SYSTEM CONSISTING OF CONSTRUCTION MACHINE, TRANSPORT VEHICLE WITH LOADING SPACE AND IMAGE RECORDING DEVICE AND METHOD FOR DISPLAYING AN IMAGE STREAM WHEN LOADING OR UNLOADING A TRANSPORT VEHICLE

Description

[0001] The invention relates to a system comprising a construction machine, a transport vehicle with a loading space, and an image recording device. Furthermore, the invention relates to a method for displaying an image stream during loading or unloading of a transport vehicle.

[0002] Transport vehicles are loaded using a variety of different loading methods. For example, bulk material is loaded onto transport vehicles using a conveyor belt. This loading process is particularly common with construction machinery, whose primary function is not to load transport vehicles.

[0003] An even distribution of bulk material across the loading area is desired but often not achieved, as this depends on flawless communication between the transport vehicle driver and the construction machine operator. The construction machine operator must maintain a high level of concentration for the primary machine operation and also provide the transport vehicle driver with an appropriate signal to move his vehicle. Such signals can be transmitted acoustically or visually.

[0004] The construction machine could, for example, be a front-loading milling machine, where the milled material is dropped forward onto the transport vehicle in front. The transport vehicle's speed is generally higher than that of the road milling machine. Consequently, the drop point moves from front to rear above the transport vehicle's loading area. This can be observed by the road milling machine operator. When the drop point is at the rear end of the loading area, the road milling machine operator sounds the horn to request the transport vehicle driver to stop the transport vehicle. As the road milling machine continues to move, the drop point moves to the front end of the loading area. When the drop point reaches the front end of the loading area, the road milling machine operator sounds the horn again to request the transport vehicle driver to move off.In this way, the transport vehicle moves forward intermittently, whereas the construction machine moves forward continuously.

[0005] Using horn signals to prompt the transport vehicle to start and stop can be problematic in some situations. This can be problematic if the transport vehicle driver fails to hear the horn signal, or if another passing vehicle sounds its horn, causing the transport vehicle driver to mistakenly believe they need to move their vehicle forward. If the driver fails to hear the horn signal, the construction machine may collide with the transport vehicle, or the milling machine operator may have to stop continuous milling operations.

[0006] Secondly, the construction machine operator cannot accurately estimate the possible bulk material weight for a particular transport vehicle, as transport vehicles vary in size, and therefore the bulk material weight can only be estimated imprecisely. However, excessive loading impairs traffic safety, and excessive loading is economically disadvantageous. Finally, care must always be taken to ensure that no collisions occur when moving the transport vehicle and / or construction machine.

[0007] Transport vehicles also transport bulk material to construction sites, where it is then further used. To ensure efficient material transport, the bulk material is often unloaded directly from the transport vehicle onto the construction machinery. The construction machinery then transports this material via conveyor belt for direct installation or for filling other construction machinery. This is common among construction machinery whose primary function is to install material.

[0008] However, complete unloading of the bulk material from the cargo space of the transport vehicle is often not achieved, as unloading of the bulk material also depends on flawless communication between the transport vehicle driver and the construction machine operator. The transport vehicle driver cannot accurately assess the unloading progress because the cargo space is tilted during unloading, meaning the transport vehicle driver has no visibility into the cargo space.

[0009] Especially for unloading, the transport vehicle driver is often forced to approach the construction machine precisely and dock there before the dump truck is emptied. This can easily lead to collisions between the dump truck and the construction machine.

[0010] In a construction machine that is a road paver, the road paver is loaded with material while the road paver slowly moves forward. The transport vehicle slowly reverses towards the road paver until contact is established between the road paver and the transport vehicle. The transport vehicle is then pushed in front of the road paver by the road paver, and the material is unloaded.

[0011] The process becomes particularly complicated when the transport vehicle is moving during the docking phase, and a violent collision between the construction machine and the transport vehicle must be avoided. This often leads to hectic communication between the transport vehicle driver and the construction machine operator during the docking process before emptying or filling the transport vehicle.

[0012] Document EP 2 573 266 A2 discloses a system according to the preamble of claim 1.

[0013] The invention is therefore based on the object of providing a system and a method with which the coordination between transport vehicle and construction machine is improved.

[0014] This object is achieved by a system having the features of patent claim 1 and by a method having the features of patent claim 6.

[0015] Advantageous further training is the subject of the subclaims.

[0016] According to the invention, an image recording device is arranged on the construction machine and is aligned at least towards the loading space of the transport vehicle, wherein a receiving and display device is arranged on or in the transport vehicle, wherein the data recorded by the image recording device are transmitted to the receiving and display device by means of a transmitting device arranged on the construction machine.

[0017] The transport vehicle can be a dump truck or a truck with a loading area or loading space.

[0018] The advantage of arranging the image recording device on the construction machine is that, when multiple transport vehicles are used to transport materials to and from the site, only one image recording device is required on the construction machine, rather than a separate image recording device for each vehicle. When positioning the transport vehicle relative to the construction machine, it is essential that the image recording device is optimally aligned with the loading area of ​​the transport vehicle. Although the driver of the transport vehicle, in particular, requires optimal images for moving the transport vehicle, the invention arranges the image recording device on the construction machine, not on the transport vehicle.

[0019] The data can be transmitted wirelessly to the driver of the transport vehicle, for example, via the internet, Wi-Fi, Bluetooth, or similar devices. Transmission media are also sufficient for shorter distances, as the driver of the transport vehicle only needs information from the image recording device on the construction machine when he has moved his transport vehicle into proximity with the construction machine.

[0020] The same receiving and display device in the transport vehicle driver's vicinity can therefore communicate with different image recording devices on different construction machines. A defined format allows the transport vehicle driver to receive images from the construction machine in whose vicinity the transport vehicle driver is located. The transport vehicle driver thus requires only one receiving and display device, while the construction machine requires an image recording device and a transmitting device.

[0021] The recorded data is image data. The data can be transmitted encrypted or unencrypted. The amount of data to be transmitted can also be adjusted to the connection quality.

[0022] According to the invention, the construction machine has a conveyor system, and the image recording device is also aligned with the conveyor system. This allows the loading area of ​​the transport vehicle and the conveyor system to be monitored simultaneously. While the focus of the monitoring of the loading area is on ensuring uniform loading, the focus of monitoring the conveyor system is on avoiding a collision between the conveyor system and the transport vehicle.

[0023] According to a special embodiment of the invention, the user can see the loading area in the direction of travel of the transport vehicle in a first image and the loading device of the construction machine in a separate second image on a split image of the monitoring display. In this separate second image, the user can see the potential collision points to avoid a collision between the transport vehicle and the conveyor or loading device.

[0024] To ensure a good overview with the image recording device, it is proposed that the image recording device be mounted on the conveyor. This allows for a relatively high positioning on the one hand, and also for positioning close to the transport vehicle during loading and unloading on the other. Another advantage is that the image recording device can be pivoted together with the conveyor belt.

[0025] If the conveyor belt has to be swivelled towards the loading area (for example because the transport vehicle and construction machine have to travel offset from each other due to conditions on the construction site), the image recording device still remains directed towards the transport vehicle and in particular the loading area to be loaded.

[0026] The image recording device can be pivotably mounted around a cross member relative to the direction of travel of a conveyor belt above the conveyor's center of gravity. A drive or weight can be used to ensure that the alignment of the image recording device relative to the surface remains unchanged, even when the conveyor belt is adjusted in angle.

[0027] Such a suspended, pivoting mount also protects the image pickup device, which can yield in the event of a collision by pivoting around the mounting point. Alternatively, protection can also be achieved by elastically mounting the image pickup device on the construction machine, and in particular on a conveyor device of the construction machine, so that it can pivot in the event of a collision and then return to its original position.

[0028] The described system thus makes it easier for the driver of the transport vehicle and / or construction machine to maintain an overview of the loading process and effectively control the loading process by positioning the transport vehicle precisely at the point where the load is loaded onto a specific location in the transport vehicle's cargo area. Mounting the image recording device on the construction machine has the advantage that the drop point remains constant in relation to the monitoring image, thereby simplifying the setup of the transport vehicle. A high position for the image recording device on the construction machine has the advantage that the monitoring image can provide a complete overview.

[0029] Particularly with regard to unloading a dump truck, a system is proposed in which the construction machine has a receiving container and the image recording device is also aligned with the receiving container. This makes it possible to display a monitoring image on the user's screen in a split manner, i.e. the loading space in the direction of travel of the transport vehicle in one image and the recording device of the construction machine, i.e. the receiving container, in a separate image. The image of the receiving container can show the user potential collision points between the receiving container and the transport vehicle. A recording of the loading space and the receiving container enables the user to maintain an overview of the unloading process in order to control it safely and effectively. In particular, the driver of the transport vehicle can position the transport vehicle at the point at which the load can be safely unloaded into the receiving container after the docking procedure.

[0030] Depending on the design of the construction machine, it is advantageous to position the image recording device as high as possible. Therefore, it is suggested that the image recording device be located in the uppermost third of the construction machine.

[0031] The image recording device can have one or more cameras for recording individual images. According to the invention, the cameras can be designed differently and, for example, capture different wavelength ranges and / or have different recording techniques. For example, conventional optical cameras that capture the visible range of light or infrared cameras can be used. Alternatively, recording devices such as PMD cameras can be used, which can provide additional distance information via time-of-flight measurement. If multiple cameras are used, different recording methods can be used simultaneously, or different wavelength ranges can be captured. For example, an infrared camera and a camera for wavelength ranges corresponding to visible light, or an optical camera with a CCD sensor and a camera with a PMD sensor can be used.

[0032] It is particularly advantageous if the image recording device has at least one camera for recording an image stream. Such an image stream continuously shows any changes in the positions of the transport vehicle and construction machine, as well as any changes in the loading area during loading and unloading of the dump truck.

[0033] A video camera with a wide-angle lens and / or an infrared camera and / or a stereoscopic camera and / or a PMD camera is particularly suitable for this purpose.

[0034] A wide-angle lens allows for alignment with the loading space and the conveyor system or a receiving container. Alternatively, two cameras can be provided, each aligned accordingly. Therefore, it is proposed that the image recording device have two cameras or one camera with two viewing angles to generate two subset image streams.

[0035] Additional distance information can be recorded using a stereoscopic camera and / or a PMD camera.

[0036] Especially with a wide-angle lens, the two subset image streams can also be calculated from an original image stream.

[0037] To improve the recording quality, additional lighting can be provided in the camera's observation area. At least one light source and / or at least one mirror can be provided, wherein the light source is preferably arranged on or next to the camera, and the mirror is preferably positioned in the camera's field of view in such a way that the viewable area can be enlarged.

[0038] The camera can be mounted on an unmanned aerial vehicle.

[0039] The image recording device can also capture a license plate number, such as the license plate number of the transport vehicle. The license plate number can also be transmitted to the receiving and display device via the transmitting device.

[0040] The transmitting device sends further data to the receiving and display device in addition to the data recorded by the image recording device.

[0041] The further data may be other machine information, in particular data relating to the milled material and / or data determined from the image information using an evaluation unit and / or messages from the driver of the construction machine to the driver of the transport vehicle, preferably start or stop signals for the driver of the transport vehicle specified by the driver of the construction machine.

[0042] Milled material is the material removed by a milling machine. Data relating to the milled material may include data relating to the material properties of the milled material, in particular the material of the milled material and / or location data of the milled section of the floor covering.

[0043] With regard to the material properties of the milled material, this data can directly describe the material properties of the material or be data that can be used to draw conclusions about the material. Therefore, within the meaning of the invention, the location data of the milled section of the floor covering can also be data concerning the material properties of the milled material. For example, it can be determined which section of the motorway is being milled. It can be known which material was used in the motorway section, so that the material used can be determined based on the motorway section.

[0044] For example, it may be known which asphalt was used or the composition of the material used. It may also be known which material was used in the various layers of the pavement. The pavement usually has a surface layer, a binder layer, and a base layer. The known information regarding the material can be stored in a database (e.g., locally on the milling machine or externally), or this information can be entered by a milling machine operator. Location data can also be determined using GPS coordinates.

[0045] For example, samples of the milled material can also be taken and evaluated immediately or later. Within the meaning of the invention, the data relating to the material properties of the milled material can also be data signals relating to the number or name of such a sample.

[0046] The data relating to the milled material can be operating parameters of the milling machine or data or data signals determined using the operating parameters, location data, or input information. Thus, both directly determined or input data or data signals and data derived from them can be recorded as data relating to the milled material.

[0047] Operating parameters can include, in particular, milling depth, milled volume removed, feed rate, milling drum speed, the ratio between feed rate and milling drum speed, the milling drum used, the torque / power output of the milling machine's drive motor, or the amount of water supplied to cool the milling tools during the milling process. Furthermore, it can be recorded whether the milling machine is operating in down-cut or up-cut mode (rotation direction of the milling drum in the same or opposite direction to the rotation direction of the drives). Data relating to the milled material can also include the mass and / or volume of the milled material loaded onto the transport vehicle.

[0048] For example, if the mass of the milled material loaded onto the transport vehicle is recorded and transmitted to the machine operator and / or the transport vehicle driver, the transport vehicle can be loaded efficiently without overloading or underloading.

[0049] These operating parameters can be used to determine data. These can include material properties of the milled material, such as the grain size distribution in the milled material and the fine / coarse fraction. The physical properties can be derived, for example, from the relationship between feed rate and milling drum speed or the milling drum used.

[0050] Furthermore, operating parameters, such as the milling depth, can be used to determine which layer of the floor covering has been milled. For example, the floor covering may have a surface layer, a binder layer, and a base layer, which typically have different layer thicknesses. In addition to the milling depth, location data recorded by the milling machine can also be taken into account to determine whether milling has already taken place at a particular location. This information can be correlated to allow more precise conclusions to be drawn about the layer just milled.

[0051] The receiving and display device can have a second transmitting device, and a second receiving device can be arranged on the construction machine, so that messages can be sent from the second transmitting device from the driver of the transport vehicle to the driver of the construction machine. Messages can thus be exchanged between the transport vehicle driver and the construction machine driver.

[0052] The second transmitting device and the receiving and display device can be designed as a unit.

[0053] The second receiving device and the transmitting device of the construction machine can also be designed as a unit.

[0054] The system may include an evaluation unit. The evaluation unit may include an image analysis program that extracts additional data from the image information.

[0055] By evaluating the data from the image recording device, the evaluation unit can determine the fill level in the loading space and / or the distance between the construction machine and the transport vehicle and / or the point of impact of material in the loading space.

[0056] The distance between the construction machine and the transport vehicle can be used to determine an impending collision between the construction machine and the transport vehicle.

[0057] The impact point of the material can be the actual impact point of the material in the loading space or, when the conveyor system is switched off, the potential impact point in the loading space when the conveyor belt is driven again. Other parameters, such as the inclination of the conveyor belt, can also be taken into account to determine the potential impact point.

[0058] Based on the actual point of impact of the material in the loading space, it can be determined whether the material is still being dropped within the loading space and whether the point of impact is in the edge area of ​​the loading space and therefore the transport vehicle must move again in relation to the construction machine in a timely manner.

[0059] The further data which are sent from the transmitting device to the receiving and display device in addition to the data recorded by the image recording device can be data determined by the evaluation unit, in particular start or stop signals for the driver of the transport vehicle and / or mass of the milled material loaded and / or collision warning.

[0060] Depending on the point of impact of the material in the loading space and / or depending on the distance between the construction machine and the transport vehicle, the evaluation unit can determine a start or stop signal, which is sent via the transmitting device to the receiving and display device.

[0061] Additionally, the evaluation unit can also adjust the contrast or brightness of the image stream captured by the image recording device, or, for example, highlight visible edges (e.g., the loading edges of the loading area and / or the outer boundary of the conveyor system) in the image stream. This facilitates the optical evaluation of the transmitted image stream for the transport vehicle driver.

[0062] The image analysis program can, for example, display partial image streams on different displays or on different display areas and it can assign structures of the construction machine, the transport vehicle or the loading area to the image streams in order to provide early warning of collisions.

[0063] To supply the system with various information, it is proposed that the image recording device comprise at least one camera that is controllably pivoted. The control allows a wide viewing angle to be covered. However, the at least one camera can also be positioned or aligned, for example, depending on the position and inclination of the conveyor device. For example, if the inclination of the conveyor device changes, the camera attached to the conveyor device can maintain its alignment with a point, such as the loading area of ​​the transport vehicle, constant.

[0064] To protect the camera, it can be mounted behind metal brackets. The metal brackets are arranged in such a way that the camera's viewing angle is minimally affected while preventing damage to the camera behind the metal brackets. Alternatively, or in addition, the camera can be elastically mounted to allow the camera to deflect in the event of a collision with an object and then return to its original position.

[0065] A preferred embodiment provides that the receiving and display device is a portable computer, preferably a mobile phone.

[0066] This portable computer can capture, process, and display data from the image capture device, either wired or, more specifically, wirelessly. It can be located in the cab of the transport vehicle or nearby to improve collaboration between the transport vehicle and the construction machine.

[0067] The transport vehicle can also be identified, for example, by a unique user ID (e.g., the vehicle's license plate number). The receiving and display device associated with the transport vehicle can be provided with a scope of information adapted to the current task. This allows adjustments to be made as to whether and in what quality an image stream is provided and / or whether and to what extent additional data is transmitted.

[0068] A personal digital assistant (PDA) is particularly suitable as a portable computer. This is already known in various versions, particularly as a mobile phone, and preferably contains, among other programs, calendars and address programs. These computers can have processors and / or computer-readable memories and / or databases. They can also have a user interface. Such portable computers can be equipped with a special program that is specifically programmed as an application for use with the system comprising construction machinery, transport vehicles, and image capture devices. This makes it possible to use a known display device as a monitor and input unit to optimize the control of the construction machinery, transport vehicles, and image capture devices.

[0069] A first storage device can be arranged on the construction machine and / or the receiving and display device can have a second storage device, wherein the data recorded by the image recording device and / or the further data which are transmitted to the receiving and display device in addition to the data recorded by the image recording device can be stored in the first and / or the second storage device.

[0070] The evaluation unit, the transmitting device, the receiving device, and the storage device can also individually or together constitute a computer system. Such a computer system can have one or more processors and / or one or more computer-readable memories and / or one or more databases. It can also have one or more user interfaces.

[0071] Furthermore, a method according to the invention for displaying an image stream during loading or unloading of a transport vehicle, according to claim 6, comprises the following steps: Taking pictures with an image recording device mounted on a construction machine and directed at least towards the loading space of the transport vehicle, sending, receiving and displaying the data recorded with the image recording device on a receiving and display device arranged on or in the transport vehicle.

[0072] The data recorded by the image recording device can be an image stream. The image recording device can be a camera.

[0073] With this method, a person can perceive the loading and unloading of a transport vehicle on a receiving and display device in such a way that he can easily optimize the position of the transport vehicle and the loading and unloading of the transport vehicle.

[0074] It is advantageous if, in the method, at least two subset image streams are displayed simultaneously on the monitor, with each subset image stream containing a separate subset of images from the original image stream. This makes it possible to simultaneously monitor not just one location but different locations, such as the loading area and the loading device, or the loading area and a receiving container, in order to optimize the loading or unloading process by controlling the transport vehicle and construction machine.

[0075] It is particularly advantageous if the camera is aligned away from the construction machine. This alignment allows a large work area to be observed around the construction machine, especially with a wide-angle lens. Part of the image stream can also capture parts or boundaries of the construction machine, particularly to avoid collisions.

[0076] A special design variant provides for the camera's position and / or orientation to be determined, and the image stream is displayed according to the original orientation when the position or orientation changes. This means that even if the camera's orientation changes due to panning or camera shake, the image processing ensures that the monitor displays an image that corresponds to a non-panned or non-shaked camera.

[0077] At least one illuminating means and / or at least one mirror can be provided, wherein the illuminating means is preferably arranged on or next to the camera and the mirror is preferably placed in the field of view of the camera in such a way that the viewable area is enlarged.

[0078] The camera can be mounted on an unmanned aerial vehicle. The unmanned aerial vehicle could be a drone, for example.

[0079] In addition, the license plate number of the transport vehicle can be recorded.

[0080] In addition to the recorded data, further data can be sent to the receiving and display device.

[0081] The additional data may be data relating to the milled material and / or data determined by an evaluation unit from the data of the image recording device and / or messages from the driver of the construction machine to the driver of the transport vehicle, preferably start or stop signals for the driver of the transport vehicle specified by the driver of the construction machine. Data relating to the milled material has been explained in more detail above.

[0082] Messages can be sent from the driver of the transport vehicle to the driver of the construction machine.

[0083] The use of an evaluation unit makes it possible to evaluate the data recorded with the image recording device.

[0084] The further data that is transmitted to the receiving and display device in addition to the data recorded by the image recording device can be data determined by the evaluation unit, in particular start or stop signals for the driver of the transport vehicle and / or mass of the milled material loaded and / or collision warning.

[0085] By evaluating the image data, the evaluation unit can determine the fill level in the loading space and / or the distance between the construction machine and the transport vehicle and / or the point of impact of material in the loading space.

[0086] By means of the evaluation unit, a start or stop signal can be determined depending on the point of impact of the material in the loading space and / or depending on the distance between the construction machine and the transport vehicle, which is then transmitted to the receiving and display device.

[0087] For example, the evaluation unit can monitor the loading area of ​​the transport vehicle and, if the cone of material exceeds a specified level, trigger a signal indicating to the driver that the loading area needs to be adjusted. If the evaluation unit detects the boundaries of a transport vehicle and the boundaries of the construction machine and distinguishes them from the transport vehicle, it can issue a signal indicating a potential collision if the transport vehicle and the construction machine approach too closely.

[0088] The receiving and display device can be a portable computer. Any other radio-capable, mobile communications device is also suitable as a receiving and display device.

[0089] The receiving and display device can be located in the cockpit of the transport vehicle.

[0090] In order to make the surveillance images available to several participants at low cost, it is proposed that the image stream be displayed on at least two monitors. For this purpose, it is advantageous if the surveillance images are made available via a mobile application. For this purpose, a password-protected wireless connection can be set up between the computer with the monitor and the image recording device, which a user can access, for example, via such an application in order to receive the surveillance image. The information can then be displayed on several registered devices. The individual users of the application can also be identified, for example, by a unique user ID (e.g., the license plate number of the transport vehicle). Each user can then be provided with a scope of information tailored to their current task.This allows adjustments to be made as to whether and in what quality an image stream is made available and / or whether and to what extent additional data is transmitted.

[0091] The data recorded by the image recording device and / or the further data transmitted to the receiving and display device in addition to the data recorded by the image recording device can be stored.

[0092] The storage can take place in a first storage device arranged on the construction machine and / or in a second storage device arranged on the receiving and display device.

[0093] Particularly as evidence in the event of collisions between transport vehicles and construction machinery, it is proposed that the image stream and / or message stream be stored. This makes it possible to determine, even after a collision, whether the collision was caused by the driver of the transport vehicle or the driver of the construction machinery.

[0094] However, in order to prevent collisions and, for example, overloading of transport vehicles at an early stage, it is proposed that a reference image be displayed on the monitor of the compact computer and that a signal be triggered if the image stream deviates from the reference image by a specified amount. A signal indicating a deviation from a specified value can be a sound, a color change, or, for example, a vibration of the display device. The reference image can, for example, be a representation of an optimized position of the transport vehicle and construction machine relative to one another or a maximum load on the loading area of ​​the transport vehicle. For this purpose, the monitoring image can be provided with an animated image border, which can be adjusted by the user of the mobile application so that they have an independent reference point, for example to maneuver safely onto the construction machine during each docking procedure.

[0095] The following example illustrates the loading process of a transport vehicle and then the unloading process with reference to the drawing. It shows: Figure 1 schematically shows a side view of a transport vehicle and construction machine with image recording device with wide-angle camera, Figure 2 schematically shows a side view according to Figure 1 with image recording device with two cameras, Figure 3 a top view of the Figure 2 shown arrangement, Figure 4 a side view showing the first step of loading the transport vehicle, Figure 5 a schematic side view according to Figure 4 with the transport vehicle slightly retracted, Figure 6 a schematic side view according to Figure 5with the transport vehicle moved further back, Figure 7 schematically shows a side view with the transport vehicle moved forward again, Figure 8 schematically shows a side view of a transport vehicle spaced apart from a construction machine, Figure 9 schematically shows a side view of a transport vehicle approaching a construction machine, Figure 10 schematically shows a side view of a transport vehicle with an inclined loading area, Figure 11 schematically shows a top view of the Figure 9 shown arrangement of transport vehicle and construction machine.

[0096] The Figure 1shows the system 1 comprising construction machine 2, transport vehicle 3 with loading space 4, and image recording device 5. The image recording device 5 is arranged on the construction machine 2 and is aligned at least with the loading space 4 of the transport vehicle 3. The construction machine 2 has, as a conveyor device 6, a conveyor belt 7 pivotably arranged on the machine frame 8 of the construction machine 2. The image recording device 5 has one or more cameras 11 for recording data. . The image recording device 5 is arranged at the uppermost end of the conveyor belt 7 such that the camera lens 9 of the camera 11 is directed downwards such that the viewing angle 10 covers the entire loading space 4 of the transport vehicle 3 and part of the construction machine 2.

[0097] In the illustrated embodiment, the construction machine 2 is preferably a milling machine for milling a section of a floor covering. The floor covering is milled by means of the milling machine, and the removed material or milled waste is loaded onto the transport vehicle 3 via the at least one conveyor belt 7. The milling machine can have at least one machine frame. Furthermore, the milling machine can have a height-adjustable milling drum for processing the floor covering. The milling drum is driven by a drive unit. The drive unit is preferably a drive motor, in particular an internal combustion engine. The milling machine has travel devices 44. These travel devices 44 can be wheels or tracked drives. The travel devices 44 can be connected to the machine frame 8 via lifting columns. With the help of the lifting columns, the milling machine or the machine frame 8 can be height-adjusted relative to the floor covering.By adjusting the lifting columns, the height of the machine frame 8 is adjusted, and thus the height of the milling drum (not shown) mounted in the machine frame 8 is also adjusted. Alternatively or additionally, the milling drum can be height-adjustable relative to the machine frame 8.

[0098] A receiving and display device 18 is arranged on or in the transport vehicle 3, wherein the data recorded by the image recording device 5 are transmitted to the receiving and display device 18 by means of a transmitting device 46 arranged on the construction machine. Alternatively, the receiving and display device 18 can be designed as a mobile unit and carried, for example, by the transport vehicle driver.

[0099] The image recording device 5 can also capture a license plate, for example, the license plate number of the transport vehicle. Information about the license plate can also be sent to the receiving and display device via the transmitting device 46.

[0100] The transmitting device 46 can send further data to the receiving and display device 18 in addition to the data recorded by the image recording device.

[0101] The further data may be other machine information, in particular data concerning the milled material and / or messages from the driver of the construction machine 2 to the driver of the transport vehicle 3, preferably start or stop signals specified by the driver of the construction machine 2 for the driver of the transport vehicle 3.

[0102] The receiving and display device 18 can have a second transmitting device 50, and a second receiving device 51 can be arranged on the construction machine 2, so that messages can be sent from the second transmitting device 50 from the driver of the transport vehicle 3 to the driver of the construction machine 2. Messages can thus be exchanged between the transport vehicle driver and the construction machine driver.

[0103] The second transmitting device 50 and the receiving and display device can be configured as a unit. The second receiving device and the transmitting device 46 can also be configured as a unit.

[0104] The system 1 can have an evaluation unit 13 for evaluating the data recorded with the image recording device 5, for example with an image analysis unit 14.

[0105] The evaluation unit 13 can determine the fill level in the loading space and / or the distance between the construction machine 2 and the transport vehicle 3 and / or the point of impact of material in the loading space 4 by evaluating the image data.

[0106] Using the distance between construction machine 2 and transport vehicle 3, an impending collision between construction machine 2 and transport vehicle 3 can be determined.

[0107] The impact point of the material can be the actual impact point of the material in the loading space 4 or, when the conveyor system is switched off, the potential impact point in the loading space 4 when the conveyor belt 6 is driven again. To determine the potential impact point, other parameters, such as the inclination of the conveyor belt 6, can also be taken into account.

[0108] Based on the actual point of impact of the material in the loading space 4, it can be determined whether the material is still being dropped within the loading space 4 and whether the point of impact is in the edge area of ​​the loading space 4 and thus the transport vehicle 3 must move again in a timely manner in relation to the construction machine 2.

[0109] The further data which, in addition to the data recorded by the image recording device 5, are sent from the transmitting device 46 to the receiving and display device 18, can be data determined by the evaluation unit 13, in particular start or stop signals for the driver of the transport vehicle 3 and / or mass of the loaded milled material and / or collision warning.

[0110] Depending on the point of impact of the material in the loading space and / or depending on the distance between the construction machine 2 and the transport vehicle 3, the evaluation unit 13 can determine a start or stop signal which is sent via the transmitting device 45 to the receiving and display device 18.

[0111] The camera lens 9 is preferably a wide-angle lens of a camera 11, which acts as a video camera and records an original image stream 12. The recorded data can be transmitted to the evaluation unit 13. Alternatively or additionally, an infrared camera and / or a stereoscopic camera and / or a PMD camera can also be used.

[0112] The camera 11, as a video camera, can transmit an original image stream 12 to the evaluation unit 13, which covers information from the entire viewing angle 10. However, it can also transmit partial image streams for partial viewing angles 16, 17 to the evaluation unit 13. However, partial image streams can also be generated in the evaluation unit 13 from an original image stream 12, or partial image streams can be generated from the original image stream 12 on the receiving and display device 18 and displayed as images 20 and 21 on a monitor 19 of the receiving and display device 18. The generation of partial image streams can thus already be carried out in the image recording device 5 by two cameras 22, 23 with the evaluation unit 13 or the receiving and display device 18. In the Figure 3In the embodiment shown, two partial image streams are generated in the evaluation unit 13 and sent by means of the transmitting device 46 in such a way that the information about the images can be received by the receiving and display device 18.

[0113] The camera 11 is attached to the conveyor belt 7 of the conveyor device 6 in such a way that the orientation always points directly downward, regardless of the inclination angle 27 of the conveyor belt relative to the machine frame 8 of the construction machine 2. This ensures that the camera always captures the loading area and that part of the conveyor belt where the loading space 4 of the transport vehicle 3 could collide with the conveyor device 6.

[0114] A first storage device 52 can be arranged on the construction machine 2, and / or the receiving and display device 18 can have a second storage device 53. The data recorded by the image recording device 5 and / or the further data transmitted to the receiving and display device 18 in addition to the data recorded by the image recording device 5 can be stored in the first and / or second storage devices 52, 53.

[0115] A preferred embodiment provides for the receiving and display device 18 to be a portable computer, preferably a mobile phone. A mobile phone has the advantage that it can be carried by every transport vehicle driver, eliminating the need to provide a separate receiving and display device 18 for each transport vehicle. An application program can be installed on such a mobile phone, with the aid of which the data from the transmitting device can be received and displayed on the mobile phone monitor.

[0116] When using the system to load a transport vehicle 3 with the construction machine 2, first, as in Figure 4As shown, material 28 is conveyed onto the loading area 4 of the dump truck 3 by means of the conveyor device 6. This creates a first pile 29 in the rear area of ​​the loading area 4. The transport vehicle 3 is stationary, whereas the construction machine 2 continues to move. As the construction machine 2 continues to move, the discharge point moves to the front end of the loading area, which is Figures 5 and 6with the heaps 30, 31. When the drop point has reached the front end of the loading area, the driver of the transport vehicle must move it forward relative to the construction machine. When the impact point has reached the rear end of the loading area, the driver of the transport vehicle must stop the transport vehicle again. Heap 32 is formed again in the rear area of ​​the loading area. With the aid of the present invention, the transport vehicle driver receives the information whether he must move or stop the vehicle via the receiving and display device 18. This shows an image of the loading space 4, so that the transport vehicle driver can recognize when the transport vehicle 3 needs to be moved based on this image alone.In addition, the transport vehicle driver receives information from the construction machine operator or from the evaluation unit 13 as to whether the transport vehicle should be moved or not, for example in the form of start / stop signals. He can also receive information about the type of material loaded, whether the maximum weight has been reached, and whether a collision with the construction machine is imminent. This can significantly improve coordination between the transport vehicle and the construction machine. Additionally, signaling can be provided acoustically, for example, via a horn 15.

[0117] The Figure 2shows how the camera 11 can be used to observe both the loading space 4 and the particularly critical point on the conveyor device 6, in order to, on the one hand, check that the loading area is properly filled and, on the other hand, to avoid a collision between the side wall 33 and the conveyor device 6. The loading process is particularly difficult when not only the transport vehicle 3 but also the construction machine 2 is movable.

[0118] In this case, the construction machine 2 can pivot the conveyor 6, and the construction machine can be moved back and forth in alignment with the transport vehicle 3. Proper loading of the transport vehicle 3 therefore depends not only on the absolute position of the transport vehicle 3, but also on the relative position of the transport vehicle 3 to the conveyor 6 and the machine frame 8 of the construction machine 2.

[0119] Since the camera 11 moves with the construction machine 2, the vehicle driver always receives an image of the situation via the camera, which shows the transport vehicle 3 and in particular its loading area 4 in relation to the construction machine 2 and from the direction of the construction machine 2, in order to move the transport vehicle 3 into the correct position relative to the construction machine 2.

[0120] The Figures 8 to 11 show the unloading of a transport vehicle3, in which the loading area 4 is first moved towards the construction machine 2, so that the loading area 4, as in Figure 9 shown, is positioned in front of a receiving container 34. The loading area 4 is then tilted so that bulk material flows into the receiving container 34. A camera 35 is positioned in the upper third of the construction machine 2 in such a way that it can have a camera with a wide-angle lens or several cameras as the image recording device 36, which can display one or more image streams, as in Figure 3shown, to an evaluation unit 13.

[0121] For a construction machine 2 according to Figures 8 to 11 It is preferably a road paver. When the road paver is loaded with material, it moves slowly forward. The transport vehicle 3 slowly reverses towards the road paver until contact is established between the road paver and the transport vehicle 3. The transport vehicle 3 is then pushed in front of the road paver by the road paver, and the emptying takes place.

[0122] During unloading, the camera can also monitor both the loading area and the receiving container 34, in order to avoid a strong collision during the docking phase, particularly when the construction machine 2 and the transport vehicle 3 are moving, and to allow the material to slide into the trough of the receiving container 34 at different speeds. This is particularly advantageous when the construction machine transports the material at different speeds. The construction machine 2 according to the Figures 8 - 11 also preferably has an evaluation unit 13 with an image analysis program 14. Furthermore, a transmitting device 46, a receiving device 51 and a storage device 52 are preferably provided. These have the same functions as already for the construction machine according to Figures 1 to 7 described.

[0123] The transport vehicle 3 can be used in the same way as the transport vehicle 3 according to the Figures 1 to 7a receiving and display device 18, which may also have a transmitting device 50 and a storage device 53. The functions are the same as those according to Figures 1 to 7 described functions.

[0124] The entire loading and unloading process also requires communication between the participants. For this purpose, message streams can be transmitted via the receiving and display device 18 and / or the second transmitting device 50 and the transmitting and receiving devices 46, 51 arranged on the construction machine. It is also advantageous if the message streams can be stored in one or both storage devices 52, 53.

[0125] Reference images can be displayed on the monitor 19, at least on one image 20, 21, showing, for example, the optimal position of the transport vehicle 3 relative to the construction machine 2. This optimal position remains unchanged even when the transport vehicle 3 and the construction machine 2 are moving, since the optimal position of the transport vehicle remains unchanged from the perspective of the camera arranged on the construction machine 2, for example when docking with the construction machine 2. If the image 20, 21 deviates significantly from the displayed reference image, information can be sent to the receiving and display device 18 or a signal can be triggered, so that, for example, the horn 15 sounds.

Claims

1. System (1) comprising construction machine (2), transport vehicle (3) with loading space (4) and image-recording device (5, 36), wherein the image-recording device (5, 36) is arranged at the construction machine (2) and aligned, as a minimum, towards the loading space (4) of the transport vehicle (3), wherein a reception and display device (18) is arranged at or in the transport vehicle (3), wherein the data recorded by the image-recording device (5, 36) are transmitted to the reception and display device (18) by means of a transmission device (46) arranged at the construction machine (2), wherein the construction machine (2) comprises a conveying device (6), characterized in that the data recorded and transmitted are image data and the image-recording device (5, 36) comprises at least one camera (11, 35) for recording an image stream (12), wherein the image-recording device (5) is also aligned towards the conveying device (6), wherein both the loading space (4) and the particularly critical section at the conveying device (6) may be observed with the camera (11) in order to control the proper filling of the loading surface on the one hand, and prevent a collision between the tailboard (33) and the conveying device (6) on the other.

2. System (1) in accordance with claim 1, characterized in that the system (1) comprises an evaluation unit (13) with an image-analysing programme (14) which obtains additional data from the image information.

3. System (1) in accordance with claim 2, characterized in that the evaluation unit (13) determines the filling level in the loading space (4) and / or the distance between the construction machine (2) and the transport vehicle (3) and / or the point of impingement of material in the loading space (4) by evaluating the data of the image-recording device (5, 36).

4. System (1) in accordance with claim 3, characterized in that further data which are transmitted by the transmission device (46) to the reception and display device (18) in addition to the data recorded by the image-recording device (5, 36), are data determined by the evaluation unit (13), in particular, start or stop signals for the driver of the transport vehicle and / or a mass of the milling material loaded and / or the volume of the milling material loaded onto the transport vehicle and / or the filling level of the loading space (4) and / or a collision warning.

5. System in accordance with claim 3 or 4, characterized in that the evaluation unit (13) determines, as a function of the point of impingement of the material in the loading space (4) and / or as a function of the distance between the construction machine and the transport vehicle, a start or stop signal which is transmitted to the reception and display device (18) via the transmission device.

6. Method for displaying an image stream (12, 24, 25) in a system according to one of claims 1 to 5, wherein, during the loading or unloading of a transport vehicle (3), the method comprises the following steps: - recording images (20, 21) with an image-recording device (5, 36), in particular a camera (11, 35), mounted at a construction machine (2) and aligned, as a minimum, towards the loading space (4) of the transport vehicle (3); - transmitting, receiving and displaying the data recorded with the image-recording device on a reception and display device (18) arranged at or inside the transport vehicle (3).

7. Method according to claim 6, characterized in that it comprises the following step: - simultaneous display of at least two subset image streams on a screen (19) of the reception and display device (18), wherein each subset image stream contains a separate subset of images (20, 21) from the image stream (12).

8. Method according to claim 6 or 7, characterized in that the data recorded by means of the camera are analysed by means of an evaluation unit (13).

9. Method according to claim 8, characterized in that the filling level in the loading space (4) and / or the distance between the construction machine (2) and the transport vehicle (3) and / or the point of impingement of material in the loading space (4) is determined by evaluating the image data by means of the evaluation unit (13).

10. Method according to claim 8 or 9, characterized in that further data which are transmitted by the transmission device (46) to the reception and display device (18) in addition to the data recorded by the image-recording device (5, 36), are data determined by the evaluation unit (13), in particular, start or stop signals for the driver of the transport vehicle and / or a mass of the milling material loaded and / or the volume of the milling material loaded onto the transport vehicle and / or the filling level of the loading space (4) and / or a collision warning.