Abstract
Methods for controlling the traveling operation of a self-propelled ground compaction machine with the aid of a control unit which provides travel control signals to a travel drive system of the ground compaction machine. The ground compaction machine may alternatively be operated in an operator mode in which travel specifications specified by an operator via a manually operable input device are transmitted to the control unit and are transmitted by the latter in the form of travel control signals to the travel drive system of the ground compaction machine. A ground compaction machine, in particular a vibratory plate or a trench roller.
Claims
1. A method for controlling the traveling operation of a self-propelled ground compaction machine with the aid of a control unit which provides travel control signals to a travel drive system of the ground compaction machine, comprising: operation of the ground compaction machine in an autonomous mode, in which the control unit generates travel specifications itself and transmits them in the form of travel control signals to the travel drive system of the ground compaction machine, wherein: operation of the ground compaction machine in the autonomous mode is only enabled by the control unit as long as a sidewall detection device of the ground compaction machine detects the presence of a sidewall projecting relative to the contact surface of the ground compaction machine, in an area in the horizontal direction transverse to a direction of travel of the ground compaction machine, and during traveling operation in autonomous mode, in the event of an abrupt loss of detection of the presence of a sidewall by the sidewall detection device, the control unit continues traveling operation in autonomous mode in a time- and/or distance-dependent manner.
2. The method according to claim 1, wherein the ground compaction machine is alternatively operated in an operator mode in which travel specifications specified by an operator via a manually operable input device are transmitted to the control unit and are transmitted by the latter in the form of travel control signals to the travel drive system of the ground compaction machine.
3. The method according to claim 1, wherein the autonomous mode is enabled only when the sidewall detection device detects, in an area horizontally transverse to a forward travel direction of the ground compaction machine, the presence of a respective sidewall projecting from the contact surface of the ground compaction machine on both sides of the ground compaction machine.
4. The method according to claim 1, wherein detecting of the sidewalls on both sides of the ground compaction machine is performed alternately or simultaneously.
5. The method according to claim 1, wherein when the ground compaction machine is in the autonomous mode, the control unit stops traveling operation when the sidewall detection device no longer detects the presence of the sidewall projecting from the contact surface of the ground compaction machine.
6. The method according to claim 1, wherein during traveling operation in the autonomous mode, in the event of an abrupt loss of detection of the presence of a sidewall by the sidewall detection device, the control unit continues traveling operation in autonomous mode if (and as long as) the presence of a sidewall is detected at another location (in front of/behind; other side) by the sidewall detection device.
7. The method according to claim 1, wherein traveling operation in the autonomous mode is stopped when the sidewall detection device detects at least one of the following scenarios: the vertical height of the detected sidewall falls below a predetermined; and/or the horizontal distance of the detected sidewall in horizontal direction transverse to a forward direction of travel of the ground compaction machine exceeds a predetermined threshold; and/or the horizontal distance of the detected sidewall in horizontal direction transverse to a forward direction of travel of the ground compaction machine falls below a predetermined threshold; and/or traveling operation in the autonomous mode is enabled when the sidewall detection device detects at least one of the following scenarios: the vertical height of the detected sidewall exceeds a predetermined threshold; and/or the horizontal distance of the detected sidewall in horizontal direction transverse to a forward direction of travel of the ground compaction machine falls below a predetermined threshold.
8. The method according to claim 1, wherein obstacles lying in and/or against the current direction of travel of the ground compacting machine are detected with the aid of an obstacle recognition device, wherein the control unit stops the traveling operation in the autonomous mode if an obstacle existing in and/or against the direction of travel is detected by the obstacle recognition device.
9. The method according to claim 1, wherein with the ground compacting machine moving in a direction of travel in the autonomous mode, a reversing command, by means of which the direction of travel is switched to the opposite direction of travel, is generated by the control unit when: an obstacle lying in the direction of travel is detected; the end of a specified route has been reached; an external marking element detectable by the ground compacting machine by means of a detection device is detected; the detection of an external marking element detectable by the ground compacting machine by means of a detection device is interrupted; an input is made via the input device manually operated by an operator.
10. The method according to claim 1, wherein the control unit controls an indicating device such that: a) it is indicated whether enabling requirements for operation in autonomous mode are fulfilled and/or b) it is indicated that enabling requirements for operation in autonomous mode are no longer met and/or c) it is indicated whether the ground compaction machine is currently being operated in autonomous mode and/or d) it is indicated whether an active signal transmission connection to a remote control exists and/or no longer exists; e) further operating parameters are indicated, such as exciter on/off, filling level of a tank, etc. f) the current position of the ground compaction machine is indicated.
11. A self-propelled ground compaction machine, comprising: a drive unit, via which the drive energy required for traveling operation of the ground compaction machine is provided; a ground-contacting device, via which compaction of the ground takes place, a control unit, which controls the traveling operation of the ground compaction machine, wherein: it has a sidewall detection device which is configured such that it detects, in an area in horizontal direction transverse to a forward direction of travel of the ground compaction machine, the presence of a sidewall projecting vertically relative to the contact surface of the ground compaction machine; and that the control unit is configured such that it controls the traveling operation of the ground compacting machine in an autonomous mode, wherein in the autonomous mode travel specifications are specified by the control unit, wherein further an enabling device is provided which enables or blocks the autonomous mode, which is configured such that the autonomous mode is only enabled in operating situations in which the sidewall detection device detects the simultaneous presence of a sidewall located transversely to the forward direction of the ground compaction machine.
12. The ground compaction machine according to claim 11, wherein as an alternative to the autonomous mode, the ground compaction machine can be operated in an operator mode in which travel specifications are specified by an operator via a manually operable input device of the control unit.
13. The ground compaction machine according to claim 11, wherein the sidewall detection device is configured such that it detects the presence of a sidewall on each of the two sides of the ground compaction machine.
14. The ground compaction machine according to claim 11, wherein the sidewall detection device has at least one distance sensor which is arranged on the ground compaction machine such that, with regard to its viewing direction and/or its detection range, it is at least partially oriented obliquely or parallel to the horizontal plane toward the side of the ground compaction machine.
15. The ground compaction machine according to claim 11, wherein the sidewall detection device has at least two distance sensors, the detection ranges of which are each oriented at least partially in the direction of one of the two sides of the ground compaction machine.
16. The ground compaction machine according to claim 11, wherein the sidewall detection device has at least one distance sensor on at least one side of the ground compaction machine, via which the distance of the ground compaction machine from a sidewall projecting next to the ground compaction machine can be determined.
17. The ground compaction machine according to claim 11, wherein the sidewall detection device has at least one distance sensor on each of the two sides of the ground compaction machine, via which in each case the distance of the ground compaction machine from sidewalls projecting next to the ground compaction machine on one of the two sides can be determined.
18. The ground compaction machine according to claim 11, wherein the sidewall detection device has, on at least one side of the ground compaction machine, at least two distance sensors which are arranged relative to one another such that their detection ranges, as seen in a direction of travel of the ground compaction machine, extend at least partially one behind the other.
19. The ground compaction machine according to claim 11, wherein it has at least two distance sensors having detection regions oriented toward a side of the ground compaction machine, the distance sensors being oriented such that their detection ranges, as seen in the vertical direction of the ground compaction machine, extend at least partially one above the other.
20. The ground compaction machine according to claim 11, wherein the sidewall detection device has at least two distance sensors on at least one side of the ground compaction machine, the two distance sensors carrying out a distance measurement in a mutually different manner.
21. The ground compaction machine according to claim 11, wherein at least one sensor is provided which is configured to detect an area lying in front of and/or behind the ground compaction machine in the direction of travel.
22. The ground compaction machine according to claim 11, wherein a device for detecting at least one external and/or virtual marking is provided.
23. The ground compaction machine according to claim 11, wherein an indicating device is provided for indicating at least one of the following operating parameters: autonomous mode is switched on and/or off; (the same applies to operator mode) autonomous mode is active and/or inactive; the presence of a sidewall is currently being detected and/or not being detected; an obstacle existing in the direction of travel in front of and/or behind the ground compaction machine is detected and/or not detected; there is an active and/or inactive signal connection to a remote control.
24. The ground compaction machine according to claim 11 and manually operable input device, wherein the manually operable input device has an indicating device for indicating at least one of the following operating parameters: autonomous mode is switched on and/or off; autonomous mode is active and/or inactive; the presence of a sidewall is currently being detected and/or not being detected; at least one currently determined distance to a sidewall (both sides, etc.) detected by the sidewall detection device; an obstacle existing in the direction of travel in front of and/or behind the ground compaction machine is detected and/or not detected; there is an active and/or inactive signal connection to a remote control.
25. The ground compaction machine according to claim 11, wherein the ground compaction machine is a trench roller or a vibratory plate.
26. A ground compaction machine, wherein it is configured to carry out the method according to claim 1.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
[0055] The invention will be explained in more detail below by reference to the embodiment examples shown in the figures. In the schematic figures:
[0056] FIG. 1A: shows a side view of a ground compaction machine of the trench roller type;
[0057] FIG. 1B: shows a front view of the trench roller of FIG. 1A;
[0058] FIG. 2A: shows a side view of a ground compaction machine of the vibratory plate type;
[0059] FIG. 2B: shows a front view of the vibratory plate of FIG. 2A;
[0060] FIG. 3: shows a schematic top view of a ground compaction machine with various sensor arrangement alternatives;
[0061] FIG. 4A: shows a schematic top view of a ground compaction machine with various arrangement alternatives for sensor detection ranges;
[0062] FIG. 4B: shows a schematic top view of a ground compaction machine with various further arrangement alternatives for sensor detection ranges;
[0063] FIG. 5: shows a front view of a ground compaction machine inside a trench;
[0064] FIG. 6: shows a front view of a ground compaction machine inside a trench;
[0065] FIG. 7A: shows a top view of a movement sequence of a ground compaction machine in a trench;
[0066] FIG. 7B: shows a side view of the movement sequence of FIG. 7A along line I-I;
[0067] FIG. 7C: shows a cross-sectional view through the trench of FIG. 7A along line II-II;
[0068] FIGS. 8A to 8C: show various movement schemes;
[0069] FIG. 9: shows a top view of a remote control;
[0070] FIG. 10: shows a flowchart of operation of a ground compaction machine in operator mode;
[0071] FIG. 11: shows a flowchart of operation of a ground compaction machine in autonomous mode; and
[0072] FIG. 12: shows a flowchart of a compensation function.
DETAILED DESCRIPTION
[0073] Structurally or functionally like components may be designated with the same reference numeral in the figures. However, not every component or process step repeated in the figures is necessarily designated separately in each figure.
[0074] FIGS. 1A and 1B show a ground compaction machine 1 of the trench roller 1A type. In this case, essential elements of the ground compaction machine 1 are a machine frame 2 with, for example, a front frame 2A and a rear frame 2B, which may be connected to each other by an articulated joint 3. The ground compaction machine 1 comprises a primary drive unit 4, for example an internal combustion engine or electric motor, via which the drive energy required for traveling operation of the ground compaction machine 1 is provided. The ground is compacted by means of the compaction drums 5 rolling on the ground, which accordingly represent the ground-contacting elements 6. One or more traction drive motors, in particular electric or hydraulic motors, may be provided to drive the compaction drums 5. For manual operation of the ground compaction machine 1, a device for manual input of control commands may be provided on the ground compaction machine 1 directly (as indicated in FIG. 1A by the steering drawbar arranged in phantom lines) or a remote control 7. In this case, the remote control 7 comprises at least one transmitter 8 and the ground compaction machine 1 comprises a receiver 9.
[0075] The ground compaction machine 1 further comprises a control unit 10 which controls the operation of, inter alia, the primary drive unit 4 of the travel drive, in particular the at least one travel drive motor, and, in the present embodiment example, a steering actuator 3′ of the articulated joint 3. However, it is also possible to configure the trench roller without articulated steering and steering actuator with a continuous rigid frame. In this case, steering is performed by coordinating the travel movement of the front and rear pairs of drums (“tank steering”). Furthermore, the control unit 10 receives the operating commands entered via the remote control 7 and/or a manually operated input device arranged directly on the ground compaction machine 1 and converts them into corresponding control commands or travel control signals within the ground compaction machine 1.
[0076] FIGS. 1A and 2B show a ground compaction machine 1 of the vibratory plate 1B type. Essentially, reference is made to the corresponding explanations of FIGS. 1A and 1B for a description of the individual components. In contrast to the trench roller 1A, the vibratory plate 1B has a vibrating plate 11 as the ground-contacting element 6. Thus, locomotion of the vibratory plate 1B is achieved via one or more imbalance exciters 12 in a manner known per se.
[0077] An operator mode and an autonomous mode are provided for operation of the ground compaction machine 1. In the operator mode, the working operation, in particular the driving, steering and/or exciter operation, is controlled by an operator via the manual input of corresponding operating specifications, for example via a manually operated input device arranged on the ground compaction machine 1 or a remote control. Operation of the ground compaction machine 1 in autonomous mode, on the other hand, is only possible under certain conditions. In particular, this may include the requirement of detecting the presence of at least one sidewall adjacent to the ground compaction machine 1, as further explained below by way of example. For this reason, the ground compaction machine 1 also includes a sidewall detection device 13, the basic structure of which is first explained in more detail using FIG. 3 as an example. In autonomous mode, the ground compaction machine 1 or the control unit 10 generates operating instructions itself, i.e., makes decisions regarding driving and/or steering commands itself. In this mode, it thus moves autonomously or automatically and not based on individual, manually entered travel and/or steering specifications.
[0078] FIG. 3 shows a schematic top view of the ground compaction machine 1. The sidewall detection device 13 comprises at least one device configured to detect a sidewall SW projecting relative to the ground on which the ground compacting machine 1 is standing, next to the ground compacting machine 1 as viewed in the direction of travel A. From a functional point of view, the task and function of the sidewall detection device 3 is thus to check whether a sidewall SW is currently located next to the ground compaction machine 1, in particular for enabling the autonomous mode and/or during traveling operation in the autonomous mode. “Adjacent/next to” in this context refers to a space located vertically above the contact surface of the ground compaction machine and in the horizontal plane perpendicular to the direction of travel, in particular at least partially at the level of the ground compaction machine. The direction of travel A denotes the current direction of travel of the ground compaction machine 1, which in this case comprises a forward direction of travel and an opposite reverse direction. These can be defined essentially arbitrarily on the respective ground compaction machine 1. In the figures, the forward direction is indicated as direction of travel A by way of example. The sidewall(s) SW that is/are relevant in the present case is/are thus located in the horizontal plane perpendicularly to the right and/or to the left relative to the forward direction of travel A. For the detection of at least one sidewall located next to the machine, one or more suitable sensors 14 may be provided on the ground compacting machine 1. In the present embodiment example according to FIG. 3, the sidewall detection device 13 comprises a total of four individual sensors 14VL (front left), 14HL (rear left), 14VR (front right) and 14HR (rear right). The number of sensors per side is variable within the scope of the invention. For example, one sensor on each side may be sufficient. The sensor or sensors 14 transmit their measured values to an enabling device 15, which may be a module that is structurally and functionally separate from the control unit 10 or, as in the present embodiment, an element integrated into the control unit 10. The enabling device 15 checks whether one or more of the sensors 14 detect the presence of a sidewall. Each sensor comprises a measuring range M1 for this purpose. The measuring range designates the space within which the respective sensor can determine a distance. This space usually has, for example, a maximum and/or a minimum distance from the respective sensor. In FIG. 3, for reasons of clarity, only the individual measuring ranges of sensors 14VL and 14HL are designated as examples. Usually, and independently of the present embodiments, a measuring range will be defined in advance for each sensor (for example by software) within which it is to perform a distance determination. This measuring range is preferably smaller than the theoretically maximum possible measuring range of the respective sensor.
[0079] An actual detection of a sidewall SW is illustrated in more detail in FIG. 3 with sensor 14VR. Sensors that currently detect the presence of a sidewall (or object) within their measurement range M are highlighted in thick print in this and the following figures. This is illustrated in FIG. 3 on the right-hand side with the exemplary sidewall SW. The sensor 14VR encounters the sidewall SW and transmits this accordingly to the enabling device 15 of the control unit 10. The other sensors 14HR, 14VL and 14HL, on the other hand, do not currently encounter any sidewall in the area of their measuring range in FIG. 3. In this case, the enabling device 15 may now be configured such that it blocks the enabling of the autonomous mode because, with respect to the maximum possible lateral detection range on one side, only some of the sensors detecting toward this side detect a sidewall SW. If, in this case, the operator wishes to put the ground compaction machine 1 into autonomous mode, this is blocked accordingly by the enabling device 15. In this case, the enabling device 15 is thus configured such that, in order to enable the autonomous mode, all of the sensors 14 detecting on one side of the machine must simultaneously detect the presence of a sidewall SW. However, it is also possible for the enabling device 15 to enable the autonomous mode already in the case shown in FIG. 3. Then, the enabling device 15 for enabling the autonomous mode is thus configured such that at least one of the laterally detecting sensors currently detects the presence of a sidewall SW. According to a modification of this basic approach, it is also possible that the simultaneous detection of one sidewall on each side of the ground compaction machine by at least one, preferably several, sensors, or the detection of the presence of a sidewall by all sensors 14 is required to enable the autonomous mode. If more than two sensors for sidewall detection are provided on one side of the ground compaction machine, it is also possible for the enabling device 15 to enable the autonomous mode only when at least two (or more) but not all sensors provided on that side simultaneously detect the presence of a sidewall adjacent to the ground compaction machine.
[0080] Regardless of the specific embodiment example, it is thus preferred if the enabling device 15 is a hierarchically superordinate entity to the (further) control functions of the control unit 10, which enables or blocks the autonomous mode depending on the result detected via the sidewall detection device 13 (i.e. depending on whether the presence of at least one sidewall next to the ground compaction machine is currently confirmed or not).
[0081] The control unit 10 controls the primary drive unit 4 and other elements 3, in particular work and control devices, such as the operation of one or more imbalance exciters and/or the steering factor 3′ (if present). The enabling device 15 may further be in communication with the manually operated input device, either via a cable connection as shown in FIG. 3, or wirelessly via the receiver 9 with a remote control 7, or to an input device located directly on the ground compaction machine 1. Furthermore, the receiver 9 may also be configured as a transmitting and receiving unit unit, so that the enabling device 15 and/or the control unit 10 can transmit data to the remote control. Data transmission to an indicating device 15 is also possible. The latter may be located on the ground compaction machine 1 and/or on the remote control 7.
[0082] In addition to the at least one sensor 14 of the sidewall detection device 13, the ground compaction machine 1 may further comprise one or more obstacle sensors 16, which are at least partially oriented with their respective detection range M2 in and against the direction of travel A. The detection range M2 of this at least one obstacle sensor 16 (in FIG. 3 obstacle sensor 16f to the front and 16r to the rear) thus comprises a spatial area starting from the ground compacting machine 1 and extending in front of or behind the machine in or against the direction of travel A of the machine. It is optimal if the detection range M2 of these sensors in particular runs in or against the direction of travel, starting from the ground compaction machine 1, at least partially also in vertical direction downward and sloping to the ground. With the aid of the at least one obstacle sensor 16, it is thus possible to detect obstacles extending vertically downward and/or upward in the travel path A of the ground compacting machine 1 relative to the current contact surface of the ground compacting machine, such as, for example, an object lying in the travel path, a person, a pit, etc. In addition to protecting persons in the vicinity of the machine, the obstacle sensor 16 may in particular also be used, for example, to determine the end of a trench based on the trench wall located in the travel path in front of the machine and, as described in more detail below, to stop or also reverse the machine in autonomous mode.
[0083] It is also possible to arrange the sensor(s) 14, 16 such that it/they is/are oriented with its/their detection range M1/M2 both in the direction of the sidewall SW, or toward the side of the ground compaction machine 1, and in or against the direction of travel A, as exemplified in FIG. 3 with sensor 14e placed at a corner of the machine 1. It will be appreciated that such positioning may be provided at multiple and in particular all transition areas between the side areas and the front or rear area of the machine 1 with respect to the direction of travel A. Depending on the detection range, such a sensor may act both as an obstacle sensor of the obstacle detection device 17 and as a sensor of the sidewall detection device 13.
[0084] With regard to the configuration of the detection range M of the sensor or sensors 14 of the sidewall detection device 13 and the obstacle detection device 17 with the obstacle sensors 16 and their relative orientation to each other, there are also various alternative possibilities. Generally, it is possible to arrange the sensors such that their individual detection ranges are essentially free of overlap with each other, as indicated for example in FIG. 3. This may be the case in particular if the detection range of the respective sensor is not conical, fan-shaped or spherical, but essentially beam-shaped, as indicated by way of example in FIG. 3 for sensor 14HL with the measuring beam MS.
[0085] However, it may also be advantageous if the measuring ranges of the respective sensors at least partially overlap each other. This is illustrated in more detail by way of example in FIGS. 4A and 4B. In FIG. 4A, for example, the ground compaction machine comprises sensors 14 and 16, as described in more detail above with respect to FIG. 3. Each of the sensors 14 of the sidewall detection device 13 has a detection range M1 (which may also vary among themselves). The detection ranges of the obstacle sensors 16 are marked M2. For example, the detection ranges M1, M2 may be cone-shaped, as shown in FIG. 4A. Additionally or alternatively, there may be at least one sensor 14z arranged within the outer edges of the machine with respect to the horizontal extent of the machine, in particular arranged essentially centrally with respect to the outer edge of the machine in the horizontal plane, the detection range of which is designated “M1,M2”. Such an arrangement may be made, for example, by positioning this sensor 14z on the upper side of the machine outer skin or on a pole projecting in the vertical direction. Such a sensor 14z may be configured to scan and/or rotate its detection range about a vertical axis. The sensor 14z is now preferably arranged such that its detection range M1,M2 can be used simultaneously for sidewall detection and for obstacle recognition. This may be a 3D lidar sensor, for example. In the present embodiment example, the sensor 14z is provided supplementary to the sensors 14 and/or 16. For this purpose, it may be optimal if the detection range M1,M2 of the sensor 14z at least partially overlaps with one or more or all of the detection ranges M1, M2 of the sidewall detection device 13 and/or the obstacle detection device 17. In other words, the sensors 14z and 14 and/or 16 are then arranged such that with the detection ranges M1 (sensors 14) and M2 (sensors 16) and M1,M2 (sensor 14z) at least partially identical spatial sections are detected or covered. This may be advantageous in many ways. On the one hand, this creates redundancy, which increases the operational reliability of the ground compaction machine 1, especially in autonomous mode. On the other hand, this enables more reliable and precise detection of one or more sidewalls and/or obstacles, since two different viewing angles can be used for one and the same spatial area via two sensors.
[0086] The sensor 14z could also be used autonomously, or on its own, for both obstacle monitoring and sidewall recognition and thus, in an extreme case exclusively, simultaneously constitute the sensor for the sidewall detection device 13 and the obstacle detection device 17. It is also possible to use a plurality of such sensors 14z for sidewall recognition and/or obstacle recognition. For a trench roller in particular, it may be optimal if one such sensor is positioned in the region of the front half of the machine in the direction of travel and another such sensor is positioned in the region of the rear half of the machine. In particular for an articulated trench roller, it is thus preferred if one such sensor 14z is arranged on the front carriage and another such sensor 14z is arranged on the rear carriage.
[0087] FIG. 4B illustrates another possible example of at least partially overlapping sensor ranges. It can be seen from FIG. 4B that the sensors 14 of the sidewall detection device 13 are not positioned in the horizontal plane perpendicular to the direction of travel A, but may be inclined by an angle α with respect to their respective detection range M1 in and against the direction of travel A. This angle is defined in the horizontal plane by the direction of travel A and the center axis of the respective detection range M1 originating from the respective sensor 14 (indicated in each case by dashed arrows in FIG. 4B). For example, the tilting in the horizontal plane is specifically such that the center axis in the horizontal plane is inclined in each case toward the end of the machine closer to the respective sensor as seen in the longitudinal direction of the ground compaction machine. Sensors 14 adjacent to one another on one side of the machine 1 may have detection ranges M1 that are substantially free of overlap with one another or that overlap with one another. However, this arrangement also makes it possible, in particular, to obtain overlapping of the detection ranges of at least one sensor 14 of the sidewall detection device 13 and at least one sensor 16 of the obstacle detection device. Such an overlap area UB1 is highlighted in FIG. 4B as an example for an area located at the rear left with respect to the direction of travel A with a dash-dotted border. It will be appreciated that this is merely for schematic illustration of this principle of arrangement and is not to be understood to mean that the detection range or ranges of the sensors 14/16 necessarily end abruptly, for example. Due to the inclination of the detection ranges M1 of the sensors 14, it is possible, for example, to optimally detect the corner regions of the machine environment, which may be particularly advantageous, for example, for an exact sidewall detection. It may be optimal if all four corner regions (in relation to a horizontal plane) are captured. Due to the preferred arrangement of the sensors of the sidewall detection device 13 and the obstacle detection device 17 in the present embodiment, which is mirror-symmetrical with respect to the longitudinal machine axis L extending in the direction of travel A, this is achieved, for example, with an arrangement as indicated in FIG. 4B.
[0088] FIGS. 5 and 6 now illustrate further possible arrangement details with respect to a vertically extending reference plane. In both views, the direction of travel A is, by definition, out of the image plane and toward the viewer. Even though a trench roller is given in the figures as an example of a ground compaction machine 1, the following information in particular also applies in the same way to a ground compaction machine configured as a vibratory plate.
[0089] FIG. 5 illustrates two possible arrangements of the sensor(s) 14 with respect to the orientation of the detection range(s) in the vertical plane. On the right, for example, a horizontally running measuring beam MS is indicated. The latter extends at a vertical distance H from the ground. Due to this arrangement, the detectable sidewall SW thus requires a minimum height corresponding essentially to H. If the sidewall SW is lower than H, it cannot be detected. This is shown in FIG. 5 with the sidewall SW on the right. This sidewall has a height from the ground that is less than H. In this case, this variant of the sidewall detection device 13 would thus fail to detect the presence of a sidewall SW and accordingly allow enabling of the autonomous mode. In this case, detectable sidewalls SW must therefore have a minimum height (as seen from the ground) corresponding to the height H.
[0090] On the left side, on the other hand, a sensor 14 of the sidewall detection device 13 is shown which has an essentially cone-shaped detection range. The axis (dashed arrow in M1) of the detection cone is inclined vertically upward from the sensor 14 (by an angle (3 with respect to the horizontal). Such angling may be done, for example, such that the lower edge of the detection range M1 or the upper edge of the detection range M1 is essentially horizontal. In this manner, on the one hand, a “minimum height” of the detectable sidewall SW may again be determined by design or, on the other hand, an upward and/or downward “viewing direction” of the respective sensor may be achieved in a targeted manner. This may be advantageous depending on the positioning of the respective sensor 14 on the machine. Of course, a corresponding orientation may also be directed downward, i.e. obliquely toward the ground.
[0091] FIG. 6 illustrates further alternatives with respect to the orientations of the sensors of the sidewall detection device 13. The sensor 14 on the right side, for example, is positioned on the machine side such that its detection range M1 extends essentially horizontally with its longitudinal center axis. On the left side, on the other hand, a pair of sensors with two sensors 14 arranged one above the other in the vertical direction is shown. It is also possible to position more than two sensors one above the other in the vertical direction. Further, the sensors 14 arranged one above the other may also be positioned overlapping or without overlap with respect to the orientation of their individual detection ranges M1. In addition, they may be oriented at an angle to each other in opposite directions in the vertical direction, as shown in FIG. 6. The vertically upper sensor 14 is oriented obliquely upward, while the vertically lower sensor 14 is oriented obliquely downward.
[0092] FIG. 6 further illustrates a possible orientation option for the central sensor 14z, which may be provided, for example, in addition to or as an alternative to one or more of the sensors 14 and 16. For example, the sensor 14z may be positioned on the top of the machine or even offset vertically upward from the rest of the machine using a spacing device 18. The spacing device 18, such as a support pole, may be removable or adjustable between a space-saving storage position and an operating position. The sensor 14z is oriented with respect to its detection range M1,M2 such that it at least partially detects the spatial area in front of and/or next to the machine 1 and located downward in the vertical direction, starting from the sensor.
[0093] Additionally or alternatively, the ground compaction machine may also include a GPS receiver 19, for example, on or within the machine cladding (FIGS. 1A to 2B) or on the spacing device 18 (FIG. 6). This makes it possible to determine the position of the machine 1, which may be used for control and/or locating purposes, for example.
[0094] With regard to the above-mentioned embodiment variants, in particular with regard to the orientation of one or more sensors, it is stated here as a precaution that a variety of further arrangement variants are possible beyond the given embodiment examples and are also encompassed by the invention. An essential aspect, particularly with respect to the arrangement of the sensors 14 of the sidewall detection device 13, is that detection of the presence of a sidewall adjacent to the ground compaction machine 1 is possible. Further, the individual orientation options in the vertical plane and/or in the horizontal plane may be combined with each other or applied to all of the existing sensors of the sidewall detection device 13 and/or the obstacle detection device 17.
[0095] In order to be able to recognize and/or locate the machine more easily in the working environment under certain circumstances, an indicating device, for example in the form of a visual (in particular signal lamp) and/or acoustic (in particular signal horn) signal device 20 may be provided, as indicated for example in FIGS. 1A and 6.
[0096] FIGS. 7A to 7C now illustrate a possible operating sequence. FIG. 7A is a top view of a trench G with an entry ramp E and sidewalls SW and an end wall W. FIG. 7B is a vertical cross-sectional view along line I-I of FIG. 7A and FIG. 7C is a vertical cross-sectional view along line II-II of FIG. 7A. The ground compaction machine 1 is shown in three exemplary operating situations.
[0097] The sensors 14 of the sidewall detection device and 16 of the obstacle detection device 17, which are shown in FIGS. 7A to 7C by way of example only, are indicated in the figures with a thin line when they are not currently detecting a sidewall or an obstacle lying in the travel path, and with a thick line when they are currently detecting a sidewall or an obstacle lying in the travel path. Furthermore, only one obstacle detection sensor 16 directed in the direction of travel A and only one sensor 14 of the sidewall detection device 13 on each side are indicated in these figures merely for clarity. It will be appreciated that the individual sensors may be varied and/or combined in terms of type, positioning and orientation, as illustrated for example in the preceding figures.
[0098] In position 1A, the ground compaction machine 1A is entering the trench via ramp E. In this situation, the ground compaction machine 1 is in operator mode. Activation of the autonomous mode is blocked by the enabling device 15, since the sensors 14 do not detect a sidewall SW next to the ground compaction machine. In this operating phase, control of the ground compaction machine 1 is therefore only possible in the operating mode. At the same time, the obstacle detection device 17 does not detect any obstacle located in the travel path A of the ground compaction machine 1 via the sensor 16. The ground compaction machine 1 will thus move forward in the direction of travel A after the operator has entered corresponding travel commands and, in the present case, will move further into the trench until it reaches position 1B, for example.
[0099] Position 1B now shows an operating situation in which the sidewall detection device 13 detects the presence of sidewalls SW on both sides of the ground compaction machine via the sensors 14 (specifically 14HL and 14HR, i.e., simultaneously on both sides). This causes the enabling device 15 to enable operation in autonomous mode. The operator can now activate this operating mode and the ground compaction machine 1 would move autonomously in the trench in the direction of travel A, without requiring any operating inputs from an operator. This requires that the obstacle detection device 17 does not detect any obstacle lying in the travel path of the ground compaction machine in the direction of travel A. Ideally, the autonomous mode may be configured such that the ground compaction machine 1 moves completely independently or autonomously in the trench in the direction of travel A and makes travel direction, travel speed and steering direction decisions itself. This does not require any continuous or discontinuous feedback to an operator, for example via a so-called “heartbeat signal” and/or visual contact between a remote control and the machine, although it is certainly possible.
[0100] If the autonomous mode is activated at position 1B, the ground compaction machine continues to move autonomously within the trench in the direction of travel A to position 1C. The sidewall detection device may periodically check for the presence of the sidewalls SW. Continuation of the autonomous mode may then be provided, for example, only in the event that the presence of one or both sidewalls SW is detected essentially continuously. If the sidewall detection device cannot confirm this in an operating situation, at least the traveling operation of the ground compaction machine may be stopped. Alternatively, however, it is also possible, for example, for the enabling device to permit briefly occurring interruptions of the detection of the presence of a sidewall SW on one and/or both sides, as may occur, for example, when a lateral channel branch is present, as indicated in FIG. 7A with the channel branch A. The criteria under which such transitional continuation of the autonomous mode is possible despite loss of positive sidewall detection may vary. This may be done, for example, in a time- and/or distance-dependent manner Additionally or alternatively, a minimum requirement may be, for example, that at this moment the presence of a sidewall is detected at least on the opposite side and/or another sensor detecting on the same side of the machine, which is arranged, for example, in the direction of travel further in front, further behind, lower or higher and/or has a different detection range, detects the presence of a sidewall SW on this side (but at a different position in the direction of travel and/or height).
[0101] Between positions 1B and 1C, the obstacle detection device 17 does not detect any obstacle located in the travel path A of the ground compaction machine 1. Finally, however, in position 1C, the trench end wall E projects so close in front of the ground compaction machine that it is detected by the obstacle detection device 17 as an obstacle lying in the travel path. In order to avoid a collision with the trench wall (or another obstacle), the control unit 10 automatically stops the forward movement of the ground compaction machine 1 or the continuation of the travel movement in this direction. This may also end the autonomous mode and the ground compaction machine 1 may thus wait for a manual input, since it is then back in operator mode. Alternatively, however, when detecting the trench end wall in the autonomous mode, the control unit 10 may issue a reversing command and thus initiate a start of the traveling operation of the ground compaction machine in the opposite direction (i.e., in the direction of position 1B).
[0102] There are various possibilities to influence the traveling and working behavior of the machine within the trench independently of individual manual inputs. This may be done, for example, by marking devices 24 that are external to and detectable by the machine. Such markings may be placed inside the trench, outside the trench, especially at the edge of the trench, or virtually, for example, by relying on GPS and/or a local positioning system.
[0103] For this purpose, FIG. 7B uses the marking element 21a as an example to indicate the possibility of placing an indicator within the trench, for example at the end of the trench, which can be detected by the machine and which indicates the end of the trench for the machine 1. Said indicator may be, for example, an RFID transponder, an optoelectronically readable code, a colored marking sprayed on the wall or floor, or the like. Obviously, the ground compaction machine 1 then comprises a corresponding device for recognizing and decoding the external marking element, such as, for example, a scanner, a transmitting and receiving unit, a video camera, etc. However, not only route information, such as “end of work route”, may be provided via such markers in a form that can be recognized and interpreted by the ground compaction machine 1, but additionally or alternatively also traveling and working information. Specifically, the marking element 21a may also be used to place a reversing mark, so that when the marking element 21a is detected and identified, the machine not only stops its approaching movement automatically, but then reverses automatically, resumes traveling operation, and moves away from the marking element 21a in the opposite direction. Obviously, this may be done anywhere within the trench and does not necessarily have to be done at a trench end wall. Additionally or alternatively, such markings may also be used to define a route or a permissible movement area, as exemplified in FIG. 7B with marking elements 21b, 21c and 21d. There, the marking elements are arranged along the route and in their entirety form a kind of virtual guide wire. In this context, the ground compaction machine 1 may, for example, have a current contact with at least one (or more) of the marking elements 21 in order to continue the travel movement. However, it is also possible here to tolerate distance- and/or time-dependent transitional interruptions in the detection of one of the marking elements 21b, 21c and 21d without interrupting the traveling operation.
[0104] Additionally or alternatively, purely virtual markings may also be used, for example. For this purpose, it is preferred if there is a supplementary possibility to use the position of the machine in the terrain, whether relative to a reference point or absolute in specific position data, for example using GPS. In FIG. 8A, a virtual fence 21e is indicated for further illustration. The machine 1, which is equipped with a GPS receiver 19, constantly determines and monitors its own position during working operation in the auto-operate mode and checks whether it is within the area delimited by 21e or controls its travel track F such that it does not leave this area. It will be appreciated that other so-called “geofencing” options may also be applied here.
[0105] FIGS. 8A, 8B, and 8C further illustrate various movement modes that the ground compaction machine 1 may use as a basis for determining its own track F in autonomous mode. The ground compaction machine 1 is shown at the respective starting point for this purpose. The track F then reflects the track traveled by the ground compaction machine 1 from this start position in autonomous operation mode.
[0106] FIG. 8A shows the simplest case. Accordingly, the ground compaction machine 1 travels at least essentially one and the same path in reversing mode.
[0107] Alternatively, it is also possible, as shown for example in FIG. 8B, for the ground compaction machine 1 to offset the track by an offset distance AA extending horizontally and transversely to the main direction of travel with each change of direction of travel. From its starting position, the ground compaction machine 1 initially moves essentially parallel to the trench wall until it reaches the end of the trench on the right. There, it reverses its direction of travel (for example, due to detection of the end wall of the trench and/or a turn marking) and steers onto a return track offset by a distance of AA transverse to the direction of travel A. This process may be repeated several times as indicated in FIG. 8B.
[0108] FIG. 8C, on the other hand, shows a recorded travel path F as it may occur in chaotic travel path planning Here, the ground compaction machine 1 moves in a straight line until it encounters an obstacle in the travel path. The ground compaction machinel then steers in some direction and continues its travel path in a straight line until it again encounters an obstacle, such as a trench wall. It will be appreciated that various modifications are possible here. For example, the type of chaotic travel path planning may vary here. Additionally or alternatively, it is also possible that in this mode the area to be compacted is first mapped and then, when the area is completely mapped, the ground compaction machine 1 systematically travels over this area, as indicated for example in FIG. 8B.
[0109] Operation of the ground compaction machine in the autonomous mode may further be based on a plan, specifically a compaction plan. Said plan may be established depending on a number of planned passes and/or a desired ground stiffness. The planned traversal of the ground area to be compacted may include systematic and/or choatic traversal. Particularly in the case of systematic traversal over the ground surface to be compacted, the rolling plan may, for example, be defined by the control unit of the ground compaction machine such that tracks are travelled next to each other and/or partially overlapping and running parallel to each other. Additionally or alternatively, the area to be compacted may be specified, in particular externally, to determine the movement plan of the ground compaction machine, or the ground compaction machine may initially determine the area to be compacted itself, for example by means of a chaotic movement pattern in the initial phase, and, as soon as a closed ground area has been determined within limits defined, for example, by sidewalls, the ground compaction machine then traverses this area based on a self-defined, usually optimized, movement plan. This modification relates to the method according to the invention and to the configuration of the ground compaction machine according to the invention, irrespective of specific embodiment examples.
[0110] FIG. 9 illustrates advantageous embodiments of a remote control 7 particularly suitable for use with a ground compaction machine 1 of the type described above. The special features of the remote control 7 relate in particular to ways of providing information to an operator when the ground compaction machine 1 is in autonomous mode.
[0111] Essential elements of the remote control 7 are first of all input elements via which the ground compaction machine can be operated in operator mode. Corresponding input elements 22 may be provided for this purpose, which enable the input of, for example, travel and steering inputs. Further, other input elements common to ground compaction machines 1 of the present type may be provided, such as an emergency stop switch, a start switch, etc. The remote control may further have a wired signal transmission connection or, preferably, be configured for wireless signal transmission between the ground compaction machine and the remote control. Corresponding devices are known in the prior art and are described, for example, in DE102010014902A1.
[0112] The peculiarities of the present remote control are that it also takes into account the possibility of operating the ground compaction machine in autonomous mode. As mentioned above, it is preferably a basic requirement for enabling an operation of the ground compaction machine 1 in the autonomous mode that the presence of at least one sidewall adjacent to the ground compaction machine 1 is detected, for example using one or more of the above described options. If this is the case, the autonomous mode could be activated. Thus, for example, the remote control may have an indication that indicates that the autonomous mode could be activated. Additionally or alternatively, for example, an indication may also be provided that provides feedback to the operator as to which areas of the sidewall detection device 13 and/or the obstacle detection device 17 are currently detecting or not detecting a sidewall and/or an obstacle. In FIG. 9, a detection display 22 is provided for this purpose, which in the present case displays this information in pictogram form. Additionally or alternatively, the remote control may further also have a position indication 23 that displays the current position of the ground compaction machine 1 relative to the remote control 7, in a stored map (for example, available online via appropriate internet services) and/or relative to a local reference system. This may be particularly advantageous for comparatively long distances when the ground compaction machine quickly moves out of the operator's field of vision, especially when driving in trenches. Additionally or alternatively, a further advantageous option is to display camera images, whether in intervals or in real-time, from one or more cameras 14k (FIG. 5) arranged on the ground compaction machine 1 as part of the sidewall detection device 13 and 16k (FIG. 1A) as part of the obstacle detection device 17 on the remote control in a corresponding display 24. This may include a front-facing (24A), rear-facing (24B), right-facing (24C), and left-facing (24D) camera view. One or more views assembled by software may also be used, for example to provide a so-called “bird's eye” perspective. The displayed images may furthermore be superimposed in the display(s) with further information, in particular evaluation results from sensors, for example with detected sidewall boundaries, a projection of the current travel path, identified objects, for example markings 21, etc. Of course, the remote control 7 may also include devices that can be perceived acoustically and/or tactilely, for example for signaling dangerous situations, etc.
[0113] As a further alternative, the remote control may include a “call function” 25. Actuation of this element triggers, for example, a horn sound at the ground compaction machine 1 and/or some other signal in order to be able to locate the ground compaction machine 1 more quickly in the terrain.
[0114] Finally, an input element 26 may be provided to activate and/or deactivate the autonomous mode. Additionally or alternatively, this may also be supplemented with a display to this effect, which indicates whether the ground compaction machine is currently being operated in autonomous mode or in operator mode. Additionally or alternatively, an indication may finally also be provided to indicate whether or not the remote control 7 is currently in signal connection with the ground compaction machine 1.
[0115] FIG. 10 illustrates an example of a sequence of a method according to the invention when the operator mode is activated. This method, which is known in the prior art, is characterized by the fact that travel and steering specifications in particular are specified manually by the operator. Such a method is essentially characterized, after the start 30 of the machine, by manually entering a travel and/or steering command in step 31, which is converted into a corresponding control specification within the ground compaction machine by the control unit of the machine in step 32. Higher-level monitoring systems may also be provided here, such as monitoring of an existing signal connection between the ground compaction machine and the remote control and/or monitoring for obstacles located in the path of the ground compaction machine. The response of the machine control system to such events is then usually to stop and/or shut down the machine.
[0116] FIG. 11, on the other hand, presents a possible method for operating the ground compaction machine in autonomous mode. After the start 30 of the ground compaction machine 1, the sidewall detection device may check in step 33 whether it detects the presence of a sidewall next to the ground compaction machine on one or both sides with one or more of the sensors provided for sidewall detection. This step 33 may be performed automatically with each start of the ground compaction machine 1 or, for example, may be performed only upon request by the operator via a corresponding operator input. If no sidewall is detected by the sidewall detection device, a new check may be performed cyclically in step 34. Alternatively, it is also possible here to wait for the next request from the operator, for example. If, on the other hand, the presence of a sidewall on one or, depending on the embodiment, both sides of the ground compaction machine is confirmed by one or more sensors, in particular simultaneously, the autonomous mode may be enabled by the enabling device, which may also be part of the machine control system per se, in step 35. This may also be additionally signaled, for example acoustically and/or optically on the ground compaction machine 1 itself and/or on a remote control. In an intermediate step, the ground compaction machine may further not only indicate the possibility of autonomous operation, but also the pending direction of travel (whether by manual input or by determination by the machine itself) and/or the side(s) on which the presence of a sidewall is detected.
[0117] In step 35, the operator may now activate the autonomous mode. A new check is then performed for the presence of a sidewall in accordance with the above specifications in step 36. If the presence of at least one sidewall (preferably one sidewall on each side of the machine) is detected by the sidewall detection device, the ground compaction machine changes to an autonomous mode ready for autonomous operation in step 37 and may then, for example, start traveling and working operation in the autonomous mode. If, on the other hand, a sidewall is not detected (any longer) or at least not to the extent specified in the specific individual case, this may be signaled to the operator accordingly, preferably acoustically and/or optically. Another check may then be provided according to step 34. Checking for the presence of the sidewall may be done cyclically in the background.
[0118] During ongoing working operation in autonomous mode according to step 38, continuous checking, whether intermittent or uninterrupted, is performed for the presence of one or more sidewalls. At the same time, especially in this operating phase, checking for obstacles located at least in the current travel path of the ground compaction machine may also be carried out (as in principle also in the context of the previous steps). If no obstacles and/or no interruptions in the sidewall detection are determined here, step 39 involves maintaining the autonomous mode and initiating a new checking step 38. This continues in a loop until, for example, an obstacle and/or loss of sidewall detection occurs. In step 40, for example, a machine stop (with or without engine shutdown) may be initiated and/or a corresponding signal may be given to the operator and/or the ground compaction machine may be reversed, etc.
[0119] FIG. 12 illustrates the method sequence of a compensation function, for example, in the event that the presence of a sidewall is no longer detected by a sensor of the sidewall detection device. Various case constellations may occur, for which the continuation of the autonomous mode is nevertheless desired in this situation. This may be the case, for example, when the ground compaction machine is inside a trench and passes a trench branch after which, however, the trench continues. The method may follow step 38 of FIG. 11, as exemplified in FIG. 12. If it is determined in step 38 that one of the sensors of the sidewall detection device is no longer detecting a sidewall, step 41 may involve checking whether another sensor to the same side of the ground compaction machine is currently still detecting the presence of a sidewall. If so, continuation of the autonomous mode may be provided in accordance with step 42. In this case, however, it is preferred that this continuation is limited in a time- and/or distance-dependent manner. This means that with the loss of detection of a sidewall by at least one sensor in step 38 and the check according to step 41 after step 42, a distance and/or time countdown of a bridging window is started practically simultaneously in step 43, which exceptionally allows the continuation of the autonomous mode, although due to the loss of detection of the presence of a sidewall by the at least one sensor the requirements for starting the autonomous mode are not fulfilled. It is therefore also essential that this compensation function is intended in particular for ongoing working operation in autonomous mode and is not intended for starting autonomous mode. If the presence of a sidewall is detected again within the countdown, the autonomous mode continues in normal operation, for example according to step 38. If, on the other hand, no new detection of the presence of a sidewall occurs within the countdown, a machine stop may be initiated according to step 40, for example.
