WO1998015430A1 - Vehicule avec detecteur d'objets - Google Patents

Vehicule avec detecteur d'objets Download PDF

Info

Publication number
WO1998015430A1
WO1998015430A1 PCT/JP1997/003580 JP9703580W WO9815430A1 WO 1998015430 A1 WO1998015430 A1 WO 1998015430A1 JP 9703580 W JP9703580 W JP 9703580W WO 9815430 A1 WO9815430 A1 WO 9815430A1
Authority
WO
WIPO (PCT)
Prior art keywords
detector
objective
vehicle
object detector
protruding member
Prior art date
Application number
PCT/JP1997/003580
Other languages
English (en)
Japanese (ja)
Inventor
Masaru Shizume
Takashi Fudouji
Original Assignee
Komatsu 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 Komatsu Ltd. filed Critical Komatsu Ltd.
Priority to AU44001/97A priority Critical patent/AU4400197A/en
Publication of WO1998015430A1 publication Critical patent/WO1998015430A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R19/00—Wheel guards; Radiator guards, e.g. grilles; Obstruction removers; Fittings damping bouncing force in collisions
    • B60R19/02—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects
    • B60R19/48—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects combined with, or convertible into, other devices or objects, e.g. bumpers combined with road brushes, bumpers convertible into beds

Definitions

  • the present invention relates to a vehicle that includes an object detector and detects an object on a traveling path. Background technology
  • 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.
  • 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.
  • the traveling course is set in advance for unmanned vehicles, and the vehicle speed and steering in the course are also set in advance.
  • the non-contact type can detect distant objects.
  • 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.
  • 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.
  • 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.
  • 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.
  • the means is provided 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.
  • 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.
  • 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.
  • 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.
  • 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
  • FIG. 1 is an explanatory diagram of an objective detector mounted on a vehicle according to a first embodiment.
  • 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.
  • 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).
  • 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.
  • 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.
  • 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.
  • the vehicle body 1 is not damaged.
  • 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.
  • each objective detector 2 L, 2 C, 2 R and each protruding member 3 Ll, 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.
  • the configuration of each of the protruding members 3L2, 3C1, 3C2, and 3R2 does not have to be a shock absorbing cylinder.
  • 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.
  • the tube panel 33 is fixed via a bracket 33a.
  • 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.
  • 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.
  • 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.
  • 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.
  • damage to the objective detector 2R (or 2L) and each of the projecting members 3R1 and 3R2 (or 3Ll and 3L2) can be prevented.
  • 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.
  • 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.
  • 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.
  • 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Cette invention se rapporte à un véhicule équipé d'un détecteur d'objets qui peut facilement éviter tout dommage au détecteur d'objets, à un élément saillant du véhicule et à la carrosserie du véhicule même lorsque ledit détecteur d'objets entre en collision avec un objet. Dans un véhicule sur lequel le détecteur d'objets (2) est monté à l'extrémité avant de l'élément saillant (3) s'étendant depuis la carrosserie (1) du véhicule, au moins l'un des deux éléments que sont le détecteur d'objets et l'élément saillant (3) est installé mobile. En même temps, le détecteur d'objets est pourvu d'un organe bloquant (4) qui, lors de la collision du détecteur d'objets avec un objet, immobilise le détecteur d'objets et/ou l'élément saillant (3) pour maintenir inchangée la position du détecteur d'objets, lorsque la force de contact est inférieure à une force de résistance au dommage prédéterminée du détecteur d'objets et de l'élément saillant, et libère le détecteur d'objets et/ou l'élément saillant, pour permettre à au moins l'un desdits éléments de se déplacer dans une direction qui réduit la force de contact, lorsque cette force de contact est supérieure à la force de résistance au dommage.
PCT/JP1997/003580 1996-10-09 1997-10-07 Vehicule avec detecteur d'objets WO1998015430A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU44001/97A AU4400197A (en) 1996-10-09 1997-10-07 Vehicle with an object detector

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP8289286A JPH10114250A (ja) 1996-10-09 1996-10-09 対物検出器付き車両
JP8/289286 1996-10-09

Publications (1)

Publication Number Publication Date
WO1998015430A1 true WO1998015430A1 (fr) 1998-04-16

Family

ID=17741217

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1997/003580 WO1998015430A1 (fr) 1996-10-09 1997-10-07 Vehicule avec detecteur d'objets

Country Status (3)

Country Link
JP (1) JPH10114250A (fr)
AU (1) AU4400197A (fr)
WO (1) WO1998015430A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101644974B1 (ko) * 2016-05-26 2016-08-08 (주)신동아 차량용 백빔

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5278233U (fr) * 1975-12-09 1977-06-10
JPS5312153U (fr) * 1976-07-14 1978-02-01
JPS55163251U (fr) * 1979-05-14 1980-11-22
JPS56127050U (fr) * 1980-08-07 1981-09-28
JPS6133749U (ja) * 1984-07-31 1986-03-01 ダイハツ工業株式会社 自動車用バンパの支持装置
JPS6237562U (fr) * 1985-08-27 1987-03-05

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5278233U (fr) * 1975-12-09 1977-06-10
JPS5312153U (fr) * 1976-07-14 1978-02-01
JPS55163251U (fr) * 1979-05-14 1980-11-22
JPS56127050U (fr) * 1980-08-07 1981-09-28
JPS6133749U (ja) * 1984-07-31 1986-03-01 ダイハツ工業株式会社 自動車用バンパの支持装置
JPS6237562U (fr) * 1985-08-27 1987-03-05

Also Published As

Publication number Publication date
AU4400197A (en) 1998-05-05
JPH10114250A (ja) 1998-05-06

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