Collision avoidance assistance system for movable work platforms
The present invention relates to an apparatus and a method for generating a cloud of points ( 1 A) representative of the real outer shape of a human transportation vehicle ( 1 ) located in a building ( 4 ) and for determining the position and orientation of said human transportation vehicle ( 1 ) in said building ( 4 ) and for determining the relative position and orientation of at least one movable work platform ( 2 ), the position and orientation of said human transportation vehicle ( 1 ) and the position and orientation of said movable work platform ( 2 ) being referenced with respect to at least one known building ( 4 ) reference point (R 1 ), said apparatus being for preventing collisions between the movable work platform ( 2 ) and the human transportation vehicle ( 1 ), said apparatus comprising: at least one known building reference point (R 1 ) being the origin point of a 6 degrees of freedom coordinate system and serving as a central common reference point, and at least one three-dimensional scanning means ( 3 ) for determining said real outer shape of said human transportation vehicle ( 1 ), and at least one stationary calculator means ( 6 ) for generating said cloud of points ( 1 A) representative of the real outer shape of the human transportation vehicle ( 1 ), and one known movable work platform ( 2 ) reference point (R 2 ) located on said movable work platform ( 2 ), and at least one setting means ( 8 ) for setting the position and orientation up to 6 degrees of freedom of the movable work platform ( 2 ) according to reference point (R 2 ) with respect to the reference point (R 1 ), and at least one first processor ( 21 ) for generating a three dimensional model ( 2 A) representative of the movable work platform ( 2 ), and said first processor ( 21 ) for determining the up to 6 degrees of freedom position and orientation of said three dimensional model ( 2 A) representative of said movable work platform ( 2 ), and the three-dimensional scanning means ( 3 ), the setting means ( 8 ), the stationary calculator means ( 6 ) and the first processor ( 21 ) being linked together via a communication means, and said first processor ( 21 ) being for preventing collisions between the movable work platform ( 2 ) and the human transportation vehicle ( 1 ).
1. An apparatus for generating a cloud of points ( 1 A) representative of a real outer surface of a human transportation vehicle ( 1 ) located in a building ( 4 ), for determining a position and an orientation of the human transportation vehicle ( 1 ) in the building ( 4 ) and for determining a relative position and a relative orientation of a movable work platform ( 2 ), the position and the orientation of the human transportation vehicle ( 1 ) and the relative position and the relative orientation of the movable work platform ( 2 ) being referenced with respect to at least one known building reference point (R 1 ), the apparatus for preventing collisions between the movable work platform ( 2 ) and the human transportation vehicle ( 1 ), the apparatus comprising:
the at least one known building reference point (R 1 ) being an origin point of a 6 degrees of freedom coordinate system and serving as a central common reference point,
at least one three-dimensional scanning means ( 3 ), referring to at least two building reference targets (S 1 , S 2 ), each of the at least two building reference targets (S 1 , S 2 ) referring to the at least one know building reference point (R 1 ), configured to determine a three dimensional representation of the real outer surface of the human transportation vehicle ( 1 ) as the cloud of points ( 1 A),
at least one stationary calculator means ( 6 ) configured to generate the cloud of points ( 1 A) representative of the real outer surface of the human transportation vehicle ( 1 ),
a first known movable work platform reference point (R 2 ) located on the movable work platform ( 2 ),
at least one setting means ( 8 ) for setting the relative position and the relative orientation of the movable work platform up to 6 degrees of freedom according to the first known movable work platform reference point (R 2 ) with respect to the at least one known building reference point (R 1 ),
at least one first processor ( 21 ) for generating a three dimensional model ( 2 A) representative of the movable work platform ( 2 ),
the first processor ( 21 ) for determining an up to 6 degrees of freedom position and an up to 6 degrees of freedom orientation of the three dimensional model ( 2 A) representative of the movable work 25 platform ( 2 ),
the three-dimensional scanning means ( 3 ), the setting means ( 8 ), the stationary calculator means ( 6 ) and the first processor ( 21 ) being linked together via a communication means ( 30 , 31 , 32 ), and
the first processor ( 21 ) configured to compare the up to 6 degrees of freedom position and the up to 6 degrees of freedom orientation of the three dimensional model ( 2 A) with each point in the cloud of points ( 1 A) to prevent collisions between the movable work platform ( 2 ) and the human transportation vehicle ( 1 ).
2. The apparatus according to claim 1 , wherein the at least one three-dimensional scanning means ( 3 ) refers to at least two building reference targets (S 1 , S 2 , S 3 , S 4 , S 5 , S 6 , S 7 , S 8 , S 9 , S 10 ), the at least two building reference targets (S 1 , S 2 , S 3 , S 4 , S 5 , S 6 , S 7 , S 8 , S 9 , S 10 ) referring to the at least one known building reference point (R 1 ).
3. The apparatus according to claim 1 , comprising one movable work platform ( 2 ) on each side of a longitudinal axis of the human transportation vehicle ( 1 ).
4. The apparatus according to claim 1 , wherein the movable work platform ( 2 ) is one of the following: a building-roof suspended work platform, a ground anchored work platform, or a wheeled work platform, or a combination thereof.
5. The apparatus according to claim 4 , wherein the movable work platform ( 2 ) is automatically or manually controlled.
6. The apparatus according to claim 1 , wherein the movable work platform ( 2 ) carries one of the following: a printing apparatus, a camera, a robot, a surface treatment apparatus, a human, or a combination thereof.
7. The apparatus according to claim 1 , wherein the human transportation vehicle ( 1 ) comprises at least a portion of one of the following:
an aircraft, an helicopter, a rocket, a space shuttle, a space launcher, a train, a car, a bus or a ship.
8. The apparatus according to claim 2 , further comprising a plurality of calibrated reference targets (S 1 , S 2 , S 3 , S 4 , S 5 , 20 S 6 , S 7 , S 8 , S 9 , S 10 ) located at non movable locations of the building ( 4 ) during generation of the cloud of points ( 1 A).
9. The apparatus according to claim 1 , wherein the three-dimensional scanning means ( 3 ) is carried by the movable work platform ( 2 ) during the generation of the cloud of points ( 1 A).
10. The apparatus according to claim 1 , wherein the communication means is based on an Ethernet based LAN ( 30 ) or WLAN ( 31 , 32 ) infrastructure.
11. The apparatus according to claim 1 , wherein the at least one stationary calculator means ( 6 ) comprises at least one main server ( 10 ), at least one second processor ( 20 ) for three dimensional data processing per three dimensional scanning means ( 3 ), the at least one first processor ( 21 ) for anti-collision management, at least one Graphical User Interface desktop ( 11 ), and the communication means ( 30 , 31 , 32 ) includes an Ethernet infrastructure linking the at least one main server ( 10 ), the at least one second processor ( 20 ), the at least one first processor ( 21 ) for anti-collision management, and the at least one Graphical User Interface desktop ( 11 ).
12. A method of using the apparatus of claim 1 for preventing collisions between the human transportation vehicle ( 1 ) and the movable work platform ( 2 ).
13. The method of claim 12 , wherein the at least one first processor ( 21 ) compares a position of a first point of the generated cloud of points ( 1 A) with the position and the orientation of the three dimensional model ( 2 A), so that when a risk of collision is detected between the movable work platform ( 2 ) and the human transportation vehicle ( 1 ), a predetermined deceleration curve to mandatorily respect a predetermined minimum distance to physical contact between the human transportation vehicle ( 1 ) and the movable work platform ( 2 ) is realized.
14. The method according to claim 13 , wherein the predetermined minimal distance between the movable work platform ( 2 ) and the human transportation vehicle ( 1 ) is between 100 millimeters (mm) and 200 mm.
15. A method of using the apparatus of claim 1 for realizing a Dynamic Path Planning (DPP) for the movable work platform ( 2 ) to at least partially automate manual controlled motions of the movable work platform ( 2 ) towards and along the human transportation vehicle ( 1 ) based on pre-programmed trajectories.
16. A method for generating a cloud of points ( 1 A) representative of a real outer surface of a human transportation vehicle ( 1 ) located in a building ( 4 ) and for determining a position and an orientation of the human transportation vehicle ( 1 ) in the building, and for determining a relative position and a relative orientation of at least one a movable work platform ( 2 ) in up to 6 degrees of freedom, the method for preventing collisions between the movable work platform ( 2 ) and the human transportation vehicle ( 1 ) as defined in claim 1 , said method comprising:
A) determining a known building reference point (R 1 ) being an origin point of a 6 degrees of freedom coordinate system and serving as a central common reference point,
B) determining the real outer surface of the human transportation vehicle ( 1 ) via at least one three-dimensional scanning means ( 3 ), wherein the at least one three-dimensional scanning means ( 3 ), referring to at least two building reference targets (S 1 , S 2 ), each of the at least two building reference targets (S 1 , S 2 ) referring to the at least one know building reference point (R 1 ), determines a three dimensional representation of the real outer surface of the human transportation vehicle ( 1 ) as the cloud of points ( 1 A),
C) generating a cloud of points ( 1 A) representative of the real outer surface of the human transportation vehicle ( 1 ) via at least one stationary calculator means ( 6 ),
D) determining a known movable work platform reference point (R 2 ) located on the movable work platform ( 2 ),
E) setting the relative position and the relative orientation up to 6 degrees of freedom of the movable work platform ( 2 ) according to the known movable work platform reference point (R 2 ) with respect to the known building reference point (R 1 ) via at least one setting means ( 8 ),
F) generating a three dimensional model ( 2 A) representative of the movable work platform ( 2 ) via at least one first processor ( 21 ),
G) determining a second position up to 6 degrees of freedom position and a second orientation up to 6 degrees of freedom of the three dimensional model ( 2 A) representative of the movable work platform ( 2 ) via the at least one first processor ( 21 ),
H) communicating between the three-dimensional scanning means ( 3 ), the setting means ( 8 ), the stationary calculator means ( 6 ), and the at least one first processor ( 21 ) via a communication means ( 30 , 31 , 32 ), and
I) comparing a position of each point of the generated cloud of points ( 1 A) with the second position and the second orientation of the three dimensional model ( 2 A) to detect a risk of collision between the movable work platform ( 2 ) and the human transportation vehicle ( 1 ).
17. The method according to claim 16 , further comprising J) respecting a predetermined deceleration curve up to mandatorily respect a predetermined minimum distance to physical contact between the human transportation vehicle ( 1 ) and the movable work platform ( 2 ) via the at least one first processor ( 21 ).
18. The method according to claim 16 , wherein steps B) and C) of said method take between 60 minutes and 80 minutes.
19. The method according to claim 16 , wherein steps B), C), and I) of said method have a resolution of cloud of points ( 1 A) of the human transportation vehicle ( 1 ) between 10 millimeters (mm) and 50 mm.
20. The method according to claim 17 , wherein steps B), C), I) and J) of said method have a resolution of cloud of points ( 1 A) of the human transportation vehicle ( 1 ) between 10 millimeters (mm) and 50 mm.