System for preventing collisions between a charging device and a load vehicle

Abstract

A collision avoidance system between a loading device (1) with a loading arm (2) and a truck (3) is described. This system comprises a position detection system for the loading arm (2) assigned to the loading device (1), an obstacle detection system (4) assigned to the loading device (1) for detecting obstacles in the vicinity of the loading arm (3), and a control system (5) for activating loading functions depending on a distance (a) between the loading arm (2) and an obstacle detected by the obstacle detection system (4). To increase collision safety, it is proposed that the obstacle detection system (4) determines the position of the truck (3) in space, that a virtual safety zone (9) encompassing a driver's cab (8) is detected and / or calculated, and that the control system (5) controls the loading arm (2) in such a way as to avoid a collision of the loading arm (2) with the virtual safety zone (9) and, if applicable, with the tipper body (6).

Description

[0001] The invention relates to a system for collision avoidance between a loading device, in particular a loader arm, and a truck, comprising a position detection system for a loader arm assigned to a loader, an obstacle detection system assigned to the loader for determining obstacles in the vicinity of the loader arm, and a controller for controlling loader functions depending on a distance between the loader arm and an obstacle detected by the obstacle detection system, wherein the obstacle detection system determines the position of the truck in space.

[0002] In this sense, trucks are vehicles for transporting loads with a driver's cab and loading area, such as dumpers, which represent a special type of truck. Dumpers are used to transport material over short distances on a construction site. When loading the dumper with a loader, particularly an excavator, wheel loader, or similar, a typical movement sequence usually results. The excavator picks up the material to be loaded with its bucket and then swings towards the waiting dumper. This swinging movement repeatedly leads to accidents because the excavator bucket swings into the cab or driver's cab of the dumper. Drivers must therefore always leave the dumper during loading.

[0003] EP3748089 A1 discloses an excavator with a control unit for collision avoidance. The control unit detects a changing environment and, in response, terminates automatic operation to avoid collisions and enable safer operation.

[0004] JP1999280106 A discloses a method for preventing a collision between an excavator operator's cab and an excavator bucket. The operator's cab is surrounded by a virtual safety zone. If the excavator bucket moves into the safety zone, the drive of the excavator bucket is stopped.

[0005] DE 102016224076 A1 discloses a method and a device for determining a position of a loader arm using a LIDAR system mounted on an excavator. The method comprises the following steps: emitting a plurality of laser beams to illuminate a plurality of measurement points on the loader arm, receiving laser beams reflected from the measurement points, and determining a position of the loader arm relative to at least one reference point assigned to the excavator using the reflected laser beams. For this purpose, it is known to use the device in conjunction with appropriate object and image processing to additionally detect persons or objects in the vicinity of the excavator and to clearly distinguish them from the loader arm, which is known in detail.This helps avoid collisions with the environment, such as buildings, other vehicles, people, or high-voltage lines. Knowledge of the position and orientation of the entire loader arm in space, especially of protruding components, is essential for this. Obstacles may be encountered within the loader arm's movement area, for example, between a loading and removal area. These obstacles are detected by the device's LIDAR system and avoided by appropriately controlling the loader arm's sub-segments or, optionally, by moving the entire excavator. If an obstacle cannot be avoided, the system stops automatically.

[0006] DE102017215379 A1 discloses a method for determining a collision risk between a commercial vehicle and a mobile work machine during loading and / or unloading of a transport area of the commercial vehicle, comprising the following steps: Detecting a distance between the commercial vehicle and the mobile work machine during loading and / or unloading of the transport area of the commercial vehicle using a loading unit of the mobile work machine, and determining the collision risk based on the detected distance. Subsequently, the loading unit of the mobile work machine and / or a warning device and / or a drive device and / or a braking system of the commercial vehicle and / or the mobile work machine can be controlled by means of a control signal depending on the determined collision risk.

[0007] A particular disadvantage of this state-of-the-art technology is that the operator of the vehicle being loaded must frequently climb in and out, which is time-consuming and uncomfortable. Operators often don't even dismount, creating a risk of injury, especially with dump trucks that have an open design without a cab. Such a cab cannot therefore be reliably detected by existing collision detection systems.

[0008] The invention is therefore based on the object of creating a system of the type described above with which injuries to persons staying in the driver's cab of a truck during a loading process can be safely avoided.

[0009] The invention achieves the stated object in that the obstacle detection (4) comprises at least one active sensor (11) assigned to the truck (3), which is directed towards the surroundings of the truck (3), in that a virtual safety area spanned by the active sensor and enclosing a driver's cab of the truck is detected and / or calculated and in that the control system controls the loader arm in such a way that a collision of the loader arm with the virtual safety area and possibly with the trough is avoided.

[0010] According to the invention, the loading device is controlled in such a way that a collision with the truck to be loaded and in particular a penetration of the loader arm into the safety zone surrounding the driver's cab is avoided. Ideally, no collision should be possible between the vehicles at all, and in particular a collision with the trough should also be avoided. The main goal, however, is to avoid a collision with the driver's cab or the cabin. In particular, the lifting arm of the loading machine should not be able to swing too close to the cabin. For this purpose, a virtual safety zone surrounding the driver's cab and, if applicable, a cabin is detected and / or calculated, and the loader arm is controlled via the controller in such a way that a collision of the loader arm with the virtual safety zone and, if applicable, with the trough is avoided. A loader operator will operate the loading device in the usual way.However, the control system prevents the loading arm from entering the safety area.

[0011] For this purpose, the obstacle detection system can determine the position of a loader's trough in space and then recognize and / or calculate a virtual safety area surrounding the driver's cab or cabin.

[0012] In order to be able to advantageously detect the position of the loader and, if applicable, the trough in space, it is proposed that the obstacle detection system can comprise active and / or passive sensors assigned to the loader, wherein in particular at least one active sensor is directed towards the area surrounding the loader arm, which sensor detects when the loader arm approaches the virtual safety area. The loading vehicle has sensors which, on the one hand, monitor the position of the loader arm and, on the other hand, detect the position of the loader vehicle. The options for monitoring the position of the loader arm are known from the prior art. In one variant, angle sensors can be used for this purpose, for example. These measure the position of the individual elements of the loader arm so that the position of the attachment can be calculated. On some excavators, especially mini excavators, the loader arm can also be pivoted laterally relative to the superstructure.In this case, the respective position can also be taken into account. The dimensions of the respective attachment can also be stored or entered into the excavator's electronics, so that, for example, the actual position of a bucket edge or of the tool in general is known. Preferably, the loading device can be equipped with tool detection, and the position detection for the loader arm can determine the tool's position in space using geometric data from the detected tool. Alternatively, a camera or sensor system can be provided to detect the position of the loader arm and, if applicable, the attachment.

[0013] The at least one active sensor directed toward the area surrounding the loader arm can comprise a 3D LIDAR sensor, at least two 2D LIDAR sensors, and / or at least one radar sensor. Conventional sensors can be used to determine the position of the loader. Generally, any sensors used in the automotive sector for autonomous driving are suitable. The sensor(s) are mounted on the excavator, in particular on the superstructure. For example, the cabin can be used to mount the sensors. However, it would also be possible to position the sensors directly on the loader arm.

[0014] Since the greatest danger occurs when the loader arm pivots, the preferred design is to position a sensor on each loader arm near the excavator bucket. The sensors are positioned on both sides of the loader arm so that when the loader arm pivots, the approach to the vehicle to be loaded can be detected.

[0015] If the control system detects an approach, a preselected action can be taken. For example, a warning to the driver, a reduction in movement speed, or a deceleration to a standstill. The control system can trigger the respective actions. For example, the slewing gear or hydraulics can be deactivated, so that the hydraulic resistance in the hydraulic system creates a braking effect when the valves are closed. Various brakes, such as a slewing gear brake or similar, can also be activated.

[0016] The control system could distinguish between the hopper and the safety area. For example, image recognition software could be used to detect the truck and its orientation. This could allow, for example, the truck to approach very close to the hopper or even touch it, as the risk to the truck driver is relatively low. On the other hand, the cab or driver's station could be equipped with a larger safety clearance, keeping the loader arm at a significant distance.

[0017] The safety system according to the invention can also be overridden by the operator of the loading device, for example, if the load needs to be evenly distributed in the trough and the arm needs to be moved very close to the safety area of the truck. In the deactivated or overridden state, the permissible movement speed of the machine is preferably limited.

[0018] The system described so far refers only to the loading device. To achieve greater accuracy, it would be conceivable to install additional elements on the truck. In addition, the obstacle detection system can include active and / or passive sensors assigned to the truck. Similarly, at least one active sensor can be directed toward the truck's surroundings. The corresponding sensors have already been described above.

[0019] The at least one active sensor can span the virtual safety area around the driver's cab, which is detected by at least one active and / or passive sensor assigned to the excavator when the loader arm approaches the safety area.

[0020] For example, sensors or transmitters could be installed on the truck cab or in the vicinity of the driver's cab to enable improved detection and location of the cab.

[0021] The sensors on the excavator can be configured to use these signals for improved control.

[0022] For example, active transmitters could be used, based on whose signals the excavator's control system can calculate the exact distance. However, passive elements (such as reflectors) can also be used, with corresponding sensors on the excavator also enabling improved measurements.

[0023] In one variant, a simple near-field sensor or similar device can be used to create a kind of bubble around the cabin, which an intelligent excavator equipped with sensors as described can detect. This system makes it easy to protect cabins, as well as particularly vulnerable areas on construction sites, by attaching such a sensor to the position to be protected. The "intelligent" excavator can then automatically detect this.

[0024] The invention also includes loaders and trucks equipped with a system according to the invention.

[0025] The drawing shows an example of the subject matter of the invention. Fig. 1 shows a system according to the invention with a loading device and a truck in side view, and Fig. 2 shows an alternative system with a loading device and a truck in side view.

[0026] A system according to the invention for collision avoidance between a loading device 1, in particular a loader arm 2 with associated tool, and a truck 3 comprises a position detection system for the loader arm 2 assigned to the loading device 1, an obstacle detection system 4 assigned to the loading device 1 for determining obstacles in the vicinity of the loader arm 2, and a controller 5 for controlling loader functions depending on a distance a between the loader arm 2 and an obstacle detected by the obstacle detection system 4, here a trough 6 of the truck 3.

[0027] In order to prevent the loading arm, in particular a loading tool 7 assigned to it, from penetrating the driver's cab area of the truck 3, the obstacle detection system 4 determines the position of the truck 3 in space, a virtual safety area 9 surrounding a driver's cab 8 is detected and / or calculated, and the control system 5 controls the loader arm 2 in such a way that a collision of the loader arm 4 with the virtual safety area 9 and, if applicable, with the trough 6 is avoided.

[0028] The obstacle detection system 4 preferably determines the position of the trough 6 of the loader in space, wherein a virtual safety area 9 surrounding the driver's cab 8 is detected and / or calculated adjacent to the trough 6.

[0029] The obstacle detection can comprise active and / or passive sensors 10 assigned to the loading device 1, wherein at least one active sensor 10 is directed towards the surroundings of the loader arm 2, which sensor 10 detects with the obstacle detection 4 an approach of the loader arm 2 to the virtual safety area 9.

[0030] The at least one active sensor 10, 11 directed toward the surroundings of the loader arm 2 optionally comprises a 3D LIDAR sensor, at least two 2D LIDAR sensors, and / or at least one radar sensor. The active sensor 10, 11 can also be equipped to detect Bluetooth signals or with a 3D camera.

[0031] In particular, the loading device 1 can be equipped with a tool detection and the position detection for the loading arm 2 can determine the position of the tool in space using the geometric data of the detected tool.

[0032] The obstacle detection system 4 also includes active and / or passive sensors 11 assigned to the truck 3. Preferably, at least one active sensor 11 is directed toward the surroundings of the truck 3. The at least one active sensor 20 directed toward the surroundings of the truck 3 may in turn include a 3D LIDAR sensor, at least two 2D LIDAR sensors, and / or at least one radar sensor.

[0033] The at least one active sensor 11 in particular defines the virtual safety area 9 around the driver's cab 8, which is detected by at least one active and / or passive sensor 11 assigned to the loading device 1 when the loader arm 2 approaches the safety area 9.

Claims

1. System for avoiding collisions between a loading device (1) with a loading arm (2) and a load vehicle (3), comprising a position detection device for the loading arm (2) assigned to the loading device (1), an obstacle detection device (4) assigned to the loading device (1) for detecting obstacles in the vicinity of the loading arm (2), and a control device (5) for controlling loading functions as a function of a distance (a) between the loading arm (2) and an obstacle detected by the obstacle detection device (4), wherein the obstacle detection device (4) determines the position of the load vehicle (3) in space, characterized in that the obstacle detection device (4) comprises at least one active sensor (11) assigned to the load vehicle (3), which active sensor (11) is directed towards the surroundings of the load vehicle (3), in that a virtual safety area (9), which is spanned by the active sensor (11) and enclosing a driver's cab (8) of the load vehicle (3) is detected and / or calculated, and in that the control device (5) controls the loading arm (2) in such a way that a collision of the loading arm (2) with the virtual safety area (9) and, if necessary, with the trough (6) is avoided.

2. System according to claim 1, characterized in that the obstacle detection device (4) determines the position of the trough (6) of the load vehicle (3) in space and that a virtual safety area (9) enclosing a driver's cab (8) is then detected and / or calculated.

3. System according to claim 1 or 2, characterized in that the obstacle detection device (4) comprises active and / or passive sensors (10) assigned to the loading device (1), wherein at least one active sensor (10) is directed toward the environment of the loading arm (2), which sensor (10) detects an approach of the loading arm (2) to the virtual safety area (9).

4. System according to claim 3, characterized in that the at least one active sensor (10) directed towards the environment of the loading arm (2) comprises a 3D LIDAR sensor, at least two 2D LIDAR sensors and / or at least one radar sensor.

5. System according to one of claims 1 to 4, characterized in that the loading device (1) is equipped with tool recognition and that the position detection for the loading arm (2) determines the position of the tool in space using geometric data of the recognized tool.

6. System according to one of claims 1 to 5, characterized in that the obstacle detection device (4) comprises active and / or passive sensors (11) assigned to the load vehicle (3).

7. System according to claim 1 or 6, characterized in that the at least one active sensor (11) spans the virtual safety area (9) around the driver's cab (8), which is detected by at least one of the active and / or passive sensors assigned to the loading device (1) when the loading arm (2) approaches the safety area (9).

8. Loading device (1) with a system according to one of claims 1 to 5.

9. Load vehicle (3) with a system according to one of claims 6 to 7.

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