CN105531996B - 作业机械的障碍物检测装置 - Google Patents

作业机械的障碍物检测装置 Download PDF

Info

Publication number
CN105531996B
CN105531996B CN201580001749.0A CN201580001749A CN105531996B CN 105531996 B CN105531996 B CN 105531996B CN 201580001749 A CN201580001749 A CN 201580001749A CN 105531996 B CN105531996 B CN 105531996B
Authority
CN
China
Prior art keywords
vehicle body
monitoring
obstacle
speed
unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201580001749.0A
Other languages
English (en)
Chinese (zh)
Other versions
CN105531996A (zh
Inventor
鱼津信
鱼津信一
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Construction Machinery Co Ltd
Original Assignee
Hitachi Construction Machinery Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Construction Machinery Co Ltd filed Critical Hitachi Construction Machinery Co Ltd
Publication of CN105531996A publication Critical patent/CN105531996A/zh
Application granted granted Critical
Publication of CN105531996B publication Critical patent/CN105531996B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/04—Systems determining presence of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93275—Sensor installation details in the bumper area
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Component Parts Of Construction Machinery (AREA)
CN201580001749.0A 2014-02-18 2015-01-15 作业机械的障碍物检测装置 Active CN105531996B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2014028783A JP6134668B2 (ja) 2014-02-18 2014-02-18 作業車両の障害物検知装置
JP2014-028783 2014-02-18
PCT/JP2015/050961 WO2015125523A1 (ja) 2014-02-18 2015-01-15 作業機械の障害物検知装置

Publications (2)

Publication Number Publication Date
CN105531996A CN105531996A (zh) 2016-04-27
CN105531996B true CN105531996B (zh) 2018-10-30

Family

ID=53878039

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201580001749.0A Active CN105531996B (zh) 2014-02-18 2015-01-15 作业机械的障碍物检测装置

Country Status (5)

Country Link
US (1) US10228454B2 (enExample)
EP (1) EP3110146B1 (enExample)
JP (1) JP6134668B2 (enExample)
CN (1) CN105531996B (enExample)
WO (1) WO2015125523A1 (enExample)

Families Citing this family (35)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5938292B2 (ja) * 2012-08-03 2016-06-22 日立建機株式会社 運搬車両の監視装置
DE102014107235A1 (de) * 2014-05-22 2015-11-26 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Verfahren zur Darstellung einer Fahrzeugumgebung auf einer Anzeigevorrichtung; eine Anzeigevorrichtung; ein System aus einer Mehrzahl an Bilderfassungseinheiten und einer Anzeigevorrichtung; ein Computerprogramm
WO2016174754A1 (ja) * 2015-04-28 2016-11-03 株式会社小松製作所 作業機械の周辺監視装置及び作業機械の周辺監視方法
EP3380865A4 (en) * 2015-11-25 2019-08-07 VHS IP Pty Ltd SAFETY DEVICE FOR WORKING PLACE WITH LIDAR
WO2017094626A1 (ja) * 2015-11-30 2017-06-08 住友重機械工業株式会社 作業機械用周辺監視システム
CN105701453B (zh) * 2016-01-04 2019-07-12 中南大学 一种带障碍识别系统的铁路配碴车及其障碍识别方法
CN108027423B (zh) * 2016-03-14 2022-01-04 日立建机株式会社 矿山用作业机械
US10777027B2 (en) * 2016-07-15 2020-09-15 Komatsu Ltd. Working vehicle, remote diagnosis system, and remote diagnosis method
JP6382896B2 (ja) * 2016-08-31 2018-08-29 本田技研工業株式会社 出庫支援装置
CN107077145A (zh) * 2016-09-09 2017-08-18 深圳市大疆创新科技有限公司 显示无人飞行器的障碍检测的方法和系统
JP6599835B2 (ja) * 2016-09-23 2019-10-30 日立建機株式会社 鉱山用作業機械、障害物判別装置、及び障害物判別方法
DE102016223180A1 (de) * 2016-11-23 2018-05-24 Robert Bosch Gmbh Verfahren und System zum Detektieren eines sich innerhalb eines Parkplatzes befindenden erhabenen Objekts
KR20180069147A (ko) * 2016-12-14 2018-06-25 만도헬라일렉트로닉스(주) 차량의 보행자 경고장치
JP6752168B2 (ja) * 2017-02-27 2020-09-09 日立建機株式会社 ダンプトラック及び後退支援装置
US10453351B2 (en) * 2017-07-17 2019-10-22 Aurora Flight Sciences Corporation System and method for detecting obstacles in aerial systems
JP6969983B2 (ja) 2017-11-10 2021-11-24 株式会社小松製作所 ダンプトラック
JP6802196B2 (ja) * 2018-01-09 2020-12-16 日立建機株式会社 運搬車両
JP7123573B2 (ja) * 2018-02-28 2022-08-23 株式会社小松製作所 周辺監視装置、作業機械、周辺監視の制御方法及び表示装置
JP6915575B2 (ja) * 2018-03-29 2021-08-04 京セラドキュメントソリューションズ株式会社 制御装置及び監視システム
KR102495609B1 (ko) * 2018-07-03 2023-02-03 현대모비스 주식회사 차량 전방 충돌 방지 제어 장치 및 방법
JP7239291B2 (ja) * 2018-09-28 2023-03-14 株式会社小松製作所 作業車両の周辺監視システム及び作業車両の周辺監視方法
JP2020136914A (ja) * 2019-02-20 2020-08-31 コベルコ建機株式会社 作業機械用周辺監視装置
US11185003B2 (en) * 2019-04-03 2021-11-30 Caterpillar Inc. Tipping avoidance system and method
US11333767B2 (en) * 2019-04-03 2022-05-17 Caterpillar Inc. Avoidance modifier system for collision avoidance system
US11126188B2 (en) * 2019-04-15 2021-09-21 Caterpillar Inc. System and method for maintaining a work surface at a worksite
JP7205701B2 (ja) * 2019-10-11 2023-01-17 トヨタ自動車株式会社 車両警報装置
US11320830B2 (en) 2019-10-28 2022-05-03 Deere & Company Probabilistic decision support for obstacle detection and classification in a working area
US20210293001A1 (en) * 2020-03-23 2021-09-23 Caterpillar Paving Products Inc. Adjustment of an accessory component of a work machine to avoid a potential collision of an obstacle and the accessory component
JP7560955B2 (ja) * 2020-04-20 2024-10-03 株式会社小松製作所 ショベル、作業機械の障害物報知システムおよびショベルの障害物報知方法
JP7646454B2 (ja) * 2020-08-15 2025-03-17 株式会社クボタ 作業機
JP7399836B2 (ja) * 2020-10-12 2023-12-18 ヤンマーホールディングス株式会社 作業車両
WO2023003867A2 (en) * 2021-07-19 2023-01-26 Clark Equipment Company Systems and methods for obstacle detection for a power machine
JP7653500B2 (ja) * 2022-06-28 2025-03-28 濱田重工株式会社 衝突回避システム
US12227145B2 (en) * 2023-01-20 2025-02-18 Caterpillar Inc. Machine security system
JP7492203B1 (ja) 2023-03-31 2024-05-29 株式会社Cct 監視装置及び監視方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102576493A (zh) * 2009-09-25 2012-07-11 歌乐株式会社 传感器控制器、导航装置、传感器控制方法
JP2012227699A (ja) * 2011-04-19 2012-11-15 Toyota Motor Corp 画像表示装置、及び、画像表示方法
CN103080990A (zh) * 2011-06-07 2013-05-01 株式会社小松制作所 作业车辆的周边监视装置
CN103098112A (zh) * 2011-06-07 2013-05-08 株式会社小松制作所 作业车辆的周边监视装置

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002071808A (ja) * 2000-08-28 2002-03-12 Omron Corp 測距装置及びこれを使用した先行車検知システム並びに先行車追従システム
US6750810B2 (en) * 2001-12-18 2004-06-15 Hitachi, Ltd. Monopulse radar system
JP2003329773A (ja) * 2002-05-10 2003-11-19 Hitachi Ltd 複数の距離検知センサを設置した車両制御装置
JP2005309797A (ja) * 2004-04-22 2005-11-04 Nissan Motor Co Ltd 歩行者警報装置
JP2008111728A (ja) 2006-10-31 2008-05-15 Mazda Motor Corp 車両の障害物検知装置
JP2011009823A (ja) * 2009-06-23 2011-01-13 Caterpillar Japan Ltd 遠隔制御用作業機械の画像表示方法
JP2011118483A (ja) * 2009-11-30 2011-06-16 Fujitsu Ten Ltd 車載装置および認知支援システム
JP5071743B2 (ja) * 2010-01-19 2012-11-14 アイシン精機株式会社 車両周辺監視装置
JP4865891B1 (ja) * 2010-07-22 2012-02-01 古河電気工業株式会社 光ファイバ素線、光ファイバテープ心線および光ファイバケーブル
JP5269026B2 (ja) * 2010-09-29 2013-08-21 日立建機株式会社 作業機械の周囲監視装置
JP5867273B2 (ja) * 2012-04-27 2016-02-24 富士通株式会社 接近物体検知装置、接近物体検知方法及び接近物体検知用コンピュータプログラム

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102576493A (zh) * 2009-09-25 2012-07-11 歌乐株式会社 传感器控制器、导航装置、传感器控制方法
JP2012227699A (ja) * 2011-04-19 2012-11-15 Toyota Motor Corp 画像表示装置、及び、画像表示方法
CN103080990A (zh) * 2011-06-07 2013-05-01 株式会社小松制作所 作业车辆的周边监视装置
CN103098112A (zh) * 2011-06-07 2013-05-08 株式会社小松制作所 作业车辆的周边监视装置

Also Published As

Publication number Publication date
JP6134668B2 (ja) 2017-05-24
JP2015153318A (ja) 2015-08-24
US20160202351A1 (en) 2016-07-14
WO2015125523A1 (ja) 2015-08-27
US10228454B2 (en) 2019-03-12
EP3110146A4 (en) 2017-08-30
EP3110146B1 (en) 2021-11-10
CN105531996A (zh) 2016-04-27
EP3110146A1 (en) 2016-12-28

Similar Documents

Publication Publication Date Title
CN105531996B (zh) 作业机械的障碍物检测装置
JP6267972B2 (ja) 作業機械の周囲監視装置
JP7450083B2 (ja) 周辺監視システム及び周辺監視方法
CN110088035B (zh) 起重机
US9597997B2 (en) Work vehicle periphery monitoring apparatus
JP6886258B2 (ja) ホイールローダおよびホイールローダの制御方法
US9633563B2 (en) Integrated object detection and warning system
WO2014045465A1 (ja) 作業車両用周辺監視システム及び作業車両
WO2014045464A1 (ja) 作業車両用周辺監視システム及び作業車両
WO2014045466A1 (ja) 作業車両用周辺監視システム及び作業車両
CN106132810A (zh) 用于控制车辆挂车组合进入停车空间中的方法和装置
JP7026816B2 (ja) トラック取付可能検出システム
JP5862307B2 (ja) センサ検知範囲変更装置
JP5032416B2 (ja) 運転支援装置
KR20140095612A (ko) 작업용 차량의 주행 안전 장치 및 그 방법
JP7535006B2 (ja) 転圧機械
JP2023174292A (ja) 産業車両の障害物通知装置及び産業車両
JP5778796B2 (ja) 運搬車両の後方視界表示システム
JP5595565B2 (ja) 作業車両用周辺監視システム、作業車両及び作業車両用周辺監視方法
JP7775764B2 (ja) 産業車両
WO2025053024A1 (ja) 検出システム、作業機械、検出方法、及び作業機械の遠隔操作システム

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant