Autrigger control system and method for specific vehicle

Abstract

The present invention relates to an outrigger control system and method for a special-purpose vehicle. The outrigger control system for a special-purpose vehicle according to the present invention comprises: a guideline generating unit mounted on a special-purpose vehicle and incident light in the shape of a line extending in a direction parallel to the horizontal deployment direction of the outrigger on the ground; a vision sensor mounted on an outrigger of the special-purpose vehicle and capturing the ground; and a control unit that controls the outrigger to deploy in horizontal and vertical directions to the position of a support base of the outrigger using the sensing value of the vision sensor.

Description

Technology Field

[0001] The present invention relates to an outrigger control system and method for special purpose vehicles, and more specifically, to an outrigger control system and method for special purpose vehicles that enables the deployment of outriggers to be performed accurately and safely. Background Technology

[0003] Special purpose vehicles are vehicles equipped with special equipment and used for special purposes, and depending on the purpose, they may be equipped with outriggers to prevent rollover. The outriggers can be deployed outward from the vehicle body and supported on the ground, thereby enabling stable support of the special purpose vehicle.

[0004] If the ground supporting the outrigger is uneven or soft, supports must be placed on the ground in accordance with the Occupational Safety and Health Work Guidelines so that the outrigger can be supported on the supports.

[0005] However, conventionally, the deployment process was cumbersome because the operator had to continuously check the degree of outrigger deployment and move the support to hold the outriggers in place. The deployment process was particularly difficult when the deployment length of each outrigger varied depending on the ground conditions. Prior art literature

[0007] (Patent Document 0001) KR 10-2009-0069745 A The problem to be solved

[0008] Accordingly, the objective of the present invention is to solve such conventional problems by providing an outrigger control system and method for a special-purpose vehicle that enables accurate and easy deployment of the outrigger when a support is used to support the outrigger in the special-purpose vehicle.

[0009] The problems that the present invention aims to solve are not limited to those mentioned above, and other unmentioned problems will be clearly understood by those skilled in the art from the description below. means of solving the problem

[0011] The above objective is achieved by an outrigger control system for a special-purpose vehicle according to the present invention, comprising: a guideline generating unit mounted on a special-purpose vehicle and irradiating a line-shaped light extending in a direction parallel to the horizontal deployment direction of the outrigger onto the ground; a vision sensor mounted on the outrigger of the special-purpose vehicle and capturing the ground; and a control unit that controls the outrigger to deploy in horizontal and vertical directions to the position of the outrigger's support using the sensing value of the vision sensor.

[0012] The above guideline generating unit can inject line-shaped light up to the maximum horizontal deployment position of the outrigger.

[0013] The outrigger control system for a special-purpose vehicle according to the present invention further includes an obstacle detection sensor mounted on the outrigger of the special-purpose vehicle and detecting obstacles around the outrigger, and the control unit can determine whether to deploy the outrigger in a horizontal direction using the sensing value of the obstacle detection sensor.

[0014] The above control unit can control the vertical deployment speed of the outrigger using the sensing value of the vision sensor.

[0015] The outrigger control system for a special-purpose vehicle according to the present invention may further include a marker formed on the upper surface of the support.

[0016] The outrigger control system for a special-purpose vehicle according to the present invention further includes a pressure sensor mounted on the outrigger of the special-purpose vehicle and measuring pressure applied to the bottom surface of the outrigger, and the control unit can determine the vertical deployment endpoint of the outrigger using the sensing value of the pressure sensor.

[0017] According to another embodiment of the present invention, a method for controlling an outrigger for a special-purpose vehicle is provided, comprising: a guideline generation step of injecting light in the shape of a line extending in a direction parallel to the horizontal deployment direction of the outrigger onto the ground using a guideline generation unit mounted on the special-purpose vehicle; a horizontal deployment step of deploying the outrigger in a horizontal direction to the position of a support base while photographing the ground using a vision sensor mounted on the outrigger of the special-purpose vehicle; and a vertical deployment step of deploying the outrigger in a vertical direction to the height of the upper surface of the support base while photographing the support base using the vision sensor.

[0018] In the above horizontal deployment step, the outrigger can be deployed horizontally while detecting obstacles around the outrigger using an obstacle detection sensor mounted on the outrigger of the special vehicle.

[0019] In the above vertical deployment step, the vertical deployment speed of the outrigger can be controlled using the sensing value of the vision sensor. Effects of the invention

[0021] According to the outrigger control system for a special-purpose vehicle according to the present invention, a support base that supports the outrigger can be accurately and easily positioned by a guideline generating unit, and as a result, the support base can stably support the outrigger.

[0022] In addition, since the vertical and horizontal positions of the outriggers relative to the base can be verified using a vision sensor, the outriggers can be accurately placed on the base without operator intervention.

[0023] In addition, since the outriggers can be deployed while checking for obstacles around them using an obstacle detection sensor, the outrigger deployment operation can be carried out safely.

[0024] Markers and pressure sensors can further enhance the accuracy of outrigger deployment operations. Brief explanation of the drawing

[0026] FIG. 1 is a schematic diagram of an outrigger control system for a special purpose vehicle according to the present invention. FIG. 2 is an explanatory diagram of the operation of an outrigger control system for a special purpose vehicle according to the present invention. FIG. 3 is a flowchart of an outrigger control method for a special purpose vehicle according to the present invention. FIGS. 4 to 7 are explanatory diagrams of each step of the outrigger control method for a special vehicle according to the present invention. Specific details for implementing the invention

[0027] Hereinafter, specific embodiments of the present invention will be described in detail with reference to the drawings.

[0029] The outrigger control system (1) for a special vehicle according to the present invention is applied to a special vehicle (2) equipped with outriggers (2a). The special vehicle (2) to which the system (1) according to the present invention is applied may have two, four, or more even number of outriggers (2a).

[0030] FIG. 1 shows a schematic configuration diagram of an outrigger control system (1) for a special vehicle according to the present invention, and FIG. 2 shows an explanatory diagram of the operation of an outrigger control system (1) for a special vehicle according to the present invention.

[0031] The outrigger control system (1) for a special vehicle according to the present invention comprises a guideline generating unit (10), a vision sensor (20), and a control unit (30).

[0032] The guideline generating unit (10) is configured to emit line-shaped light onto the ground and is mounted on the special vehicle outrigger or the main body. The guideline generating unit (10) may be mounted on each outrigger or on the main body adjacent to each outrigger. The guideline generating unit (10) is mounted so that line-shaped light is emitted onto the ground from a position just below the side center of the outrigger in a direction parallel to the horizontal deployment direction of the outrigger, and, for example, can generate laser light.

[0033] The line-shaped light generated by the guideline generating unit (10) can serve as a guideline for accurately positioning the outrigger support (3). That is, if the support (3) is positioned so that the line-shaped light incident on the ground passes through the centerline of the support (3), the centerline of the outrigger bottom surface can be aligned with the centerline of the support (3).

[0034] The vision sensor (20) is mounted on the top of each outrigger of the special vehicle and is installed facing the ground to photograph the ground. The angle of the vision sensor (20) can be installed parallel to the vertical part of the outrigger. As the outrigger is deployed, the position and range of the ground photographed by the vision sensor (20) change.

[0035] The control unit (30) controls the outrigger and the guideline generation unit (10). The control unit (30) may be connected to the control unit of the special vehicle or may constitute a part of the special vehicle control unit. Specifically, the control unit (30) turns the operation of the guideline generation unit (10) on and off, receives the sensing value of the vision sensor (20), and extends the outrigger in a horizontal direction until the base (3) is confirmed in the image captured by the vision sensor (20). For example, by pre-storing a vision sensor (20) image in which the center point of the bottom surface of the outrigger and the center point of the base (3) are located on the same vertical line, and comparing the real-time vision sensor (20) image with the stored image, it can be confirmed that the center point of the bottom surface of the outrigger has reached just above the center point of the base (3). Then, the outrigger is extended in a vertical direction until the base (3) reaches a predetermined size in the image captured by the vision sensor (20). For example, by pre-storing a vision sensor (20) image when the bottom surface of the outrigger and the top surface of the base (3) are located at the same height and comparing the real-time vision sensor (20) image with the stored image, it can be confirmed that the bottom surface of the outrigger has reached the top surface of the base (3).

[0037] According to the outrigger control system (1) for a special vehicle according to the present invention, light incident on the ground in a line shape can be generated to guide the placement position and angle of the support base (3) that supports the outrigger, so it is possible to place the support base (3) accurately and easily, and as a result, the ease of outrigger deployment work is increased and the support base (3) can stably support the outrigger.

[0038] And since the vertical and horizontal positions of the outrigger relative to the base (3) can be checked with a vision sensor (20) that captures the ground, the outrigger can be accurately placed on the base (3) without the worker intervening.

[0040] The guideline generating unit (10) can direct line-shaped light to the ground up to the maximum horizontal direction deployment position of the outrigger.

[0041] Accordingly, the placement area of ​​the support (3) for supporting the outrigger can be easily identified.

[0042] The worker can place the support (3) by finding the most stable ground position within the placement area of ​​the support (3).

[0044] The outrigger control system (1) for a special vehicle according to the present invention may further include an obstacle detection sensor (40).

[0045] The obstacle detection sensor (40) is mounted on the outrigger and serves to detect obstacles around the outrigger. Specifically, the obstacle detection sensor (40) can detect obstacles in front of the outrigger in the horizontal deployment direction. For example, the obstacle detection sensor (40) may be an ultrasonic distance sensor and can determine the presence or absence of an obstacle and the distance from the sensor.

[0046] When the system (1) of the present invention further comprises an obstacle detection sensor (40), the control unit (30) determines whether to deploy the outrigger in the horizontal direction using the sensing value of the obstacle detection sensor (40). For example, if it is confirmed that there is an obstacle within a predetermined distance in front of the outrigger, the horizontal deployment of the outrigger may be stopped. Furthermore, the detection of an obstacle may be notified to the operator through sound or the flashing of a light, so that the operator may remove the obstacle.

[0047] The deployment operation of the outrigger can be safely carried out by this obstacle detection sensor (40).

[0049] The control unit (30) can control the vertical deployment speed of the outrigger using the sensing value of the vision sensor (20).

[0050] Since the vision sensor (20) is mounted on the outrigger and captures the ground, when the outrigger is deployed from top to bottom on the base (3), the area occupied by the base (3) in the image captured by the vision sensor (20) becomes increasingly larger. By utilizing this feature, the degree of vertical deployment of the outrigger can be checked through the image captured by the vision sensor (20).

[0051] And the control unit (30) can deploy the outrigger relatively quickly if it determines that the bottom surface of the outrigger is separated from the base (3) by a predetermined distance or more by checking the image captured by the vision sensor (20). On the other hand, if it determines that the bottom surface of the outrigger is separated from the base (3) by a predetermined distance or more, the outrigger can be deployed relatively slowly.

[0052] Accordingly, the outrigger deployment operation can be carried out quickly and safely.

[0054] The outrigger control system (1) for a special vehicle according to the present invention may further include a marker (50) formed on the upper surface of a support (3).

[0055] The marker (50) enables the vision sensor (20) to detect the base (3) more accurately in the image captured.

[0056] The marker (50) can be located at the four corners on the upper surface of the base (3), for example.

[0058] The outrigger control system (1) for a special vehicle according to the present invention may further include a pressure sensor (60).

[0059] The pressure sensor (60) is mounted on the outrigger and measures the pressure applied to the bottom surface of the outrigger.

[0060] The control unit (30) can determine the vertical deployment endpoint of the outrigger using the sensing value of the pressure sensor (60).

[0061] Although it is possible to confirm that the bottom surface of the outrigger is positioned on the upper surface of the base (3) by using the sensing value of the vision sensor (20), it is difficult to determine whether the bottom surface of the outrigger is simply in contact with the upper surface of the base (3) or is pressing against the upper surface of the base (3).

[0062] Accordingly, by referring to the sensing value of the pressure sensor (60), the outrigger can be extended in a vertical direction until the bottom surface of the outrigger presses the base (3) with a predetermined pressure.

[0063] Accordingly, it is possible to support the outrigger more stably. This is said to be more effective in cases where the ground is soft ground or where grass is growing on the ground where the support (3) is located.

[0065] In addition to the configuration described above, the outrigger control system (1) for a special vehicle according to the present invention may further include wired and wireless communication between each component of the system (1) according to the present invention, a communication unit (not shown) for wired and wireless communication between the system (1) according to the present invention and the special vehicle, an input unit (not shown) for inputting operation signals or setting values ​​to the system (1) according to the present invention, a storage unit (not shown) for storing a program required for the operation of the system (1) according to the present invention, setting values, and data generated during the operation of the system (1) according to the present invention, and a display unit (not shown) for displaying the operation status or operation results of the system (1) according to the present invention.

[0067] The following describes an outrigger control method for a special-purpose vehicle according to the present invention. While describing the outrigger control method for a special-purpose vehicle according to the present invention, detailed explanations regarding matters mentioned in the description of the outrigger control system (1) for a special-purpose vehicle according to the present invention may be omitted.

[0068] FIG. 3 shows a flowchart of an outrigger control method for a special vehicle according to the present invention.

[0069] The outrigger control method for a special-purpose vehicle according to the present invention comprises a guideline generation step (S10), a horizontal deployment step (S20), and a vertical deployment step (S30).

[0070] In the guideline generation step (S10), as shown in FIG. 4, a line-shaped light extending in a direction parallel to the horizontal deployment direction of the outrigger is incident on the ground by the guideline generation unit (10). The line-shaped light can be incident up to the maximum horizontal deployment position of the outrigger.

[0071] After the line-shaped light is incident on the ground in the guideline generation step (S10), the operator can position the base (3) along the line-shaped light, as shown in FIG. 5. Specifically, the base (3) can be positioned so that its centerline aligns with the line-shaped light. Markers (50) can be formed on each of the four corners of the upper surface of the base (3).

[0072] In the horizontal deployment step (S20), as shown in FIG. 6, the outrigger is deployed horizontally to the position of the base (3) of the outrigger while photographing the ground with the vision sensor (20). When the base (3) is recognized as having a predetermined shape in the image captured by the vision sensor (20), it can be confirmed that the outrigger has been deployed horizontally to the position directly above the base (3). The base (3) can be accurately detected in the image of the vision sensor (20) by the marker (50) on the upper surface of the base (3).

[0073] In the vertical deployment step (S30), as shown in FIG. 7, the outrigger is deployed vertically to the height of the upper surface of the base (3) while the base (3) is photographed by the vision sensor (20). When the base (3) is recognized as a predetermined size in the image captured by the vision sensor (20), it can be confirmed that the outrigger has been deployed vertically to the position of the upper surface of the base (3). The area occupied by the base (3) in the image can be accurately confirmed by using the spacing between the markers (50) on the upper surface of the base (3).

[0074] According to the outrigger control method for a special vehicle of the present invention, the support base (3) supporting the outrigger can be positioned accurately and easily, and the outrigger deployment operation can be carried out automatically and accurately.

[0076] In the horizontal deployment step (S20), the outrigger can be deployed horizontally while detecting obstacles around the outrigger using an obstacle detection sensor (40). The obstacle detection sensor (40) detects obstacles in front of the outrigger's horizontal deployment direction and identifies their location. If an obstacle is found within a predetermined distance in front of the outrigger, the horizontal deployment of the outrigger can be stopped. Once the operator removes the obstacle and the obstacle detection sensor (40) confirms that there are no obstacles, the horizontal deployment of the outrigger can be resumed.

[0077] Accordingly, the outrigger deployment operation can be safely performed.

[0079] In the vertical deployment step (S30), the vertical deployment speed of the outrigger can be controlled using the sensing value of the vision sensor (20).

[0080] The height of the outrigger for the base (3) can be calculated through the area occupied by the base (3) in the image captured by the vision sensor (20), and if the calculated height is greater than a predetermined distance, the outrigger can be deployed quickly, and if the calculated height is less than a predetermined distance, the outrigger can be deployed slowly.

[0081] Accordingly, it is possible to proceed with the outrigger deployment operation more safely.

[0083] The vertical deployment step (S30) can be terminated when the pressure on the bottom surface of the outrigger, measured by a pressure sensor (60) mounted on the outrigger, is greater than or equal to a predetermined value.

[0085] The scope of the present invention is not limited to the embodiments described above but may be implemented in various forms of embodiments within the scope of the appended claims. It is deemed that the scope of the claims of the present invention includes various modifications that are possible by anyone with ordinary knowledge in the technical field to which the invention pertains, without departing from the essence of the invention claimed in the claims. Explanation of the symbols

[0087] 1 : Outrigger control system for special purpose vehicles 10: Guideline Generation Section 20 : Vision sensor 30 : Control unit 40: Obstacle detection sensor 50 : Marker 60: Pressure sensor

Claims

Claim 1 An outrigger control system for a special-purpose vehicle, comprising: a guideline generating unit mounted on the special-purpose vehicle and incident light in the shape of a line extending in a direction parallel to the horizontal deployment direction of the outrigger on the ground; a vision sensor mounted on the outrigger of the special-purpose vehicle and capturing the ground; and a control unit that controls the outrigger to deploy in horizontal and vertical directions to the position of the outrigger's support using the sensing value of the vision sensor; wherein the guideline generating unit incident light in the shape of a line up to the maximum horizontal deployment position of the outrigger, and the control unit controls the outrigger to deploy in the horizontal direction until the support is confirmed in the image captured by the vision sensor. Claim 2 delete Claim 3 An outrigger control system for a special-purpose vehicle according to claim 1, further comprising an obstacle detection sensor mounted on the outrigger of the special-purpose vehicle and detecting obstacles around the outrigger; wherein the control unit determines whether the outrigger is deployed in a horizontal direction using the sensing value of the obstacle detection sensor. Claim 4 An outrigger control system for a special vehicle according to claim 1, wherein the control unit controls the vertical deployment speed of the outrigger using the sensing value of the vision sensor. Claim 5 An outrigger control system for a special vehicle according to claim 1, further comprising a marker formed on the upper surface of the base. Claim 6 An outrigger control system for a special-purpose vehicle according to claim 1, further comprising a pressure sensor mounted on the outrigger of the special-purpose vehicle and measuring pressure applied to the bottom surface of the outrigger, wherein the control unit determines the vertical deployment endpoint of the outrigger using the sensing value of the pressure sensor. Claim 7 A method for controlling an outrigger for a special-purpose vehicle, comprising: a guideline generation step in which a line-shaped light extending in a direction parallel to the horizontal deployment direction of the outrigger is incident on the ground using a guideline generation unit mounted on the special-purpose vehicle; a horizontal deployment step in which the outrigger is deployed horizontally to the position of the outrigger's base while photographing the ground using a vision sensor mounted on the outrigger of the special-purpose vehicle; and a vertical deployment step in which the outrigger is deployed vertically to the height of the upper surface of the base while photographing the base using the vision sensor; wherein, in the guideline generation step, the guideline generation unit incidents a line-shaped light to the maximum horizontal deployment position of the outrigger, and in the horizontal deployment step, the outrigger is deployed horizontally until the base is confirmed in the image captured by the vision sensor. Claim 8 A method for controlling an outrigger for a special-purpose vehicle, characterized in that, in the horizontal deployment step of claim 7, the outrigger is deployed in a horizontal direction while detecting obstacles around the outrigger using an obstacle detection sensor mounted on the outrigger of the special-purpose vehicle. Claim 9 A method for controlling an outrigger for a special vehicle, characterized in that, in the vertical deployment step of claim 7, the vertical deployment speed of the outrigger is controlled using the sensing value of the vision sensor.

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