WO2016121688A1 - Dispositif de détection d'obstacle pour véhicule de transport - Google Patents

Dispositif de détection d'obstacle pour véhicule de transport Download PDF

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Publication number
WO2016121688A1
WO2016121688A1 PCT/JP2016/052007 JP2016052007W WO2016121688A1 WO 2016121688 A1 WO2016121688 A1 WO 2016121688A1 JP 2016052007 W JP2016052007 W JP 2016052007W WO 2016121688 A1 WO2016121688 A1 WO 2016121688A1
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WIPO (PCT)
Prior art keywords
obstacle
scanning
measurement
road surface
laser
Prior art date
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PCT/JP2016/052007
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English (en)
Japanese (ja)
Inventor
幸彦 小野
渡邊　淳
藤田　浩二
石本　英史
Original Assignee
日立建機株式会社
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Publication of WO2016121688A1 publication Critical patent/WO2016121688A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present invention relates to an obstacle detection device for a transportation vehicle for detecting an obstacle on a traveling path in a transportation vehicle such as a dump truck operating in a mine.
  • Patent Document 1 discloses a distance measuring device using a laser sensor.
  • This known distance measuring device is mounted on a vehicle, emits a pulse laser toward the front position with respect to the traveling direction of the vehicle, receives the reflected light, and measures the time from transmission to reception of this pulse laser. By doing so, the distance of the obstacle is measured.
  • the vehicle is a vehicle that is running or stopped on a general road, and is a person such as a passerby on the road of the vehicle.
  • the detection target has a certain height, and in order to improve the line of sight as much as possible, the irradiated pulse laser is in a substantially horizontal direction.
  • a transport vehicle such as a dump truck that uses a mine as an operating field
  • the vehicle travels at a high speed to some extent, and obstacles such as rocks that obstruct travel are present on the travel path.
  • obstacles such as rocks that obstruct travel are present on the travel path.
  • the load will spill from the vessel (loading platform), and obstacles such as rocks may enter the travel path later. Therefore, when the dump truck travels, it must travel so as to avoid these obstacles, and when a large obstacle is in the front position in the traveling direction, the dump truck must be stopped.
  • the present invention has been made in view of the above points, and detects obstacles on the road surface of a traveling road that may hinder traveling stability even when the vehicle is traveling at a high speed while traveling. Its purpose is to make it possible.
  • the present invention is provided in a transport vehicle, and receives a reflected light from the road surface, and a laser irradiation unit that irradiates a laser toward a road surface at a front position in the traveling direction of the transport vehicle.
  • a light receiving sensor a laser scanning unit that scans a laser irradiation position from the laser irradiation unit in a direction intersecting a traveling direction of the transporting vehicle, a traveling speed V of the transporting vehicle, and a scan from a scanning start point position.
  • the scanning interval between the scanning lines of the preceding and following lasers is adjusted on the basis of the scanning time to the end point position and the measurement cycle Th including the cycle from the end of scanning to the start of the next scanning period, And a scanning interval adjustment unit that changes the measurement cycle Th so that the scanning interval does not exceed a predetermined value even when the traveling speed of the transporting vehicle changes.
  • the obstacle detection device includes a laser irradiation unit that irradiates a laser and a light receiving sensor that receives scattered light of the laser light from the road surface. Further, when the optical path of the laser beam is bent, a reflection mirror is arranged in the middle of the optical path, and the angle of the reflection mirror is controlled. It is desirable that the reflected light from the road surface be collected by a condenser lens and incident on the light receiving sensor.
  • the road surface is scanned by the laser irradiated from the laser irradiation unit.
  • the traveling direction is taken as y g direction
  • x g direction is to define the road width of the road.
  • the laser scanning unit defines a scanning range in the xg direction, and a road width when the transport vehicle travels is set.
  • the laser scanning unit reciprocally swings the laser irradiation unit or rotates it in one direction.
  • the laser can be scanned also by reciprocatingly rotating the reflection mirror, and a linear or belt-like scanning line is set.
  • the scanning lines are not limited to those orthogonal to the traveling direction of the vehicle, but may be oblique to the direction orthogonal to the traveling direction.
  • a system that performs inspection / monitoring by irradiating a laser toward the front in the traveling direction of the vehicle in this way is called a LIDAR (Light Detection and Ranging) system.
  • the size of the obstacle that can be detected changes based on the size of the mesh (mesh) that constitutes the grid.
  • the size of the obstacle to be detected is generally determined based on the stability when the obstacle is overtaken when the transport vehicle is running.
  • x g direction and length of y g direction mesh is determined based on the size of the object.
  • the traveling speed V of the transporting vehicle the scanning time from the scanning start point position to the scanning end point position, and the period from the end of scanning to the start of the next scanning period are defined as the measurement period Th
  • the mesh described above is used.
  • x g direction and y g directions constituting a spacing x g direction are those determined by the pulse interval of the laser emitted from the laser irradiation unit.
  • the distance y g direction will change by the traveling speed V of the transportation vehicles. That is, the spacing of y g direction when carrying vehicle is running at low speed is shorter, longer if running at high speed. Therefore, the scanning interval (V ⁇ Th) between the preceding and following scanning lines changes according to the traveling speed of the transporting vehicle.
  • the scanning interval adjustment unit is for adjusting the pitch interval in the yg direction of the scanning line according to the traveling speed of the transporting vehicle.
  • y g direction interval may be changed according to the speed change of the transportation vehicles, but if the upper limit speed of transportation vehicles is determined is, y g and the upper limit speed reference
  • the pitch interval in the direction can be fixed.
  • FIG. 16 is a plan view of FIG. 15.
  • Fig. 1 shows the overall configuration of the dump truck 1
  • Fig. 2 schematically shows the situation of a mine site as an example of the operation field of the dump truck 1.
  • the dump truck 1 is for transporting ores and earth and sand excavated in a mine, and its operation field is off-road with poor traveling conditions and travels in the presence of rocks and gravel.
  • the dump truck 1 is composed of a vehicle body 1a and a vessel 1b.
  • a driver's cab 2 is installed in the vehicle main body 1a, and has a front wheel 3 and a rear wheel 4 provided on the left and right, respectively.
  • the front wheel 3 is a driven wheel and the rear wheel 4 is a driving wheel.
  • the operator's cab 2 is provided with an upper deck 5 in the vehicle main body 1a for the operator to board.
  • the upper deck 5 is installed on the front side of the vehicle main body 1a, and its width dimension is the vehicle main body 1a. Spans the entire width of.
  • a pair of building structures 6R and 6L are disposed at the lower center position of the upper deck 5, and an air cleaner 7 is disposed at an intermediate position thereof.
  • the air cleaner 7 is provided with a plurality of filter elements and is configured to capture dust and the like in the air.
  • An obstacle detection device 30 is provided at the front surface of the dump truck 1, more specifically at a position between the building structures 6 ⁇ / b> R and 6 ⁇ / b> L, and at an upper position of the mounting portion of the air cleaner 7.
  • the obstacle detection device 30 is provided with LIDAR (Light Detection and Ranging) that irradiates pulse laser light, receives the reflected wave, and measures the distance to the measurement point.
  • Obstacle detection device 30 is arranged in.
  • An intersection line between the scanning surface of the pulse laser beam and the road surface is referred to as an intersection line A.
  • 10 is a mining site, and a hydraulic excavator 11 for performing mining work is operating in the mining site 10.
  • a traveling path 12 extends from the mining site 10, and the traveling path 12 is not shown in the figure, but the ore transporting path 13 toward the ore accumulation field and the earth and sand transporting path 14 toward the earth discharging field are branched. Is formed.
  • the dump truck 1 is carried into the mining site 10, and earth and sand or ore is loaded on the vessel 1 b from the excavator 11 and travels along the travel path 12.
  • earth and sand or ore is loaded on the vessel 1 b from the excavator 11 and travels along the travel path 12.
  • the ore is loaded, it is transferred from the ore transport path 13 to the ore depository.
  • the vehicle travels toward the earth and sand transport path 14. Whichever route is taken, the load is discharged from the vessel 1b at the ore accumulation site and the earth removal site.
  • each dump truck 1 can acquire its own position information from a communication satellite (GPS) 17.
  • GPS communication satellite
  • the dump truck 1 travels from the mining site 10 to the ore transport path 13 and the earth and sand transport path 14 and to the return path to the mining site 10 side.
  • the other dump trucks 1 will pass each other.
  • the traveling path 12 is divided into an outbound path and a return path.
  • usually no median strip is provided at the boundary.
  • a cliff or the like is located at the end of the road width of the travel path 12, and as a result, the travel path 12 is roughly set with a road width on the forward path and the return path. Therefore, in the following description, the side ends of the forward path and the return path of the traveling path 12 are referred to as road shoulders, respectively.
  • the dump truck 1 When the dump truck 1 travels on the travel path 12 (including the ore transport path 13 and the earth and sand transport path 14), there is no obstacle on the road surface in order to improve travel stability and enable smooth travel. It is necessary to do so. In the mine, since there is no pavement or the like, the road surface is uneven and there may be rocks and the like. Therefore, it is necessary to monitor the condition of the road surface. In particular, it is necessary to determine whether or not there is an obstacle that makes it impossible to travel to the front position in the traveling direction of the dump truck 1 or affects traveling stability. . Moreover, if there is an obstacle, it may be necessary to run or stop to avoid it. Therefore, it is necessary to detect whether or not the dump truck 1 has an obstacle on the road surface in front of the traveling direction.
  • FIG. 3A is an explanatory diagram showing the structure of a uniaxial LIDAR.
  • FIG. 3B is an explanatory diagram showing a configuration related to the rotation operation of the uniaxial LIDAR structure.
  • FIG. 4 is an explanatory diagram showing the structure of a biaxial LIDAR.
  • FIG. 5 is an explanatory diagram showing a scannable range of the obstacle detection apparatus.
  • FIG. 6 is an explanatory diagram showing the irradiation range of the pulse laser from the obstacle detection device.
  • FIG. 7 is an explanatory diagram of scanning intervals in the X and Y directions of the pulse laser.
  • the obstacle detection device 30 shown in FIG. 3A has a configuration in which the laser holding unit 32 and the pulse laser scanning unit 33 are mounted on the upper and lower sides of the support plate 31 at positions separated by a predetermined interval. An entrance / exit region of the pulse laser is secured between the pulse laser scanning unit 33. A pulse laser irradiation unit 34 is attached to the laser holding unit 32. Further, the pulse laser scanning unit 33 is provided with a rotating body 35 that is rotationally driven by a motor 38 (see FIG. 3B). A half mirror 36 is attached to the rotating body 35 and a light receiving sensor 37 is provided. Is provided. Further, the obstacle detection device 30 outputs rotation period information indicating the rotation period (corresponding to the measurement period Th) of the rotating body 35 to the pulse laser scanning unit 33 and performs rotation driving control of the pulse laser scanning unit 33. An interval adjusting unit 60 is provided.
  • the optical path from the pulse laser irradiation unit 34 and the rotation center of the pulse laser scanning unit 33 substantially coincide with each other, and a part of the pulse laser emitted from the pulse laser irradiation unit 34 is reflected by the half mirror 36. Irradiation is directed toward the region to be examined. The reflected light from the surface of the test region is scattered, but a part of the scattered light is transmitted through the half mirror 36. The scattered light that has passed through the half mirror 36 is received by a light receiving sensor 37, and a condensing lens is attached to the light receiving sensor 37.
  • the scanning interval adjustment unit 60 includes a measurement cycle calculation unit 61 and a measurement cycle storage unit 62.
  • the measurement cycle calculation unit 61 obtains the travel speed V t at the time t from the wheel speed measurement sensor 42a, the measurement cycle calculation unit 61 stores the current measurement cycle stored in the measurement cycle storage unit 62 (this is the latest past time t-1). (Corresponding to the measurement cycle Th t ⁇ 1 calculated in step 1 ). Then, the measurement cycle Th t at time t is calculated using the traveling speed V t and the measurement cycle Th t ⁇ 1 .
  • Measurement cycle calculation unit 61 outputs the measurement cycle Th t information to the motor 38. The measurement cycle is adjusted by rotating the motor 38 at the measurement cycle Th t .
  • the measurement cycle calculation unit 61 updates and records the newly calculated measurement cycle Th t in the measurement cycle storage unit 62.
  • the scanning interval adjustment unit 60 adjusts the measurement cycle Th by using the traveling speed V.
  • the travel interval adjustment unit 60 may further include a grid map storage unit 63 and may accumulate the grid map created by the measurement cycle calculation unit 61.
  • the measurement cycle calculation unit 61 also has a function as a grid map creation unit. Details of the grid map will be described later.
  • the scan interval adjustment unit 60 may be configured by cooperating hardware such as a CPU, ROM, RAM, HDD, an interface with an external device, a bus, and software for realizing the function of the scan interval adjustment unit 60. Good.
  • the obstacle detection device 30 is not limited to the above example, and a biaxial LIDAR shown in FIG. 4 may be used.
  • the biaxial LIDAR 20 in FIG. 4 detects whether an obstacle exists in the test region 21.
  • the LIDAR 20 includes a pulse laser irradiation unit 22 that emits a pulse laser at a predetermined interval, a pulse laser scanning unit 23 that scans the pulse laser over a predetermined range, a light receiving sensor 24, and a condenser lens 25.
  • the pulse laser scanning unit 23 includes a reflection mirror 23a, and the pulse laser is irradiated onto the test region 21 by the reflection mirror 23a.
  • the reflection mirror 23a can be tilted or rotated in two orthogonal axes, that is, the X direction and the Y direction. Specifically, it has a rotating shaft 23Y extending in the vertical direction.
  • a pulse laser is scanned in the xg direction of the region 21 to be examined.
  • the pulse laser that has scanned the test region 21 is condensed by the condenser lens 25 and is incident on the light receiving sensor 24.
  • the light receiving sensor 24 receives the scattered light of the reflected light from the test region 21. If the test region 21 has irregularities, the scattered light changes, so that it is possible to determine the presence / absence, size, shape, and the like of an obstacle protruding from the road surface based on the amount of light scattered by the light receiving sensor 24.
  • the two-axis LIDAR 20 and obstacle detection device 30 By using the above-described two-axis LIDAR 20 and obstacle detection device 30 (one-axis LIDAR), it is possible to detect the state of the road surface at the front position in the traveling direction of the dump truck 1. That is, depending on the condition of the road surface, the dump truck 1 may not be able to travel, and the dump truck 1 may not be able to go straight and a steering operation may be required. In this way, when the dump truck 1 is in a state where it cannot go straight, an avoiding operation such as stopping or performing a steering operation is performed.
  • the 2-axis LIDAR 20 or the obstacle detection device 30 can be used.
  • the irradiation position of the pulse laser by the two-axis LIDAR 20 and the obstacle detection device 30 is set obliquely in front of the road surface, and covers the entire road width on which the dump truck 1 can travel.
  • the obstacle detection device 30 will be described as an example.
  • the obstacle detection device 30 has a blind spot in the direction facing the support plate 31, and can irradiate laser light over a wide angle range excluding this blind spot range. It is.
  • the time for scanning this wide angle range is the scan time from the scan start position (start point of the arrow in FIG. 5) to the scan end point position (end point of the arrow in FIG. 5).
  • the time during which the laser beam is applied to the blind spot range is a period from the end of scanning to the start of scanning in the next scanning period. Then, a time obtained by adding the scanning time from the scanning start position (start point of the arrow in FIG. 5) to the scanning end point position (end point of the arrow in FIG.
  • the obstacle detection device 30 is driven while the dump truck 1 is traveling, and the rotating body 35 is moved. While rotating, the pulse laser is emitted from the pulse laser irradiation unit 34. As a result, the road surface of the traveling road 12 is scanned as shown in FIG.
  • the traveling direction of the vehicle and y g direction, the road width direction is taken as x g direction, in the x g direction, the scanning interval of the pulsed laser is the pitch spacing of the laser spot.
  • the pitch interval of the laser spot in the y g direction is changed by the traveling speed V of the vehicle. That is, when the vehicle travels at a high speed, the pitch spacing of the laser spot y g direction becomes wider, when the vehicle travels at a low speed, pitch is narrowed.
  • the laser irradiation and detection are repeated at a constant time interval ⁇ T when the pulse laser irradiation direction is rotated at a constant angular velocity ⁇ and the vehicle is driven at a speed V. Therefore, measurement is obtained for each constant angular resolution ⁇ .
  • ⁇ T is constant
  • the measurement period Th is the time from irradiation of the laser in a certain angle ⁇ direction to the next irradiation of the pulse laser in the same angle ⁇ direction
  • FIG. 8A is a perspective explanatory view showing the height and pitch interval of the obstacle detection device 30 and the resolution in the laser irradiation direction.
  • FIG. 8B is an explanatory plan view showing the height and pitch interval of the obstacle detection device 30 and the resolution in the laser irradiation direction.
  • FIG. 9 is an explanatory view showing the pitch interval of laser spots.
  • FIG. 10 is an operation explanatory diagram illustrating a state in which an obstacle inspection on a road surface is performed by a dump truck.
  • the pitch interval is ⁇
  • the laser irradiation direction is ⁇
  • the measurement resolution is ⁇
  • the pitch of the x g direction of the laser spot on the road surface i.e. the distance [Delta] x g is H / cos ⁇
  • the maximum values ⁇ x gMAX and ⁇ y gMAX of the distances ⁇ x g and ⁇ y g during traveling of the dump truck 1 take the road shoulder or the vicinity thereof. . Therefore, regarding the size of the obstacle to be detected on the road surface, even when the dump truck 1 has the maximum traveling speed, when the size of the position indicated by E in FIG. gMAX ⁇ ⁇ y It is set so that it can be reliably detected if gMAX is within a predetermined range.
  • the traveling speed of the dump truck 1 can be calculated based on data obtained from a self-position measuring unit 42 described later.
  • the scanning interval adjustment unit 60 (more specifically, the measurement cycle calculation unit 61) acquires the traveling speed V from the self-position measurement unit 42 (more specifically, a wheel speed measurement sensor 42a described later).
  • a scanning interval adjustment unit is configured. This configuration is only an example, and if the measurement cycle is changed based on the travel speed and the measurement cycle so that the scan interval does not exceed a predetermined value even if the travel speed changes, the scan interval adjustment unit included.
  • the obstacle B is described as having a configuration in which the scanning interval is set based on the size of the obstacle B. In short, the scanning interval is prevented from changing depending on the traveling speed of the dump truck 1. However, it is not necessarily based only on the size of the obstacle B, and the scanning interval can be set in consideration of other factors.
  • FIG. 11 is a schematic configuration diagram of an obstacle detection system.
  • the obstacle detection system 40 is a system for detecting whether or not an obstacle B having a predetermined size or more exists on the road surface of the traveling road 12. Here, it is for ensuring the stability at the time of driving
  • FIG. 12 is an operation explanatory diagram regarding the position of the obstacle during the traveling of the dump truck and the operation to avoid it.
  • the area S when the area where the dump truck 1 travels straight is defined as the area S, if the areas L and R exist on both the left and right sides of the area S, the areas T and R If the obstacle B is located in front of the dump truck 1 and is traveling straight ahead, it will collide with the obstacle B, but as indicated by the arrow T or arrow S, the area T or area S If the steering operation is performed in the direction, it may be possible to travel without the front wheels 3 and the rear wheels 4 getting on the obstacle B. Accordingly, when the obstacle detection system 40 mounted on the dump truck 1 detects an obstacle B of a predetermined size in front of the dump truck 1 in the traveling direction, the obstacle detection system 40 can travel while avoiding the obstacle B. In the case where the steering operation is performed and there is an obstacle B that cannot be traveled, the vehicle is stopped by operating the brake.
  • the obstacle detection system 40 shown in FIG. 11 is a measurement system that measures the relative position of the obstacle B with respect to the vehicle body 1a.
  • the obstacle detection system 40 and the traffic control center 15 transmit signals by wireless communication. You can send and receive.
  • the obstacle detection system 40 includes an obstacle measurement unit 41, a self-position measurement unit 42 for measuring the position and posture of the vehicle main body 1a, and a relative position and road surface of the obstacle B in order to detect an obstacle. And a vehicle body motion control unit 43 that changes the traveling direction and traveling speed of the vehicle main body 1a based on the width and the presence of an oncoming vehicle. Furthermore, a communication device 44 for performing communication with the traffic control center 15 is provided.
  • the obstacle measurement unit 41 includes an obstacle detection device 30, an obstacle measurement device 41 a that measures the relative position of the obstacle B with respect to the dump truck 1 based on the measurement result by the obstacle detection device 30, and the surroundings of the road surface And an obstacle storage device 41b as a storage unit for storing obstacle data related to obstacle positions and obstacle shapes in the external coordinate system (corresponding to the x g- y g coordinate system in FIGS. 4 and 6). ing.
  • the obstacle detection device 30 is connected to the obstacle measurement device 41a, and the obstacle measurement device 41a is connected to the obstacle storage device 41b.
  • the obstacle detection device 30 has an intersection line A as a scanning direction, which is a straight line formed by measurement points on the road surface to which the laser light emitted from the obstacle detection device 30 arrives. It is set along the width direction (road width x g direction). Further, the obstacle detection device 30 gradually changes the irradiation direction of the laser light at a predetermined angle, for example, every 0.25 degrees (corresponding to ⁇ in FIGS. 7, 8A, and 8B). The upper measurement point is scanned, and the distance to the road surface at every predetermined angle is measured on the scanning surface of the laser beam by the obstacle detection device 30.
  • the obstacle measuring device 41a further includes a comparison unit 41c that compares the obstacle information detected by the obstacle detection device 30 with the obstacle data stored in the obstacle storage device 41b.
  • the attribute information of the obstacle data such as whether the obstacle is a stationary obstacle such as an installation object or a dynamic obstacle such as a vehicle is updated.
  • the self-position measuring unit 42 is a steering angle of a wheel speed measurement sensor 42a for measuring, for example, the rotational speed of the front wheel 3 of the vehicle main body 1a, and a handle (not shown) provided in the cab 2 of the vehicle main body 1a. Based on the rotation angle result measured by the steering angle measurement sensor 42b and the wheel speed measurement sensor 42a and the steering angle result measured by the steering angle measurement sensor 42b, the traveling speed of the vehicle main body 1a, the front wheel 3 And a self-position calculating device 42c for calculating the position and orientation of the vehicle main body 1a in a coordinate system fixed to the ground.
  • the wheel speed measurement sensor 42a is a speed sensor or the like for detecting the rotational speed of the front wheels 3, for example.
  • the steering angle measurement sensor 42b is a displacement sensor that can detect the steering angle of the steering wheel.
  • the self-position measuring unit 42 includes a self-position correcting device 42d for correcting the self-position of the vehicle main body 1a.
  • the self-position correcting device 42d is for measuring the position and orientation of the vehicle body 1a with higher accuracy, and is configured by, for example, an inertial measurement device (IMU: Internal Measurement Unit), GPS (Global Positioning System), or the like. ing.
  • IMU Internal Measurement Unit
  • GPS Global Positioning System
  • the wheel speed measuring sensor 42a, the steering angle measuring sensor 42b, and the self-position correcting device 42d are respectively connected to the self-position calculating device 42c.
  • the vehicle body motion control unit 43 includes a braking device 43a that reduces or stops the traveling speed of the vehicle body 1a, a drive torque limiting device 43b for limiting the rotational torque command value for the rear wheel 4 of the dump truck 1, A steering control device 43c for avoiding the obstacle B, a data storage device 43d in which map data such as the route of the road, the road width of the road surface, and oncoming vehicle information is stored, the braking amount by the braking device 43a, and the driving torque
  • a vehicle control device 43e for calculating a limit amount by the limit device 43b and a control amount by the steering control device 43c is provided.
  • the vehicle control device 43e limits the braking amount and driving torque by the braking device 43a for the purpose of limiting the distance and traveling speed of the vehicle body 1a to the obstacle B based on the map data stored in the data storage device 43d. A limit amount by the device 43b and a control amount by the steering control device 43c are calculated.
  • the braking device 43a is a mechanical brake having a mechanical structure such as a disc brake for braking the rotation of the rear wheel 4, for example.
  • the drive torque limiting device 43b is a retarder brake such as an electric brake that applies an electric resistance to the rotation of the rear wheel 4 to brake the rotation.
  • road shoulder information such as a road shoulder shape provided on the side of the traveling road is also stored.
  • the vehicle control device 43e receives map data stored in the data storage device 43d, self-position information calculated by the self-position calculation device 42c, and obstacle information measured by the obstacle measurement device 41a.
  • the vehicle control device 43e is connected to each of the braking device 43a, the drive torque limiting device 43b, and the steering control device 43c.
  • the communication device 44 is connected to the self-position calculating device 42c and transmits the self-location information of the dump truck 1 calculated by the self-position calculating device 42c to the traffic control center 15.
  • the communication device 44 is connected to the obstacle storage device 41b and the data storage device 43d, and transmits the obstacle position data stored in the obstacle storage device 41b and the map data stored in the data storage device 43d to the communication device. 44 is configured to be able to output via 44.
  • the traffic control center 15 includes a communication device 51 for transmitting and receiving information to and from the communication device 44 mounted on the dump truck 1, and an obstacle data storage in which an obstacle map such as an obstacle shape of a traveling path is stored.
  • the comparison unit that compares the obstacle information transmitted from the communication device 44 of the dump truck 1 to the communication device 51 of the traffic control center 15 with the obstacle map stored in the obstacle data storage device 52.
  • the change data storage for storing the obstacle change information in the obstacle information Device 54.
  • FIG. 13A is a schematic perspective view showing a scanning state by the pulse laser PL at the time of detecting an obstacle
  • FIG. 13B is an explanatory diagram of a predetermined distance F used for the obstacle measurement processing
  • FIG. 13C is an explanatory diagram in a plan view of FIG. 13B.
  • FIG. 13A shows a state where the dump truck 1 is traveling while detecting the obstacle B on the traveling path
  • the broken line in FIG. 13C indicates the position of the obstacle in the plan view of FIG. 13B.
  • FIG. 14 is a flowchart showing obstacle detection processing by the dump truck 1.
  • the obstacle detection device 30 irradiates the front of the dump truck 1 with the pulse laser PL as shown in FIG. 13A, and the obstacle B on the road surface of the traveling path 12 (see FIG. 2). Measurement is performed to obtain distance measurement data about the position of the road surface and the obstacle B (step S1, hereinafter simply referred to as “S1” or the like). Based on the distance measurement data acquired in S1, as shown in FIGS. 13A and 13B, the obstacle measurement device 41a calculates an intersection line A that intersects the scanning surface and the road surface by the obstacle detection device 30. (S2).
  • the obstacle measuring device 41a sets the measurement points that are separated from the intersection line A calculated in S2 by a predetermined distance F or more as the obstacle measurement points Pn (P1, P2, and P3 obstacle measurement points in FIG. 13B). (S3).
  • the predetermined distance F here refers to the road surface when the optical path of the pulse laser PL is extended from the intersection of the pulse laser PL and the obstacle B (corresponding to the obstacle measurement point Pn). Is the distance F to the intersection a.
  • the intersection point a is a point on the intersection line A between the road surface and the pulse laser PL, and the axial direction of the intersection line A coincides with the direction perpendicular to the paper surface of FIG. 13C.
  • the magnitude of the predetermined distance F is defined by a value corresponding to the height of the obstacle B to be measured by the obstacle measuring device 41a.
  • the obstacle measuring device 41a detects an obstacle having a predetermined size and shape at the obstacle measuring point Pn while the dump truck 1 is traveling (S4 / Yes)
  • the relative position of the obstacle measuring point Pn and the dump truck are detected.
  • the absolute position of the obstacle measurement point Pn is calculated (S5).
  • the current position of the dump truck 1 is measured based on the communication satellite 17.
  • the obstacle measuring device 41a stores the absolute position of the obstacle measuring point Pn in the obstacle storage device 41b (S6).
  • the obstacle measuring device 41a does not detect an obstacle having a predetermined size and shape at the obstacle measuring point Pn while the dump truck 1 is traveling (S4 / No)
  • the obstacle measuring device 41a returns to S1.
  • the traveling speed of the dump truck 1 corrected by the self-position correcting device 42d the traveling speed of the dump truck 1 corrected by the self-position correcting device 42d, the front wheels
  • the position and posture of the dump truck 1 in the coordinate system (x g- y g coordinate system) fixed to the ground at an angular velocity of 3 are calculated by the self-position calculating device 42c and self-position is estimated.
  • the vehicle control apparatus 43e is the position of the dump truck 1 calculated by the self-position calculating apparatus 42c and the position of the obstacle around the dump truck 1 stored in the obstacle storage apparatus 41b. It is determined whether the shortest distance is larger than the obstacle avoidance distance (S7).
  • the “obstacle avoidance distance” is a threshold value provided for determining that an avoidance operation is necessary when there is an obstacle, and is a variable depending on the speed.
  • the obstacle avoidance distance may be dynamically set according to the current travel speed, or may be set statically according to the speed limit set for the travel path 12. Further, the obstacle avoidance distance may be set in more detail in accordance with the load amount of the dump truck 1 in addition to the speed.
  • the distance between the position obtained by the self-position calculating device 42c and the position of the obstacle around the dump truck 1 stored in the obstacle storage device 41b is determined to be equal to or less than the obstacle turning distance.
  • S7 / No that is, when it is determined that there is a risk of colliding with an obstacle, it is determined whether or not the dump truck 1 can be driven while avoiding the obstacle.
  • S8 / Yes When avoidance is possible (S8 / Yes), the dump truck 1 is caused to take an avoidance action by steering or the like (S9).
  • the braking device 43a and the drive torque limiting device 43b of the vehicle body motion control unit 43 are controlled to stop the traveling of the dump truck 1 ( S10).
  • the measurement cycle calculation unit 61 the travel path, to prepare a grid map of the x g direction and y g direction of the laser spot, the presence or absence of an obstacle on the road surface managed by this grid map, undetected
  • the angular resolution ⁇ (or measurement period ⁇ T) is set so that the grid is as small as possible.
  • the measurement cycle calculation unit 61 records the grid information in the grid map storage unit 63, thereby enabling efficient management and maintenance of the traveling road surface. Further, since the dump truck 1 travels on substantially the same traveling road surface, grid information at the same position on the same traveling road surface is repeatedly obtained from the same dump truck 1 and the plurality of dump trucks 1.
  • the dump truck 1 travels back and forth, and can scan the same position even if the position scanned during the forward travel is the return path. Therefore, it is also possible to acquire grid information of a part that reciprocates on the traveling road surface. If the grid information is set to be accumulated, the grid map becomes more complete, and the unknown detection area can be minimized.
  • the dump truck 1 includes a vehicle main body 1a and a vessel 1b as a working portion provided on the vehicle main body 1a so as to be able to be raised and lowered, and a driver's cab above the vehicle main body 1a. 2 is provided. And it is set as the structure provided with the right-and-left front wheel 3 and the rear wheel 4 supported so that driving
  • a pair of building structures 6L and 6R are provided at a predetermined interval in the lower central portion of the upper deck 5, and a heat exchange device such as a radiator is installed between the building structures 6L and 6R. Yes.
  • the position between each building structure 6L, 6R is a total of two units. Obstacle detection devices 30L and 30R are respectively attached.
  • an obstacle is detected by the LIDAR system.
  • the two obstacle detection devices 30L and 30R are connected to the traveling direction of the dump truck 1.
  • the scanning lines AL and AR are set in an oblique direction, instead of scanning with a pulse laser in the orthogonal direction.
  • the scanning lines AL and AR intersect at a predetermined position, and the obstacle detection is performed on the scanning line AL from the intersection position Q on the basis of the intersection position Q.
  • Obstacle detection is performed from the intersection position Q to the other road shoulder, that is, the right road shoulder, up to the road shoulder, that is, the left road shoulder.
  • the evaluation value E ⁇ x gMAX ⁇ y
  • gMAX as an evaluation function, not only the angular resolution ⁇ (or measurement period ⁇ T), but also the scan line AL, AR, by appropriately determining the crossing angle ⁇ at the crossing position Q, a smaller obstacle Can be reliably detected.
  • this invention is not limited to embodiment mentioned above, Various deformation
  • the above-described embodiments are for explaining the present invention in an easy-to-understand manner, and the present invention is not necessarily limited to only having all the configurations described.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Traffic Control Systems (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

L'objectif de la présente invention est de rendre possible la détection, sur une surface d'une route sur laquelle un véhicule de transport se déplace, des obstacles qui pourraient gêner la stabilité de déplacement, même lorsque le véhicule se déplace à grande vitesse. La présente invention est placée sur un camion-benne (1) et est configurée comme suit : une impulsion laser est émise par une unité d'émission d'impulsion laser (34) vers une surface de route qui est vers l'avant dans la direction de déplacement, et la lumière réfléchie de la surface de la route est reçue; la position d'émission d'impulsion laser est conçue pour balayer dans une direction qui est en intersection avec la direction de déplacement du camion-benne (1); et l'intervalle de balayage entre les balayages de la ligne de balayage de l'impulsion laser est modifié en fonction de la vitesse de déplacement.
PCT/JP2016/052007 2015-01-29 2016-01-25 Dispositif de détection d'obstacle pour véhicule de transport WO2016121688A1 (fr)

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JP2015015868A JP2018054290A (ja) 2015-01-29 2015-01-29 運搬用車両の障害物検出装置

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