Warning device for detecting collision objects

Abstract

The present invention provides a warning device that alerts the vehicle operator to an object that may be colliding with it. [Solution] A warning device (1) is disclosed that warns the operator (38) of a vehicle (36) of a collision object (52) while driving. The warning device (1) comprises an attention area determination unit (2) configured to determine an attention area (50) which is an area where the operator's (38) attention is focused; an environment monitoring unit (4) configured to at least partially monitor the environment around the vehicle (36), determine the risk of collision of objects present in the monitored environment, and detect objects that pose a risk of collision and are located outside the attention area (50) as collision objects (52); and an output unit (6) configured to output a warning signal when a collision object (52) is detected.

Description

Technical Field

[0001] The present invention relates to a warning device that warns an operator of a vehicle of the presence of a collision object.

Background Art

[0002] When operating a vehicle such as a work machine or a construction machine at a construction site or the like, it is known that the operator's attention is concentrated on the work by the vehicle (for example, excavation work by the bucket of an excavator). Therefore, when driving a vehicle, there is a risk of overlooking or ignoring approaching objects such as vehicles and people, or stationary objects around the vehicle. As a result, a collision with an approaching object or a stationary object occurs, leading to damage or, in some cases, the vehicle becoming inoperable.

Summary of the Invention

Problems to be Solved by the Invention

[0003] An object of the present disclosure is to provide a warning device that warns an operator of a vehicle of a collision object.

Means for Solving the Problems

[0004] This object is achieved by a warning device having the features according to the independent claims. Advantageous embodiments are the subject matter of the dependent claims.

[0005] The warning device relating to this disclosure enables a vehicle operator to be warned of the presence of an object to collide with while driving. The vehicle may be, for example, a truck, work machine, or construction machine. Specifically, the vehicle may be an excavator (crawler or wheel excavator), wheel loader, bulldozer, grader, roller, dump truck, tractor, combine harvester, forage harvester, planter, harvester, timber trailer, timber loading equipment, forestry tractor, road sweeper, garbage truck, snowplow, de-icing agent spreader, Unimog, mobile lift platform, excavator, asphalt paving machine, riding lawnmower, mining vehicle, tunnel boring machine, concrete pump truck, fire truck, or mobile or stationary crane. Driving a vehicle means driving the vehicle off public road traffic. That is, the vehicle is driven for the purpose of performing work or operating.

[0006] The warning device includes an attention area determination unit configured to determine the attention area, which is the region in which the operator's attention is directed. For this purpose, the attention area determination unit can use one or more methods known from the prior art. For example, the orientation of the operator's head can be determined by detecting and tracking the operator's face. For example, the direction of the operator's gaze can be determined by detecting and tracking the operator's eyes using image recognition (called eye tracking). Furthermore, the operator's posture can be determined, for example, by a corresponding sensor system placed in the seat where the operator is sitting. The information thus obtained can be used to determine the spatial region in which the operator's attention is directed. When determining the attention area, a person's normal field of vision, particularly binocular vision, can be assumed. For example, a person can perceive a region of approximately 210° in the horizontal plane. The vertical range is 60° to 70° upwards and 70° to 80° downwards. To ensure the field of vision is accurately identified, a safety range (e.g., 10°) can be subtracted from the specified range. It should be noted that the attention area is not limited to a specific focal plane. The attention area may be continuously identified during operation. "Continuous" is understood to also mean regular identification at sufficiently short time intervals.

[0007] Furthermore, the warning device includes an environmental monitoring unit configured to monitor the environment around the vehicle at least partially. Preferably, the environmental monitoring unit is configured to fully monitor the environment around the vehicle. For this purpose, the environmental monitoring unit can use one or more methods known in the prior art. For this purpose, the environmental monitoring unit may include one or more detection elements or sensors. Examples include radar detection elements, lidar detection elements, image detection elements such as cameras, ultrasonic detection elements, and infrared detection elements. One or more detection elements of the environmental monitoring unit each have a detection area having characteristic horizontal and vertical ranges. The environmental monitoring unit can also be configured by combining the types of detection elements described above. Furthermore, depending on the type of vehicle, the detection elements may be located on the vehicle, i.e., outside the vehicle, or integrated into the vehicle, for example, inside the vehicle body.

[0008] Furthermore, the environmental monitoring unit is configured to determine the collision risk of objects present within the monitored environment. For this purpose, the environmental monitoring unit can use information provided by detection elements to detect one or more objects and determine their location. That is, it can determine the relative position of the object to the vehicle. To detect an object, information from different detection elements can be integrated. The object does not necessarily have to correspond to a living organism or a physical object. Nor does it have to be classified as an object type. However, it is possible to classify objects using, for example, machine vision. This may also involve the continuous detection of one or more objects. Object monitoring (also called object tracking) can also be implemented in the monitoring unit.

[0009] The environmental monitoring unit is configured to detect an object and then determine whether there is a risk of collision with that object. The risk of collision with an object can be determined based on various conditions and / or characteristics of the object and / or vehicle, as described later. Collision risk is also called collision probability. If multiple objects are present in the vehicle's monitored environment, the collision risk can, of course, be determined for each of the multiple objects. Collision risk can be determined continuously, and in particular, periodically.

[0010] Furthermore, the environmental monitoring unit is configured to detect objects that pose a collision risk and are located outside the attention zone as collision objects. This means that the collision object is located outside the operator's attention zone. The environmental monitoring unit receives the attention zone from the attention zone determination unit and determines whether there are collision-risk objects within the received attention zone. Only if a collision-risk object is located outside the attention zone is this object also determined to be a collision object. This determination of an object as a collision object may be performed continuously to take into account changes in the operator's attention zone and changes in the relative position between the vehicle and the object. For example, a collision-risk object may initially be outside the attention zone and be detected as a collision object. However, the operator may direct their field of view and direct their attention zone towards the object. In that case, although the object still poses a collision risk, it may no longer be detected as a collision object.

[0011] Furthermore, the monitoring unit includes an output unit that outputs a warning signal when it detects a collision object. This means that the output unit only outputs a warning signal when it detects a collision object. In other words, the output of a warning signal indicates that a collision-prone object is outside the attention zone. If a collision-prone object is within the attention zone, it is not detected as a collision object, and the output unit does not emit a warning signal. In this way, the operator can be reliably warned of collision objects. On the other hand, for objects that pose a collision risk but are within the attention zone, the output of a warning signal is suppressed so that it can be assumed that the operator is aware of those objects. As a result, the possibility of the operator being interrupted while driving the vehicle is avoided.

[0012] In particular, the output unit may be configured to output optical and / or acoustic and / or tactile warning signals. That is, the output unit may output optical, acoustic, or tactile warning signals. Furthermore, the output unit may output a combination of at least two of these signals. As a result, the warning signals may be perceived by different sensory organs, so the operator can be effectively warned about collision objects. The warning signals may be individually customized. In this way, environmental conditions that occur while the vehicle is in operation can be taken into account. For example, in a noisy environment such as a construction site, a combination of visual and tactile warning signals may be emitted. In addition, the types of different warning signals may also be adjusted. For example, the volume and tone of the acoustic warning signal, the vibration pattern and intensity of the tactile warning signal, and the brightness and display of the visual warning signal can be set. In this way, adjustments can be made to suit the operator's preferences.

[0013] In one embodiment, the environmental monitoring unit may be configured to determine the collision risk of an object as a function of the distance between the vehicle and the object. Alternatively, or additionally, the environmental monitoring unit may be configured to determine the collision risk as a function of the relative velocity between the vehicle and the object. For example, an object located within a predetermined distance from the vehicle is assumed to have a collision risk. A collision risk may also be assumed if the object and the vehicle are approaching each other at a relative velocity of a predetermined value or higher. The elements of distance and relative velocity can also be combined. A collision risk may be assumed if the object is located within a predetermined distance from the vehicle and / or is moving toward the vehicle at a relative velocity of a predetermined value or higher. In this way, the collision risk, and consequently the object to be hit, can be determined simply and effectively. The predetermined distance and / or predetermined relative velocity may be set to be the same across the entire monitoring area. However, different values ​​for the predetermined distance and / or predetermined relative velocity may also be set across the entire monitoring area. Different values ​​for the predetermined distance and / or predetermined relative velocity may have continuous or discrete transitions.

[0014] In a further embodiment, the environmental monitoring unit may be configured to determine the risk of collision with an object depending on the type of vehicle. For example, a vehicle operating while stationary has a lower risk of collision with an object than a vehicle that is moving, i.e., in motion. This effect may be taken into consideration, for example, when determining a predetermined distance at which a collision risk exists. Furthermore, a predetermined relative speed value may be determined accordingly. In addition, parts of the vehicle that protrude from the vehicle may be taken into consideration when determining the collision risk. Alternatively or additionally, the environmental monitoring unit may be configured to determine the risk of collision with an object depending on the use of the vehicle. For example, an excavator is used not only for excavating a pit while stationary, but also for moving heavy objects from one place to another. In the former case, there is a risk of collision with an object at a relatively close distance from the vehicle, whereas in the latter case, the movement of the excavator may also create a risk of collision with an object at a greater distance from the vehicle. When considering different uses, this can be addressed, for example, by appropriately adjusting the predetermined distance and predetermined relative speed. As a result, the risk of collision can be appropriately determined according to the type of vehicle and its respective use.

[0015] The environmental monitoring unit may be configured to determine the risk of collision with an object in response to vehicle operation. For example, operating signals input via vehicle operating elements such as operating levers and accelerator pedals may be acquired or input by the environmental monitoring unit. Furthermore, the environmental monitoring unit may determine the operation pattern and take it into consideration when determining the risk of collision. For example, if it is determined that an excavator is excavating a pit in one direction and rotating the excavator at a predetermined angle to discharge the excavated soil, it is presumed that the operator's attention during operation is focused on the area of ​​the excavator arm and / or excavator bucket. However, since the rear end of the excavator housing also swings back and forth during rotation, the risk of collision in this area increases. Taking this into consideration, a predetermined distance at which there is a risk of collision with an object can be set. In particular, by increasing the predetermined distance near the rear end of the excavator housing, the risk of collision can be determined earlier, and if an object posing a collision risk is outside the attention area, an alarm can be issued at an appropriate time. In this way, an appropriate alarm can be issued to the vehicle operator. Advantageously, the predetermined distance is increased only within a predetermined angle range in which the rear end of the excavator housing swings back and forth.

[0016] The output unit may include at least one optical display element. The optical display element is preferably positioned in a typical attention area. A typical attention area is the area where the operator's attention is directed most of the time while the vehicle is in operation. For example, in the case of an excavator, the operator's attention is usually focused on the excavator's bucket, so the optical display element is positioned in line of sight from the operator to the excavator's bucket or nearby. The optical display element may include a display and may be configured as a touch display. The display may be used for other displays besides the output of the optical warning signal. Signal lights such as LED lights are also possible. Multiple optical display elements may be present. For example, a display and multiple signal lights may be provided. Preferably, one of these optical display elements, particularly preferably a display, is positioned in the typical attention area of ​​the vehicle. The output processing of the optical warning signal may be performed by the control unit of the warning device or by the optical display element itself.

[0017] The output unit and optical display element may be configured to display the direction in which the collision object is located on the optical display element. This direction may be displayed by the display element itself. For example, an arrow pointing in the direction in which the collision object is located may be displayed on the display. The arrow may be superimposed, i.e., displayed as an overlay. Alternatively or additionally, the direction may also be output by driving the optical display element in the direction in which the collision object is located. For example, a signal light may be specifically controlled.

[0018] As mentioned above, the environmental monitoring unit may include an image detection element such as a camera. The output unit and optical display element may be configured to display or superimpose the image detected by the image detection element onto the optical display element. For example, the optical display element may be a display. The detected image may be integrated with or superimposed on an image already displayed on the display. The colliding object may be highlighted in the image displayed on the optical display element, for example, by being outlined in color or flashing. This allows the operator to quickly recognize the colliding object.

[0019] The output unit may be equipped with multiple optical display elements and configured to output a warning signal via an optical display element located within or closest to the operator's attention area. For example, there may be multiple displays or signal lights. The output unit receives the attention area from the attention determination unit and determines which optical display elements are within the attention area. Then, an optical warning signal is displayed on the optical display element or multiple optical display elements located within the attention area. If no optical display elements are present within the attention area, the optical display element closest to the attention area, i.e., the one closest to the attention area, may be activated. This allows the operator to perceive the output of the optical warning signal, at least through their peripheral vision.

[0020] The output unit has at least one tactile output element, which may be located inside or on the surface of a vehicle component that comes into direct contact with the operator. The tactile output element is preferably a vibrating element. The vehicle component may be a vehicle seat or an operating element such as an operating lever or steering wheel. By outputting a tactile warning signal via the tactile output element, the operator can be reliably warned of the presence of a collision object even in a noisy environment.

[0021] In particular, the output unit may comprise multiple tactile output elements located within one or more components that come into direct contact with the operator. These multiple tactile output elements may be formed by regions of independently controllable tactile output elements. In this case, the output unit may be configured to drive the tactile output elements in accordance with the direction from which the object being impacted is located. For example, as is common in excavators, a vehicle may have multiple operating elements, such as two operating levers, with a tactile output element located at each operating element. In this case, the output unit controls the tactile output elements in the direction from which the object being impacted is located. This means that the operator's attention can be reliably directed in the direction from which the object being impacted is located.

[0022] The output unit may include at least one speaker or headphones. Examples of headphones include in-ear headphones, half-in-ear headphones, on-ear headphones, over-ear headphones, head speakers, or bone conduction headphones. The headphones may also be configured as hearing protection or as part of a wireless device. This allows an audible warning signal to be transmitted to the operator. The headphones have the advantage of ensuring that the operator can reliably hear the warning signal even in noisy environments.

[0023] In particular, the output unit may have multiple speakers. These speakers can be positioned facing different directions around the operator, enabling directional output of the warning signal. Alternatively, headphones can be configured for spatial audio output. In this case, the output unit can be configured to output an acoustic signal corresponding to the direction in which the collision object is located. When using headphones, the operator's head rotation can be taken into account to correctly indicate the direction. Head rotation can be detected by the headphones themselves and / or the attention area determination unit. As a result, the acoustic warning signal can be used to indicate the direction in which the collision object is located, allowing the operator to quickly detect the collision object.

[0024] Furthermore, the warning device may include an input unit configured to accept input for recognizing collision objects. This allows the operator to confirm that a collision object has been detected and to take the collision object into consideration when operating the vehicle. As a result, interference with the operator due to the continuous output of warning signals can be prevented. In addition, the input unit may be configured to accept input for initializing the operating environment of the vehicle. For example, an excavator is used in a narrow construction site where multiple objects become collision objects. However, the operator is aware of this and may be unnecessarily interfered with during operation by warning signals. In this case, the operator can confirm with the warning device that they will take the collision objects into consideration during operation. As a result, existing collision objects are recognized and no longer detected as collision objects. However, if a new collision object appears, a warning signal is output to ensure that the operator is warned. The input unit may consist of dedicated input elements such as input buttons. Alternatively or additionally, the input unit may consist of a corresponding display on a touch display, which preferably also forms an optical display element.

[0025] The output unit can be configured to adapt and output a warning signal according to the risk of collision. Therefore, optical and / or tactile and / or acoustic warning signals can be adapted according to the changing risk of collision. For example, when the vehicle and the collision object approach each other and the possibility of collision increases, the warning signal can be changed. For example, a brighter visual display can be used. Different colors, such as signal colors, can also be used for the visual display. In the case of a blinking display, the blinking frequency can be adjusted. Furthermore, the volume and / or tone color and / or output frequency of the acoustic warning signal can be adjusted. Furthermore, the intensity and / or vibration pattern of the tactile warning signal can be adjusted. In this way, the operator can be surely warned about the increasing risk of collision.

[0026] Furthermore, the warning device may include a stop unit configured to stop the operation of the vehicle when a collision with a collision object is imminent. This means that the environmental monitoring unit has detected a collision object and the operator is attempting to cause a collision between the vehicle and the collision object by operation. For example, when the operator turns a excavator, the rear end of the arm or the house of the excavator may collide with a collision object. The stop unit recognizes this because the collision object is within the turning radius. In this case, the stop unit interrupts the operation of the vehicle and avoids a collision with the collision object. The stop unit may be configured to provide a warning signal to another control unit of the vehicle via a monitoring device (e.g., a CAN network), and the warning signal is appropriately processed by the another control unit to stop the operation.

[0027] Furthermore, the present invention can also be implemented as a vehicle equipped with the warning device according to the above-described aspect.

[0028] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding elements are denoted by the same reference numerals. Each figure is as follows.

Brief Description of the Drawings

[0029] [Figure 1] A schematic block diagram of the warning device related to this disclosure is shown. [Figure 2] This diagram shows a schematic side view of an excavator equipped with the warning device described herein. [Figure 3] This is a schematic top view of the excavator. [Figure 4] This is a schematic top view of the excavator cabin. [Figure 5] This is a schematic diagram of the display installed in the cabin of an excavator. [Figure 6] This is a schematic top view of the excavator's cabin during rotational movement. [Figure 7] A schematic top view of the excavator cabin during rotation is shown. [Figure 8] This shows a schematic top view of the excavator cabin while the excavator is moving with the cabin rotated. [Figure 9] This shows a schematic top view of the excavator's cabin while the excavator is in motion. [Modes for carrying out the invention]

[0030] Figure 1 shows a schematic block diagram of a warning device 1 according to this disclosure, which comprises a warning area determination unit 2, an environmental monitoring unit 4, an output unit 6, and an input unit 8. Furthermore, the warning device 1 comprises a control unit 10 equipped with a CPU, a memory for storing computer programs that the CPU can execute, and an input / output interface. In the CPU, the execution of the computer program forms a warning area determination unit 12, an environmental monitoring unit 14, an output unit 16, and an input unit 18 as functional units. Functional units 12 to 18 cooperate with external devices via the input / output interface to constitute units 2 to 8. Furthermore, each functional unit can exchange information or data with each other.

[0031] The attention area determination unit 2 comprises a attention area determination unit 12, an operator camera 20, and a posture sensor 22. The operator camera 20 detects the head of the operator of a vehicle equipped with the warning device 1. The attention area determination unit 12 implements an algorithm that tracks the operator's face and / or eyeballs to determine the operator's field of view, particularly the binocular field of view. For this purpose, methods known in the prior art can be used. A tilt sensor is installed in the vehicle's seat as the posture sensor 22, and the tilt of the seat can also be used to determine the operator's field of view. In this way, the field of view can be determined as the attention area inside and outside the vehicle, i.e., the attention area within the vehicle's interior, where the operator's attention is directed. Variables relating to a person's normal field of view can be used to determine the attention area. For example, a person can detect an area of ​​approximately 210° in the horizontal plane. The vertical range is 60° to 70° upwards and 70° to 80° downwards. To reliably identify the field of view angle and, consequently, the attention area, a safety range (e.g., 10°) may be subtracted from the specified range.

[0032] The environmental monitoring unit 4, in addition to the environmental monitoring unit 14, includes at least one camera 24 and at least one lidar sensor 26 as image detection elements. The camera 24 and lidar sensor 26 are detection elements that at least partially detect the environment around the vehicle. The environmental area to be monitored, i.e., the monitored environment, is determined by the detection range of the camera 24 and lidar sensor 26. Each detection element has a detection area with characteristic horizontal and vertical extents. The camera 24 and lidar sensor 26 may each have different detection areas, and they may monitor only the environment within their overlapping areas. The monitored environment may be expanded by installing additional cameras 24 and lidar sensors 26. In particular, it is preferable to completely monitor the environment around the vehicle. Furthermore, the detection elements may be inclined with respect to the horizontal plane on which they are installed in order to detect areas below or above the vehicle.

[0033] The environmental monitoring unit 14 acquires information detected by the camera 24 and the lidar sensor 26 and fuses it to detect one or more objects around the vehicle. For this purpose, for example, machine vision techniques can be used.

[0034] Furthermore, the environmental monitoring unit 14 determines the collision risk or probability of a detected object. For example, if an object is within a predetermined distance from the vehicle, it can be estimated that there is a collision risk for that object. Alternatively or additionally, if the vehicle and the object are approaching each other at a relative speed greater than or equal to a predetermined relative speed, it can be assumed that there is a risk of collision. The predetermined distance and / or predetermined relative speed can be defined according to the type of vehicle and / or the use of the vehicle. Furthermore, the predetermined distance and / or predetermined relative speed can be determined according to the operating mode of the vehicle. The predetermined distance and / or relative speed can each be set to the same value according to the monitored environment. However, different values ​​that transition continuously or discretely can also be specified.

[0035] If an object posing a collision risk exists within the monitored environment, the environmental monitoring unit 14 determines whether or not the object is within the attention area. To make this determination, the environmental monitoring unit 14 obtains information about the current attention area from the attention area determination unit 12. If an object posing a collision risk exists and is located outside the attention area, the object is detected as a collision object.

[0036] The output unit 6 comprises an output section 16, at least one display 28 (optical output element), at least one speaker 30 (acoustic output element), and at least one vibration element 32 (tactile output element). The output section 16 receives information from the environmental monitoring section 14 that a collision object has been detected and triggers the output of a warning signal via the display 28, speaker 30, and / or vibration element 32. The warning signal may be pre-set. The warning signal may also be adjusted according to the risk of collision. For example, the closer the collision object is to the vehicle, the stronger the warning signal may be.

[0037] The input unit 8 consists of an input section 18 and at least one input button 34. The input section 18 receives the operation information of the input button 34 as input for recognizing collision objects. This means that the operator uses this input to signal that they recognize the collision object and will take it into consideration when operating the vehicle. Preferably, the display 28 of the output unit 6 is configured as a touch display, and the input button 34 may be displayed as part of the touch function on the display 28. Alternatively, the input button 34 may be formed by a tactile button attached to or integrated with the display 28, dashboard, steering wheel, and / or operating lever 54. For example, the collision object may be displayed on the display 28 via an image detected by the camera 24 and recognized by touching the display 28. Alternatively or additionally, the input section 18 accepts input for initializing the vehicle's operating environment by operating the input button 34. This initialization recognizes all collision objects in the environment around the vehicle. This ensures that the operator is reliably warned of the presence of new collision objects while preventing interference of warning signals in limited environments such as construction sites.

[0038] Furthermore, the warning device 1 may include a stop unit (not shown). The stop unit has a stop unit and a stop actuator. The stop unit acquires operation signals for operating the vehicle, such as signals from an operating lever or accelerator pedal, and when it detects a collision object, it determines whether a collision with the collision object will occur if the vehicle is operated using the acquired operation signals. If a collision occurs, the stop unit activates the stop actuator to stop the current operation due to the operation signals. The stop actuator may correspond to another control unit responsible for operating the vehicle. To initiate the stop process, the stop unit transmits a warning signal to another control unit via a vehicle network (e.g., a CAN network), and the control unit processes the warning signal appropriately to stop operation. In this way, collisions with collision objects caused by vehicle operation by the operator can be prevented.

[0039] Figure 2 schematically shows an excavator 36 as an example of a vehicle equipped with the warning device 1 according to the present invention. The excavator 36 is operated or controlled by an operator 38. In this example, the excavator 36 is configured as a crawler excavator and has a house 40 that forms the operator's cabin 41 and an undercarriage 42 that is rotatable relative to it. An excavator arm 44 with an excavator bucket 46 attached to its tip is mounted on the house 40. The undercarriage 42 is provided with a chain 48 for moving the excavator 36. In the example shown in Figure 2, the operator 38's attention, i.e., the attention area 50, is directed towards the excavator bucket 46 and the area located below it. The attention area 50 is not limited to a specific focal plane. A worker 52 is behind the excavator 36, but in this case, it is located outside the attention area 50 and is therefore detected as a collision object.

[0040] Figure 3 is a schematic top view of the excavator 36 shown in Figure 2. As already explained with reference to Figure 2, the attention area 50 is directed towards the excavator's bucket 46. Figure 3 shows cameras 24 mounted on the rear end of the house 40 and arranged in a line to the left, rear, and right of the house 40. Note that the lidar sensor is not shown for clarity. The worker 52 pushes a wheelbarrow past the excavator 36 and is in a predetermined position at different times t1, t2, and t3. As a result, the directions R(t1), R(t2), and R(t3) of the worker 52 relative to the house 40 and, consequently, the operator 38, also change at times t1, t2, and t3. Since the worker 52 is outside the attention area 50, it is detected here as a collision object.

[0041] Figure 4 is a schematic top view showing the interior of the cabin 41 of the excavator 36. Inside the cabin 41, two displays 28 are positioned to the left and right in front of the operator 38, in the area where the operator 38 will spend most of their time while the excavator 36 is in operation. Two control levers 54 that can be used to operate the excavator 36 are also installed. Inside the cabin 41 is a seat (not shown) in which the operator 38 sits while operating the excavator. The control levers 54 and the seat are vehicle parts that come into direct contact with the operator 38. Vibration elements 32 are positioned on the control levers 54 and the seat. Behind the operator 38, multiple speakers 30 are arranged in a semicircular shape surrounding the operator 38.

[0042] As already explained with reference to Figures 2 and 3, the attention area 50 is directed towards the excavator bucket 46, and the collision object, the worker 52, is passing behind the excavator 36. In this example, optical, acoustic, and tactile warning signals are output to direct the operator's 38 attention to the worker 52. However, it is also possible to output only one of these warning signals, or a combination of two. In this example, since the visual warning signal is within the attention area 50, it is output via the display 28. Furthermore, in accordance with the direction R which changes according to the movement of the worker 52, the individual speakers 30 are activated sequentially at times t1, t2, and t3, and acoustic warning signals are output. This allows the operator 38 to understand the direction of the worker 52, the collision object. In addition, by controlling the vibrating element 32 in the seat to output a tactile warning signal, the operator 38 can sense that the worker 52 is behind them.

[0043] Figure 5 shows the output of an optical warning signal via the display 28. As described in Figure 2, a camera 24 is positioned in the house 40 to detect images of the monitored environment. An image of a worker 52 is detected by one of the cameras 24 and displayed on the display 28 so that the operator 38 can recognize the worker 52 without directing the attention area 50 towards the worker 52. A composite image consisting of multiple images detected by the camera 24 is also displayed on the display 28. The worker 52 is highlighted on the displayed image, for example, by a colored border or flashing, to inform the operator 38 that the worker 52 is a potential collision target. The operator 38 can recognize the worker 52 and stop the output of the warning signal by pressing an input button. For example, the display 28 is configured as a touch display, and the operator 38 can acknowledge the worker 52 by tapping the display 28.

[0044] Figure 6 is a schematic top view of the excavator 36 during rotational motion of the house 40. The operator's 38 attention area 50 is directed towards the area in which the excavator's bucket 46 is rotating. The worker 52 is located to the right rear in the R direction as viewed from the house 40. Because the worker 52 is at a short distance from the excavator 36, it is located within the rotational radius of the rear end of the house 40.

[0045] Figure 7 shows a schematic top view of the cabin 41 of the excavator 36. As explained with reference to Figure 6, the attention area 50 is oriented in the direction in which the excavator bucket 46 is rotating, and the collision object, the worker 52, is located in direction R. To make the operator 38 aware of the worker 52, optical, acoustic, and tactile warning signals are output in this case. The visual warning signal is located in the operator 38's attention area 50 and is output via the display 28 located to the front right of the operator 38. An optical warning signal is also output via the speaker 30 corresponding to direction R. Furthermore, to inform the operator 38 that the worker 52 is located to the right rear of the house 40, i.e., the collision object, tactile vibration signals are output via the seat vibration element 32 and the right-side control lever 54.

[0046] Figure 8 shows a schematic top view of the excavator 36 moving from left to right with the house 40 rotated 90°. The attention area 50 is directed slightly to the right of the excavator's bucket 46, allowing for the detection of falling transported material. To the left of the house 40, i.e., the operator 38, the worker 52 is positioned in the R direction and is detected as a collision object.

[0047] Figure 9 is a top view of the cabin 41 of the excavator 36. As described in Figure 8, the worker 52 is positioned in the R direction. In this example, optical, acoustic, and tactile warning signals are output to inform the operator 38 of the presence of the worker 52 as an object to be hit. The optical warning signal is output via a display 28 located to the front left of the operator 38. This is because the display 28 is within the operator 38's attention area 50. An arrow may be displayed on the display 28 to indicate the R direction to the operator 38. The acoustic warning signal is output via a speaker 30 corresponding to the R direction. In addition, a tactile warning signal is output via the left-side control lever 54. This ensures that the operator 38 is aware of the presence of the worker 52 as an object to be hit.

[0048] The embodiments of this disclosure have been described above. Please note that the embodiments described are merely non-limiting examples of how this disclosure can be implemented. [Explanation of Symbols]

[0049] 1 Warning device 2. Attention Area Determination Unit 4. Environmental monitoring unit 6 Output Units 8 Input Units 10 Control Unit 12 Caution area determination section 14 Environmental Monitoring Department 16 Output section 18 Input section 20 Operator Camera 22. Attitude Sensor 24 cameras 26 LiDAR sensors 28 displays 30 speakers 32 transducers 34 Input Buttons 36 Excavators 38 Operator 40 House 42 Undercarriage 44 Excavator Arm 46 Excavator bucket 48 chain 50 Areas of attention 52 Workers 54 Operating lever R direction

Claims

1. A warning device that warns the operator (38) of a vehicle (36) of the presence of a collision object (52) while driving, An attention area determination unit (2) determines the attention area (50) which is the area to which the operator (38) should direct their attention, An environmental monitoring unit (4) monitors at least partially the environment surrounding the vehicle (36), determines the collision risk of objects present in the monitored environment, and detects objects that pose a collision risk and are located outside the attention area (50) as collision objects (52), A warning device comprising an output unit (6) that outputs a warning signal when it detects the collision object (52).

2. A warning device according to claim 1, wherein the output unit (6) is configured to output optical and / or acoustic and / or tactile warning signals.

3. A warning device according to claim 1, wherein the environmental monitoring unit (4) is configured to determine the collision risk of the object as a function of the distance and / or relative velocity between the vehicle (36) and the object.

4. A warning device according to claim 1, wherein the environmental monitoring unit (4) is configured to determine the risk of collision with an object according to the type of vehicle (36) and / or the use of the vehicle (36).

5. A warning device according to claim 1, wherein the environmental monitoring unit (4) is configured to determine the risk of collision with the object in accordance with the operation of the vehicle (36).

6. A warning device according to claim 1, wherein the output unit (6) comprises at least one optical display element (28).

7. A warning device according to claim 6, characterized in that the output unit (6) and the optical display element (28) are configured to display the direction (R) in which the colliding object (52) is located on the optical display element (28).

8. A warning device according to claim 6, The environmental monitoring unit (4) is equipped with an image detection element (24), The warning device is characterized in that the output unit (6) and the optical display element (28) are configured to display or superimpose an image detected by the image detection element (24) onto the optical display element (28).

9. A warning device according to claim 6, wherein the output unit (6) comprises a plurality of optical display elements (28) and is configured to output a warning signal via the optical display element (28) that is located within or closest to the attention area (50) of the operator (38).

10. A warning device according to claim 1, wherein the output unit (6) comprises at least one tactile output element (32) located inside / on a vehicle component (54) that comes into direct contact with the operator (38).

11. A warning device according to claim 10, wherein the output unit (6) comprises a plurality of tactile output elements (32) located within one or more of the vehicle parts (54) that are in direct contact with the operator (38), and is configured to drive the tactile output elements (32) according to the direction (R) in which the collision object (52) is located.

12. A warning device according to claim 1, wherein the output unit (6) comprises at least one speaker (30) or headphones.

13. A warning device according to claim 12, The output unit (6) is equipped with a plurality of the speakers (30), or the headphones are configured for spatial audio output. The warning device is characterized in that the output unit (6) is configured to output an acoustic warning signal corresponding to the direction (R) in which the colliding object (52) is located.

14. A warning device according to claim 1, characterized in that it comprises an input unit (8) configured to receive an input for recognizing the collision object (52) and / or an input for initializing the environment inside the vehicle (36).

15. A warning device according to claim 1, characterized in that the output unit (6) is configured to output a warning signal adapted according to the risk of collision.

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