WO2016047166A1 - Véhicule de transport - Google Patents

Véhicule de transport Download PDF

Info

Publication number
WO2016047166A1
WO2016047166A1 PCT/JP2015/056265 JP2015056265W WO2016047166A1 WO 2016047166 A1 WO2016047166 A1 WO 2016047166A1 JP 2015056265 W JP2015056265 W JP 2015056265W WO 2016047166 A1 WO2016047166 A1 WO 2016047166A1
Authority
WO
WIPO (PCT)
Prior art keywords
deck
vehicle body
vehicle
transport vehicle
imu
Prior art date
Application number
PCT/JP2015/056265
Other languages
English (en)
Japanese (ja)
Inventor
幹雄 板東
一野瀬　昌則
真二郎 齋藤
Original Assignee
日立建機株式会社
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 日立建機株式会社 filed Critical 日立建機株式会社
Publication of WO2016047166A1 publication Critical patent/WO2016047166A1/fr

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/53—Determining attitude

Definitions

  • the present invention relates to a position measurement technique for a transport vehicle.
  • Patent Document 1 includes “position detection means for detecting a vehicle position by GPS and position information from an optical beacon.
  • In-vehicle communication means for receiving optical beacon data, imaging means for starting imaging above the vehicle when the optical beacon data is received, extraction means for extracting an optical beacon head image from the captured image, and the vehicle is located directly below the optical beacon
  • a position that the optical beacon head image occupies in the image is set as a reference position in advance, and a right-down determination unit that determines whether or not the extracted optical beacon head image is positioned at the reference position; and an optical beacon head
  • the vehicle position at the time of capturing the optical beacon head image is So as to coincide with the position indicated by the configuration data, and a position correcting means for correcting the vehicle position
  • a position correcting means for correcting the vehicle position is disclosed.
  • a transport vehicle traveling in a mine changes the body posture of the transport vehicle depending on the loaded state and unloaded state (empty state) of the load. Therefore, an error due to a change in the body posture may be included in the vehicle position calculated by GPS. is there. Therefore, an inertial measurement device (IMU: Internal Measurement Unit) is mounted on the transport vehicle, and the vehicle position detected by the GPS is corrected using the vehicle body posture information detected by the IMU. If the detection accuracy of the vehicle body posture information is low, there is a concern that the accuracy of the corrected vehicle position also decreases.
  • IMU Internal Measurement Unit
  • Patent Document 1 discloses a configuration that corrects the positional deviation between the vehicle position calculated by the GPS and the global coordinates, but does not consider the error included in the vehicle body posture information detected by the IMU.
  • GPS and IMU are used together, there remains a problem that the correction accuracy is reduced due to an error included in the vehicle body posture information.
  • the present invention has been made in order to solve the above-described problem, and provides a transport vehicle capable of further improving the correction accuracy when correcting the vehicle position detected in the global coordinate system according to the vehicle body posture.
  • the purpose is to provide.
  • the present invention for solving the above-mentioned problems is a transport vehicle comprising a vehicle body frame, a deck disposed at an upper front portion of the vehicle body frame, and a cab mounted on the deck.
  • a positioning satellite radio wave reception antenna and a vehicle body attitude detection device for detecting the attitude of the transport vehicle, wherein the two positioning satellite radio wave reception antennas are spaced apart from each other in the width direction of the transport vehicle, respectively.
  • the vehicle body posture detection device is located in a rectangular area having a line segment connecting the installation positions of the two positioning satellite radio wave receiving antennas as a diagonal line or an attachable range of the deck in a top view of the transport vehicle. It is characterized by.
  • FIG. 1 is an overall configuration diagram of a dump vehicle according to an embodiment of the present invention.
  • the block diagram which shows the function structure of the dump dump concerning one embodiment of the present invention. It is a top view of dumping, (a) shows the state where IMU was installed in the overlap area of the rectangular area and deck which set the installation position of two GPS antennas as a diagonal line, (b) is further on a diagonal line Indicates the installed state.
  • FIG. 1 is an overall configuration diagram of a dump vehicle according to an embodiment of the present invention.
  • the block diagram which shows the function structure of the dump dump concerning one embodiment of the present invention. It is a top view of dumping, (a) shows the state where IMU was installed in the overlap area of the rectangular area and deck which set the installation position of two GPS antennas as a diagonal line, (b) is further on a diagonal line Indicates the installed state.
  • 6A is a top view of a dump, in which (a) shows a y-axis passing through the center of a distance ⁇ x between two rectangular antennas within an overlapping area between a rectangular area and a deck whose diagonals are two GPS antenna installation positions; (B) shows a state where the IMU is installed on the deck when there is no overlapping area between the rectangular area and the deck. It is a top view of a dump truck, and shows a state in which an IMU is installed on a deck when a rectangular area whose diagonal is the installation position of two GPS antennas cannot be formed.
  • each or all of the configurations, functions, processing units, processing means, and the like in the following embodiments may be realized as, for example, an integrated circuit or other hardware.
  • each configuration, function, processing unit, processing unit, and the like, which will be described later may be realized as a program executed on a computer. That is, it may be realized as software.
  • Information such as programs, tables, files, etc. for realizing each configuration, function, processing unit, processing means, etc. is stored in memory, hard disk, storage device such as SSD (Solid State Drive), storage medium such as IC card, SD card, DVD, etc. Can be stored.
  • FIG. 1 is an overall configuration diagram of a dump truck according to an embodiment of the present invention.
  • FIG. 2 is a block diagram showing a functional configuration of a dump according to an embodiment of the present invention.
  • the coordinate system includes a vehicle body coordinate system of the dump 1 and a local coordinate system.
  • the vehicle body coordinate system includes an x-axis parallel to a rear wheel axis (vehicle width direction), which will be described later, a y-axis parallel to the front-rear axis (longitudinal direction) of the vehicle body frame 40, and the z-axis upward in the vertical direction.
  • An axis is set.
  • the origin of the vehicle body coordinate system can be arbitrarily set within the range of the overall length, width, and height of the vehicle.
  • the local coordinate system is a coordinate system for managing the position of the vehicle, and the E axis is set to the true east, the N axis is set to the true north, and the U axis is set to the upper direction with a certain position on the earth as the origin.
  • the local coordinate system is a relative coordinate having a certain position on the earth as the origin in the global coordinate system that is an absolute coordinate on the earth, and is therefore included in the global coordinate system.
  • the dump truck 1 shown in FIG. 1 includes a vehicle body frame 40, a front wheel 10 that is a driven wheel attached to a lower front portion of the vehicle body frame 40, a rear wheel 20 that is a drive wheel attached to a lower rear portion, and a vehicle body frame 40.
  • a loading platform 30 that is rotatably supported via a support shaft 60 and a hoist cylinder 50 that rotates the loading platform 30 about the support shaft 60 by expanding and contracting are provided.
  • the hoist cylinder 50 When the hoist cylinder 50 is extended, the loading platform 30 operates so as to raise the front end while rotating about the support shaft 60 to increase the inclination angle, and the loading 35 loaded on the loading platform 30 becomes the loading platform 30. It is discharged from the rear end.
  • the rear wheel 20 is arranged on both the left and right sides so that the two tires have a wider width, and the rear wheel width is approximately twice that of the front wheel (see FIG. 3).
  • the vehicle body frame 40 is mounted with a travel drive device 350 (see FIG. 2) including a brake, a steering, an engine, and the like. When the driving force is transmitted from the traveling drive device 350 to the rear wheel 20, the dump wheel 20 travels on the road surface by the front wheel 10 and the rear wheel 20.
  • a building 70 that houses a radiator (not shown) and a deck 90 that is installed in the upper portion and supports the driver's seat 80 are provided at an upper front portion of the body frame 40.
  • two GPS antennas (corresponding to positioning satellite radio wave receiving antennas) 101 and 102, and GPS received by the GPS antennas 101 and 102 are provided.
  • Vehicle position detection device 103 that detects the vehicle position of the global coordinate system of dump 1 based on satellite information
  • vehicle body posture calculation device 200 that calculates the vehicle body posture of the host vehicle
  • in-vehicle terminal device that performs autonomous travel control of dump 1 300.
  • GPS is used as a global coordinate system vehicle position detection device.
  • the vehicle position calculation device is not limited to GPS, and a positioning satellite from a navigation satellite that constitutes a global navigation satellite system (GNSS: Global Navigation Satellite System). What is necessary is just to acquire the position of the own vehicle by receiving a radio wave, and GLONASS and GALILEO may be used.
  • GNSS Global Navigation Satellite System
  • the IMU is used as the vehicle body posture calculating device 200, it is described as IMU 200 below.
  • FIG. 1 illustrates a state where the vehicle position detection device 103 and the IMU 200 are installed on the upper surface of the deck 90
  • the installation positions of the deck 90, the IMU 200 and the vehicle position detection device 103 are limited to the case where they are installed on the upper surface of the deck 90. Instead, it may be installed on the lower surface of the deck 90.
  • the arrangement position of the in-vehicle terminal device 300 is only an example, and is not limited to FIG.
  • the front wheel 10 is provided with a wheel speed sensor 210 that measures the speed in the direction in which the wheel is directed according to the number of rotations of the wheel.
  • the wheel speed sensor 210 may be attached to the rear wheel 20 or may be attached to both the front wheel 10 and the rear wheel 20.
  • the vehicle body frame 40 is also equipped with a steering angle sensor 220 (see FIG. 2) for detecting the steering angle (tilt of the front wheels relative to the vehicle body axis) and a travel control device 350.
  • a steering angle sensor 220 see FIG. 2 for detecting the steering angle (tilt of the front wheels relative to the vehicle body axis)
  • a travel control device 350 for detecting the steering angle (tilt of the front wheels relative to the vehicle body axis) and a travel control device 350.
  • the vehicle position detection device 103 detects the position (GPS reference position) of the main GPS antenna 101 based on the GPS satellite information obtained from the GPS antennas 101 and 102. Further, a vector from the GPS antenna 101 to 102 is detected.
  • the IMU 200 includes an acceleration sensor 201, a gyro sensor 202, and a vehicle body posture calculation unit 203 as shown in FIG.
  • the acceleration sensor 201 detects acceleration with respect to at least two axes of the x-axis and y-axis of the vehicle body coordinate system
  • the gyro sensor detects an angular velocity around at least the z-axis of the vehicle body coordinate system.
  • the vehicle body posture calculation unit 203 includes the acceleration including the direction of gravity applied to the vehicle body, the result of measuring the rotational angular velocity of the vehicle body frame 40, the vehicle body velocity in the vehicle movement direction measured by the wheel speed sensor 210, and the steering angle sensor 220.
  • the pitch angle is an angle formed by the x axis with the local coordinate system EN plane
  • the roll angle is a rotation angle around the x axis
  • the yaw angle is an angle formed by the x axis with the local coordinate system E axis. is there.
  • the in-vehicle terminal device 300 corrects the GPS reference position acquired from the vehicle position detection device 103 using the attitude angle acquired from the IMU 200 and also stores positional deviation information between the GPS reference position stored in advance and the vehicle origin of the dump 1. Based on the vehicle position correction unit 301 that corrects the vehicle position used for the autonomous traveling control of the dump 1 and the operation management server (not shown) that manages the operation of the dump 1, the travel given to the dump 1
  • a wireless communication control unit 302 that transmits and receives a request and response for travel permission section information indicating a permitted section
  • a map information storage unit 303 that stores map information indicating a route on which the dump 1 travels autonomously, and a route in the travel permitted section
  • Autonomous traveling that outputs a control signal for traveling along the vehicle position to the traveling drive device 350, such as a steering angle signal, a brake actuation signal, and a fuel injection signal. It includes a control unit 304, a.
  • the body frame 40 is not necessarily handled as a rigid body, and in particular, the frame is twisted and undulated on the y-axis of the body frame 40. Further, since the vehicle body frame 40 is connected to the front wheels 10 and the rear wheels 20 via dampers, vibration of the vehicle body frame 40 itself is generated separately from the vehicle motion. Depending on the mounting position of the IMU 200, due to these effects, the measured acceleration / angular velocity includes an error factor other than the vehicle motion, for example, the effects of vibration, swell, and torsion.
  • the vehicle position correction unit 301 corrects the vehicle position using the attitude angle including an error factor other than the vehicle motion, the corrected vehicle position is deviated from the actual position of the local coordinate system of the dump truck 1. Thus, the accuracy of position control in autonomous traveling control is reduced.
  • a rectangular area or deck 90 having a line segment connecting the installation positions of the two GPS antennas 101 and 102 as a diagonal line when the dump 1 is viewed from above.
  • a configuration in which the IMU 200 is positioned within the attachable range will be described with reference to FIGS. 3 to 5.
  • the above-mentioned “within the mountable range of the deck 90 includes not only directly provided on the deck but also provided via a support (post) or a handrail.”
  • FIG. 3 is a top view of the dump truck.
  • FIG. 4 is a top view of the dump, in which (a) shows the center of the distance ⁇ x between the two GPS antennas in the overlapping area between the rectangular area and the deck whose diagonal is the installation position of the two GPS antennas. The state where the IMU is installed on the passing y-axis (front-rear axis) is shown, and (b) shows the state where the IMU is installed on the deck when there is no overlapping area between the rectangular area and the deck.
  • FIG. 5 is a top view of the dump truck and shows a state in which an IMU is installed on the deck when a rectangular area whose diagonal line is the installation position of the two GPS antennas cannot be formed.
  • the GPS antennas 101 and 102 protrude from the front of the dump 1 and from the body frame 40 of the dump 1 to the deck 90 when the dump 1 is viewed from above. It is attached.
  • the GPS antennas 101 and 102 are attached with a distance ⁇ x in the x-axis direction and a distance ⁇ y in the y-axis direction.
  • two points of the attachment positions of the GPS antennas 101 and 102 are represented by DL as a line segment, and a rectangular region having the diagonal line as a line is represented by reference numeral 400.
  • the IMU 200 is arranged so that the distance from the GPS antenna 101 to the IMU 200 is shortened.
  • a distance that is considered to have little swell and twist error This can be rephrased as a length (allowable error distance) that is considered to have little torsional or undulating error.
  • FIGS. 3 (a), 3 (b), and 4 (a) if another GPS antenna 102 is installed with a shift of the depth of the deck 90 ( ⁇ y), the difference between the GPS antennas can be reduced. The slope can be approximated.
  • the inclination with respect to the local coordinate system EN plane to the GPS antenna 101 and the other GPS antenna 102 is calculated from a vector output by the vehicle position detection device 103. If the IMU 200 exists between them, the GPS is received from the IMU 200 at the timing of receiving the GPS. The obtained inclination including the error can be corrected.
  • a plane surrounded by a plurality of GPS antennas 101 and 102 (a plane including the rectangular region 400) is assumed, and it is assumed that there is no distortion in the plane. Then, the calculation is performed assuming that the IMU 200 exists on the plane. Therefore, the IMU 200 may be arranged on the plane. More specifically, as shown in FIG. 3A, the IMU 200 is arranged in an overlapping area between the rectangular area 400 and the deck 90. Thereby, the influence of the wave
  • this plane is a plane formed by the GPS antenna 100 and the GPS antenna 101, an error is included if the plane is separated from this axis.
  • the IMU 200 exists on a line connecting the GPS antenna 100 and the GPS antenna 101 (see FIG. 3B).
  • IMU200 can be arrange
  • the posture detection error due to the vibration of the vehicle body frame 40 itself is caused by an error other than undulation and torsion in the acceleration sensor 201 in the IMU 200.
  • the roll angular velocity generated around the x-axis of the body frame 40 is generated separately from the lateral acceleration calculated by the wheel speed sensor 210 and the steering angle sensor 220, and this is relatively larger than the output value of the acceleration sensor 201. Affect.
  • the IMU 200 is installed on the y-axis (shown as ax1) of the vehicle body frame 40 passing through the midpoint of ⁇ x, thereby minimizing the influence of the angular velocity due to the roll angular motion of the vehicle body. Can be suppressed.
  • a support body 102 a protruding forward of the deck 90 is provided, the GPS antenna 102 is attached to the front end of the support body 102, and the GPS antenna 101 is attached to the y-axis of the deck 90.
  • the IMU 200 may be installed on the deck 90.
  • the deck 90 may be installed on the front-rear axis ax1.
  • the installation positions of the GPS antennas 101 and 102 are such that the dump 1 does not interfere with the rotation range of the loading platform 30 and is restricted by the area of the deck 90 and the like. , 102 may have to be provided. In this case, by installing the IMU 200 on the deck 90, the GPS antennas 101 and 102 can be brought closer, and the detection error between the GPS satellite signal and the IMU can be further reduced.
  • the GPS antennas 101 and 102 when the GPS antennas 101 and 102 are installed on the deck 90 without being spaced apart in the front-rear axis ax1 direction, the rectangular area 400 cannot be formed, and the rectangular area 400 overlaps with the deck 90. There is no.
  • the IMU 200 by installing the IMU 200 on the deck 90, the distance between the GPS antennas 101 and 102 and the IMU 200 can be made shorter than when the IMU 200 is installed outside the deck 90, and the influence of error factors on the posture angle can be reduced. .
  • posture detection error due to vibration of the vehicle body frame itself included in vehicle body posture information posture detection error due to waviness error, posture detection error due to torsion can be reduced, and vehicle position detection accuracy is improved. Can be made.
  • the IMU mounting position examples shown in FIGS. 3 and 4 may be appropriately combined.
  • the IMU 200 may be installed on the diagonal line DL shown in FIG. 3B and the intersection of the y-axis ax1 shown in FIG. Thereby, IMU can be arrange
  • the GPS antennas 101 and 102 are attached at positions protruding from the deck 90, but may be attached on the deck 90.
  • the area of the rectangular area 400 is smaller than the upper surface of the deck 90, but the IMU 200 is installed in the rectangular area 400 on the deck 90, that is, in the overlapping area of the deck 90 and the rectangular area 400. The same effect as described in the above can be obtained.
  • the present invention has been described with reference to an example in which the present invention is applied to a dump truck.
  • the present invention can also be applied to detection of a vehicle position such as a hydraulic excavator or a wheel loader that is a work machine other than the dump truck.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

L'invention concerne un véhicule de transport capable d'améliorer la précision de correction lorsque la position du véhicule détectée à l'aide d'un système de positionnement global est corrigée en fonction d'une attitude de la carosserie du véhicule. Le véhicule de transport est pourvu d'un châssis de véhicule 40, d'une plate-forme 90 disposée dans la partie avant supérieure du châssis de véhicule 40, et une cabine 80 montée sur la plate-forme 90. Le véhicule de transport comprend deux antennes de réception d'ondes radio pour positionnement par satellite 101, 102 et un dispositif de détection d'orientation de carrosserie de véhicule 200 permettant de détecter l'attitude du véhicule de transport 1. Les deux antennes de réception d'ondes radio pour positionnement par satellite 101, 102 sont fixées à la plate-forme 90 en étant séparées par un espace dans le sens de la largeur du véhicule de transport 1. Lorsque le véhicule de transport 1 est vu de dessus, le dispositif 200 de détection d'attitude de carrosserie du véhicule est positionné dans une zone rectangulaire 400 ayant un segment de droite DL reliant les positions d'installation des deux antennes de réception d'ondes radio pour positionnement par satellite 101, 102 en tant que diagonale de celui-ci ou à moins de la distance de montage de la plate-forme 90.
PCT/JP2015/056265 2014-09-24 2015-03-03 Véhicule de transport WO2016047166A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2014194102A JP2016065769A (ja) 2014-09-24 2014-09-24 運搬車両
JP2014-194102 2014-09-24

Publications (1)

Publication Number Publication Date
WO2016047166A1 true WO2016047166A1 (fr) 2016-03-31

Family

ID=55580708

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2015/056265 WO2016047166A1 (fr) 2014-09-24 2015-03-03 Véhicule de transport

Country Status (2)

Country Link
JP (1) JP2016065769A (fr)
WO (1) WO2016047166A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019148430A1 (fr) * 2018-02-01 2019-08-08 深圳市固胜智能科技有限公司 Structure de montage destinée à une unité de mesure inertielle et dispositif de panoramique horizontal-vertical
US11280616B2 (en) 2019-07-11 2022-03-22 Caterpillar Inc. Operating status identification system for machine
US11561101B2 (en) * 2017-09-29 2023-01-24 Seiko Epson Corporation Physical quantity sensor, inertia measurement device, vehicle positioning device, electronic apparatus, and vehicle

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6898816B2 (ja) * 2017-09-15 2021-07-07 株式会社小松製作所 表示システム、表示方法、及び表示装置
JP6658717B2 (ja) * 2017-11-16 2020-03-04 井関農機株式会社 作業車両
JP7256080B2 (ja) * 2019-06-20 2023-04-11 ヤンマーパワーテクノロジー株式会社 作業車両
JP6849114B2 (ja) * 2020-02-17 2021-03-24 井関農機株式会社 作業車両および作業車両の自動直進走行支援システム
JP7041720B2 (ja) * 2020-07-09 2022-03-24 株式会社Nichijo 運搬車

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003064725A (ja) * 2001-08-28 2003-03-05 Maeda Corp 無人化機械土工システム
WO2005119290A1 (fr) * 2004-05-17 2005-12-15 Csi Wireless Inc. Localisation par satellite et detecteur cap pour commande de guidage d'un vehicule
JP2011122921A (ja) * 2009-12-10 2011-06-23 Mitsubishi Electric Corp 位置標定装置、位置標定方法、位置標定プログラム、速度ベクトル算出装置、速度ベクトル算出方法および速度ベクトル算出プログラム
JP2013170904A (ja) * 2012-02-20 2013-09-02 Ono Sokki Co Ltd 計測装置及び計測方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003064725A (ja) * 2001-08-28 2003-03-05 Maeda Corp 無人化機械土工システム
WO2005119290A1 (fr) * 2004-05-17 2005-12-15 Csi Wireless Inc. Localisation par satellite et detecteur cap pour commande de guidage d'un vehicule
JP2011122921A (ja) * 2009-12-10 2011-06-23 Mitsubishi Electric Corp 位置標定装置、位置標定方法、位置標定プログラム、速度ベクトル算出装置、速度ベクトル算出方法および速度ベクトル算出プログラム
JP2013170904A (ja) * 2012-02-20 2013-09-02 Ono Sokki Co Ltd 計測装置及び計測方法

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11561101B2 (en) * 2017-09-29 2023-01-24 Seiko Epson Corporation Physical quantity sensor, inertia measurement device, vehicle positioning device, electronic apparatus, and vehicle
WO2019148430A1 (fr) * 2018-02-01 2019-08-08 深圳市固胜智能科技有限公司 Structure de montage destinée à une unité de mesure inertielle et dispositif de panoramique horizontal-vertical
US11280616B2 (en) 2019-07-11 2022-03-22 Caterpillar Inc. Operating status identification system for machine

Also Published As

Publication number Publication date
JP2016065769A (ja) 2016-04-28

Similar Documents

Publication Publication Date Title
WO2016047166A1 (fr) Véhicule de transport
JP6386839B2 (ja) 位置算出装置及び運搬車両
AU2015325965B2 (en) Movement control device for work vehicle, and work vehicle
JP6892364B2 (ja) 作業車両
EP2932194B1 (fr) Ins multi-imu destiné à la commande d'un véhicule
JP6315696B2 (ja) 運搬車両の停止位置算出装置
CN104871106A (zh) 矿山机械、矿山机械的管理系统和矿山机械的管理方法
AU2015200793B2 (en) Compensating for acceleration induced inclination errors
JP2017097479A (ja) 自己位置推定装置の異常検知装置及び車両
JP6586509B2 (ja) アンテナの取付構造およびダンプトラック
WO2013047180A1 (fr) Engin de chantier
JP2017016477A (ja) 作業機械の走行支援システム及び運搬車両
CN111183551A (zh) 作业车辆用天线单元以及作业车辆
JP2020064011A (ja) レーザスキャナのキャリブレーション方法、運搬機械
JP7084244B2 (ja) 作業機械の制御システム、作業機械、及び作業機械の制御方法
WO2014156903A1 (fr) Véhicule de livraison
JP7016297B2 (ja) 作業機械
JP6297228B2 (ja) 作業車両の制御システム、作業車両、及び作業車両の制御方法
WO2021210613A1 (fr) Système de positionnement pour engin de chantier, engin de chantier et procédé de positionnement pour engin de chantier
US11873621B2 (en) System and method for tracking motion of linkages for self-propelled work vehicles in independent coordinate frames
EP3913146B1 (fr) Engin de travail avec système de atténuation de collision
JP7141883B2 (ja) 作業機械の制御システム、作業機械、及び作業機械の制御方法
US20230417017A1 (en) Swiveling work machine and method for detecting orientation of swiveling work machine
JP2016024097A (ja) 運搬車両
WO2022255362A1 (fr) Dispositif de commande électronique

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 15844191

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 11/07/2017)

122 Ep: pct application non-entry in european phase

Ref document number: 15844191

Country of ref document: EP

Kind code of ref document: A1