Warning device for warning of a collision object

Abstract

A warning device (1) for warning an operator (38) of a vehicle (36) of a collision object (52) during operation is disclosed, comprising: an attention area determination unit (2) configured to determine an attention area (50) which is an area to which the operator's (38) attention is directed, an environment monitoring unit (4) configured to at least partially monitor an environment around the vehicle (36), to determine a collision hazard for an object present in the monitored environment, and to detect an object for which there is a collision hazard and which is outside the attention area (50) as the collision object (52), and an output unit (6) configured to output a warning signal upon detection of the collision object (52).

Description

[0001] The present disclosure relates to a warning device for warning an operator of a vehicle of a collision object.

[0002] It is known that when operating a vehicle, such as a construction machine or other machinery, for example on a construction site, the operator's attention is focused on the task being performed with the vehicle (for example, digging with an excavator bucket). Consequently, there is a risk that an approaching object, such as another vehicle or person, or a stationary object near the vehicle, will be overlooked or disregarded during operation. As a result, a collision with the approaching or stationary object can occur, often causing damage or even rendering the vehicle unusable.

[0003] It is therefore the purpose of the present disclosure to provide a warning device for warning an operator of a vehicle, which warns the operator of a collision object.

[0004] This problem is solved by the warning device with the features according to the independent claim. Advantageous embodiments are the subject of the dependent claims.

[0005] A warning device, as specified, enables the operator of a vehicle to be warned of a collision object during operation. The vehicle can be, for example, a truck, a piece of machinery, or a construction machine. Specifically, the vehicle can be an excavator (tracked or wheeled), a wheel loader, a bulldozer, a grader, a roller, a dump truck, a tractor, a combine harvester, a forage harvester, a planting machine, a harvester, a logging trailer, a log stacker, a forestry crawler, a sweeper, a garbage truck, a snowplow, a gritter, a Unimog, a mobile elevating work platform, a drilling rig, an asphalt paver, a lawn tractor, a mining vehicle, a tunnel boring machine, a concrete pump, a fire engine, or a mobile or stationary crane. Operation of the vehicle is understood to mean operation of the vehicle outside of public road traffic. That is to say..., the vehicle is operated for the purpose of performing work or for shunting.

[0006] The warning device includes an attention zone determination unit configured to determine an attention zone, which is the area to which the operator's attention is directed. The attention zone determination unit can employ one or more methods known from 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, using image recognition (so-called eye-tracking), to determine the operator's gaze direction. Furthermore, the operator's posture can be determined, for example, by appropriate sensors, which are arranged, in particular, in a seat on which the operator is seated. The information thus obtained makes it possible to determine a spatial area to which the operator's attention is directed.When determining the area of ​​attention, a typical human field of vision, particularly a binocular field of vision, can be assumed. For example, a person can perceive an area of ​​approximately 210° horizontally. Vertically, the area is between 60° and 70° upwards and between 70° and 80° downwards. A safety margin, e.g., 10°, can be subtracted from these areas to ensure a reliable determination of the field of vision. It should be noted that the area of ​​attention is not limited to a specific focal plane. The area of ​​attention can be continuously determined during operation. "Continuously" also includes periodic determinations with sufficiently short intervals.

[0007] Furthermore, the warning device comprises an environmental monitoring unit configured to at least partially monitor the area around the vehicle. Preferably, the environmental monitoring unit is configured to fully monitor the area around the vehicle. The environmental monitoring unit can employ one or more methods known from the prior art for this purpose. The environmental monitoring unit can include one or more detection elements or sensors. Examples include a radar detection element, a lidar detection element, an image acquisition element such as a camera, an ultrasonic detection element, and an infrared detection element. The detection element(s) of the environmental monitoring unit each have a detection area with characteristic horizontal and vertical dimensions.It is also conceivable that the environmental monitoring unit comprises a combination of the aforementioned types of detection elements. Furthermore, depending on the vehicle type, the detection elements can be located on the vehicle, i.e., on an exterior surface of the vehicle, or integrated into it, e.g., into the vehicle body.

[0008] Furthermore, the environmental monitoring unit is designed to determine the risk of collision for an object present in the monitored environment. To this end, the environmental monitoring unit can detect and locate one or more objects based on the information provided by the detection element(s), i.e., determine the object's relative position to the vehicle. Information from different detection elements can be fused to detect the object. The object does not necessarily have to be a living being or an object. Nor does the object need to be classified as a specific object type. However, classification of the object, e.g., using machine vision, is conceivable. Continuous detection of one or more objects is also possible. Object tracking can also be implemented in the monitoring unit.

[0009] The environmental monitoring unit is designed to determine, after detecting an object, whether there is a risk of collision with it. This risk can be determined based on various conditions and / or characteristics of the object and / or the vehicle, which will be described below. The risk of collision can also be described as a probability of collision. If multiple objects are present in the monitored area of ​​the vehicle, the risk of collision can, of course, be determined separately for each object. This determination of the risk of collision can be continuous, particularly periodic.

[0010] Furthermore, the environmental monitoring unit is designed to detect an object that poses a collision risk and is located outside the operator's field of attention as the collision object. This means the collision object is located outside the operator's field of attention. To do this, the environmental monitoring unit receives the field of attention from the field of attention determination unit and then determines whether the object posing a collision risk is located within that field of attention. Only if the object posing a collision risk is located outside the field of attention is it identified as a collision object. This identification of the object as a collision object can also be performed continuously to account for shifts in the operator's field of attention and / or changes in the relative position between the vehicle and the object.For example, an object that poses a collision risk may initially be outside the operator's field of vision and thus be detected as a collision object. However, the operator can then direct their field of vision, and therefore their field of vision, towards the object. While the object still poses a collision risk, it is no longer detected as a collision object.

[0011] The monitoring unit also includes an output unit designed to issue a warning signal upon detection of a collision object. This means the output unit only issues the warning signal when the collision object has been detected. The warning signal indicates that a potential collision object is located outside the detection range. If the potential collision object is within the detection range, it is not detected, and the output unit does not issue a warning signal. In this way, the operator can be reliably warned of the potential collision object. Conversely, the warning signal is suppressed for potential collision objects that are within the detection range, meaning the operator can be expected to perceive them.Consequently, any potential disturbance to the operator during operation of the vehicle is avoided.

[0012] The output unit can be configured to emit a visual, audible, and / or haptic warning signal. That is, the output unit can emit a visual, audible, or haptic warning signal. It can also emit a combination of at least two of these signals. Consequently, the operator can be effectively warned of the potential collision object, as the warning signal is perceptible through different senses. The warning signal can be customized. This allows for consideration of environmental conditions encountered during vehicle operation. For example, in a noisy environment, such as a construction site, a combination of a visual and a haptic warning signal can be emitted. Furthermore, the specific type of warning signal can also be customized.For example, the volume and tone of the audible warning signal, the vibration pattern and intensity of the haptic signal, as well as the brightness and appearance of the visual warning signal can be adjusted. This allows for customization to the operator's preferences.

[0013] According to one aspect, the environmental monitoring unit can be configured to determine the collision risk for an object depending on the distance between the vehicle and the object. Alternatively or additionally, the environmental monitoring unit can be configured to determine the collision risk depending on the relative speed between the vehicle and the object. For example, a collision risk is assumed for an object that is within a predetermined distance of the vehicle. A collision risk can also be assumed if the object and the vehicle are moving towards each other at a predetermined relative speed or faster. The aspects of distance and relative speed can also be combined.A collision risk can be assumed if the object is within the specified distance of the vehicle and / or is moving towards the vehicle at the specified speed or faster. In this way, a collision risk, and thus the collision object, can be determined simply yet effectively. It is conceivable that the specified distance and / or the specified relative speed are the same across the monitored area. However, it is also possible that different values ​​for the specified distance and / or the specified relative speed are defined across the monitored area. These different values ​​for the specified distance and / or the specified relative speed can have a continuous or a discrete transition.

[0014] According to another aspect, the environmental monitoring unit can be configured to determine the collision risk for an object depending on the type of vehicle. For example, vehicles operating in a stationary state have a lower collision risk with an object than vehicles that are in motion, i.e., being driven. This influence can be taken into account, for instance, when setting the predetermined distance within which a collision risk exists. Furthermore, the value of the predetermined relative speed can be set accordingly. Additionally, protruding vehicle components can be considered when determining the collision risk. Alternatively or additionally, the environmental monitoring unit can be configured to determine the collision risk for an object depending on the vehicle's intended use.For example, an excavator can be used for stationary excavation of a pit, but also for moving heavy objects from one place to another. In the first case, there is a risk of collision for objects located relatively close to the vehicle, whereas in the second case, even objects located further away from the vehicle can be at risk of collision due to the excavator's movement. The different applications can be addressed, for example, by adjusting the specified distance and / or relative speed accordingly. Therefore, the risk of collision can be appropriately determined based on the vehicle type and / or the specific application.

[0015] The environmental monitoring unit can be configured to determine the collision risk to an object based on vehicle operation. For example, an operating signal input via a vehicle control element, such as a lever or accelerator pedal, can be detected or intercepted by the environmental monitoring unit. Furthermore, the environmental monitoring unit can identify an operating pattern and take it into account when determining the collision risk. For instance, it can be determined that an excavator digs a pit in one direction and unloads the excavated material by rotating the excavator through a predetermined angle. Consequently, it can be assumed that the operator's attention during operation is focused on a specific area of ​​the excavator arm and / or bucket.During rotation, however, the rear end of the superstructure also pivots back and forth, increasing the risk of collision in this area. This can be addressed by defining a predetermined distance within which a collision risk with an object exists. Specifically, the predetermined distance is increased by the rear end of the superstructure to identify a collision risk early and issue a timely warning signal if an object at risk of collision is located outside the operator's field of vision. This ensures adequate warning to the operator. Advantageously, the predetermined distance is increased only within the range of the predetermined angle through which the rear end of the excavator's superstructure pivots back and forth.

[0016] The output unit can have at least one optical display element. The optical display element is preferably located within a typical attention zone. The typical attention zone is an area to which the operator's attention is focused most of the time while operating the vehicle. For example, an operator's attention on an excavator is usually focused on the bucket, so the optical display element is located in or near the operator's line of sight to the bucket. The optical display element can be a display, which can also be a touchscreen. The display can also be used for other indications besides the output of the optical warning signal. Furthermore, a signal light, such as an LED, is also conceivable. It is also possible for multiple optical display elements to be present.For example, a display and several signal lights can be provided. Preferably, one of these optical display elements, particularly preferably the display, is positioned in the typical attention zone for the vehicle. Processing for outputting the optical warning signal can take place in a control unit of the warning device or in the optical display element itself.

[0017] The output unit and the optical display element can be configured to show the direction in which the collision object is located. The direction can be displayed by the display element itself. For example, an arrow pointing in the direction of the collision object can be shown on the display. The arrow can be displayed as an overlay. Alternatively or additionally, the direction can also be output by controlling an optical display element that points in the direction of the collision object. For example, a signal light can be specifically controlled.

[0018] As described above, the environmental monitoring unit can include an image capture element, such as a camera. The display unit and the optical display element can be configured to display or overlay an image captured by the image capture element on the optical display element. For example, the optical display element can be a screen. The captured image can be integrated into or overlaid on an existing display. The collision object can be highlighted in the image shown on the optical display element, for example, by a colored border or by flashing. This allows the operator to quickly identify the collision object.

[0019] The output unit can have multiple optical indicators and be configured to output the warning signal via the optical indicator that is present in or closest to the operator's attention zone. For example, multiple displays or indicator lights may be present. The output unit receives an attention zone from the attention determination unit and then determines which of the optical indicators are present in that zone. The optical warning signal is then displayed on the optical indicator(s) located within the attention zone. If none of the optical indicators are present in the attention zone, the optical indicator closest to it, i.e., the one with the shortest distance to it, can be activated.This ensures that the operator perceives the output of the optical warning signal at least through peripheral vision.

[0020] The output unit can have at least one haptic output element arranged in or on a vehicle component in direct contact with the operator. The haptic output element is preferably a vibration element. The vehicle component can be a seat or a control element, such as a lever or steering wheel. The haptic warning signal emitted by the haptic output element allows the operator to be reliably warned of the approaching object, even in noisy environments.

[0021] In particular, the output unit can have multiple haptic output elements arranged in / on one or more components in direct contact with the operator. The multiple haptic output elements can also be formed by allowing areas of a single haptic output element to be controlled independently. In this case, the output unit can be designed to control the haptic output elements according to the direction in which the collision object is located. For example, the vehicle, as is common with excavators, can have multiple controls, such as two operating levers, each containing a haptic output element. The output unit then controls the haptic output element in the direction in which the collision object is located. This ensures that the operator's attention is reliably directed towards the direction in which the collision object is located.

[0022] The output unit can include at least one loudspeaker or headphones. Headphones can be, for example, in-ear headphones, half-in-ear headphones, on-ear headphones, over-ear headphones, headphone speakers, or bone conduction headphones. The headphones can also be designed as hearing protection or as part of a two-way radio. Accordingly, the operator can receive an audible warning signal. Headphones offer the advantage that the operator can reliably perceive the warning signal even in noisy environments.

[0023] The output unit can, in particular, have multiple loudspeakers. These loudspeakers can be arranged in different directions around the operator, enabling directional output of the warning signal. Alternatively, the headphones can be configured for spatial audio output. The output unit can then be designed to emit the acoustic signal according to the direction in which the collision object is located. When using headphones, the rotation of the operator's head can be taken into account to correctly indicate the direction. The head rotation can be detected by the headphones themselves and / or by the attention zone determination unit. Consequently, the direction in which the collision object is located can be indicated to the operator using the acoustic warning signal. The operator can then quickly detect the collision object.

[0024] Furthermore, the warning device can include an input unit configured to receive an acknowledgment of the collision object. This allows the operator to confirm that they have perceived the collision object and will take it into account when operating the vehicle. Consequently, the operator is not distracted by a continuous warning signal. The input unit can also be configured to receive an input to initialize the environment in which the vehicle is to be used. For example, an excavator is being used on a confined construction site where several objects represent potential collision objects. The operator is aware of this and would be unnecessarily disturbed by the warning signal. In this case, they can confirm to the warning device that they will take the collision objects into account when operating the vehicle.Consequently, existing collision objects are acknowledged and no longer recorded as collision objects. However, if a new collision object appears, the operator is reliably warned of it by the output of a warning signal. The input unit can be a dedicated input element, such as an enter key. Alternatively or additionally, the input unit can also be a corresponding display on a touchscreen, which preferably also serves as the visual indicator.

[0025] The output unit can be configured to adapt and output the warning signal according to the risk of collision. Accordingly, the visual, haptic, and / or audible warning signal can be adjusted to reflect a changing risk of collision. For example, the warning signal can be modified as the vehicle and the potential collision object move towards each other, increasing the likelihood of a collision. This might involve using a brighter visual indicator or a different color, such as a signal color. If the indicator is flashing, the flashing frequency can be adjusted. Furthermore, the volume, tone, and / or frequency of the audible warning signal can be adjusted. Additionally, the intensity and / or vibration pattern of the haptic warning signal can be modified.In this way, the operator is reliably warned of an increasing risk of collision.

[0026] Furthermore, the warning device can include a stop unit designed to halt vehicle operation in the event of an imminent collision with the collision object. This means that the environmental monitoring unit has detected a collision object, and the operator is in the process of causing a collision between the vehicle and the collision object through an operation. For example, the operator might perform a rotational movement of the excavator, during which the excavator arm or the rear end of an upper structure would collide with the collision object. The stop unit can detect this because the collision object is within a certain radius. In this case, the stop unit interrupts the vehicle operation, thus preventing a collision with the collision object. The stop unit can be configured so that the monitoring device receives the warning signal from another control unit of the vehicle via a vehicle network (e.g., a vehicle network).CAN network) and the warning signal is processed accordingly by the other control unit to stop operation.

[0027] Furthermore, the present disclosure can also be designed as a vehicle that has a warning device in accordance with the aspects described above.

[0028] Embodiments of the present disclosure are described below with reference to the figures. In the figures, identical or corresponding elements are assigned the same reference numeral. The figures show: Fig. 1 a schematic block diagram of a warning device as disclosed; Fig. 2 a schematic side view of an excavator in which the warning device as disclosed is installed; Fig. 3 a schematic top view of the excavator; Fig. 4 a schematic top view of a cab of the excavator; Fig. 5 a schematic view of a display installed in the cab of the excavator; Fig. 6. A schematic top view of the excavator during a rotational movement of the excavator's upper carriage; Fig. 7 a schematic top view of the excavator's cab during rotation; Fig. 8 a schematic top view of the excavator during a journey of the excavator with the upper carriage rotated; and Fig. 9 A schematic top view of the excavator's cab while the excavator is in motion.

[0029] Fig. Figure 1 shows a schematic block diagram of a warning device 1 as disclosed, which comprises an attention zone determination unit 2, an environmental monitoring unit 4, an output unit 6, and an input unit 7. The warning device 1 also includes a control unit 10, which has a CPU, memory for storing a computer program executable by the CPU, and input / output interfaces. When the computer program is executed, the CPU forms an attention zone determination section 12, an environmental monitoring section 14, an output section 16, and an input section 18 as functional sections. Functional sections 12 to 18 interact with external components via the input / output interfaces to form the respective units 2 to 8. Furthermore, the functional sections are capable of exchanging information or data with each other.

[0030] The attention detection unit 2 comprises the attention detection section 12, an operator camera 20, and a posture sensor 22. The operator camera 20 captures the head of an operator of a vehicle in which the warning device 1 is installed. An algorithm for tracking the operator's face and / or eyes is implemented in the attention detection section 12 to determine the operator's field of vision, in particular a binocular field of vision. Methods known from the prior art can be used for this purpose. A tilt sensor, acting as a posture sensor 22, is installed in a seat of the vehicle, so that the tilt of the seat can also be used to determine the operator's field of vision. In this way, the field of vision, as an area of ​​attention to which the operator's attention is directed, can be determined both inside and outside the vehicle, i.e.,The area of ​​attention can be determined within the vehicle's cabin. To determine this area, reference can be made to a typical human field of vision. For example, a person can perceive a horizontal area of ​​approximately 210°. Vertically, the area is between 60° and 70° upwards and between 70° and 80° downwards. A safety margin, e.g., 10°, can be subtracted from these ranges to ensure a reliable determination of the field of vision and thus the area of ​​attention.

[0031] The environmental monitoring unit 4 comprises the environmental monitoring section 14, at least one camera 24 as an image acquisition element, and at least one lidar sensor 26. The camera 24 and the lidar sensor 26 thus correspond to acquisition elements and at least partially capture an environment around the vehicle. The area in which the environment is monitored, i.e., the monitored environment, depends on the detection range of the camera 24 and the lidar sensor 26. Each detection element has a detection range with characteristic horizontal and vertical extents. The camera 24 and the lidar sensor 26 can have different detection ranges, and environmental monitoring can only take place within an overlapping area. The monitored environment can be enlarged by installing additional cameras 24 and lidar sensors 26. Particularly preferably, the entire environment around the vehicle is monitored.Furthermore, the detection elements can be inclined relative to a horizontal plane in which they are installed in order to detect an area below or above the vehicle.

[0032] The environmental monitoring section 14 acquires the information acquired by the camera 24 and the lidar sensor 26 and fuses it to detect one or more objects around the vehicle. Machine vision methods, for example, can be used for this purpose.

[0033] Furthermore, section 14 of the environmental monitoring system determines a collision risk or probability for a detected object. For example, a collision risk for an object can be assumed if the object is within a predetermined distance of the vehicle. Alternatively or additionally, a collision risk can be assumed if the vehicle and the object are moving towards each other at a relative speed greater than or equal to a predetermined relative speed. The predetermined distance and / or relative speed may be defined depending on the type of vehicle and / or its intended use. Furthermore, the predetermined distance and / or relative speed may be defined depending on the vehicle's operation.The specified distance and / or relative speed can each be set to the same value along the monitored environment. Alternatively, different values ​​can be set, exhibiting a continuous or discrete transition.

[0034] If an object posing a collision risk is present in the monitored environment, the environmental monitoring section 14 determines whether the object is within the attention zone. To do this, the environmental monitoring section 14 obtains information about the current attention zone from the attention zone determination section 12. If an object posing a collision risk is located outside the attention zone, it is detected as a collision object.

[0035] The output unit 6 comprises output section 16, at least one display 28 as an optical output element, at least one loudspeaker 30 as an acoustic output element, and at least one vibration element 32 as a haptic output element. Output section 16 receives information from the environmental monitoring section 14 that a collision object has been detected and subsequently triggers the output of a warning signal via the display 28, the loudspeaker 30, and / or the vibration element 32. The warning signal can be pre-configured. Furthermore, the warning signal can be adapted according to the risk of collision. For example, the warning signal can be output with a higher intensity if the collision object is closer to the vehicle.

[0036] The input unit 8 is formed by the input section 18 and at least one input button 34. The input section 18 receives information about the activation of the input button 34 as an input to acknowledge the collision object. This means that by entering this information, the operator signals that they have perceived the collision object and will take it into account when operating the vehicle. Preferably, the display 28 of the output unit 6 can be designed as a touch display, and the input button 34 can be displayed on the display 28 as part of a touch function. Alternatively, the input button 34 can be formed by a haptic button that is attached to or integrated into the display 28, a dashboard, a steering wheel, and / or a control lever 54. For example, the collision object can be displayed on the display 28 by means of an image captured by the camera 24 and acknowledged by touching the display 28.Alternatively or additionally, input section 18 can receive an input to initialize an environment in which the vehicle is to be used by pressing the input key 34. Initialization acknowledges all collision objects in the vicinity of the vehicle. In this way, in confined spaces such as construction sites, a disruptive warning signal can be prevented while reliably warning the operator of a new collision object.

[0037] Furthermore, the warning device 1 can include a stop unit (not shown) comprising a stop section and a stop actuator. The stop section receives an operating signal for the vehicle, for example, a signal from a control lever or accelerator pedal, and, upon detecting a collision object, determines whether a collision with the collision object would occur if the vehicle were operated using the detected operating signal. If so, the stop section actuates the stop actuator to stop the current operation initiated by the operating signal. The stop actuator can correspond to another control unit responsible for operating the vehicle. To trigger the stop process, the stop section sends the warning signal via a vehicle network (e.g., CAN network) to the other control unit, which processes the warning signal accordingly and executes a stop of the operation.In this way, a collision with the collision object due to the operator's handling of the vehicle can be prevented.

[0038] Fig. Figure 2 schematically shows an excavator 36 as an example of a vehicle in which the disclosed warning device 1 is installed. The excavator 36 is operated or controlled by an operator 38. In this case, the excavator 36 is designed as a tracked excavator, comprising a superstructure 40, which forms a cabin 41 for the operator, and an undercarriage 42, which are rotatable relative to each other. An excavator arm 44, at the end of which an excavator bucket 46 is mounted, is attached to the superstructure 40. The undercarriage 42 has tracks 48 for moving the excavator 36. The operator 38's attention, i.e., an attention zone 50, is located in the area shown in Figure 2. Fig. In the example shown, the attention is directed at the excavator bucket 46 and an area below it. The attention area 50 is not limited to a specific focal plane. Behind the excavator 36 is a worker 52, who is detected as a collision object because he is outside the attention area 50.

[0039] Fig. Figure 3 shows a schematic top view of excavator 36. Fig. 2. As already mentioned in relation to Fig. As described in section 2, the attention area 50 is directed towards the excavator bucket 46. Fig. Figure 3 shows cameras 24, which are mounted at a rear end of the superstructure 40 and are oriented to the left, rearward, and right relative to the superstructure 40. It should be noted that the lidar sensors are not shown for clarity. Worker 52 pushes a wheelbarrow and moves past the excavator 36, so that he is in a different position at the respective times t1, t2, and t3. Consequently, at the respective times t1, t2, and t3, the direction R(t1), R(t2), and R(t3) in which worker 52 is located relative to the superstructure 40 and thus the operator 38 also changes. Since worker 52 is outside the area of ​​attention 50, he is detected as a collision object in this case.

[0040] Fig. Figure 4 shows a schematic top view of the interior of the cab 41 of the excavator 36. Inside the cab 41, two displays 28 are arranged to the left and right in front of the operator 38, in an area where the operator's attention is focused most of the time while operating the excavator 36. Two control levers 54 are also provided for operating the excavator 36. A seat (not shown) is located in the cab 41, on which the operator 38 sits during operation. The control levers 54 and the seat are vehicle components that are in direct contact with the operator 38. Vibration elements 32 are arranged in the control levers 54 and the seat. Several loudspeakers 30 are arranged in a semicircle around the operator 38 behind him.

[0041] As already mentioned in relation to the Fig. 2 and Fig. As described in Figure 3, the attention zone 50 is directed towards an excavator bucket 46, while a worker 52, representing a collision object, moves behind the excavator 36. To alert the operator 38 to the worker 52, a visual, an audible, and a haptic warning signal are emitted. However, it is also conceivable that only one of the warning signals or a combination of two of these warning signals is emitted. The visual warning signal is emitted via the display 28, as this is located within the attention zone 50. In addition, the individual loudspeakers 30 are activated sequentially at times t1, t2, and t3, according to the direction R, which changes with the movement of the worker 52, to emit the audible warning signal. In this way, the operator 36 can be informed of the direction in which the worker 52, i.e., the collision object, is located.Furthermore, the vibration element 32 in the seat is controlled to emit the haptic warning signal, so that the operator is informed that the worker 52 is behind him.

[0042] Fig. Figure 5 shows an output of the optical warning signal via display 28. As in relation to Fig. As mentioned in Figure 2, 40 cameras 24 are arranged on the superstructure, capturing an image of the monitored environment. An image showing worker 52, captured by one of the cameras 24, can be displayed on the screen 28, allowing the operator 38 to perceive worker 52 without focusing their attention 50 on him. A composite image, consisting of several images captured by the cameras 24, can also be displayed on the screen 28. Worker 52 can be highlighted in the displayed image, for example, by a colored border or flashing, to signal to the operator 38 that worker 52 is the potential collision object. The operator 38 can acknowledge worker 52 and stop the warning signals from being emitted by pressing the Enter key. For example, the display 28 can be designed as a touch display and the operator 38 can acknowledge the worker 52 by tapping on the display 28.

[0043] Fig. Figure 6 shows a schematic top view of the excavator 36 during a rotation of the superstructure 40. The operator's (38) area of ​​focus 50 is directed towards the area towards which the excavator bucket 46 is being swung. The worker 52 is located to the rear right, as viewed from the superstructure 40, in direction R. Since the worker 52 is a short distance from the excavator 36, he is within the swing radius of one rear end of the superstructure 40.

[0044] Fig. Figure 7 shows a schematic top view of the cab 41 of the excavator 36. As in relation to Fig. As described in Figure 6, the attention zone 50 is directed towards the area towards which the excavator bucket 46 is swung, and the worker 52, as the collision object, is located in direction R. To alert the operator 38 to the worker 52, an optical, an acoustic, and a haptic warning signal are emitted. The optical warning signal is emitted via the display 28, which is located to the front right of the operator 38, as it lies within the operator 38's attention zone 50. The optical warning signal is also emitted via the loudspeaker 30, which corresponds to direction R. Additionally, the haptic vibration signal is emitted via the vibration elements 32 in the seat and in the right-hand control lever 54 to inform the operator 38 that the worker 52, as the collision object, is located to the rear right of the superstructure 40, i.e., the operator 38.

[0045] Fig. Figure 8 shows a schematic top view of the excavator 36 during a left-to-right movement with the superstructure 40 rotated by 90°. The attention zone 50 is directed towards an area slightly offset to the right relative to the excavator bucket 46, so that falling material can be detected. To the left of the superstructure 40, i.e., the operator 38, is the worker 52 in the direction R and is detected as the collision object.

[0046] Fig. Figure 9 shows a top view of the cab 41 of excavator 36. As in relation to Fig.As described in Figure 8, worker 52 is located in direction R. To inform the operator 38 of worker 52's presence as the collision object, a visual, an audible, and a haptic warning signal are emitted. The visual warning signal is displayed on the screen 28, which is located to the left of the operator 38, as this screen 28 is within the operator 38's field of vision 50. The direction R can be indicated to the operator 38 by displaying a corresponding arrow on the screen 28. The audible warning signal is emitted via the loudspeaker 30, which corresponds to direction R. Additionally, the haptic warning signal is emitted via the left control lever 54. Therefore, the operator 38 can be reliably alerted to worker 52 as the collision object.

[0047] Above, embodiments of the present disclosure have been described. It should be noted that the described embodiments merely represent non-limiting examples of the implementation of the present disclosure. Reference symbol list 1 warning device 2 Attention area determination unit 4 Environmental monitoring unit 6 output units 8 Input unit 10 Control unit 12 Attention Area Determination Section 14 Environmental monitoring section 16 Output section 18 Input section 20 operator cameras 22 posture sensor 24 camera 26 Lidar sensor 28 Display 30 speakers 32 Vibration element 34 Enter key 36 excavators 38 operators 40 upper carriages 42 undercarriages 44 excavator arm 46 excavator bucket 48 chains 50 Attention area 52 workers 54 operating levers R direction

Claims

Warning device (1) for warning an operator (38) of a vehicle (36) of a collision object (52) during operation, comprising: an attention area determination unit (2) configured to determine an attention area (50) which is an area to which the operator's (38) attention is directed; an environment monitoring unit (4) configured to at least partially monitor an environment around the vehicle (36), to determine a collision hazard for an object present in the monitored environment, and to detect an object for which there is a collision hazard and which is outside the attention area (50) as the collision object (52); and an output unit (6) configured to output a warning signal upon detection of the collision object (52). Warning device (1) according to claim 1, wherein the output unit (6) is configured to output an optical and / or an acoustic and / or a haptic warning signal. Warning device (1) according to one of the preceding claims, wherein the environmental monitoring unit (4) is configured to determine the risk of collision for an object depending on a distance and / or a relative speed between the vehicle (36) and the object. Warning device (1) according to one of the preceding claims, wherein the environmental monitoring unit (4) is configured to determine the collision risk for an object depending on a type of vehicle (36) and / or a purpose of use of the vehicle (36). Warning device (1) according to one of the preceding claims, wherein the environmental monitoring unit (4) is configured to determine the risk of collision for an object depending on the operation of the vehicle (36). Warning device (1) according to one of the preceding claims, wherein the output unit (6) has at least one optical display element (28) which is preferably arranged in an attention area (50) typical for the vehicle (36). Warning device (1) according to claim 6, wherein the output unit (6) and the optical display element (28) are configured to indicate on the optical display element (28) a direction (R) in which the collision object (52) is present. Warning device (1) according to one of claims 6 or 7, wherein the environmental monitoring unit (4) has an image capture element (24), and the display unit (6) and the optical display element (28) are configured to display or overlay an image captured by the image capture element (24) on the optical display element (28). Warning device (1) according to one of claims 6 to 8, wherein the output unit (6) has several optical display elements (28) and is configured to output the warning signal via the optical display element (28) that is present in or closest to the attention area (50) of the operator (38). Warning device (1) according to one of the preceding claims, wherein the output unit (6) has at least one haptic output element (32) which is arranged in / on a vehicle component (54) in direct contact with the operator (38). Warning device (1) according to claim 10, wherein the output unit (6) has several haptic output elements (32) arranged in / on one or more components (54) in direct contact with the operator (38) and is designed to control the haptic output elements (32) according to a direction (R) in which the collision object (52) is present. Warning device (1) according to one of the preceding claims, wherein the output unit (6) comprises at least one loudspeaker (30) or a headphone. Warning device (1) according to claim 12, wherein the output unit (6) has several loudspeakers (30) or the headphones are configured for spatial audio output, and the output unit (6) is configured to output the acoustic warning signal in a direction (R) in which the collision object (52) is located. Warning device (1) according to one of the preceding claims, comprising: an input unit (8) configured to receive an input to acknowledge the collision object (52) and / or an input to initialize an environment in which the vehicle (36) is to be used. Warning device (1) according to one of the preceding claims, wherein the output unit (6) is configured to adapt and output the warning signal according to the risk of collision.

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