Condition detection device, method for detecting a condition and vehicle

Abstract

Condition detection device comprising: an image capture device (4) arranged on a vehicle (1), wherein the vehicle has a movable load-carrying device (2) and wherein the image capture device is designed to capture an area of an exterior space (100) of the vehicle comprising a part of the load-carrying device in an image; an evaluation device which is designed to evaluate the captured image and to detect a load condition of the load-carrying device; and a control device configured to move the load-carrying device in response to the detected load condition of the vehicle, wherein the control device is further configured to change a drive parameter of the vehicle in response to the detected load condition of the vehicle.

Description

The invention relates to a state detection device, a method for detecting a state, and a vehicle.Devices and methods for detecting a state are known in principle. For example, DE 10 2016 220 810 A1 relates to an industrial truck having a plurality of operating components which are configured to carry out operating functions of the industrial truck. A control unit is configured to actuate the operating components of the industrial truck, and at least one detection device is configured to detect at least one operating parameter of the industrial truck and / or at least one parameter of the environment of the industrial truck. DE 196 41 192 A1 discloses a handling device in which a measurement pickup is arranged in the region of the free mast end for recording the respective mast speed of the free mast end. An active damping of the oscillations of the mast is effected by intervention in a position control device, in that the respective setpoint speed specification is corrected in each case. Furthermore, DE 10 2013 100 191 A1 shows a method for detecting lifting device oscillations in an industrial truck having a lifting device. In particular, the invention relates to a method for detecting lifting device vibrations in an industrial truck, and to a control computer which receives signals from the optical environment sensor and determines control commands for moving to a pallet and / or a storage position using the load-receiving means.It is therefore an object of the present application to specify an improved state detection device, an improved method for detecting a state, and an improved vehicle having a state detection device.This object is achieved by a state detection device comprising an image detection device arranged on a vehicle, wherein the vehicle has a movable load-receiving device and wherein the image detection device is configured to detect an area of an exterior space of the vehicle comprising a part of the load-receiving device in an image, an evaluation device configured to evaluate the detected image and to detect a load state of the load-receiving device, and a control device configured to move the load-receiving device in response to the detected load state of the vehicle.The state detection device first comprises an image detection device which is arranged on a vehicle. The vehicle is, for example, a motor vehicle, for example a passenger car or a truck, or a conveyor vehicle, for example an industrial truck, such as a forklift truck. The vehicle has a movable load-receiving device. The load-receiving device is designed to receive, carry, support, grasp and / or transport a load, such as, for example, a piece good, such as, for example, pallets, boxes, containers, or a bulk material, such as, for example, gravel or sand. For example, the load-receiving device is a load surface or a fork carrier. The load-receiving device is movable, i.e. it can be spatially changed in at least one degree of freedom. For example, a load surface or a fork carrier can be tilted, tilted, raised or lowered by a movement.The image capturing device is configured to capture at least one area of an exterior of the vehicle in an image. The image capturing device can be arranged partially or completely outside the vehicle, namely on the outside of a body or cladding element. Alternatively or additionally, the image capturing device can also be arranged within the vehicle, for example behind a screen. In the image captured by the image capturing device, at least a part of the load-receiving device is imaged or captured. In addition, a further part of the vehicle itself, a load arranged on or on the load-receiving device and / or a part of the environment of the vehicle can also be captured in the image. The image capturing device is configured, for example, as a camera that can record one or more, preferably digital, images. For example, the image capturing device is connected to the voltage supply of the vehicle and is designed to record images of a region of the exterior of the vehicle continuously, with the ignition switched on and / or during driving operation.The state detection device further comprises an evaluation device which is designed to evaluate the image detected by the image detection device and to detect a load state of the vehicle. For this purpose, the evaluation device evaluates at least one image, in particular a plurality of images, which are provided to it by the image capturing device, with the aid of image recognition or image evaluation algorithms.For example, the evaluation device is configured to recognize, on an image, whether a load is currently being picked up by the load pick-up device or a load is being arranged on the load pick-up device or whether no load is being picked up by the load pick-up device or is not being arranged thereon. The evaluation device can also detect a position of a load on or on the load-receiving device, for example, whether or not the load is arranged at a proper position on or on the load-receiving device. By comparing two successive images, the evaluation device is also configured, for example, to recognize whether a load is moving on or on the load-receiving device, in particular whether it is imminent to be removed from the load-receiving device or to fall therefrom. The evaluation device can also detect, for example, the type of load, for example a pallet or a cardboard box, or the dimension or size of the load, for example the height, length and / or width. Furthermore, for example, the evaluation device can recognize a weight of the load at known reference values of type or dimension or size. Likewise, for example, the evaluation device can detect a state of a load, for example damage or a degree of moisture.The state detection device also includes a control device configured to move the load receiving device in response to the detected load state of the vehicle. A movement of the load-receiving device functions, for example, by actuators, for example hydraulically, pneumatically or electrically operated actuators, such as, for example, a cylinder, a stepper motor or an actuator. For example, it forms the control device to change the position or position of the load-receiving device, such as, for example, tilting, tilting, increasing or lowering, pivoting or displacing the load-receiving device in one or more planes.By means of this state detection device, it is possible in particular to adapt the position or the position of the load receiving device as a function of the detected load state. For example, the load-receiving device can thus be lowered automatically if the load state is identified as no load being arranged in or on the load-receiving device, in order to thus facilitate (renewed) loading of the load-receiving device with a load. As a result, it is also possible, for example, to correct an angle of inclination of the load-receiving device if it has been detected that the load is not arranged at a proper position in or on the load-receiving device and / or threatens to be removed from the load-receiving device or to fall therefrom.This state detection device has the advantage that a plurality of expensive and complicated sensors, which can be damaged quickly in particular, can be dispensed with.The state detection device can be further developed in that the control device is further designed to change a drive parameter of the vehicle in response to the detected load state of the vehicle.A drive parameter of the vehicle is, for example, a speed, an acceleration, a direction of travel, a steering angle or a cornering speed of the vehicle. The control device is designed to change a drive parameter. For example, the control device has access to the drive train or the power output therefrom or to the steering system or the steering angle set thereby. For example, in response to the state detection device detecting that the load is not disposed at a proper position in the load receiving device and / or imminent to fall off the load receiving device, the control device may reduce the speed by reducing the output of the vehicle or completely stop it. Alternatively or additionally, this may be achieved by applying brakes to the vehicle. In this finding, the control device can also prevent the vehicle from being able to move at all.This development has the particular advantage that it is possible to react particularly well to the load or the ascertained load state. This achieves a particularly reliable load transport.The state detection device can be further developed in that the evaluation device is further designed to detect an environmental state of the environment of the vehicle and the control device is further designed to move the load-receiving device in response to the detected environmental state. The evaluation device is configured to evaluate at least one image captured by the image capture device and to detect an environmental state thereon.An environmental condition of the environment of the vehicle is, for example, an object, another vehicle or a person in the vicinity or the lane of the vehicle. For example, the evaluation device can detect whether or not a person, an obstacle or another vehicle is located in the vicinity of the load-receiving device or the load arranged thereon or thereon, and a collision of the load-receiving device or the load with the person is likely to be imminent or a specific safety distance is not observed. In response to this finding, the control device can, for example, raise, tilt or shift the load to the left or right, so that after the movement of the load-receiving device a collision with the person or the obstacle is no longer to be expected or a safety distance is observed.Further, for example, an environmental condition is a specific position, for example a free space in a storage shelf. For example, the evaluation device can detect whether a space is free in a specific rack and, in particular, whether this space is large enough for the size or dimension of the load located on the load-receiving device. In response to this recognition, the control device can move the load-receiving device, for example by raising or lowering and displacing or tilting in parallel, in such a way that the load can be arranged in the free space and can be removed from the load-receiving device.Further, for example, an environmental condition is an identification feature which is arranged on or on an object or a spatial element such as a wall. An identification feature is, for example, a one- or two-dimensional code, such as a barcode or a QR code or a symbol or a color plate or a combination of the aforementioned. By recognizing such an identification feature, for example, a position, for example, a storage position in a rack for the load, can be verified or falisticated. For example, it can be recognized as a result that this is the correct or determined storage location for the load or not. Alternatively or additionally, it can also be recognized by the recognition of an identification feature that the load is a load to be received, which can then be arranged on or on the load-receiving device by moving the load-receiving device.An environmental state can also be the state of an object in the environment, for example a ground condition, for example a wet or oily and thus slippery underlying surface, a state of an object, for example of a rack, for example whether it is weathered or rusted and thus potentially cannot develop the full load-bearing capacity, or an angle of a storage surface which prevents secure storage. As a result, a movement of the load-receiving device can take account of the detected state and cannot receive or place a load or can be picked up or placed off particularly gently.This development has the particular advantage that a load can be transported to a location in a particularly secure and precise manner. In particular, this further development makes it possible to dispense with vehicle-external safety mechanisms and guide means or to reduce these.The state detection device can be further developed in that the control device is further designed to change a drive parameter in response to the detected environmental state.For example, if it is detected that a person, another vehicle or an obstacle is located in the vicinity of the load-receiving device or the load arranged thereon or thereon or of the own vehicle, and a collision of the load-receiving device or the load or of the own vehicle with the person, the obstacle or the other vehicle is likely to be imminent or a specific safety distance is not observed, alternatively or additionally the speed can be reduced or an avoidance maneuver can be initiated.Further, for example, if it is detected that a space is free in a specific rack and, in particular, whether this space is large enough for the size or dimension of the load located on the load-receiving device, arranging or depositing the load can be assisted by a drive of the vehicle.Likewise, for example, if a position is detected with the aid of an identification feature, the vehicle can be navigated with or without a load and thus be controlled to a load to be picked up or to a storage location for a transported load.This development has the particular advantage that a load can be transported to a location in a particularly secure and precise manner. In particular, this development can achieve autonomous driving and in particular also autonomous storage logistics.The state detection device can be further developed in that the evaluation device is further designed to detect a vehicle state and the control device is further designed to move the load-receiving device in response to the detected vehicle state. The evaluation device is configured to evaluate at least one image captured by the image capture device and to recognize a vehicle state thereon.A vehicle state is, for example, wear or load on a component of the vehicle or the load-receiving device. For example, the evaluation device can detect a tire condition, for example a profile depth or an air pressure. Furthermore, for example, the evaluation can detect an elongation or bending of the load-receiving device. Likewise, for example, the evaluation device can recognize a steering angle of the vehicle, a wheel rotational speed and / or, by comparing two or more successive images at a known image rate, a speed or acceleration of the vehicle. As a result, for example, loading or overloading or loading or a technical defect on the vehicle or the load-receiving device can be detected. In response to this finding, for example, the load-receiving device can be lowered or a lifting process or attempt can be reversed or reversed in order to avoid a further loading or overloading or an accident.This further development has the particular advantage that the vehicle can be serviced particularly well and easily and can react particularly quickly to the occurrence of load or failure.The state detection device can be further developed in that the control device is further designed to change a drive parameter in response to the detected vehicle state.In the event of a detected load or a detected too high speed, the drive power can additionally or alternatively be reduced, braked and steered in order thus to further avoid an accident.This development has the particular advantage that it reacts particularly quickly to an imminent accident and this can be avoided.The state detection device can be further developed in that the image detection device comprises a radar device and / or a lidar device. The image capturing device can comprise exclusively a radar device and / or a lidar device or can comprise a radar device and / or lidar device in addition to a conventional camera. The radar device and / or the lidar device are in this case in particular designed as an imaging radar device and / or imaging lidar device. A radar device emits electromagnetic waves and generates an image from the waves reflected on objects. A lidar device achieves this by light, in particular laser beams or pulses.This ensures that no free-view optics are required and the image acquisition device is thus particularly insensitive to dirt.This development has the particular advantage that the state detection device is designed to be particularly robust, fail-safe and low-maintenance. In particular, this development is particularly suitable for use in dirty surroundings, such as under free sky.The state detection device can be further developed in that it further comprises a signal generation device which is designed to output an optical and / or acoustic signal in response to a detected load state. The signal generating device may be, for example, a light generating device, such as an LED configured to output one or more LED flashes, or an all-round lamp configured to output a rotating light signal. Alternatively or additionally, the signal generating device can be a sound generating device, such as a loudspeaker which is designed to output a warning sound, an alarm signal or a spoken warning signal.The signal generating device may be further configured to output an optical and / or acoustic signal in response to a detected vehicle state. The signal generating device can likewise be further designed to output an optical and / or acoustic signal in response to a detected environmental state.This makes it possible to warn the environment surrounding the vehicle, in particular the person(s) surrounding the vehicle, against a risk.This development has the particular advantage that it provides a particularly high level of safety during operation.The image capturing device, the evaluation device, the control device and the signal generating device as well as the entire state capturing device may be partially or completely formed as integrated circuits electrically connected to each other and having mutual access to the processed, generated, captured or provided data.The object mentioned at the outset is also achieved by a method for detecting a state, comprising the steps of detecting a region of an exterior space of a vehicle comprising a part of a movable load-receiving device in an image, evaluating the detected image and detecting a load state of the load-receiving device and moving the load-receiving device in response to the detected load state of the vehicle.The step of capturing is performed, for example, by an image capturing device as described above.The evaluation step is carried out, for example, by an evaluation device as described above.The step of changing may also be called control and is carried out, for example, by a control device as described above.The method can be further developed in that it further comprises the step of changing a drive parameter of the vehicle in response to the detected load state.The method can be further developed in that it further comprises the steps of detecting an environmental state of the vehicle and moving the load-receiving device in response to the detected environmental state.The method can be further developed in that it further comprises the step of changing a drive parameter of the vehicle in response to the detected environmental state.The method can be further developed in that it further comprises the steps of detecting a vehicle state and moving the load-receiving device in response to the detected vehicle state.The method can be further developed in that it further comprises the step of changing a drive parameter of the vehicle in response to the detected vehicle state.The method can be further developed in that the area of the exterior of the vehicle is detected by means of a radar device and / or a lidar device.The method can be further developed in that it further comprises the step of outputting an optical and / or acoustic signal in response to a detected load state. The step of outputting the optical and / or acoustic signal may also be performed in response to a detected vehicle state and / or environmental state. The signal can be generated or output, for example, by a signal generating device.The object mentioned at the beginning is likewise achieved by a vehicle comprising a movable load-receiving device and a state detection device according to one of the aforementioned embodiments.With regard to the advantages, variants and details of execution of the method and of the vehicle, reference is made to the preceding description relating to the corresponding features and developments of the state detection device.The embodiments of the application will now be described by way of example with reference to the accompanying Figure 1, which shows a schematic view of embodiments of the application.FIG. 1 first shows a vehicle 1 comprising a state detection device. The vehicle 1 is depicted as a fork lift truck by way of example and has a movable load-receiving device 2 in the form of a fork carrier. This load-receiving device 2 is designed to receive or support a load 3, here depicted as a cardboard by way of example, on or on the fork carrier and can be moved in a plurality of dimensions.The state detection device comprises an image detection device 4 which is arranged on a vehicle 1 and, shown by way of example, on the outside of the lifting mast of the forklift truck. The image capturing device 4 is depicted by way of example as a radar device which emits electromagnetic waves 5 and is designed to capture an area of an exterior 100 of the vehicle 1 comprising a part of the load receiving device 2 in an image. The state detection device further comprises an evaluation device configured to evaluate the detected image and to detect a load state of the load receiving device 2, a control device configured to move the load receiving device 2 in response to the detected load state of the vehicle 1, and a signal generating device configured to output an acoustic and / or optical signal in response to the detected load state, wherein the evaluation device, the control device and the signal generating device are not depicted for reasons of clarity.Already when the vehicle 1 is at a standstill, the image acquisition device 4 can continuously acquire images, wherein the load 3, the size and in particular the height of the load 3, the load receiving device 2, in particular a bending thereof, of the underlying surface 6 on which the vehicle 1 is standing or is travelling and a part of the further environment is acquired in the images.As the vehicle 1 now moves to the left on the image, the image capturing device 4 will continuously capture images and the evaluation device will next recognize the other vehicle 7 in the captured images. In order to avoid a collision with the other vehicle 7, the control device can then initiate either an avoidance or braking maneuver by changing a drive parameter of the vehicle 1 in response thereto.In the further course, the evaluation device will also recognize the person 8 on the captured images and the control device can lift the load-receiving device 2 in response thereto, in order to achieve a safety distance from the person 8, so that the latter can be transported along with the load over the head height of the person 8. At the same time, the signal generating device can emit a warning sound, so that the person 8 is also warned by the approaching vehicle 1 and can possibly even avoid himself.When the vehicle 1 then approaches the rack 9, the evaluation device can recognize the rack itself and a free space 10 on the captured images. In response to recognizing the rack as an obstacle, the control device may first reduce the speed and stop the vehicle 1 at a distance in front of the rack 9. Knowing the size of the load 3 and the size of the free space 10, the controller can attempt to unload the load 3 on the free space 10 or take nothing.Reference numerals denote reference numerals1 Vehicle 2 Load-receiving device 3 Load 4 Image-capturing device 5 Electromagnetic wave 6 Underlying surface 7 Other vehicle 8 Person 9 Rack 10 Free position 100 Exterior space

Claims

A state detection device comprising: an image detection device (4) arranged on a vehicle (1), wherein the vehicle has a movable load-receiving device (2), and wherein the image detection device is configured to detect an area of an exterior (100) of the vehicle comprising a part of the load-receiving device in an image; an evaluation device configured to evaluate the detected image and to detect a load state of the load-receiving device; and a control device configured to move the load-receiving device in response to the detected load state of the vehicle, wherein the control device is further configured to change a drive parameter of the vehicle in response to the detected load state of the vehicle.The state detection device according to claim 1, wherein the evaluation device is further configured to detect an environmental state of the environment of the vehicle; and the control device is further configured to move the load receiving device in response to the detected environmental state.The state detection device according to the preceding claim 2, wherein the control device is further configured to change a drive parameter in response to the detected environmental state.The state detection device according to any one of the preceding claims 1 to 3, wherein the evaluation device is further configured to detect a vehicle state; and the control device is further configured to move the load receiving device in response to the detected vehicle state.The state sensing device of the preceding claim 4, wherein the controller is further configured to change a drive parameter in response to the detected vehicle state.State detection device according to any one of the preceding claims 1 to 5, wherein the image detection device comprises a radar device and / or a lidar device.Method for detecting a state by means of a state detection device according to one of Claims 1 to 6, the method comprising the steps of: - detecting a region of an exterior space (100) of a vehicle (1) comprising part of a movable load-receiving device (2) in an image; - evaluating the detected image and detecting a load state of the load-receiving device; and - moving the load-receiving device in response to the detected load state of the vehicle.The method according to the preceding claim 7, further comprising the step of: - changing a drive parameter of the vehicle in response to the detected load condition.The method according to any of the preceding claims 7 or 8, further comprising the steps of: - detecting an environmental condition of the vehicle; and - moving the load-receiving device in response to the detected environmental condition.The method according to the preceding claim 9, further comprising the step of: - changing a drive parameter of the vehicle in response to the detected environmental condition.The method of any of the preceding claims 7 to 10, further comprising the steps of: - detecting a vehicle condition; and - moving the load handling device in response to the detected vehicle condition.Method according to the preceding claim 11, further comprising the step of: - changing a drive parameter of the vehicle (1) in response to the detected vehicle state.Method according to one of the preceding claims 7 to 12, wherein the region of the exterior of the vehicle (1) is detected by means of a radar device and / or a lidar device.A vehicle (1) comprising a movable load-receiving device (2) and a state detection device according to any one of claims 1 to 6.

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