WO1998015430A1

WO1998015430A1 - Vehicle with an object detector

Info

Publication number: WO1998015430A1
Application number: PCT/JP1997/003580
Authority: WO
Inventors: Masaru Shizume; Takashi Fudouji
Original assignee: Komatsu Ltd.
Priority date: 1996-10-09
Filing date: 1997-10-07
Publication date: 1998-04-16
Also published as: JPH10114250A; AU4400197A

Abstract

A vehicle with an object detector that can easily avoid damage to the object detector, a protruding member and a car body even when the object detector collides with an object. In a vehicle with an object detector having the object detector (2) at the front end of the protruding member (3) projecting from the car body (1), at least one of the object detector and the protruding member (3) is installed movable. At the same time, the object detector is provided with a locking means (4) that, when the object detector contacts an object, fixes at least one of the object detector and the protruding member (3) to keep the object detector position unchanged when the contact force is smaller than a predetermined damage withstand force of the object detector and the protruding member and that opens at least one of the object detector and the protruding member to allow at least one of them to move in a direction that reduces the contact force when the contact force is greater than the damage withstand force.

Description

Description Vehicle with objective detector Technology

The present invention relates to a vehicle that includes an object detector and detects an object on a traveling path. Background technology

Conventional unmanned vehicles are equipped with an objective detector to detect objects on the road and perform automatic steering, automatic braking, automatic alarms, etc., to avoid collision with the objects. Such an object detector includes a non-contact type such as a millimeter-wave radar and a contact type such as a touch sensor. Further, the non-contact type object detector may be provided directly on the vehicle body or may be provided on a projecting member projecting from the vehicle body. The contact type object detector is provided at the tip of a protruding member protruding from the vehicle body. An example in which this contact type object detector is provided will be described with reference to FIG.

Fig. 4 shows an example of an unmanned vehicle (a dump truck for mining) equipped with a contact type objective detector 2 in front of the vehicle body 1. A protruding member 3 consisting of two rods 3a and 3b of about 1 m is fixed to the bamba surface of the vehicle body 1 toward the front, and a rod shape slightly longer than the vehicle width is attached to the tip of the protruding member 3. The objective detector 2 is fixed in the left-right direction. The contact type objective detector 2 is a device for patterning a not-shown magnetoelectric material such as a magnetostrictive material or a ferromagnetic material, or a piezoelectric material in a bridge circuit shape on an opening to electrically detect a contact force. (That is, the rod itself is the objective detector 2), or a plurality of single stress detectors are arranged on the rod. Each of these objective detectors 2 has its surface protectively coated with resin or the like, or is surrounded by a strength member such as steel material to prevent damage at the time of collision with an object.

Incidentally, the traveling course is set in advance for unmanned vehicles, and the vehicle speed and steering in the course are also set in advance. In this case, the non-contact type can detect distant objects. On the basis of the detection result of the objective detector 2, the vehicle itself can independently change the traveling course, the vehicle speed and the steering in the course. Because of this, some degree of autonomous driving can be achieved.

On the other hand, the contact-type objective detector 2 can practically detect the presence or absence of an object only when it comes into contact with the object, so it is necessary to set the traveling course and the vehicle speed and steering in the course strictly in advance. Yes (that is, the object itself needs to be set as known). For example, by using the non-contact type together with the non-contact type, more accurate autonomous traveling can be achieved.

(1) For example, if another vehicle suddenly enters a short distance in front of the vehicle or if there is a sudden falling rock, braking or steering cannot be performed in time, and a collision occurs without any braking or steering. However, there is a problem that the object is damaged by the objective detector 2 and the body 1 by nature. At this time, in the vehicle with the objective detector provided with the objective detector 2 at the tip of the projecting member 3 projecting from the vehicle body 1, the damage is increased by the amount of the projection.

(2) Unmanned vehicles are often manned for periodic inspections. The operator tends to drive the vehicle as if it were a normal vehicle.Therefore, a vehicle with an objective detector 2 provided with an objective detector 2 at the tip of a protruding member 3 protruding from the vehicle 1 has a narrow repair construction. There is a problem that the objective detector 2, particularly the objective detector 2 provided at the corner of the vehicle body 1, often collide with an indoor corner support or the like. Disclosure of the invention

The present invention has been made in view of the above-described problems of the related art, and in a vehicle with an objective detector having an objective detector at a tip of a projecting member projecting from a vehicle body, the object detector and the projection are provided even if the objective detector collides with an object. It is an object of the present invention to provide a vehicle with an objective detector that can easily avoid damage to members and a vehicle body.

The present invention relates to a vehicle with an object detector having an object detector at a tip of a projecting member projecting from a vehicle body, wherein at least one of the object detector and the projecting member is movably provided, and the object detector is an object. When contact is made, the contact force If the object detector and the projecting member are smaller than the predetermined damage resistance, fix either the object detector or the projecting member so that the position of the object detector does not change, and conversely, the contact force If the damage resistance is greater than the damage resistance, a lock that releases the slippage of the objective detector and the protruding member so that at least one of the objective detector and the protruding member moves in a direction in which the contact force decreases. Have the means.

The locking means includes a projection provided on at least one of the objective detector and the protruding member, and a cylindrical panel fitted to the projection. Alternatively, it is a shock absorbing cylinder disposed between the projecting member and the vehicle body.

According to the above configuration, when the object detector comes into contact with the object while the vehicle is traveling, and when the contact force is larger than the damage resistance of the object detector and the projecting member, the locking means is used for the object detector and the projecting member. At least one of them changes from locked to released. Therefore, at least one of the objective detector and the protruding member moves around the vehicle body in a direction in which the contact force decreases. Here, if the operator immediately brakes the vehicle, damage to the object detector, the protruding member, and the vehicle body can be easily avoided. Of course, damage to the object can also be prevented. BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is an explanatory diagram of an objective detector mounted on a vehicle according to a first embodiment of the present invention.o

FIG. 2 is an enlarged sectional view of the locking means in FIG.

FIG. 3 is an explanatory diagram of an objective detector at a right corner R portion according to the second and third embodiments. Fig. 4 is an external view of a conventional vehicle with a fixed objective detector. BEST MODE FOR CARRYING OUT THE INVENTION

An objective detector according to first to third embodiments of the present invention will be described with reference to FIGS.

FIG. 1 is an explanatory diagram of an objective detector mounted on a vehicle according to a first embodiment. Left and right front wheels 1 L, 1 R and Pamper IB attached to 1, three object detectors 2 (2 L, 2 C, 2 R) long in the left and right direction of body 1, and facing forward of body 1 It has six long projecting members 3 (3L1, 3L2, 3Cl, 3C2, 3R2, 3RD. The base ends of the projecting members 3 are fixed to the front of the bumper 1B to the front. Each of the outer projecting members 3 L1 and 3 R1, the inner projecting members 3 L2 and 3 R2, and the center projecting members 3C1 and 3C2 are symmetrical to each other. It is a member o

Each of the outer projecting members 3L1 and 3R1 is provided with a pin connecting portion 31 and 31 at the distal end, and each of the base ends is provided with a stopper 3 2 and 3 2 toward the outside of the vehicle body 1. I have it. Each of the protruding members 3L2 and 3R2 on the inner side is a shock-absorbing cylinder having a built-in coil spring, and each of the rod ends is provided with an internal contraction-type cylindrical spring 33,33.

As for details of the tubular panel 33, as shown in FIG. 2, a concave portion is provided on the distal end surface, and an O-ring (or a panel panel or the like) is built in near the opening of the concave portion. A projection 21 provided on the objective detector 2L (or 2R) is fitted into this recess, and the cylindrical spring 33 and the projection 21 constitute a locking means (4).

Here, the left and right objective detectors 2L, 2R are pin-connected to the respective pin connecting portions 31, 31 of the outer projecting members 3L1, 3R1, and the inner projecting members 3L2, 3R2 are connected. The projections 21 and 21 are fitted to the cylindrical springs 33 and 33, respectively. Each of the protrusions 21 and 21 and each of the cylindrical springs 33 and 33 are in the Y direction as shown in FIGS. According to the above configuration, the left and right objective detectors 2L and 2R collide with a corner post during manned operation, for example, in a narrow repair building. Remove the projections 2 1 and 2 1 from the cylindrical springs 3 3 and 3 3, and then hit the right and left objective detectors 2 L and 2 R against the stopper 3 2 with the pin connection sections 3 1 and 3 1 as the center of rotation. Rotate until That is, the state changes from a state shown by a solid line to a state shown by a dotted line in FIG. Where the operator immediately By braking the vehicle, damage to the left and right objective detectors 2L, 2R and the projecting members 3L1, 3L2, 3R2, 3R1 can be prevented. As a result, damage to the vehicle body 1 can be prevented. The pinching force of the projection 21 by the cylinder panel 33 of the locking means 4 is such that the left and right objective detectors 2 L and 2 R and the projecting members 3 L 1, 3 R 1, 3 L 2 and 3 R 2 are not damaged. Let me know.

On the other hand, each of the central protruding members 3C1 and 3C2 is also in the form of a shock absorbing cylinder incorporating a coil spring, like the inner protruding members 3L2 and 3R2. The tips of the central projecting members 3C1 and 3C2 are fixed to both ends of the central objective detector 2C. According to the above configuration, when an object collides with the central objective detector 2C from almost the front, the projecting members 3C1 and 3C2 shrink toward the vehicle body 1 and the inner projecting members 3L2 and 3R2 also shrink toward the vehicle body 1 side. Therefore, the operator can immediately stop the vehicle to prevent damage to each of the objective detectors 2L, 2C, 2R and each of the projecting members 3L2, 3Cl, 3C2, 3R2. As a result, the vehicle body 1 is not damaged. When the corner R (or corner L) of the vehicle body 1 collides with an object, the rotation of the object detector 2 R (or 2 L) rotates the object detector at the center.

Since this occurs before the retreat of 2 C, the operating mechanism of the central objective detector 2 C only needs to be considered for almost a collision from the front.

The operating force of the shock absorbing cylinder of each protruding member 3 L2, 3 Cl, 3 C2, 3 R2 is as follows: each objective detector 2 L, 2 C, 2 R and each protruding member 3 Ll, 3 L2, 3 Cl, 3 C2, 3 R2,

3 Rl force The operating force is such that it is not damaged. Here, if the frontal collision is not considered, the configuration of each of the protruding members 3L2, 3C1, 3C2, and 3R2 does not have to be a shock absorbing cylinder.

Next, an objective detector according to a second embodiment will be described with reference to FIG.

FIG. 3 illustrates only the right corner R of the vehicle body 1, and the left corner L is omitted because it is the same as this. Each projecting member 3R2, 3R1, the objective detector 2R, and the pump 1B are connected to each other by the respective pin connecting portions 31, 31, 31, 31, 31 to form a four-bar link structure. It is. Further, a projection 21 toward the right outward is fixed to the base end of the outer projecting member 3R1. On the other hand, Bamba 1B can be fitted with this projection 21. As shown in Fig. 2, the tube panel 33 is fixed via a bracket 33a.

Further, instead of or in addition to the projection 21 and the cylindrical panel 33 of the second embodiment, the objective detector according to the third embodiment includes an outer protruding member 3R1 and a bumper as shown in FIG. A shock absorbing cylinder 34 incorporating a coil spring is disposed between the coil 1 and the coil 1B. The shock absorbing cylinder 34 may be disposed between the inner protruding member 3R2 and the bumper 1B.

According to the second embodiment, during manned operation in a narrow repair building or the like, when the object detector 2R (or 2L) collides with a corner support or the like, the outer projecting member 3R1 (or 3L1) is disengaged from the tubular panel 33, and the four-bar link structure is distorted by rotating the pin connecting portions 31, 31, 31, 31 and 31 as axes. By damping, it is possible to prevent the objective detector 2R (or 2L) and the projecting members 3R1, 3R2 (or 3L1, 3L2) from being damaged. As a result, the vehicle body 1 is not damaged.

In the third embodiment, the shock absorbing cylinder 34 contracts during a collision, and the four-bar linkage is distorted by rotating about the pin connecting portions 31, 31, 31, 31. In addition, damage to the objective detector 2R (or 2L) and each of the projecting members 3R1 and 3R2 (or 3Ll and 3L2) can be prevented.

Here, the force with which the cylindrical spring 33 sandwiches the projection 21 and the contraction force of the shock absorbing cylinder 34 are determined by the objective detector 2R (or 2L), and each of the projecting members 3R1, 3R2 (or 3Ll, 3L2) is a force that does not damage. Then, the center objective detector 2C may also constitute a four-bar link with the center projecting members 3C1 and 3C2, the pump 1B, and the force.

As the locking means (4), the protrusion 21 and the cylindrical panel 33 in the first to third embodiments, each of the shock absorbing cylinder type protruding members 3L2, 3C1, 3C2, 3R2, and the Cylinder absorption cylinder 3 4 force respectively. In the first to third embodiments, all of the objective detectors 2 are of the contact type, but they may be of the non-contact type as long as they are provided at the tip of a protruding member projecting from the vehicle body. Industrial applicability

INDUSTRIAL APPLICABILITY The present invention is useful as a vehicle with an objective detector that can easily avoid damage to the objective detector, the protruding member, and the vehicle body even if the objective detector collides with an object while the vehicle is running.

Claims

The scope of the claims

1. In a vehicle with an object detector having an object detector (2) at the tip of a protruding member (3) projecting from the vehicle body (1),

At least one of the objective detector (2) and the protruding member (3) is movably provided, and

If the contact force is smaller than the predetermined damage resistance of the objective detector and the protruding member when the objective detector comes into contact with an object, the objective detector and the object detector are positioned so that the position of the objective detector does not change. When any of the protruding members is fixed, and conversely, when the contact force is larger than the damage resistance, at least one of the objective detector and the protruding member moves in a direction in which the contact force decreases. A vehicle with an objective detector, comprising a locking means (4) for opening one of the objective detector and the projecting member.

2. The locking means (4) includes a projection (21) provided on at least one of the objective detector (2) and the protruding member (3), and a cylindrical panel (33) fitted thereto. 2. The vehicle with an objective detector according to claim 1, wherein the vehicle comprises:

3. The locking means (4) is a shock absorbing cylinder (34) disposed between the projecting member (3) and the vehicle body (1). Vehicle with objective detector.