JP6284741B2 - 後退支援装置 - Google Patents
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- JP6284741B2 JP6284741B2 JP2013220839A JP2013220839A JP6284741B2 JP 6284741 B2 JP6284741 B2 JP 6284741B2 JP 2013220839 A JP2013220839 A JP 2013220839A JP 2013220839 A JP2013220839 A JP 2013220839A JP 6284741 B2 JP6284741 B2 JP 6284741B2
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- 238000004891 communication Methods 0.000 description 10
- 238000012806 monitoring device Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 8
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- 239000002689 soil Substances 0.000 description 2
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
-
- 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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- 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
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4808—Evaluating distance, position or velocity data
-
- 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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- 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
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
- G01S2007/4975—Means for monitoring or calibrating of sensor obstruction by, e.g. dirt- or ice-coating, e.g. by reflection measurement on front-screen
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Radar Systems Or Details Thereof (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Traffic Control Systems (AREA)
Description
以下、図1〜図10を用いて、本発明の第1の実施形態である後退支援装置を搭載した運搬機械の構成及び動作を説明する。ここでは、一例として、運搬機械はダンプトラックである。
次に、図11〜図13を用いて、本発明の第2の実施形態である後退支援装置100の構成及び動作を説明する。
3…車止め計測部
4…車止め記憶部
6…防塵カバー
7…汚れ状態推定部
8…汚れ状態記憶装置
15…車輪速計測部
16…操舵角計測部
17…自己位置演算装置
18…制動装置
19…駆動トルク制限装置
20…運搬機械制動制御装置
22…土埃
23…直交座標系
50…運搬機械従動輪
50S…車軸
50FR、50FL…従動輪の外側端面の延長面
51…運搬機械後輪
52…基準物
52a、52b、52c…基準物までの距離測定結果
53…レーザスキャナの検出窓
61…キャブ(運転席)
100…後退支援装置
101…車止め
101a…車止めの傾斜部
102…車止め計測装置
103…計測性能監視装置
104…無線通信装置
105…自己位置計測装置
106…速度調整装置
107…後方物体検出部による検出面
108…運搬機械走行面
109…車止め境界
1000…ダンプトラック(運搬機械)
1000S…ダンプトラックの側面
Claims (5)
- 運搬機械の従動輪の外側、かつ前記従動輪の上方に配置され、前記運搬機械の後方にある物までの距離を測定する後方物体検出部と、
前記後方物体検出部から一定の距離Tsに配置された基準物と、
前記後方物体検出部によって測定された前記基準物までの距離Tと距離Tsの偏差が第1の閾値以上の場合、警告を報知する報知装置と、
前記後方物体検出部によって測定された前記基準物までの距離Tと距離Tsの偏差が第1の閾値以上の場合、前記運搬機械を停止させる速度調整装置と、を備える後退支援装置であって、
前記速度調整装置は、
前記後方物体検出部によって所定回数測定された前記基準物までの距離Tの平均Taveと距離Tsとの偏差が第1の閾値より小さい第2の閾値以上の場合、前記運搬機械の速度を制限することを特徴とする後退支援装置。 - 運搬機械の従動輪の外側、かつ前記従動輪の上方に配置され、前記運搬機械の後方にある物までの距離を測定する後方物体検出部を備える後退支援装置であって、
前記後方物体検出部は、少なくとも2個あり、
それぞれの前記後方物体検出部によって測定された車止めまでの距離に基づいて、前記車止めの長手方向に垂直な面と前記従動輪の車軸に垂直な面とがなす角度を示す運搬機械角度を計算する車止め計測装置と、
前記運搬機械角度が第3の閾値以上の場合、前記運搬機械の速度を制限する速度調整装置と、
を備えることを特徴とする後退支援装置。 - 請求項2に記載の後退支援装置であって、
前記速度調整装置は、
前記車止めに対する前記運搬機械角度が第3の閾値より小さく、前記後方物体検出部によって測定された前記車止めまでの距離が第4の閾値以下の場合、前記運搬機械の速度を制限することを特徴とする後退支援装置。 - 請求項3に記載の後退支援装置であって、
前記速度調整装置は、
前記運搬機械角度が第3の閾値より小さく、前記後方物体検出部によって測定された前記車止めまでの距離が第4の閾値より小さい第5の閾値以下である場合、前記運搬機械を停止させることを特徴とする後退支援装置。 - 運搬機械の従動輪の外側、かつ前記従動輪の上方に配置され、前記運搬機械の後方にある物までの距離を測定する後方物体検出部を備える後退支援装置であって、
前記後方物体検出部は、
前記運搬機械が傾斜部を備えた車止めの位置で停止した状態において、前記後方物体検出部による検出面と前記傾斜部との交線と、前記後方物体検出部から走行面側の前記交線の一端へ引いた直線とが垂直になるように配置されることを特徴とする後退支援装置。
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JP2013220839A JP6284741B2 (ja) | 2013-10-24 | 2013-10-24 | 後退支援装置 |
PCT/JP2014/077726 WO2015060218A1 (ja) | 2013-10-24 | 2014-10-17 | 後退支援装置 |
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JP2013220839A JP6284741B2 (ja) | 2013-10-24 | 2013-10-24 | 後退支援装置 |
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JP2015081877A JP2015081877A (ja) | 2015-04-27 |
JP2015081877A5 JP2015081877A5 (ja) | 2016-08-04 |
JP6284741B2 true JP6284741B2 (ja) | 2018-02-28 |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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EP4141476A1 (en) * | 2021-08-31 | 2023-03-01 | Suteng Innovation Technology Co., Ltd. | Lidar occlusion detection method and apparatus, storage medium, and lidar |
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JP6315696B2 (ja) * | 2014-09-29 | 2018-04-25 | 日立建機株式会社 | 運搬車両の停止位置算出装置 |
JP6718341B2 (ja) * | 2016-09-13 | 2020-07-08 | 日立建機株式会社 | 鉱山用作業機械及びその後方監視方法 |
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 |
JP2018151217A (ja) * | 2017-03-10 | 2018-09-27 | 日立建機株式会社 | スキャナー、作業機械、及び車止め検出装置 |
JP6866839B2 (ja) * | 2017-12-12 | 2021-04-28 | 株式会社豊田自動織機 | 自動運転フォークリフト |
JP6900897B2 (ja) * | 2017-12-25 | 2021-07-07 | コベルコ建機株式会社 | 建設機械の障害物検出装置 |
JP6909752B2 (ja) * | 2018-03-30 | 2021-07-28 | 日立建機株式会社 | 作業機械の後退支援装置 |
RU2715599C1 (ru) * | 2019-01-18 | 2020-03-02 | Акционерное общество "Черногорский ремонтно-механический завод" (АО "Черногорский РМЗ") | Система противоаварийной безопасности |
EP3942330B1 (en) * | 2019-03-12 | 2024-05-08 | Yujin Robot Co., Ltd. | Distance measurement sensor which detects error state in accordance with foreign substance and mobile robot |
US11543535B2 (en) | 2019-07-03 | 2023-01-03 | Uatc, Llc | Lidar fault detection system |
US11320830B2 (en) | 2019-10-28 | 2022-05-03 | Deere & Company | Probabilistic decision support for obstacle detection and classification in a working area |
CN114325755B (zh) * | 2021-11-26 | 2023-08-01 | 江苏徐工工程机械研究院有限公司 | 一种适用于自动驾驶车辆的挡土墙检测方法及系统 |
CN114966631A (zh) * | 2022-05-19 | 2022-08-30 | 安徽蔚来智驾科技有限公司 | 车载激光雷达的故障诊断及处理方法、装置、介质及车辆 |
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EP4141476A1 (en) * | 2021-08-31 | 2023-03-01 | Suteng Innovation Technology Co., Ltd. | Lidar occlusion detection method and apparatus, storage medium, and lidar |
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