System comprising construction machine, transport vehicle with loading space and image-recording device, and method for displaying an image stream during the loading or unloading of a transport vehicle

Abstract

In a system comprising construction machine, transport vehicle with loading space and image recording device, wherein the image recording device is arranged at the construction machine and aligned, as a minimum, also towards the loading space of the transport vehicle, it is specified for the following features to be achieved: that a reception and display device is arranged at or in the transport vehicle, wherein the data recorded by the image recording device are transmitted to the reception and display device via a transmission device arranged at the construction machine.

Claims

1-19. (canceled)

20. A construction machine comprising: a machine frame and a conveyor arranged to pivot at the machine frame; an image-recording device aligned to provide a field of view comprising at least a loading space of a transport vehicle, and configured to generate image data; a computer system configured to: determine further data at least from the image data; and transmit at least the further data determined from the image data to a reception and display device arranged at or in the transport vehicle.

21. The construction machine of claim 20, wherein the further data determined by the computer system comprises first data determined from the image data, and second data relating to one or more of: a milling material; a location associated with the milling material; and operating parameters of the construction machine.

22. The construction machine of claim 21, wherein the second data relates at least in part to material properties of the milling material at corresponding locations.

23. The construction machine of claim 22, wherein the second data relates at least in part to material properties of the milling material at one or more different layers for each corresponding location.

24. The construction machine of claim 21, wherein the second data relates at least in part to a detected mass and/or volume of milling material loaded onto the transport vehicle.

25. The construction machine of claim 21, wherein the second data relates at least in part to one or more detected operating parameters of the milling machine.

26. The construction machine of claim 25, wherein the one or more operating parameters comprise one or more of: a milling depth; a milling volume removed; an advance speed; a milling drum speed of revolution; a relation between advance speed and milling drum speed of revolution; a milling drum used; a torque/output emitted by a drive engine of the milling machine; and/or an amount of water fed during a milling process to cool milling tools of the milling drum.

27. The construction machine of claim 25, wherein the second data comprises physical properties of the milling material determined from the one or more operating parameters and/or a type of milling drum and/or information received via a user interface.

28. The construction machine of claim 27, wherein the physical properties of the milling material are determined from a relation between an advance rate of the milling machine and a milling drum speed of revolution.

29. The construction machine of claim 25, wherein the second data comprises which layer of a ground pavement has been milled, wherein the layer of the ground pavement which has been milled is determined from a detected milling depth at a respective location of the ground pavement.

30. The construction machine of claim 21, wherein the first data determined from the image data comprises one or more of: a filling level in the loading space; a distance between the construction machine and the transport vehicle; and a point of impingement of material in the loading space.

31. The construction machine of claim 30, wherein the computer system is configured to determine, as a function of the point of impingement of the material in the loading space and/or as a function of the distance between the construction machine and the transport vehicle, a start or stop signal which is transmitted to the reception and display device via the transmission device.

32. The construction machine of claim 20, wherein the image-recording device is aligned towards the conveyor.

33. The construction machine of claim 20, wherein the image-recording device is arranged at the conveyor.

34. The construction machine of claim 20, wherein the image-recording device comprises one or more of: a video camera with a wide-angle lens, an infrared camera, a stereoscopic camera, and a PMD camera.

35. The construction machine of claim 20, wherein the computer system is further configured to determine whether to transmit the further data, and/or to adjust a scope of the further data transmitted, to the reception and display device based on a unique identifier associated with the transport vehicle.

36. The construction machine of claim 20, wherein the computer system is configured to determine an original position and/or alignment of the image-recording device and, pursuant to a change in the position or alignment, to direct display of an image stream according to the original position and/or alignment.

37. A method for coordinating between a construction machine and a transport vehicle during loading or unloading of the transport vehicle, the method comprising: recording images with an image-recording device mounted at the construction machine and aligned, as a minimum, towards a loading space of the transport vehicle; determining further data at least from the image data; and transmitting, receiving, and displaying at least the further data determined from the image data on a reception and display device arranged at or in the transport vehicle.

38. The method of claim 37, wherein the further data comprises first data determined from the image data, and second data relating to one or more of: a milling material; a location associated with the milling material; and operating parameters of the construction machine.

39. The method of claim 38, wherein the second data relates at least in part to material properties of the milling material at one or more different layers for each of one or more corresponding locations.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0094] Taking one embodiment as an example, first the loading of a transport vehicle and then the unloading of a transport vehicle are hereinafter explained in more detail with reference to the drawings. The following is shown:

[0095] FIG. 1 schematically a side view of the transport vehicle and construction machine with image-recording device and wide-angle lens,

[0096] FIG. 2 schematically a side view according to FIG. 1 with an image-recording device with two cameras,

[0097] FIG. 3 a top view of the arrangement shown in FIG. 2,

[0098] FIG. 4 a side view to illustrate the first step of loading the transport vehicle,

[0099] FIG. 5 a schematic side view according to FIG. 4 with the transport vehicle driven back slightly,

[0100] FIG. 6 a schematic side view according to FIG. 5 with the transport vehicle driven back further,

[0101] FIG. 7 schematically a side view of the transport vehicle driven forward again,

[0102] FIG. 8 schematically a side view of a transport vehicle distanced to a construction machine,

[0103] FIG. 9 schematically a side view of a transport vehicle driven up to a construction machine,

[0104] FIG. 10 schematically a side view of a transport vehicle with tilted loading surface,

[0105] FIG. 11 schematically a top view of the arrangement of transport vehicle and construction machine shown in FIG. 9.

DETAILED DESCRIPTION

[0106] FIG. 1 shows the system 1 comprising construction machine 2, transport vehicle 3 with loading space 4 and image-recording device 5. The image-recording device 5 is arranged at the construction machine 2 and aligned, as a minimum, towards the loading space 4 of the transport vehicle 3. The construction machine 2 comprises, as conveying device 6, a belt conveyor 7 arranged to pivot at the machine frame 8 of the construction machine 2. The image-recording device 5 may comprise one or multiple cameras 11 for recording data. The image-recording device 5 is arranged at the uppermost end of the belt conveyor 7 so that the camera lens 9 of the camera 11 is directed downwards in such a fashion that the viewing angle 10 detects the entire loading space 4 of the transport vehicle 3 and a part of the construction machine 2.

[0107] In the embodiment shown, the construction machine 2 is preferably a milling machine for milling a section of a ground pavement. The ground pavement is milled by means of the milling machine, and the removed material or milling material, respectively, is loaded onto the transport vehicle 3 via the at least one belt conveyor 7. The milling machine may comprise, as a minimum, a machine frame. Furthermore, the milling machine may comprise a height-adjustable milling drum for working the ground pavement. The milling drum is driven by a drive unit. The drive unit is preferably a drive motor, specifically, a combustion engine. The milling machine comprises travelling devices 44. Said travelling devices 44 may be wheels or tracked ground-engaging units. The travelling devices 44 may be connected to the machine frame 8 via lifting columns. The milling machine or the machine frame 8, respectively, can be adjusted in height relative to the ground pavement by means of the lifting columns. The machine frame 8 is adjusted in height by adjusting the lifting columns, and as a result, the not-depicted milling drum mounted in the machine frame 8 is adjusted in height as well. Alternatively or additionally, the milling drum may be adjustable in height relative to the machine frame 8.

[0108] A reception and display device 18 is arranged at or in the transport vehicle 3, where the data recorded by the image-recording device 5 are transmitted to the reception and display device 18 by means of a transmission device 46 arranged at the construction machine. Alternatively, the reception and display device 18 may be designed as a mobile unit and carried along, for example, by the driver of the transport vehicle.

[0109] The image-recording device 5 may additionally detect a registration plate, for example, the vehicle registration plate of the transport vehicle. The information concerning the registration plate may also be transmitted to the reception and display device by means of the transmission device 46.

[0110] The transmission device 46 may transmit further data to the reception and display device 18 in addition to the data recorded by the image-recording device.

[0111] Said further data may be other machine information, in particular, data relating to the milling material and/or messages from the driver of the construction machine 2 to the driver of the transport vehicle 3, preferably start or stop signals specified by the driver of the construction machine 2 for the driver of the transport vehicle 3.

[0112] The reception and display device 18 may comprise a second transmission device 50, and a second reception device 51 may be arranged at the construction machine 2 so that messages can be sent from the driver of the transport vehicle 3 to the driver of the construction machine 2 via the second transmission device 50. It is therefore possible to exchange messages between the driver of the transport vehicle and the operator of the construction machine.

[0113] The second transmission device 50 and the reception and display device may be designed as a unit. The second reception device and the transmission device 46 may also be designed as a unit.

[0114] The system 1 may comprise an evaluation unit 13 for evaluating the data recorded with the image-recording device 5 by means of, for example, a unit for image analysis 14.

[0115] The evaluation unit 13 may determine the filling level in the loading space and/or the distance between the construction machine 2 and the transport vehicle 3 and/or the point of impingement of material in the loading space 4 by evaluating the image data.

[0116] An imminent collision of the construction machine 2 and the transport vehicle 3 can be determined by means of the distance between the construction machine 2 and the transport vehicle 3.

[0117] The point of impingement of the material may be the actual point of impingement of the material in the loading space 4 and also, in the case of the conveying device being switched off, the potential point of impingement in the loading space 4 when the belt conveyor 6 is driven again. To determine the potential point of impingement, further parameters such as, for example, the inclination of the belt conveyor 6 may also be included.

[0118] It may be determined based on the actual point of impingement of the material in the loading space 4 whether the material is still discharged within the loading space 4 and whether the point of impingement is in the peripheral area of the loading space 4 and the transport vehicle 3 therefore needs to move again soon in relation to the construction machine 2.

[0119] The further data which are transmitted by the transmission device 46 to the reception and display device 18 in addition to the data recorded by the image-recording device 5 may be data determined by the evaluation unit 13, in particular, start or stop signals for the driver of the transport vehicle 3 and/or the mass of the milling material loaded and/or a collision warning.

[0120] The evaluation unit 13 may determine, as a function of the point of impingement of the material in the loading space and/or as a function of the distance between the construction machine 2 and the transport vehicle 3, a start or stop signal which is transmitted to the reception and display device 18 via the transmission device 45.

[0121] The camera lens 9 is preferably a wide-angle lens of a camera 11 which, as a video camera, records an original image stream 12. The data recorded may be forwarded to the evaluation unit 13. Alternatively or additionally, an infrared camera and/or a stereoscopic camera and/or a PMD camera may also be used.

[0122] The camera 11 may, as a video camera, forward an original image stream 12 to the evaluation unit 13 which covers information from the entire viewing angle 10. It may, however, also forward subset image streams on subset viewing angles 16, 17 to the evaluation unit 13. Subset image streams from an original image stream 12 may, however, also be generated in the evaluation unit 13, or subset image streams from the original image stream 12 may also only be generated in the reception and display device 18 and be displayed on a screen 19 of the reception and display device 18 as images 20 and 21. Subset image streams may therefore be already generated at the image-recording device 5 by means of two cameras 22, 23, with the evaluation unit 13 or the reception and display device 18. In the embodiment shown in FIG. 3, two subset image streams are generated in the evaluation unit 13 and transmitted by means of the transmission device 46 in such a fashion that the information on the images can be received by the reception and display device 18.

[0123] The camera 11 is fastened at the belt conveyor 7 of the conveying device 6 in such a fashion that the alignment always points directly downwards independent of the angle of inclination 27 of the belt conveyor relative to the machine frame 8 of the construction machine 2. It is thus ensured that the camera always records the loading surface and that section of the belt conveyor where the loading space 4 of the transport vehicle 3 could collide with the conveying device 6.

[0124] A first storage device 52 may be arranged at the construction machine 2, and/or the reception and display device 18 may comprise a second storage device 53. The data recorded by the image-recording device 5, and/or the further data which are transmitted to the reception and display device 18 in addition to the data recorded by the image-recording device 5, may be stored in the first and/or the second storage device 52, 53.

[0125] A preferred embodiment variant specifies for the reception and display device 18 to be a portable computer, preferably a mobile telephone. A mobile telephone has the advantage that the same is carried along by every driver of a transport vehicle, and that it is therefore not necessary to specify an own reception and display device 18 for each transport vehicle. An application programme may be installed on such mobile telephone by means of which the data of the transmission device can be received and displayed on the screen of the mobile telephone.

[0126] When using the system for loading a transport vehicle 3 with the construction machine 2, first, as shown in FIG. 4, material 28 is conveyed onto the loading surface 4 of the dumper vehicle 3 by means of the conveying device 6. In the process, a first heap 29 is created in the rear section of the loading surface 4. The transport vehicle 3 is stationary, whereas the construction machine 2 keeps moving continuously. Since the construction machine 2 keeps driving, the point of discharge travels to the front end of the loading surface, which is depicted in FIGS. 5 and 6 by the heaps 30, 31. When the point of discharge has reached the front end of the loading surface, the vehicle driver of the transport vehicle must move the same forward relative to the construction machine. When the point of impingement has reached the rear end of the loading surface, the vehicle driver of the transport vehicle must stop the transport vehicle again. Heap 32 is again created in the rear section of the loading surface. By means of the present invention, the driver of the transport vehicle receives the information as to whether he has to move or stop the vehicle via the reception and display device 18. An image of the loading space 4 is depicted on the same so that the driver of the transport vehicle recognizes on the basis of this image alone as to when the transport vehicle 3 must be moved. In addition, the driver of the transport vehicle receives information from the operator of the construction machine or from the evaluation unit 13 as to whether the transport vehicle is to be moved or not, for example, in the form of start-stop signals. He can also, for example, receive the information about what type of material has been loaded, whether the maximum weight has been reached and whether a collision with the construction machine is imminent. The coordination between the transport vehicle and the construction machine can thus be improved considerably. In addition, signalling may be effected acoustically, for example, by means of a horn 15.

[0127] FIG. 2 shows how both the loading space 4 and the particularly critical section at the conveying device 6 may be observed with the camera 11 in order to control the proper filling of the loading surface on the one hand, and prevent a collision between the tailboard 33 and the conveying device 6 on the other. In this context, the loading procedure is particularly difficult if not only the transport vehicle 3 but also the construction machine 2 is movable.

[0128] In the present case, the construction machine 2 can pivot the conveying device 6, and the construction machine can be moved forward and backward in alignment of the transport vehicle 3. The proper loading of the transport vehicle 3 therefore depends not only on the absolute position of the transport vehicle 3 but on the relative position of the transport vehicle 3 to the conveying device 6 and to the machine frame 8 of the construction machine 2.

[0129] Since the camera 11 moves with the construction machine 2, the vehicle driver always obtains, via the camera, an image of the situation which shows the transport vehicle 3 and in particular the loading surface 4 of the same in relation to the construction machine 2 and from the direction of the construction machine 2 in order to move the transport vehicle 3 into the correct position relative to the construction machine 2.

[0130] FIGS. 8 to 11 show the unloading of a transport vehicle 3 where the loading surface 4 is initially driven up to the construction machine 2 so that the loading surface 4, as shown in FIG. 9, is positioned in front of a receptacle. 34. The loading surface 4 is subsequently tilted so that bulk material flows into the receptacle 34. In this arrangement, a camera 35 is positioned in the uppermost third of the construction machine 2 in such a fashion that it may comprise, as image-recording device 36, a camera with a wide-angle lens or multiple cameras which forward one or multiple image streams to an evaluation unit 13 as shown in FIG. 3.

[0131] A construction machine 2 according to FIGS. 8 to 11 is preferably a road paver. When the road paver is loaded with material, the road paver moves slowly forward. The transport vehicle 3 approaches the road paver slowly in reverse travel until contact has been made between the road paver and the transport vehicle 3. The transport vehicle 3 is thereafter pushed by the road paver ahead of the road paver, and emptying takes place.

[0132] Both the loading surface and the receptacle 34 can thus be observed by means of the camera also during unloading in order to, on the one hand, prevent a severe collision during the docking phase in particular in the case of a movement of the construction machine 2 and the transport vehicle 3 and in order to, on the other hand, let the material slide into the trough of the receptacle 34 at different speeds. This is of advantage in particular when the construction machine collects the material at different speeds.

[0133] The construction machine 2 according to FIGS. 8 to 11 also preferably comprises an evaluation unit 13 with an image-analysing programme 14. Furthermore, a transmission device 46, reception device 51 and a storage unit 52 are preferably specified. These have the same functions as already described for the construction machine according to FIGS. 1 to 7.

[0134] Just as the transport vehicle 3 according to FIGS. 1 to 7, the transport vehicle 3 may comprise a reception and display device 18 which may also comprise a transmission device 50 and a storage device 53. The functions are the same as the functions described according to FIGS. 1 to 7.

[0135] The entire loading and unloading process also requires a communication between the parties involved. For this purpose, message streams may be transmitted via the reception and display device 18 and/or the second transmission device 50 and the transmission and reception device 46, 51 arranged on the construction machine. Furthermore, it is advantageous if the message streams can be stored in one or both storage devices 52, 53.

[0136] On the screen 19, at least on one image 20, 21, reference images may be displayed which, for example, show the optimal position of the transport vehicle 3 relative to the construction machine 2. Said optimal position remains unchanged even when the transport vehicle 3 and the construction machine 2 move, since the optimal position of the transport vehicle, for example, during docking to the construction machine 2, remains unchanged from the perspective of the camera arranged at the construction machine 2. In the case of a strong deviation of the image 20, 21 from the displayed reference image, a message may be sent to the reception and display device 18 or a signal generated so that, for example, the horn 15 is sounded.