CN112638708B - 作业车辆 - Google Patents

作业车辆 Download PDF

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Publication number
CN112638708B
CN112638708B CN201980056190.XA CN201980056190A CN112638708B CN 112638708 B CN112638708 B CN 112638708B CN 201980056190 A CN201980056190 A CN 201980056190A CN 112638708 B CN112638708 B CN 112638708B
Authority
CN
China
Prior art keywords
obstacle
body frame
front wheel
vehicle body
front wheels
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
CN201980056190.XA
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English (en)
Chinese (zh)
Other versions
CN112638708A (zh
Inventor
辻村舜
坂本博史
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 CN112638708A publication Critical patent/CN112638708A/zh
Application granted granted Critical
Publication of CN112638708B publication Critical patent/CN112638708B/zh
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    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • 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
    • G01S2013/9315—Monitoring blind spots
    • 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
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
    • 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
    • G01S2013/93274—Sensor installation details on the side of the vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Traffic Control Systems (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Radar Systems Or Details Thereof (AREA)
CN201980056190.XA 2019-03-29 2019-12-12 作业车辆 Active CN112638708B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2019067152A JP7374602B2 (ja) 2019-03-29 2019-03-29 作業車両
JP2019-067152 2019-03-29
PCT/JP2019/048771 WO2020202650A1 (ja) 2019-03-29 2019-12-12 作業車両

Publications (2)

Publication Number Publication Date
CN112638708A CN112638708A (zh) 2021-04-09
CN112638708B true CN112638708B (zh) 2022-12-16

Family

ID=72668269

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980056190.XA Active CN112638708B (zh) 2019-03-29 2019-12-12 作业车辆

Country Status (5)

Country Link
US (1) US20220050209A1 (https=)
EP (1) EP3950423B1 (https=)
JP (1) JP7374602B2 (https=)
CN (1) CN112638708B (https=)
WO (1) WO2020202650A1 (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11543522B2 (en) * 2020-04-10 2023-01-03 Caterpillar Paving Products Inc. Ultrasonic sensors for work machine obstacle detection
JP2023090308A (ja) * 2021-12-17 2023-06-29 日立建機株式会社 鉱山機械及び自律走行システム

Family Cites Families (27)

* Cited by examiner, † Cited by third party
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JP4165168B2 (ja) * 2002-09-27 2008-10-15 日産自動車株式会社 車両用運転操作補助装置
US20040217851A1 (en) * 2003-04-29 2004-11-04 Reinhart James W. Obstacle detection and alerting system
DE102006026898A1 (de) * 2006-06-09 2007-12-20 Hans Dominik Vorrichtung zur Überwachung des rückwärtigen und seitlichen Raums eines Fahrzeugs
US20100076710A1 (en) * 2008-09-19 2010-03-25 Caterpillar Inc. Machine sensor calibration system
JP2010204030A (ja) * 2009-03-05 2010-09-16 Fuji Heavy Ind Ltd 車載レーダ用アンテナ
JP5172764B2 (ja) * 2009-03-30 2013-03-27 本田技研工業株式会社 路面摩擦係数推定装置
DE102010001370A1 (de) * 2010-01-29 2011-08-04 Robert Bosch GmbH, 70469 Verfahren zur Messung des Abstandes zwischen einem Objekt und einem Kraftfahrzeug
US8600606B2 (en) * 2010-02-11 2013-12-03 GM Global Technology Operations LLC Vehicle safety systems and methods
JP5667594B2 (ja) 2012-03-15 2015-02-12 株式会社小松製作所 障害物検出機構付きダンプトラックおよびその障害物検出方法
JP5324690B1 (ja) * 2012-09-21 2013-10-23 株式会社小松製作所 作業車両用周辺監視システム及び作業車両
AU2013400684B2 (en) * 2013-09-20 2018-05-17 Caterpillar Inc. Positioning system using radio frequency signals
JP6339337B2 (ja) * 2013-09-24 2018-06-06 日立建機株式会社 車両周囲移動物体検知システム
JP2015191441A (ja) * 2014-03-28 2015-11-02 三菱電機株式会社 衝突判定装置
JP6262068B2 (ja) * 2014-04-25 2018-01-17 日立建機株式会社 車体近傍障害物報知システム
CN105283777B (zh) * 2014-04-25 2019-09-24 株式会社小松制作所 周边监视系统、作业车辆以及周边监视方法
CN204296580U (zh) * 2014-12-12 2015-04-29 厦门理工学院 大型商用车转弯时内轮差区域警示报警装置
JP6456173B2 (ja) * 2015-02-04 2019-01-23 日立建機株式会社 車体外部移動物体検知装置
EP3057061B1 (en) * 2015-02-16 2017-08-30 Application Solutions (Electronics and Vision) Limited Method and device for the estimation of car egomotion from surround view images
FR3043049B1 (fr) * 2015-11-03 2017-12-08 Newtl Dispositif d'assistance pour les manœuvres d'accostage au niveau d'un quai
US10444758B2 (en) * 2015-12-01 2019-10-15 Ricoh Company, Ltd. Autonomous traveling device
WO2018042567A1 (ja) * 2016-08-31 2018-03-08 日立建機株式会社 周辺監視システム及び周辺監視装置
WO2018051742A1 (ja) * 2016-09-16 2018-03-22 株式会社小松製作所 作業車両の制御システム、作業車両の制御システムの制御方法および作業車両
EP3572897B1 (en) * 2017-01-20 2025-01-29 Kubota Corporation Work vehicle
JP6804380B2 (ja) * 2017-04-26 2020-12-23 株式会社クボタ 作業車
CN108528337B (zh) * 2018-05-14 2020-08-04 哈尔滨工业大学 一种基于视频投影的内轮差智能预警系统及预警方法
JP7044694B2 (ja) * 2018-12-27 2022-03-30 ヤンマーパワーテクノロジー株式会社 作業車両用の障害物検知システム

Also Published As

Publication number Publication date
JP7374602B2 (ja) 2023-11-07
US20220050209A1 (en) 2022-02-17
JP2020165834A (ja) 2020-10-08
CN112638708A (zh) 2021-04-09
EP3950423B1 (en) 2026-02-11
EP3950423A1 (en) 2022-02-09
WO2020202650A1 (ja) 2020-10-08
EP3950423A4 (en) 2023-01-04

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