Alarm device for alarming against a collision object

Abstract

Disclosed is an alarm device (1) for alerting an operator (38) of a vehicle (36) to a collision object (52) during operation, having a field-of-attention determination unit (2) which is configured to determine a field of attention (50) to which the attention of the operator (38) is directed, an environment monitoring unit (4) which is configured to monitor at least partially the environment surrounding the vehicle (36), to determine a collision danger for objects present in the monitored environment, and to detect as the collision object (52) an object for which a collision danger exists and which is present outside the field of attention (50), and an output unit (6) which is configured to output an alarm signal upon detection of the collision object (52).

Description

Technical Field

[0001] This disclosure relates to an alarm device for alerting vehicle operators to prevent collisions with objects. Background Technology

[0002] It is known that when operating vehicles, such as construction machinery or work equipment, on a construction site, the operator's attention is directed towards the activity being performed using the vehicle (e.g., towards an excavator with a bucket). Therefore, there is a danger that nearby objects, such as vehicles or people, or stationary objects near the vehicle, may be overlooked or not considered while operating the vehicle. Consequently, collisions with nearby or stationary objects may occur, often resulting in damage or even rendering the vehicle unusable. Summary of the Invention

[0003] Therefore, the objective of this disclosure is to provide an alarm device for alerting the operator of a vehicle to prevent collision with an object.

[0004] This task is accomplished by an alarm device according to the invention.

[0005] The alarm device disclosed herein enables the vehicle operator to be alerted during operation to prevent collision with an object. The vehicle may be, for example, a heavy-duty truck (LKW), work machinery, or construction machinery. Specifically, the vehicle may be an excavator (tracked or wheeled), wheel loader, bulldozer, grader, roller, dump truck, tractor, combine harvester, rotary tiller, seeder, harvester, trailer, timber stacker, forestry winch, sweeper, garbage truck, snowplow, spreader, Unimog multi-purpose vehicle, mobile lifting platform, drilling equipment, asphalt paving equipment, lawn mower tractor, mining vehicle, tunnel boring machine, concrete pump truck, fire truck, or mobile or stationary crane. Vehicle operation is understood as the operation of the vehicle outside of public road traffic. That is, the vehicle is operated for work purposes or for shunting purposes.

[0006] The alarm device includes an attention area determination unit configured to determine the attention area, which is the area where the operator's attention is directed. The attention area determination unit can employ one or more methods known in the prior art for this purpose. For example, the operator's face can be detected and tracked to determine the orientation of the operator's head. The operator's eyes can be detected and tracked, for example, by means of image recognition (so-called eye tracking), to determine the operator's gaze direction. Furthermore, the operator's posture can be determined, for example, by a corresponding sensing device, particularly arranged in the chair where the operator is sitting. The spatial area where the operator's attention is directed can be determined from this information. When determining the attention area, a person's normal field of vision, especially binocular vision, can be assumed. For example, a person can detect an area of ​​approximately 210° on the horizontal line. On the vertical line, this area is between 60° and 70° upwards and between 70° and 80° downwards. A safety zone of, for example, 10° can be extracted from the described area to reliably determine the field of vision. It should be noted that the attention area is not limited to a specific focal plane. Here, the attention area can be continuously determined during operation. Continuous can also be understood as periodically determining something at sufficiently small time intervals.

[0007] Furthermore, the alarm device includes an environmental monitoring unit configured to at least partially monitor the environment surrounding the vehicle. Preferably, the environmental monitoring unit is configured to fully monitor the environment surrounding the vehicle. The environmental monitoring unit can employ one or more methods known in the prior art for this purpose. The environmental monitoring unit can have one or more detection elements or sensors. Examples are radar detection elements, lidar detection elements, image detection elements (e.g., cameras), ultrasonic detection elements, and infrared detection elements. The one or more detection elements of the environmental monitoring unit each have a detection area with characteristic horizontal and vertical extension ranges. It is also conceivable that the environmental monitoring unit includes combinations of detection elements of the aforementioned types. Furthermore, the detection elements can be arranged on the vehicle, i.e., on the exterior of the vehicle, or integrated into the vehicle, for example, integrated into the vehicle body, depending on the type of vehicle.

[0008] Furthermore, the environmental monitoring unit is configured to determine the collision hazard of objects present in the monitored environment. To this end, the environmental monitoring unit can detect and locate one or more objects using information provided by one or more detection elements, that is, to determine the relative position of the object with respect to the vehicle. Here, information from different detection elements can be fused to detect objects. Here, the object does not necessarily correspond to a living organism or a physical object. Here, the object does not necessarily need to be classified into an object type. However, classifying objects using machine vision, for example, is conceivable. Continuous detection of one or more objects can also be performed. Object tracking (so-called object tracing) can also be implemented within the monitoring unit.

[0009] The environmental monitoring unit is configured to determine whether a collision hazard exists upon detecting an object. Here, the collision hazard can be determined based on the different conditions and / or characteristics of the object and / or vehicle, as described below. The collision hazard can also be referred to here as the collision probability. If multiple objects exist in the monitored environment of the vehicle, it is possible to determine the collision hazard for each object separately. The determination of the collision hazard can be performed continuously, and in particular periodically.

[0010] Furthermore, the environmental monitoring unit is configured to detect objects as collision targets if they pose a collision hazard and are located outside the area of ​​attention. This means that the collision target is located outside the operator's area of ​​attention. Therefore, the environmental monitoring unit obtains the area of ​​attention from the area of ​​attention determination unit and then determines whether there is a collision-hazardous object within the obtained area of ​​attention. An object is only identified as a collision target if it is located outside the area of ​​attention. Here, objects can also be continuously identified as collision targets to account for shifts in the operator's area of ​​attention and / or changes in the relative position between the vehicle and the object. For example, a collision-hazardous object may initially be located outside the area of ​​attention and thus detected as a collision target. However, the operator may then direct their field of vision and therefore their area of ​​attention towards the object. Although a collision hazard still exists for the object, it will no longer be detected as a collision target.

[0011] Furthermore, the monitoring unit includes an output unit configured to output an alarm signal upon detecting a collision object. That is, the output unit only outputs an alarm signal when a collision object is detected. In other words, the output of the alarm signal indicates that an object posing a collision hazard is located outside the area of ​​attention. If an object posing a collision hazard is located within the area of ​​attention, it is therefore not detected as a collision object, and the output unit does not output an alarm signal. This reliably alerts the operator to potential collisions. On the other hand, alarm signals are prohibited for objects that pose a collision hazard but are present within the area of ​​attention, thus allowing the operator to perceive the collision. This avoids potential annoyance to the operator while operating the vehicle.

[0012] The output unit can be configured to output visual and / or auditory and / or tactile alarm signals. That is, the output unit can output visual alarm signals, auditory alarm signals, or tactile alarm signals. The output unit can also output a combination of at least two of these signals. Therefore, it can effectively alert the operator to potential collisions, as the alarm signals can be perceived by different sensory organs. The alarm signals can be individually adapted. In this way, environmental conditions occurring during vehicle operation can be considered. For example, in noisy environments, such as on a construction site, a combination of visual and tactile alarm signals can be output. Furthermore, different types of alarm signals can be adapted. For example, the volume and tone of the auditory alarm signal, the vibration mode and intensity of the tactile signal, and the brightness and presentation of the visual alarm signal can be set. In this way, adaptation to the operator's preferences can be achieved.

[0013] According to one aspect, the environmental monitoring unit can be configured to determine the collision hazard of an object based on the distance between the vehicle and the object. Alternatively or additionally, the environmental monitoring unit can be configured to determine the collision hazard based on the relative speed between the vehicle and the object. For example, an object within a preset distance from the vehicle is considered to pose a collision hazard. A collision hazard is also considered if the object and the vehicle are moving toward each other at a preset relative speed or faster. The aspects of distance and relative speed can also be combined. A collision hazard can be considered if the object is within a preset distance relative to the vehicle and / or is moving toward the vehicle at a preset speed or faster. In this way, the collision hazard and therefore the object of collision can be determined in a simple yet effective manner. It is conceivable that the preset distance and / or preset relative speed are determined to be the same across the monitored area. However, it is also possible that different values ​​are determined for the preset distance and / or preset relative speed across the monitored area. The different values ​​of the preset distance and / or preset relative speed can have continuous or discrete transitions.

[0014] According to another approach, the environmental monitoring unit can be configured to determine the collision hazard to an object based on the type of vehicle. For example, a vehicle operating in a stationary state has a smaller collision hazard to an object than a vehicle moving during operation (i.e., traveling). This effect can be taken into account, for example, when determining a preset distance at which a collision hazard exists. Furthermore, a preset relative speed value can be determined accordingly. Additionally, components extending from the vehicle can be considered when determining the collision hazard. Alternatively or additionally, the environmental monitoring unit can be configured to determine the collision hazard to an object based on the vehicle's intended use. For example, an excavator can be used for stationary excavation of a mine or for moving heavy objects from one location to another. In the first case, a collision hazard exists for an object with a relatively small distance to the vehicle, while in the second case, a collision hazard may exist for an object farther from the vehicle due to the excavator's movement. Different intended uses can be considered, for example, by adapting the preset distance and / or preset relative speed accordingly. Therefore, the collision hazard can be appropriately determined based on the vehicle type and / or the corresponding intended use.

[0015] An environmental monitoring unit can be configured to determine the collision hazard to an object based on vehicle operation. For example, operation signals input via vehicle operating elements (such as levers or accelerator pedals) can be acquired or measured by the environmental monitoring unit. Furthermore, the environmental monitoring unit can determine and consider the operating pattern when determining the collision hazard. For example, it can be determined that an excavator is digging a mine shaft in one direction and unloading the excavated soil by rotating the excavator at a preset angle. Therefore, it can be assumed that the operator's attention is directed towards the area of ​​the excavator arm and / or bucket during operation. However, during rotation, the rear end of the upper structure reciprocates, increasing the collision hazard in that area. This can be considered by determining a preset distance within which the collision hazard with an object exists. In particular, the preset distance is increased at the rear end of the upper structure to determine the collision hazard early and to output an alarm signal promptly if the object with the collision hazard exists outside the area of ​​attention. In this way, an appropriate warning can be given to the vehicle operator. Advantageously, the preset distance is increased only within the preset angle range of the reciprocating pivot of the rear end of the excavator's upper structure.

[0016] The output unit may have at least one visual display element. The visual display element is preferably arranged in a typical area of ​​attention. A typical area of ​​attention is the area where the operator's attention is focused for most of the time during vehicle operation. For example, in an excavator, the operator's attention is typically focused on the excavator bucket, such that the visual display element is arranged in or near the line of sight from the operator toward the excavator bucket. Here, the visual display element may have a monitor, which may also be configured as a touch monitor. The monitor can also be used for other displays besides outputting visual warning signals. Signal lights, such as LED lights, are also conceivable. It is also possible that multiple visual display elements are present. For example, monitors and multiple signal lights can be provided. Preferably, one of these visual display elements, particularly preferably a monitor, is arranged in a typical area of ​​attention for the vehicle. Here, the processing for outputting visual warning signals can be performed in the control unit of the alarm device or in the visual display element itself.

[0017] The output unit and the visual display element can be configured to display the direction in which a collision object exists on the visual display element. The direction can be displayed via the display element itself. For example, an arrow pointing in the direction of the collision object can be displayed on the monitor. Here, the arrows can be displayed superimposed, that is, overlapping. Alternatively or additionally, the direction can also be output by manipulating the visual display element in the direction of the collision object. For example, a traffic light can be manipulated specifically.

[0018] As described above, the environmental monitoring unit may include an image detection element, such as a camera. The display unit and the visual display element may be configured to display or overlay the image detected by the image detection element on the visual display element. For example, the visual display element may be a monitor. The detected image may be integrated into or overlaid on a display already showing an image on the monitor. Collision objects may be highlighted in the image presented on the visual display element, for example, with a colored border or by flashing. In this way, the operator can quickly detect collision objects.

[0019] The output unit may have multiple visual display elements and is configured to output an alarm signal through these visual display elements, which are located within or closest to the operator's area of ​​attention. For example, multiple displays or indicator lights may be present. The output unit obtains the area of ​​attention from an attention determination unit and determines which visual display elements(s) are present within that area. The visual alarm signal is then displayed on one or more visual display elements located within the area of ​​attention. If no visual display elements are present within the area of ​​attention, the visual display element closest to the area of ​​attention, i.e., having the smallest distance from it, can be manipulated. Therefore, it is possible for the operator to perceive the output of the visual alarm signal at least through peripheral observation.

[0020] The output unit may have at least one tactile output element, which is disposed in or at a vehicle component that is in direct contact with the operator. The tactile output element is preferably a vibration element. The vehicle component may be a vehicle seat or operating element, such as a lever or steering wheel. By outputting a tactile alarm signal from the tactile output element, the operator can be reliably alerted to potential collisions even in noisy environments.

[0021] In particular, the output unit may have multiple tactile output elements arranged in one or more parts that are in direct contact with the operator. These multiple tactile output elements can also be formed such that the areas of the tactile output elements can be manipulated independently of each other. In this case, the output unit can be configured to manipulate the tactile output elements according to the direction in which the collision object exists. For example, as is common in excavators, the vehicle may have multiple operating elements, such as two levers, each with a tactile output element arranged in it. The output unit then manipulates the tactile output element in the direction in which the collision object exists. Therefore, it is possible to reliably direct the operator's attention towards the direction in which the collision object exists.

[0022] The output unit may have at least one speaker or earphone. For example, in-ear headphones, half-ear headphones, over-ear headphones, head speakers, or bone conduction headphones should be understood as earphones. Earphones can also be configured as part of hearing protection devices or wireless equipment. Therefore, auditory alarm signals can be output to the operator. The advantage of earphones is that the operator can reliably perceive alarm signals even in noisy environments.

[0023] The output unit can, in particular, have multiple speakers. These speakers can be arranged around the operator in different directions, enabling directional output of the alarm signal. Alternatively, headphones can be configured for spatial audio output. The output unit can be configured to output an audible signal based on the direction of the object of collision. When using headphones, the operator's head rotation can be taken into account to accurately indicate the direction. Head rotation can be detected by the headphones themselves and / or by a focus area determination unit. Therefore, an audible alarm signal can be used to indicate the direction of the object of collision to the operator. The operator can then quickly detect the object of collision.

[0024] Furthermore, the alarm device may include an input unit configured to receive input for confirming a collision object. This allows the operator to confirm that they have perceived the collision object and are considering it while operating the vehicle. This avoids potential harm to the operator due to continuous alarm signal output. Additionally, the input unit may be configured to receive input for initializing the environment in which the vehicle should be used. For example, in the case of using an excavator on a narrow construction site, multiple objects present as collision objects. The operator may be aware of this and unnecessarily interfere by outputting alarm signals during operation. In this situation, the operator can confirm to the alarm device that they are considering the collision objects during operation. Therefore, existing collision objects are confirmed and no longer detected as collision objects. However, if a new collision object appears, the operator is reliably alerted by outputting an alarm signal to prevent this new collision object. The input unit can be configured using dedicated input elements, such as input keys. Alternatively or additionally, the input unit may also be formed on a touch display, preferably also forming a visual display element.

[0025] The output unit can be configured to adapt and output the alarm signal according to the collision hazard. Therefore, visual and / or tactile and / or auditory alarm signals can be adapted to varying collision hazards. For example, when the vehicle and the collision object are moving towards each other, the alarm signal can be changed, making a collision more likely. For example, a brighter visual display can be used. Other colors, such as signal colors, can also be used for the visual display. In the case of a flashing display, the flashing frequency can be adapted. Furthermore, the volume and / or tone and / or output frequency of the auditory alarm signal can be adapted. Additionally, the intensity and / or vibration mode of the tactile alarm signal can be adapted. In this way, the operator is reliably alerted to increased collision hazards.

[0026] Furthermore, the alarm device may include a stop unit configured to halt vehicle operation when an imminent collision with a collision object is about to occur. This means that the environmental monitoring unit has detected a collision object, and the operator happens to cause a collision between the vehicle and the object through their operation. For example, the operator may be performing a rotating motion of an excavator, where the excavator arm or the rear end of the upper section may collide with a collision object. The stop unit can thus recognize this because the collision object is within the pivot radius. In this case, the stop unit halts vehicle operation, thereby avoiding a collision with the collision object. Here, the stop unit may be configured such that the monitoring device provides an alarm signal to another control unit of the vehicle via a vehicle network (e.g., a CAN network), and the other control unit processes the alarm signal accordingly to stop operation.

[0027] Furthermore, this disclosure can also be implemented in vehicles equipped with alarm devices according to the foregoing aspects. Attached Figure Description

[0028] Embodiments of the present disclosure will now be described with reference to the accompanying drawings. In the drawings, the same reference numerals are assigned to the same or corresponding elements. Examples include:

[0029] Figure 1 A schematic block diagram of an alarm device according to this disclosure is shown;

[0030] Figure 2 A schematic side view of an excavator equipped with an alarm device according to this disclosure is shown;

[0031] Figure 3 A schematic top view of the excavator is shown;

[0032] Figure 4 A schematic top view of the excavator's cab is shown;

[0033] Figure 5 A schematic diagram showing a display installed inside the excavator's cab;

[0034] Figure 6 A schematic top view of the excavator during the rotational movement of the excavator's upper structure;

[0035] Figure 7 A schematic top view of the excavator's cab during rotational motion;

[0036] Figure 8 A schematic top view of an excavator during travel with a rotating upper carriage; and

[0037] Figure 9 A schematic top view of the excavator's cab during excavator operation.

[0038] Wherein: 1-Alarm device; 2-Awareness zone determination unit; 4-Environmental monitoring unit; 6-Output unit; 8-Input unit; 10-Control unit; 12-Awareness zone determination section; 14-Environmental monitoring section; 16-Output section; 18-Input section; 20-Operator camera; 22-Posture sensor; 24-Camera; 26-LiDAR sensor; 28-Display; 30-Speaker; 32-Vibration element; 34-Input key; 36-Excavator; 38-Operator; 40-Getting on; 42-Getting off; 44-Excavator arm; 46-Excavator bucket; 48-Crawler; 50-Awareness zone; 52-Worker; 54-Operating lever; R-Direction. Detailed Implementation

[0039] Figure 1 A schematic block diagram of an alarm device 1 according to the present disclosure is shown. The alarm device includes an attention zone determination unit 2, an environmental monitoring unit 4, an output unit 6, and an input unit 7. Furthermore, the alarm device 1 includes a control unit 10, which has a CPU, a memory for storing computer programs executable by the CPU, and an input / output interface. In the CPU, by implementing the computer program, the attention zone determination segment 12, the environmental monitoring segment 14, the output segment 16, and the input segment 18 are formed into functional segments. Functional segments 12 to 18 cooperate with external components via the input / output interface to constitute corresponding units 2 to 8. Furthermore, the functional segments can exchange information or data with each other.

[0040] Attention determination unit 2 includes attention determination section 12, operator camera 20, and posture sensor 22. Operator camera 20 detects the head of the operator in the vehicle equipped with alarm device 1. In attention determination section 12, an algorithm for tracking or tracing the operator's face and / or eyes is executed to determine the operator's field of vision, particularly binocular field of vision. Methods known from the prior art can be used for this purpose. A tilt sensor, which serves as posture sensor 22, is installed in the vehicle seat, so that the tilt of the seat can be additionally used to determine the operator's field of vision. Thus, the field of vision can be determined as the area of ​​attention directed by the operator both inside and outside the vehicle (i.e., the vehicle's cabin). Parameters for a person's typical field of vision can be considered to determine the area of ​​attention. For example, a person can detect an area of ​​approximately 210° on a horizontal line. On a vertical line, this area is between 60° and 70° upwards and between 70° and 80° downwards. A safety zone of, for example, 10° can also be extracted from the described area to enable reliable determination of the field of vision and therefore, the area of ​​attention.

[0041] The environmental monitoring unit 4 includes an environmental monitoring section 14, at least one camera 24 as an image detection element, and at least one lidar sensor 26. Therefore, the camera 24 and lidar sensor 26 correspond to the detection elements and at least partially detect the environment around the vehicle. Here, the area of ​​the monitored environment, i.e., the monitored environment, depends on the detection area of ​​the camera 24 and lidar sensor 26. Each detection element has a detection area with a characteristic horizontal and vertical extension. The camera 24 and lidar sensor 26 may have different detection areas, and environmental monitoring can only be performed within overlapping areas. The monitored environment can be expanded by installing additional cameras 24 and lidar sensors 26. Particularly preferably, the environment around the vehicle is fully monitored. Furthermore, the detection elements can be tilted relative to the horizontal plane on which the detection elements are installed to detect areas below or above the vehicle.

[0042] The environmental monitoring section 14 acquires information detected by the camera 24 and the lidar sensor 26 and fuses this information to detect one or more objects around the vehicle. Machine vision methods can be used for this purpose, for example.

[0043] Furthermore, environmental monitoring section 14 determines the collision hazard or probability of the detected object. For example, a collision hazard can be considered present when the object is within a preset distance from the vehicle. Alternatively or additionally, a collision hazard can be considered present when the vehicle and the object are moving toward each other at a relative speed greater than or equal to a preset speed. The preset distance and / or preset relative speed can be determined based on the type of vehicle and / or its intended use. Furthermore, the preset distance and / or preset relative speed can be determined based on the vehicle's operation. The preset distance and / or relative speed can be determined to the same value along the monitored environment. However, different values ​​can also be determined, with continuous or discrete transitions.

[0044] If a collision hazard exists in the monitored environment, the environmental monitoring segment 14 determines whether the object is present in the attention zone. To do this, the environmental monitoring segment 14 obtains information about the current attention zone from the attention zone determination segment 12. If the object poses a collision hazard and is located outside the attention zone, the object is detected as a collision object.

[0045] The output unit 6 includes an output section 16, at least one display 28 as a visual output element, at least one speaker 30 as an auditory output element, and at least one vibration element 32 as a tactile output element. The output section 16 receives information from the environmental monitoring section 14 that a collision object has been detected and then prompts an alarm signal to be output via the display 28, speaker 30, and / or vibration element 32. Here, the alarm signal can be pre-configured. Furthermore, the alarm signal can be adapted to the collision hazard. For example, when the collision object has a small distance relative to the vehicle, the alarm signal can be output with a higher intensity.

[0046] The input unit 8 comprises an input section 18 and at least one input key 34. The input section 18 receives information regarding the manipulation of the input key 34 as input for confirming the collision object. This means that the input signals to the operator that the collision object has been perceived and is being considered while operating the vehicle. Preferably, the display 28 of the output unit 6 can be configured as a touch display, and the input key 34 can be displayed on the display 28 as part of the touch functionality. Alternatively, the input key 34 can be formed by a tactile key mounted on the display 28, dashboard, steering wheel, and / or lever 54, or integrated with the display, dashboard, steering wheel, and / or lever. For example, the collision object can be displayed on the display 28 by means of an image detected by the camera 24 and confirmed by touching the display 28. Alternatively or additionally, the input section 18 can receive input by manipulating the input key 34 to initialize the environment of the vehicle to be applied. Upon initialization, all collision objects in the environment surrounding the vehicle are confirmed. In this way, interference from alarm signals can be suppressed in confined environments, such as on construction sites, while the operator is reliably alerted to new collisions.

[0047] Furthermore, the alarm device 1 may have a stop unit (not shown) comprising a stop section and a stop actuator. The stop section acquires an operation signal for operating the vehicle, such as a signal from a lever or accelerator pedal, and, upon detecting a collision object, determines whether a collision with the collision object will occur when the vehicle is operated using the detected operation signal. When this occurs, the stop section actuates the stop actuator to stop the current operation prompted by the operation signal. Here, the stop actuator may correspond to another control unit responsible for vehicle operation. To trigger the stopping process, the stop section sends an alarm signal via a vehicle network (e.g., a CAN network) to the other control unit, which processes the alarm signal accordingly and implements the cessation of the operation. In this way, collisions with collision objects due to operator operation of the vehicle can be prevented.

[0048] Figure 2An excavator 36 is schematically shown as an example of a vehicle equipped with an alarm device 1 according to this disclosure. The excavator 36 is operated or controlled by an operator 38. The excavator 36 is configured here as a tracked excavator having an upper carriage 40 and a lower carriage 42, the upper carriage forming a cab 41 for the operator, the upper and lower carriages being rotatable relative to each other. An excavator arm 44 is mounted on the upper carriage 40, and an excavator bucket 46 is mounted at the end of the excavator arm. The lower carriage 42 includes tracks 48 for moving the excavator 36. Figure 2 In the example shown, the operator 38's attention, i.e., the area of ​​attention 50, is directed towards the excavator bucket 46 and the area below it. Here, the area of ​​attention 50 is not limited to a defined focal plane. A worker 52, currently detected as a collision target, is located behind the excavator 36, because this worker is outside the area of ​​attention 50.

[0049] Figure 3 Show Figure 2 A schematic top view of excavator 36. (As already referred to...) Figure 2 As described, note that area 50 points towards the excavator bucket 46. Figure 3 Camera 24 is shown, mounted at the rear end of the upper vehicle 40 and oriented left, rear, and right relative to the upper vehicle 40. Note that the lidar sensor illustration is omitted for simplicity. Worker 52 pushes the cart and moves past excavator 36, placing the worker in corresponding positions at different time points t1, t2, and t3. Therefore, at each time point t1, t2, t3, the orientation R(t1), R(t2), R(t3) of worker 52 relative to the upper vehicle 40 and thus relative to operator 38 also changes. Since worker 52 is outside the attention zone 50, the worker is detected as a collision target here.

[0050] Figure 4 A schematic top view of the interior space of the excavator 36's cab 41 is shown. In the cab 41, two displays 28 are arranged in an area on the left and right sides in front of the operator 38, and the operator 38's attention is focused on this area most of the time during the operation of the excavator 36. Additionally, there are two control levers 54, through which the excavator 36 can be operated. A seat (not shown) for the operator 38 to sit on during operation is arranged in the cab 41. Here, the control levers 54 and the seat correspond to vehicle components that are in direct contact with the operator 38. Vibration elements 32 are arranged in the control levers 54 and the seat. Behind the operator 38, a plurality of speakers 30 are arranged in a semi-circular pattern around the operator 38.

[0051] For reference Figure 2 as well as Figure 3As described, the attention zone 50 is directed towards the excavator bucket 46, while the worker 52, representing the collision object, moves past the rear of the excavator 36. Here, to draw the operator 38's attention to the worker 52, visual, auditory, and tactile alarm signals are output. However, it is also conceivable to output only one of the alarm signals or a combination of two of these alarm signals. Here, the visual alarm signal is output via the display 28, since the display is located within the attention zone 50. Additionally, at time points t1, t2, and t3, the speakers 30 are sequentially operated according to the changing direction R of the worker 52's movement to output auditory alarm signals. In this way, the presence of the worker 52, i.e., the direction of the collision object, can be communicated to the operator 36. Furthermore, the vibration element 32 in the seat is operated to output a tactile alarm signal, thereby notifying the operator that the worker 52 is behind them.

[0052] Figure 5 The visual alarm signal is displayed on screen 28. (See reference...) Figure 2 As described, a camera 24 is arranged on the vehicle 40, which detects images of the monitored environment. The image of worker 52 detected by one of the cameras 24 can be displayed on a monitor 28, allowing the operator 38 to perceive worker 52 without directing their attention area 50 towards worker 52. Alternatively, a composite image composed of multiple images detected by the cameras 24 can be displayed on the monitor 28. Worker 52 can be highlighted in the displayed image, for example, with a colored border or flashing, to signal to the operator 38 that worker 52 is a potential collision target. The operator 38 can confirm worker 52 and disable alarm signal output by manipulating input keys. For example, the monitor 28 can be configured as a touchscreen, and the operator 38 can confirm worker 52 by tapping on the monitor 28.

[0053] Figure 6 A schematic top view of the excavator 36 during the rotational movement of the upper carriage 40 is shown. The operator's attention area 50 is pointed to an area toward which the excavator bucket 46 pivots. From the upper carriage 40, the worker 52 is located to the right rear in the direction R. Due to the small distance between the worker 52 and the excavator 36, the worker is located within the pivot radius of the rear end of the upper carriage 40.

[0054] Figure 7 A schematic top view of the excavator 36's cab 41 is shown. (As for...) Figure 6As described, the attention zone 50 points to an area toward which the excavator bucket 46 pivots and in which the worker 52 is positioned as the collision object in direction R. Here, to draw the operator 38's attention to the worker 52, visual, auditory, and tactile alarm signals are output. The visual alarm signal is output via a display 28 located to the right front of the operator 38, as this display is situated within the operator 38's attention zone 50. Furthermore, the visual alarm signal is output via a speaker 30 corresponding to direction R. Additionally, a tactile vibration signal is output via a vibrating element 32 in the seat and a right-side control lever 54 to notify the operator 38 that the worker 52 is the collision object relative to the overhead crane 40, i.e., the operator 38 is positioned to the right rear.

[0055] Figure 8 This diagram shows a schematic top view of the excavator 36 traveling from left to right, with the overhead crane 40 rotated 90°. Note that area 50 points to a region slightly offset to the right relative to the excavator bucket 46, allowing for the identification of the falling cargo. The worker 52 is located on the left side in direction R relative to the overhead crane 40, i.e., the operator 38, and is detected as the collision target.

[0056] Figure 9 A top view of the cab 41 of the excavator 36 is shown. (See reference...) Figure 8 As described, worker 52 is located in direction R. To notify operator 38 of the presence of worker 52 as a potential collision target, visual, auditory, and tactile alarm signals are output. The visual alarm signal is output via a display 28 positioned to the left front of operator 38, as this display 28 is within operator 38's attention area 50. Direction R can be indicated to operator 38 by displaying a corresponding arrow on display 28. The auditory alarm signal is output via a speaker 30, which corresponds to direction R. Furthermore, a tactile alarm signal is output via the left operating lever 54. Therefore, worker 52 can be reliably identified as a collision target to operator 38.

[0057] The embodiments of this disclosure have been described above. It should be noted that the described embodiments are merely non-limiting examples for implementing this disclosure.

Claims

1. An alarm device (1) for alerting the operator (38) of a vehicle (36) of a collision object (52) during operation, said alarm device having: Attention area determination unit (2), the attention area determination unit is configured to determine attention area (50), the attention area is the area to which the operator (38)'s attention is directed. An environmental monitoring unit (4) is configured to at least partially monitor the environment surrounding the vehicle (36), determine the collision hazard for objects present in the monitored environment, and detect objects as collision objects (52) where a collision hazard exists and the object is outside the attention zone (50). Output unit (6) is configured to output an alarm signal when the collision object (52) is detected.

2. The alarm device (1) according to claim 1, wherein, The output unit (6) is configured to output visual and / or auditory and / or tactile alarm signals.

3. The alarm device (1) according to claim 1 or 2, wherein, The environmental monitoring unit (4) is configured to determine the collision risk to the object based on the distance and / or relative speed between the vehicle (36) and the object.

4. The alarm device (1) according to any one of claims 1 to 3, wherein, The environmental monitoring unit (4) is configured to determine the collision hazard to an object based on the type of the vehicle (36) and / or the purpose of use of the vehicle (36).

5. The alarm device (1) according to any one of claims 1 to 4, wherein, The environmental monitoring unit (4) is configured to determine the collision risk to an object based on the operation of the vehicle (36).

6. The alarm device (1) according to any one of claims 1 to 5, wherein, The output unit (6) has at least one visual display element (28).

7. The alarm device (1) according to claim 6, wherein, The output unit (6) and the visual display element (28) are configured to display the direction (R) of the collision object (52) on the visual display element (28).

8. The alarm device (1) according to claim 6 or 7, wherein, The environmental monitoring unit (4) has an image detection element (24), and The display unit (6) and the visual display element (28) are configured to display or overlay an image detected by the image detection element (24) on the visual display element (28).

9. The alarm device (1) according to any one of claims 6 to 8, wherein, The output unit (6) has a plurality of visual display elements (28) and is configured to output an alarm signal through the visual display elements (28), which are located in or closest to the attention area (50) of the operator (38).

10. The alarm device (1) according to any one of claims 1 to 9, wherein, The output unit (6) has at least one tactile output element (32) arranged in / on a vehicle component (54) that is in direct contact with the operator (38).

11. The alarm device (1) according to claim 10, wherein, The output unit (6) has a plurality of tactile output elements (32) arranged in or on one or more parts (54) that are in direct contact with the operator (38) and configured to manipulate the tactile output elements (32) according to the direction (R) of the collision object (52).

12. The alarm device (1) according to any one of claims 1 to 11, wherein, The output unit (6) has at least one speaker (30) or headphones.

13. The alarm device (1) according to claim 12, wherein, The output unit (6) has multiple speakers (30), or the headphones are configured for spatial audio output, and The output unit (6) is configured to output the auditory alarm signal according to the direction (R) of the collision object (52).

14. The alarm device (1) according to any one of claims 1 to 13, comprising: The input unit (8) is configured to receive input for confirming the collision object (52) and / or input for initializing the environment in which the vehicle (36) should be used.

15. The alarm device (1) according to any one of claims 1 to 14, wherein, The output unit (6) is configured to adapt and output the alarm signal according to the collision hazard.

16. The alarm device (1) according to claim 6, wherein, The visual display elements are arranged in a typical attentional area (50) for the vehicle (36).

Images