Crane, construction machine or industrial truck simulator

Patent metadata

Field	Value
Publication number	US-11634306-B2
Application number	US-202117152251-A
Country	US
Kind code	B2
Filing date	Jan 19, 2021
Priority date	Jan 14, 2016
Publication date	Apr 25, 2023
Grant date	Apr 25, 2023

Abstract

A crane, a construction machine or an industrial truck, with a control station including at least one input means for inputting control commands, a graphical simulation module for calculating a virtual representation of the machine surroundings and/or machine components visible from the control station, such as a boom or a load hook, and a display device for displaying the calculated virtual representation, wherein a movement simulation module is provided for determining movements and/or deformations of the machine components according to the inputted control commands, depending on which the graphical simulation module calculates the virtual representation. Proposed is a data emulation using hardware components, which carry out actual actuating movements and thus simulate “actual” actuating movements of the machine to be simulated, in order to provide corresponding movement data more rapidly and with less computing performance, whereby a more realistic simulation can be achieved in real-time or almost real-time.

First claim

We claim:

1. A graphical simulation module for a simulator for a machine, the graphical simulation module for calculating a virtual representation of machine surroundings visible from a control station of the simulator, the graphical simulation module comprising:
a CAD interface configured to import CAD data of a real building and/or real construction site;
a color-sensitive fade-in unit; and
an image processing device configured to generate and/or adjust the virtual representation of the machine surroundings depending on the imported CAD data of the real building and/or real construction site;
wherein, when the virtual representation generated by the graphical simulation module is superimposed with a live image from the control station, the color-sensitive fade-in unit is configured to fade in the virtual representation in image surfaces of the live image.

2. The graphical simulation module of claim 1 , wherein the graphical simulation module is configured to calculate the virtual representation of the machine surroundings depending on movements and/or deformations of machine components determined by a movement simulation module.

3. The graphical simulation module of claim 2 , wherein the determined movements and/or deformations of the machine components depend upon control commands input via an input means.

4. The graphical simulation module of claim 3 , wherein the graphical simulation module is further configured to generate the virtual representation based upon an actuator movement depending on one or more of the control commands.

5. A graphical simulation module for a simulator for a machine, the graphical simulation module for calculating a virtual representation of machine surroundings visible from a control station of the simulator, the graphical simulation module comprising:
a CAD interface configured to import CAD data from a server, the data representative of various stages of construction of a real building at a building site;
a color-sensitive fade-in unit; and
an image processing device configured to generate and/or adjust the virtual representation of the machine surroundings depending on the imported CAD data of various stages of construction;
wherein, when the virtual representation generated by the graphical simulation module is superimposed with a live image from the control station, the color-sensitive fade-in unit is configured to fade in the virtual representation in image surfaces of the live image.

6. A simulator for a construction machine comprising:
a movement simulation module for determining movements and/or deformations of construction machine components depending on entered control commands; and
a control station comprising:
an input means for entering control commands;
the graphical simulation module of claim 5 ; and
a display device for displaying the virtual representation;

wherein the movement simulation module includes a data emulation apparatus for emulating movement data of the construction machine to be simulated;
wherein the data emulation apparatus comprises a first drive unit configured to perform actuator movements depending on control commands entered at the control station;
wherein the graphical simulation module is configured for calculating the virtual representation depending on the determined movements and/or deformations; and
wherein the graphical simulation device is further configured to generate the virtual representation under consideration of the performed actuator movement.

7. The simulator of claim 6 further comprising:
a drive apparatus;
a detection device of the emulation apparatus; and
a second drive unit of the movement simulation module;
wherein the control station is moveably mounted to the drive apparatus for moving the control station depending on the movements and/or deformations determined by the movement simulation module;
wherein detection device configured to:
detect movements of the first drive unit; and
provide a movement and/or position signal;

wherein the second drive unit is coupled with the first drive unit, the second drive unit configured to exert a counter moment and/or a counter load in order to simulate actually occurring loads, resistances or inertia; and
wherein the movement simulation module is configured to determine movements and/or deformations of machine components depending on at least a portion of the entered control commands.

8. A simulator for a machine comprising:
a movement simulation module;
a control station comprising a graphical simulation module configured to generate a virtual representation of a machine environment and/or machine components visible from the control station of the simulator, the graphical simulation module comprising:
a CAD interface configured to import CAD data of a building and/or construction site; and
an image processing device configured to generate and/or adjust the virtual representation of the machine environment and/or the machine components depending on the imported CAD data of the building and/or the construction site; and

a drive apparatus;
wherein the movement simulation module is configured to:
emulate movement data of the machine to be simulated;
determine movements and/or deformations of the machine components depending on one or more control commands from the control station;
perform one or more actuator movements depending on at least one of the control commands; and
exert a counter moment and/or a counter load in order to simulate actually occurring loads, resistances or inertia;

wherein the control station is moveably mounted to the drive apparatus for moving the control station depending on the movements and/or deformations determined by the movement simulation module; and
wherein the graphical simulation module is configured to generate the virtual representation based:
upon the determined movements and/or deformations from the movement simulation module; and
under consideration of at least one of the actuator movements performed by the movement simulation module.

9. The simulator according to claim 8 , wherein the control station comprises a display device for displaying the virtual representation generated by the graphical simulation module and a live image at the control station superimposed on the virtual representation.

10. The simulator according to claim 9 , wherein the control station further comprises an operator's cab wall in which inspection windows are formed;
wherein the inspection windows are colored; and
wherein the graphical simulation module comprises a color-sensitive fade-in unit for fading-in the virtual representation in image surfaces of the live at the control station, which are colored in the same color as the inspection windows.

Assignees

• Liebherr Components Biberach Gmbh

Inventors

• Palberg Michael
• Resch Jürgen
• Brandt Sven
• Steib Thomas

Classifications

• B66C13/40 Primary

  Applications of devices for transmitting control pulses; Applications of remote control devices (control in general G05) · CPC title

• E02F9/166

  movable, tiltable or pivoting, e.g. movable seats, dampening arrangements of cabins (seats for vehicles in general B60N2/00) · CPC title

• E02F9/264

  Sensors and their calibration for indicating the position of the work tool · CPC title

• G09B9/05 Primary

  the view from a vehicle being simulated (G09B9/052, G09B9/058 take precedence) · CPC title

• E02F9/205

  Remotely operated machines, e.g. unmanned vehicles (E02F3/8866 takes precedence) · CPC title