JP2018042399A - Drive support device of electrically-driven dump truck - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform a proper drive support corresponding to an acquisition status of a positional relationship between a trolley wire and a slider, in an electrically-driven dump truck which travels by receiving power from the trolley wire by making the slider of a power collector which is arranged at a vehicle main body so as to be liftable contact with the trolley wire which is arranged along a road.SOLUTION: An alarm device 40 has a speaker 26. An alarm controller 30 does not operate the speaker 26 when a relative distance indicating a positional relationship between a slider 5R and a trolley wire 4R is not calculated, and when the relative distance is calculated, and the relative distance is not shorter than a first alarm threshold Y1, generates an alarm sound for calling attention from the speaker 26. When the relative distance is calculated, and the relative distance is shorter than the first alarm threshold Y1, the alarm controller generates a notification sound indicating that the relative distance is calculated which is different from the alarm sound from the speaker 26.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an electric drive dump truck, and more particularly to an operation support apparatus for an electric drive dump truck that travels by receiving electric power from a trolley wire.

  There exists a thing of patent document 1 as a driving assistance device of an electric drive dump truck. This device is characterized in that it warns that the vehicle main body tends to deviate from the road based on the position information of the trolley wire detected by the trolley wire detection device.

Japanese Patent No. 5767852

  A series hybrid type is known as an electrically driven dump truck that travels in a mine, in which an engine drives a generator, power generated by the generator is supplied to a rear wheel motor, and the rear wheel is driven. . In addition, using this electrical configuration, a trolley wire generally installed in a train is installed in a predetermined uphill section instead of power supply by an engine-generator, and a lift provided on the vehicle body A traveling technique of a trolley system has been realized in which a sliding plate of a possible current collector is raised and brought into contact with a trolley wire to obtain electric power and travel (hereinafter referred to as trolley traveling). In this case, since the electric power supplied from the trolley line is larger than the electric power generated by the engine, it is possible to avoid a decrease in traveling speed in an uphill section where trolley traveling is possible.

  When the electrically driven dump truck enters the trolley travel section and the driver visually observes the positional relationship between the sliding plate and the trolley wire and determines that the sliding plate can contact the trolley wire, the driver presses the trolley traveling start button, etc. Operate and start trolley running. While driving the trolley, the driver observes the displacement of the vehicle and the trolley wire, and the driver operates the steering wheel so that the center position of the sliding plate does not greatly deviate laterally from the trolley wire. However, such a driver's visual steering wheel operation places a heavy burden on the driver during trolley travel, and therefore, a device for easily grasping the positional relationship between the vehicle and the trolley wire is desired.

  In Patent Document 1, the relative position between the trolley wire and the sliding plate is acquired based on information obtained by imaging the trolley wire and the pantograph (current collector) sliding plate with a camera so that the sliding plate does not come off the trolley wire. In addition, the direction of operation of the steering wheel (steering) is displayed on the monitor by an arrow mark or characters. Thereby, it can be warned that the sliding plate tends to deviate from the trolley line.

  However, the technique of Patent Document 1 has the following problems.

  In the technique of Patent Document 1, when the relative position between the trolley wire and the sliding plate can be calculated based on the imaging information of the camera, the operation direction of the handle is displayed on the monitor, and driving of the electric drive dump truck is supported. Can do. However, there may be a case where the relative position between the trolley line and the pantograph slip plate cannot be acquired from the image pickup information of the camera. For example, when there is sun or illumination behind a trolley wire file, halation occurs in the camera's imaging information due to ambient light such as sunlight or illumination light and its reflected light, making it impossible to correctly recognize the trolley wire and pantograph There is a case. The same applies when the background is dark, such as in rainy weather. In such a case, the steering direction of the steering wheel is not displayed on the monitor, so when the sliding plate tends to deviate from the trolley line, the driver may not notice it and the sliding plate may deviate from the trolley line. There is.

  Therefore, in the driving support device that notifies the positional relationship between the vehicle main body and the trolley wire, it is desirable to perform driving support in accordance with the acquisition status of the positional relationship between the trolley wire and the sliding plate of the current collector.

  An object of the present invention is an electric drive dump truck that travels by receiving electric power from a trolley line by bringing a sliding plate of a current collector that can be raised and lowered provided on a vehicle body into contact with a trolley line provided along a road. Electric drive dump that can perform appropriate driving support according to the acquisition status of the positional relationship between the trolley wire and the sliding plate, including when the positional relationship between the trolley wire and the sliding plate can no longer be acquired from the imaging information of the camera It is to provide a driving support device for a truck.

  In order to achieve the above-mentioned object, the present invention raises a sliding plate of a liftable current collecting device provided in a vehicle main body, contacts the sliding plate with a trolley wire provided along a road, and removes the trolley wire from the trolley wire. In an operation support device for an electrically driven dump truck that travels by receiving electric power, the trolley wire and the sliding plate are included in an imaging range, and the vehicle body is not included in the imaging range, a warning device, and the camera A relative distance indicating a positional relationship between the trolley line and the sliding plate existing in the captured image is calculated, and when the relative distance becomes greater than or equal to a preset warning threshold value, the warning device is activated and the electric drive dump An image processing / control device that alerts a truck driver, the warning device includes a speaker, and the image processing / control device calculates the relative distance. If the relative distance is calculated and the relative distance is equal to or greater than the warning threshold value, a first warning sound for calling attention is generated from the speaker, and the relative distance is calculated. When calculated and the relative distance is smaller than the warning threshold, a notification sound indicating that the relative distance is calculated is generated from the speaker, which is different from the first warning sound.

  In this way, when the relative distance indicating the positional relationship between the trolley wire and the sliding plate is calculated and the relative distance is smaller than the warning threshold value, the relative distance that is different from the first warning sound is calculated from the speaker. When the relative distance is calculated and the relative distance is smaller than the warning threshold, the speaker stops operating and the notification sound disappears. The driver of the driving dump truck can immediately know that the positional relationship between the trolley wire and the sliding plate is not acquired. Accordingly, the driver can switch to the steering operation by visual observation, and can perform the steering operation so that the sliding plate does not deviate from the trolley line when the sliding plate tends to deviate from the trolley line. On the other hand, when the positional relationship between the trolley line and the sliding board is acquired, when the sliding board tends to deviate from the trolley line, the first warning sound that alerts the speaker is generated. It can call attention and prompt the driver to operate the steering wheel. As described above, according to the present invention, including the case where the positional relationship between the trolley line and the sliding plate cannot be acquired from the imaging information of the camera, the appropriate operation according to the acquisition status of the positional relationship between the trolley line and the sliding plate is obtained. Can provide support.

  According to the present invention, in an electrically driven dump truck that travels by receiving electric power from a trolley line, including the case where the positional relationship between the trolley line and the sliding board cannot be acquired from the imaging information of the camera, the trolley line and the sliding board Appropriate driving support can be provided according to the acquisition status of the positional relationship.

It is a side view which shows the side part external appearance of the electric drive dump truck provided with the driving assistance device which is the 1st Embodiment of this invention. It is a figure which shows an example of apparatus arrangement | positioning in the driver's cab where an operator boards. It is a block diagram which shows the internal structure (function) of a warning controller. It is a figure which shows the positional relationship of a trolley line, a sliding board, and the imaging range of a camera. It is a flowchart which shows the processing function of an image arithmetic unit. It is a figure which shows the image information of the image area | region input into the image arithmetic unit. It is a flowchart which shows the warning judgment process of a warning judgment apparatus. It is a figure which shows the operation example of the monitor in the non-detection notification process which a warning judgment apparatus performs. It is a figure which shows the operation example of the monitor in the detection notification process which a warning judgment apparatus performs. It is a figure which shows the operation example of the monitor in the 1st warning process which a warning judgment apparatus performs. It is a figure which shows the operation example of the monitor in the 2nd warning process which a warning judgment apparatus performs. It is a time chart which shows the operation example of the speaker in a non-detection notification process, a detection notification process, a 1st warning process, and a 2nd warning process which a warning judgment apparatus performs. It is a figure which shows an example of apparatus arrangement | positioning in the driver's cab in the driving assistance device which is 2nd Embodiment. It is a figure which shows the operation example of the monitor and indicator in the non-detection notification process which a warning judgment apparatus performs. It is a figure which shows the operation example of the monitor and indicator in the detection notification process which a warning judgment apparatus performs. It is a figure which shows the operation example of the monitor and indicator in the 1st warning process which a warning judgment apparatus performs. It is a figure which shows the operation example of the monitor and indicator in the 2nd warning process which a warning judgment apparatus performs.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
<First Embodiment>
~Constitution~
FIG. 1 is a side view showing an appearance of a side portion of an electric drive dump truck provided with a driving support device according to a first embodiment of the present invention.

  In FIG. 1, an electrically driven dump truck 1 includes left and right current collectors each having a cab 2, a vehicle body 3, and liftable sliding plates 5 </ b> L and 5 </ b> R for receiving power from two left and right trolley wires 4 </ b> L and 4 </ b> R. 6L, 6R and left and right rear wheels (tires) 7L, 7R driven by the received power. The current collectors 6L and 6R are provided at the front portion of the vehicle body 3. In addition, the electrically driven dump truck 1 has a camera 8 that captures images of one side of the left and right trolley wires 4L and 4R and the left and right sliding plates 5L and 5R, for example, the right trolley wire 4R and the sliding plate 5R. Is provided.

  The driver's cab 2 is provided for a driver to board and operate the electric drive dump truck 1, and is disposed on the left side of the electric drive dump truck 1.

  FIG. 2 is a diagram illustrating an example of device arrangement in the cab 2 where the operator is boarded. The operator's cab 2 is provided with a handle 21 on which an operator performs a traveling operation and a console 22 for displaying instruments and the like. The console 22 is provided with a current collector start lever 23 for operating start / stop of the current collectors 6L and 6R. A monitor 25 that is a display device and a speaker 26 that generates sound that is a warning means for hearing are attached to an upper portion of the windshield 24 that is positioned in front of the driver. By attaching the monitor 25 to the upper part, it is possible to display at a position close to the line of sight when the driver views the trolley lines 4L, 4R. There are two methods for attaching the monitor 25 and the speaker 26: a method of hanging from the ceiling portion 27 of the dump truck 1 and a method of projecting from the pillar 28. The monitor 25 and the speaker 26 constitute a warning device 40 (see FIG. 3) that alerts the driver of the electrically driven dump truck 1. Further, image information from the camera 8 and an operation signal from the current collector starting lever 23 are input to an appropriate place in the cab 2 (for example, in the console 22) to perform predetermined processing, and a warning signal is sent to the warning device 40. A warning controller 30 (image processing / control device) for output is arranged.

  FIG. 3 is a block diagram showing the internal configuration (function) of the warning controller 30. The warning controller 30 includes a sliding plate size storage unit 31, a sliding plate image storage unit 32, an image calculation device 33, a warning threshold value storage unit 35, and a warning determination device 36.

  The sliding plate size storage unit 31 stores the sliding plate size, the sliding plate image storage unit 32 stores the sliding plate image, and the warning threshold value storage unit 35 stores the warning threshold value.

  The image calculation device 33 inputs an image captured by the camera 8 and the activation state of the current collector from the current collector activation lever 23, and also provides a slide plate size and a slide plate image storage unit 32 from the slide plate size storage unit 31. Enter the empty board image. The image calculation device 33 calculates a relative distance D_m (described later) indicating the positional relationship (relative position) between the sliding plate 5R and the trolley wire 4R from the input data and outputs it to the warning determination device 36. The warning determination device 36 inputs the relative distance D_m from the image calculation device 33 and the warning threshold value Y from the warning threshold value storage unit 35. This warning threshold value Y includes two threshold values, a first warning threshold value Y1 and a second warning threshold value Y2. The warning determination device 36 processes the input data and performs any one of the non-detection notification processing U, the detection notification processing D, the first warning processing A1, and the second warning processing A2 according to the processing result, and the warning device 40 The monitor 25 and the speaker 26 are activated. The warning threshold Y may be three or more thresholds. Further, the warning after the relative distance D_m exceeds the first warning threshold value Y1 may be stepless, and the warning determination device 36 may increase the degree of warning steplessly as the relative distance D_m increases.

FIG. 4 is a diagram showing a positional relationship among the trolley wire 4R, the sliding plate 5R, and the imaging range of the camera 8. The camera 8 is installed on the right front upper portion of the vehicle body 3 so as to face upward. In particular, the installation angle of the camera 8 is adjusted in the longitudinal direction of the vehicle so that the vehicle body 3 is not reflected. Since the vehicle main body 3 is closer to the trolley wire 4R, the vehicle main body 3 portion is displayed darkly particularly when an infrared camera or the like is used, and it is possible to prevent the trolley wire 4R from becoming difficult to distinguish due to the influence of the auto iris of the camera 8. it can. The camera 8 captures a part of the trolley wire 4R and the sliding plate 5R while the electric drive dump truck 1 is traveling in the sections of the trolley wires 4L and 4R, and includes an image including the part of the trolley wire 4R and the sliding plate 5R. The image information including the region abcd is output to the image calculation device 33.
~ Processing and operation ~
FIG. 5 is a flowchart showing the processing functions of the image calculation device 33. First, the image calculation device 33 inputs an operation signal from the current collector activation lever 23 and determines whether or not the current collectors 6L and 6R are in an activated state (step S100). If the current collectors 6L and 6R are not activated, nothing is done and the process is terminated. When the current collectors 6L and 6R are not activated, a warning is unnecessary, and the image calculation device 33 can avoid an unnecessary warning by ending the processing.

  When it is determined in step S100 that the current collectors 6L and 6R are in the activated state, the image calculation device 33 is based on the image information input from the camera 8 and the positional relationship between a part of the trolley wire 4R and the sliding plate 5R ( Image calculation processing for calculating a relative distance D_m indicating (relative position) is performed.

  FIG. 6 is a diagram showing image information of the image area abcd input to the image calculation device 33. In the image calculation processing of the image calculation device 33, first, straight line detection processing is performed on the image information of the image area abcd input to the image calculation device 33 to detect straight lines L1-L2 of the trolley line 4R in the image area abcd. The process which performs is performed (step S110). At this time, if the straight line L1-L2 in the image region Abcd cannot be detected, the Error value is output to the warning determination device 36 as the relative distance D_m indicating the positional relationship between the sliding plate 5R and the trolley wire 4R (step S150).

  Next, the image calculation device 33 detects a region efgh corresponding to the sliding plate 5R in the image region abcd by a pattern matching method using the template of the sliding plate image input from the sliding plate image storage unit 32 (step S120). At this time, when the area efgh corresponding to the sliding plate 5R in the image area abcd cannot be detected, the Error value is output to the warning determination device 36 as the relative distance D_m (step S150).

Next, the image calculation device 33 captures an image between the intersection point p of the side e-h that hits the front of the vehicle body 3 in the region efgh, the straight line L1-L2 of the trolley line 4R, and the middle point i of the side eh. The upper relative distance pixel number D_P_i is calculated (step S130), the relative distance pixel number D_P_i is multiplied by the size B_m of the slide plate, and the value is divided by the pixel number B_p on the image of the slide plate (side eh). (Step S140), thereby obtaining a relative distance D_m indicating the positional relationship between the sliding plate 5R and the trolley wire 4R. That is, the following calculation is performed.

Relative distance D_m = (D_P_i × B_m) / B_p

Next, the image calculation device 33 outputs the calculated relative distance D_m to the warning determination device 36 (step S160).

  FIG. 7 is a flowchart showing the warning determination process of the warning determination device 36. The warning determination device 36 performs warning determination processing using the relative distance D_m output from the image calculation device 33 and the first and second warning threshold values Y1 and Y2 input from the warning threshold value storage unit 35. Depending on the processing result, any one of the non-detection notification process U, the detection notification process D, the first warning process A1, and the second warning process A2 is performed.

  The warning determination device 36 first determines whether or not the relative distance D_m is an error value (step S210). At this time, if the relative distance D_m is an Error value, an undetected notification process U is performed (step S240). Next, when the relative distance D_m is not the Error value, the warning determination device 36 determines whether the relative distance D_m is smaller than the first warning threshold value Y1 (step S220). At this time, if the relative distance D_m is smaller than the first warning threshold value Y1, the detection notification process D is performed (step S250). If the relative distance D_m is not smaller than the first warning threshold value Y1 (is equal to or greater than the first warning threshold value Y1), the warning determination device 36 further determines that the relative distance D_m is equal to or greater than the first warning threshold value Y1 and It is determined whether it is smaller than 2 warning threshold value Y2 (step S230). When the relative distance D_m is greater than or equal to the first warning threshold value Y1 and smaller than the second warning threshold value Y2, the first warning process A1 is performed (step S260), and the relative distance D_m is greater than the second warning threshold value Y2. Is not smaller (second warning threshold value Y2 or more), the second warning process A2 is performed (step S270).

  Operation examples of the undetected notification process U, the detection notification process D, the first warning process A1, and the second warning process A2 will be described with reference to FIGS. 8 shows an example of the monitor operation in the undetected notification process U performed by the warning determination device 36, FIG. 9 shows an example of the monitor operation in the detection notification process D, and FIG. 10 shows an example of the monitor operation in the first warning process A1. FIG. 11 is a diagram showing an example of the monitor operation in the second warning process A2. FIG. 12 is a time chart illustrating an operation example of the speaker 26 in the undetected notification process U, the detection notification process D, the first warning process A1, and the second warning process A2 performed by the warning determination device 36.

  In step S240 of the non-detection notification process U, the warning determination device 36 displays the captured image of the camera 8 and the energization mark 52 on the monitor 25 as shown in FIG. FIG. 8 shows an example in which the trolley line 4R cannot be detected in the image area abcd, and the trolley line 4R is indicated by an imaginary line. At this time, the warning determination device 36 does not operate the speaker 26 as shown in FIG.

  In step S250 of the detection notification process D, the warning determination device 36 displays an image captured by the camera 8 on the monitor 25 as shown in FIG. 9, and makes it easier for the driver to visually recognize the trolley wire 4R. The highlighted line L of the trolley line 4R is displayed at the position of the trolley line 4R recognized in the above, and the frame of the highlighted display S of the sliding plate 5R and the energization mark 52 are similarly displayed on the sliding plate 5R. At this time, the energization mark 52 blinks at a predetermined cycle.

  At this time, the warning determination device 36 generates a notification sound indicating that the relative distance D_m is calculated from the speaker 26 as shown in FIG. In the example of FIG. 12, the notification sound is an intermittent sound with a constant period F1, and the warning determination device 36 operates the speaker 26 intermittently at a relatively long interval (ON time) T1 to generate an intermittent buzzer sound. Let The relatively long interval (ON time) T1 is set longer than the OFF time and significantly longer than warning sound intervals (ON time) T2 and T3 described later. For example, when the period F1 is 2.5 seconds, the interval (ON time) T1 is about 2 seconds. "Significantly" means more than twice in the present invention. As a result, the warning judgment device 36 recognizes the notification sound from the warning sound (first warning sound) of the first and second warning processings A1 and A2 (to be described later) and the warning sound when the dump truck is moved backward, to be recognized by the driver. And appropriate driving assistance can be provided.

  In step S260 of the first warning process A1, the warning determination device 36, as in the case of the detection notification process D, as shown in FIG. 10, the captured image of the camera 8 on the monitor 25, the highlighted display L of the trolley line 4R, Right direction which is a symbol as a visual warning means for displaying a highlight S of the sliding plate 5R and an energization mark 52 and indicating a steering operation direction for returning the sliding plate 5R from a direction likely to deviate from the trolley wire 4R. The arrow 51 is displayed on the right side of the monitor 25, and the energization mark 52 and the arrow 51 in the right direction are blinked. When the slip plate 5R is shifted to the left from the trolley wire 4R, it is necessary to turn the vehicle body 3 to the right. With the monitor 25 placed in front of the driver, the right arrow 51 is displayed at the right corner of the monitor, so that the driver can be warned to turn right. In addition, what is necessary is just to display the arrow of the left direction on the left side of the monitor 25, when the sliding board 5R has shifted | deviated to the right with respect to the trolley line 4R. The energization mark 52 blinks at a cycle faster than the energization mark 52 blinking in step S250 of the detection notification process D, and the right arrow 51 blinks at the same cycle as the energization mark 52. Thereby, it is possible to make the driver strongly recognize that the sliding plate 5R tends to deviate from the trolley wire 4R.

  At this time, the warning determination device 36 generates a warning sound (first warning sound) for alerting the driver from the speaker 26 as shown in FIG. In the example of FIG. 12, the warning sound of the first warning process A1 is an intermittent sound having a constant period F2 shorter than the period F1 of the notification sound, and the warning determination device 36 has an interval (ON) shorter than that of the detection notification process D. Time) The speaker 26 is intermittently operated at T2, and a buzzer sound is intermittently generated. The warning sound interval (ON time) T2 of the first warning process A1 is, for example, about 0.8 seconds. Thus, even if the driver is not looking at the monitor 25 by operating the speaker 26 intermittently at intervals shorter than the notification sound and alerting the driver with sound, The operation can be prompted.

  Here, as described above, the ON time T1 of the notification sound of the detection notification process D is set to be significantly longer (twice or more) than the ON time T2 of the warning sound of the first warning process A1. In the illustrated example, the notification sound cycle F1 is twice the warning sound cycle F2, and the notification sound ON time T1 is 2.5 times the warning sound ON time T2. The notification sound may be a continuous sound instead of an intermittent sound. In addition, the notification sound may be changed from the warning sound and the tone color, and in this case, the distinguishability can be further improved.

  In step S270 of the second warning process A2, as shown in FIG. 11, the warning determination device 36 displays the captured image of the camera 8 on the monitor 25 and the highlighted display L of the trolley line 4R, as in the case of the second warning process A2. The highlighting S of the sliding plate 5R, the energization mark 52, and the right arrow 51 are displayed on the monitor 25. In this case, the right arrow 51 is lit instead of blinking. Thereby, the driver can recognize the change in the positional relationship between the sliding plate 5R and the trolley wire 4R.

  At this time, similarly to the case of the first warning process A1, the warning determination device 36 generates a warning sound (first warning sound) for alerting the driver from the speaker 26. However, as shown in FIG. 12, the warning sound at this time is an intermittent sound having a fixed period F3 shorter than the warning sound period F2 of the first warning process A1, and the warning determination device 36 performs the first warning process A1. The speaker 26 is intermittently operated at an interval (ON time) T3 shorter than the case to intermittently generate a buzzer sound. The warning sound interval (ON time) T3 of the second warning process A2 is, for example, about 0.3 seconds. When the relative distance D_m is equal to or greater than the warning threshold value as described above, the sliding plate 5R may deviate from the trolley wire 4R by shortening the period of the intermittent sound as the warning sound as the relative distance D_m increases. It is possible to inform the driver that the vehicle is approaching and to prompt the driver to operate the handle 21.

In step S250 of the detection notification process D, the warning determination device 36 calculates the relative distance D_m from the error value to the calculated value (calculated from the state in which the relative distance D_m between the trolley wire 4R and the sliding plate 5R is not calculated). When the state is changed to the state, the intermittent sound (second warning sound) is emitted twice from the speaker 26 and transmitted to the driver. Similarly, the warning determination device 36 changes from a state where the relative distance D_m indicating the positional relationship between the trolley wire 4R and the sliding plate 5R is calculated to a state where it is not calculated when the relative distance D_m switches from the calculated value to the Error value. ), An intermittent sound (second warning sound) is emitted three times from the speaker 26 and transmitted to the driver. As a result, the driver can know that the driving assistance has changed from the internal state to the driving assistance state or that the driving assistance has changed from the driving assistance state to the absence of driving assistance. Appropriate steering operation can be promoted.
~effect~
1. When the relative distance D_m indicating the positional relationship between the trolley wire and the sliding plate is calculated and the relative distance D_m is smaller than the first warning threshold value Y1, the relative distance D_m different from the warning sound (first warning sound) from the speaker 26. When the relative distance D_m is calculated and the relative distance D_m is smaller than the first warning threshold value Y1, the relative distance D_m is not calculated. Since the speaker 26 stops operating and the notification sound disappears, the driver of the electrically driven dump truck can immediately know that the relative position information of the trolley wire 4R and the sliding plate 5R has not been acquired. Thus, the driver can switch to the steering operation by visual observation, and can perform the steering operation so that the sliding plate 5R does not deviate from the trolley wire 4R when the sliding plate 5R tends to deviate from the trolley wire 4R. On the other hand, when the positional relationship between the trolley wire 4R and the sliding plate 5R is acquired, when the sliding plate 5R tends to deviate from the trolley wire 4R, a warning sound (first warning sound) that calls attention from the speaker 26 is generated. Therefore, the driver can be alerted with sound and the driver can be prompted to operate the steering wheel. As described above, according to the present embodiment, the positional relationship between the trolley wire 4R and the sliding plate 5R is acquired even when the positional relationship between the trolley wire 4R and the sliding plate 5R cannot be acquired from the imaging information of the camera 8. Appropriate driving assistance according to the situation can be provided.

  2. An intermittent sound is generated as a warning sound (first warning sound) and a notification sound, and the ON time T1 of the notification sound is significantly (doubled or more) than the ON time T2 of the warning sound (first warning sound) ) Because of the long setting, the driver can recognize the notification sound without being confused with the warning sound (first warning sound) or the warning sound when the dump truck is moved backward, and can perform appropriate driving support.

  3. When the relative distance D_m is greater than or equal to the warning threshold, the sliding plate 5R is likely to deviate from the trolley wire 4R by shortening the period of the intermittent sound as the warning sound as the relative distance D_m increases. This can be communicated to the driver, and the driver can be prompted to operate the handle 21. In addition, the monitor 25 (display device) displays a symbol (right arrow 51) indicating the steering wheel operation direction for returning the sliding plate 5R from the direction in which it is likely to deviate from the trolley wire 4R, thereby allowing the driver to A warning indicating the operation direction of the handle 21 can be given.

4). When the relative distance D_m is switched from the error value to the calculated value (when the relative distance D_m between the trolley wire 4R and the sliding plate 5R is changed from a state where it is not calculated), the relative distance D_m is calculated from the calculated value. When the value is switched (when the relative distance D_m indicating the positional relationship between the trolley wire 4R and the sliding plate 5R changes from a calculated state to a non-calculated state), a second warning sound is generated from the speaker 26. In addition to the presence / absence of the above notification sound, the driver has changed from a state where there is no driving support to a state where there is driving support in addition to the presence / absence of the above notification sound, or driving support from a state where there is driving support. It is possible to know that the vehicle has changed to a non-existing state, and to perform appropriate driving support according to the acquisition status of the positional relationship between the trolley wire 4R and the sliding plate 5R. .
<Second Embodiment>
A second embodiment of the present invention will be described with reference to FIGS. In this embodiment, an indicator is provided in addition to a monitor as a display device.

  FIG. 13 is a diagram illustrating an example of device arrangement in the cab in the driving assistance apparatus according to the second embodiment. In the present embodiment, in addition to the monitor 25 and the speaker 26, an indicator 29, which is a second display device, is attached to the upper portion of the windshield 24 positioned in front of the driver, and the speaker 26 and the two display devices (the monitor 25 and the monitor 25). The indicator 29) constitutes a warning device 40 (see FIG. 3) that alerts the driver of the electrically driven dump truck 1.

  The indicator 29 includes five LEDs, a left end LED 101, a left side LED 102, a center LED 103, a right side LED 104, and a right end LED 105.

  The internal configuration (function) of the warning controller 30 in the present embodiment is that the indicator 29 is an operation target of the non-detection notification process U, the detection notification process D, the first warning process A1, and the second warning process A2 shown in FIG. Except for the added points, the second embodiment is the same as the first embodiment.

  An operation example of the undetected notification process U, the detection notification process D, the first warning process A1, and the second warning process A2 in the present embodiment will be described with reference to FIGS. 14 shows an example of the operation of the monitor and indicator in the undetected notification process U performed by the warning determination device 36, FIG. 15 shows an example of the operation of the monitor and indicator in the detection notification process D, and FIG. 16 shows the operation in the first warning process A1. FIG. 17 is a diagram showing an example of the operation of the monitor and the indicator in the second warning process A2.

  The operations of the speaker 26 and the monitor 25 in the undetected notification process U, the detection notification process D, the first warning process A1, and the second warning process A2 are the same as those in the first embodiment described with reference to FIGS. This is the same and will not be described.

  In step S240 of the non-detection notification process U, the warning determination device 36 turns on the central LED 103 of the indicator 29 and displays the captured image of the camera 8 and the energization mark 52 on the monitor 25 as shown in FIG. At this time, since the central LED 103 and the energization mark 52 have the same contents, the display can be simplified if they are made common in the same shape and color.

  In step S250 of the detection notification process D, the warning determination device 36 causes the indicator 29 to blink the central LED 103 as shown in FIG. Further, as in the first embodiment, the line of the highlighting L of the trolley line 4R at the position of the trolley line 4R recognized on the screen, and the frame of the highlighting S of the sliding board 5R on the sliding board 5R similarly. The energization mark 52 is displayed. At this time, the display can be simplified by blinking the central LED 103 at the same cycle as the energization mark 52.

  In step S260 of the first warning process A1, the warning determination device 36 blinks the center LED 103 and the right-side LED 104 as shown in FIG. 16, and the captured image of the camera 8 and the trolley line 4R are highlighted on the monitor 25. A display L, an emphasis display S of the sliding plate 5R, an energization mark 52, and a right arrow 51 are displayed on the monitor 25. Also at this time, the display can be simplified by blinking the central LED 103 and the right-side LED 104 in the same cycle as the energization mark 52.

  In step S270 of the second warning processing A2, the warning determination device 36 lights the central LED 103, the right-side LED 104, and the right-end LED 105 as shown in FIG. 17, and the captured image of the camera 8 and the trolley line are displayed on the monitor 25. The 4L highlight L, the slide 5R highlight S, the energization mark 52, and the right arrow 51 are displayed on the monitor 25.

  According to the present embodiment, when the relative distance D_m indicating the positional relationship between the trolley wire and the sliding plate becomes equal to or greater than the first and second warning threshold values Y1, Y2 by the two display devices of the monitor 25 and the indicator 29. Since the warning is provided for each of the two, a more appropriate driving assistance can be performed when the sliding plate 5R tends to deviate from the trolley wire 4R.

DESCRIPTION OF SYMBOLS 1 Electric drive dump truck 2 Driver's cab 3 Vehicle body 4L, 4R Trolley wire 5L, 5R Sliding plate 6L, 6R Current collector 8 Camera 21 Handle 22 Console 25 Monitor (display device)
26 Speaker 30 Warning controller (image processing / control device)
31 Slip plate size storage unit 32 Slip plate image storage unit 33 Image calculation device 35 Warning threshold value storage unit 36 Warning judgment device 40 Warning device Y1 First warning threshold value Y2 Second warning threshold value U Undetected notification processing D Detection notification processing A1 First warning processing A2 Second warning processing F1 Notification sound cycle F2 Warning sound cycle F3 when relative distance D_m is greater than or equal to first threshold value Y1 Relative distance D_m is greater than or equal to second threshold value Y2 Period T1 of the warning sound when the alarm is in the alarm time ON time T2 when the relative distance D_m is equal to or greater than the first threshold value Y1 When the relative distance D_m is equal to or greater than the second threshold value Y2 ON time of warning sound

Claims (5)

An electric drive dump truck that raises a sliding plate of a current collector that can be raised and lowered provided in a vehicle body, contacts the sliding plate with a trolley wire provided along a road, and receives electric power from the trolley wire. In the driving support device,
A camera that includes the trolley wire and the sliding plate in an imaging range, and does not include the vehicle body in the imaging range;
A warning device;
Calculate a relative distance indicating the positional relationship between the trolley line and the sliding plate present in the captured image of the camera, and when the relative distance becomes greater than or equal to a preset warning threshold value, activate the warning device and It has an image processing and control device that alerts the driver of an electrically driven dump truck,
The warning device has a speaker;
When the relative distance between the trolley wire and the sliding plate is not calculated, the image processing / control device does not operate the speaker, the relative distance is calculated, and the relative distance is equal to or greater than the warning threshold value. When generating a first warning sound to call attention from the speaker, when the relative distance is calculated and the relative distance is smaller than the warning threshold, the speaker is different from the first warning sound, A driving support device for an electric drive dump truck, wherein a notification sound indicating that the relative distance is calculated is generated. In the driving assistance device of the electric drive dump truck according to claim 1,
The image processing / control device generates an intermittent sound with a fixed period as each of the first warning sound and the notification sound, and the ON time of the notification sound is set to be significantly longer than the ON time of the first warning sound. An electric drive dump truck driving support device characterized by that. In the driving assistance device of the electric drive dump truck according to claim 2,
When the relative distance is equal to or greater than the warning threshold, the image processing / control device shortens the period of the intermittent sound that is the first warning sound as the relative distance increases. A driving support device for an electrically driven dump truck. In the driving assistance device of the electric drive dump truck according to claim 2,
The warning device further includes a display device,
When the relative distance is greater than or equal to the warning threshold, the image processing / control device shortens the period of the intermittent sound that is the first warning sound as the relative distance increases, and the display A driving support device for an electrically driven dump truck, wherein a symbol indicating a steering operation direction for returning the sliding plate from a direction likely to deviate from the trolley line is displayed on the device. In the driving assistance device of the electric drive dump truck according to claim 1,
The image processing / control device generates a second warning sound notifying that the relative distance has not been calculated from the speaker when the relative distance has been calculated to be not calculated. A driving support device for an electrically driven dump truck.

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