WO2017144291A1 - Système et procédé de localisation - Google Patents

Système et procédé de localisation Download PDF

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Publication number
WO2017144291A1
WO2017144291A1 PCT/EP2017/052998 EP2017052998W WO2017144291A1 WO 2017144291 A1 WO2017144291 A1 WO 2017144291A1 EP 2017052998 W EP2017052998 W EP 2017052998W WO 2017144291 A1 WO2017144291 A1 WO 2017144291A1
Authority
WO
WIPO (PCT)
Prior art keywords
camera
construction
construction site
objects
site
Prior art date
Application number
PCT/EP2017/052998
Other languages
German (de)
English (en)
Inventor
Jens Koenig
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2017144291A1 publication Critical patent/WO2017144291A1/fr

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/24—Aligning, centring, orientation detection or correction of the image
    • G06V10/245—Aligning, centring, orientation detection or correction of the image by locating a pattern; Special marks for positioning

Definitions

  • the invention relates to a system and a method for locating
  • a radio frequency identification device having a memory configured to one position of the unit and at least one other
  • European Patent Publication EP 0 733 231 B1 discloses a device for guiding the operation of a compacting machine arranged on a mobile place, wherein positioning means are used for the positioning of the machine
  • Generating three-dimensional positioning signals have a GPS receiver.
  • the object of the invention is to simplify the localization of objects and / or people on a construction site.
  • the object is achieved in a system for locating objects and / or people on a construction site in that the objects and / or people are provided on the site with two-dimensional codes that are detected with at least one camera on the site.
  • the localization of the objects and / or persons advantageously also includes a spatial association of objects and / or
  • the term localization may also include tracking, observing and locating objects and / or
  • the two-dimensional codes are preferably barcodes, in particular QR codes.
  • the letters QR stand for the English terms Quick Response. QR codes are described, for example, in European Patent EP 0 672 994 B1. The term QR code is protected as a trademark.
  • the two-dimensional code can be attached to an object by means of a sticker, for example.
  • Two-dimensional code can also be attached to an object using a magnetic mat.
  • the two-dimensional code can also be attached to the object by means of a magnetic mat.
  • the camera is suitable for the code, possibly also from a larger one
  • Computer device in particular the controller is advantageously wirelessly connected to the camera or connected.
  • the use of the two-dimensional codes provides the advantage that the objects and / or persons need not be changed apart from attaching the codes.
  • the application of the codes can, for example by gluing, be carried out quickly and easily, in particular without the aid of any tools.
  • a camera system is preferably referred to, which also includes sensors in addition to a power supply. At least one sensor device serves to detect an absolute position of the camera or of the camera system.
  • the sensor device for the absolute position detection of the camera is advantageously integrated in a global positioning system GPS and / or in a global navigation satellite system GNSS.
  • At least one further sensor device advantageously serves for data provide or deliver that are relevant to the operation of the camera or the camera system, such as accelerations, temperatures or position information.
  • the camera system is advantageously equipped with a radio transmitter. This makes it possible in a simple manner a disclosure of information to a central computer or a cloud of data, which is also referred to as cloud.
  • the camera system can advantageously also comprise a radio receiver in addition to the radio transmitter. This simplifies the data exchange or remote control of the camera.
  • the radio transmitter is advantageous, if necessary together with the radio receiver, integrated into a suitable radio network.
  • the radio network can be a local radio network, such as WLAN, which includes a local level, for example the construction site.
  • the wireless network can also be a mobile network or
  • Telephone radio network act, such as LTE, UMTS or GSM.
  • a preferred embodiment of the system is characterized in that the objects are building materials, construction machinery,
  • Construction machinery accessories, work clothes and / or work helmets include.
  • the building materials are, for example, stones or sacks of building material that can be stored in appropriate containers on the construction site.
  • the construction machines are, for example, excavators or construction vehicles.
  • the construction machine accessories are for example excavator buckets or excavator buckets.
  • the work clothes are, for example, work jackets worn by construction workers on the construction site.
  • the camera is preferably arranged so that all building materials, construction machinery and / or construction machine accessories are detected on the storage area with the camera.
  • the camera can be mounted on a suitable frame. The camera is advantageous above the building materials, construction machinery and / or
  • the camera can be beneficial to one existing building or on an existing construction machine, in particular on an existing tower crane, are arranged on the construction machine.
  • the camera can also be attached to a construction container near the storage site on the construction site.
  • a further preferred embodiment of the system is characterized in that at least one camera is assigned to a danger zone on the construction site. That gives the advantage of having the camera
  • Objects and / or persons can be detected via the two-dimensional codes when they are in the danger zone on the construction site.
  • a further preferred embodiment of the system is characterized in that at least one camera is arranged at a high place and / or a passage or a passage on the construction site.
  • the construction site is arranged, for example, on an existing tower, in particular on an existing tower crane, on the construction site.
  • the camera can also be advantageously attached to gates in order to monitor or detect access to and / or access to the construction site or to specific areas of the construction site.
  • at least one camera can advantageously be mounted at the top and / or at the side of a gate to the construction site.
  • a further preferred exemplary embodiment of the system is characterized in that at least one camera is mounted on a crane, in particular on a crane jib, on a construction machine and / or on a construction container on the construction site.
  • the camera can be arranged so advantageous at higher locations without the need for structural measures to be carried out on the site.
  • a further preferred embodiment of the system is characterized in that localization information is displayed on a display device on the construction site.
  • the location information may be in a form of text and / or map information, for example
  • the location information may be displayed on screens that are well visible at a suitable location on the jobsite.
  • the localization information can alternatively or additionally be displayed on the display of a smartphone.
  • the camera is a stereo camera.
  • a three-dimensional detection of the two-dimensional codes is made possible in a simple manner.
  • the three-dimensional detection may be useful in view of further processing and / or handling of objects provided with the two-dimensional codes.
  • the camera can advantageously also be combined with sensors.
  • the sensors are, for example, distance measuring sensors, acceleration sensors,
  • Position sensors temperature sensors, pressure sensors, humidity sensors and / or environment sensors.
  • the invention also relates to a method for locating objects and / or persons on a construction site with a previously described system.
  • the method advantageously comprises the detection and local detection of two-dimensional codes by means of the camera in connection with an overall detection of the construction site.
  • the acquired two-dimensional codes are entered in an overall image or in a corresponding data record of the construction site at the respective registered point.
  • the method also includes linking the data with other data records from databases, for example, surveying technology data.
  • the method also includes links of the data of the two-dimensional codes in a digital location plan so that it is possible to search in full text.
  • the invention further relates to a computer program product with a computer program, the software means for performing the advance
  • the computer is a controller of the system described above.
  • Figure 1 is a simplified perspective view of an excavator on a construction site
  • Figure 2 is a simplified perspective view of a construction site to illustrate the operation of the system and the method for locating objects and / or people on the site.
  • Figure 1 is an excavator 1 with a Radunterwagen 2 and a
  • the wheel superstructure 4 comprises a driver's cab 3 and a boom 5.
  • a digging device 11 is pivotally mounted.
  • Another excavating device 12 is located in the vicinity of the excavator 1 and can be attached to the free end of the boom 5 in exchange for the excavating device 11.
  • the grave devices 11, 12 are designed, for example, as grave spoons.
  • a two-dimensional code 14 is attached.
  • a two-dimensional code 15 is also attached.
  • the codes 14, 15 are QR codes.
  • a camera 18 On a roof of the cab 3 of the excavator 1, a camera 18 is mounted.
  • the camera 18 is capable of detecting two-dimensional codes, in particular QR codes, when they are arranged in a viewing area of the camera 18.
  • At the digging device 12 are advantageously further (unspecified and not visible in the illustrated perspective) two-dimensional codes attached, of which at least one is arranged in the field of view of the camera 18.
  • a core idea of the invention relates to the faster and easier
  • Locating machines, goods, objects and people on a construction site Further aspects of the invention relate to the optimization of
  • Processes such as a goods value stream, a machine usage, a machine utilization in terms of time and costs.
  • Another aspect of the invention relates to increasing safety at construction sites by monitoring hazardous areas.
  • a danger area is represented by a work area of a construction machine.
  • Other danger areas are especially hazardous areas on a construction site.
  • Attaching two-dimensional codes makes it easy to locate excavator equipment such as grave spoons, grabs, deep hole drills, and so on. Diggers of excavators are typically stored distributed on a large construction site and used by various excavators. An excavator driver often has problems finding the right grave bucket on the job site. By detecting at least one two-dimensional code on a digging device with a camera, finding the corresponding digging device on the construction site, in particular on a large construction site, is considerably simplified.
  • FIG 2 is simplified a large construction site with three tower cranes 21, 22, 23 shown in perspective.
  • the tower cranes 21 to 23 each include a boom 25, 26, 27.
  • a camera 31, 32, 33 is mounted on each of the boom 25 to 27, a camera 31, 32, 33 is mounted.
  • Arrow symbols 35, 36 indicate that two-dimensional codes 41 to 47 can be detected with the cameras 31 to 33
  • the codes 41, 42 are attached to building material stacks, for example.
  • the code 43 is attached to, for example, a construction machine.
  • the code 44 is attached to a construction vehicle, for example.
  • the code 45 is attached, for example, to a means of transportation with construction site material.
  • the code 46 is attached, for example, to a construction container.
  • the code 47 is attached, for example, to a stack of construction material.
  • the construction site can be monitored in a simple manner.
  • storage bins on the construction site with regard to
  • the two-dimensional codes 41 to 47 considerably simplify the localization or spatial assignment of objects provided with the two-dimensional codes.
  • the corresponding localization information can be displayed on a display in the cockpit of a construction machine, in particular an excavator or a crane, or on a smartphone of the excavator driver or crane driver.
  • a complex search where appropriate items are omitted. This advantageously saves time and costs.
  • the combination of the two-dimensional codes 41 to 47 with the cameras 31 to 33 provides a basis for detecting operations and progress of operations on the construction site.
  • the cameras can also be installed at other higher elevations, such as towers, masts or stilts.
  • cameras can be attached to flying objects, such as drones or aircraft. These cameras can be used for the same purpose as the cameras 31 to 33 on the crane jibs 25 to 27.
  • the cameras 31 to 33 can alternatively or additionally also be used for other functions, such as collision protection or autonomous driving.
  • the two-dimensional codes 41 to 47 may alternatively or additionally also be embodied as barcodes, barcodes or data matrix codes.
  • the two-dimensional codes 41 to 47 are preferably mounted on the roof of the construction machinery, the roof of containers, on the lid of boxes, on construction helmets or on other upwardly directed surfaces.
  • the two-dimensional codes can also be attached laterally to construction machines, goods or the backs of construction workers.
  • the two-dimensional codes can be mounted on solid buildings or in locations that support localization.
  • the cameras 31 to 33 are advantageously supplied with power from an associated construction machine, in particular from the respectively associated crane 21 to 23, with power.
  • the cameras can also be powered by a stationary power line.
  • the cameras can also be operated with rechargeable batteries.
  • the two-dimensional codes can also be advantageous to power tools and / or to generators, for example power generators or
  • the two-dimensional codes can not only be used in combination with containers, but also, for example, as settling sensors in bulk goods.

Abstract

L'invention concerne un système de localisation d'objets et/ou de personnes sur un chantier. Le but de l'invention est de simplifier la localisation d'objets et/ou de personnes sur un chantier. A cet effet, les objets et/ou les personnes sur le chantier sont respectivement munis de codes bidimensionnels (41-47) qui sont détectés sur chantier à l'aide d'au moins une caméra (31, 32, 33).
PCT/EP2017/052998 2016-02-26 2017-02-10 Système et procédé de localisation WO2017144291A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016203077.9A DE102016203077A1 (de) 2016-02-26 2016-02-26 System und Verfahren zum Lokalisieren
DE102016203077.9 2016-02-26

Publications (1)

Publication Number Publication Date
WO2017144291A1 true WO2017144291A1 (fr) 2017-08-31

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Application Number Title Priority Date Filing Date
PCT/EP2017/052998 WO2017144291A1 (fr) 2016-02-26 2017-02-10 Système et procédé de localisation

Country Status (2)

Country Link
DE (1) DE102016203077A1 (fr)
WO (1) WO2017144291A1 (fr)

Cited By (2)

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Publication number Priority date Publication date Assignee Title
CN111612473A (zh) * 2019-06-05 2020-09-01 北新集团建材股份有限公司 一种墙板识别方式
US11270423B2 (en) * 2018-07-12 2022-03-08 TerraClear Inc. Object collection system and method

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US10684137B2 (en) * 2017-11-29 2020-06-16 Deere & Company Work site monitoring system and method
DE102017130149B3 (de) 2017-12-15 2018-08-23 Ifm Electronic Gmbh System zur Überwachung der Umgebung von Auslegern an einem Fahrzeug
DE102019000903A1 (de) 2018-02-21 2019-08-22 Sew-Eurodrive Gmbh & Co Kg System mit Anlage, Objekten und Mobilteilen, und Verfahren zum Betreiben eines Systems
CN109993935B (zh) * 2019-03-14 2022-03-29 华南理工大学 一种施工机械定位及其安全区域监测的装置和方法
DE102020112699A1 (de) 2020-05-11 2021-11-11 Sick Ag Sicherheitssystem
DE102021112052A1 (de) * 2021-05-07 2022-11-10 abaut GmbH System zur Überwachung der von wenigstens einer Maschine ausgeführten Prozesse und der Prozessumgebung

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Publication number Priority date Publication date Assignee Title
EP0733231B1 (fr) 1993-12-08 1999-01-13 Caterpillar Inc. Procede et appareil permettant de faire fonctionner une machine de compactage en fonction d'un site de travail
EP0672994B1 (fr) 1994-03-14 2000-07-26 Denso Corporation Méthode et appareil pour lire un code optique à deux dimensions
DE10026711A1 (de) * 2000-05-30 2001-12-06 Sick Ag Positionsüberwachungssystem
DE102004055033A1 (de) 2003-11-18 2005-08-25 Caterpillar Inc., Peoria Arbeitsgeländeverfolgungssystem und -verfahren
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EP0733231B1 (fr) 1993-12-08 1999-01-13 Caterpillar Inc. Procede et appareil permettant de faire fonctionner une machine de compactage en fonction d'un site de travail
DE69416006T2 (de) 1993-12-08 1999-08-19 Caterpillar Inc Methode und vorrichtung zum arbeitsfeldbezogenen betrieb eines verdichtungsgerätes
EP0672994B1 (fr) 1994-03-14 2000-07-26 Denso Corporation Méthode et appareil pour lire un code optique à deux dimensions
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Cited By (4)

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Publication number Priority date Publication date Assignee Title
US11270423B2 (en) * 2018-07-12 2022-03-08 TerraClear Inc. Object collection system and method
US11710255B2 (en) 2018-07-12 2023-07-25 TerraClear Inc. Management and display of object-collection data
US11854226B2 (en) 2018-07-12 2023-12-26 TerraClear Inc. Object learning and identification using neural networks
CN111612473A (zh) * 2019-06-05 2020-09-01 北新集团建材股份有限公司 一种墙板识别方式

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