CN109844834B - 自卸车及倒车辅助装置 - Google Patents

自卸车及倒车辅助装置 Download PDF

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Publication number
CN109844834B
CN109844834B CN201880003827.4A CN201880003827A CN109844834B CN 109844834 B CN109844834 B CN 109844834B CN 201880003827 A CN201880003827 A CN 201880003827A CN 109844834 B CN109844834 B CN 109844834B
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China
Prior art keywords
distance
dump truck
target parking
loading
height
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CN201880003827.4A
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English (en)
Chinese (zh)
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CN109844834A (zh
Inventor
田中航
石本英史
石桥英人
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Hitachi Construction Machinery Co Ltd
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Hitachi Construction Machinery Co Ltd
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Publication of CN109844834A publication Critical patent/CN109844834A/zh
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18036—Reversing
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2045—Guiding machines along a predetermined path
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/205—Remotely operated machines, e.g. unmanned vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G08G1/202—Dispatching vehicles on the basis of a location, e.g. taxi dispatching
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
    • B60P1/04—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with a tipping movement of load-transporting element
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R2021/0002—Type of accident
    • B60R2021/0011—Rear collision or recoiling bounce after frontal collision
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/8093—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Transportation (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Traffic Control Systems (AREA)
  • Operation Control Of Excavators (AREA)
CN201880003827.4A 2017-02-27 2018-02-27 自卸车及倒车辅助装置 Active CN109844834B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2017-035136 2017-02-27
JP2017035136A JP6752168B2 (ja) 2017-02-27 2017-02-27 ダンプトラック及び後退支援装置
PCT/JP2018/007267 WO2018155709A1 (ja) 2017-02-27 2018-02-27 ダンプトラック及び後退支援装置

Publications (2)

Publication Number Publication Date
CN109844834A CN109844834A (zh) 2019-06-04
CN109844834B true CN109844834B (zh) 2021-07-09

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CN201880003827.4A Active CN109844834B (zh) 2017-02-27 2018-02-27 自卸车及倒车辅助装置

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US (1) US11292469B2 (enExample)
JP (1) JP6752168B2 (enExample)
CN (1) CN109844834B (enExample)
WO (1) WO2018155709A1 (enExample)

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US10883256B2 (en) * 2018-05-25 2021-01-05 Deere & Company Object responsive control system for a work machine
US11353881B2 (en) * 2018-10-04 2022-06-07 Modular Mining Systems, Inc. Systems and methods for guided maneuvering with wave-off alerts
CN111399494B (zh) * 2019-01-02 2023-07-14 长沙智能驾驶研究院有限公司 一种无人驾驶装载导引方法、装置和系统
JP7172794B2 (ja) * 2019-03-27 2022-11-16 トヨタ自動車株式会社 自動運転システム
US11055864B2 (en) * 2019-05-24 2021-07-06 Nanjing Polagis Technology Co. Ltd Method and apparatus for determining a geographic position of a target object on a street view map
US11226627B2 (en) 2019-06-20 2022-01-18 Caterpillar Global Mining Llc System for modifying a spot location
JP7400425B2 (ja) * 2019-12-10 2023-12-19 コベルコ建機株式会社 作業機械の遠隔操作支援システム
BR112022011724A2 (pt) * 2019-12-18 2022-08-30 Volvo Constr Equip Ab Um método de operar uma frota de veículos autônomos
CN111474929B (zh) * 2020-04-10 2023-11-03 三一智矿科技有限公司 一种矿山装料方法及装置
JP7354975B2 (ja) * 2020-09-25 2023-10-03 コベルコ建機株式会社 停止指示システム
JP7137605B2 (ja) 2020-11-06 2022-09-14 日立建機株式会社 車両管理システム
CN115280257B (zh) 2020-11-17 2025-10-31 日立建机株式会社 翻斗卡车的控制系统
CN112651132B (zh) * 2020-12-29 2022-02-11 清华大学苏州汽车研究院（相城） 一种用于自动驾驶车辆误操作的预期功能安全风险评估方法
CA3230135A1 (en) * 2021-08-25 2023-03-02 Technological Resources Pty Limited Method and apparatus for coordinating loading of haul vehicles
WO2024082073A1 (es) * 2022-10-17 2024-04-25 Sepulveda Leon Gagarin Anibal Sistema, vehículo minero y método para detectar y monitorear pretiles en un entorno minero
KR102524105B1 (ko) * 2022-11-30 2023-04-21 (주)토탈소프트뱅크 항만의 객체 점유 공간 인식 장치
CN116968743B (zh) * 2023-08-30 2024-03-19 梁山华鲁专用汽车制造有限公司 自卸车及倒车辅助装置

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CN1591255A (zh) * 2003-08-28 2005-03-09 丰田自动车株式会社 倒车辅助装置与停车辅助装置
CN103443837A (zh) * 2011-03-31 2013-12-11 日立建机株式会社 搬运机械的位置调整支援系统
CN103661179A (zh) * 2012-09-13 2014-03-26 祖新华 汽车智能安全系统
KR20140002712U (ko) * 2012-10-30 2014-05-09 현대중공업 주식회사 선박블록 운반차량의 안전장치
CN103826918A (zh) * 2012-09-21 2014-05-28 株式会社小松制作所 作业车辆用周边监视系统及作业车辆
CN103826920A (zh) * 2011-09-29 2014-05-28 日立建机株式会社 用于自卸卡车的车体结构
CN104509103A (zh) * 2012-08-03 2015-04-08 日立建机株式会社 搬运车辆的监视装置
JP2015081877A (ja) * 2013-10-24 2015-04-27 日立建機株式会社 後退支援装置
CN104769630A (zh) * 2013-08-20 2015-07-08 株式会社小松制作所 管理系统及管理方法
CN105074382A (zh) * 2013-09-13 2015-11-18 日立建机株式会社 自卸卡车
CN105313890A (zh) * 2014-05-29 2016-02-10 陕西重型汽车有限公司 一种汽车倒车辅助系统
CN105467991A (zh) * 2014-09-29 2016-04-06 日立建机株式会社 运输车辆的停止位置计算装置及具有该装置的运输车辆
CN105531996A (zh) * 2014-02-18 2016-04-27 日立建机株式会社 作业机械的障碍物检测装置
CN106462166A (zh) * 2016-04-28 2017-02-22 株式会社小松制作所 作业机械的管理装置

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CN1591255A (zh) * 2003-08-28 2005-03-09 丰田自动车株式会社 倒车辅助装置与停车辅助装置
CN103443837A (zh) * 2011-03-31 2013-12-11 日立建机株式会社 搬运机械的位置调整支援系统
CN103826920A (zh) * 2011-09-29 2014-05-28 日立建机株式会社 用于自卸卡车的车体结构
CN104509103A (zh) * 2012-08-03 2015-04-08 日立建机株式会社 搬运车辆的监视装置
CN103661179A (zh) * 2012-09-13 2014-03-26 祖新华 汽车智能安全系统
CN103826918A (zh) * 2012-09-21 2014-05-28 株式会社小松制作所 作业车辆用周边监视系统及作业车辆
KR20140002712U (ko) * 2012-10-30 2014-05-09 현대중공업 주식회사 선박블록 운반차량의 안전장치
CN104769630A (zh) * 2013-08-20 2015-07-08 株式会社小松制作所 管理系统及管理方法
CN105074382A (zh) * 2013-09-13 2015-11-18 日立建机株式会社 自卸卡车
JP2015081877A (ja) * 2013-10-24 2015-04-27 日立建機株式会社 後退支援装置
CN105531996A (zh) * 2014-02-18 2016-04-27 日立建机株式会社 作业机械的障碍物检测装置
CN105313890A (zh) * 2014-05-29 2016-02-10 陕西重型汽车有限公司 一种汽车倒车辅助系统
CN105467991A (zh) * 2014-09-29 2016-04-06 日立建机株式会社 运输车辆的停止位置计算装置及具有该装置的运输车辆
CN106462166A (zh) * 2016-04-28 2017-02-22 株式会社小松制作所 作业机械的管理装置

Also Published As

Publication number Publication date
JP6752168B2 (ja) 2020-09-09
CN109844834A (zh) 2019-06-04
US20190367030A1 (en) 2019-12-05
JP2018142113A (ja) 2018-09-13
WO2018155709A1 (ja) 2018-08-30
US11292469B2 (en) 2022-04-05

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