JP7374602B2 - 作業車両 - Google Patents

作業車両 Download PDF

Info

Publication number
JP7374602B2
JP7374602B2 JP2019067152A JP2019067152A JP7374602B2 JP 7374602 B2 JP7374602 B2 JP 7374602B2 JP 2019067152 A JP2019067152 A JP 2019067152A JP 2019067152 A JP2019067152 A JP 2019067152A JP 7374602 B2 JP7374602 B2 JP 7374602B2
Authority
JP
Japan
Prior art keywords
obstacle
body frame
front wheel
vehicle body
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
JP2019067152A
Other languages
English (en)
Japanese (ja)
Other versions
JP2020165834A (ja
JP2020165834A5 (https=
Inventor
舜 辻村
博史 坂本
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
Priority to JP2019067152A priority Critical patent/JP7374602B2/ja
Priority to US17/275,344 priority patent/US20220050209A1/en
Priority to CN201980056190.XA priority patent/CN112638708B/zh
Priority to EP19923035.0A priority patent/EP3950423B1/en
Priority to PCT/JP2019/048771 priority patent/WO2020202650A1/ja
Publication of JP2020165834A publication Critical patent/JP2020165834A/ja
Publication of JP2020165834A5 publication Critical patent/JP2020165834A5/ja
Application granted granted Critical
Publication of JP7374602B2 publication Critical patent/JP7374602B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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)
JP2019067152A 2019-03-29 2019-03-29 作業車両 Active JP7374602B2 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2019067152A JP7374602B2 (ja) 2019-03-29 2019-03-29 作業車両
US17/275,344 US20220050209A1 (en) 2019-03-29 2019-12-12 Work Machine
CN201980056190.XA CN112638708B (zh) 2019-03-29 2019-12-12 作业车辆
EP19923035.0A EP3950423B1 (en) 2019-03-29 2019-12-12 Work vehicle
PCT/JP2019/048771 WO2020202650A1 (ja) 2019-03-29 2019-12-12 作業車両

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2019067152A JP7374602B2 (ja) 2019-03-29 2019-03-29 作業車両

Publications (3)

Publication Number Publication Date
JP2020165834A JP2020165834A (ja) 2020-10-08
JP2020165834A5 JP2020165834A5 (https=) 2022-04-05
JP7374602B2 true JP7374602B2 (ja) 2023-11-07

Family

ID=72668269

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2019067152A Active JP7374602B2 (ja) 2019-03-29 2019-03-29 作業車両

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

Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004114954A (ja) 2002-09-27 2004-04-15 Nissan Motor Co Ltd 車両用運転操作補助装置
DE102006026898A1 (de) 2006-06-09 2007-12-20 Hans Dominik Vorrichtung zur Überwachung des rückwärtigen und seitlichen Raums eines Fahrzeugs
WO2015162801A1 (ja) 2014-04-25 2015-10-29 株式会社小松製作所 周辺監視システム、作業車両、及び周辺監視方法
JP2015191441A (ja) 2014-03-28 2015-11-02 三菱電機株式会社 衝突判定装置
JP2015210649A (ja) 2014-04-25 2015-11-24 日立建機株式会社 車体近傍障害物報知システム
WO2016125332A1 (ja) 2015-02-04 2016-08-11 日立建機株式会社 車体外部移動物体検知システム
JP2016536613A (ja) 2013-09-20 2016-11-24 キャタピラー インコーポレイテッドＣａｔｅｒｐｉｌｌａｒ Ｉｎｃｏｒｐｏｒａｔｅｄ 無線周波数信号を用いた位置決めシステム
JP2018506768A (ja) 2015-02-16 2018-03-08 アプリケーション・ソリューションズ・（エレクトロニクス・アンド・ヴィジョン）・リミテッド サラウンドビュー画像から自動車のエゴモーションを推定するための方法および装置
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
JP2018185236A (ja) 2017-04-26 2018-11-22 株式会社クボタ 作業車
JP2018536588A (ja) 2015-11-03 2018-12-13 ニューティーエル プラットホームに沿った停車のための操作を支援するためのデバイス
JP2020107022A (ja) 2018-12-27 2020-07-09 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

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4779095A (en) * 1986-10-28 1988-10-18 H & G Systems, Inc. Image change detection system
US20040217851A1 (en) * 2003-04-29 2004-11-04 Reinhart James W. Obstacle detection and alerting system
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
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
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
US10444758B2 (en) * 2015-12-01 2019-10-15 Ricoh Company, Ltd. Autonomous traveling device
EP3572897B1 (en) * 2017-01-20 2025-01-29 Kubota Corporation Work vehicle
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

Patent Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004114954A (ja) 2002-09-27 2004-04-15 Nissan Motor Co Ltd 車両用運転操作補助装置
DE102006026898A1 (de) 2006-06-09 2007-12-20 Hans Dominik Vorrichtung zur Überwachung des rückwärtigen und seitlichen Raums eines Fahrzeugs
JP2016536613A (ja) 2013-09-20 2016-11-24 キャタピラー インコーポレイテッドＣａｔｅｒｐｉｌｌａｒ Ｉｎｃｏｒｐｏｒａｔｅｄ 無線周波数信号を用いた位置決めシステム
JP2015191441A (ja) 2014-03-28 2015-11-02 三菱電機株式会社 衝突判定装置
JP2015210649A (ja) 2014-04-25 2015-11-24 日立建機株式会社 車体近傍障害物報知システム
WO2015162801A1 (ja) 2014-04-25 2015-10-29 株式会社小松製作所 周辺監視システム、作業車両、及び周辺監視方法
WO2016125332A1 (ja) 2015-02-04 2016-08-11 日立建機株式会社 車体外部移動物体検知システム
JP2018506768A (ja) 2015-02-16 2018-03-08 アプリケーション・ソリューションズ・（エレクトロニクス・アンド・ヴィジョン）・リミテッド サラウンドビュー画像から自動車のエゴモーションを推定するための方法および装置
JP2018536588A (ja) 2015-11-03 2018-12-13 ニューティーエル プラットホームに沿った停車のための操作を支援するためのデバイス
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
JP2018185236A (ja) 2017-04-26 2018-11-22 株式会社クボタ 作業車
JP2020107022A (ja) 2018-12-27 2020-07-09 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
US20220050209A1 (en) 2022-02-17
CN112638708B (zh) 2022-12-16
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

Similar Documents

Publication Publication Date Title
CN108779628B (zh) 轮式装载机以及轮式装载机的控制方法
JP5324690B1 (ja) 作業車両用周辺監視システム及び作業車両
JP3219005U (ja) 建設車両
JP6886258B2 (ja) ホイールローダおよびホイールローダの制御方法
JP5411976B1 (ja) 作業車両用周辺監視システム及び作業車両
JP5550695B2 (ja) 作業車両用周辺監視システム及び作業車両
CN106029477B (zh) 行走车辆及行走车辆的控制方法
WO2013136564A1 (ja) 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
WO2016016981A1 (ja) 運搬車両、ダンプトラック、及び運搬車両の制御方法
JP7650934B2 (ja) 作業機械の制御システム及び制御方法
JP7346754B2 (ja) ダンプトラックの制御システム
JP7374602B2 (ja) 作業車両
JP2017074871A (ja) 車両周囲障害物検出装置
JP6171034B2 (ja) 運搬車両及び運搬車両の制御方法
JP2024058018A (ja) 荷役車両
JP7494766B2 (ja) 産業車両
JP5595565B2 (ja) 作業車両用周辺監視システム、作業車両及び作業車両用周辺監視方法
JP5788048B2 (ja) 作業車両用周辺監視システム及び作業車両
JP7810088B2 (ja) 荷役車両
JP7456358B2 (ja) 産業車両
JP7494767B2 (ja) 産業車両
JP2023176620A (ja) 荷役車両
JP2022158412A (ja) 作業車両

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20220328

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20220328

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20230404

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20230602

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20230829

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20231004

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20231017

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20231025

R150 Certificate of patent or registration of utility model

Ref document number: 7374602

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150