Method for controlling a self-propelled construction machine to account for identified objects in a working direction

Patent metadata

Field	Value
Publication number	US-9896810-B2
Application number	US-201514835481-A
Country	US
Kind code	B2
Filing date	Aug 25, 2015
Priority date	Aug 28, 2014
Publication date	Feb 20, 2018
Grant date	Feb 20, 2018

Abstract

A self-propelled construction machine has an image capturing unit for capturing an image of the terrain, a display unit on which the captured image is displayed, and a data processing unit. In the displayed image, objects that are relevant to the building project, for example manhole covers, water inlets or curbs, are identified and a spatial data set containing information regarding the position of the identified objects in a reference system which is independent of the movement of the construction machine is determined from the image data of the capturing unit. The construction machine is then controlled in order to carry out translational and/or rotational movements on the terrain and/or to install a structure on the terrain or to alter the terrain on the basis of the spatial data set. As a result, the previously identified objects can be taken into account in the building project.

First claim

The invention claimed is:

1. A self-propelled construction machine comprising:
a chassis comprising front and rear wheels or running gears in a working direction;
a working tool for working the terrain in a predetermined working region;
an image recorder configured to capture an image of the terrain;
a user interface comprising a display for displaying the captured image of the terrain, wherein the user interface is further configured to receive user input for marking one or more object points in the displayed image;
a data processor configured to
identify one or more objects represented in the displayed image based on at least one marked object point associated the one or more objects, and
determine a spatial data set containing information regarding a position of the identified one or more objects in a reference system which is independent of the movement of the construction machine,
wherein said spatial data set is determined from captured image data based on a position and orientation of the image recorder in the reference system; and
a controller configured to generate control signals, based on the determined spatial data set, for one or more of operations comprising actuation of the front and rear wheels or running gears for translational movements on the terrain, actuation of the front and rear wheels or running gears for rotational movements on the terrain, and actuation of the working tool in order to work the terrain.

2. The self-propelled construction machine of claim 1 , wherein a first plurality of marked object points define a front boundary line in the terrain and a second plurality of marked object points define a rear boundary line in the terrain, and wherein the controller is configured to
compare a position of the working region of the working tool with at least one of the front and rear boundary lines, and
generate the control signals based on the comparison and a predetermined distance between the working region of the working tool and the at least one of the front and rear boundary lines during an advance of the construction machine.

3. The self-propelled construction machine of claim 1 , wherein at least first and second marked object points define a lateral boundary line in a working direction of the construction machine, and wherein the controller is configured to
compare a position of the construction machine with the lateral boundary line, and
generate the control signals to maintain a predetermined distance between the construction machine and the lateral boundary line during an advance of the construction machine.

4. The self-propelled construction machine of claim 1 , wherein the user interface is further configured to receive user input for selecting a particular object from a plurality of objects having a predetermined shape, wherein the object is identified based on the selection of both a particular object and the at least one marked object point.

5. The self-propelled construction machine of claim 1 , wherein the data processor is further configured to identify one or more objects in the displayed image by recognizing one or more of the objects as having a predetermined shape.

6. The self-propelled construction machine of claim 1 , wherein the data processor is further configured to allocate location coordinates in the reference system to image coordinates of one or more object points on the identified objects in the displayed image.

7. The self-propelled construction machine of claim 1 , wherein the construction machine is a road milling machine, the working tool comprising a milling roller which is vertically adjustable relative to the ground in order to alter a predetermined portion of the terrain, and
the controller is configured to
compare a position of the working region of the milling roller and the position of at least one of the one or more identified objects in the reference system, and
generate control signals for one or more of operations comprising actuation of the front and rear wheels or running gears for translational movements on the terrain and actuation of the front and rear wheels or running gears for rotational movements on the terrain, based on the comparison and a predetermined distance between the working region of the working tool and the at least one object during the advance of the construction machine.

8. The self-propelled construction machine of claim 1 , wherein the construction machine is a slipform paver, the working tool configured for moulding concrete, and
the controller is configured to
compare a position of the working region of the working tool and the position of at least one of the one or more identified objects in the reference system, and
generate control signals for one or more of operations comprising actuation of the front and rear wheels or running gears for translational movements on the terrain and actuation of the front and rear wheels or running gears for rotational movements on the terrain, based on the comparison and a predetermined distance between the working region of the working tool and the at least one object during the advance of the construction machine.

9. The self-propelled construction machine of claim 1 , wherein the construction machine is a road milling machine, the working tool comprising a milling roller which is vertically adjustable relative to the ground in order to alter a predetermined portion of the terrain, and
the controller is configured to
compare a position of the working region of the milling roller and the position of at least one of the one or more identified objects in the reference system, and
generate control signals for actuating the milling roller based on a proximity of the at least one of the one or more identified objects to the working region of the milling roller.

10. The self-propelled construction machine of claim 1 , further comprising a position and orientation sensor configured to provide position and orientation data, which describe the position and orientation of the image recorder and the position of the working region of the working tool in the reference system.

11. The self-propelled construction machine of claim 10 , wherein the position and orientation sensor comprises a global navigation satellite system (GNSS).

12. A method of controlling a self-propelled construction machine which carries out translational and rotational movements on the terrain and works the terrain, the method comprising:
capturing an image of the terrain via an image recorder;
displaying the captured image of the terrain;
enabling user input for marking one or more object points in the displayed image;
identifying one or more objects represented in the image, based on at least one marked object point associated with the one or more objects;
determining, from the captured image, a spatial data set containing information regarding a position of the identified one or more objects in a reference system which is independent of the movement of the construction machine, based on a position and orientation of the image recorder in the reference system; and
controlling one or more operations of the construction machine based on the determined spatial data set, the operations comprising one or more of translational movements on the terrain, rotational movements on the terrain and working of the terrain by the construction machine.

13. The method of claim 12 , wherein the step of identifying one or more objects represented in the image comprises selecting a particular object from a plurality of objects of a predetermined shape, the object being identified based on the selection of the particular object and the at least one m

Assignees

• Wirtgen Gmbh

Inventors

• Berning Christian
• Fritz Matthias
• Barimani Cyrus

Classifications

• H04N23/631

  Graphical user interfaces [GUI] specially adapted for controlling image capture or setting capture parameters · CPC title

• E01C23/01 Primary

  Devices or auxiliary means for setting-out or checking the configuration of new surfacing, e.g. templates, screed {or reference line} supports (form rails E01C19/50); Applications of apparatus for measuring, indicating, or recording the surface configuration of existing surfacing, e.g. profilographs (E01C23/07 takes precedence; measuring roughness or irregularity in general G01B) · CPC title

• E01C19/004 Primary

  Devices for guiding or controlling the machines along a predetermined path (for graders or bulldozers E02F3/841; for other soil-shifting machines E02F9/2045) · CPC title

• E01C23/088

  Rotary tools, e.g. milling drums {(for forming recesses to receive marking materials E01C23/0946)} · CPC title

• E01C19/266

  fitted to vehicles, road-construction or earth-moving machinery, e.g. auxiliary roll readily movable to operative position (E01C19/268, E01C19/4806, E01C19/488, E01C19/52, E01C21/00, E01C23/065 take precedence); provided with means for facilitating transport; Means for transporting rollers; Arrangements or attachments for converting vehicles into rollers, e.g. rolling sleeves for wheels · CPC title