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 (1) comprising construction machine (2), transport vehicle (3) with loading space (4) and image-recording device (5, 36), wherein the image-recording device (5, 36) is arranged at the construction machine (2) and aligned, as a minimum, also towards the loading space (4) of the transport vehicle (3), it is specified for the following features to be achieved: that a reception and display device (18) is arranged at or in the transport vehicle (3), wherein the data recorded by the image-recording device (5, 36) are transmitted to the reception and display device (18) by means of a transmission device (46) arranged at the construction machine (2).

Claims

1. System (1) comprising construction machine (2), transport vehicle (3) with loading space (4) and image-recording device (5, 36), wherein the image-recording device (5, 36) is arranged at the construction machine (2) and aligned, as a minimum, towards the loading space (4) of the transport vehicle (3), characterized in that a reception and display device (18) is arranged at or in the transport vehicle (3), wherein the data recorded by the image-recording device (5, 36) are transmitted to the reception and display device (18) by means of a transmission device (46) arranged at the construction machine (2).

2. System in accordance with claim 1, characterized in that the data recorded and transmitted are image data.

3. System in accordance with claim 1 or 2, characterized in that the construction machine (2) comprises a conveying device (6) and that the image-recording device (5) is also aligned towards the conveying device (6).

4. System in accordance with one of the claims 1 to 3, characterized in that the image-recording device (5) is arranged at the conveying device (6).

5. System in accordance with claim 1, characterized in that the construction machine (2) comprises a receptacle (34) and the image-recording device (36) is also aligned towards the receptacle (34).

6. System in accordance with any of the preceding claims, characterized in that the image-recording device (5, 36) comprises at least one camera (11, 35) for recording an image stream (12).

7. System in accordance with claim 6, characterized in that the camera (11, 35) is a video camera with a wide-angle lens (9), an infrared camera, a stereoscopic camera and/or a PMD camera.

8. System in accordance with claim 6 or 7, characterized in that at least one illuminant and/or at least one mirror is specified, where the illuminant is preferably arranged at or next to the camera, and the mirror is preferably placed in the field of view of the camera in such a fashion that the observable area can be enlarged.

9. System in accordance with one of the claims 6 to 8, characterized in that the camera is arranged at an unmanned areal vehicle.

10. System in accordance with any of the preceding claims, characterized in that the image-recording device additionally detects the registration plate of the transport vehicle.

11. System in accordance with any of the preceding claims, characterized in that the image-recording device (5, 36) comprises two cameras (22, 23) or one camera (11, 35) with two viewing angles (16, 17) for the creation of two subset image streams.

12. System in accordance with any of the preceding claims, characterized in that, in addition to the data recorded by the image-recording device, the transmission device transmits further data to the reception and display device.

13. System in accordance with claim 12, characterized in that said further data are data relating to the milling material and/or messages from the driver of the construction machine to the driver of the transport vehicle, preferably start or stop signals specified by the driver of the construction machine for the driver of the transport vehicle.

14. System in accordance with any of the preceding claims, characterized in that the reception and display device comprises a second transmission device, and that a second reception device is arranged at the construction machine so that messages can be sent from the driver of the transport vehicle to the driver of the construction machine via the second transmission device.

15. System in accordance with any of the preceding claims, characterized in that the system (1) comprises an evaluation unit (13).

16. System in accordance with claim 15, characterized in that the evaluation unit determines the filling level in the loading space and/or the distance between the construction machine and the transport vehicle and/or the point of impingement of material in the loading space by evaluating the data of the image-recording device (5, 36).

17. System in accordance with claim 16, characterized in that the further data which are transmitted by the transmission device to the reception and display device in addition to the data recorded by the image-recording device (5, 36) are data determined by the evaluation unit, in particular, start or stop signals for the driver of the transport vehicle and/or the mass of the milling material loaded and/or a collision warning.

18. System in accordance with claim 16 or 17, characterized in that the evaluation unit determines, 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.

19. System in accordance with any of the preceding claims, characterized in that the reception and display device is a portable computer (18), preferably a mobile telephone.

20. System in accordance with any of the preceding claims, characterized in that a first storage device is arranged at the construction machine, and/or the reception and display device comprises a second storage device, wherein the data recorded by the image-recording device, and/or the further data which are transmitted to the reception and display device in addition to the data recorded by the image-recording device, are storable in the first and/or the second storage device.

21. Method for displaying an image stream (12) during the loading or unloading of a transport vehicle (3) which comprises the following steps: recording images (20, 21) with an image-recording device mounted at a construction machine (2) and aligned, as a minimum, towards the loading space (4) of the transport vehicle (3); transmitting, receiving and displaying the data recorded with the image-recording device on a reception and display device (18) arranged at or inside the transport vehicle (3).

22. Method in accordance with claim 21, characterized in that it comprises the following step: simultaneous display of at least two subset image streams on a screen (19) of the reception and display device (18), wherein each subset image stream contains a separate subset of images (20, 21) from the image stream (12).

23. Method in accordance with claim 21 or 22, characterized in that the image-recording device is aligned pointing away from the construction machine (2).

24. Method in accordance with one of the claims 21 to 23, characterized in that the position and/or alignment of the image-recording device is determined and, in the case of a change in the position or alignment, the image stream is displayed according to the original alignment.

25. Method in accordance with one of the claims 22 to 24, characterized in that at least one illuminant and/or at least one mirror are specified, wherein the illuminant is preferably arranged at or next to the image-recording device, and the mirror is preferably placed in the field of view of the image-recording device in such a fashion that the observable area is enlarged.

26. Method in accordance with one of the claims 21 to 25, characterized in that the image-recording device is arranged at an unmanned aerial vehicle.

27. Method in accordance with one of the claims 21 to 26, characterized in that the registration plate of the transport vehicle is additionally detected.

28. Method in accordance with any of the preceding method claims, characterized in that, in addition to the data recorded, further data are transmitted to the reception and display device.

29. Method in accordance with claim 28, characterized in that said further data are data relating to the milling material and/or messages from the driver of the construction machine to the driver of the transport vehicle, preferably start or stop signals specified by the driver of the construction machine for the driver of the transport vehicle.

30. Method in accordance with any of the preceding method claims, characterized in that messages are sent by the driver of the transport vehicle to the operator of the construction machine.

31. Method in accordance with any of the preceding method claims, characterized in that the data recorded by means of the camera are analysed by means of an evaluation unit (13).

32. Method in accordance with claim 31, characterized in that the further data which are transmitted to the reception and display device in addition to the data recorded by the image-recording device are data determined by the evaluation unit, in particular, start or stop signals for the driver of the transport vehicle and/or the mass of the milling material loaded and/or a collision warning.

33. Method in accordance with claim 31 or 32, characterized in that the filling level in the loading space and/or the distance between the construction machine and the transport vehicle and/or the point of impingement of material in the loading space is determined by evaluating the image data by means of the evaluation unit.

34. Method in accordance with claim 33, characterized in that a start or stop signal is determined by means of the evaluation unit 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, which is transmitted to the reception and display device.

35. Method in accordance with any of the preceding method claims, characterized in that the reception and display device is a portable computer (18).

36. Method in accordance with any of the preceding method claims, characterized in that an image stream is displayed on no less than two screens (19).

37. Method in accordance with any of the preceding method claims, characterized in that an image stream is displayed on multiple compact portable computers (18).

38. Method in accordance with any of the preceding method claims, characterized in that the data recorded by the image-recording device, and/or the further data which are transmitted to the reception and display device in addition to the data recorded by the image-recording device, are stored.

39. Method in accordance with claim 38, characterized in that the storage is effected in a first storage device which is arranged at the construction machine, and/or effected in a second storage device which is arranged at the reception and display device.

40. Method in accordance with any of the preceding method claims, characterized in that a reference image is displayed on the screen (19) of the compact computer (18) and a signal generated in the case of a specified deviation of the image stream (12) from the reference image.

Description

[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.

[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.