).

Work Stages:

From the point of view of operation, the method is based on two main operating stages, the first stage corresponding to the collection of points and the generation of one unique point cloud (1A), and the second stage corresponds to collision avoidance during the operation of the PRP (2).

STEP 1:

The first stage of work is carried out by systematic three-dimensional scanning every time the TSPL (1) enters the building (4).

As described above, due to the large size and complexity of the outer surface of the TSPL (1) and in order to avoid shadows where measurements of acceptable quality cannot be carried out, a multiple scan procedure from several predetermined scan positions is required. The control application management software (52) stores in its dedicated database (53) for each type of TSPL (1) data on the optimal scan positions and, accordingly, the optimal resolution. Scan positions are defined for combining TSPL scans (1) on the side, top and bottom. It should be noted that for different scan positions, the operator must take into account the need to maintain a sufficiently safe distance from the place where the TSPL is supposed to be (1), since the detection process has not yet been completed and the collision avoidance system is not involved. Due to the large size of the TSPL (1), it is necessary to use passenger lifts to reach the top positions. If the mobile work platforms (PRP) (2) have a lifting function, then they can be used to reach the top positions. In the case of using mobile work platforms (PRPs) (2), they can be manually controlled by operators to reach each scan position or vice versa, be pre-programmed to reach each scan position in an improved automatic way. The collection sequence remains unchanged in both modes.

As described above, the building (4) should preferably be equipped with two, four or six mobile work platforms (PRP) (2), with half of the mobile work platforms (PRP) (2) preferably moving along the left side of the TSPL (1), and the other half along the other side of the TSPL (1). The implementation of the present invention is based on two PRP (2) and two scanning means (3). For greater convenience, one PRP (2) is connected to one scanning tool (3) and will work on the left side of the center line of the building (4), and the other PRP (2) is connected to another scanning tool (3) and will work on the right side from the center line of the building (4). The scanning process can be performed in parallel, while usually the use of two scanning tools (3) reduces the scan time by half.

The data collection sequence is automatic and coordinated by the managing application software (52), as described above.

TSPL (1) is placed in its specific place under certain conditions. Other specialized specialized mobile equipment, usually stairs, step-ladders, scaffolding, docks or other work platforms, are also located in their specific places and under certain conditions. The operator brings the PRP (2) to a predetermined starting position, preferably at the floor level, and carefully places the scanning means (3) in a predetermined position on the PRP (2). Meanwhile, the second operator does the same with the scanning tool (3) on another PRP. (2) Both scanning tools are turned on. After the completion of the system boot sequence, the operational status of each scanning tool (3) is sent to the control module (43) through the three-dimensional module (42) and the corresponding data interfaces.

Now the authorized operator can start the procedure of step 1 using the application (55) for the main graphical user interface. Each PRP (2) is brought to the first scanning position either using manual control or in the advanced automatic mode. Upon reaching the first scan position, the first partial point cloud is collected (41). Upon completion, each PRP (2) is transferred to the second scanning position and so on until reaching the last scanning position and obtaining data from the last partial point cloud (41).

The completion of the operation can be checked using the application (55) for the main graphical user interface, first by automatically detecting missing data, and also visually by checking the received three-dimensional data. If necessary, additional scanning can be done or scans can be redone.

When one complete unique point cloud (1A) is performed properly, the operator transfers the PRP (2) to its initial position and carefully removes the scanning tool (3). Meanwhile, the second operator does the same job on the PRP (2) with the scanning tool (3).

Since the positioning and collision avoidance system is based on optical equipment - a three-dimensional scanning tool (3) - for determining a point cloud (1A), and a building (4) can be used for painting work, the optical equipment should preferably be installed when the TSPL (1) just parked, and must be removed after determining the outer surface / shape of the TSPL (1) and before starting work on painting or maintenance. This, firstly, avoids the risk of splashing onto the optical lenses of telemetry equipment, as well as avoiding the use of special equipment designed to work in hazardous conditions, also known as explosion-proof, when solvent based paint is used. You must understand that the method is based on determining the location / orientation and the outer surface / shape of the TSPL (1) at a certain instant under certain conditions. Changes in conditions after the scanning procedure are not taken into account by the system. It should be noted that the system can be improved to work also during paint work or maintenance and will therefore be able to provide data instantly / in real time during paint work or maintenance.

STEP 2:

The second stage of work corresponds to collision avoidance during the use of PRP (2) for production tasks.

As described above, one unique full point cloud (1A) is automatically shared with the control equipment (7) of the mobile work platform.

In order to confirm operation before the start of production work movements under the control of the collision avoidance system, the operator must briefly verify its correctness. This is done on a virtual test facility marked as a square on the floor and having a virtual height of one meter. When the collision avoidance system is activated, the operator brings the virtual test object closer to the PDP (2) from different directions and checks whether the speed reduction and the full stop are properly performed, as well as the reverse movement in the opposite direction from the potential collision. A virtual test object is a fixed part of a full point cloud. Several virtual test objects can be virtually placed in convenient places inside the building (4) during the commissioning of the system and marked accordingly on the floor.

The reaction of the system in stage 2: During the movements of the PRP (2) in stage 2, the feedback platform control equipment (7) examines in real time the potential collision between the PRP (2) and the TSPL (1). When an intersection is detected between the full cloud of points (1A) and the protective shell (71) of the PRP (2), then the PRP (2) is allowed to continue its movement only at low speed, while the light signal indicates this condition. When an intersection is detected between the full cloud of points (1 A) and the protective shell (71) of the PRP (2), then the PRP (2) completely stops, and the light signal indicates this condition. In this case, the operator is allowed to move only in the opposite direction from a potential collision.

From the point of view of operation and as mentioned above, the PRP (2) is usually controlled from the hand control panel (16), while the operator generates setpoints for displacement, usually using control knobs or buttons. The effect of using a collision avoidance system is to limit the axial movement speed in the corresponding direction to safe values.

It should be noted that the collision avoidance system can be blocked through the application (55) for the main graphical user interface. In this case, the PRP (2) can move freely at six degrees of freedom, limited only by its physical freedom of movement.

You must understand that some features of the invention, which are described for clarity in the context of individual embodiments, can also be performed in combination in a single embodiment. Conversely, various features of the invention, which are described for brevity in the context of a single embodiment, may also be performed separately or in any suitable subcombination.

Claims (20)

1. A device for generating a point cloud (1A) representing the actual external shape of a vehicle (1) for transporting people located in a building (4), designed to determine the location and orientation of the specified vehicle (1) for transporting people in the specified building ( 4) and designed to determine the relative location and orientation of at least one mobile work platform (2) inside the building (4), the location and orientation of the specified vehicle (1) for transporting the action and location and orientation of the indicated mobile work platform (2) are tied to at least one known control point (R1) inside the specified building (4), while the specified device is designed to prevent collisions between the mobile work platform (2) and the vehicle ( 1) for the transport of people, containing: - at least one known control point (R1) inside the specified building (4), which is the starting point of the coordinate system with 6 degrees of freedom and serving as the central common control point, and - at least one three-dimensional scanning means (3), designed to determine the actual external shape of the vehicle (1) for transporting people, and at least one stationary computing means (6) for generating a point cloud (1A), according to three-dimensional scanning means (3), said point cloud (1A) representing the actual external shape of the vehicle (1) for transporting people , and - one known control point (R2) of the mobile work platform (2) located on the specified mobile work platform (2) inside the specified building (4), and - at least one installation tool (8) designed to set the location and orientation taking into account up to 6 degrees of freedom of the mobile work platform (2) inside the specified building (4) according to the control point (R2) of the mobile work platform (2) in relation to to the location of the control point (R1) of the building, and - three-dimensional scanning means (3), installation means (8), stationary computing means (6) and at least one first processor (21) are interconnected via communication means (30, 31, 32), and - the specified one first processor (21), designed to prevent collisions between the mobile work platform (2) inside the specified building (4) and the vehicle (1) for transporting people by comparing the location of individual points of the generated point cloud (1A) with location and orientation a three-dimensional model (2A) for determining the risk of collision between a mobile work platform (2) and a vehicle (1) for transporting people, and characterized in that said at least one first processor (21) is designed to generate a three-dimensional model (2A) representing a mobile work platform (2), while said first processor (21) is also designed to determine, taking into account up to 6 degrees of freedom of location and the orientation of the specified three-dimensional model (2A), representing the specified mobile working platform (2). 2. The device according to claim 1, containing one mobile working platform (2) on each side of the longitudinal axis of the vehicle (1) for transporting people. 3. The device according to claim 1, in which the mobile work platform (2) is either a work platform suspended under the roof of the building, or a work platform fixed on the base, or a wheeled work platform, or a combination of a work platform suspended under the roof of the building and fixed on the base working platform, and wheeled working platform. 4. The device according to claim 3, in which the mobile work platform (2) is controlled automatically or manually. 5. The device according to claim 1, in which at least one mobile work platform (2) carries one or more printing devices, or cameras, or robots, or surface treatment devices, or people, or a combination of a printing device and a camera, and a robot, and devices for surface treatment, and people. 6. The device according to claim 1, wherein the vehicle (1) for transporting people can be an airplane, a helicopter, a rocket, a space shuttle, a spacecraft launcher, a train, a car, a bus or a ship, or any part thereof. 7. The device according to claim 1, in which the three-dimensional scanning means (3) can be carried by the indicated mobile working platform (2) or not during the generation of the point cloud (1A). 8. The device according to claim 1, wherein the communication means is based on a LAN infrastructure (30) based on a local Ethernet network or a wireless LAN (31, 32). 9. The device according to claim 1, in which the stationary computing means (6) comprises at least one main server (10) and at least one second processor (20) for processing three-dimensional data obtained from the three-dimensional scanning means (3), for collision avoidance management and at least one desktop graphical user interface (11) and Ethernet LAN infrastructure (30, 31, 32) connecting all components together. 10. The device according to claim 1, in which the mobile work platform (2) further comprises an onboard first processor (21) for comparing the location of individual points of the generated point cloud (1A) with the location and orientation of the three-dimensional model (2A), so that when detecting the risk of collision between the mobile work platform (2) and the vehicle (1) for transporting people, a predetermined deceleration curve to a complete stop is implemented with the required minimum distance to the physical contact between any part of the vehicle (1) for transporting people and a mobile work platform (2). 11. The device according to p. 10, in which the minimum distance between the mobile work platform (2) and the vehicle (1) for transporting people is from 100 to 200 mm, preferably 150 mm 12. The device according to claim 1, designed to implement dynamic route planning (PDM) of at least one mobile working platform (2) to automate manually controlled movements of the specified mobile working platform (2) towards the vehicle (1) for transportation people and along it based on programmed trajectories.

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