• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to a system and a method for the detection of high accuracy of obstacles in heavy machinery, mainly, a vehicle that can be in motion detects objects or obstacles through sensors, by a particular shape, allowing said detection it is done with a high precision, and, that said vehicles are particularly heavy machinery. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2652137A1
    申请号:ES201730133
    申请日:2017-02-06
    公开日:2018-01-31
    发明作者:Mariano BARROSO PIDAL；Juan Raul SANTANA MORENO
    申请人:Torsa Sistemas Sl；Torsa Sistemas SL；
    IPC主号:
    专利说明:

    System and method for high precision detection of obstacles in heavy machinery Field of the Invention
    The present invention focuses on the field of the detection of objects or obstacles mainly by a vehicle that may be in motion, through sensors, and in particular that said detection is made with high precision and that said vehicles are particularly machinery heavy Background of the invention
    Mobile machinery is used to perform a variety of tasks. As an example, in an earthmoving environment, such as a mine or a large infrastructure, there is mobile machinery both for the extraction and transport of materials. Among this type of heavy machinery would be excavators, bulldozers, drills, material transport trucks, etc.
    Some of these tasks involve very close movements between one or several of these machinery and also with the physical environment that surrounds them and on the other hand, given the large volume of many of these machines, they lead to their operators having many times reduced visibility, making such tasks somewhat complex, where safety and effectiveness become very important and where it is not difficult to encounter unforeseen obstacles. All this can lead to collision situations with the consequent repercussions that may result from immobilization of vehicles, personal and material damages, etc.
    Obstacle detection systems are known for machinery or moving vehicles based on having prior information on the terrain and possible obstacles such as in WO2008113098 or US8606495. These systems, although they rely on sensors for the detection of new obstacles, manage the information in a centralized way to keep it updated for the whole vehicle set, which does not provide autonomy or independence in the control of a specific vehicle.
    In other systems, such as the one described in document US20130299440, the detection of elements is sought by scanning RFID tags, located in said elements to be detected.
    There is also a camera-based sensor system that captures images at various points to detect the position of the obstacle, such as the system described in US20120114181.
    In other systems, LIDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging) type sensors are used, which by means of a laser emitter allows the distance to a certain object to be determined, as for example mentioned in document US8954241 in order to align the vehicle of carca, the one that takes the sensors, with the shovel of load.
    You can also find in the state of the art systems oriented to locate obstacles with various types of sensors, such as short and long range as shown in document US6055042, but whose approach is oriented to look for such obstacles in front of the vehicle when it is moving and going at a certain speed. This type of systems, when searching for detection over long distances, does not present precision when tasks are required where speed is not relevant, but the complex environment where it develops, such as, for example, an extraction or movement of land, where the proximity between machines is required to increase efficiency, but where this proximity increases the probability of collision compromising safety. Description of the invention
    It is necessary to offer an alternative to the state of the art that covers the gaps found therein and therefore, unlike existing solutions, a system for the detection of obstacles in heavy machinery is available when you are performing your usual tasks such as for example digging, moving land, loading them in trucks, moving around the work environment, etc.
    Specifically, a system (100) is proposed for the detection of high precision of obstacles
    (200) in heavy machinery comprising the following elements installed in said machinery:
    - at least one sensor (104) with scanning technology of the environment, with high precision, installed in the machinery to cover one of the areas with collision risk arranged to detect the distance of obstacles close to the machinery.
    - a tag (106) arranged to obtain the position of said machinery and issue its position and identifier by means of short-range technology,
    - at least one short range antenna (103) arranged to receive the position and identifier of other tags (206) that may be located in other vehicles, fixed elements or machinery within the scope of said antenna,
    - an orientation detection unit (105), arranged to detect the orientation of said machinery,
    - a screen (101) arranged to show the information generated by the system (100) regarding obstacle detection, and
    - an embedded system (102) arranged to centralize the information received by at least one antenna (103) on the position and identification of the vehicles that are in the emission area by said tags (206), the information on the orientation of the vehicle of the orientation detection unit (105) and the distance to the objects around the vehicle received by the scanning sensors (104) and sending said information to be processed and displayed by the screen (101). With all the aforementioned elements, the system calculates the distance that exists to the possible obstacles that may be around the machinery and displays the distance at which they are located; If vehicles are found around the machinery, the identifiers associated with them will also be displayed.
    And where it also proposes a method for the detection of high precision of obstacles (200) in heavy machinery comprising the following steps:
    - receiving the distance of at least one obstacle from at least one scanning sensor of the environment with high precision (104) installed in said machinery,
    - optionally receiving the orientation of said machinery from an orientation detection unit (105),
    - optionally receiving the position and unique identifier of the at least one tag (206) located in another vehicle, fixed element or machinery through at least one short range antenna (103),
    - calculating, from said distance of at least one obstacle (200), optionally the orientation of the machinery and optionally the position of at least one tag (206) of another vehicle, fixed element or machinery, if said obstacle is at risk of collision, and
    - show the information calculated by means of a screen (101), that is, the minimum distance to which the obstacle (200) of said machinery is located and the detection zone where the detection occurs, if optionally the obstacle (200) corresponds with a vehicle, a fixed element or a machinery from which its position and identifier has been received, said associated identifier is also shown. Brief description of the figures
    In order to help understand the features of the invention, according to a preferred practical embodiment thereof and in order to complement this description, the following figures are attached as an integral part thereof, which have an illustrative and non-limiting nature :
    Figure 1. Shows a diagram of the different components that are part of the system and the relationship between them. An example of an obstacle is also included in the scheme, in this case an additional vehicle or machinery that incorporates a tag.
    Figure 2. It shows an example of the screen that is part of the system where the distance to the nearest obstacle is observed on each side of the machinery where the system of the present invention is located and how the gradient of the colors give a perception of risk with the obstacle.
    Figure 3. It shows a scheme of the machinery with a scanning sensor of the environment with high precision and an obstacle in the form of a nearby vehicle and the distances and angles involved in the detection. Detailed description of the invention
    The elements defined in this detailed description are provided to help a global understanding of the invention. Accordingly, those skilled in the art will recognize that variations and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. In addition, the detailed description of sufficiently known functions and elements are omitted for reasons of clarity and conciseness.
    The present invention relates to a system (100) and method for the high precision detection of obstacles and solid bodies (200) to be installed in heavy machinery.
    The objective of the system (100) is to inform the machinery operator about the obstacles, solid bodies and / or vehicles (200) that are around it and to warn of possible collisions and abuses that could be caused.
    The system (100), in addition to being an alert system for possible collisions and abuses, serves as a tool to analyze whether or not the vehicles are positioned at the optimum distance, for example, to be loaded.
    The system, thanks to the implantation of tags in the various vehicles that interact in different tasks such as loading, serves as a tool to analyze which vehicles are not positioned at the optimal loading distance and study the retraining of operators involved For example, in loading work between a shovel and a truck, it would indicate when the truck is positioned in the optimum place to work without collision hazards and optimizing the loading time.
    The system (100) therefore comprises the following elements, as shown schematically in Figure 1:
    High precision sensor (104)
    It is a sensor (104) with technology capable of scanning the environment with high precision, allows the detection of objects around the machinery with high precision in any type of environment (rainy, sunny, with dust in suspension etc). There is the possibility of installing as many sensors (104) as necessary to cover the perimeter of the machinery to be protected during operation. As standard, the installation of a sensor (104) is contemplated for each side of the vehicle to be covered.
    As an example and not limitation, the technologies that can incorporate said sensor
    (104) is LIDAR, radar or laser.
    Tags (106, 206)
    Optionally, each vehicle in the operation can carry a device with technology capable of obtaining its position, such as by means of GPS satellite technology, (106, 206) that contains a unique identifier associated with the vehicle. These devices (106, 206) function as tags, emitting their position and identifier by means of short-range communication, for example using RFID technology, whereby the reception of information from tens of meters can be achieved. This information is received by the antennas (103) located in the vehicles to be protected.
    The main function of the tags (106, 206) is to associate a position with the identifier of the vehicle to which it belongs and send it to the rest of the vehicles for further processing. In addition, tags can be installed on fixed elements such as transformation centers, pumps, etc.
     Antenna (103)
    Each vehicle incorporates at least one short range antenna (103) to receive position data and unique identifier of the other nearby vehicles. For example, a technology that allows this reception is radio frequency identification, RFID.
     Machinery orientation detection unit (105)
    This element or module (105) allows to establish the orientation of the vehicle or machinery through various parameters such as speed, orientation, gravitational forces, etc.
    10  Screen (101)
    The machinery, in the operator's position, incorporates a screen (101) that processes the information received through an embedded system (102) and shows the proximity to the obstacles and / or vehicles (200) existing in its working range.
    In one embodiment, as seen in Figure 2, said screen (101) shows the
    15 distance in meters, with an accuracy of centimeters, of the nearest obstacle (200) on each side of the vehicle and for this purpose the screen (101) is divided into up to four detection zones. It is also able to show such measurements with a variation of the colors; for example, in red, when there is a danger of collision, and a green color when the nearest vehicle is well positioned for loading or other work
    20 mentioned above.
    Embedded system (102)
    The embedded system (102) is responsible for centralizing the information received by the antennas (103) on the position and identification of the vehicles that are in the area emitted by the tags (206), the information on the orientation of the vehicle of the unit of
    25 detection of orientation (105) and distance to objects around the vehicle received by high precision sensors (104). In addition to centralizing all the information, the embedded system is responsible for sending it to the screen (101) for further processing.
    This processing is based on the fact that, during the operation, the high precision sensors (104) located in the machinery to be protected detect the presence of any obstacle (200) around it and the distances thereto thanks to its technology from
    Scanning of the environment without any influence by the existing environmental and atmospheric conditions. In order to discern between the vehicles that interact with the machinery and the remaining obstacles detected by the high precision sensors (104), the system algorithm combines the information on the position and identification of the vehicles (106, 206), the
    5 distances detected by the high precision sensors (105) and the orientation of the machinery by the orientation detection unit (104) and in case of detecting vehicles around it, it shows on the screen which vehicle (101 and at what exact distance it is In case of detecting only obstacles (200), the system shows only the distance at which it is located.
    权利要求:
    Claims (8)
    [1]
    1. System (100) for the detection of high precision of obstacles (200) in heavy machinery characterized in that it comprises the following elements installed in said machinery:
    - at least one sensor (104) with scanning technology of the environment, with high precision, installed in the machinery to cover one of the areas with collision risk arranged to detect the distance of obstacles close to the machinery.
    - a tag (106) arranged to obtain the position of said machinery and issue its position and identifier by means of short-range technology,
    - at least one short range antenna (103) arranged to receive the position and identifier of other tags (206) that may be located in other vehicles, fixed elements or machinery within the scope of said antenna,
    - an orientation detection unit (105), arranged to detect the orientation of said machinery,
    - a screen (101) arranged to show the information generated by the system (100) regarding obstacle detection, and
    - an embedded system (102) arranged to centralize the information received by at least one antenna (103) on the position and identification of the vehicles that are in the area emitted by said tags (206), the information on the orientation of the vehicle of the orientation detection unit (105) and the distance to the objects around the vehicle received by the scanning sensors (104) and sending said information to be processed and displayed by the screen (101).
    [2]
    2. System (100) for the detection of high precision of obstacles (200) in heavy machinery according to claim 1 characterized in that said system (100) has at least one sensor (104) with technology capable of scanning the environment with high precision located in each one of the sides of said machinery.
    [3]
    3. System (100) for the detection of high precision of obstacles (200) in heavy machinery according to claim 1 characterized in that said screen (101) shows the distance of the nearest obstacle (200) on each side of the vehicle dividing the screen (101) in various detection zones.
    [4]
    Four. System (100) for the detection of high precision of obstacles (200) in heavy machinery according to claim 1 characterized in that the distance shown also incorporates a variation of colors.
    [5]
    5. System (100) for the detection of high precision of obstacles (200) in heavy machinery according to claim 1 characterized in that the scanning technology of said at least one sensor (104) is LIDAR, radar or laser technology.
    [6]
    6. System (100) for the detection of high precision of obstacles (200) in heavy machinery according to claim 1 characterized in that the technology to obtain the position of said tag (106) is satellite technology such as GPS or is short-range technology such as RFID,
    [7]
    7. Method for the detection of high precision of obstacles (200) in heavy machinery characterized in that it comprises the following steps:
    - receiving the distance of at least one obstacle from at least one scanning sensor of the environment with high precision (104) installed in said machinery,
    - optionally receiving the orientation of said machinery from an orientation detection unit (105),
    - optionally receiving the position and unique identifier of the at least one tag (206) located in another vehicle, fixed element or machinery through at least one short range antenna (103),
    - calculating, from said distance of at least one obstacle (200), optionally the orientation of the machinery and optionally the position of at least one tag (206) of another vehicle, fixed element or machinery, if said obstacle is at risk of collision, and
    - show the information calculated by means of a screen (101), that is, the minimum distance to which the obstacle (200) of said machinery is located and the detection zone where the detection occurs, if optionally the obstacle (200) corresponds with a vehicle, a fixed element or machinery from which its position and identifier has been received, said associated identifier or alias is also shown.
    [8]
    Method for the detection of high precision of obstacles (200) in heavy machinery according to claim 7, characterized in that said method additionally includes a calculation of correction of the data received from at least one sensor (104) with scanning technology of the environment with high precision in such a way that from said received data and parameters associated to the location of said sensor (104) the minimum distance to the obstacle detected is obtained thus giving an accurate data of the actual distance.
    Figure 2
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    同族专利:
    公开号 | 公开日
    ES2652137B1|2018-07-25|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US6275773B1|1993-08-11|2001-08-14|Jerome H. Lemelson|GPS vehicle collision avoidance warning and control system and method|
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    ES2307479T3|1999-09-03|2008-12-01|Volkswagen Aktiengesellschaft|DISPLAY UNIT FOR A NAVIGATION SYSTEM.|
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    ES2528691T3|2009-08-25|2015-02-11|Tyco Fire & Security Gmbh|RFID portal system with RFID tags that have various reading ranges|
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    法律状态:
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