JPWO2017159639A1 - 鉱山用作業機械 - Google Patents
鉱山用作業機械 Download PDFInfo
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- JPWO2017159639A1 JPWO2017159639A1 JP2018505927A JP2018505927A JPWO2017159639A1 JP WO2017159639 A1 JPWO2017159639 A1 JP WO2017159639A1 JP 2018505927 A JP2018505927 A JP 2018505927A JP 2018505927 A JP2018505927 A JP 2018505927A JP WO2017159639 A1 JPWO2017159639 A1 JP WO2017159639A1
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Classifications
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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
- 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
-
- 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
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
- G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
- G01S13/726—Multiple target tracking
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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
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/411—Identification of targets based on measurements of radar reflectivity
- G01S7/412—Identification of targets based on measurements of radar reflectivity based on a comparison between measured values and known or stored values
-
- 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
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/415—Identification of targets based on measurements of movement associated with the target
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C47/00—Machines for obtaining or the removal of materials in open-pit mines
-
- 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
- G01S2013/93271—Sensor installation details in the front of the 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
- 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
-
- 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
- G01S2013/93275—Sensor installation details in the bumper area
-
- 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
- G01S2013/93276—Sensor installation details in the windshield area
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Traffic Control Systems (AREA)
- Radar Systems Or Details Thereof (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
Abstract
Description
V2_i=V1+Vrel_i・・・(1)
V2_i:計測点Piの障害物速度
V1:自車速度
Vrel_i:計測点Piの相対速度
V2_j=V1+Vrel_j・・・(2)
V2_j:グループjの平均速度(障害物速度)
V1:自車速度
Vrel_j:グループjの障害物相対速度
なお、グループjの障害物相対速度は、グループjとして認識された各計測点iの障害物相対速度Vrel_iの平均値である。
Claims (3)
- 進行方向前方に向けて電磁波を放射状に照射し、障害物候補からの反射波を受信して前記障害物候補の位置及び自機に対する前記障害物候補の相対速度を周期的に検出する外界認識装置と、
自機の走行速度を検出する速度センサと、
を備えた鉱山用作業機械において、
前記障害物候補が自機の走行の妨げとはならない非障害物であるかを判定する障害物判定装置を備え、
前記障害物判定装置は、
検出した複数の前記障害物候補間の位置が、前記鉱山用作業機械に相当する予め定められた所定の大きさ閾値以内である場合に、これら複数の前記障害物候補を同一のグループとするグループ化処理部と、
前記外界認識装置が今回の周期で検出したグループ化された障害物候補の相対速度及び自機の走行速度に基づいて、前記障害物候補が静止体か移動体かを判定する静動判定部と、
前記グループ化処理部によってグループ化された障害物候補の大きさと、障害物候補が他の鉱山用作業機械であるかを判定するために予め定められた大きさ閾値とを比較した結果を基に、前記障害物候補の種類を判定する大きさ判定部と、を備える、
ことを特徴とする鉱山用作業機械。 - 請求項1に記載の鉱山用作業機械において、
前記大きさ判定部は、
前記静動判定部が静止体と判定した障害物候補であって、前記大きさ閾値以下の障害物候補は静止小型障害物候補であると判定し、前記大きさ閾値よりも大きい障害物候補は路面周辺構造物であると判定し、
さらに前記静止小型障害物候補の位置に基づいて前回の周期で当該静止小型障害物候補が検出される可能性がある検索エリアを、今回の検出位置を基準として、自機の走行速度に基づいた距離範囲に従って設定し、当該検索エリア内に、前回の周期で今回の静止小型障害物候補と同一の静止小型障害物候補が検出されていたかを判定する連続捕捉処理部と、
次回の周期で初めて検出された静止小型障害物候補の検出位置が、作業機械より小さい障害物からの反射波が受信できる最大距離に基づいて定められた非障害物判定距離閾値以下の場合、次回の周期で初めて検出された前記静止小型障害物候補は非障害物であると判定する非障害物判定部と、
前記外界認識装置が検出した障害物候補のうち、前記非障害物と判定した障害物候補を除く他の障害物候補を障害物として出力する出力部と、を含む、
ことを特徴とする鉱山用作業機械。 - 請求項1に記載の鉱山用作業機械において、
前記大きさ判定部は、前記静動判定部が移動体と判定した障害物候補であって、前記大きさ閾値以下の障害物候補は移動機械であると判定し、前記大きさ閾値よりも大きい障害物候補は前記グループ化処理部によりこの障害物候補のグループ化を解除し、複数の移動機械が重畳して検出されていると判定する、
ことを特徴とする鉱山用作業機械。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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JP2016049730 | 2016-03-14 | ||
JP2016049730 | 2016-03-14 | ||
PCT/JP2017/010045 WO2017159639A1 (ja) | 2016-03-14 | 2017-03-13 | 鉱山用作業機械 |
Publications (2)
Publication Number | Publication Date |
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JPWO2017159639A1 true JPWO2017159639A1 (ja) | 2019-03-28 |
JP6629425B2 JP6629425B2 (ja) | 2020-01-15 |
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JP2018505927A Active JP6629425B2 (ja) | 2016-03-14 | 2017-03-13 | 鉱山用作業機械 |
Country Status (5)
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US (1) | US10656265B2 (ja) |
EP (1) | EP3432022A4 (ja) |
JP (1) | JP6629425B2 (ja) |
CN (1) | CN108027423B (ja) |
WO (1) | WO2017159639A1 (ja) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
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JP6599835B2 (ja) * | 2016-09-23 | 2019-10-30 | 日立建機株式会社 | 鉱山用作業機械、障害物判別装置、及び障害物判別方法 |
DE102017123969B4 (de) * | 2017-10-16 | 2019-11-28 | Conti Temic Microelectronic Gmbh | Verfahren zur Klassifikation von flächigen Strukturen |
JP7159340B2 (ja) * | 2018-10-29 | 2022-10-24 | 古野電気株式会社 | 物標計測装置及び物標計測方法 |
JPWO2020152816A1 (ja) * | 2019-01-24 | 2021-02-18 | 三菱電機株式会社 | 追尾装置および追尾方法 |
CN110045376B (zh) * | 2019-04-28 | 2021-06-01 | 森思泰克河北科技有限公司 | 可行驶区域获取方法、计算机可读存储介质及终端设备 |
US11320830B2 (en) | 2019-10-28 | 2022-05-03 | Deere & Company | Probabilistic decision support for obstacle detection and classification in a working area |
US11366214B2 (en) | 2019-12-30 | 2022-06-21 | Woven Planet North America, Inc. | Systems and methods for adaptive clutter removal from radar scans |
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2017
- 2017-03-13 EP EP17766638.5A patent/EP3432022A4/en active Pending
- 2017-03-13 JP JP2018505927A patent/JP6629425B2/ja active Active
- 2017-03-13 CN CN201780002927.0A patent/CN108027423B/zh active Active
- 2017-03-13 US US15/756,260 patent/US10656265B2/en active Active
- 2017-03-13 WO PCT/JP2017/010045 patent/WO2017159639A1/ja active Application Filing
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Also Published As
Publication number | Publication date |
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EP3432022A4 (en) | 2019-12-04 |
EP3432022A1 (en) | 2019-01-23 |
CN108027423B (zh) | 2022-01-04 |
US10656265B2 (en) | 2020-05-19 |
WO2017159639A1 (ja) | 2017-09-21 |
JP6629425B2 (ja) | 2020-01-15 |
CN108027423A (zh) | 2018-05-11 |
US20180252810A1 (en) | 2018-09-06 |
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