WO2021078514A1 - Procédé de prévention de dommages corporels lors du fonctionnement d'une machine de travail mobile - Google Patents

Procédé de prévention de dommages corporels lors du fonctionnement d'une machine de travail mobile Download PDF

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Publication number
WO2021078514A1
WO2021078514A1 PCT/EP2020/078062 EP2020078062W WO2021078514A1 WO 2021078514 A1 WO2021078514 A1 WO 2021078514A1 EP 2020078062 W EP2020078062 W EP 2020078062W WO 2021078514 A1 WO2021078514 A1 WO 2021078514A1
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WO
WIPO (PCT)
Prior art keywords
work machine
unit
person
image data
control unit
Prior art date
Application number
PCT/EP2020/078062
Other languages
German (de)
English (en)
Inventor
Matthias Ulrich
Camille MARBACH
Carina ENGELHART
Ron XU
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 WO2021078514A1 publication Critical patent/WO2021078514A1/fr

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources

Definitions

  • the invention relates to a method for preventing personal injury when operating a mobile work machine, a control unit for executing and / or controlling the method, a system with a camera unit and the control unit, a warning system with a camera unit, the control unit and a warning unit and a mobile one Working machine according to the category of the independent claims.
  • the present invention also relates to a computer program and a machine-readable storage medium.
  • DE 10 2014218 059 A1 discloses a surround view system with an attachment recognition device for vehicles with attachments.
  • the attachment recognition device can recognize the attachment and its dimensions, for example on the basis of the camera data of the surround view system.
  • the present invention relates to a method for preventing personal injury when operating a mobile work machine.
  • the method comprises a step of capturing a person located in an outer area of the work machine, in particular standing, sitting or lying down, by means of a camera unit of the work machine in order to provide a control unit of the work machine with image data relating to the person.
  • the method preferably comprises a step of transmitting the image data relating to the person from the camera unit to the control unit.
  • the method further comprises a step of determining operational information relating to the admissibility of the operation of the Working machine using the provided image data by means of the control unit.
  • the method further comprises a step of outputting a control signal to a unit of the work machine as a function of the ascertained operating information by means of the control unit, in order to prevent personal injury during operation of the mobile work machine or a hazard to the person in the outer area.
  • the present invention also relates to a control unit for preventing personal injury when operating a mobile work machine.
  • the control unit is set up to receive image data provided by a camera unit of the work machine relating to a person located in an outer area of the work machine.
  • the control unit is further set up to determine operational information relating to the admissibility of the operation of the work machine using the image data provided.
  • the control unit is also set up to output a control signal to a unit of the work machine as a function of the ascertained operating information, in order to prevent personal injury during the operation of the mobile work machine.
  • the present invention also relates to a computer program which is set up to control all steps of the method described above, as well as a machine-readable storage medium with the computer program stored thereon.
  • the present invention also relates to a system for preventing personal injury when a mobile work machine is in operation.
  • the system comprises a camera unit which is designed to capture a person located in an outer region of the work machine in order to provide a control unit of the work machine with image data relating to the Person to provide.
  • the system further comprises the control unit described above.
  • the present invention also relates to a warning system for preventing personal injury when operating a mobile work machine.
  • the warning system comprises a camera unit which is designed to detect a person located in an outer region of the work machine in order to provide a control unit of the work machine with image data relating to the person.
  • the system further comprises a warning unit and the control unit described above for outputting a control signal to the warning unit.
  • the present invention also relates to a mobile work machine with the system described above and / or the warning system described above.
  • the mobile work machine can be a work machine for agricultural, construction or logistical purposes.
  • the work machine can be an industrial truck, in particular a forklift, a tractor or an excavator.
  • the work machine has at least one camera unit. It is also conceivable that the work machine has several, in particular two, four, six or more than six camera units.
  • the multiple camera units can be part of a multi-camera system or surround view system of the work machine.
  • the camera unit is designed to optically capture a person in the outer area of the work machine.
  • the camera unit is designed to generate or provide image data relating to the person in the outer area of the work machine.
  • the image data generated by means of the camera unit include at least part of the person. It is conceivable that the image data completely encompass the person.
  • the image data can include at least a part of the outer area of the work machine on which the person is located, in particular standing, sitting or lying down.
  • the camera unit can be arranged on a body, a chassis or a structure, an attachment, a working arm or a lifting unit of the working machine.
  • the camera unit is preferably arranged on a contour of the working machine, for example on a roof or roof spar, on a counterweight or, for example, on an upper end region of a lifting mast.
  • the camera unit can be a front camera, i.e. a camera unit oriented along a preferred direction of travel or forwards.
  • the camera unit can be a rear camera, i.e. a camera unit directed against a preferred intended direction of travel or a rear-facing camera unit.
  • the camera unit can be a side camera, i.e. a camera unit oriented transversely, in particular orthogonally, to a preferred direction of travel or laterally. If the work machine has several camera units, a first camera unit is preferably a front camera, and a second camera unit is preferably a rear camera. In addition, further camera units can preferably be side cameras arranged on opposite sides.
  • the camera unit can be a mono camera or a stereo camera.
  • the camera unit can be a camera with a fisheye lens in order to capture the largest possible angular range of a work machine environment, in particular the outer region of the work machine.
  • the angular range that can be captured by means of the camera unit can have a size of 180 ° in the horizontal direction, for example, in order to capture the outer area of the work machine as completely as possible.
  • the outer area of the work machine can be an outer area on, in particular on, the work machine.
  • the outer area can be an area of the work machine that is different from an operator area of the work machine.
  • the outer area can be an area of the work machine outside or apart from a driver's cab or a driver's cab or a driver's cab of the work machine.
  • the outer area can be an area of the work machine in which a person is not permitted to stay or transport when the work machine is operated as intended or properly. It is advantageous if the outer area of the work machine is part of the work machine, in particular an area of an attachment and / or a motor unit and / or a counterweight unit of the work machine.
  • the outer area of the work machine can be a rear area and / or a front area and / or a side area of the work machine.
  • the outer area can be an area of a lifting frame and / or a counterweight of an industrial truck.
  • the outer area of the work machine is an area on or on the work machine. The person is therefore in touching contact with, in particular an attachment, the work machine on the outer area of the work machine. In particular, the person stands, sits, kneels or lies on, in particular an attachment, of the work machine. When the work machine moves, the person at the outer area of the work machine moves with the work machine along the same direction of movement.
  • the relative movement between the person at the outer area of the work machine and the work machine can be negligibly small or negligible relative to a relative movement of the work machine and another object in a work machine environment, for example a pedestrian, another work machine, etc. be low.
  • the area of the attachment can comprise the attachment and / or a device transported by means of the attachment. It is conceivable that the area of the attachment comprises a pallet transported by means of a forklift truck or a work platform transported by means of a forklift truck.
  • the area of the engine unit can comprise an area on a cover of the engine unit, for example an engine hood or radiator hood of a tractor.
  • the area of the counterweight unit can comprise an area on a cover of the counterweight unit, for example a forklift or an excavator.
  • An operation or mode of operation or operation of the mobile work machine can be understood to mean a movement of the work machine and / or a part of the work machine generated by the work machine itself.
  • the operation of the work machine can also be the execution of a work step or a work process by means of the work machine and / or a part of the work machine.
  • the operation of the work machine can further include the activation or starting or starting of a motor unit. It is also conceivable that the operation of the work machine comprises only a spatial movement of a chassis or an undercarriage of the work machine.
  • the part of the working machine can be an attachment and / or a lifting unit and / or a working arm of the working machine.
  • the operating information relating to the permissibility of the operation of the working machine includes information as to whether the operation of the working machine is permissible, permissible to a limited extent, or not permissible. That is to say, in other words, the operating information includes information as to whether an operation of the work machine in the presence of the person in the outer region of the work machine is permitted, restrictedly permitted, or not permitted.
  • Permissible operation of the work machine can be understood to mean proper or intended operation of the work machine or operation of the work machine permitted by laws and / or regulations.
  • a restricted permissible operation of the work machine can be a permissible operation of the work machine that is restricted to one or more predefined operating modes or operating modes. It is conceivable that the operation of the work machine is restricted with regard to at least one of the following specified and / or specifiable work machine parameters: speed,
  • operation can be permitted with restrictions insofar as operation is only permitted for speeds and / or accelerations less than or equal to a respective limit value.
  • Inadmissible operation of the machine can be an improper or improper operation or operation of the machine that is prohibited or prohibited by laws and / or regulations.
  • operation of the work machine is inadmissible if a person is on or in the outer area of the work machine.
  • a forklift truck may not operate if there is a Person is on a pallet transported by the forklift or on a counterweight of the forklift.
  • Operation of a tractor may, for example, be inadmissible if a person is at or on a loading area or a flatbed of the tractor.
  • a forklift truck can be operated if a person is at or on a work platform transported by the forklift truck or a safety basket transported by the forklift truck.
  • a tractor can be operated, for example, if a person is on a wing-like platform of a tractor designed as a cucumber flier.
  • the determination of the operating information can include a step of checking whether the operation of the work machine in the presence of the person at the outer area of the work machine is permitted, restrictedly permitted or not permitted.
  • information relating to the operation of the working machine in the presence of a person can be stored in a storage unit arranged on the control unit, away from the control unit on the work machine or away from the work machine, e.g. a server unit or a cloud computing system . This stored information can be read out or received in the step of determining the operating information and / or in the step of checking by means of the control unit.
  • a hazardous situation of the person detected using the camera images of the camera unit can be compared with predefined and / or predefinable, in particular stored, operating data of the work machine in order to determine or check the permissibility of the operation.
  • the use of the image data provided to determine the operating information can be understood to mean the use of raw image data and / or processed image data of the camera unit. It is also conceivable that the previously evaluated or analyzed image data of the camera unit are used to determine the operating information.
  • the image data of the camera unit are preferably used to determine the operating information in the form an analysis result of an algorithm applied to the image data for person recognition.
  • the output control signal can be a wireless or wired, in particular electronic, signal.
  • the control signal can include the ascertained operating information.
  • the dependency of the outputting of the control signal on the ascertained operating information can be a dependency with regard to outputting or non-outputting of the control signal and / or with regard to the unit receiving the control signal and / or with regard to information comprised by the control signal.
  • no control signal or a control signal designed as a release signal is output to the unit, for example in order to start a motor unit of the work machine and / or to allow spatial movement of the work machine as a whole and / or a braking unit of the To deactivate or to solve the working machine.
  • a control signal in the form of a warning signal and / or a control signal in the form of a stop signal and / or a control signal in the form of a blocking signal is output to the unit, for example, to a warning unit and / or a braking unit of the working machine to activate and / or throttle and / or deactivate a motor unit of the working machine and / or prevent the motor unit from starting.
  • a control signal designed as a restriction signal is output to the unit in order, for example, to limit a speed and / or an acceleration of the work machine by controlling the motor unit and / or the brake unit.
  • the method has a step of controlling the unit of the work machine using the output control signal, the unit being in particular at least one from the group of drive unit, brake unit, warning unit.
  • the work machine comprises a unit which can be controlled by means of the output control signal.
  • a drive power and / or a speed and / or an acceleration of the working machine is limited or restricted at the top.
  • An acoustic and / or optical and / or haptic warning unit of the work machine can be activated by means of the output control signal.
  • the control unit can have one or more computing units.
  • the computing unit can furthermore comprise an output unit.
  • the control unit is arranged on the work machine.
  • the multiple computing units can be arranged spatially distributed on the work machine. It is conceivable that the control unit comprises a processing unit arranged on the camera unit of the work machine and a further processing unit arranged away from the camera unit.
  • the further computing unit can be arranged in the area of an operator's cabin of the work machine.
  • the output unit can also be arranged in the area of the operator's cabin. It is also conceivable that the further computing unit is part of the output unit.
  • Personal injury can be understood to mean an injury or death of a person as a result of an accident or an accident.
  • the method includes a step of determining personal information relating to a relative movement of the recorded person relative to the mobile work machine and / or a position and / or a posture of the recorded person using the image data provided by means of the control unit and / or a further computing unit of the work machine, wherein the operating information is determined taking into account the personal information determined.
  • the Personal information includes information as to whether the recorded person is located on the work machine.
  • the relative movement of the detected person relative to the work machine can be a movement between the detected person and the work machine, which increases or decreases a spatial distance between the person and the work machine.
  • the personal information relating to the relative movement can thus include the information that the person is moving or not moving relative to the work machine.
  • a missing or negligibly small relative movement between the person and the work machine can be determined, for example, by evaluating temporally successive image data with regard to an optical flow of the person in the image data. If the optical flow is zero or sufficiently small, the person does not move relative to the work machine.
  • determining the personal information can include determining a relative movement between the person and the work machine or determining whether there is a relative movement between the person and the work machine.
  • the method preferably comprises a step of evaluating temporally successive image data from the camera unit with regard to an optical flow of the person in the image data in order to determine the relative movement of the person relative to the camera unit and thus to the work machine.
  • a direction of movement of the person relative to the work machine can be determined on the basis of a sign of the person's optical flow.
  • the position of the captured person can be a distance and / or a relative position of the captured person to the camera unit and / or the work machine.
  • the relative position of the person can be a relative position within a predefined and / or predefinable detection or acquisition area and / or a region of interest or an area to be checked or monitored relative to the work machine.
  • the distance and / or the relative position can be determined or at least estimated using the image data of the camera unit if the camera unit or a multi-camera system is calibrated with the camera unit before, in particular for the first time, and / or during operation of the work machine ie if there is an association between camera pixels and the distance is determined and determined relative to the work machine.
  • the arrangement or position of the camera unit on the work machine is calibrated and thus known, for example, in a coordinate system of the work machine.
  • the posture of the recorded person can be standing, lying, kneeling or sitting of the recorded person.
  • An algorithm for object recognition for example based on a “convolutional neural network”, on a “change detection” algorithm or an “optical flow” algorithm, can be used to determine the personal information.
  • a “convolutional neural network” algorithm can be understood as a computer-implemented algorithm based on a neural network that is trained using reference image data. Here, single or multiple images can be analyzed or evaluated.
  • a “change detection” algorithm can be understood as a computer-implemented algorithm that is based on an evaluation or analysis of a change in temporally successive image data.
  • a feature transformation is preferably applied to the image data and a pixel-by-pixel comparison is carried out between the temporally successive image data.
  • the "Change Detection” algorithm is particularly suitable for recognizing people in image data when the camera unit is at rest or at a standstill.
  • An “optical flow” algorithm can be understood as a computer-implemented algorithm which is preferably based on an evaluation of an optical flow in successive image data.
  • the “Optical Flow” algorithm is particularly suitable for recognizing people in image data when the camera unit is in motion.
  • the personal information is provided using a predefined and / or predeterminable partial image area of the image data.
  • the partial image area of the image data can correspond to that area of the image data that is located on the outer area of the work machine is accessible to the person located.
  • partial image areas of the image data can be disregarded, which represent a partial area of the work machine environment that is not accessible to a person located on the outer area of the work machine or that is not occupied by a person without leaving the outer area can be.
  • the method requires less computing power for execution, as a result of which a person in the outer area can be recognized more quickly and reliably.
  • the personal information is determined taking into account the speed information relating to the speed of the work machine. It is conceivable that the algorithm used to determine the personal information is selected as a function of the speed information.
  • the personal information is preferably ascertained based on a “change detection” algorithm when the work machine is stationary or is not moving.
  • the personal information is also preferably determined based on the “optical flow” algorithm when the work machine is moving.
  • the speed information can be transmitted to the control unit, for example, from an engine control device of the work machine or a speed sensor of the work machine.
  • the speed information can be determined using image data from the camera unit and based on an evaluation of an optical flow in the image data.
  • This refinement makes it possible to distinguish particularly well between a detected person on the outer area of the work machine and a detected person away from or outside the outer area of the work machine, so that the method has a particularly high level of reliability.
  • the personal information is also determined by evaluating the image data provided with regard to a size of at least one body part of the person.
  • the body part of the person can be an upper body, a lower body, a head, an arm or a leg of the person.
  • the personal information can be evaluated with regard to the size of the person's body by evaluating the image data provided is determined. By comparing the determined size with a typical size of an adult, which is stored, for example, in a memory unit of the control unit, a distance of the person relative to the work machine can be determined.
  • a change in size of at least the body part of the person can be used to determine a movement of the person relative to the work machine.
  • This refinement can also improve the ability to distinguish between a detected person on the outer area of the work machine and a detected person away from or outside the outer area of the work machine.
  • the operating information is determined taking into account a work machine parameter, in particular an attachment parameter.
  • the work machine parameter can be a speed and / or a direction of travel and / or a load or charge state of the work machine.
  • the work machine parameter can also include spatial dimensions of the work machine.
  • the attachment parameter can include a type and / or an attachment position and / or an orientation and / or a working position and / or a spatial dimension of an attachment attached to the work machine.
  • the type of attachment can be, for example, the type "Attachment approved for passenger transport” or the type "Attachment not approved for passenger transport".
  • the type of attachment can also be, for example, "work basket”.
  • the type of attachment can also be a type of load transported by means of the attachment, for example a pallet.
  • the attachment position can be a position of the attachment on the work machine, for example on a front and / or side and / or rear side of the work machine in the direction of travel.
  • the alignment of the attachment can be an alignment of the attachment along and / or opposite and / or transversely to a direction of travel of the work machine.
  • the working position of the attachment can include a distance and / or a height of the attachment relative to the work machine, for example the height of a fork carrier on the forklift. It is conceivable that at least one value of the work machine parameter is read out and / or received by means of the control unit in order to determine the operating information. A value of the work machine parameter is preferably taken into account when determining the operating information if the operation of the work machine in the presence of the person in the outer area is permitted to a limited extent, ie permissible for first specified and / or specifiable values of the work machine parameter and / or for second specified and / or specifiable values of the machine parameter is not allowed.
  • the operating information can therefore depend on which of at least two predefined and / or predefinable value ranges a received, for example current, value of the work machine parameter lies.
  • the operating information taking into account several values of a working parameter and / or one value in each case, depends on several working parameters and / or on several values of several working parameters.
  • the operating information can depend on a current speed and a type of implement.
  • the operating information can depend, for example, on a direction of travel of the work machine and / or a working position of an attachment.
  • the work machine parameter can be stored in a storage unit of the control unit.
  • the machine parameters can be transmitted to the control unit via a standardized interface such as ISOBUS (CAN).
  • ISOBUS CAN
  • the method can take into account a current or intended mode of operation of the work machine, so that the method can be used for a particularly large number of work machines.
  • a computer program product or computer program with program code which can be stored on a machine-readable carrier or storage medium such as a semiconductor memory, a hard disk or an optical memory, and for performing, implementing and / or controlling the steps of the method according to one of the embodiments described above is also advantageous is used, especially when the program product or program is executed on a computer or device.
  • FIG. 1 shows a schematic representation of a forklift truck
  • FIG. 2 shows the forklift truck according to FIG. 1;
  • FIG. 3 shows a further schematic illustration of a forklift truck
  • FIG. 4 shows a flow chart of a method for preventing personal injury when operating a mobile work machine.
  • the forklift truck 10 has a first camera unit 12, a second camera unit 14, a third camera unit 16 and a fourth camera unit 18 in order to use the camera units 12, 14, 16, 18 to detect an environment of the forklift 10.
  • the forklift truck 10 further comprises a control unit 20 and a display unit (not shown).
  • the camera units 12, 14, 16, 18 are each designed as CMOS cameras 12, 14, 16, 18 with a detection area or field of view of greater than 180 ° in the horizontal and greater than 90 ° in the vertical direction.
  • the first camera 12 is arranged on a front roof spar 22 of the forklift truck 10 and is aimed at a front partial area of the work machine environment.
  • the first camera 12 can also be arranged on, in particular a front, region of the lifting mast of the forklift truck 10.
  • the first camera 12 is thus designed as a front camera 12.
  • the second camera 14 and the fourth camera 18 are arranged on opposite side roof pillars 24, 28 of the forklift 10 and each on one side Part of the working machine environment aligned.
  • the second and fourth cameras 14, 18 are thus designed as side cameras 14, 18.
  • the third camera 16 is arranged on a rear roof spar 26 of the forklift 10 and is aimed at a rear partial area of the work machine environment. Due to their arrangement, the cameras 12, 14, 16, 18 enable a 360 ° detection of the surroundings of the forklift truck 10.
  • the control unit 20 is arranged in the area of a driver's cab of the forklift truck 10.
  • the control unit 20 is connected to each of the four cameras 12, 14, 16, 18 by means of a wired electronic connection 32, 34, 36, 38 each. Image data from the cameras 12, 14, 16, 18 are transmitted to the control unit 20 by means of the connections 32, 34, 36, 38.
  • the control unit 20 is also connected to the display unit by means of a further wired electronic connection (not shown).
  • the control unit 20 is optionally also electronically connected to a work machine interface and / or an attachment interface by wire.
  • FIG. 2 shows a representation of the forklift truck 10 according to FIG. 1.
  • the detection areas 42, 44, 46, 48 of the cameras 12, 14, 16, 18 are also shown.
  • the detection areas 42, 44, 46, 48 of cameras 12, 14, 16, 18 arranged adjacently on the forklift 10 partially overlap and form an overlap area 43, 45, 49.
  • an object in the overlap area 43 is captured by both the front camera 12 and the side camera 14.
  • FIG. 3 shows a further illustration of a work machine 10 designed as a forklift truck 10.
  • the forklift truck 10 according to FIG. 3 has a lifting mast 50 with a fork carriage 52 and fork prongs 54.
  • the forklift truck 10 transports a pallet 56 by means of the fork prongs 54.
  • a camera 12 is arranged on the lifting mast 12.
  • the camera 12 is arranged on an upper region of the lifting mast 50 and aligned along a preferred direction of travel of the forklift truck 10.
  • the camera 12 is designed and arranged to detect a person 60 who is located in an outer region of the forklift truck 10, namely standing on the pallet 56.
  • the camera detects both the person 60 and the pallet 56.
  • a camera image of the camera includes or shows both the person 60 and the pallet 56. This allows the person information to be determined on the basis of the camera image that the person 60 is in the outer area of the forklift 10, namely standing on the pallet 56.
  • the camera 12 is arranged on the work machine in such a way that the person 60 on the pallet 56, but the pallet 56 itself at least in some transport positions of the fork carrier 52 cannot be detected by the camera 12.
  • a lack of relative movement between person 60 and forklift 10 can be determined by evaluating the camera images with regard to an optical flow of person 60 and forklift 10 in temporally successive camera images.
  • This control unit is also arranged in the area of an operator's cabin of the forklift truck 10.
  • the control unit is set up to receive image data comprising the person 60 provided by the camera 12 of the forklift 10.
  • the image data can be individual images or video data.
  • the image data can be analyzed by means of an algorithm for object recognition in order to recognize or classify the person 60 in the image data as a person.
  • the control unit is also set up to determine operational information relating to the admissibility of the operation of the forklift truck 10 using the image data provided. For this purpose, the control unit is set up to read operating information stored in a memory unit of the control unit with regard to the admissibility of operation of the forklift 10 in the presence of a person 60 on the attachment, in particular the fork prongs 54 and / or the pallet 56. The control unit is also set up to output a control signal to an optical warning unit of the forklift 10 and / or to a parking brake of the forklift 10 if the operation of the forklift 10 in the presence of the person 60 on the pallet 56 is not permitted in order to prevent a driver of the forklift 10 to prevent the forklift 10 from moving. It is also conceivable that the control unit is set up to output the control signal to the lifting unit of the forklift 10 in order to prevent a movement of the fork carrier 52 with the pallet 56 relative to the forklift 10.
  • FIG. 4 shows a flow chart of a method for preventing personal injury when operating a mobile work machine. The method is provided in its entirety with the reference symbol 100.
  • the method 100 can be carried out while the work machine is in motion or while the work machine is moving. As an alternative or in addition, the method 100 can also be carried out when the work machine is stationary and is not moving. The method 100 can also be carried out on one or, preferably, every start of the work machine.
  • the work machine can be, for example, the forklift 10 according to FIG. 1.
  • step 110 a person located in an outer area of the work machine is detected by means of a camera unit of the work machine.
  • the outer area is an area of an attachment of the work machine.
  • image data are generated by means of the camera unit, which image or represent at least part of the person.
  • the image data preferably include the attachment or at least parts of the attachment. It is conceivable that the attachment can be moved relative to the work machine and the attachment can only be detected by means of the camera unit for certain relative positions between the attachment and the work machine.
  • the image data are provided to a computing unit of the work machine.
  • the computing unit is arranged in the area of the camera unit and is part of a control unit of the work machine.
  • the computing unit can be, for example, a computing unit integrated into the camera unit.
  • personal information relating to a relative movement and a position of the captured person is determined using the provided image data by means of the computing unit of the control unit.
  • the person is recognized or classified as a person by means of an algorithm for object recognition in the image data on the basis of the person's contour.
  • the optical flow of the person is determined in successive image data in order to determine whether the person is moving relative to the work machine.
  • a “change detection” algorithm is used when the machine is at a standstill and an “optical flow” algorithm is used when the machine is in motion. Furthermore, the position of the recorded person is determined or estimated using the pixels corresponding to the person in the camera data, based on a calibration of the camera unit carried out before the execution of the method 100.
  • step 140 the personal information determined is transmitted from the processing unit of the control unit to a further processing unit.
  • the further computing unit is arranged in the area of an operator's cabin of the work machine and is part of the control unit of the work machine.
  • step 150 operating information relating to the admissibility of operating the work machine is determined using the image data provided by means of the further computing unit.
  • the image data provided are used by the further processing unit in the form of the personal information determined.
  • a work machine parameter is taken into account, which includes a current speed of the work machine, a current direction of travel of the work machine and a relative position of the attachment to the work machine.
  • step 160 the operating information determined is transmitted from the further processing unit to an output unit of the control unit.
  • a control signal is output by means of the output unit to a unit of the work machine as a function of the ascertained operating information.
  • the unit is a display designed as an optical warning unit and arranged on the operator's cabin. Alternatively or additionally, the unit can be a motor unit and / or a brake unit of the work machine.
  • the unit of the work machine is controlled using the output control signal in order to prevent personal injuries during the operation of the mobile work machine.
  • a visual warning is output to the driver of the work machine by means of the display if the operation of the work machine is inadmissible when the person is in the outer area.
  • the parking brake of the work machine is preferably also intervened in order to automatically prevent the work machine from starting up.
  • an exemplary embodiment comprises an “and / or” link between a first feature and a second feature, this is to be read in such a way that the exemplary embodiment according to one embodiment includes both the first feature and the second feature and, according to a further embodiment, either only the has the first feature or only the second feature.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Component Parts Of Construction Machinery (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

L'invention concerne un procédé de prévention de dommages corporels lors du fonctionnement d'une machine de travail mobile (10), le procédé comprenant les étapes suivantes: détection d'une personne (60) se trouvant dans une zone extérieure de la machine de travail (10) au moyen d'une unité de caméra (12) de la machine de travail (10) pour fournir à une unité de commande de la machine de travail (10) des données d'image concernant la personne (60) ; détermination d'une information de fonctionnement concernant une autorisation de fonctionnement de la machine de travail (10) en utilisant les données d'image fournies au moyen de l'unité de commande ; et émission d'un signal de commande à une unité de la machine de travail (10) en fonction de l'information de fonctionnement déterminée au moyen de l'unité de commande afin de prévenir des dommages corporels lors du fonctionnement de la machine de travail mobile (10).
PCT/EP2020/078062 2019-10-24 2020-10-07 Procédé de prévention de dommages corporels lors du fonctionnement d'une machine de travail mobile WO2021078514A1 (fr)

Applications Claiming Priority (2)

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DE102019216405.6 2019-10-24
DE102019216405.6A DE102019216405A1 (de) 2019-10-24 2019-10-24 Verfahren zur Verhinderung von Personenschäden bei einem Betrieb einer mobilen Arbeitsmaschine

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WO2021078514A1 true WO2021078514A1 (fr) 2021-04-29

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DE102021208982A1 (de) 2021-08-17 2023-02-23 Zf Friedrichshafen Ag Verfahren und Steuereinrichtung zur Überwachung von Bauarbeiten

Citations (2)

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Publication number Priority date Publication date Assignee Title
DE102014218059A1 (de) 2014-09-10 2016-04-21 Continental Automotive Gmbh Surround-View-System für Fahrzeuge mit Anbaugeräten
EP3385457A1 (fr) * 2015-11-30 2018-10-10 Sumitomo Heavy Industries, Ltd. Système de surveillance de périphérie pour engin de chantier

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EP0179252A3 (fr) * 1984-09-14 1987-07-15 Siemens Aktiengesellschaft Procédé et dispositif de protection des personnes qui se trouvent dans la zone de travail d'un organe mobile d'une machine déplaçable ou orientable, en particulier d'un robot industriel
DE19613386A1 (de) * 1996-04-03 1997-10-09 Fiat Om Carrelli Elevatori Flurförderzeug, das wahlweise manuell oder automatisch betreibbar ausgebildet ist
DE102006048163B4 (de) * 2006-07-31 2013-06-06 Pilz Gmbh & Co. Kg Kamerabasierte Überwachung bewegter Maschinen und/oder beweglicher Maschinenelemente zur Kollisionsverhinderung
DE102006048166A1 (de) * 2006-08-02 2008-02-07 Daimler Ag Verfahren zur Beobachtung einer Person in einem industriellen Umfeld
DE102014209337A1 (de) * 2013-05-17 2014-11-20 Ifm Electronic Gmbh System und Verfahren zur Erfassung eines Gefährdungsbereichs
DE102015221973A1 (de) * 2015-11-09 2017-05-11 Robert Bosch Gmbh Verfahren zur Erkennung von Lebewesen und Objekten im Inneren eines Fahrzeugs

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014218059A1 (de) 2014-09-10 2016-04-21 Continental Automotive Gmbh Surround-View-System für Fahrzeuge mit Anbaugeräten
EP3385457A1 (fr) * 2015-11-30 2018-10-10 Sumitomo Heavy Industries, Ltd. Système de surveillance de périphérie pour engin de chantier

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