• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Snow vehicle (1) having at least one lighting element for orientation in the environment (9) of the vehicle, as well as for the optical detection of obstacles (10, 11) and topographical conditions of the environment (9), wherein the illumination element comprises a laser (7, 33) at least one laser beam (8, 8a, 8b) which projects a pattern having a structure (28, 28a, 28b, 37, 40) on the background (38) of the environment (9), which pattern on the obstacle to be detected or the topographical relationship is visually distorted.
    公开号:AT520794A1
    申请号:T494/2017
    申请日:2017-12-20
    公开日:2019-07-15
    发明作者:
    申请人:Prinoth Ag；
    IPC主号:
    专利说明:

    The invention relates to a snow vehicle. mt (at least one illuminating element for the marking sn ear environment need uem Ooerbegnft the patent claim 1.
    'v V' <eate ^ -e xa 't se' '•' Vv, e '
    Prapanensng by Supssten t nd Lor »n sen as well as a franspeit vehicle for the transportation of goods and people on a snowy surface.
    For Öte Onentiemng sn ear snowy surroundings around Nach ’, such a vehicle has at least one vehicle. the environment humidifies us the Fasvar recognize obstacles heels
    For example, snow groomers for preparing ski skis can have additional headlights in the driver's cabin. to illuminate the area around the ski slope to be prepared at night.
    , > v '' _vgt ώ-'ve 'x> c U'C'ue;
    Permit yen Schneuberitechen. with at least two eyes: nwerfen- Ge ssch m recesses in a front mask
    The disadvantage of this fat sighting is. Wet, especially in the very best test conditions of the ’underground, blurs with the sky and makes it difficult or impossible to detect obstacles · - During the day, it is difficult for the driver to find his way around in the mild weather conditions.
    One example of this is the so-called whdeout, which describes the brightness λ o cce »i w-x- Ή Λ. <'' te, xb x -. '
    Cloudiness, fog or snow-blasted) observed weföan can due to the stiff c *, ac '' R-Όχη ce Rot ne, cux <xj oe η ''v-goi'm 5 . very nonen minimal luminance there is a very strong contrast reduction and the entire field of vision seems to be even: to be. Gas results in the disappearance of the horizon: ground and sky getters seamlessly one above the other contours or shadows no longer xet ', -Tet <ο οζ «' would find an infinitely clean gray space
    Wtiiteoute were used to provide a serious problem for the descended onset, obstacles or abysses are no longer recognized, and distances and the steepness of the subsoil are no longer ascertained.
    SiXte- 'ue r - io teixteiA'ituxz ovo *' c Pixei. ”Vungsenn> - ce ’ • ahi-.cx.gi s partly possible with a close range: St. If the conventional Oksuchfurip ledigbc-h esn creates two-dimensional deletion, worn-t siet ’obstacles can only be recognized late or not at all.
    Use DE ü I 54 B35 At draws a soil tillage implement with a feit.>'-··;,.'jx; c 1 · - e '' t + ·. ''p ovc ce'*> xc o <- χ <b'SxXteUik'e te Ortens oes.ennt wwen xonn u 'C n it Ό an S'g u. för de Hcshensteuemng ues Bodenbearoeiföngsmiifete as cispietewicht a room server :: i'r.i can be generated. To do this, the sensor arrangement has a laser detector and receiver. of the light rays and evaluates the rays reflecting from the front of the receiver in terms of transit time and time to control the tillage equipment.
    2.22
    This disadvantage is disadvantageous. that the sensor arrangement works complexly and that it is partly proportionate to Witten.ingseir $ is also the »- '•., yes it'·" o> '' ν ' s coe' cC '< V ·.' 0 'd '·. '0 0. A x X' · Can. ; '::
    The object of the present invention is therefore to further develop the satellite door of such a snow vehicle. that a stronger detection of obstacles and topographical conditions in the surroundings of the vehicle is possible
    Did na -iMmu duw-be ''egei'ie Vbg fite «u dum ''<te LWA de 5 unenhang gen P3tei'Lmsp u <-nes ve a ·, while vt-rteitriafie Ausyestadung-ti unn further developments of the invention can be found in the excessive claims
    The essential iVterkmai is that Bsieucniungs & iaman * pro-izes for orientation in the surroundings of the snow vehicle with a laser, at least with a lasetsfrahi tst her e <n Marte ine emerStruUu, ate dec ju'e'gn.md de 'r mgubu >. soft busier at the recognizable '·· obstacle or the oo e <>>' e '. v χ vt> vvt ”^ 0-1-0.0.0
    By using a laser that mR at least one sharp-kitted laser beam e; n d-slimed pattern on the; The surface is prj | izted, therefore, for the vehicle, an obtekttezcgene optically *; Detection of the environment mogitch
    With such an object-related recognition, topographical surface characteristics of the surroundings can be detected. The incipient shifting or curvature of the image of the sirah pattern can be inferred from the presence of a millet miss.
    A flat laser stitching * is advantageously shown over a longer distance, such a distance extending, for example, 6 to 25 m in front of the snow gun
    - '-' 'ν> χ x. a <u.ix-t x »'c -1.' o> o s ·. designed the tase s-radi ophsen so hanstonnieri that it generates a specific eiructu from a>> · <a '>' ς '·' -xu-'m- oxt vv c ie e: ·, preferably a special one: GaschUfenfe lens is used. Due to the world nature of the Ukhta, the finest micro structures are suitable for light deflection.
    u ·. i an ·. χ ϊ-χ λ o oo -.e'Xv * ec s <λ s' 1 1 0 - <„χ ^ χ this from its emba position on the snow vehicle aut den Umergn ^ nd; ex ·. -s U Λ.χ 'Ov r ..... ϊ' χχχ '- χ ..... χ η
    Aitematively, a laser scan can be done by means of bines rotating spike lens or, for example, a movable optical; Etemems · except; Umergn.md must be respected.
    □ Know the lasers used on this snow truck, for example, by retracting and extending the telescope arm. The Teieskoparm can i χ>. -.ο · »ex o, t xe e ·, <0 rot 'χ v ' uo 'ot χ.
    Oer erftndungsgamasse laser projects an exact uichi pattern on the surface, which can be optically evaluated by the driver of the vehicle. Soma three-dimensional objects can be manned due to a laser-generated and pre-projected on the surface xe 0 '0 e' * '0 xd < x '' f .X 'C' 'x
    When lifting a light grid or cross grid, other structures can also be generated by the laser, such as purity structures. • x ü χ e 'ν -''+ ae e A ''
    3.22
    With these structures did the ref and shape precede Obstacles or topographical conditions of bypassing orkennan
    In a leading version of the invention, the laser used is self-leveling, ie. the taserfimer · are always 10% straight - even when the snow vehicle is in an inclined position, it is the same; Lens the oblique positioning from '>'Λ'- C 1 '''~ VS y. >'S -X- V esnen. through which the alignment of the laser (north, west ·. south, C-th) can be determined very precisely. By means of the gyroscope sensor it is possible to determine exactly what changes in direction VW is connected with distance measurements. can thereby determine their current location. Fahri des Schrieefishrzeug oei.spieiswe Sa with a · if no GPS signal is available .St, the gyroscope takes over and tests for any missing information csr: seiche Sensor has to recognize a supper on the snows of the snow vehicle and counteract it with a laser control. The Gohimusrar always throws the geunsehra structure onto the ground
    Now when a vehicle hits a tree stump on a bump in the landscape or in a direct area; the Krauzgiher projected onto the surface by the dam laser is deformed in the thin dimension. It comes o ',,''n' s < s ec Le sa'ä> Ao fe f '>' x- ·, '>' ssch in your Changing the distance from each other or being bent Sormt can be used to draw conclusions about an object lying in front of the snow vehicle and the size of this bending
    With the laser according to the invention, you can be differentiated and identified
    Such detection of the eye was emitted with a diffuse light, soft ncc'ä-iUssixe vou e »ram Hafogcseno thrown out v, m. According to the state of the art, it does not work
    A red laser eye is preferably used, since the surrounding area is less visible and the laser lines are more visible.
    However, the invention is not limited to this. The use of a different coloring for the laser, such as a E. gmu or niau wro m> t of the present invention, is also claimed. A scfchs color can be generated, for example, by upstream color filters.
    Lisa structure projected onto the ground moves together with the snow fan in the direction of the flag, but slower than the vehicle so that the Eäeki blows. that the Fenrasug overruns the pattern The Vödes des t '''gtuc'n'-' ξ , x>e>'7 ί * eg ~ ο ί ό' ο ·>'m the illustrated pattern nmntfiackerl and sortsl impairment of the driver by such a fiaokem was prevented
    The laser projection onto the surface is dependent on the i’ahrgeschwfndigkeii v, the ; t.enkw; nkei e uno the won pass G as well as inertidisommom, which detect the inclination of the snow vehicle in the area, controlled
    This makes it possible to drive the steering wheel so that the lasers always shine in the direction of travel.
    If, for example, the driver is in reverse gear, at least one laser on the back of the scooter vehicle will cut into the surface and the surrounding area will be exposed.
    Regardless of this, it is also possible to manually test the snow vehicle's softness, as boreran oer unmiheiuwiari snowshoes should be recorded.
    s ', j 'v ix s * ck *''e'> * e ΐ '* seFiiCh the driverKubme Dusch omsen'tem'massv Kanr eb s 'i'teüs ev '' ittermusterau * Jo 'Wgx'K: prcjic iawsau * '-st uw ErtaxK> g however mentally limited A circular structure can also be projected from the laser onto the surface, depending on the size of the cross, 1 ''K' sx 'X', <k ' 1 'X. <'«'' - 'A 1 Λ. ·.
    along the edge of a forest, the Heiner district projected onto the trees as if the laser beam scanned the area
    The subject matter of the present invention not only results from the subject matter of the individual patent claims, but also from the 'io' o c o '*' r · ο <· r x e
    Fite m -vo : J (Serfage ^ emw hkesdioh luSäomternt.-S '-' Unq disclosed information and Merftmaie, in particular the spatial education, are claimed as essential to the invention, as far as they individually od: -: f sn Kombinat-on compared to the prior art. The invention is explained in more detail below with the aid of several drawings showing Austsihrungswega. The drawings and their descriptions show further arfiddursgswesentlich® bferkmaie and advantages of the invention.
    Insofar as individual objects are described as “inventive” or “important”, it means nothing. that rfiase items must necessarily form the subject of an independent claim. G-it is also determined by the applicable version of the independent claim
    It showsFtgur ’snow eye in a back view
    Figure 2; Scfwalabnmug in side view
    Figure 3. perspective-.ststcm l sser
    Figure 4: Side view Rotatiomiaw 1st variant
    Figure p: supervision of Rotatiohstessr 1, variant
    F; guf ΰ Auh-icnt Fotat-onslaser 2 Vanante
    Figure : Side view RntetiönsteserF variant
    Figure 8: Top view of snowshoeing
    Figure V Äufsichl snow vehicle with searchlight
    Figure 1Ö: front and side view with searchlight
    Figure 11: Giockschatteild
    Figure t ze = gt .-: r: snow vehicle '. soft ssl on two uit-dependent mutually controllable toe levellers 4 on the subsoil 3S of the bypass 9
    Gas snow machine 1 xesst eme Fahmrf'eh-ne 5 eul m softer at least <v> <x'c i'ess'. *, Κ * k * u „* <
    Fanrisk cab shows a windscreen> 2 ) ^^ from the driver ρ: << environment 9 can observe, 3 7
    Most of the driver cabin 5 are located there; ·: Example of two lasers. soft laser stratees 8; n f - nrtr-oniung fes Sr’meetehraeugfes 1 ab-steer; as well as two Beiierisaser 23 d: e d-e lasers aimed, eh Snowing vehicle streaking onto the surface 33 or the laser beams 3 w were thus projected onto a defined area of the surface 33
    Eaeich 'from Aoteiiteterteteira; ρ;! Object m Fanrti-chumg '»egg shown as a tree stump W strived de laser strante ·; 3 d> eses Ubjekt .an and due to the distance shortened by the object ne Laser beams are also the laser beams 8 that previously shone on the background 38, shortened in length arid now form the beams Sa, Sb. Depending on the distance of the laser 33 from the Βη-.ί-Ίηΐι.ιη ·;.. ·· W rate Lasers-Rahien Sa, 3b undercut long and shorter than - the laser beams 3 wtelcne continue to shine unhindered on the surface 33 hair dryers such «difference between the individual laser beams 8 Sa. 8b is optically recognizable for the tehrev of the snow eye, so that the driver is also aut C 'b ··· ^> n Close flag; arid rmttete e-η can perform evasive action.
    If the snow vehicle 1 now reaches the confusion, the laser beams 8 from the taser 7 aimed at this obstacle and, due to the longer distance of the laser stretches, did the Sina stretch out in the past the background 33 sci-neriderr laser beams 8 extended in its i.3tnge and now form the rays Sä '. 8b '. -Yes depending on the distance of the laser to the areas of deepening r are the laser beams 8a 3b : different in length and tengar than dra laser beams 3. which continue to radiate unhindered onto the base 38 of the recess 11 Such a difference between a laser beam 3 Sa '. ab is visually recognizable for the cten driving of the snow vehicle, as a result of which the driver can infer the object in the direction of travel and, if necessary, perform an evasive maneuver or the surface 38 must p.rapaneran at this point.
    Thus, the driver can move from a spatial salinity of the projected laser stripes on an obstacle or a topographical change in the subsurface 38.
    Figure 2 shows the snow pull 1 from F-gur -n side view, wöbe- that from Cte '*, -e amooi V i'te'8 *>, i u - l <"pe a - '. i Uritergs-arid 38 are processed. The vehicle 1 has; at its best a ikaumsc defense 3 angry move the snow n »f hike whose unevenness in the ground 33 can be leveled out in addition to the; laser glowing in the direction of travel is at least esn side this 33 rarely attached to the Fahiemsbine 8. weave; this Seiteniaser 33 illuminates the area next to the S-ühneatehraeug
    FIG. 3 shows the laser used '(Or 33; which emits a basic laser beam 33 from an external base 30. The OmndiasersUahi 35 penetrates through the los ·,' - '' ac-ί>: · '”se 3 * aas irase> e -t since «tgotei ο v η - υ -« ne.Lasora-rah -ne Freuzstnjteur 16 armarm This cross-triictu 'ß consists of two intersecting tectertormigari Laseri-rrahism. wades ···':. · sn emern angle 17 18 to each other in the example shown here, both angles 17, 18 are ninety degrees, so that two ad users standing at right angles are transmitted.
    FIG. A shows uma western embodiment of the present invention, a Tronwat body 23 is used, which rotates about the axis of rotation 24 in the direction of the arrow 21. On the religious body 25 there are basic intervals 38- at delineated intervals, which the laser beams through untarachy lenses 28. In the example shown here according to FTGUI 4, the Isnsen 26 pin horizontal line pattern, while the lenses 27 have a vertical line pattern, te, kwmws, if laterate wires now shine through these lenses, these are output depending on the lens 36, 27 or vertically.
    Since this is a fine, fateful ride on the drum, to protect the driver of the snow vehicle and to align the exposed area, panels 23 are attached to the outside circumference of the Trummeteorpera 25 wash m, n6 / 22 i % Protective effect against snow and ice
    Figure b shows the; Tremmerkorper in Asternm Uw & end 29 does not ignore nW * 3rn 3er { ι <«ϊ'Β '^ μ'ά 1 ' Ob 'en>'i> v 5 s <· ^ i'u g ü.-üt never outgassed by>> e laser beams δ> n this environment 3 'e' V ''< «g er * w so c- '- ¢ - 4 v ' so '''' s -. '<i V oe <D'>'L<e1' ox-te. v> e 'xoo' v '" t at a defined position of the rotating lasers emit a beam 8 and when there is no compact inactive smo
    FIG. 6 disassembles the weather guide or ErUnduiig, whereby a green laser 30 sees a Grurrdteserstrani 35 on its stump 2L. This is surrounded by <re Bteisde 2v, which protects the sensitive drum body from snow and eta and opens up its front openings 38, through which the laser beams 8 can be emitted into the surroundings 9 Ds® frommei 20 rosen in P5 "i'richteug 2 t about the axis 24 and has at its <ü 't 3" v'cai o> et:' vs'w 't e sms iü sc Soiep ^ or e- ’e <te : te» co oe t G-nnost at r en n 'oef nieiteu Winkel and emit it again by laser beams 3.
    According to FIG. 7, the vitreous body 22 has a defined scentf oei Cüedioche. so that you see a grurteteseishani 35 of a mirror body 22 embedded mirror body 23 roltektian shaped so that it kicks out of the drum 20 with Siner Kreuzste .- «tttr !. The laser beams 8 shaped in this way trot on a subsurface 38 where the lattice structure becomes visible. The lattice consists of the horizontal quenchments 28 and the long sides 3 crossing the cross sections. ”IA 'te.pt e -'- x cs e · 't.te i S' a, 4 «'t 2'iS -----''te'texü'vt in spy roof 39 over the underground 33. Laser 7, which is mounted on the roof of the driver's bench, illuminates this The vehicle 38 scans the background 38. Due to the special shaping of the laser beams 8, a "Üt ^" tetet- 40op "" nte x '3 ->,> ira o, i I, - v. J „ e 1'te>tex.i'- ·: from the; Queriimen 2ö. and the longitudinal line 37 crossing the transverse lines 28.
    If the Sciineetahrzoug 1 now reaches the recess 11, oas will be eas co '' te i ' te tc rt' -e b ^ · 'ü vuιό''sej c. e r & umltchen misalignment of the transverse and longitudinal lines 28.37 comes to each other A suichsi rsumiicher salting is optically recognizable for the true man dos Ficnnaeianuteuges and he can thus conclude an obstacle or a topographical change of the underground 38
    Through the recess 11, the Quadsnieri 28 of the lattice master 40 are shown on the curved urns 28a : 28b, while the Längsiinieri 37 continue to sound straight on the ground 38 due to the differing bends of the quests 23a. 28b can the driver ®u close the depth and extent of the recess.
    * m, 8 's *' u ό sxi vntte '. Λ λ. e ae ate a * ot *. 'nc te -te'>s> Dn <; t '> 0 cs aex <,' $ t <'j te, ßa' Λ aox 'bex'x'<'i3>' Ln-jd »· χ , ηρ'ς. -.-, · κ Οχ Wegstiocke the Laseuxtranier: 8 misjudge, so that the shortened rays 8a. 8b meet an object by changing the radiation® and moistening 04 X Sx '' X <.-1, - 1 '83> X 1 0. - '4, 5 ^ te X and di® pour ess obiestas iu shoot and em correspond.iocs Fahrmsrtövsr and carry out the object
    In addition to the lasers 7, there are filter lasers 33 on the UtestekeUne 5, which illuminate the soap areas surrounding the hub 38 of the SUteeefehrzeug 1.
    well shows a Sehueefahmeug 5 mite-rem auvisUtemermr-n which proliferates a spatially limited grid pattern 40 on the ground 38 The searchlight 41 is operated from a slope and can be rotated and swiveled m in all directions. In addition, the grid pattern MO m
    Όι ”. V x ' ! 0 - ''<te
    7.22
    FIG. 10 shows the searchlight 41 m from the cable and front view, which is mounted on a telescopic arm 43 which is adjustable in length and which has 4 V $ s v through the Kaosnenaach. Xs. '00' c ·> '. 'OO'ät - Λ' in the swivel angle 37 and / or ή Dramicbtung * fe - »first be over a switch '44, the search key can be turned off and a gowmaitet. as well as a spatial size of the lattice master.
    The searchlight 41 is leased out with a Foio-Laseidiode 43. which is a good thing, the cross structure 'oes lattice tusiers consists of two intersecting, fan-shaped laser beams. which are at an angle 17, 18 to each other. in the Seispisi shown here both angles are 17.18 ninety degrees, so that two right-angled axes are emitted,
    FIG. 11 shows a block diagram of the circuit used for the snow firearm. A Sigrtai converter converts 50 me signals from the Fannreugeiak iromk; QAN BUS »m SPD bompakble signals to Sems- dis signals 14 arriving from the snow vehicle 1, such as
    • e ^ acho oduike t 'ana nt. »' G„ e wvn'ke aoo and De c »ng r sd <, control signals converted A PLC central processing unit (CPU) 13 as the central processing unit processes all incoming signals and does the necessary calculations to then issue the commands and output lines to the individual components. The PLC Zenirai module 19 calculates the Sok values BO-S3 from the actual values fed in and passes them on to the different controllers 52-55. D> e peglers 52-55 then regulate the movements via the motor voltages 58-59 Laser A. 7b or the searchlight 41 These parts each have a drive meter SS-71 (Gieicm or alternating current drive motors depending on requirements) with an associated encoder 64-67. A transverse adjustment 76 serves as a swivel meter for three deflections of the Giitemuster system. the direction of travel miibewegeuce gate pattern at ®mer Kurvsnfahrf nods more into the structure of the guests
    The encoder 84-67 record the position, speed and direction of the drives and can be used for various control tasks. They output signals that are processed in front of the PLC zenirai module 13 Depending on the encoder used (impulses, sine waves, voltage, etc.), various controls can be maiisreri.
    For example, if the snowmaker is accelerating, the project units 72-74 of the lasers 7a, 7b or the Sucnscheiriwerers 41 are activated so that the grid pattern 40 moves towards the snow vehicle 1 at a relative speed. The driver of the vehicle thus net the emaruck that he aas G <herrriuster overruns If the snow vehicle slows down in speed, s> oh also reduces the relative speed of the grid pattern
    The creation of a dynamic grid pattern ^ has the advantage that the grid pattern thus generated is independent of fan product fluctuations and roll. Movement stiabii is projected onto the base to be commanded
    To control the laser, for example, three speeds of rotation of the drums 20 and .2.5 from FIGS. 5 and 6 can be regulated
    The entire system is controlled via an electronic device, whereby old adjustable parameters can be selected, changed and y-sualnjert shown.
    A power supply module 15 for power supply to all components,
    Zohnumstegends
    1. Snow vehicle train
    2, s, - x
    4 .. Kattenlaufwark
    5, driver's cabin
    s. Leuchikörpär
    8.22
    . Laser 7a. / 5
    8. Laser beam Ba xe ga. & Y
    9. Environment 't q. object
    1.:. , VeitSSiunp
    12 .. rotary encoder i 3rd signal
    14. Signal
    15 .. S from supply module
    6. K: '' UZ
    17. Angle
    18. People
    19. S PS Zentsai baogmppe (CPU)
    30. drum
    21. Arrow direction
    22. vitreous body (polished)
    23 mirror body
    2 4 .. axis of rotation 25th Tromrnai 36th lens 3'7. üns® 28th Guerünie 28a. 28b 29th ßiencls 30th Basis 31st Lrnse 32nd windscreen 33rd cable laser
    ,
    5. Grunrtiasersbahi
    6th opening {of 29)
    7. Longitudinal opening
    38. Underground
    38. Direction of travel ο <grid pattern
    41. Searchlight
    42 .. Reskicntung
    3. r oto-i.as «sdiuda
    44. God
    45 .. switch
    46. Cable roof
    . swivel angle
    48. Distance
    9 <Teäesl · oparm
    5 NC. Signal Converter
    3i. &Eo; engemt
    32 .. governor
    3. Regulator
    54. Regulator
    55. Controller: i 6. Motor voltage
    7. Motor voltage
    58 .. motor voltage
    59. Momrspanmmg. setpoint
    61. Setpoint
    62 .. setpoint
    63. Setpoint
    54th Rotary
    5. · Urge but ee. encoders
    5. Encoder
    68th engine drive motor
    69. Anteeb.wow
    o. drive motor
    71. Drive motor. · Projection units ’i 3. PrpieMsonsemhait
    7.4. Pro ^ eküomesnteil
    9/22 λ cross-directional: snow equipment t ) Mn at least one oil-firing moment for the exterior (n environment (9) of the vehicle, as well as for the optical detection of obstacles {10 11) and topographical conditions of the environment tu). of the "des Seieuch'ungseiement" in reading . 33i with at least one laser beam (8, Oe, 8b · is the em pattern with a structure (28, 28a, 28b, 37th JO; on the background (33} of the environment ! V '<' - v,, en >'„„V' - - -X cc b ”topographical ratio is visually distorted.
    Snow vehicle {1} characterized in that it lens (28,27} optically transforms the laser strani <35). that it points from its installation position on the snow vehicle (1i at the base iSh} the Wt 'de c- · t,' M ^ t <'' 3d 0 P b v r
    3. Scnnestanrzeug (1} according to claim 1 or 2. gekenmelehmi that di- '-t-uxi i ·' - · << G hoi's' ux.c ·, <tc 'mer e «' e KnUtst ^ M oe · -w is a circular structure or a lirsen structure.
    Snow vehicle p} characterized according to one of claims t to 3. that the structure through d-e obstacles ·; to. 11} and / or eumh g; e topographical conditions is distorted *> hfrm <iaefahi'zeug according to emem of claims i to 4. characterized in that the isserpfoftiontion on the ground (33) depending on the driving speed, the steering angle, the elected! Getnebagangs, as well as inemaisengoren, which grasp the inclination of the brake tool (1) in the situation, can be controlled
    Gntmeefahfbeug t s natn one of the claims t cn; 5, characterized in that it is mounted on the side of the driver's cabin · 5: mounted »; Seiteniaser (33i a total simidur outside; ijnt ^ igrund (38i nice - the snow vehicle ·: 11 projected.
    7. Snow vehicle (1) according to one of claims 1 to 8, characterized in that on a vehicle-side rotatable body (25) a plurality of laset (30} is attached, the drum body (25) being the laser beam (8) dumb different L.mssn (28. 20 sends a lens (28) to a horizontal stroke pattern, while the poorer lenses (2 Generate a vertical stitch pattern.
    Snow gun according to one of claims i to 5, characterized in that on the outer circumference of a lahszeugseirigen drenberen <'' 'οο b $ e b <'. '<e. "W ·. be Λ '*' o 'meet' with several mirror bodies i.23) embedded, reflect one or more laser beams (38}.
    Snow drill according to the requirements t r »s v thereby e» 8ermibi''nnbt, ucrs c e. e, b ~ 8, &quot; n-. .w '- e Teiesk.C'parm p9 stored smd
    Züsammghhsbuno lÖ ”/’ 22
    11/22
    12/22
    13/22
    14/22
    15/22
    16/22
    17/22
    18/22
    Research report on A 494/2017
    Classification of the subject of the application according to IPC:B60Q 9/00 (2006.01); G01B 11/25 (2006.01); G06K9 / 00 (2006.01); GO6K 9/20 (2006.01); G08G1/16 (2006.01) Classification of the application according to CPC:B60Q 9/008 (2013.01); G01B 11/25 (2017.01); G06K 9/00805 (2013.01); G06K 9/2036 (2013.01);G08G 1/16 (2013.01); B60Q 2400/50 (2013.01) Researched test substance (classification):B60Q, G01B, G06K, G08G, G01S, G05D, E02F Consulted online database:EPODOC, WPIAP, PATENW, PATDEW This search report was compiled on claims 1-10 filed on December 20, 2017. Category*· Title of the publication:Country code, publication number, document type (applicant), publication date, text or figure if necessary Regarding claim XYYXXXXX DE 102015200748 Al (VOLKSWAGEN AG [DE]) July 21, 2016 (July 21, 2016)Summary; [0010], [0017], [0024] - [0026], [0030], [0051], [0052], [0070], [0078]; Figures 1-3DE 19608632 Al (EOS ELECTRO OPTICAL SYST [DE])September 11, 1997 (September 11, 1997) entire documentDE 102015115239 Al (HELLA KGAA HUECK & CO [DE]) March 16, 2017 (03/16/2017)[0011], [0014], [0015], [0019] - [0021], [0033], [0040]; figure2DE 102015206936 Al (AUTOMOTIVE LIGHTING REUTLINGEN GMBH [DE]) October 20, 2016 (October 20, 2016)[0009] - [0021], [0039], [0040]; Figures 1-4DE 102007050830 Al (BAYERISCHE MOTOREN WERKE AG [DE])April 30, 2009 (April 30, 2009) Entire documentUS 2017158128 Al (JIANG JINN-FENG [TW], HSU SHIH-CHUN [TW], WEI HUNG-YUAN [TW], LEE TSUNG-HAN [TW], CHANG TSU-KUN [TW], HSU KUEI-SHU [TW ], WANG CHIA-SUI [TW]) June 8, 2017 (June 8, 2017)[0032] - [0035]; Figures 1-3DE 19730414 Al (OPEL ADAM AG [DE]) January 21, 1999 (January 21, 1999)Figure 1; Column 1, line 46 - column 2, line 37; Column 2, line 64 - Column 3, line 15 1, 3-6, 107-97-91-4, 6, 101-4, 101, 3, 4,6, 101-4, 101-5, 10 Date of completion of the research: ς t 1 1 examiner:30.09.2018 be 1 of 1 NEWRKLA Irene *) Categories of the listed documents: A Publication that defines the general state of the art.X Publication of special importance: the application P document that is of importance (categories X or Y), but afterobject cannot be published as new or published on the priority date of the registration solely due to this publication,inventive activity can be considered based. E Document of particular importance (Category X) from whichY Publication of importance: the subject of the application may not result in an "older right" (earlier filing date, howeverNovelty would be considered to be based on inventive step, if post-published protection is possible in AustriaMake publication with one or more other publications),is associated with this category and this connection for & publication which is a member of the same patent family.is obvious to a specialist.
    19/22
    权利要求:
    Claims (11)
    [1]
    1. Vehicle (1) with at least one lighting element for orientation in the area (9) of the vehicle, as well as for the optical detection of obstacles (10, 11) or the topographical surface condition of the area (9), and one for the driver of the vehicle Object-related optical recognition of the surroundings takes place, the lighting element being a laser (7, 33) with at least one laser beam (8, 8a, 8b), which has a pattern with a structure (28, 28a, 28b, 37, 40) on the background (38) of the surroundings (9) projects which pattern is visually distorted on the obstacle to be recognized or the topographical relationship, characterized in that
    1. the vehicle is a snow vehicle, in particular a piste device for preparing ski slopes and cross-country trails,
    [2]
    2. and that the laser is self-leveling by means of a gyroscope sensor.
    2. Vehicle according to claim 1, characterized in that the current location is determined by means of the detection of changes in direction by the gyroscope sensor in connection with a distance measurement.
    [3]
    3. Snow vehicle according to one of claims 1 or 2, characterized in that the laser projection onto the ground (38) in dependence on the driving speed, the steering angle, the selected gear, and via inertial sensors that the inclination of the snow vehicle (1) in the field capture, is controllable.
    20/22 [LAST CLAIMS *)
    37388; A 494/2017

    [4]
    4. Snow vehicle (1) according to one of claims 1 to 3, characterized in that a lens (26, 27) optically transforms the laser beam (35) such that the latter from its installation position on the snow vehicle (1) onto the ground (38) directed pattern with the defined structure (28, 28a, 28b, 37, 40).
    [5]
    5. Snow vehicle (1) according to one of claims 1 to 4, characterized in that the structure is a grid pattern (40) or a point structure or a circular structure or a line structure.
    [6]
    6. Snow vehicle (1) according to one of claims 1 to 5, characterized in that a side laser (33) mounted laterally on or on the driver's cab (5) projects an additional structure onto the ground (38) next to the snow vehicle (1).
    [7]
    7. Snow vehicle (1) according to one of claims 1 to 6, characterized in that on a vehicle-side rotatable drum body (25) a plurality of lasers (30) are attached, the drum body (25) the laser beams (8) through different lenses (26 , 27), the one lens (26) producing a horizontal line pattern, while the other lens (27) producing a vertical line pattern.
    [8]
    8. Snow vehicle according to one of claims 1 to 6, characterized in that on the outer circumference of a vehicle-side rotatable drum body (25) one or more glass bodies (22) are arranged, in which a plurality of mirror bodies (23) are embedded, which one or more laser beam ( 35) reflect.
    [9]
    9. Snow vehicle according to claim 8, characterized in that the glass body (22) has a defined cut of the surface, which forms a reflected laser beam (35) so that it exits the drum (20) with a cross structure.
    2i / 22 (LAST CLAIMS ^)
    37388; A 494/2017

    [10]
    10. Snow vehicle according to one of claims 1 to 9, characterized in that the laser (7, 33) on a retractable and extendable
    Telescopic arm (49) are mounted.
    [11]
    Vehicle according to claim 10, characterized in that the telescopic arm (49) can be controlled electrically or via an electromotive servomotor.
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    RU2765071C2|2022-01-25|
    AT520794B1|2019-11-15|
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    CA3086095A1|2019-06-27|
    EP3727933A1|2020-10-28|
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    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE19608632A1|1996-03-06|1997-09-11|Eos Electro Optical Syst|Device and method for the optical scanning of surfaces|
    DE19730414A1|1997-07-16|1999-01-21|Opel Adam Ag|Method to judge condition of roadway in advance|
    DE102007050830A1|2007-10-24|2009-04-30|Bayerische Motoren Werke Aktiengesellschaft|Vehicle, has surrounding lighting device implemented in such manner that light pattern is produced in surrounding of vehicle by surrounding lighting device, where light pattern includes light lines and light grid|
    DE102015200748A1|2015-01-20|2016-07-21|Volkswagen Aktiengesellschaft|Motor vehicle with at least one driver assistance system to support a night drive|
    DE102015206936A1|2015-04-16|2016-10-20|Automotive Lighting Reutlingen Gmbh|Method and device for detecting obstacles in the travel path of a motor vehicle|
    DE102015115239A1|2015-09-10|2017-03-16|Hella Kgaa Hueck & Co.|Vehicle with light projection system and method for assessing the topography of a soil surface|
    US20170158128A1|2015-12-07|2017-06-08|Metal Industries Research & Development Centre|Alarm method for reversing a vehicle by sensing obstacles using structured light|
    DE10154635A1|2001-11-07|2003-05-22|Bosch Gmbh Robert|Method for determining contours of ground to be smoothed using earth moving machine with microwave radar sensing arrangement that ensures height of earth moving tool is automatically set at optimum height|
    RU2445226C1|2010-11-16|2012-03-20|Сергей Владимирович Карпеев|Snow mobile|
    JP2013196353A|2012-03-19|2013-09-30|Sharp Corp|Peripheral information generating apparatus, conveyance, peripheral information generating method, peripheral information generating program and computer-readable storage medium|
    DE202013006071U1|2013-07-05|2013-09-12|Stephan Kaut|Projected light grids from vehicles|
    US10457193B2|2014-03-03|2019-10-29|Koito Manufacturing Co., Ltd.|Vehicle lamp and vehicle lamp control system|IT201800010490A1|2018-11-21|2020-05-21|Prinoth Spa|TRACKED VEHICLE FOR SKI SLOPES AND METHOD OF DISPLAYING INFORMATION FOR SUCH TRACKED VEHICLE|
    DE102020101710B4|2020-01-24|2021-09-02|Audi Aktiengesellschaft|Method for illuminating the surroundings of a vehicle and a motor vehicle|
    JP6962646B1|2020-12-29|2021-11-05|山崎 明美|How to know the position of a car across the road and obstacles ahead|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    AT4942017A|AT520794B1|2017-12-20|2017-12-20|snow vehicle|AT4942017A| AT520794B1|2017-12-20|2017-12-20|snow vehicle|
    US16/954,477| US20210072020A1|2017-12-20|2018-12-19|Snow vehicle|
    RU2020123759A| RU2765071C2|2017-12-20|2018-12-19|Snowmobile|
    CA3086095A| CA3086095A1|2017-12-20|2018-12-19|Snow vehicle|
    CN201880083345.4A| CN111741872A|2017-12-20|2018-12-19|Snow vehicle|
    PCT/EP2018/085789| WO2019121880A1|2017-12-20|2018-12-19|Snow vehicle|
    JP2020554574A| JP2021509382A|2017-12-20|2018-12-19|Snowcat|
    EP18830459.6A| EP3727933A1|2017-12-20|2018-12-19|Snow vehicle|
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