Portable sensor systems

Abstract

This invention relates to a portable sensor system and a method for detecting objects in an environment containing a moving object. The portable sensor system is used to detect objects in the environment within which it is temporarily mounted on a moving object. The sensor system includes: an environmental detection sensor for detecting the object; a mounting device connected to the environmental detection sensor for temporarily mounting the portable sensor system on an outer surface of the moving object; and a position determining device for determining the sensor position of the environmental detection sensor in its mounted state on the outer surface. The position determining device is designed to determine the sensor position relative to the moving object based on a predetermined geometric model of the outer surface and an area of ​​the outer surface detected by the environmental detection sensor. This portable sensor system is easily mounted on a moving object.

Description

Technical Field

[0001] The invention relates to a sensor system for detecting an object and a method for detecting an object. Background Art

[0002] It is known to operate a vehicle based on measurement data from an environment detection sensor system, which can be integrated or installed in a body part of the vehicle. Summary of the invention

[0003] In one aspect, the present invention relates to a portable sensor system for detecting objects in the environment of the portable sensor system and for temporary installation on a mobile object. Therefore, the sensor system can be an environment detection system or an object detection system. In addition, the sensor system can be a mobile sensor system, wherein the mobile object can be configured as a support platform for the sensor system. The portable sensor system can be configured as a transportable sensor system, wherein the sensor system can be carried manually and can be manually installed on the mobile object. Therefore, the portable sensor system can be easily manipulated by an operator and installed on the mobile object. The operator can be a person or a machine or a robot. The portable sensor system can be configured to be operated by a single operator and installed on the mobile object.

[0004] The object can in principle be any object in the environment of the sensor system. The object can have at least one stationary object and / or at least one mobile object in the environment of the sensor system or a mobile object on which the sensor system can be mounted.

[0005] The stationary object that can be detected by the sensor system can be a stationary infrastructure object, such as a building. The mobile object on which the sensor system can be installed or which can be detected by the sensor system can be a vehicle, such as an air vehicle or a machine. The air vehicle can be an airplane. The mobile object can also be an object transported by a vehicle, such as a container. Therefore, the mobile object can be a large object. In addition, the mobile object can also be a living being, such as a person. In addition, the mobile object can also be a small object. Therefore, the mobile object can be a movable object, which can be in motion or stationary. Therefore, the portable sensor system can be configured as a dynamic or mobile sensor system.

[0006] The portable sensor system is not a fixed component of the mobile object. Thus, the portable sensor system is not integrated into the portable sensor system or fixedly mounted on the portable sensor system. Thus, temporarily mounted on the mobile object may include temporarily, non-permanently mounted on the mobile object. Thus, the portable sensor system may be designed as a temporary mounting system. The portable sensor system may be mounted on the mobile object, wherein the portable sensor system is temporarily located on the mobile object. The portable sensor system may be removed from the mobile object again.

[0007] The mobile object can operate without an installed sensor system.

[0008] The mobile sensor system can provide object-based environmental information for the operation of the mobile object. The portable sensor system has an environmental detection sensor for detecting the object. The environmental detection sensor can have a sensor for measuring distance. Alternatively or additionally, the environmental detection sensor can have a sensor for detecting images, such as a camera. Therefore, the environmental detection sensor can also be a sensor for measuring distance and detecting images or a laser scanner-camera-combined sensor. The sensor for measuring distance can be constructed as a scanning sensor. The sensor for measuring distance can be, for example, a laser scanner (LIDAR-sensor), a radar measuring instrument or an ultrasonic measuring instrument.

[0009] The laser scanner can be operated based on the light time-of-flight method (ToF laser scanner). Alternatively or additionally, the laser scanner can be operated based on a phase comparison method. The laser scanner, radar measuring instrument or ultrasonic measuring instrument can be constructed as a sensor for two-dimensional or three-dimensional scanning. The laser scanner or one of the described instruments can be a high-frequency measuring laser scanner or a high-frequency measuring instrument, for example with a detection frequency of 10 MHz. In addition, the sensor for measuring the distance can be a sensor that detects the surroundings, for example, a sensor that measures within a 360° detection range.

[0010] If the environment detection sensor has a sensor for measuring distance, the outer surface of the mobile object or the object in the environment of the mobile object can be detected or detected in a point-like manner. The cloud point having the measurement point on the outer surface of the mobile object or on the object in the environment of the mobile object can be detected by using the sensor for measuring distance. The cloud point can be a two-dimensional or three-dimensional cloud point. The cloud point can have the two-dimensional or three-dimensional coordinates of the measurement point on the outer surface of the mobile object or on the object in the environment of the mobile object. The cloud point can also have the measurement intensity of the measurement point, wherein these intensities can define the quantitative measurement of the received measurement beam energy compared with the emitted measurement beam energy. Alternatively or in addition to the intensity, the cloud point can also include image-based information, such as RGB information. For this purpose, the environment detection sensor can have a sensor for detecting images. The portable sensor system has a mounting device connected to the environment detection sensor for temporarily mounting the portable sensor system on the outer surface of the mobile object. The mounting device can be a mechanical mounting device. The mounting device can be constructed to temporarily mount the portable sensor system on any position on the mounting area of ​​the outer surface of the mobile object.

[0011] The mounting device can be a non-electrically operable mounting device or an electrically operable mounting device. The mounting device can be at least partially in an operative connection with the outer surface, for example, in a vacuum-based operative connection, so that the environment detection sensor is mounted on the outer surface. Alternatively or additionally to this, the mounting device can be at least partially engaged with the outer surface, so that the environment detection sensor is mounted on the outer surface. The connecting device can be engaged with the outer surface, for example, by a snap connection (snap connection). Therefore, the detection of objects in the environment of the portable sensor system can be implemented with the aid of an object, for example, with the aid of a vehicle or with the aid of an air vehicle.

[0012] The portable sensor system has a position determination device for determining the sensor position of the environment detection sensor when the environment detection sensor is installed on the external surface. The sensor position can be determined in the object coordinate system of the mobile object. The sensor position can include at least one of the relative position and relative orientation of the environment detection sensor relative to the mobile object. The sensor position can also include at least one of the position and orientation of the environment detection sensor in the object coordinate system.

[0013] The mounting device can be operated by an operator. The mounting device can be in an initial state or in a state not mounted on the outer surface. The operator can place the mounting device in a state mounted on the outer surface, wherein the operator can arrange the mounting device on the outer surface and can cause the mounted state by at least one of the following: pressing the mounting device onto the outer surface, locking the mounting device into the outer surface, inserting the mounting device into the outer surface and clamping the mounting device on the outer surface. In the mounted state of the mounting device, the environment detection sensor can be fixedly arranged on the outer surface by the mounting device.

[0014] The position determination device is designed to determine the sensor position relative to the mobile object based on a predetermined geometric model of the outer surface and an area of ​​the outer surface detected by the environment detection sensor. The predetermined geometric model of the outer surface may include at least one geometric parameter of the outer surface. The predetermined geometric model may be based on a predetermined CAD model of at least one area of ​​the mobile object. Alternatively or additionally, the predetermined geometric model may also have at least one point on the outer surface or a cloud of points on the outer surface. The area of ​​the outer surface detected by the environment detection sensor may also have at least one geometric parameter of the outer surface. Alternatively or additionally, the area of ​​the outer surface detected by the environment detection sensor may also have at least one point on the detected area of ​​the outer surface or a cloud of points on the detected area of ​​the outer surface. The geometric parameter may be a surface vector, such as a normal vector, an object axis or a curvature parameter. The geometric model may be, for example, a geometric model of the outer surface or outer contour of an aerial vehicle.

[0015] In the present invention, the portable sensor system can be temporarily mounted on a mobile object in order to function as an environment detection system during the operation of the mobile object. Therefore, after the sensor system is mounted on the object, the position determination for the environment detection can be performed solely based on the geometry of the mobile object and relative to the mobile object. The portable sensor system can be operated in an indoor environment and / or in an outdoor environment. Therefore, the portable sensor system can also be an indoor and / or outdoor sensor system. This is also achieved in that the portable sensor system can be operated independently of a satellite positioning method, for example based on GNSS or GPS.

[0016] According to one embodiment, the mobile object is a device for transporting people or goods. The device for transporting people or goods may have a vehicle or a machine. The device or vehicle for transporting people or goods may be an aerial vehicle. In another example, the device for transporting people or goods may be a vehicle for transporting goods or heavy goods. The device for transporting people or goods may also have a transport device for transporting people or goods, wherein the transport device can be moved by a vehicle or a machine. The transport device may be, for example, a container. The device for transporting people or goods may also have at least one transported person and / or transported goods, wherein the person or goods may be moved by a vehicle or a machine. The transported goods may be, for example, a vehicle.

[0017] According to the aforementioned embodiment, the mounting device can be constructed to temporarily mount the portable sensor system on the outer surface of the device for transporting people or goods. If the device for transporting people or goods is an aerial vehicle, the mounting device can be constructed to temporarily mount the portable sensor system on the fuselage area of ​​the aerial vehicle. The outer surface itself can be constructed without mounting auxiliary parts, that is, without a device for mounting the portable sensor system on the outer surface. The outer surface can be a flat or curved surface, which can be constructed without a gap or a recess. According to another embodiment, the environment detection sensor has a laser scanner for flatly detecting objects in the environment of the portable sensor system. The laser scanner can scan objects non-contactly. The laser scanner can have a three-dimensional detection area, wherein the detection area can extend from the laser scanner to its environment in an annular or toroidal shape. The detection area can expand into the environment here. The portable sensor system or the environment detection sensor can have a (3D) laser scanner or can be constructed as such a laser scanner. The two laser scanners can each have the described three-dimensional detection area. The use of a laser scanner with three-dimensional beam deflection has the advantage that the laser scanner itself does not have to be moved for three-dimensional environment detection. Therefore, the housing of the laser scanner or the corresponding housings of the two laser scanners can be rigidly or articulatedly connected to the mounting device. As a result, the portable sensor system can be constructed more compactly and with less maintenance. Another advantage of this embodiment is that objects can be detected independently of the current lighting and weather. According to another embodiment, the portable sensor system has at least one additional environment detection sensor for detecting objects. The additional environment detection sensor can be constructed as the described environment detection sensor, wherein, for example, the additional environment detection sensor can also have a laser scanner. The additional environment detection sensor can act for at least one of the purposes described in conjunction with the described environment detection sensor, wherein the additional environment detection sensor can have the same detection characteristics as the described environment detection sensor. In addition, the additional environment detection sensor can be constructed identically to the described environment detection sensor structure. The environment detection sensor can advantageously have a combined detection area, which can be larger than the individual detection areas of the environment detection sensor. The mounting device can also be connected to the additional environment detection sensor for temporarily mounting the portable sensor system on the outer surface of the mobile object. The position determining device may be designed to determine a sensor position of the further environment detection sensor when the further environment detection sensor is mounted on an outer surface, wherein the sensor position of the further environment detection sensor may be determined like the sensor position of the environment detection sensor.Furthermore, the position determination device is designed to determine the sensor position of the further surroundings detection sensor relative to the mobile object based on a predetermined geometric model of the outer surface and the area of ​​the outer surface detected by the further surroundings detection sensor.

[0018] If the portable sensor system has the additional environment detection sensor, the corresponding measurement data or cloud points can be detected respectively, based on which the corresponding sensor position of the corresponding environment detection sensor can be determined as described. As an alternative to this, the corresponding measurement data or cloud points can be fused first. For this purpose, the relative positions of the environment detection sensors with respect to each other can be predetermined. The fused measurement data or cloud points can then jointly form the detected area of ​​the outer surface. The fusion of the measurement data or cloud points can also be based on the geometric correlation of the measurement data or cloud points. Therefore, the cloud points can also be fused cloud points of at least two laser scanners.

[0019] According to another embodiment, the mounting device is configured to mount the portable sensor system on the outer surface of the mobile object without tools. Tool-free mounting includes mounting the portable sensor system on the outer surface without using tools. The mounting device can also be configured to mount the portable sensor system on the outer surface of the mobile object without an adapter. The operator can thus mount the portable sensor system on the outer surface of the mobile object directly and without using tools or adapters in a particularly effective manner. According to another embodiment, the mounting device has at least one handle, which is used to manually mount the portable sensor system on the outer surface of the mobile object. The handle can be fixedly connected to the mounting device or the portable sensor system or mounted thereon. Alternatively, the handle can be temporarily mountable on the mounting device or on the portable sensor system for manual mounting and can be removed again. With the handle, the portable sensor system can be ergonomically and intuitively operated by the operator in an advantageous manner during installation.

[0020] The mounting device may have a device for mounting the portable sensor system on the outer surface of the mobile object based on pressure. The pressure-based mounting may be a vacuum-based, negative pressure-based or overpressure-based mounting. According to another embodiment, the mounting device has at least one suction cup, which is used to mount the portable sensor system on the outer surface of the mobile object based on suction force. The suction cup may be abutted against the outer surface and pressed onto the outer surface. Therefore, the mounting device may be configured to hold the portable sensor system on the outer surface of the mobile sensor system based on pressure or based on suction force. The portable sensor system may be mounted on the outer surface in a particularly effective and advantageous manner without tools and without residue. Therefore, the use of an adhesive or bonding agent when mounting the portable sensor system may be abandoned, thereby further improving efficiency and acceptance when using the portable sensor system.

[0021] The environment detection sensor can be rigidly connected to the mounting device. The environment detection sensor can be connected to the mounting device through a rigid frame, and the environment detection sensor and the mounting device are mounted on the rigid frame. If the portable sensor system has the additional environment detection sensor, the environment detection sensors can be fixedly connected to each other through the frame. The frame can be a lightweight structural frame, thereby ensuring the portability of the sensor system. In addition, through the rigid connection of the environment detection sensor to the mounting device, the portable sensor system can be more robust with respect to interference effects, which can affect the relative position of the environment detection sensor with respect to the mounting device or with respect to the mobile object, and the environment detection sensor can be rigidly mounted on the mobile object in this way. Therefore, it is possible to implement environmental detection more accurately in an advantageous manner.

[0022] The environment detection sensor can be connected to the mounting device in an articulated manner. The environment detection sensor can be hinged on the mounting device using at least one hinge. If the portable sensor system has the additional environment detection sensors, at least one of the environment detection sensors can be rigidly connected to the mounting device and / or at least one of the environment detection sensors can be connected to the mounting device in an articulated manner. At least one of the environment detection sensors can be arranged on the mounting device pivotably or rotatably. In addition, such an environment detection sensor can be lockable or pivotably or rotatably arranged so that it can pivot or rotate during the detection of the environment. The detection area of ​​the one or more environment detection sensors can therefore be further optimized.

[0023] According to another embodiment, the position determination device is designed to determine the sensor position in an object coordinate system relative to the mobile object. The sensor position may have at least one of a sensor position and a sensor orientation of the environment detection sensor in the object coordinate system. Thus, the sensor position may have at least one of a relative position and a relative orientation of the environment detection sensor relative to the mobile object. One of the described orientations may be or have a corresponding orientation. The object coordinate system may furthermore be a corresponding coordinate system of a device for transporting people or goods, for example a vehicle coordinate system, for example a coordinate system of an air vehicle. The object coordinate system may also be a model coordinate system of a geometric model of the outer surface. According to another embodiment, the position determination device is designed to determine the sensor position based on a geometric correlation between a detected area of ​​the outer surface and a predetermined geometric model of the outer surface. The position determination may be designed to determine the sensor position based on an ICP algorithm for geometric correlation between a detected area of ​​the outer surface and a predetermined geometric model of the outer surface. The geometric correlation may include a geometric match of the detected area of ​​the outer surface with a predetermined geometric model of the outer surface. The correlation or match may be a corresponding point-based and / or feature-based match.

[0024] Point-based matching can be based on at least one cloud point. Point-based matching can be based on cloud points on the outer surface of a geometric model detected by an environment detection sensor, which can be sensor cloud points. Alternatively or in addition to the detected cloud points, point-based matching can be based on cloud points derived from a geometric model of the outer surface, which can be reference cloud points or model cloud points. Thus, point-based matching can be based on the correlation or comparison of cloud points detected by an environment detection sensor with cloud points derived from a geometric model of the outer surface. Cloud-based matching can be implemented based on an ICP algorithm, wherein the two cloud points considered for correlation or cloud point comparison can form input parameters for the ICP algorithm. Transformation parameters from the sensor coordinate system to the object coordinate system or to the model coordinate system can also be output parameters of the ICP algorithm. Feature-based matching can be based on at least one geometric feature derived from at least one of the described cloud points. Alternatively or in addition to point-based correlation, feature-based matching can also have feature-based correlation. Geometric features can be derived, for example, based on the best fit method, wherein multiple points of the cloud point can be defined by geometric bodies, areas and / or axes of geometric matching. The volume, area and / or axis can be based, for example, on volumes, areas and / or axes that are matched to a plurality of points of the cloud by means of a compensation calculation (least square method). Thus, the feature-based correlation can be based, for example, on correlations of corresponding volumes, areas and / or axes that can be derived from at least one of the described cloud points.

[0025] The geometric correlation can include a comparison or superposition of the detected area of ​​the outer surface with a predetermined geometric model of the outer surface. Thus, the position determination device can be designed in an advantageous manner to determine the sensor position locally or in relation to the model even if the mobile object with the environment detection sensor mounted thereon moves in a global coordinate system.

[0026] The position determination device can be designed to determine the sensor position based on a transformation between the detected area of ​​the outer surface and a predetermined geometric model of the outer surface. The transformation can be a geometric transformation or a coordinate transformation. The position determination device can be designed to determine transformation parameters based on the transformation between the detected area of ​​the outer surface and the predetermined geometric model of the outer surface. The transformation parameters can have at least one of at least one translation parameter, at least one rotation parameter and at least one scale factor. The transformation parameters can be, for example, translation parameters of a 6-parameter transformation, wherein the transformation parameters can have three translation parameters and three rotation parameters. The position determination device can be designed to determine the transformation parameters of a Cartesian sensor coordinate system and a Cartesian model coordinate system for the geometric model. Therefore, the position determination device can be designed in an advantageous manner to determine the sensor position based on a local sensor coordinate system and a local model coordinate system independently of a global coordinate system. If the portable sensor system has a plurality of environment detection sensors or laser scanners, the position determination device can be designed to determine the individual sensor positions of the environment detection sensors or laser scanners based on the corresponding transformation between the area of ​​the outer surface detected by the corresponding environment detection sensor or laser scanner and the predetermined geometric model of the outer surface. If there is a fused cloud of points from a plurality of laser scanners, the common sensor position of the surroundings detection sensors can also be determined. The measurement data or cloud points of the surroundings detection sensors or laser scanners can therefore be transformed separately or jointly into an object coordinate system or a model coordinate system.

[0027] If the portable sensor system has a plurality of environment detection sensors or laser scanners, the position determination device can also be designed to determine the relative positions of the environment detection sensors or laser scanners. Therefore, the position determination device can also be designed to associate the measurement data or cloud points of one of the two environment detection sensors or laser scanners with another measurement data or another cloud point of the other of the two environment detection sensors before the corresponding related measurement data or cloud points can be jointly transformed into the object coordinate system or the model coordinate system.

[0028] The portable sensor system can be self-sufficient. The portable sensor system can be energy self-sufficient in particular, wherein the portable sensor system can have an autonomous power supply, such as a storage battery or a battery. The power supply can be arranged in the frame. Therefore, the portable sensor system can also be a battery-operated sensor system. According to another embodiment, the position determination device is designed to autonomously determine the sensor position. The position determination device can determine the sensor position independently of other detection sensors. The position of the environmental detection sensor does not have to be detected by the position detection sensor, wherein in particular, it is not necessary for such a sensor to track moving objects. The orientation of the environmental detection sensor also does not have to be detected by an orientation detection sensor. Therefore, the position determination device can be designed to determine the sensor position based solely on the measurement data of the environmental detection sensor.

[0029] According to another embodiment, the position determination device is a component of a computing and control device for evaluating the measurement data of the environment detection sensor and for controlling the environment detection sensor. The position determination device or the computing and control device can be designed to calculate the described transformation parameters. The computing and control device can be connected to the environment detection sensor wiredly or wirelessly or based on radio. The computing and control device can be arranged on the described frame of the portable sensor system. Therefore, the portable sensor system can form a compact sensor system with an integrated computing and control device in an advantageous manner. Therefore, the portable sensor system can be an independent system. According to another embodiment, the portable sensor system has a mobile terminal device, which has a position determination device. The mobile terminal device can have a processor, wherein the mobile terminal device can be a tablet computer, for example. The mobile terminal device can have the described computing and control device. The components of the computing and control device can also be distributedly arranged on the portable sensor system and the mobile terminal device. According to another embodiment, the portable sensor system has a mobile terminal device, which is configured to wirelessly communicate with the environment detection sensor so as to remotely control the environment detection sensor. The mobile terminal device can have a GUI display for corresponding interoperability with the operator. The mobile terminal device can be the mobile terminal device described in the previous embodiment. The portable sensor system or the computing and control device may have a control device for controlling the environment detection sensor. The mobile terminal device may have a control device for remotely controlling the environment detection sensor. Therefore, the portable sensor system may have a remote controller, with which the environment detection sensor can be controlled wirelessly and spaced apart from the environment detection sensor. The remote control may also have remote monitoring according to the described monitoring. According to another embodiment, the mobile terminal device is designed to display objects detected by the portable sensor system in the environment of the portable sensor system. The mobile terminal device may be the mobile terminal device described with respect to the previous embodiment.

[0030] The mobile terminal device can be designed to display the raw data or measurement data of the environment detection sensor. The computing and control device or the mobile terminal device can be designed to further process the measurement data detected by the environment detection sensor. The further processed measurement data can be pre-processed measurement data, filtered measurement data, abstract measurement data and / or classified measurement data. The corresponding abstraction of the measurement data or the corresponding classification of the measurement data can be related to the detected object.

[0031] The mobile terminal device can be designed to display a geometric model of the outer surface of the mobile object. Thus, the mobile terminal device can be designed to display the objects and geometric models detected by the portable sensor system in the environment of the portable sensor system. Thus, the mobile terminal device can also be designed to display the detected objects relative to the geometric model. The mobile terminal device can be designed to display the detected objects in the described object coordinate system or model coordinate system. Thus, the operator can compare the relative position of the detected objects relative to the mobile object in real time in an advantageous manner when operating the mobile terminal device.

[0032] According to another embodiment, the portable sensor system has a collision monitoring device for monitoring objects in the environment of the portable sensor system. Monitoring can be based on voxel mapping for collision monitoring. The objects in the environment of the portable sensor system can be moving or stationary objects. Monitoring can have detection, positioning and / or identification of objects in the environment of the portable sensor system. Monitoring can also include blind spot monitoring within a predetermined monitoring range. The predetermined monitoring area can have a partial area of ​​the monitoring area or at least a partial area of ​​the measuring area of ​​the environment detection sensor. The collision monitoring unit can be a component of the computing and control device. The collision monitoring device can be designed to identify whether the object monitored in the environment is a potential collision object. Potential collision objects can be static or dynamic objects or objects that are stationary or moving. Potential collision objects can be, for example, another mobile object or a building. The monitored object can be the detected object. The collision monitoring device can be designed to classify the detected or monitored object as a potential collision object rather than a potential collision object. The collision monitoring device can be designed to identify or classify the mobile object accordingly based on the distance between the mobile object and the detected or monitored object. Alternatively or in addition to the distance, the detected geometry or the direction of movement of the detected or monitored object can also be taken into account for this purpose. Thus, objects close to the mobile object can be classified as potential collision objects, for example. Objects located in the environment of the portable sensor system can be tracked by the environment detection sensor for this purpose. In addition, the collision monitoring device can be designed to recognize or classify the object accordingly based on a threshold value related to the distance between the mobile object and the detected or monitored object, for example a threshold value related to the distance. Therefore, the portable sensor system can be used in an advantageous manner as a portable and sensor-based collision monitoring system or collision avoidance system.

[0033] The portable sensor system may have a shunting device or parking device for shunting or parking a mobile object. The shunting device or parking device may be connected to a collision monitoring device and provide a shunting instruction or parking instruction based on an object located in the environment of the portable sensor system and monitored. The shunting instruction or parking instruction may be an instruction for moving a mobile object, and a collision with the detected or monitored object may be avoided in consideration of the instruction. The instruction may be displayed on a mobile device. Alternatively, the instruction may also be displayed on a control device for controlling the movement of the mobile object or may be transmitted by the control device to a device for moving the mobile object in order to control the movement of the mobile object. Therefore, the portable sensor system may also be used as a parking system for parking a mobile object or a shunting system for shunting a mobile object.

[0034] According to another embodiment, the position determination device has a data interface to a logistics information system for providing the logistics information system with objects detected, tracked or monitored using a portable sensor system. Position information, position and / or trajectory of objects monitored or tracked using a portable sensor system can be provided to the logistics information system via the data interface. Therefore, such information about the detected or monitored object can be provided to the logistics information system in an almost real-time manner. The data interface can also be designed to provide metadata about the detected or monitored object. The metadata may include at least one of a distance, a detected geometry and a direction of movement for collision monitoring descriptions.

[0035] The logistics information system can be designed to detect or determine the current position of the mobile object in the logistics system coordinate system. Based on this, the logistics information system can be designed to transform the detected, tracked or monitored object or its position or location from the object coordinate system into the logistics coordinate system. Thus, the object detected locally and relative to the mobile object can be transformed into a higher-level system, such as the logistics system coordinate system.

[0036] In another aspect, the invention relates to a method for detecting an object in an environment of moving objects. The aforementioned aspects and the embodiments described therefor can be applied in a corresponding manner to the method, its method steps and the content for implementing the method in the subject matter, and vice versa.

[0037] The method comprises the step of temporarily mounting at least one environment detection sensor on the outer surface of the mobile object. The temporary mounting can be carried out manually by an operator. Alternatively, the mounting can also be carried out at least partially automatically, for example using a robot. The mobile object can be stationary during the mounting, for example in a parking position, a maintenance position or a storage position. The temporary mounting can be a flexible mounting in a mounting area on the outer surface of the mobile object.

[0038] The method has as a further step the detection of the area of ​​the outer surface by means of an environment detection sensor mounted on the outer surface. The detection can be controlled (remotely) by an operator, wherein this can be implemented, for example, by a mobile terminal device. Alternatively, the detection can be implemented at least partially automatically. The mobile object can be stationary or in motion during the detection.

[0039] The method has as a further step the determination of the sensor position of the environment detection sensor relative to the mobile object based on a predetermined geometric model of the outer surface and the area of ​​the outer surface detected by the environment detection sensor device. The determination can be implemented by the position determination device described for the aforementioned aspects. The determination or the position determination device can be controlled (remotely) by an operator, wherein this can be performed, for example, by a mobile terminal device. Alternatively, the determination can be implemented at least partially automatically. The mobile object can be stationary or in motion during the determination.

[0040] The method has as another step the detection of an object in the environment of a mobile object by an environment detection sensor relative to the mobile object. The detection or environment detection sensor can be controlled (remotely) by an operator, wherein this can be performed, for example, by a mobile terminal device. Alternatively, the detection can be at least partially automatically implemented. The mobile object can be stationary or in motion during the detection. According to another embodiment, the method has as another step the display of the object detected by the portable sensor system in the environment of the portable sensor system on the mobile terminal device. The display can be a (near) real-time display. Therefore, the method can have as another step the monitoring of the object detected by the portable sensor system in the environment of the portable sensor system. The monitoring can be performed by an operator. Alternatively, the monitoring can be at least partially automatically implemented. The mobile object can be stationary or in motion during the display or monitoring. According to another embodiment, the method can also be implemented for monitoring potential collision objects that may potentially collide with the mobile object in the environment. The monitoring of the environment can have the monitoring described in the previous embodiment.

[0041] The monitoring may be carried out by the collision monitoring device described with respect to the preceding aspects.

[0042] The method may include identifying whether an object detected in the environment is a potential collision object. The identification may also be implemented by the collision monitoring device described for the aforementioned aspects. The identification may include calculating the collision risk based on the object identified as a potential collision object. The calculation of the collision risk may be based on a relative position change between the mobile object and the object identified as a potential collision object. The collision risk may be calculated, for example, based on the current distance between the mobile object and the object identified as a potential collision object. For this purpose, a distance change may also be used as a basis.

[0043] The method may have as a further step the display of potential collision objects on the mobile terminal device. The display may be implemented as described in the aforementioned aspect. According to another embodiment of the method, the step of detecting has filtering objects detected by the environment detection sensor in the environment of the mobile object. The filtering may be implemented based on a two-dimensional or three-dimensional mapping. In addition, the filtering may be implemented based on voxels, wherein the mapping may be a voxel mapping. Voxel mapping may be implemented via an environment detection sensor or a laser scanner for preprocessing measurement data or cloud points, which may have a measurement data preprocessing device for this purpose. The filtering may have the measurement data or raw data of the environment detection sensor filtered by a corresponding filter. The filter may be a data simplification filter. The filtering may also be a cloud point-based or display-based filter. Therefore, the computing time or data communication may be more efficient in an advantageous manner.

[0044] According to one embodiment of the method, the mobile object is a device for transporting people or goods. The device or vehicle for transporting people or goods may be an air vehicle. The device for transporting people or goods may be any device described in relation to the above aspects.

[0045] The step of temporarily installing can include temporarily installing the environment detection sensor on the outer surface of the device for transporting people or goods. If the device for transporting people or goods is an air vehicle, the temporary installation of the environment detection sensor can be temporarily installed at the fuselage area of ​​the vehicle.

[0046] At least the step of detecting the object can be implemented during the movement of the device for transporting people or goods on the ground. If the device for transporting people or goods is an aerial vehicle, at least the step of detecting the object can be implemented during the taxiing or reversing or towing of the aerial vehicle on the ground. The ground can be a taxiway at an airport. The rolling can be the taxiing of the aerial vehicle. The reversing can be the delayed takeoff of the aerial vehicle. Therefore, the method can be implemented during the rolling or taxiing process or during the reversing or delayed takeoff process. If the method is used during taxiing, it can be used, for example, as a taxiing traffic system for monitoring collisions in taxiing traffic. The method can be implemented in an indoor environment and / or an outdoor environment. The method can also be implemented during the movement of a mobile object in a building, such as a production workshop or an aircraft hangar. If the method is used during such a movement, the method can, for example, function as a production safety system or as a parking system for monitoring collisions in a production workshop or an aircraft hangar. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 A portable sensor system according to one embodiment of the present invention is shown.

[0048] Figure 2 A portable sensor system according to another embodiment of the present invention is shown.

[0049] Figure 3 A portable sensor system according to another embodiment of the present invention is shown.

[0050] Figure 4 An air vehicle is shown having two portable sensor systems mounted at the fuselage of the aircraft of the air vehicle.

[0051] Figure 5 Show Figure 4 Air traffic during taxiing on an airport taxiway.

[0052] Figure 6 A flow chart showing steps of a method for detecting an object in an environment of a moving object according to one embodiment of the present invention. DETAILED DESCRIPTION

[0053] exist Figure 1 The portable sensor system 100 shown in FIG. 1 has an environment detection sensor 10 and a device for installing the portable sensor system 100 in a Figure 1 The portable sensor system 100 includes a mounting device 20 on a mobile object not shown in the figure. The environment detection sensor 10 can be temporarily mounted on the mobile object using the mounting device 20. The portable sensor system 100 has a computing and control device 30. In addition, the portable sensor system 100 can have a mobile terminal device 40. The mobile terminal device 40 can communicate with the environment detection sensor 10 and the computing and control device 30 wirelessly or based on radio.

[0054] The environment detection sensor 10 and the mounting device 20 can be arranged on a housing 24, and the computing and control device 30 can be enclosed in the housing. Instead of the housing 24, the portable sensor system 100 can also have a frame (not shown), on which or in which the environment detection sensor 10, the mounting device 20 and the computing and control device 30 can be arranged. At least one handle 21 can be installed on the housing 24 or on the frame, and the portable sensor system 100 can be manually carried by the operator using the handle. The portable sensor system 100 is constructed and dimensioned in such a way that the operator can manually carry the portable sensor system 100.

[0055] The environment detection sensor 10 can be arranged on the opposite side of the housing 24 or the frame opposite to the mounting device 20. The environment detection sensor 10 can be configured as a 3D laser scanner 12. The 3D laser scanner 12 can have a detection area 14, which is located in the Figure 1. The detection area 14 can have an opening angle 16, which can define an opening of the detection area 14 extending around the laser scanner 12 in a ring-shaped or toroidal manner. The detection area 14 can extend 360° around the laser scanner 12 in one dimension, for example laterally, within the opening angle 16. The computing and control device 30 has a position determination device 32 and a collision monitoring device 34. The computing and control device 30, the position determination device 32 and the collision monitoring device 34 are connected to the environmental detection sensor 10. The corresponding connection can be a wired connection in the housing 24 or the frame. The position determination device 32 has a predetermined geometric model of the outer surface of the moving object. In addition, the position determination device 32 reads an area of ​​the outer surface detected by the environmental detection sensor 10. The environmental detection sensor 10 is relative to the moving object. Figure 1 The sensor position 11 (not shown) is determined by the position determination device 32 and transmitted to the collision monitoring device 34. The collision monitoring device 34 can check whether a collision is imminent between the mobile object and one of the detected further objects based on a predetermined geometric model of the outer surface and further objects detected by the surrounding detection sensor 10 in the surroundings of the mobile object.

[0056] The computing and control device 30 is connected to an antenna 31 in order to transmit the relative position of the objects monitored in the environment of the mobile object with respect to the mobile object itself to a mobile terminal device 40. The mobile terminal device 40 has a terminal device antenna 41 for this purpose in order to receive the corresponding data. The mobile terminal device 42 also has a display 42, with which potential collision objects can be visually displayed to the operator. Based on the displayed potential collision objects, the operator can intervene in the operation of the mobile object or the operation of the potential collision objects. Based on this, an impending collision can be avoided.

[0057] The mounting device 20 may include at least one suction cup 22, in which the portable sensor system 100 or the environment detection sensor 10 can be mounted on the outer surface of a mobile object. The installation can be performed without tools and without residue. In addition, the portable sensor system 100 may have a power supply 26, which may have a battery or an accumulator. Therefore, the portable sensor system 100 can be constructed as an energy self-sufficient system. In addition, the portable sensor system 100 can be remotely controlled with the mobile terminal device 40 via a radio connection between the terminal device antenna 41 and the antenna 31. In this case, in particular, the detection of objects in the environment of the portable sensor system 100 by the environment detection sensor 10, the position determination using the position determination device 32, and the collision monitoring using the collision monitoring device 34 can be controlled.

[0058] Figure 2 Another embodiment of a portable sensor system 100 is shown.

[0059] exist Figure 2 The portable sensor system 100 shown in FIG. Figure 1 The difference of the portable sensor system 100 shown in FIG. 1 is that the mounting device 20 has at least two suction cups 22. The two suction cups 22 can be arranged on one side of the housing 24 or frame, which side can form an elongated side. Therefore, the housing 24 or frame can have a mounting device 20 having at least two suction cups 22. Figure 1 Square shape as shown or Figure 2 The rectangular shape shown.

[0060] Figure 3 Another embodiment of the portable sensor system 100 is shown. Figure 1 and 2 The embodiment shown in the figure is different in that at least three suction cups 22 are provided for mounting the portable sensor system 100 on a mobile object. The three suction cups 22 may be as shown in FIG. Figure 1 and Figure 2 As shown in FIG. 1 , it is arranged on the housing 24 or on the frame. Figures 1 to 3 The suction cups 22 shown in FIG. 1 can be respectively as shown in FIG. Figure 3 As shown in FIG. 2 , it is mounted on a housing 24 or on a frame via at least one suction cup bottom 23. Figure 3 As shown, three suction cups 22 can be mounted on a tripod having three suction cup bases 23. The mounting of the portable sensor system 100 on the outer surface of the mobile object can thus be provided more stably and independently of disruptive influences, for example weather influences such as wind.

[0061] Figure 4 A mobile object in the form of an aerial vehicle 1 is shown. The aerial vehicle 1 has a fuselage region 2, on which at least one portable sensor system 100 is mounted. Figure 4 In the embodiment shown in FIG. 1 , two portable sensor systems 100 are installed, each of which may have a 3D laser scanner 12 . The portable sensor systems 100 may be respectively about Figures 1 to 3 One of the portable sensor systems 100 is described.

[0062] The fuselage region of the air vehicle 1 can have two mounting regions. The two mounting regions 3 can include a front mounting region 4 and a rear mounting region 5. The front mounting region 4 can include a head region or a nose region in the fuselage region 2 of the air vehicle 1. The portable sensor system 100 can in principle be mounted at any position on the outer surface of the front mounting region 4. The portable sensor system 100 can, for example, be mounted in front of the front wheels of the air vehicle 1. The rear mounting region 5 can include a tail region or a steep slope region of the fuselage region 2. In principle, the further portable sensor system 100 can be mounted at any position on the outer surface of the rear mounting region 5. The substantially arbitrary mountability of the portable sensor system 100 can be based on the corresponding mounting of the portable sensor system 100 with the at least one suction cup 22.

[0063] The geometric model of the outer surface of the air vehicle 1 or the fuselage region 2 can be predetermined in the air vehicle coordinate system 6. The portable sensor systems 100 can detect the outer surface of the fuselage region 2 in their respective detection regions 14. The corresponding sensor positions 11 of the two portable sensor systems 100 (which are schematically indicated by Figure 4 The corresponding tripod shown in FIG. 1 can be based on the geometric model and the detected area and the portable sensor system 100 in Figures 1 to 3 The geometrical model or the detected area may also include the lower area of ​​at least one wing, at least one drive mechanism or at least one rudder of the air vehicle 1 .

[0064] Figure 5 Shows the towing process on taxiway 6 at the airport Figure 4 The aerial vehicle 1 in FIG. Here, the aerial vehicle 1 is moved on the taxiway 7 by a tractor 9 (propeller). Figure 5 As schematically shown in FIG, towing can be achieved using a towing bar, which is connected to the nose wheel undercarriage of the aerial vehicle 1. As an alternative to this, a tractor can also accommodate the nose wheel undercarriage and thus tow the aerial vehicle 1. As an alternative to the tractor 9, the aerial vehicle 1 can also taxi on the taxiway 7 itself without a tractor. At least one portable sensor system 100 can detect at least one object 8 on the taxiway 7 or next to the taxiway 7. In Figure 5 The object 8 shown only abstractly and schematically in the embodiment shown can be, for example, an infrastructure object or a building. Figures 1 to 3 The collision monitoring device 34 of the portable sensor system 100 shown in FIG. 1 can monitor the relative position of at least one object 8 relative to the air vehicle 1 or its geometric model and evaluate the relative position change 8. The monitored relative position or position change can be Figures 1 to 3The operator can monitor the impending collision between the air vehicle 1 and the object 8.

[0065] Figure 6 Method steps S1 to S5 are shown in an exemplary chronological order. Method steps S1 to S5 are implemented to detect an object 8 in the environment of a moving object. A moving object may be a moving object in a Figure 4 and Figure 5 The aerial vehicle 1 is shown in FIG.

[0066] In a first step S1, at least one detection sensor 10 is temporarily mounted on an outer surface of a mobile object. The at least one environment detection sensor 10 can be mounted on the outer surface using at least one suction cup 22. The outer surface can be located on a fuselage region 2 of an air vehicle 1. In a further step S2, an area detection of the outer surface is performed using the environment detection sensor 10 mounted on the outer surface. The outer surface can be detected in a detection region 14 spanned by the environment detection sensor 10.

[0067] In a further step S3, the sensor position of the environment detection sensor 10 is determined. The sensor position 11 is determined relative to the moving object based on a predetermined geometric model of the outer surface and the area of ​​the outer surface detected by the environment detection sensor 10. The determination can be performed based on a geometric correlation between the model and the area of ​​the outer surface.

[0068] In a further step S4, an object 8 located in the environment of the moving object is detected. The object 8 can be detected relative to the moving object using the environment detection sensor 10.

[0069] In a further step S5, objects 8 detected by means of surroundings detection sensor 10 in the surroundings of portable sensor system 100 are displayed on mobile terminal 40. Based on this display, in a further step (not shown), collisions between mobile objects and the detected and displayed objects can be monitored.

[0070] Reference numerals list

[0071] 1 Air transportation

[0072] 2 Body area

[0073] 3 Installation area

[0074] 4 Front mounting area

[0075] 5 Rear mounting area

[0076] 6 Air Vehicle Coordinate System

[0077] 7 Taxiway

[0078] 8 Objects

[0079] 9 Tractor

[0080] 10 Environmental detection sensors

[0081] 11 Sensor Location

[0082] 12 3D laser scanner

[0083] 14 Detection Area

[0084] 16 Opening angle

[0085] 20 Installation

[0086] 21 Handle

[0087] 22 Suction Cup

[0088] 23 Suction cup bottom

[0089] 24 Shell

[0090] 26 Power Supply

[0091] 30 Computing and control devices

[0092] 31 Antenna

[0093] 32 Position determination device

[0094] 34 Collision monitoring device

[0095] 40 Mobile terminal equipment

[0096] 41 Terminal equipment antenna

[0097] 42 Display

[0098] 100 Portable Sensor System

[0099] S1 Temporary installation

[0100] S2 Area Detection

[0101] S3 sensor position determination

[0102] S4 Object Detection

[0103] S5 Display

Claims

1. A portable sensor system (100) for detecting an object (8) in the environment of the portable sensor system (100) and for temporary installation on a mobile object, the sensor system comprising: An environment detection sensor (10) for detecting an object (8); A mounting device (20) connected to the environment detection sensor (10) is used to connect the portable sensor system (100) to the outer surface of a moving object, wherein: The mounting device (20) is configured to temporarily mount the portable sensor system (100) at any position on the mounting area (3) of the outer surface of the mobile object; and A position determination device (32) for determining a sensor position (11) of the environment detection sensor (10) when the environment detection sensor (10) is mounted on an external surface, wherein the sensor position (11) includes a relative position and a relative orientation of the environment detection sensor (10) relative to the moving object; The position determination device (32) is designed to determine the sensor position (11) relative to the moving object based on a predetermined geometric model of the outer surface of the moving object and an area of ​​the outer surface of the moving object detected by the environment detection sensor (10).

2. The portable sensor system (100) according to claim 1, wherein: The mobile object is a device for transporting people or goods, and the mounting device (20) is configured to temporarily mount the portable sensor system (100) on an outer surface of the device for transporting people or goods.

3. The portable sensor system (100) according to claim 1, wherein: The mobile object is an aerial vehicle (1), and the mounting device (20) is designed to temporarily mount the portable sensor system (100) on a fuselage region (2) of the aerial vehicle (1).

4. The portable sensor system (100) according to any one of claims 1 to 3, wherein: The surroundings detection sensor (10) has a laser scanner for flatly detecting objects (8) in the surroundings of the portable sensor system (100).

5. The portable sensor system (100) according to any one of claims 1 to 3, wherein: The environment detection sensor (10) has a 3D laser scanner (12) for flatly detecting objects (8) in the environment of the portable sensor system (100).

6. The portable sensor system (100) according to claim 1, comprising at least one further environment detection sensor for detecting an object (8), wherein: The mounting device (20) is also connected to the additional environment detection sensor to temporarily mount the portable sensor system (100) on the outer surface of the mobile object.

7. The portable sensor system (100) according to claim 1, wherein: The mounting device (20) is designed to mount the portable sensor system (100) on an outer surface of a mobile object without tools.

8. The portable sensor system (100) of claim 1, wherein: The mounting device (20) has at least one handle (21) for manually mounting the portable sensor system (100) on an outer surface of a mobile object.

9. The portable sensor system (100) of claim 1, wherein: The mounting device (20) has at least one suction cup (22) for mounting the portable sensor system (100) on an outer surface of a moving object based on suction force.

10. The portable sensor system (100) of claim 1, wherein: The position determination device (32) is designed to determine the position of the sensor (11) relative to the moving object in an object coordinate system.

11. The portable sensor system (100) of claim 1, wherein: The position determination device (32) is designed to determine the sensor position (11) based on a geometric correlation between the detected region of the outer surface and a predetermined geometric model of the outer surface.

12. The portable sensor system (100) of claim 1, wherein: The position determination device (32) is designed to autonomously determine the sensor position (11).

13. The portable sensor system (100) of claim 1, wherein: The position determination device (32) is a component of a computing and control device (30) for evaluating measurement data of an environment detection sensor (10) and for actuating the environment detection sensor (10).

14. The portable sensor system (100) according to claim 1, comprising a mobile terminal device having a position determination device (32).

15. The portable sensor system (100) according to claim 1, comprising a mobile terminal device (40) which is designed to wirelessly communicate with the environment detection sensor (10) so as to remotely control the environment detection sensor (10).

16. The portable sensor system (100) according to any one of claims 14 or 15, wherein: The mobile terminal device (40) is designed to display objects detected by the portable sensor system (100) in the environment of the portable sensor system (100).

17. The portable sensor system (100) according to claim 1 has a collision monitoring device (34) for monitoring objects (8) located in the environment of the portable sensor system (100), and the collision monitoring device is designed to identify whether the object (8) monitored in the environment is a potential collision object.

18. The portable sensor system (100) of claim 1, wherein: The position determination device (32) has a data interface to a logistics information system for providing the logistics information system with the object (8) detected, tracked or monitored by means of the portable sensor system (100).

19. A method for detecting an object (8) in an environment of moving objects using a portable sensor system (100) according to any one of claims 1 to 18, the method comprising the following steps: temporarily installing (S1) at least one environment detection sensor (10) at any position on an installation area (3) on an outer surface of a moving object, detecting (S2) an area of ​​the outer surface using an environment detection sensor (10) installed on the outer surface, Determining (S3) a sensor position (11) of the environment detection sensor (10) relative to the moving object based on a predetermined geometric model of the outer surface and an area of ​​the outer surface detected by the environment detection sensor (10), wherein the sensor position (11) includes a relative position and a relative orientation of the environment detection sensor (10) relative to the moving object; and An object (8) in the environment of the moving object is detected (S4) relative to the moving object using an environment detection sensor (10).

20. The method according to claim 19, comprising the further step of: An object (8) detected by the environment detection sensor system (100) in an environment of a moving object is displayed on a mobile terminal device (40).

21. The method according to claim 19, comprising the further steps of: An object (8) detected by an environment detection sensor system (100) in an environment of a moving object is displayed in real time on a mobile terminal device (40).

22. The method according to any one of claims 19 to 21, comprising the further step of: identifying whether an object (8) detected in the environment is a potential collision object, and Potential collision objects are displayed on the mobile terminal device (40).

23. The method according to claim 19, wherein: The step of detecting (S4) an object (8) in the environment of the moving object relative to the moving object using the environment detection sensor (10) includes filtering the object (8) in the environment of the moving object detected using the environment detection sensor (10).

24. The method according to claim 19, wherein: The step of detecting (S4) an object (8) in the environment of the moving object relative to the moving object using the environment detection sensor (10) comprises filtering based on a two-dimensional or three-dimensional mapping of the object (8) in the environment of the moving object detected using the environment detection sensor (10).

25. The method of claim 19, wherein: The mobile object is a device for transporting people or goods, wherein the step of temporarily installing (S1) at least one environment detection sensor (10) at any position on the installation area (3) on the outer surface of the mobile object includes temporarily installing the environment detection sensor (10) on the outer surface of the device for transporting people or goods, and wherein at least the step of using the environment detection sensor (10) to detect (S4) an object (8) in the environment of the mobile object relative to the mobile object is implemented during the movement of the device for transporting people or goods on the ground.

26. The method of claim 19, wherein: The mobile object is an aerial vehicle (1), wherein the step of temporarily installing (S1) at least one environment detection sensor (10) at any position on a mounting area (3) on an outer surface of the mobile object comprises temporarily installing the environment detection sensor (10) on a fuselage area (2) of the aerial vehicle (1), and wherein at least the step of detecting (S4) an object (8) in the environment of the mobile object relative to the mobile object using the environment detection sensor (10) is implemented while the aerial vehicle (1) is taxiing or reversing on the ground.

27. The method of claim 19, wherein: The mobile object is an aerial vehicle (1), wherein the step of temporarily installing (S1) at least one environment detection sensor (10) at any position on a mounting area (3) on an outer surface of the mobile object comprises temporarily installing the environment detection sensor (10) on a fuselage area (2) of the aerial vehicle (1), and wherein at least the step of detecting (S4) an object (8) in the environment of the mobile object relative to the mobile object using the environment detection sensor (10) is implemented while the aerial vehicle (1) is taxiing or reversing on a taxiway (7) of an airport.

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