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1. 发明授权

US10377311B2 Automotive construction machine and method for displaying the surroundings of an automotive construction machine 有权
公开(公告)号：US10377311B2
公开(公告)日：2019-08-13
申请号：US16139940
申请日：2018-09-24
申请人： Wirtgen GmbH
发明人： Harald Kröll , Herbert Lange , Martin Lenz
IPC分类号： B60R1/00 , E02F3/18 , E02F3/20 , E01C23/088 , E02F5/08 , E02F9/24 , E02F9/26 , G06K9/00 , H04N5/265 , H04N7/18
摘要： The invention relates to an automotive construction machine with a transport device extending in the working direction beyond the machine frame, in particular a road milling machine or surface miner. Moreover, the invention relates to a method for displaying an image of the surroundings of an automotive construction machine. The construction machine according to the invention has an image display device for displaying a bird's eye view image of the surroundings of the construction machine, which image display device has a camera system with a plurality of cameras for recording individual overlapping image regions of the construction machine surroundings from different image recording positions, and an image processing system. The image processing system is configured in such a way that image details of the individual image regions are joined together to form a total image from a bird's eye view. The camera system has at least one camera which is arranged on the transport device in such a way that the viewing direction of the camera is directed in the direction of the machine frame, and at least one further camera which is arranged on the machine frame in such a way that the viewing direction of the camera is directed away from the machine frame. Using the cameras directed into and away from the machine frame, the machine operator obtains a complete surround view, which includes the region covered by the transport device in the working direction in front of the construction machine.

2. 发明申请

US20170037586A1 Automotive Construction Machine And Method For Displaying The Surroundings Of An Automotive Construction Machine 审中-公开
标题翻译：汽车工程机械及显示汽车工程机械周边环境的方法
公开(公告)号：US20170037586A1
公开(公告)日：2017-02-09
申请号：US15219597
申请日：2016-07-26
申请人： Wirtgen GmbH
发明人： Harald Kröll , Herbert Lange , Martin Lenz , Cyrus Barimani , Günter Hähn
IPC分类号： E01C23/088 , H04N5/265 , H04N7/18 , E01C23/12 , B60R1/00
CPC分类号： E01C23/088 , B60R1/00 , B60R2300/105 , B60R2300/303 , B60R2300/607 , B62D55/116 , E01C23/127 , E01C2301/00 , E02F9/024 , E02F9/028 , E02F9/261 , H04N5/265 , H04N7/181
摘要： The invention relates to an automotive construction machine, in particular a road milling machine, recycler or surface miner, and to a method for displaying an image of the surroundings of an automotive construction machine. The construction machine according to the invention has an image display device for displaying a bird's eye view image of the surroundings of the construction machine, which image display device has a camera system with a plurality of cameras provided on the machine frame for recording individual overlapping image regions of the construction machine surroundings from different image recording positions, and an image processing system. The image processing system is configured in such a way that image details of the individual image regions are joined together to form a total image from a bird's eye view. For this purpose, the construction machine has a position detection device, which detects the height and/or the incline of the machine frame in relation to the ground surface and cooperates with the position detection device in such a way that when the image details of the individual image regions are joined together to form a total image from a bird's eye view, the course of the stitching which is located between the image details and within the overlapping regions of the image regions is determined depending on the height and/or the incline of the machine frame in relation to the ground surface.
摘要翻译：本发明涉及一种汽车建筑机械，特别是道路铣刨机，回收机或表面采矿机，以及用于显示汽车建筑机械周围环境的图像的方法。根据本发明的施工机械具有用于显示施工机器周围环境的鸟瞰图的图像显示装置，该图像显示装置具有摄像机系统，其具有设置在机架上的多个摄像机，用于记录各个重叠图像来自不同图像记录位置的施工机器周围的区域，以及图像处理系统。图像处理系统被配置为使得各个图像区域的图像细节被连接在一起以从鸟瞰图形成总的图像。为此，施工机械具有位置检测装置，该位置检测装置检测机架相对于地面的高度和/或倾斜度，并与位置检测装置协同工作，使得当该机架的图像细节单独的图像区域从鸟瞰图结合在一起以形成总的图像，位于图像细节之间的图像细节和图像区域的重叠区域之间的缝合的过程根据高度和/或倾斜角度来确定机架相对于地面。

3. 发明申请

US20170036602A1 Automotive Construction Machine And Method For Displaying The Surroundings Of An Automotive Construction Machine 审中-公开
标题翻译：汽车工程机械及显示汽车工程机械周边环境的方法
公开(公告)号：US20170036602A1
公开(公告)日：2017-02-09
申请号：US15219620
申请日：2016-07-26
申请人： Wirtgen GmbH
发明人： Harald Kröll , Herbert Lange , Martin Lenz , Cyrus Barimani , Günter Hähn
IPC分类号： B60R1/00 , H04N5/265 , G06K9/00
CPC分类号： B60R1/00 , B60R2300/105 , B60R2300/303 , B60R2300/607 , B60R2300/802 , E01C23/088 , E02F3/181 , E02F3/183 , E02F3/188 , E02F3/20 , E02F5/08 , E02F9/24 , E02F9/261 , G06K9/00791 , H04N5/265 , H04N7/181
摘要： The invention relates to an automotive construction machine with a transport device extending in the working direction beyond the machine frame, in particular a road milling machine or surface miner. Moreover, the invention relates to to a method for displaying an image of the surroundings of an automotive construction machine. The construction machine according to the invention has an image display device for displaying a bird's eye view image of the surroundings of the construction machine, which image display device has a camera system with a plurality of cameras for recording individual overlapping image regions of the construction machine surroundings from different image recording positions, and an image processing system. The image processing system is configured in such a way that image details of the individual image regions are joined together to form a total image from a bird's eye view. The camera system has at least one camera which is arranged on the transport device in such a way that the viewing direction of the camera is directed in the direction of the machine frame, and at least one further camera which is arranged on the machine frame in such a way that the viewing direction of the camera is directed away from the machine frame. Using the cameras directed into and away from the machine frame, the machine operator obtains a complete surround view, which includes the region covered by the transport device in the working direction in front of the construction machine.
摘要翻译：本发明涉及一种具有沿工作方向延伸超过机架的运输装置的汽车建筑机械，特别是道路铣床或地面采矿机。此外，本发明涉及一种用于显示汽车建筑机械的周围环境的图像的方法。根据本发明的施工机具有用于显示建筑机械周围环境的鸟瞰图的图像显示装置，该图像显示装置具有摄像机系统，具有用于记录建筑机械的各个重叠图像区域的多个照相机来自不同图像记录位置的环境，以及图像处理系统。图像处理系统被配置为使得各个图像区域的图像细节被连接在一起以从鸟瞰图形成总的图像。相机系统具有至少一个照相机，其被布置在传送设备上，使得照相机的观看方向指向机器框架的方向，并且至少一个另外的照相机布置在机器框架上使得相机的观看方向远离机架的方式。使用引导进入机架的摄像机，机器操作者获得完整的环绕视图，其包括由施工机械前方的工作方向上的运输装置覆盖的区域。

4. 发明授权

US11318941B2 Working combination encompassing an earth working machine and a further vehicle, and an automatic spacing monitoring system 有权
公开(公告)号：US11318941B2
公开(公告)日：2022-05-03
申请号：US16791015
申请日：2020-02-14
申请人： Wirtgen GmbH
发明人： Matthias Fritz , Herbert Lange , Marc Pees , Carmen Kania
IPC分类号： B60W30/165 , B60W10/04 , B60W10/18 , E01C23/06
摘要： A system is provided for monitoring spacing during working operation between a first vehicle and at least one further self-propelled vehicle. A beam source is on one vehicle (source vehicle). A sensor arrangement on another vehicle (target vehicle) extends along a sensor axis. In a predetermined reference state, with the vehicles having a predetermined reference spacing apart, the beam source radiates toward the target vehicle electromagnetic radiation such that a predetermined sensor-axial reference detection region on the sensor arrangement is irradiated by the beam source. A change in the vehicle spacing results in a change, along the sensor axis, in the position of the detection region on the irradiated sensor arrangement, and thus in a change in the detection state of the sensor arrangement. Based on the detection state which depends on an actual spacing of the source and target vehicles, a spacing signal is generated with vehicle spacing information.

5. 发明授权

US10378162B2 Automotive construction machine and method for displaying the surroundings of an automotive construction machine 有权
公开(公告)号：US10378162B2
公开(公告)日：2019-08-13
申请号：US15219597
申请日：2016-07-26
申请人： Wirtgen GmbH
发明人： Harald Kröll , Herbert Lange , Martin Lenz
IPC分类号： E01C23/088 , B62D55/116 , E02F9/02 , E02F9/26 , B60R1/00 , E01C23/12 , H04N5/265 , H04N7/18
摘要： The invention relates to an automotive construction machine, in particular a road milling machine, recycler or surface miner, and to a method for displaying an image of the surroundings of an automotive construction machine. The construction machine according to the invention has an image display device for displaying a bird's eye view image of the surroundings of the construction machine, which image display device has a camera system with a plurality of cameras provided on the machine frame for recording individual overlapping image regions of the construction machine surroundings from different image recording positions, and an image processing system. The image processing system is configured in such a way that image details of the individual image regions are joined together to form a total image from a bird's eye view. For this purpose, the construction machine has a position detection device, which detects the height and/or the incline of the machine frame in relation to the ground surface and cooperates with the position detection device in such a way that when the image details of the individual image regions are joined together to form a total image from a bird's eye view, the course of the stitching which is located between the image details and within the overlapping regions of the image regions is determined depending on the height and/or the incline of the machine frame in relation to the ground surface.

6. 发明授权

US10086761B2 Automotive construction machine and method for displaying the surroundings of an automotive construction machine 有权
公开(公告)号：US10086761B2
公开(公告)日：2018-10-02
申请号：US15219620
申请日：2016-07-26
申请人： Wirtgen GmbH
发明人： Harald Kröll , Herbert Lange , Martin Lenz
IPC分类号： B60R1/00 , E02F3/18 , E02F3/20 , E01C23/088 , E02F5/08 , E02F9/24 , E02F9/26 , G06K9/00 , H04N5/265 , H04N7/18
摘要： The invention relates to an automotive construction machine with a transport device extending in the working direction beyond the machine frame, in particular a road milling machine or surface miner. Moreover, the invention relates to a method for displaying an image of the surroundings of an automotive construction machine. The construction machine according to the invention has an image display device for displaying a bird's eye view image of the surroundings of the construction machine, which image display device has a camera system with a plurality of cameras for recording individual overlapping image regions of the construction machine surroundings from different image recording positions, and an image processing system. The image processing system is configured in such a way that image details of the individual image regions are joined together to form a total image from a bird's eye view. The camera system has at least one camera which is arranged on the transport device in such a way that the viewing direction of the camera is directed in the direction of the machine frame, and at least one further camera which is arranged on the machine frame in such a way that the viewing direction of the camera is directed away from the machine frame. Using the cameras directed into and away from the machine frame, the machine operator obtains a complete surround view, which includes the region covered by the transport device in the working direction in front of the construction machine.

7. 发明申请

US20200262428A1 WORKING COMBINATION ENCOMPASSING AN EARTH WORKING MACHINE AND A FURTHER VEHICLE, AND AN AUTOMATIC SPACING MONITORING SYSTEM 审中-公开
公开(公告)号：US20200262428A1
公开(公告)日：2020-08-20
申请号：US16791015
申请日：2020-02-14
申请人： Wirtgen GmbH
发明人： Matthias Fritz , Herbert Lange , Marc Pees , Carmen Kania
IPC分类号： B60W30/165 , B60W10/04 , B60W10/18
摘要： A working combination (10) having self-propelled first (12) and further vehicles (14) that are embodied to move one behind another with a setpoint spacing (D) in a working direction (A); the working combination (10) having a spacing monitoring device (26) that outputs a spacing signal on the basis of a detection state of the spacing monitoring device (26) which depends on the actual spacing (D) of the vehicles (12, 14), and that comprises a beam source (28) and a sensor arrangement (30) detecting the radiation (32) of the beam source (28); one vehicle (12), constituting a source vehicle (12), carrying the beam source (18); the beam source (28) radiating, toward the respective other vehicle (14) constituting a target vehicle (14), an electromagnetic radiation (32) directed in such a way that the radiation (32) is present only in a beam space (40) that extends over a first angular region (43) around a first beam space axis (42) and over a second angular region (46) around a second beam space axis (44) and that is inclined around the first beam space axis (42) with reference to the working direction (A).Provision is made according to the present invention that the sensor arrangement (30) extends along a sensor axis (36) and is arranged on the target vehicle (14); a reference detection region (34) on the sensor arrangement (30) being irradiated by the beam source (28); and the sensor axis (36) being arranged with an inclination around an inclination axis (54) parallel to the first beam space axis (42) so that a change in the vehicle spacing (D) results in a change in the position of the detection region (34) and thus in a change in the detection state of the sensor arrangement (30).

8. 发明申请

US20190084478A1 Automotive Construction Machine And Method For Displaying The Surroundings Of An Automotive Construction Machine 审中-公开
公开(公告)号：US20190084478A1
公开(公告)日：2019-03-21
申请号：US16139940
申请日：2018-09-24
申请人： Wirtgen GmbH
发明人： Harald Kröll , Herbert Lange , Martin Lenz
IPC分类号： B60R1/00 , E02F3/18 , E02F9/26 , E02F9/24 , E02F5/08 , G06K9/00 , H04N5/265 , H04N7/18 , E02F3/20 , E01C23/088
CPC分类号： B60R1/00 , B60R2300/105 , B60R2300/303 , B60R2300/607 , B60R2300/802 , E01C23/088 , E02F3/181 , E02F3/183 , E02F3/188 , E02F3/20 , E02F5/08 , E02F9/24 , E02F9/261 , G06K9/00791 , H04N5/265 , H04N7/181
摘要： The invention relates to an automotive construction machine with a transport device extending in the working direction beyond the machine frame, in particular a road milling machine or surface miner. Moreover, the invention relates to a method for displaying an image of the surroundings of an automotive construction machine. The construction machine according to the invention has an image display device for displaying a bird's eye view image of the surroundings of the construction machine, which image display device has a camera system with a plurality of cameras for recording individual overlapping image regions of the construction machine surroundings from different image recording positions, and an image processing system. The image processing system is configured in such a way that image details of the individual image regions are joined together to form a total image from a bird's eye view. The camera system has at least one camera which is arranged on the transport device in such a way that the viewing direction of the camera is directed in the direction of the machine frame, and at least one further camera which is arranged on the machine frame in such a way that the viewing direction of the camera is directed away from the machine frame. Using the cameras directed into and away from the machine frame, the machine operator obtains a complete surround view, which includes the region covered by the transport device in the working direction in front of the construction machine.

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