A WORKING MACHINE PROVIDED WITH AN IMAGE PROJECTION ARRANGEMENT

Abstract

The present disclosure generally relates to a working machine, wherein the working machine is provided with an image projection arrangement specifically adapted for projecting an image at a surface of an external component comprised with the working machine. The present disclosure also relates to a corresponding method and computer program for such a working machine.

Claims

1. A working machine, comprising: a working machine structure, working machine means pivotally connected to the working machine structure, and an operator compartment provided at the working machine structure and provided with control means adapted to allow an operator to control a position of the working machine means, wherein the working machine further comprises: an image projection arrangement for projecting an image at a surface of the working machine means facing the operator compartment, wherein the projected image comprises information for the operator to control the working machine, wherein the image projection arrangement further comprises a control unit being adapted to adjust a position of the image projected at the surface of the working machine means based on an expected position of the operator when the operator is positioned at the operator compartment and a current position of the working machine means.

2. The working machine according to claim 1, wherein the image projection arrangement comprises a laser projector.

3. (canceled)

4. The working machine according to claim 1, wherein the control unit is adapted to receive information indicative of the current position of the working machine means.

5. The working machine according to claim 1, wherein the control unit is further adapted to receive information indicative of a head position of the operator and to control the position of the image projected at the surface of the working machine means based on the head position.

6. The working machine according to claim 1, wherein the working machine means comprises at least one of an implement and linkage.

7. The working machine according to claim 1, wherein the working machine means comprises a bucket.

8. The working machine according to claim 1, wherein the working machine is at least one of an excavator, a wheel loader, a dozer, a grader and a backhoe loader.

9. The working machine according to claim 1, wherein the projected image comprises information for the operator to control the working machine means.

10. The working machine according to claim 1, wherein the projected image comprises information for positioning of the working machine means.

11. The working machine according to claim 1, wherein the projected image comprises information for informing the operator of a parameter relating to the operation of the working machine.

12. The working machine according to claim 7, wherein the projected image comprises information relating to at least one of a desired and a maximum filling level of the bucket.

13. The working machine according to claim 1, wherein the projected image is adapted based on operator repositioning of the working machine means.

14. The working machine according to claim 1, wherein the projected image comprises at least one of lines and symbols.

15. A method for assisting an operator of a working machine, wherein the working machine comprises: a working machine structure, working machine means pivotally connected to the working machine structure, an operator compartment provided at the working machine structure and provided with control means adapted to allow the operator to control a position of the working machine means, an image projection arrangement for projecting an image, and a control unit for controlling the image projection arrangement, wherein the method comprises: determining, using the control unit, a position of the working machine means, projecting the image at a surface of the working machine means facing the operator compartment based on the determined position of the working machine means, and adjusting, using the control unit of a position of the image projected at the surface of the working machine means based on an expected position of the operator when the operator is positioned at the operator compartment and a current position of the working machine means.

16. The method according to claim 15, further comprising: determining a head location of the operator, wherein adjusting the position of the image projected at the surface of the working machine means is based on the head position of the operator.

17. The method according to claim 15, further comprising: adjusting information comprised with the projected image for instructing the operator to repositioning the working machine means.

18. The method according to claim 15, further comprising: adjusting information comprised with the projected image based on operator repositioning of the working machine means.

19. The method according to claim 15, wherein the image is selected to comprise at least one of lines and symbols.

20. The method according to claim 15, wherein the working machine means comprises a bucket and the method further comprises: selecting the projected image to comprises information relating to at least one of a desired and a maximum filling level of the bucket.

21. A computer program comprising program code means for the method of claim 15 when said program is run on a computer.

22. (canceled)

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0022] With reference to the appended drawings, below follows a more detailed description of embodiments of the present disclosure cited as examples.

[0023] In the drawings:

[0024] FIG. 1 is a perspective view of a working machine in the form of an excavator provided with an image projection arrangement according to the present disclosure;

[0025] FIG. 2 conceptually shows the image projection arrangement according to an example embodiment of the present disclosure;

[0026] FIGS. 3A-3D are conceptual illustrations of possible formed images projected onto a surface of working machine means facing the operator compartment, and

[0027] FIG. 4 illustrates the processing steps for performing the method according to the present disclosure.

DETAILED DESCRIPTION

[0028] The present disclosure will now be described more fully hereinafter with reference to the accompanying drawings, in which currently preferred embodiments of the present disclosure are shown. This disclosure may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided for thoroughness and completeness, and fully convey the scope of the disclosure to the skilled addressee. Like reference characters refer to like elements throughout.

[0029] With particular reference to FIG. 1, there is provided a working machine 100 in the form of an excavator 100. The excavator 100 comprises movable load unit arrangement 102, which movable load unit arrangement 102 comprises a working machine means, exemplified as boom arm 104 and an implement 106. In the embodiment depicted in FIG. 1, the implement 106 is a bucket, although other implements are conceivable as well, such as e.g. a gripping tool, etc. The excavator 100 comprises a working machine structure including an upper structure 108 and a lower structure 110, wherein the upper 108 and lower 110 structures are movable relative to each other. In detail, the upper structure 108 can rotate relative the lower structure 110 around a substantially vertical geometric axis (not shown).

[0030] The load unit arrangement 102 is connected to the upper structure 108 of the excavator 100, which makes it rotatably movable relative to the lower structure 110 as well as relative to the ground surface 118 thereof. The load unit arrangement 102 can also be lifted and lowered relative to the ground surface 118 such that the distance between the implement 106 and the ground surface 118 increases/reduces. In addition, the implement 106 can be tilted relative to the boom arm 104. As further illustrated in FIG. 1, the upper structure 108 comprises a compartment 112 for housing an operator of the excavator 100, while the lower structure 110 comprises a pair of ground engaging members 114 in the form of caterpillar treads 114. Other ground engaging members 114 are also conceivable, such as e.g. wheels, etc.

[0031] As described, the load unit arrangement 102 is movable relative to the lower structure 110, as well as relative to the ground surface 118. FIG. 1 depicts the movement from a first, present point in time at which the load unit arrangement 102 is depicted with solid lines, to a future point in time. The load unit arrangement 102 is depicted with dashed lines 116 at the future point in time. The movement from the present position to the future position is depicted by arrow 120.

[0032] The working machine 100 further comprises image projection arrangement 200. A detailed description of the image projection arrangement 200 and its implementation and operation in relation to the working machine is given in relation to the description below.

[0033] Turning now to FIG. 2, there is conceptually shown a possible implementation of the image projection arrangement 200. As exemplified, the image projection arrangement 200 is arranged to project an image onto a surface 122 externally of said working machine 100 e.g. at the boom arm 104 and an implement 106. Further details of various image projection at the working machine means, such as the boom arm 104 and an implement 106 are given below in relation to the description of FIGS. 3A-3D.

[0034] The image projection arrangement 200 can as discussed above comprise e.g. a laser projector 204 for presenting information at the surface 122. The image projection arrangement 200 further comprises a control unit 210, such as an electronic control unit (ECU), adapted to form the image to be projected by the laser projector 204. The control unit 210 is further adapted to control the laser projector 204. The control unit 210 may for example be manifested as a general-purpose processor, an application specific processor, a circuit containing processing components, a group of distributed processing components, a group of distributed computers configured for processing, a field programmable gate array (FPGA), etc.

[0035] The processor may be or include any number of hardware components for conducting data or signal processing or for executing computer code stored in memory. The memory may be one or more devices for storing data and/or computer code for completing or facilitating the various methods described in the present description. The memory may include volatile memory or non-volatile memory. The memory may include database components, object code components, script components, or any other type of information structure for supporting the various activities of the present description. According to an exemplary embodiment, any distributed or local memory device may be utilized with the systems and methods of this description. According to an exemplary embodiment the memory is communicably connected to the processor (e.g., via a circuit or any other wired, wireless, or network connection) and includes computer code for executing one or more processes described herein.

[0036] The control unit 210 is further adapted to receive information indicative of a present location of the working machine 100, such as from a geolocation arrangement 212 comprised with the working machine 100. The geolocation arrangement 212 may for example comprise a GPS receiver 212 or a local positioning arrangement at a construction site, such as for example a Wi-Fi positioning system. It may, as understood by the skilled addressee, be necessary to use an alternative to satellite navigation in case the working machine is operating underground, such as for example in a mine or similar.

[0037] In addition, the control unit 210 may be adapted to receive information relating to an orientation of the working machine 100, relative to e.g. the work site, thus allowing the working machine 100 both positioned and oriented in a desired manner. Such orientation information may for example be provided by the GPS receiver 212 or using a separate compass functionality provided with the working machine 100. In the exemplary implementation shown in FIG. 2, the control unit 210 is further adapted to receive construction data that has been previously stored in a database 214 arranged in communication with the control unit 210.

[0038] The image projection arrangement 200 may further comprise a database 214 arranged onboard the working machine 100 or remotely from the working machine 100. The database 214 is arranged in communication with the control unit 210. In case the database 214 is arranged remotely from the working machine 100 the image projection arrangement 200 may comprise a transceiver (not shown) used for establishing a network connection with the database 214. The database 214 may for example comprise digging instructions, driving instructions or similar relating to a specific location (e.g. working site) where the working machine 100 is to be operated.

[0039] In addition to the above, the control unit 210 is preferably adapted to receive sensor data relating a surrounding of the working machine 100, such as from a camera arrangement 216. The camera arrangement 216 may, in some embodiments, be a three-dimensional (3D) camera adapted to be used for forming a 3D representation of the surrounding of the working machine 100. Accordingly, the control unit 210 is adapted to implement a feedback functionality where e.g. sensor data may be correlated with e.g. the digging instructions, driving instructions or similar stored within the database 214. Thus, it may be possible to determine a matching between a current state at e.g. the work/construction site (i.e. collected using the camera arrangement 216) and the “desired” end result provided by the construction data. The correlation will further allow the projected image to be updated in a corresponding manner, i.e. to be continuously dependent on the current status of the work/construction site and the operation of the working machine means performed by the operator. The control unit 210 may also be adapted to be connected to navigation equipment (not shown) comprised with the working machine 100 for providing navigation instructions to the control unit 210 as will be further discussed below.

[0040] The control unit 210 may additionally be adapted to (continuously) receive information relating to a current positioning of the working machine means. Such information may for example be available at a CAN bus comprised with the working machine 100 or alternatively received from further sensors (not shown) arranged at the working machine means.

[0041] With further reference to FIGS. 3A-3D in conjunction with FIG. 4, there is provided four examples of assisting the operator of the working machine 100 using the image projection arrangement 200.

[0042] In FIG. 3A the operator is provided with a basic instruction at the above discussed surface 122 externally of said working machine 100 at e.g. the boom arm 104 and the implement 106. In FIGS. 3A-3D, the surface 122 is defined to include a surface pointing towards the operator compartment 112 of at least one of boom arm 104 and the implement 106.

[0043] The instruction to be provided to the operator in accordance to FIG. 3A is provided for controlling a position of the implement 106 in relation to the ground surface 118. This is according to the presented embodiment achieved by determining, S1, a location (or position) of the implement 106, e.g. using data received from the CAN bus or using the camera arrangement 216. Based on the location/position of the implement 106, the control unit 210 forms, possibly based on e.g. the digging instruction received from the database 214, an image 302 to be projected, S2, at the surface 122. In the illustration provided in FIG. 3A, the image is projected at the boom arm 104.

[0044] As a result of the projected image 302, showing an arrow pointing upward, the operator is to adjust the position/location of the implement 106 such that the implement 106 is raised, and the control unit will 210 will as a consequence determine, S3, an adjusted position of the implement 106. In case the implement 106 has been “raised more” than what was desired (e.g. raised “too much”), an adjusted, S4, image 304 may be formed and subsequently projected, S5, at the surface 122. In FIG. 3A, the adjusted image 304 is provided as an arrow pointing downward.

[0045] As an alternative and as shown in FIG. 3B, an alternative image 306 may be provided for positioning of the implement 106. Such an image 306 may for example comprise lines/markings easily understandable for the operator. In FIG. 3B, the idea is for the operator to level a centerline 308 and the same height as two outer lines 310 provided adjacently to the centerline 308, for arranging the implement 106 at e.g. a specific height in relation to the ground surface 108. The illustration provided in FIG. 3B will consequently be dynamically updated based on continuous operation of the implement 106. Thus, the current position/location of the implement 106 will be monitored and compared to a desired location/position of the implement 106, such as for example provided with mentioned the digging instructions. The implementation shown in FIG. 3B will thus be somewhat analogue by showing a continuous adjustment of the centerline 308, whereas the implementation shown in FIG. 3A will be somewhat “digital” switching between the upward 302 and downward 304 pointing arrow based on a threshold comparison.

[0046] In FIG. 3C there is provided a still further example of providing the operator with an instruction for operating the implement 106. Specifically, in FIG. 3C there is a desire to keep the implement “leveled”. A determination is made as to the present location/position of the implement 106 and it is indicated that the implement is slightly rotated. As a result, a rotational image 312 is presented to the operator at the surface 122, as exemplified at the boom arm 104. Once the operator has leveled the implement 106 an updated image (not shown) may be provided to inform the operator that the implement 106 now is leveled.

[0047] Furthermore and as indicated above, the image projected at the surface 122 may not necessarily be limited to show information relating to e.g. a specific handling of the implement 106. Rather, other types of information may be provided. As exemplified in FIG. 3D, an image 314 may be projected at the surface 122 (exemplified as at the implement 106) for providing the operator with a driving instruction when moving the working machine 100 around e.g. a work site. The driving instruction may for example be based on the present location of the working machine 100 and a provided task to move the working machine 100 from a current to a future location at the work site, for example received from a supervisor at the work site. Again, the position/location of the implement 106 is determined, in FIG. 3D shown as slightly moved to the side to give the operator a proper line of sight when moving the working machine 100. In FIG. 3D, the image 314 is instructing the operator to turn to the right within 300 meters from the present location of the working machine 100.

[0048] As indicated above, the image projected at the surface 122 may of course hold other information, such as a current weight of the implement 106 (when loaded), an instruction to operate the working machine 100 in a more energy efficient manner, etc. Accordingly, any type of suitable information that may be useful for operating the working machine 100 in an efficient manner may be provided to the operator at the surface 122.

[0049] The present disclosure contemplates methods, devices and program products on any machine-readable media for accomplishing various operations. The embodiments of the present disclosure may be implemented using existing computer processors, or by a special purpose computer processor for an appropriate system, incorporated for this or another purpose, or by a hardwired system. Embodiments within the scope of the present disclosure include program products comprising machine-readable media for carrying or having machine-executable instructions or data structures stored thereon. Such machine-readable media can be any available media that can be accessed by a general purpose or special purpose computer or other machine with a processor.

[0050] By way of example, such machine-readable media can comprise RAM, ROM, EPROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to carry or store desired program code in the form of machine-executable instructions or data structures and which can be accessed by a general purpose or special purpose computer or other machine with a processor. When information is transferred or provided over a network or another communications connection (either hardwired, wireless, or a combination of hardwired or wireless) to a machine, the machine properly views the connection as a machine-readable medium. Thus, any such connection is properly termed a machine-readable medium. Combinations of the above are also included within the scope of machine-readable media. Machine-executable instructions include, for example, instructions and data that cause a general-purpose computer, special purpose computer, or special purpose processing machines to perform a certain function or group of functions.

[0051] Although the figures may show a specific order of method steps, the order of the steps may differ from what is depicted. In addition, two or more steps may be performed concurrently or with partial concurrence. Such variation will depend on the software and hardware systems chosen and on designer choice. All such variations are within the scope of the disclosure. Likewise, software implementations could be accomplished with standard programming techniques with rule-based logic and other logic to accomplish the various connection steps, processing steps, comparison steps and decision steps. Additionally, even though the disclosure has been described with reference to specific exemplifying embodiments thereof, many different alterations, modifications and the like will become apparent for those skilled in the art.

[0052] Variations to the disclosed embodiments can be understood and effected by the skilled addressee in practicing the claimed disclosure, from a study of the drawings, the disclosure, and the appended claims. Furthermore, in the claims, the word “comprising” does not exclude other elements or steps, and the indefinite article “a” or “an” does not exclude a plurality.