Self-propelled civil engineering machine
First Claim
1. A self-propelled civil engineering machine, having a running gear which has wheels or other running-gear units which are at the front with respect to the working direction and wheels or other running-gear units which are at the rear with respect to the working direction, a chassis of the civil engineering machine which is carried by the wheels or other running-gear units, a drive arrangement for driving at least one of the front or rear wheels or other running-gear units, a steering arrangement for steering at least one of the front wheels or other running-gear units and the rear wheels or other running-gear units, and a unit having controls, said self-propelled civil engineering machine characterised in that:
- the civil engineering machine has an arrangement for assisting a driver of the machine when reversing, the arrangement for assisting the driver of the machine when reversing havinga unit for sensing a position of the front wheels or other running-gear units and rear wheels or other running-gear units,a calculating unit to determine data which defines at least one trajectory of the civil engineering machine as a function of the position of the front wheels or other running-gear units and the rear wheels or other running-gear units,an image detecting unit for detecting an image from a rear of the civil engineering machine,a display unit for displaying the detected image, andan image processing unit which is so designed that the at least one trajectory is superimposed on the image which is displayed on the display unit; and
wherein the unit having the controls has a selector for selecting one mode of steering from a plurality of modes of steering, the unit having the controls co-operating with the steering arrangement in such a way that the steering arrangement makes allowance for the selected mode of steering,wherein the unit having the controls has a steering apparatus for stipulating a steering angle for at least one of the front or rear wheels or other running-gear units, the unit having the controls co-operating with the steering arrangement in such a way that the steering arrangement sets a stipulated steering angle, andwherein the calculating unit calculates the data defining the at least one trajectory, as a function of the selected mode of steering, and the calculating unit corrects the data defining the at least one trajectory on the basis of a correcting function by which allowance is made for a change in at least one of a longitudinal inclination of the chassis, a transverse inclination of the chassis, or a height of the image detecting unit.
1 Assignment
0 Petitions
Accused Products
Abstract
A civil engineering machine includes an arrangement for assisting the driver of the machine when reversing which has a calculating unit to determine data which defines at least one trajectory of the civil engineering machine as a function of the position of the front and rear running gear, both as a function of a steering angle and as a function of a mode of steering. The arrangement for assisting the driver of the machine when reversing also has an image detecting unit for detecting an image of the rear part of the civil engineering machine and a display unit for displaying the detected image of the rear part of the civil engineering machine. An image processing unit superimposes a representation of the at least one trajectory on the image of the rear part of the civil engineering machine which is displayed on the display unit.
-
Citations
25 Claims
-
1. A self-propelled civil engineering machine, having a running gear which has wheels or other running-gear units which are at the front with respect to the working direction and wheels or other running-gear units which are at the rear with respect to the working direction, a chassis of the civil engineering machine which is carried by the wheels or other running-gear units, a drive arrangement for driving at least one of the front or rear wheels or other running-gear units, a steering arrangement for steering at least one of the front wheels or other running-gear units and the rear wheels or other running-gear units, and a unit having controls, said self-propelled civil engineering machine characterised in that:
-
the civil engineering machine has an arrangement for assisting a driver of the machine when reversing, the arrangement for assisting the driver of the machine when reversing having a unit for sensing a position of the front wheels or other running-gear units and rear wheels or other running-gear units, a calculating unit to determine data which defines at least one trajectory of the civil engineering machine as a function of the position of the front wheels or other running-gear units and the rear wheels or other running-gear units, an image detecting unit for detecting an image from a rear of the civil engineering machine, a display unit for displaying the detected image, and an image processing unit which is so designed that the at least one trajectory is superimposed on the image which is displayed on the display unit; and wherein the unit having the controls has a selector for selecting one mode of steering from a plurality of modes of steering, the unit having the controls co-operating with the steering arrangement in such a way that the steering arrangement makes allowance for the selected mode of steering, wherein the unit having the controls has a steering apparatus for stipulating a steering angle for at least one of the front or rear wheels or other running-gear units, the unit having the controls co-operating with the steering arrangement in such a way that the steering arrangement sets a stipulated steering angle, and wherein the calculating unit calculates the data defining the at least one trajectory, as a function of the selected mode of steering, and the calculating unit corrects the data defining the at least one trajectory on the basis of a correcting function by which allowance is made for a change in at least one of a longitudinal inclination of the chassis, a transverse inclination of the chassis, or a height of the image detecting unit. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
-
-
12. An apparatus for assisting a driver of a civil engineering machine when reversing the civil engineering machine, said apparatus comprising:
-
at least one position sensor configured to sense a position of at least one of a front running gear and a rear running gear of the civil engineering machine, wherein said position is a steering angle; a selector configured such that the driver may select one mode of steering from a plurality of modes of steering; a calculating unit configured to determine data that defines at least one trajectory of the civil engineering machine as a function of the position of the at least one of the front running gear and the rear running gear of the civil engineering machine and as a function of the selected mode of steering; an image detecting unit arranged on the civil engineering machine so as to detect an image from the rear of the civil engineering machine; an image processing unit configured to superimpose the data determined by the calculating unit defining the at least one trajectory on the image detected by the image detecting unit; and a display unit arranged on the civil engineering machine so as to display to the driver, the detected image with the at least one trajectory superimposed on the image; wherein the calculating unit determines the data that defines the at least one trajectory in a co-ordinate system referenced to the running gear of the civil engineering machine; and wherein the calculating unit converts the data defining the at least one trajectory from the co-ordinate system referenced to the running gear of the civil engineering machine to a co-ordinate system referenced to the image detecting unit. - View Dependent Claims (13, 14, 15, 16)
-
-
17. A civil engineering machine comprising:
-
a front running gear; a rear running gear; a selector configured such that a driver of the civil engineering machine can select one of a plurality of steering modes of the civil engineering machine; a control unit configured such that the driver can set a steering angle of at least one of the front running gear and the rear running gear; and an apparatus for assisting the driver of the civil engineering machine when reversing the civil engineering machine, said apparatus comprising; a calculating unit configured to determine data that defines at least one trajectory of the civil engineering machine as a function of the steering angle of the at least one of the front running gear and the rear running gear of the civil engineering machine and the selected mode of steering; an image detecting unit arranged on the civil engineering machine to detect an image from the rear of the civil engineering machine; and a display unit arranged on the civil engineering machine to display to the driver, the detected image with the at least one trajectory superimposed on the image; wherein the calculating unit determines the data that defines the at least one trajectory in a co-ordinate system referenced to the running gear of the civil engineering machine; and wherein the calculating unit converts the data defining the at least one trajectory from the co-ordinate system referenced to the running gear of the civil engineering machine to a co-ordinate system referenced to the image detecting unit. - View Dependent Claims (18, 19, 20, 21, 22)
-
-
23. A method of assisting a driver of a civil engineering machine when reversing the civil engineering machine, said method comprising:
-
determining, using a position sensor, a position of at least one of a front or rear running gear of the civil engineering machine; determining a selected mode of a plurality of modes of steering; determining, using a calculating unit, data that defines at least one trajectory of the civil engineering machine as a function of the determined position and the selected mode of steering; detecting an image from the rear of the civil engineering machine; and displaying to the driver, the detected image with the at least one trajectory superimposed on the image; and correcting the data defining the at least one trajectory in a co-ordinate system referenced to the detected image, on the basis of a correcting function to correct for changes in at least one of height of the civil engineering machine, longitudinal inclination of the civil engineering machine, or transverse inclination of the civil engineering machine. - View Dependent Claims (24, 25)
-
Specification