WO2015068560A1 - 鉱山用運搬車両 - Google Patents

鉱山用運搬車両 Download PDF

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Publication number
WO2015068560A1
WO2015068560A1 PCT/JP2014/077875 JP2014077875W WO2015068560A1 WO 2015068560 A1 WO2015068560 A1 WO 2015068560A1 JP 2014077875 W JP2014077875 W JP 2014077875W WO 2015068560 A1 WO2015068560 A1 WO 2015068560A1
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WIPO (PCT)
Prior art keywords
millimeter wave
vehicle
detection
unit
wave sensor
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Ceased
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PCT/JP2014/077875
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English (en)
French (fr)
Japanese (ja)
Inventor
渡邊　淳
幸彦 小野
石本　英史
藤田　浩二
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Hitachi Construction Machinery Co Ltd
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Hitachi Construction Machinery Co Ltd
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Publication of WO2015068560A1 publication Critical patent/WO2015068560A1/ja
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar

Definitions

  • the present invention relates to a mine transport vehicle such as a dump truck used in a mine.
  • unmanned vehicles capable of autonomous driving are being introduced as dump trucks used in mines.
  • a distance to a front vehicle (obstacle) traveling ahead is measured by an external recognition device or the like, and speed control is performed to avoid a collision with the front vehicle.
  • millimeter wave sensors, laser scanners, stereo cameras, and the like are known as means for detecting a vehicle ahead.
  • Patent Literature 1 discloses a conventional technique related to avoiding a collision with a preceding vehicle.
  • the collision accident prevention apparatus disclosed in Patent Document 1 has different detection directions of a plurality of contact-type millimeter wave sensors that can detect only the speed, and a speed threshold for determination in order from the millimeter wave sensor that can detect the farthest distance. Is set small, and when the speed measured by each millimeter wave sensor is equal to or higher than the set speed threshold, it is determined that there is a possibility of collision with the preceding vehicle.
  • a contact-type millimeter wave sensor capable of detecting only the speed is used to determine the possibility of a collision with a preceding vehicle.
  • a preceding vehicle exists at a position moved upward or downward, and the preceding vehicle is outside the millimeter wave irradiation range. Therefore, the speed of the vehicle ahead may not be detected by a plurality of millimeter wave sensors with different detection directions.
  • the present invention has been made from the actual situation in the above-described prior art, and an object of the present invention is to provide a mine transport vehicle that can appropriately detect an obstacle even on a traveling road where the gradient changes.
  • the present invention provides a vehicle main body, an obstacle detection unit that detects an obstacle in the front direction of the vehicle main body, and a detection direction that adjusts the detection direction of the obstacle detection unit in the vertical direction. And an adjustment unit.
  • the present invention configured as described above can be used on a road where the gradient changes by appropriately adjusting the detection direction of the obstacle detection unit in the vertical direction by the detection direction adjustment unit when the gradient of the road changes. Obstacles can be detected properly.
  • the present invention is configured such that the detection direction of the obstacle detection unit that detects an obstacle in the front direction of the vehicle body is adjusted in the vertical direction by the detection direction adjustment unit.
  • the present invention allows the detection direction adjusting unit to appropriately adjust the detection direction of the obstacle detection unit in the vertical direction when the gradient of the road changes, so that the obstacle can be detected even on the road where the gradient changes. Can be detected appropriately.
  • FIG. 1 is a schematic view showing a mine in which a dump truck 1 according to a first embodiment of the present invention is used.
  • FIG. 2 is a schematic view showing the dump truck 1.
  • FIG. 3 is a schematic diagram showing the travel drive device 3 of the dump truck 1.
  • the dump truck 1 is an unmanned traveling type capable of autonomous traveling in a transport area A which is a traveling path provided in advance in a mine.
  • a loading area B for loading the load ⁇ such as earth and sand on the dump truck 1 with an excavator ⁇ a discharging area C for discharging the loading ⁇ loaded in the loading area B
  • maintenance And a parking area D where the dump truck 1 is parked are connected in the transfer area A.
  • a control center 11 that transmits and receives predetermined information to and from the dump truck 1 and performs traffic control such as traveling of the plurality of dump trucks 1 is installed.
  • the dump truck 1 includes a vehicle main body 1a, a driver's seat 1b that is a cabin provided on the upper front side of the vehicle main body 1a, a loading platform 1c that can be raised and lowered on the vehicle main body 1a, A hoist cylinder (not shown) that moves the loading platform 1c up and down, and left and right front wheels 1d and rear wheels 1e that support the vehicle body 1a so as to travel are provided.
  • the dump truck 1 includes a travel drive device 3.
  • the travel drive device 3 includes an engine 3a, a power generator 3b driven by the engine 3a, a power control device 3c to which power generated by the power generator 3b is supplied, and travel for driving the rear wheels 1e.
  • the power supplied to the travel motor 3d is controlled by the power control device 3c.
  • the power control device 3 c is connected to the controller 4 and controlled by the controller 4.
  • the controller 4 includes a steering motor 3e of a steering device for steering the vehicle main body 1a and a brake device 3f that is a braking device for braking the vehicle main body 1a via the power control device 3c. Etc. are also controlled.
  • An external recognition device 2 for recognizing the periphery of the vehicle main body 1a, particularly the front in the traveling direction, is attached to the front side of the vehicle main body 1a.
  • the external environment recognition device 2 detects obstacles on the recognized transport area A, in particular, the forward vehicle ⁇ , and as shown in FIG. 2, a plurality of, for example, attached at different positions in the height direction (vertical direction) Two millimeter wave sensors 2a and 2b are provided.
  • the millimeter wave sensors 2a and 2b are obstacle detection units that detect obstacles such as the forward vehicle ⁇ based on the millimeter wave that is irradiated and reflected by the millimeter wave, and the irradiation direction of the millimeter wave, that is, the detection direction is an angle in the horizontal direction. Fixed and attached.
  • the millimeter wave sensors 2a and 2b irradiate, for example, millimeter waves over an irradiation range of about 3 ° to 5 ° from the horizontal direction to the vertical direction.
  • the millimeter wave sensors 2a and 2b are attached so as to be aligned in the vertical direction which is the vertical direction which is the center position in the width direction of the front surface of the vehicle main body 1a.
  • the millimeter wave sensor 2a is attached at a height of about 1.5 m from the ground, for example, and the millimeter wave sensor 2b is attached at a height of about 4 to 5 m from the ground, for example.
  • These millimeter wave sensors 2a and 2b are configured to detect a distant vehicle, and the upper millimeter wave sensor 2b has a position closer to the vehicle body 1a than the lower millimeter wave sensor 2a. It has become.
  • the vehicle main body 1a detects positions of a stereo camera 2c, a laser radar 2d, and a vehicle main body 1a for detecting a situation outside the vehicle main body 1a in addition to the millimeter wave sensors 2a and 2b.
  • a GPS device 2e as a position detection unit
  • an IMU device 2f as an inclination detection unit for detecting the inclination of the vehicle main body 1a
  • a vehicle speed sensor 2g for detecting the vehicle speed of the vehicle main body 1a, and the like are attached as in-vehicle sensors. Yes.
  • the controller 4 includes an environment recognition unit 5 for recognizing the surroundings (external environment) of the vehicle body 1a, a self-position estimation unit 6 for estimating the self-position of the vehicle body 1a, and a load loaded on the loading platform 1c.
  • a load weight detector 7 for detecting the load weight of ⁇ is connected.
  • the environment recognition unit 5 receives detection information detected by the external environment recognition device 2, and acquires external information such as the forward vehicle ⁇ and the road shoulder position based on the detection information.
  • the environment recognizing unit 5 detects the obstacles such as the front vehicle ⁇ using the millimeter wave sensors 2a and 2b, and also, based on the shooting information with the stereo camera 2c and the detection information with the laser radar 2d, for example, The occurrence of dust on the shoulder of A and the conveyance area A is detected.
  • the environment recognizing unit 5 applies the self-position estimated by the self-position estimating unit 6 based on the traveling position information detected by the GPS device 2e to the map information stored in the storage unit 8, and the like. It is also a detection information correction unit that calculates an inclination angle and corrects detection information of the upper or lower millimeter wave sensors 2a and 2b in accordance with the calculated inclination angle.
  • the self-position estimation unit 6 receives detection information detected by, for example, the GPS device 2e, the IMU device 2f, the vehicle speed sensor 2g, and the like, and based on this detection information, the self-position estimation unit 6 at the time of detection in the transport area A of the vehicle body 1a Estimate the position.
  • the self-position estimation unit 6 is connected to a storage unit 8 in which map information related to the mine where the dump truck 1 travels is stored in advance, and compares the travel position information by the GPS device 2e with the map information stored in the storage unit 8. To estimate the self-position at the time of detection.
  • the map information stored in the storage unit 8 also includes inclination angle information related to the inclination angle of each location on the transport area A where the dump truck 1 on the mine travels.
  • the storage unit 8 also stores information for sharing the roles of detection by the millimeter wave sensors 2a and 2b in accordance with the traveling environment in the transport area A on the map information. As this information, the uphill front position information and downhill end position information detected by the upper millimeter wave sensor 2b, the uphill end position information and the downhill end position information detected by the lower millimeter wave sensor 2a, and the downhill position information. There is location information before the slope.
  • the load weight detection unit 7 is based on a strain amount detected by a load cell (not shown) provided at a predetermined location of the vehicle body 1a, for example, from a load weight table or the like determined in advance corresponding to the strain amount. A load weight of the load ⁇ loaded on 1c is calculated, and load weight information corresponding to the calculated load weight is output to the controller 4.
  • the environment recognizing unit 5 refers to a sinking amount table in which the sinking amount of the dump truck 1 is determined in accordance with the loading weight based on the loading weight information output from the loading weight detecting unit 7, and determines the sinking amount of the dump truck 1.
  • the detection information of the millimeter wave sensors 2a and 2b is corrected according to the calculated sinking amount.
  • the load weight detection unit 7 detects the load weight of the load ⁇ from the displacement of the suspension (not shown) or the change in hydraulic pressure that is converted according to the load weight of the load ⁇ loaded on the loading platform 1c. Also good.
  • the controller 4 is connected to a communication unit 9 for transmitting and receiving predetermined information to and from the control center 11, and is estimated by the external environment information detected by the environment recognition unit 5 and the self-position estimation unit 6 via the communication unit 9.
  • the position information related to the self position is transmitted to the control center 11, and the autonomous traveling information of the dump truck 1 is received from the control center 11.
  • the control center 11 manages the operation of each dump truck 1 based on the storage unit 12 in which map information of a mine such as the transport area A where each dump truck 1 travels is stored in advance, and the map information stored in the storage unit 12.
  • the operation management part 13 to be provided.
  • the operation management unit 13 is also a communication unit that transmits conveyance information such as a destination, a travel route, and a travel permitted area of the dump truck 1 to the communication unit 9 of the predetermined dump truck 1.
  • the operation management unit 13 is connected to a vehicle allocation management unit 14 that manages vehicle allocation of the dump truck 1 and a traffic control unit 15 that controls traffic of all vehicles traveling in the mine, and is stored in the storage unit 12. Based on the information, the vehicle allocation management information output from the vehicle allocation management unit 14, and the traffic control information output from the traffic control unit 15, the operation management of each dump truck 1 or the like is performed in comparison with a predetermined operation pattern or the like. Data is created, and conveyance information of each dump truck 1 based on the operation management data is wirelessly transmitted to each dump truck 1. In each dump truck 1, the power control device 3 c is controlled by the controller 4 based on the conveyance information received from the operation management unit 13 of the control center 11, and each dump truck 1 travels autonomously.
  • FIG. 5 is an explanatory diagram showing detection of the forward vehicle ⁇ on the flat road of the dump truck 1.
  • FIG. 6 is an explanatory diagram showing detection of the forward vehicle ⁇ at a position before the uphill of the dump truck 1.
  • FIG. 7 is an explanatory diagram showing detection of the forward vehicle ⁇ at the position before the end of the uphill of the dump truck 1.
  • FIG. 8 is an explanatory diagram showing detection of the forward vehicle ⁇ at the position before the downhill of the dump truck 1.
  • FIG. 9 is an explanatory diagram showing detection of the forward vehicle ⁇ at the position before the end of the downhill of the dump truck 1.
  • Each of the irradiation ranges b1 includes a forward vehicle ⁇ that travels ahead, and the forward vehicle ⁇ can be detected.
  • the environment recognizing unit 5 calculates the inclination of the vehicle main body 1a from the map information stored in the storage unit 8 based on the self position estimated by the self position estimating unit 6, and is currently running from the calculated inclination.
  • the forward vehicle ⁇ is detected by each of the millimeter wave sensors 2a and 2b.
  • the controller 4 compares the detection information by the lower millimeter wave sensor 2a and the detection information by the upper millimeter wave sensor 2b, and the difference between the detected detection information is equal to or greater than a predetermined threshold value In the case of false detection, if necessary, an error lamp (not shown) provided in the driver's seat 1b or the like is turned on, or the vehicle a ahead is detected based on detection information on the higher risk side, The forward vehicle ⁇ is detected again by the millimeter wave sensors 2a and 2b.
  • the forward vehicle ⁇ traveling uphill is included and can be detected.
  • the environment recognizing unit 5 determines the travel position on the transport area A that is currently traveling from the map information stored in the storage unit 8 and the pre-uphill position information , The forward vehicle ⁇ is detected based on the detection information output from the upper millimeter wave sensor 2b.
  • the environment recognition unit 5 calculates the inclination angle of the uphill by applying the self-position estimated by the self-position estimation unit 6 to the map information stored in the storage unit 8, and the calculated inclination angle. Accordingly, the detection information of the upper millimeter wave sensor 2b is corrected.
  • the distance to the preceding vehicle ⁇ is the sum of the distance from the self-position to the starting point of the uphill and the traveling distance of the uphill according to the inclination angle of the uphill.
  • a forward vehicle ⁇ passing through an uphill and traveling on a flat road is detected.
  • the environment recognizing unit 5 travels on the transport area A that is currently traveling from the map information stored in the storage unit 8 and the position information before the uphill end.
  • the forward vehicle ⁇ is detected based on the detection information output from the lower millimeter wave sensor 2a.
  • the environment recognition unit 5 calculates the inclination angle of the uphill by applying the self-position estimated by the self-position estimation unit 6 to the map information stored in the storage unit 8, and the calculated inclination angle. Accordingly, the detection information of the lower millimeter wave sensor 2a is corrected. Specifically, the distance from the self-position corresponding to the inclination angle of the uphill to the end of the uphill and the distance traveled on the flat road surface is defined as the distance to the forward vehicle ⁇ .
  • the forward vehicle ⁇ traveling downhill is included and can be detected.
  • the environment recognizing unit 5 determines the travel position on the transport area A that is currently traveling from the map information and the downhill-front position information stored in the storage unit 8. , The forward vehicle ⁇ is detected based on the detection information output from the lower millimeter wave sensor 2a.
  • the environment recognizing unit 5 calculates the inclination angle of the downhill by applying the self-position estimated by the self-position estimating unit 6 to the map information stored in the storage unit 8, and the calculated inclination angle. Accordingly, the detection information of the lower millimeter wave sensor 2a is corrected. Specifically, a distance obtained by adding the distance from the own position to the starting point of the downhill and the traveling distance of the downhill according to the inclination angle of the downhill is defined as the distance to the forward vehicle ⁇ .
  • a forward vehicle ⁇ passing through a downhill and traveling on a flat road is detected.
  • the environment recognizing unit 5 travels on the transport area A currently traveling from the map information stored in the storage unit 8 and the position information before the downhill end.
  • the forward vehicle ⁇ is detected based on the detection information output from the upper millimeter wave sensor 2b.
  • the environment recognizing unit 5 calculates the inclination angle of the downhill by applying the self-position estimated by the self-position estimating unit 6 to the map information stored in the storage unit 8, and the calculated inclination angle. Accordingly, the detection information of the upper millimeter wave sensor 2b is corrected. Specifically, a distance obtained by adding the distance from the self-position corresponding to the inclination angle of the downhill to the end of the downhill and the traveling distance of the flat road surface is set as the distance to the forward vehicle ⁇ .
  • the controller 4 manages the operation of the control center 11 through the communication unit 9 as position information, using the preceding vehicle information related to the preceding vehicle ⁇ detected by the environment recognition unit 5 and the self-location information estimated by the self-position estimation unit 6. To the unit 13. At this time, the controller 4 corrects the distance information to the preceding vehicle ⁇ calculated based on the detection information from the millimeter wave sensors 2 a and 2 b according to the sinking amount of the dump truck 1.
  • the control center 11 Based on the position information transmitted from each dump truck 1, the control center 11 is output from the map information stored in the storage unit 12, the dispatch management information output from the dispatch management unit 14, and the traffic control unit 15.
  • the operation management unit 13 creates conveyance information for each dump truck 1 considering the traffic control information, and wirelessly transmits the created conveyance information to the communication unit 9 of each dump truck 1.
  • Each dump truck 1 is controlled by the controller 4 based on the conveyance information received from the operation management unit 13 of the control center 11 and is autonomously traveling in consideration of the position and traveling speed of the preceding vehicle ⁇ .
  • the operation management unit 13 of the control center 11 compares the position information of the obstacle detected by the environment recognition unit 5 with the information of the operation management unit 13, identifies the vehicle of the detected obstacle, and sends it to the dump truck 1. Wireless transmission.
  • the operation management unit 13 activates a vehicle such as a service car to check the obstacle, and activates and removes a maintenance car such as a grader as necessary.
  • conveyance information including traveling / stop / avoidance control according to the analyzed obstacle is wirelessly transmitted to each dump truck 1 to control autonomous traveling of each dump truck 1 and to an obstacle of a predetermined dump truck 1 To avoid collisions.
  • the dump truck 1 has a configuration in which a plurality of, for example, two fixed millimeter wave sensors 2a and 2b are attached to different positions in the height direction of the vehicle body 1a.
  • the millimeter wave irradiation ranges a1 and b1 at the millimeter wave sensors 2a and 2b are shifted in the vertical direction.
  • the front vehicle ⁇ that cannot be detected by the millimeter wave sensors 2a and 2b can be detected by the other millimeter wave sensors 2b and 2a.
  • the forward vehicle ⁇ that cannot be detected without entering the millimeter wave irradiation ranges b3 and b4 of the upper millimeter wave sensor 2b is It can be detected by entering the millimeter wave irradiation range a3, a4 of the side millimeter wave sensor 2a. Therefore, also in the conveyance area A where the gradient changes, the forward vehicle ⁇ can be detected appropriately, and the detection range of the forward vehicle ⁇ on the dump truck 1 can be expanded.
  • the detection information of the millimeter wave sensors 2a and 2b changes according to the sinking amount of the dump truck 1 according to the loading weight of the load ⁇ of the loading platform 1c.
  • the environment recognition unit 5 corrects the detection information of the millimeter wave sensors 2 a and 2 b based on the loading weight information detected by the loading weight detection unit 7.
  • the calculation error such as the distance to the preceding vehicle ⁇ due to the change in the load weight of the load ⁇ of the dump truck 1 can be reduced, and the position information transmitted to the control center 11 can be more accurate.
  • the operation of the dump truck 1 can be managed more accurately.
  • FIG. 10 is a schematic view showing a dump truck 1A according to the second embodiment of the present invention.
  • FIG. 11 is a schematic configuration diagram showing the relationship between the dump truck 1A and the control center 11.
  • the second embodiment is different from the first embodiment described above in that the first embodiment uses two fixed millimeter wave sensors 2a and 2b attached at different positions in the height direction to drive the vehicle ⁇ ahead.
  • the forward vehicle ⁇ is detected by one variable millimeter wave sensor 21 whose detection direction is variable.
  • the same or corresponding parts as those in the first embodiment are denoted by the same reference numerals.
  • the millimeter wave sensor 21 is the center position in the width direction of the front surface of the vehicle main body 1a of the dump truck 1A, similarly to the millimeter wave sensor 2a according to the first embodiment. For example, it is attached at a height of about 1.5 m from the ground.
  • the millimeter wave sensor 21 has a detection direction adjustment unit that allows the angle of the central direction of the millimeter wave irradiation range a in the millimeter wave sensor 21, that is, the detection direction (irradiation direction) b to be adjusted in the vertical direction. It is attached to the drive part 22 as.
  • the drive unit 22 is connected to the controller 4 and is driven and controlled by the controller 4.
  • the millimeter wave irradiation range a is changed by drive control of the drive unit 22 by the controller 4.
  • the millimeter wave sensor 21 determines that the self-position of the dump truck 1A is traveling on a flat road in the conveyance area A by the controller 4, the millimeter wave detection direction b of the millimeter wave sensor 21 is Adjusted horizontally.
  • FIG. 12 is an explanatory diagram showing detection of the forward vehicle ⁇ at a position before the uphill of the dump truck 1A.
  • FIG. 13 is an explanatory diagram showing detection of the forward vehicle ⁇ at the position before the end of the uphill end of the dump truck 1A.
  • the millimeter wave detection direction b of the millimeter wave sensor 21 is driven by the drive unit 22 by a predetermined angle ⁇ upward from the horizontal direction to be the detection direction b ′. (Target gaze distance) c is adjusted upward.
  • the millimeter wave detection direction b in the millimeter wave sensor 21 may be gradually changed.
  • the millimeter wave detection direction b by the millimeter wave sensor 21 is horizontal.
  • the millimeter wave irradiation position (target gaze distance) c of the millimeter wave sensor 21 is adjusted downward.
  • the millimeter wave detection direction b of the millimeter wave sensor 21 may be gradually changed in correspondence with the irradiation range in which the forward vehicle ⁇ traveling in the flat front conveyance area A can be detected. .
  • the front vehicle ⁇ is detected by the single millimeter wave sensor 21 that can adjust the millimeter wave detection direction b in the vertical direction.
  • the controller 4 determines that the self position of 1A is a predetermined position before reaching a predetermined uphill in the conveyance area A or a predetermined position before the end of the downhill, the millimeter wave sensor 21 detects the millimeter position.
  • the wave detection direction b is adjusted upward. If the controller 4 determines that a predetermined position before reaching a predetermined downhill in the transport area A or a predetermined position before the end of the uphill is detected by the controller 4, the millimeter wave sensor 21 detects the millimeter wave.
  • the direction b is adjusted downward.
  • the controller is based on the inclination information calculated by applying the self-position estimated by the self-position estimation unit 6 to the map information stored in the storage unit 8. 4, the millimeter wave detection direction b of the millimeter wave sensor 21 is appropriately adjusted in the vertical direction so that the front vehicle ⁇ can be detected by the single variable millimeter wave sensor 21 even in the conveyance area A where the gradient changes. It can be detected properly.
  • FIG. 14 is a schematic view showing a dump truck 1B according to the third embodiment of the present invention.
  • the third embodiment differs from the first embodiment described above in that the first embodiment detects the forward vehicle ⁇ with the two millimeter wave sensors 2a and 2b whose detection directions are fixed.
  • the forward vehicle ⁇ is detected by one millimeter wave sensor 2a having a fixed detection direction and one millimeter wave sensor 21 having a variable detection direction.
  • the same or corresponding parts as those in the first and second embodiments are denoted by the same reference numerals.
  • the millimeter wave sensor 2a is the center position in the width direction of the front surface of the vehicle body 1a of the dump truck 1B, as in the first embodiment. Is installed at a height of about 1.5m.
  • the millimeter wave sensor 21 is mounted in a state in which the height direction is different from that of the millimeter wave sensor 2a, that is, above the millimeter wave sensor 2a, in a state where the vertical direction is aligned.
  • the millimeter wave sensor 21 is attached to the drive unit 22 as in the second embodiment, and is driven and controlled by the controller 4 via the drive unit 22.
  • ⁇ Detection method> When the self-position of the dump truck 1B is determined by a predetermined flat road in the transport area A and the controller 4, only the fixed millimeter wave sensor 2a is turned on and output from the millimeter wave sensor 2a. Based on the detection information, the environment recognition unit 5 detects the forward vehicle ⁇ .
  • the self-position of the dump truck 1B is a predetermined position before reaching a predetermined uphill in the transport area A or a predetermined position before the end of the downhill, and is measured by the millimeter wave sensor 2a.
  • the controller 4 determines that the vehicle 4 is located at a predetermined position where it is necessary to detect the forward vehicle ⁇ located above the wave irradiation range a
  • the variable millimeter wave sensor 21 is turned on.
  • the detection direction b of the millimeter wave sensor 21 is driven by the drive unit 22 above the horizontal direction by a predetermined angle ⁇ , and the environment certification unit 5 is made to detect based on the detection information output from the variable millimeter wave sensor 21.
  • the forward vehicle ⁇ is a predetermined position before reaching a predetermined uphill in the transport area A or a predetermined position before the end of the downhill, and is measured by the millimeter wave sensor 2a.
  • the self-position of the dump truck 1B is a predetermined position before reaching a predetermined downhill in the transport area A or a predetermined position before the end of the uphill, and is measured by the millimeter wave sensor 2a.
  • the controller 4 determines a predetermined position where the forward vehicle ⁇ located below the wave irradiation range a needs to be detected and the controller 4, as shown in FIG. 15, the fixed millimeter wave sensor 2a
  • the front vehicle ⁇ does not enter the irradiation range “a” and cannot be detected.
  • the variable millimeter wave sensor 21 is turned on, and the detection direction b of the millimeter wave sensor 21 is driven by the drive unit 22 below the horizontal direction by a predetermined angle ⁇ to be the detection direction b ′.
  • the environment recognition unit 5 Based on the detection information output from the wave sensor 21, the environment recognition unit 5 detects the forward vehicle ⁇ .
  • the dump truck 1B includes the fixed millimeter-wave sensor 2a and the variable millimeter-wave sensor 21, and the fixed millimeter-wave sensor according to the change in the gradient of the transport area A.
  • the variable millimeter wave sensor 21 is driven by the drive unit 22 and the millimeter wave sensor 21 detects the millimeter wave. It is set as the structure which adjusts b.
  • variable millimeter wave sensor is based on the inclination information calculated by applying the self-position estimated by the self-position estimation unit 6 to the map information.
  • the forward vehicle ⁇ outside the irradiation range a of the fixed millimeter wave sensor 2a can be detected, and the forward vehicle ⁇ is appropriately detected in the conveyance area A where the gradient changes. it can.
  • FIG. 16 is a schematic view showing a dump truck 1C according to the fourth embodiment of the present invention.
  • the fourth embodiment differs from the third embodiment described above in that the third embodiment has a fixed millimeter-wave sensor 2a and a variable millimeter-wave sensor 21 attached at different positions in the height direction.
  • the fixed millimeter wave sensor 2a and the variable millimeter wave sensor 21 are horizontally aligned and attached.
  • the same or corresponding parts as those in the first to third embodiments are denoted by the same reference numerals.
  • the fixed millimeter wave sensor 2a and the variable millimeter wave sensor 21 are arranged horizontally from the center position in the width direction on the front surface of the vehicle main body 1a of the dump truck 1C. It is a position spaced apart at equal intervals in the direction (left-right direction), for example, at a height of about 1.5 m from the ground.
  • the millimeter wave sensors 2a and 21 are mounted at equal height positions, and the millimeter wave detection direction b of each of the millimeter wave sensors 2a and 21 is inclined to the center position side in the width direction of the vehicle body 1a. Yes.
  • the millimeter wave sensor 21 is driven and controlled by the controller 4 via the drive unit 22.
  • the variable millimeter wave sensor 21 At a predetermined position for detecting the forward vehicle ⁇ at a position that cannot be detected by the fixed millimeter wave sensor 2a, the variable millimeter wave sensor 21 is turned on, and the detection direction b of the millimeter wave sensor 21 is moved upward by a predetermined angle ⁇ . Alternatively, it is driven downward by the drive unit 22. Then, based on the detection information output from the variable millimeter wave sensor 21, the environment recognition unit 5 detects the forward vehicle ⁇ .
  • the fixed millimeter wave sensor 2a and the variable millimeter wave sensor 21 are horizontally arranged. Based on this configuration, the variable millimeter wave sensor 21 is turned on according to the change in the gradient in the transport area A, and the millimeter wave irradiation range ⁇ of the millimeter wave sensor 21 is changed by the drive unit 22. The forward vehicle ⁇ outside the millimeter wave irradiation range a can be detected by the fixed millimeter wave sensor 2a. Therefore, it is possible to appropriately detect the forward vehicle ⁇ in the transfer area A where the gradient changes.
  • the unmanned traveling type dump trucks 1 to 1C have been described as examples.
  • the present invention is not limited thereto, and may be a manned traveling type dump truck that can be operated by an operator. .
  • a preceding vehicle ⁇ such as a patrol car or a grader other than the other dump trucks 1 to 1C, and other obstacles on the transport area A may be detected.
  • the map information is stored in the storage unit 8 of the dump trucks 1 to 1C, and the self-position and the inclination state of the dump trucks 1 to 1C are detected based on the map information stored in the storage unit 8.
  • the map information stored in the storage unit 12 of the control center 11 is received by the dump trucks 1 to 1C, and the self-position and the like of the dump trucks 1 to 1C are detected based on the received map information. Good.
  • the configuration using the millimeter wave sensors 2a, 2b, and 21 as the obstacle detection unit for detecting the forward vehicle ⁇ has been described, but for example, other than a millimeter wave sensor such as a stereo camera or the like. It may be an obstacle detection unit.
  • a millimeter wave sensor such as a stereo camera or the like.
  • the stereo camera is less affected by the dust covering the front field of view, the stereo camera is attached to the upper side where the height direction is different, and the millimeter wave sensor 2a and the like are attached to the lower side, thereby reducing detection of the front vehicle ⁇ due to dust. Can be prevented.
  • the first embodiment two fixed millimeter wave sensors 2a and 2b attached at different positions in the height direction are used.
  • one variable millimeter wave is used.
  • the sensor 21 is used, and one fixed millimeter wave sensor 2a and one variable millimeter wave sensor 21 are used.
  • the dump trucks 1 to 1C are driven.
  • the fixed millimeter wave sensors 2a and 2b and the variable millimeter wave sensor 21 may be used in appropriate combination according to the gradient state of the transport area A to be performed.
  • Dump truck (Mine transport vehicle) DESCRIPTION OF SYMBOLS 1a Vehicle main body 1b Driver's seat 1c Loading platform 1d Front wheel 1e Rear wheel 2a, 2b Millimeter wave sensor (obstacle detection part) 2c Stereo camera 2d Laser radar 2e GPS device (position detector) 2f IMU device 2g vehicle speed sensor 3 travel drive device 3a engine 3b generator 3c power control device 3d travel motor 3e steering motor 3f brake device 4 controller 5 environment recognition unit (detection information correction unit) 6 Self-position estimation unit 7 Load weight detection unit 8 Storage unit 9 Communication unit 11 Control center 12 Storage unit 13 Operation management unit 14 Vehicle dispatch management unit 15 Traffic control unit 21 Millimeter wave sensor (obstacle detection unit) 22 Drive unit (detection direction adjustment unit)

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Traffic Control Systems (AREA)
  • Radar Systems Or Details Thereof (AREA)
PCT/JP2014/077875 2013-11-08 2014-10-20 鉱山用運搬車両 Ceased WO2015068560A1 (ja)

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JP2013-232406 2013-11-08
JP2013232406A JP6247904B2 (ja) 2013-11-08 2013-11-08 鉱山用運搬車両

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JP6491893B2 (ja) * 2015-01-29 2019-03-27 シャープ株式会社 自律走行制御システムとこれを用いる自律走行装置及び自律走行制御方法と制御プログラムと記録媒体
CN105223952B (zh) * 2015-09-28 2019-03-29 小米科技有限责任公司 平衡车的控制方法及装置
DE102015224553A1 (de) * 2015-12-08 2017-06-08 Robert Bosch Gmbh Verfahren, Computerprogramm, Speichermedium und Elektronische Steuereinheit zum Betreiben eines Fahrzeugs
CN107765697B (zh) * 2016-08-23 2023-11-03 苏州宝时得电动工具有限公司 自移动设备以及自移动设备控制方法
WO2018043540A1 (ja) * 2016-08-31 2018-03-08 パイオニア株式会社 制御装置、計測装置、制御方法、およびプログラム
KR20200045162A (ko) 2018-10-22 2020-05-04 주식회사 이에스피 주변 환경에 가장 적합한 무선 주파수 통신 장치 및 방법
JP7349277B2 (ja) 2019-07-10 2023-09-22 ヤンマーパワーテクノロジー株式会社 作業車両用の自動走行システム
JP7149366B1 (ja) * 2021-03-26 2022-10-06 日立建機株式会社 運搬車両及び車両制御システム

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