DE102018220395A1 - Direction-dependent control of a sensor arrangement for monitoring a work area of a work machine - Google Patents

Abstract

Control device (10, 20, 30) for controlling a sensor arrangement (18) to monitor a work area (110, 112, 114) of a work machine (100, 150), comprising an input interface (12) for inputting a direction of rotation signal containing a direction of rotation ( 116) of a working arm (102) of the working machine (100, 150) relative to a rotary bearing (104) of the working machine (100, 150), a signal generating unit (14) for generating a control signal in order depending on the direction of rotation (116) of the working arm (102) to provide an activated or deactivated state of a monitoring function of the sensor arrangement (18) with respect to at least part of the working area (110, 112, 114) of the working machine (100, 150) and an output interface (16) for outputting the control signal to the sensor arrangement ( 18).

Description

The present invention relates to a control device for controlling a sensor arrangement according to claim 1. The invention also relates to a monitoring device for monitoring a working area of a work machine according to claim 17. The invention further relates to the use of such a control device or monitoring device in a vehicle according to claim 18. Furthermore, the invention relates to a control method for controlling a sensor arrangement according to claim 19. Finally, the invention relates to a computer program product for controlling a sensor arrangement according to claim 20.

The monitoring of work areas of a work machine, in particular an agricultural machine, construction machine or industrial machine such as an excavator, which have a work arm which is rotatably mounted about a rotary bearing of the work machine, is of great importance for the safety of the objects and persons in the vicinity of the work machine. When the working arm is rotated around the pivot bearing, the operator of the working machine, who as a rule controls the working machine in a driver's compartment, can only monitor the working area entered by the working arm to a limited extent. The operator can monitor the work area directly in front of the machine relatively well with the naked eye. However, the areas to the side of the working arm are often not in the operator's field of vision. This leads to an increased risk that, for example, a person who is close to the side of the working arm is overlooked by the operator when the working arm rotates about the pivot bearing. A collision with people and objects can have serious consequences for the people, objects, but also for the machine.

It is known from the prior art to use sensors for monitoring the work area. With the majority of sensors, the environment around the machine can be better monitored. However, this sensor-based monitoring has the disadvantage that it is difficult to process the sensor signals in the transition areas of the fields of view of the various sensors. The fusion of the sensors also requires higher computing power and higher power consumption and thereby causes increased costs for the computing unit designed for signal processing.

The object on which the invention is based is to improve the monitoring of the working area of work machines in such a way that the signal processing is facilitated while the computing power and the power consumption for the signal processing are reduced.

This object is achieved by the control device having the features of claim 1. Furthermore, this object is achieved by the monitoring device with the features of claim 17. This object is also achieved by using such a control device or such a monitoring device according to claim 18. Furthermore, this object is achieved by the control method with the features of claim 19. Finally, this object is achieved by the computer program product with the features of claim 20.

A work machine is, for example, an agricultural machine, a construction machine or an industrial machine such as an excavator or wheel loader. The working machine has a working arm, which is, for example, an attachment, such as a shovel, for the excavator. The working machine also has a rotary bearing, relative to which the working arm is rotatably mounted. For example, the pivot bearing defines an axis of rotation about which the working arm can rotate. In the case of an excavator, the attachment is mechanically connected to a driver's compartment, the driver's compartment being rotatably arranged on the pivot bearing of the excavator. The working arm is preferably rotatable in a horizontal direction of rotation, which runs essentially parallel to a floor surface on which the working machine stands. The direction of rotation of the working arm thus carries a horizontal component. The horizontal direction of rotation can be clockwise or counterclockwise when viewed by a person or observation device such as a camera standing on the floor surface. If the horizontal direction of rotation points clockwise, the angle of rotation that the working arm traverses in the horizontal direction of rotation bears a positive sign. If the horizontal direction of rotation points counterclockwise, the angle of rotation has a negative sign.

Alternatively or additionally, the direction of rotation of the working arm can carry a vertical component which is directed perpendicular to the horizontal component or essentially perpendicular to the floor surface.

The working area, which is to be monitored when the working arm rotates relative to the rotating bearing of the working machine, is in the immediate vicinity of the working machine. The sensor arrangement used for this can comprise one or more sensors, preferably light detection and ranging devices (lidars), radars, stereo cameras and / or time-of-flight cameras (ToF cameras). These sensors are preferably for this suitable to carry out a distance measurement and / or to record a panoramic view (English: Surround View) which shows the surroundings in an angular range from 0 ° to 360 ° around the vehicle. The sensor arrangement can be attached to the work machine. In addition, the sensor arrangement can be arranged at least partially outside the working machine, for example on an external machine, or integrated in an external monitoring system (for example a building or a construction site).

The input interface can receive the direction of rotation signal generated by a direction of rotation detection unit by means of a cable connection or wireless communication. The direction of rotation detection unit can be contained in the control device. Alternatively, it can be an external direction of rotation detection unit.

After receiving the direction of rotation signal, which carries at least the direction of rotation of the working arm as signal content, the direction of rotation signal is forwarded from the input interface to the signal generation unit. The signal generation unit is designed to extract and analyze the direction of rotation from the direction of rotation signal. For this purpose, the signal generation unit can comprise a computing unit, for example a processor, in particular a microprocessor. The signal generating unit generates the control signal based on the extracted direction of rotation. The control signal serves to control the sensor arrangement, so that the control arrangement carries out the monitoring of the working area of the working machine depending on the direction of rotation of the working arm.

For this purpose, the control signal is designed such that the sensor arrangement provides the activated state or the deactivated state of the monitoring function of the sensor arrangement with respect to the working area or a part thereof based on the execution of the control signal.

If the monitoring function of the sensor arrangement for monitoring the work area or the part thereof was previously inactive, the monitoring function can be reactivated by executing the control signal, so that the monitoring function is brought into its activated state. If, on the other hand, the monitoring function was previously active, the activated state of the monitoring function can be maintained. In this way, the activated state of the monitoring function of the sensor arrangement is provided with respect to at least part of the working area.

If the monitoring function of the sensor arrangement for monitoring the work area or part thereof was previously active, the monitoring function can be deactivated again by executing the control signal, so that the monitoring function is set to its deactivated state. On the other hand, if the monitoring function was previously inactive, the deactivated state of the monitoring function can be maintained. In this way, the deactivated state of the monitoring function of the sensor arrangement is provided with respect to at least part of the working area.

The output interface can output the generated control signal to the sensor arrangement by means of a cable connection or wireless communication. Alternatively or additionally, the output interface can output the control signal or another signal to an entity other than the sensor arrangement.

Due to the controllability of the sensor arrangement depending on the direction of rotation, the working area can be monitored selectively. It can thereby be achieved that the monitoring of a security-relevant work area or a security-relevant part of a work area is ensured, while other work areas or other parts of the work area are not monitored which are not critical in terms of security.

In a preferred embodiment, the working area comprises a front working area, which lies on a first side in the direction of rotation of the working arm with respect to a longitudinal axis of the working arm, the control signal serving to provide the activated state of the monitoring function of the sensor arrangement with respect to the front working area.

When the working arm rotates about its axis of rotation relative to the pivot bearing, there are two sides with respect to the longitudinal axis: the first side in the direction of rotation of the working arm and a second side against the direction of rotation of the working arm. The first side comprises a first angular range from 0 ° to 180 ° measured with the longitudinal axis of the working arm as the zero angular position, the angle increasing in the direction of rotation of the working arm. The second side comprises a second angular range from 0 ° to 180 °, which increases in the direction opposite to the direction of rotation of the working arm. The front work area is on the first page. By providing the activated state of the monitoring function for the front working area, the monitoring of the front working area, which is now safety-relevant due to the rotating movement of the working arm, is guaranteed. This can increase the risk of people or objects in the front work area colliding with the rotating work arm and being damaged in this way. The direction of rotation can generally be horizontal and / or vertical. When the working arm is turned, the zero angle position and thus also the position of the front working area changes accordingly. It is therefore a dynamic control of the sensor arrangement with regard to its monitoring function.

In a further preferred embodiment, the front working area is limited by a first starting angle measured from the working machine along a horizontal component of the direction of rotation of the working arm and a first ending angle measured from the first starting angle along the horizontal component of the rotating direction of the working arm.

The front working area is thus defined in more detail by a front angular area that extends in a horizontal plane (i.e. essentially parallel to the floor surface) from the position of the first starting angle (first starting angle position) to the position of the first ending angle (first ending angle position). The first start and end angles are measured with respect to a point of the work machine as a virtual circle center, relative to a front zero angle position. The virtual center is, for example, the axis of rotation of the work arm for its horizontal rotation component or a point in the sensor arrangement attached to the work machine. The front zero angle position can run along the longitudinal axis of the working arm itself or parallel to it. Alternatively, the front zero angle position can run along a virtual connecting line between the virtual center of the circle and a point located on the working arm, for example the outer end point of the working arm. The front work area is thus defined with greater accuracy, so that the monitoring of the safety-relevant front work area is improved.

In a further preferred embodiment, the first starting angle is in a range from 0 ° to 90 °.

This measure ensures that a safety-critical work area in a s. G. “Blind spot” of the driver of the working machine, such as the excavator, is adequately monitored by the sensor arrangement. This increases the safety of the work machine. Any value between 0 ° and 90 ° is conceivable for the first starting angle.

In a further preferred embodiment, the first end angle is in a range from 30 ° to 270 °.

The first end angle is chosen for any first start angle in such a way that the front angular range lies completely on the first side with respect to the longitudinal axis of the working arm. This means that the sum of the first start angle and the first end angle does not exceed 180 ° if the longitudinal axis of the working arm is taken as the front zero angle position. With this measure, the monitoring function of the sensor arrangement can be activated for a wide angular range of the first side with respect to the longitudinal axis of the working arm, so that the safety of the working machine is further increased.

In a further preferred embodiment, the front working area is additionally defined by a first radius measured from the working machine.

The first radius extends in particular radially outwards from the virtual center of the circle of the front angular region. The first radius can be constant or varying in the entire front angular range. The safety-relevant front working area is hereby defined more precisely, which further increases the safety of the working machine.

In a further preferred embodiment, the work area comprises a rear work area, which is located on a second side opposite the direction of rotation of the work arm with respect to a longitudinal axis of the work arm, the control signal serving to provide the deactivated state of the monitoring function of the sensor arrangement with respect to the rear work area.

The rear work area is on the above. second side with respect to the longitudinal axis of the working arm. This enables the monitoring function of the sensor arrangement to be deactivated for the comparatively less safety-relevant rear working area. This reduces the computing power and power consumption for the signal processing associated with the monitoring, without impairing the monitoring of the more safety-critical front work area. The rear working area changes dynamically when the working arm is rotated.

In a further preferred embodiment, the rear working area is defined by a second starting angle measured from the working machine against the horizontal component of the direction of rotation of the working arm and a second ending angle measured from the second starting angle against the horizontal component of the rotating direction of the working arm.

The rear working area is thus defined in more detail by a rear angular area which extends in a horizontal plane (ie essentially parallel to the floor surface) from the position of the second starting angle (second starting angle position) to the position of the second ending angle (second ending angle position). The second start and end angles are measured with respect to a point of the work machine as a virtual circle center, relative to a rear zero angle position. The virtual center is, for example, the axis of rotation of the work arm for its horizontal rotation component or a point in the sensor arrangement attached to the work machine. The rear zero angle position can run along the longitudinal axis of the working arm itself or parallel to it. Alternatively, the rear zero angle position can run along a virtual connecting line between the virtual center of the circle and a point located on the working arm, for example the outer end point of the working arm. The rear work area is thus defined with greater accuracy, so that the monitoring of the safety-relevant front work area is improved.

In a further preferred embodiment, the second starting angle is in a range from 0 ° to 90 °. Alternatively or additionally, the first end angle can be in a range from 30 ° to 270 °. The second end angle is selected for any second starting angle in such a way that the rear angular range lies completely on the second side with respect to the longitudinal axis of the working arm. With this measure, the monitoring function of the sensor arrangement can be deactivated for a wide angular range of the second side with respect to the longitudinal axis of the working arm, so that the sensor-based working area monitoring is more energy and computing efficient with at least the same security level. In a further preferred embodiment, the rear working area is additionally defined by a second radius measured from the working machine. The second radius extends in particular radially outward from the virtual center of the circle of the rear angular region. The second radius can be constant or varying in the entire rear angular range.

The first start and / or end angle can preferably be predefined and / or read by the signal generation unit. Alternatively or additionally, the second start and / or end angle can be predefined and / or read by the signal generation unit. The first and / or the second start and / or end angle is preferably variably adjustable.

In a further preferred embodiment, the signal generation unit is designed to generate and / or output the control signal when a rotation angle threshold value is reached.

The signal generation unit is designed to compare the rotation angle swept by the working arm in the direction of rotation with the rotation angle threshold value and to generate or output the control signal when the rotation angle threshold value is reached. This measure avoids the unnecessary generation of a control signal when the working arm rotates due to unwanted signal errors, which should not be confused with a rotational movement of the working arm intended by the driver of the working machine. The angle of rotation threshold value can preferably be predefined and can be read by the signal generation unit. More preferably, the threshold angle of rotation lies in a range from 3 ° to 45 °, for example from 5 ° to 10 °. If the rotation of the working arm has a horizontal movement component, the horizontal rotation angle, which corresponds to the angle component of the total rotation angle projected onto the horizontal plane, can be compared with the rotation angle threshold value.

In a further preferred embodiment, the angle of rotation is measured from a measurement start time, before which a continuous rest period, in which the working arm is not rotating, has exceeded a predefined time period.

If the working arm has rotated for a certain time and then adjusts the rotation before a second rotation is started, depending on the length of the rest time between the end of the first rotation and the start of the second rotation, the rotation angle is only the second rotation or both to base the second rotation on the comparison with the rotation angle threshold. If the rotation-free rest period is longer than the predefined period of time, which is the case, for example, when the working machine is switched off completely, only the second rotation is used. Otherwise both rotations are taken into account for the determination of the rotation angle. In this way, the angle of rotation relevant for the decision on the signal generation and / or output can be determined more reliably. The predefined time period can range from 10 seconds to 3 minutes. Alternatively or additionally, the predefined time period can be variably set. In a further preferred embodiment, the angle of rotation is measured in a rotation period in which a rest period in which the working arm is not rotating is a maximum of a predefined time period.

In a further preferred embodiment, the signal generation unit is designed to generate and / or output the control signal when a rotational speed threshold value is reached.

This measure prevents an unwanted rotation from being misinterpreted as a rotation of the working arm intended by the driver of the working machine and a control signal being generated or output unnecessarily. The rotational speed threshold can range from 0.5 to 2 degrees per second.

In a further preferred embodiment, the control device further comprises a direction of rotation detection unit for detecting the direction of rotation of the working arm.

In this case, the direction of rotation of the working arm is determined by the direction of rotation detection unit internal to the control device. The control of the sensor arrangement can be simplified because an external detection unit is not necessary.

The direction of rotation detection unit can be designed specifically for detecting the horizontal direction of rotation of the working arm.

In a further preferred embodiment, the control device is designed to assign a risk level to the object based on the detection of an object located in the working area of the working machine.

The danger level can be selected from several predefined danger levels, which are defined in an order corresponding to the degree of severity of a collision of the working arm with the object. The control device can comprise, for example, a hazard analysis unit, which extracts the object (for example by means of image segmentation, for example semantic segmentation) from sensor data generated by the sensor arrangement and then compares it with a number of previously stored object classes, with each object class being assigned a specific risk level. The hazard analysis unit can then use the assignment of the hazard levels to the object classes to identify the hazard level to be assigned to the detected object. Based on the danger level assigned to the detected object, the working arm of the working machine can be controlled in its movement, in particular rotary movement relative to the pivot bearing. This can be done in that the hazard analysis unit forwards the identified hazard level to the signal generation unit, which generates a further control signal directed to the working arm based on the hazard level.

In a further preferred embodiment, the signal generation unit is designed to generate a further control signal in order to reduce a rotational speed of the working arm and / or to change the direction of rotation of the working arm when the predefined object reaches a predefined danger level.

At higher levels of danger, a countermeasure to avoid collisions between the working machine and the detected object may be necessary in order to minimize personal injury or property damage. The further control signal serves to control the working arm with regard to its rotational speed and / or direction of rotation. This increases the safety of the machine. When the direction of rotation is changed, it can be converted from an originally horizontal direction of rotation into an at least partially vertical direction of rotation or from an originally vertical direction of rotation into an at least partially horizontal direction of rotation.

In a further preferred embodiment, the control device is designed to generate an environment map and / or to change an existing environment map based on sensor data generated by the sensor arrangement.

The area map, for example, provides information about the objects located in an (immediate) environment of the work machine, such as buildings, vegetation, people. For example, the information is object classes or types, two- or three-dimensional shape of the objects, position of the objects. The control device can transmit the sensor data via a communication interface to an external map unit, which creates a new environment map or supplements an existing environment map with at least some of the information about the objects. Alternatively or additionally, the control device can comprise an internal card unit. The card unit is preferably designed to read an existing environment map (for example from a control device-internal storage medium or an external database), to compare the sensor data received from the sensor arrangement with the environment map read in, in order to obtain new information that is not yet contained in the existing environment map. to identify and / or include the new information in the existing environment map. This means that the environmental information can be generated or completed using sensor-based monitoring.

In a further preferred refinement, the signal generation unit is designed to generate a control signal in order to determine the activated or deactivated state of the monitoring function of the sensor arrangement with respect to the at least one, based on analysis of an environment map To provide part of the work area of the working machine.

The area map can be analyzed, for example, by the internal or external map unit. The result of the analysis is transmitted, for example, from the external card unit via the input interface of the signal generation unit. Alternatively, the result of the analysis is transmitted directly from the internal card unit to the signal generation unit. If, according to the result of the analysis, there is an obstacle in the work area or in at least part of the work area, the activated state of the monitoring function of the sensor arrangement is provided by means of the control signal. In this way, the safety of the work machine can be increased due to the use of current object information in the environment of the work machine.

In the context of this invention, the term “vehicle” includes a land vehicle, for example a passenger car, a utility vehicle, for example a truck, a tractor, an industrial machine, a working machine such as a tractor, a rail vehicle and / or a watercraft such as a ship to understand.

The computer program product according to the invention for controlling a sensor arrangement is designed to be loaded into a memory of a computer and comprises software code sections with which the method steps of the method according to the invention for controlling the sensor arrangement are carried out when the computer program product runs on the computer.

A program belongs to the software of a data processing system, for example an evaluation device or a computer. Software is a collective term for programs and related data. The complement to software is hardware. Hardware refers to the mechanical and electronic alignment of a data processing system. A computer is an evaluation device.

Computer program products typically include a sequence of instructions that cause the hardware, when the program is loaded, to perform a specific procedure that leads to a specific result. When the program in question is used on a computer, the computer program product has a technical effect, namely to at least improve the monitoring of the working area of work machines in such a way that signal processing is facilitated while the computing power and the power consumption for signal processing are reduced.

The computer program product according to the invention is platform independent. That means it can be run on any computing platform. The computer program product is preferably executed on an evaluation device according to the invention for detecting the surroundings of the vehicle.

The software code sections are written in any programming language, for example in Python.

• - 1 eine schematische Darstellung einer Steuervorrichtung zur Steuerung einer Sensoranordnung gemäß einem Ausführungsbeispiel;
• - 2 eine schematische Darstellung einer Arbeitsmaschine umfassend einen drehbaren Arbeitsarm;
• - 3 eine schematische Darstellung einer weiteren Arbeitsmaschine;
• - 4 eine schematische Darstellung einer Steuervorrichtung zur Steuerung der Sensoranordnung gemäß einem weiteren Ausführungsbeispiel;
• - 5 eine schematische Darstellung einer Steuervorrichtung zur Steuerung der Sensoranordnung gemäß einem weiteren Ausführungsbeispiel; und
• - 6 eine schematische Darstellung eines Steuerverfahrens zur Steuerung der Sensoranordnung gemäß einem Ausführungsbeispiel.

The invention is explained by way of example in the figures. Show it:

• - 1 a schematic representation of a control device for controlling a sensor arrangement according to an embodiment;
• - 2nd a schematic representation of a work machine comprising a rotatable work arm;
• - 3rd a schematic representation of another machine;
• - 4th a schematic representation of a control device for controlling the sensor arrangement according to a further embodiment;
• - 5 a schematic representation of a control device for controlling the sensor arrangement according to a further embodiment; and
• - 6 is a schematic representation of a control method for controlling the sensor arrangement according to an embodiment.

1 shows a schematic representation of a control device 10th to control a sensor arrangement 18th according to an embodiment. The sensor arrangement 18th is designed to monitor a work area of a work machine. For this purpose, the sensor arrangement 18th multiple sensors 22 , 24th , 26 , 28 which can include cameras, radars, laser detection and ranging devices (lidars), RFID sensors or a mixture of at least two of these sensor types. In 1 are the sensors 22 , 24th , 26 , 28 each in a corner area of the sensor arrangement 18th arranged. However, this is only exemplary and not restrictive for the present invention. The sensors 22 , 24th , 26 , 28 can generally at any position of the sensor arrangement 18th be arranged. For example, the sensors 22 , 24th , 26 , 28 when the sensor assembly 18th is at least partially attached to a work machine, be distributed at different positions of the work machine. The sensor arrangement 18th can be attached to the work machine. It is therefore a mobile sensor arrangement 18th . Alternatively or additionally, the sensor arrangement can 18th be arranged stationary on a building.

The control device 10th has an input interface 12 for entering a direction signal 11 on. The direction of rotation signal 11 can be from a rotational movement detection unit, for example outside the control device 10th is arranged and is not part of it, generated and received. The direction of rotation signal 11 contains a direction of rotation information that contains or indicates the direction of rotation of a working arm of a working machine. The working machine is a machine with a rotary bearing and a working arm rotatably mounted about an axis of rotation of the rotary bearing. The working arm can thus rotate relative to the pivot bearing. This is in 2nd shown in more detail.

The control device 10th has a signal generating unit 14 to generate a control signal. The control device 10th also has an output interface 16 for outputting the control signal to the sensor arrangement 18th on.

The control signal is used to control the sensor arrangement 18th . Specifically, the control signal causes when it comes from the sensor assembly 18th is executed, depending on the direction of rotation of the working arm to monitor a working area of the working machine. The control signal thus influences the monitoring function of the sensor arrangement 18th with respect to the work area or part of the work area of the work machine.

2nd shows a schematic representation of a work machine 100 comprising a rotatable working arm 102 . The work machine 100 has a pivot bearing 104 which is an axis of rotation 108 defined around which a rotating body 106 can turn. The working arm 102 is exemplary with the rotating body 106 connected and can thus be about the axis of rotation 108 also turn what is indicated by an arrow 115 is illustrated. The rotation of the working arm 102 or the rotating body 106 takes place in in 2nd shown example horizontally, ie essentially parallel to a floor surface on which the machine is standing instead. The axis of rotation thus runs 108 in this example essentially perpendicular to the floor surface. In general, the rotation of the working arm 102 have a horizontal movement component and / or a vertical movement component.

In 2nd is also an exemplary work area 110 the working machine 100 shown. Basically, the work area includes 110 the working machine 100 an environment of the working machine 100 which is from a point of the work machine 100 extends radially outwards, the radius of the surroundings being able to be constant or different in different radial directions. The work area of the work machine 100 can be based on that from the control device 10th generated control signal by means of the sensor arrangement 18th selectively monitor what is in 3rd is shown in more detail by way of example.

3rd shows a schematic representation of another machine 150 . The work machine 150 points, analogous to the working machine 100 out 2nd , one relative to the pivot bearing 104 rotating working arm 102 on. The working arm 102 extends along a longitudinal axis 118 . If the working arm 102 relative to the pivot bearing 104 along a direction of rotation 116 is the work area 110 through the longitudinal axis 118 of the working arm 102 taking into account the direction of rotation 116 in two sub-areas 112 , 114 divides: a first sub-area 112 is on a first page in the direction of rotation 116 with respect to the longitudinal axis 118 . The first sub-work area thus extends 112 from the longitudinal axis 118 off in the direction of rotation 116 ; a second sub-area 114 is on a second side against the direction of rotation 116 with respect to the longitudinal axis 118 . Thus, the second sub-area extends 114 from the longitudinal axis 118 from against the direction of rotation 116 .

The longitudinal axis 118 of the working arm 102 can define a general zero angle position. The first sub-area 112 thus comprises, measured from the general zero-angle position, a first angular range from 0 ° to 180 °, the angle in the direction of rotation 116 increases. The second sub-area 114 thus comprises, measured from the general zero-angle position, a second angular range from 0 ° to 180 °, the angle counter to the direction of rotation 116 increases.

The first sub-area 112 includes a front work area 122 who in 3rd is shown by way of example. The front work area 122 extends from a first center 120 from radially outwards. The first center 120 can be any point of the work machine 150 be, for example, where one of the sensors of the sensor arrangement 18th is arranged. The front work area 122 is defined by a front angular range related to the first center 120 is measured. The front angular range starts from a first starting angle position 124 that with a front zero angle position 121 a first starting angle 130 includes, up to a first end angle position 126 that with the first starting angle 124 a first end angle 132 includes.

The radius is over the front angular range between the first start angle position 124 and the first end angle position 126 , as in 3rd shown as an example, varying. This results in an external limitation 128 of the front work area 122 , as in 3rd you can see. In general, the radius can be constant over the front angular range. The front zero angle position 121 runs in 3rd shown example parallel to the general zero angle position or to the longitudinal axis 118 of the working arm 102 . However, this is not limitative of this invention. The front zero angle position 121 can, for example, along a connecting line between the first center 120 and one on the working arm 102 lying point.

That from the control device 10th The generated control signal is designed to indicate the activated state of the monitoring function of the sensor arrangement 18th regarding the front work area 122 to provide. If the monitoring function of the sensor arrangement 18th to monitor the front work area 122 was previously inactive, the monitoring function can be reactivated by executing the control signal, so that the monitoring function is brought into its activated state. If, on the other hand, the monitoring function was previously active, the activated state of the monitoring function can be maintained. In the two above cases, the activated state of the monitoring function of the sensor arrangement 18th regarding the front work area 122 provided.

The second sub-area 114 includes a rear work area 146 who in 3rd is shown by way of example. The rear work area 146 extends from a second center 140 from radially outwards. The second center 120 can be any point of the work machine 150 be, for example, where one of the sensors of the sensor arrangement 18th is arranged. The rear work area 146 is defined by a rear angular range related to the second center 140 is measured. The rear angular range assumes a second starting angle position 142 that with a rear zero angle position 141 a second starting angle 134 includes, up to a second end angle position 138 with the second starting angle position 142 a second end angle 136 includes.

The radius is over the rear angular range between the second starting angle position 142 and the second end angle position 138 , as in 3rd shown as an example, varying. This results in an external limitation 144 of the rear work area 146 , as in 3rd you can see. In general, the radius can be constant over the rear angular range. The rear zero angle position 141 runs in 3rd shown example parallel to the general zero angle position or to the longitudinal axis 118 of the working arm 102 . However, this is not limitative of this invention. The rear zero angle position 141 can, for example, along a connecting line between the second center 140 and one on the working arm 102 lying point.

That from the control device 10th Control signal generated is designed to the deactivated state of the monitoring function of the sensor arrangement 18th regarding the rear work area 146 to provide. If the monitoring function of the sensor arrangement 18th to monitor the rear work area 146 was previously active, the monitoring function can be deactivated again by executing the control signal, so that the monitoring function is set to its deactivated state. On the other hand, if the monitoring function was previously inactive, the deactivated state of the monitoring function can be maintained. In the two above cases, the deactivated state of the monitoring function of the sensor arrangement 18th regarding the rear work area 146 provided.

The front and rear work area 122 , 146 are in 3rd shown by way of example and in no way restricting the present invention. The first start and end angle position 124 , 126 are chosen such that the front work area 122 on the first page with respect to the longitudinal axis 118 of the working arm 102 and thus in the first work area 112 lies. The second start and end angle position 142 , 138 are chosen such that the rear work area 146 on the second side with respect to the longitudinal axis 118 of the working arm 102 and thus in the second work area 114 lies. The fact that the front or rear work area 122 , 146 based on the general zero angle position and thus on the longitudinal axis 118 of the working arm 102 to be defined, their positions change during a rotary movement of the working arm 102 around the axis of rotation 108 constantly. This is preferably done when the control signal is generated by the signal generation unit 14 taken into account so that the control of the sensor arrangement 18th , in particular the provision of the activated or deactivated state of the monitoring function with regard to the work area 110 done dynamically.

4th shows a schematic representation of a control device 20th to control the sensor arrangement 18th according to a further embodiment. In contrast to in 1 shown control device 10th comprises the control device 20th in 4th additionally a rotary motion detection unit 32 for detecting the rotary movement of the working arm 102 . The rotary motion detection unit 32 can be any device that is used to detect rotary movements, in particular the direction of rotation, the speed of rotation, the angle of rotation, the duration of a rotation-free rest period, ... etc. is suitable.

5 shows a schematic representation of a control device 30th to control the sensor arrangement according to a further embodiment. The control device 30th includes in addition to those in the control device 10th contained components a card evaluation unit 34 for evaluating an environment map 33 . The card evaluation unit 34 can alternatively in the control device 20th out 3rd to be built in.

As in 5 the area map is shown as an example 33 via the input interface 12 the card evaluation unit 34 fed. The area map 33 has been received from an external database, for example. In general, the area map 33 also from one in the control device 30th integrated storage medium can be obtained. The area map 33 contains information about objects and people who are in the vicinity of the working machine 100 , 150 are located. It can also be a map of the area 33 be received in an environment in which the work machine 100 , 150 previously found. Based on the evaluation of the area map 33 can be another control signal by the signal generating unit 14 are generated to the activated or deactivated state of the monitoring function of the sensor arrangement 18th regarding the work area 100 or part of it.

The sensor data from the sensor arrangement 18th can be used to create a new environment map and / or to supplement an existing environment map. This process can take place internally in the control device or externally.

The control device can have a display unit for displaying the created and / or the supplemented environment map. In the display can by the sensor arrangement 18th recognized objects are visually highlighted, for example by color coding different object classes, in which each object class is assigned a different color.

As an alternative or in addition, the period of time during which a specific location of a work area has not been scanned can be recorded by an internal or external control unit. This period can be marked on the map of the area. For example, color coding can be assigned to the time period, so that, for example, the brightness and / or wavelength of the color increases or decreases with the recorded time period.

Based on the frequency that a particular object passes through the sensor assembly 18th has been identified in a constant location, a probability factor can be determined for this object, which indicates how likely the object is stationed at this location. This probability factor can be displayed visually, for example with a color coding and / or geometric shapes, on the displayed surrounding map. For example, the brightness and / or wavelength of the color increases or decreases with the probability factor.

The control device 10th , 20th , 30th may also have a hazard analysis unit (not shown) to detect a in the work area 110 assign a hazard level to the detected object. This can be due to a segmentation of the sensor arrangement 18th and / or another sensor device generated sensor data, wherein the detected object is classified by means of segmentation, for example semantic segmentation. For example, one of the highest or highest risk levels can be assigned to a person being recorded. A development (building) can be assigned a risk level that is the same or lower than that of a person. For example, a residential, office or factory building in which people are located can be assigned the same risk level as for people. Vegetation (such as trees, bushes, flowers) can be assigned a lower risk level than the built-up area. For example, a shrubbery can be assigned a lower risk level compared to a tree, and a larger tree (for example with a diameter of more than 5 cm) can be assigned a higher risk level compared to a smaller tree with a smaller diameter.

The respective in 1 , 4th , 5 shown control device 10th , 20th , 30th can be in a vehicle, especially a work machine 100 , 150 , to be appropriate. Alternatively or additionally, the respective control device can 10th , 20th , 30th be arranged outside the vehicle. The control device 10th , 20th , 30th forms together with the sensor arrangement 18th a monitoring device 50 , 60 . The monitoring device 50 , 60 can be arranged in a vehicle or outside the vehicle.

6 shows a schematic representation of a control method for controlling the sensor arrangement according to an embodiment. In a first step S1 a direction of rotation signal containing a direction of rotation of a working arm of the working machine relative to a rotating bearing of the working machine is input. In a second step S2 a control signal is generated in order to provide an activated or deactivated state of a monitoring function of the sensor arrangement with respect to at least part of the working area of the working machine as a function of the direction of rotation of the working arm. In a third step S3 the control signal is output to the sensor arrangement.

Reference symbol list

10, 20, 30

Control device

11

Direction of rotation signal

12

Input interface

14

Signal generation unit

16

Output interface

18th

Sensor arrangement

22, 24, 26, 28

Sensors

32

Rotational motion detection unit

33

Area map

34

Card evaluation unit

50, 60

Monitoring device

100, 150

Working machine

102

Labor arm

104

Pivot bearing

106

Rotating body

108

Axis of rotation

110

Workspace

112

first part of work

114

second sub-area

115, 116

Direction of rotation

118

Longitudinal axis

120

first center

122

front work area

124

first starting angle position

126

first end angle position

128, 144

External boundary

130

first starting angle

132

first end angle

134

second starting angle

136

second end angle

138

second end angle position

140

second center point

142

second starting angle position

146

rear work area

S1 to S3

Procedural steps

Claims (20)

Control device (10, 20, 30) for controlling a sensor arrangement (18) to monitor a work area (110, 112, 114) of a work machine (100, 150), comprising: - An input interface (12) for inputting a direction of rotation signal containing a direction of rotation (116) of a working arm (102) of the working machine (100, 150) relative to a pivot bearing (104) of the working machine (100, 150); - A signal generation unit (14) for generating a control signal to, depending on the direction of rotation (116) of the working arm (102), an activated or deactivated state of a monitoring function of the sensor arrangement (18) with respect to at least part of the working area (110, 112, 114) to provide the work machine (100, 150); and - An output interface (16) for outputting the control signal to the sensor arrangement (18). Control device (10, 20, 30) after Claim 1 , wherein the work area (110, 112) comprises a front work area (122) which lies on a first side in the direction of rotation (116) of the work arm (102) with respect to a longitudinal axis (118) of the work arm (102), the control signal serves to provide the activated state of the monitoring function of the sensor arrangement (18) with respect to the front working area (122). Control device (10, 20, 30) after Claim 2 , wherein the front working area (122) is characterized by a first starting angle (130) measured from the working machine (100, 150) along a horizontal component of the direction of rotation (116) of the working arm (102) and by a first starting angle (130) along the horizontal component of the direction of rotation (116) of the working arm (102) measured first end angle (132) is defined. Control device (10, 20, 30) after Claim 3 , wherein the first start angle (130) is in a range from 0 ° to 90 °, and / or wherein the first end angle (132) is in a range from 30 ° to 270 °. Control device (10, 20, 30) according to one of the Claims 2 to 4th , wherein the front working area (122) is additionally defined by a first radius measured from the working machine (100, 150). Control device (10, 20, 30) according to one of the Claims 1 to 5 , the work area (110, 114) comprises a rear working area (146), which lies on a second side opposite to the direction of rotation (116) of the working arm (102) with respect to a longitudinal axis (118) of the working arm (102), the control signal serving to indicate the deactivated state of the Provide monitoring function of the sensor arrangement (18) with respect to the rear working area (146). Control device (10, 20, 30) after Claim 6 , wherein the rear working area (146) is measured by a second starting angle (134) measured from the working machine (100, 150) against the horizontal component of the direction of rotation (116) of the working arm (102) and by a second starting angle (134) from the second starting angle (134) horizontal component of the direction of rotation of the working arm (102) measured second end angle (136) is defined. Control device (10, 20, 30) according to one of the Claims 1 to 7 , wherein the signal generation unit (14) is designed to generate or output the control signal when a rotation angle threshold value is reached. Control device (10, 20, 30) after Claim 8 , wherein the angle of rotation threshold is in a range of 3 ° to 45 °. Control device (10, 20, 30) after Claim 8 or 9 , wherein the angle of rotation is measured from a measurement start time, before which a continuous rest period in which the working arm is not rotating has exceeded a predefined time period. Control device (10, 20s, 30) according to one of the Claims 8 to 10th , wherein the angle of rotation is measured in a rotation period in which a rest period in which the working arm is not rotating is a maximum of a predefined time period. Control device (10, 20, 30) according to one of the Claims 1 to 11 , wherein the signal generation unit (14) is designed to generate or output the control signal when a rotational speed threshold value is reached. Control device (10, 20, 30) according to one of the Claims 1 to 12 , further comprising a direction of rotation detection unit for detecting the direction of rotation (116) of the working arm (102). Control device (10, 20, 30) according to one of the Claims 1 to 13 The control device (10, 20, 30) is designed to assign a risk level to the object based on the detection of an object located in the work area (110) of the work machine (100, 150). Control device (10, 20, 30) after Claim 14 , wherein the signal generating unit (14) is designed to generate a further control signal in order to reduce a rotational speed of the working arm (102) and / or to change the direction of rotation of the working arm (102) when a predefined danger level is reached by the detected object. Control device (10, 20, 30) according to one of the Claims 1 to 15 The control device is designed to generate an environment map (33) and / or to change an existing environment map (33) based on sensor data generated by the sensor arrangement (18). Monitoring device for monitoring a work area of a work machine (100, 150), comprising: - a sensor arrangement (18); and - a control device (10, 20, 30) for controlling the sensor arrangement according to one of the Claims 1 to 16 . Use of a control device (10, 20, 30) according to one of the Claims 1 to 16 or a monitoring device Claim 17 in a vehicle (100, 150). Control method for controlling a sensor arrangement in order to monitor a work area of a work machine (100, 150), comprising: - a first step in which a direction of rotation signal containing a direction of rotation of a working arm (102) of the working machine (100, 150) relative to a rotating bearing (104) of the working machine (100, 150) is entered; - A second step in which a control signal is generated in order to determine, depending on the direction of rotation of the working arm (102), an activated or deactivated state of a monitoring function of the sensor arrangement (18) with respect to at least part of the working area (110) of the working machine (100, 150 ) to provide; and - A third step in which the control signal is output to the sensor arrangement (18). Computer program product for controlling a sensor arrangement in order to monitor a work area (110, 112, 114) of a work machine (100, 150), the computer program product being designed to follow the steps of the method Claim 18 to be carried out when the computer program product is executed by a computer.

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