JP7180777B2 - 運転制御システム - Google Patents
運転制御システム Download PDFInfo
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- JP7180777B2 JP7180777B2 JP2021528106A JP2021528106A JP7180777B2 JP 7180777 B2 JP7180777 B2 JP 7180777B2 JP 2021528106 A JP2021528106 A JP 2021528106A JP 2021528106 A JP2021528106 A JP 2021528106A JP 7180777 B2 JP7180777 B2 JP 7180777B2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
- B60W40/13—Load or weight
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- 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
- B60P9/00—Other vehicles predominantly for carrying loads, e.g. load carrying vehicles convertible for an intended purpose
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/04—Traffic conditions
-
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object
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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
- G01S17/02—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
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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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of 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
- 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
-
- 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
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P7/00—Securing or covering of load on vehicles
- B60P7/06—Securing of load
- B60P7/08—Securing to the vehicle floor or sides
- B60P7/0823—Straps; Tighteners
- B60P7/0861—Measuring or identifying the tension in the securing element
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/10—Road Vehicles
- B60Y2200/14—Trucks; Load vehicles, Busses
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Computer Networks & Wireless Communication (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
本願は、2019年6月26日に、日本国に出願された特願2019-118572号に基づき優先権を主張し、その内容をここに援用する。
距離センサ1において、運搬対象物Cの計測点の点群までの距離が計測される(ステップS1)。
そして、形状認識部2において、取得した点群の鉛直方向の高さを比較し、距離が近く、かつ点群の高さが近い(すなわち、距離及び高さの差が所定値以下)の計測点をグループ化する(ステップS2)。
(1)上記実施形態においては、荷崩れが発生した場合には、表示部5に警告表示を行うとしたが、本開示はこれに限定されない。例えば、荷崩れが発生した場合には、中央管制設備等から運搬車両Tの走行を停止する処理を行ってもよい。この処理は、中央管制設備等にいる監視者が人為的に行っても良いし、中央管制設備等が自動的に行っても良い。
2 形状認識部
3 姿勢記憶部
4 判定部
5 表示部
C 運搬対象物
S 運転制御システム
Claims (5)
- 運搬車両における運搬対象物を検知する計測部と、
前記計測部の計測データに基づいて前記運搬車両に積載された運搬対象物の姿勢を取得し、時間に対する前記姿勢の変化に基づいて前記運搬対象物の荷崩れを判定する荷崩れ判定部とを備え、
前記運搬車両は、前記計測部が設けられたトレーラヘッドと、当該トレーラヘッドに連結されるとともに前記運搬対象物が積載された荷台とを備え、
前記判定部は、前記運搬車両の旋回における前記トレーラヘッドと前記運搬対象物との連結角によって前記計測部が取得した計測データをより補正することで前記運搬対象物の姿勢の変化を検出する運転制御システム。 - 前記計測部は、レーザ光を走査して前記トレーラヘッドと周囲物体との距離を計測する請求項1記載の運転制御システム。
- 前記荷崩れ判定部は、前記運搬対象物の外形形状における連続した直線状の複数の計測点の集合を、前記運搬対象物の姿勢の基準とする請求項2記載の運転制御システム。
- 前記計測部は、前記トレーラヘッドの上部に設置されている請求項1~3のいずれか一項に記載の運転制御システム。
- 前記計測部は、前記トレーラヘッドの左右端にそれぞれ設置されている請求項1~3のいずれか一項に記載の運転制御システム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019118572 | 2019-06-26 | ||
JP2019118572 | 2019-06-26 | ||
PCT/JP2020/022659 WO2020261973A1 (ja) | 2019-06-26 | 2020-06-09 | 運転制御システム |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2020261973A1 JPWO2020261973A1 (ja) | 2020-12-30 |
JP7180777B2 true JP7180777B2 (ja) | 2022-11-30 |
Family
ID=74060964
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2021528106A Active JP7180777B2 (ja) | 2019-06-26 | 2020-06-09 | 運転制御システム |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP3992031A4 (ja) |
JP (1) | JP7180777B2 (ja) |
KR (1) | KR102587696B1 (ja) |
CN (1) | CN114072314B (ja) |
WO (1) | WO2020261973A1 (ja) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20240083353A1 (en) * | 2022-09-14 | 2024-03-14 | Venti Technologies | Container Misalignment Detection System and Methods for Autonomous Vehicles |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2013230903A (ja) | 2012-04-27 | 2013-11-14 | Hitachi Ltd | フォークリフト |
JP2017019596A (ja) | 2015-07-08 | 2017-01-26 | 株式会社豊田自動織機 | 無人フォークリフトにおける荷取り時の走行制御方法及び荷取り時の走行制御装置 |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3299125B2 (ja) * | 1996-09-30 | 2002-07-08 | 日野自動車株式会社 | 荷崩れ警報装置 |
JP4330050B2 (ja) * | 1999-08-27 | 2009-09-09 | 東急車輛製造株式会社 | パレット搬送車 |
JP2005018472A (ja) * | 2003-06-26 | 2005-01-20 | Nec Mobiling Ltd | 運送車両の荷崩れ監視システムおよびその方法 |
JP5165503B2 (ja) * | 2008-08-29 | 2013-03-21 | 全国農業協同組合連合会 | 積荷監視方法及びそのための積荷監視システム |
JP5429204B2 (ja) | 2011-02-01 | 2014-02-26 | 村田機械株式会社 | 搬送車 |
JP2013035399A (ja) * | 2011-08-08 | 2013-02-21 | Toshiba Alpine Automotive Technology Corp | 荷室監視装置 |
JP6136434B2 (ja) | 2013-03-25 | 2017-05-31 | 村田機械株式会社 | 自律移動式無人搬送車 |
CN103273880A (zh) * | 2013-05-23 | 2013-09-04 | 无锡伊佩克科技有限公司 | 一种货车货物防掉落系统 |
JP2016081159A (ja) * | 2014-10-14 | 2016-05-16 | トヨタ自動車株式会社 | 移動体 |
KR102326062B1 (ko) * | 2014-11-12 | 2021-11-12 | 현대모비스 주식회사 | 자율주행차량의 장애물 회피 시스템 및 방법 |
JP6741402B2 (ja) * | 2015-06-18 | 2020-08-19 | 日野自動車株式会社 | 情報提供装置、車両、および情報提供方法 |
JP6794341B2 (ja) | 2017-12-28 | 2020-12-02 | ユニ・チャーム株式会社 | 吸収性物品 |
-
2020
- 2020-06-09 CN CN202080045695.9A patent/CN114072314B/zh active Active
- 2020-06-09 KR KR1020217040521A patent/KR102587696B1/ko active IP Right Grant
- 2020-06-09 JP JP2021528106A patent/JP7180777B2/ja active Active
- 2020-06-09 EP EP20833690.9A patent/EP3992031A4/en active Pending
- 2020-06-09 WO PCT/JP2020/022659 patent/WO2020261973A1/ja unknown
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2013230903A (ja) | 2012-04-27 | 2013-11-14 | Hitachi Ltd | フォークリフト |
JP2017019596A (ja) | 2015-07-08 | 2017-01-26 | 株式会社豊田自動織機 | 無人フォークリフトにおける荷取り時の走行制御方法及び荷取り時の走行制御装置 |
Also Published As
Publication number | Publication date |
---|---|
EP3992031A1 (en) | 2022-05-04 |
WO2020261973A1 (ja) | 2020-12-30 |
US20220355806A1 (en) | 2022-11-10 |
CN114072314A (zh) | 2022-02-18 |
CN114072314B (zh) | 2024-06-11 |
KR20220006622A (ko) | 2022-01-17 |
EP3992031A4 (en) | 2023-07-19 |
KR102587696B1 (ko) | 2023-10-10 |
JPWO2020261973A1 (ja) | 2020-12-30 |
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