WO2019188015A1

WO2019188015A1 - Working machine reversing support device

Info

Publication number: WO2019188015A1
Application number: PCT/JP2019/008367
Authority: WO
Inventors: 大基手塚
Original assignee: 日立建機株式会社
Priority date: 2018-03-30
Filing date: 2019-03-04
Publication date: 2019-10-03
Also published as: JP2019178972A; JP6909752B2

Abstract

The objective of the present invention is to enable a conveying vehicle to be guided in such a way as to make it possible to stop in an appropriate soil releasing position when releasing soil. This working machine reversing support device is provided with a measuring device 200 which includes a first distance measuring device 201 and a second distance measuring device 202, wherein the first distance measuring device 201 and the second distance measuring device 202 are arranged such that a first scanning surface 21 of the first distance measuring device 201 and a second scanning surface 202 of the second distance measuring device 202 intersect at right angles, and the first scanning surface 21 is perpendicular to a vehicle body horizontal plane H and the second scanning surface 22 has an angle of depression relative to the vehicle body horizontal plane H, wherein, on the basis of a first distance measured by the first distance measuring device 201 and a second distance measured by the second distance measuring device 202, a distance to a vehicle stop 1002 positioned in the direction of travel of a working machine and the shape of the vehicle stop 1002 are detected, and the distance until the working machine comes into contact with the vehicle stop 1002 is calculated.

Description

Work machine retreat support device

[Technical Field] The present invention relates to a backward support technology for supporting backward running of a work machine such as a mining dump truck. In particular, it is related to the technology for assisting retreat in the earth.

There is a technology that assists the driver of a work vehicle (carrying vehicle) such as a mine dump truck to grasp the stop position. For example, Patent Document 1 states that “the load of the vessel is discharged at a position where the rear end of the vehicle body or rear end of the rear tire is projected onto the road surface or a position on the road surface which is a predetermined distance away from the projected position. Set a reference distance guideline or a guideline distance for earthwork during the earthing work, and display the guideline for the earthwork distance or a guideline for the distance during the earthing operation on the display. A display system for displaying a rear view of a transport vehicle is disclosed.

Japanese Patent No. 5380735

However, in the rear view display system for a transporting vehicle disclosed in Patent Document 1, the operator sets on the image a guideline for distance of earthing work as a guideline when the vehicle is moved backward to the earthing position. For this reason, the reference line cannot always be set accurately while the transporting vehicle is moving backward. In particular, in an environment such as a mine where the traveling road surface and the shape of the car stop frequently change, it is difficult to accurately set the distance guide line for earth removal work, and as a result, it is difficult to guide to an appropriate position.

The present invention has been made in view of the above situation, and an object of the present invention is to provide a technique capable of guiding a transport vehicle so that the vehicle can be stopped at an appropriate earthing position at the time of earthing.

The present invention relates to a backward support device for a work machine that supports the backward running of the work machine, and measures the distance to the detected object by irradiating a laser and receiving the reflected light reflected by the detected object. A first distance measuring device and a second distance measuring device, wherein the first distance measuring device and the second distance measuring device are a first scan surface and a second distance formed by a laser irradiation surface of the first distance measuring device. A second scan plane composed of a laser irradiation surface of the measuring device is orthogonalized, and the first scan plane is perpendicular to the horizontal plane of the vehicle body including the longitudinal axis and the horizontal axis of the vehicle body of the work machine, and the horizontal plane of the vehicle body The second scanning plane has a measuring device disposed on the work machine with a depression angle, and based on the first distance measured by the first distance measuring device and the second distance measured by the second distance measuring device. Progress of work machine Detects the distance to the wheel stop located direction and shape of the bollard, the working machine is characterized in that retraction support apparatus for a working machine and calculates the distance to the contact with the bollard.

According to the present invention, the transport vehicle can be guided so that the vehicle can be stopped at an appropriate earthing position when earthing. Problems, configurations, and effects other than those described above will become apparent from the following description of embodiments.

Explanatory drawing which shows the surrounding environment at the time of earthing of the dump truck which concerns on embodiment of this invention. The left view of the dump truck which concerns on embodiment of this invention. The rear perspective view of the dump truck concerning the embodiment of the present invention. The block diagram which shows the function structure of the reverse assistance apparatus which concerns on embodiment of this invention. The block diagram which shows the function structure of the contact distance calculation apparatus which concerns on embodiment of this invention. The figure which shows the example of an image | video displayed on the video display apparatus of embodiment of this invention. The figure which shows the other example of a video displayed on the video display apparatus of embodiment of this invention. (A) is the schematic diagram for demonstrating the vehicle stop detection process which concerns on embodiment of this invention, (b) is the schematic diagram (dump) which plotted the measurement result of the 1st distance measuring device which concerns on embodiment of this invention Track left side view). The flowchart of the vehicle stop position estimation process which concerns on embodiment of this invention. (A) is a flowchart of the vehicle stop width direction shape detection processing according to the embodiment of the present invention, (b) is an explanatory diagram of mapping in the vehicle stop width direction shape detection processing according to the embodiment of the present invention (top view of the dump truck) ). The flowchart of the contact distance determination process which concerns on embodiment of this invention. The schematic diagram for demonstrating the vehicle stop detection process in case the pitch vibration has generate | occur | produced in the dump truck which concerns on embodiment of this invention (left side view of a dump truck). (A) is a figure which shows the case where the road surface which concerns on embodiment of this invention is a plane, (b) is the road surface rotated by inclination-angle (theta) centering | focusing on the ground right under the perpendicular direction of a 1st distance measuring device. The figure which shows a state. (A) is a figure which shows inclination-angle (theta) in the case of the linear approximation of two or more embodiment which concerns on embodiment of this invention, (b) is the case of two or more curve approximation which concerns on embodiment of this invention. FIG. The schematic diagram for demonstrating the back detection process in case the dump truck which concerns on embodiment of this invention is drive | working on the running road surface with an inclination (left side view of a dump truck). The schematic diagram for demonstrating the back detection process in case the dump truck which concerns on embodiment of this invention is drive | working the driving | running | working road surface with a change in inclination (left side view of a dump truck).

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In all the drawings for explaining the embodiments, members having the same function are denoted by the same or related reference numerals, and repeated description thereof is omitted.

The schematic configuration of the dump truck will be described with reference to FIGS. FIG. 1 is an explanatory diagram showing the surrounding environment when the dump truck 1 according to the present embodiment is released. FIG. 2 is a left side view of the dump truck 1. FIG. 3 is a rear perspective view of the dump truck 1.

As shown in FIG. 1, the dump truck 1 travels backward on the traveling road surface 1001 toward a vehicle stop (Bund) 1002 disposed on the cliff when the dump truck 1 is dumped on the dumping ground 1003 under the cliff. The dump truck 1 includes a right front wheel 3r and a left front wheel 3l (see FIG. 2) at a front lower part of a body frame 2 (see FIG. 2), and a right rear wheel 4r and a left rear wheel 4l at a rear lower part. Further, a rear axle 7 is provided at the rear portion of the vehicle body frame 2. On the other hand, a driver's seat 5 (see FIG. 2) is provided at the front upper part of the body frame 2, and a vessel 6 is provided at the rear upper part.

Further, the dump truck 1 is provided with a backward support device 100 that supports the backward traveling of the dump truck 1. The backward assistance device 100 includes an imaging device (camera) 102 that captures the rear of the dump truck 1, a contact distance calculation device 101 that calculates a distance (contact distance) to the car stop 1002, and a display image generation device 103 (see FIG. 4). ), An image display device (monitor) 104 (see FIG. 4), an earthmoving place entry determination device 105 (see FIG. 4), an earthing place entry notification device (buzzer, lamp) 106 (see FIG. 4), including.

The video display device 104 and the earthing place entry notification device 106 are arranged in the driver's seat 5.

The contact distance calculation device 101 scans the back of the dump truck 1 to accumulate the car stop shape and calculates the distance (contact distance) until the dump truck 1 contacts the car stop 1002. The contact distance calculation device 101 includes a measurement device (scanner) 200 including a plurality of laser scanners, a self-position estimation device 300 that detects the self-position of the dump truck 1, a sensor output from the measurement device 200, and a self-position estimation device 300. The vehicle stop detection device 10 that detects the vehicle stop 1002 based on the self-position from the vehicle and the vehicle stop guidance device 60 that calculates information for guiding the dump truck 1 to the detected vehicle stop 1002 (see FIG. 5).

In the following description, the position of the dump truck 1 when the backward support device 100 starts operating is the origin, the traveling direction at the moment when the backward support device 100 starts operating is the y axis, and the vehicle body height of the dump truck 1 is An orthogonal coordinate system 400 is used in which the axis is the z axis and the axis orthogonal to the two axes of the y axis and the z axis is the x axis.

The measuring device 200 includes a first distance measuring device 201 and a second distance measuring device 202. The measuring apparatus 200 is installed between the left rear wheel 4l and the right rear wheel 4r at the rear of the dump truck 1, more specifically, above the rear axle 7 and below the vessel 6. The first distance measuring device 201 and the second distance measuring device 202 do not need to be arranged at the same height and may not be symmetrical.

The first distance measuring device 201 and the second distance measuring device 202 are, for example, a laser scanner (laser) that irradiates a laser beam in a fan shape, receives reflected light from the detected object, and detects the distance and direction to the detected object. Radar). The first distance measuring device 201 and the second distance measuring device 202 include a laser irradiation surface (hereinafter referred to as “second scan surface”) 22 of the second distance measuring device 202 and a laser irradiation surface (hereinafter referred to as “second scanning surface”) of the first distance measuring device 201. 21) (referred to as “first scan plane”). Note that the orthogonality is not limited to the case where the normal vectors of the first scan plane 21 and the second scan plane 22 are strictly perpendicular, but the same detected object as the detected object detected by the first distance measuring device 201. This includes the case where the first distance measuring device 201 and the second distance measuring device 202 are arranged so that the second scan surface 22 faces in a direction in which the shape in the width direction of the body can be detected.

More specifically, in the present embodiment, the first scanning surface 21 extends at least vertically downward from the vehicle body horizontal plane H including the front and rear axes and the left and right axes of the vehicle body frame 2 to the direction parallel to the vehicle body horizontal plane H toward the rear of the vehicle body. The first distance measuring device 201 is installed on the dump truck 1 so as to cover it.

When the traveling road surface 1001 is flat, the second distance measuring device 202 uses a position P1 where the second scanning surface 22 and the traveling road surface 1001 intersect, and the rear end of the left rear wheel 4l and the right rear wheel 4r as the traveling road surface 1001. Is installed on the dump truck 1 so as to have an installation angle α (FIG. 2) with respect to the horizontal plane H of the vehicle body so that the distance D1 to the position P2 projected onto the vehicle is equal to or greater than the braking distance of the maximum reverse speed of the dump truck 1. . By installing in this way, braking is possible without contacting the vehicle stop 1002 even if the vehicle moves backward at the maximum reverse speed.

The second distance measuring device 202 is determined by the detection distance of the second distance measuring device 202, the installation depression angle α of the second distance measuring device 202 with respect to the vehicle body horizontal plane H, and the shielding of the dump truck 1 with respect to the second scan surface 22. It is installed at a position where the length D2 (see FIG. 3) of the intersection line between the road surface 1001 and the second scan surface 22 is longer than the wheel width (outer width) of the dump truck 1. By installing in this way, it is possible to scan in advance the region through which the wheels of the dump truck 1 pass.

Note that the first distance measuring device 201 and the second distance measuring device 202 are not limited to the configuration provided one by one, and each measuring device may be configured using a plurality of laser scanners. Further, the first scanning surface 21 is not limited to one for the first distance measuring device 201, and a plurality of first scanning surfaces 21 may be provided. Similarly, the second scanning surface 22 is not limited to one for the second distance measuring device 202 and may be plural.

The photographing apparatus 102 is a camera that acquires an image behind the dump truck 1, for example. The imaging device 102 is a first scan behind the dump truck 1, more specifically above the measuring device 200 and below the vessel 6, between the left rear wheel 4 l and the right rear wheel 4 r. The surface 21 and the second scanning surface 22 are installed so as to be included in the visual field range.

Each position in the visual field range in the vehicle coordinate system of the dump truck 1 and the pixel position are associated with each other in advance and stored in a memory such as a ROM that can be accessed by the display image generation device 103. The vehicle coordinate system of the dump truck 1 is a coordinate whose origin is the center of gravity of the dump truck 1, the vehicle longitudinal axis direction on the horizontal plane of the vehicle body is the y axis, the horizontal axis direction is the x axis, and the direction perpendicular to the horizontal plane of the vehicle body is the z axis direction. It is a system.

FIG. 4 is a block diagram showing the functional configuration of the backward support device 100 and FIG. 5 is the functional configuration of the contact distance calculation device 101, respectively.

The self-position estimating device 300 is connected to each of a wheel speed measuring device (wheel speed sensor) 301 and a steering angle measuring device (yaw rate sensor, turning angular velocity sensor) 302 provided in the dump truck 1. The rotational speed is acquired, and the measurement result of the turning angular speed of the dump truck 1 is acquired from the steering angle measuring device 302. Then, the self-position estimation apparatus 300 calculates the speed and angular velocity of the dump truck 1 and the position and orientation from the origin of the aforementioned orthogonal coordinate system 400 (see FIG. 1) by executing, for example, dead reckoning processing.

It should be noted that an IMU (inertia measurement device) may be used instead of the wheel speed measurement device 301 for the purpose of measuring the vehicle body speed, and a steering angle sensor 302 may be used instead of the yaw rate sensor as the steering angle measurement device 302 for the purpose of estimating the turning angular velocity. Good. Further, for the purpose of measuring the position and orientation from the origin of the orthogonal coordinate system 400, a GPS (Global Positioning System) and a geomagnetic sensor may be used instead of the self-position estimation apparatus 300.

The vehicle stop detection device 10 includes a first vehicle stop detection device 40 that estimates the position of the vehicle stop 1002 and a second vehicle stop detection device 50 that estimates the shape of the vehicle stop 1002 in the width direction. The vehicle stop guidance device 60 includes a vehicle stop guidance determination device 61 and a vehicle body shape storage device 62.

The first vehicle stop detection device 40 includes a road surface estimation device 41 and a vehicle stop estimation device 42. The output of the first distance measuring device 201 described above is connected to respective inputs of the road surface estimating device 41 and the car stop estimating device 42. The output of the road surface estimation device 41 is connected to the input of a vehicle stop estimation device 42 and a pitch vibration correction device 51 described later. The output of the first distance measuring device 201 is further connected to the input of the car stop estimating device 42.

First distance information R1i output from the first distance measuring device 201 (i: indicates the laser irradiation angle φ in the first distance measuring device 201, for example, −45 ≦ i ≦ 225, and the second distance information R2i described later is also the same). Includes a measurement point and a distance to the measurement point.

The road surface estimation device 41 extracts the distance information indicating the measurement point and distance estimated as the road surface from the first distance information R1i, and calculates the road surface line. Then, the inclination angle θ (see FIG. 12) of the road surface line with respect to the vehicle body horizontal plane H including the front and rear axes and the left and right axes of the vehicle body frame 2 is calculated, and the road surface inclination with respect to the vehicle body horizontal plane H is calculated. The inclination angle θ is also referred to as a pitch angle θ.

The vehicle stop estimation device 42 extracts distance information of what is estimated to be the vehicle stop 1002 from the first distance information R1i measured by the first distance measurement device 201, the intersection of the road surface and the vehicle stop 1002, and the inclination of the vehicle stop 1002 with respect to the road surface. Is calculated.

The second vehicle stop detection device 50 includes a pitch vibration correction device 51, a vehicle stop shape estimation device 52, and a vehicle stop shape storage device 53. The input of the pitch vibration correcting device 51 is connected to the respective outputs of the second distance measuring device 202 and the road surface estimating device 41. The output of the pitch vibration correcting device 51 is connected to the input of the vehicle stop shape estimating device 52. The input of the car stopper shape estimation device 52 is further connected to the output of the self-position estimation device 300. The vehicle stop shape storage device 53 is connected to a vehicle stop shape estimation device 52 and a vehicle stop guidance determination device 61 described later.

The pitch vibration correcting device 51 removes the influence of pitch vibration from the second distance information R2i measured by the second distance measuring device 202 based on the inclination angle θ of the road surface with respect to the vehicle body horizontal plane H estimated by the road surface estimating device 41. The correction process is executed.

Based on the second distance information R2i corrected by the pitch vibration correcting device 51 and the position and posture of the dump truck 1 estimated by the self-position estimating device 300, the car stop shape estimating device 52 is a general SLAM (Simultaneous Localization and Mapping). The topography in the traveling direction of the dump truck 1 is calculated as the shape of the vehicle stop 1002 in the vehicle width direction by a mapping method such as the above.

The car stop shape storage device 53 stores width direction shape information indicating the shape of the car stop 1002 in the vehicle width direction calculated by the car stop shape estimation device 52. The vehicle stop shape estimation device 52 may refer to the vehicle stop shape information stored in the vehicle stop shape storage device 53 in order to calculate the width direction shape information more highly. The stored vehicle stop shape information also refers to the display video generation device 103.

The vehicle stop guidance device 60 includes a vehicle stop guidance determination device 61 and a vehicle body shape storage device 62. The input of the vehicle stop guidance determination device 61 is connected to the respective outputs of the vehicle stop estimation device 42 and the self-position estimation device 300, and is also connected to the vehicle stop shape storage device 53 and the vehicle body shape storage device 62, respectively. The vehicle stop guidance determination device 61 reads information stored in the vehicle stop shape storage device 53 and the vehicle body shape storage device 62 as necessary.

The vehicle stop guidance determination device 61 is connected to the distance to the vehicle stop 1002 estimated by the vehicle stop estimation device 42, the inclination of the vehicle stop 1002, the width direction shape of the vehicle stop 1002 stored in the vehicle stop shape storage device 53, and the self-position estimation device 300. Based on the obtained turning angular velocity measured by the steering angle measuring device 302 and the vehicle body shape (including the size in the vehicle width direction) stored by the vehicle body shape storage device 62, the contact distance required for the determination of guidance is calculated. The vehicle stop guidance determination device 61 outputs the calculated contact distance to the earthing place entry determination device 105.

The display video generation device 103 superimposes the vehicle stop shape stored in the vehicle stop shape storage device 53 on the video acquired by the photographing device 102 and generates a display video. The input of the display video generation device 103 is connected to the respective outputs of the photographing device 102 and the contact distance calculation device 101, and the output of the display video generation device 103 is connected to the input of the video display device 104. The display video generation device 103 superimposes the vehicle stop shape on the display video in an identifiable manner. The vehicle stop shape represented by the value of the orthogonal coordinate system 400 is converted into a pixel position using the self-position and posture of the dump truck 1 calculated by the self-position estimation apparatus 300.

The video display device 104 displays the display video generated by the display video generation device 103. An example image 410 displayed on the image display device 104 is shown in FIG. The vehicle stop shape 1002b is displayed in an identifiable manner on the image behind the dump truck 1 including the vessel 6, the left rear wheel 4l, and the right rear wheel 4r.

When the video around the dump truck 1 can be acquired by the imaging device 102, the display video generation device 103 generates an overhead image from the video acquired by the imaging device 102, and adds a car stop shape 1002b to the generated overhead image. A display image may be generated by superimposing. A display image example 420 in this case is shown in FIG. An icon image 1a representing the dump truck 1 is displayed at the center. The conversion table and icon image 1a used when converting the acquired video into a bird's-eye view image are held in advance in a storage device such as a ROM provided in the backward support device 100.

The earthing place entry determination device 105 determines whether or not the dump truck 1 has entered the earthing place from the contact distance calculated by the car stop guidance determination device 61 and the earthing place predetermined by the distance from the car stop 1002. If it is determined and it is determined that the vehicle has entered, a notification signal is output to the earthing place entry notification device 106. The input of the earthing place entry determination device 105 is connected to the output of the contact distance calculation device 101. The output of the earthing place entry determination device 105 is connected to the input of the earthing place entry notification device 106.

The earthmoving place entry notification device 106 includes, for example, a buzzer and a lamp. The earthing place entry notification device 106 outputs a sound from the buzzer or turns on the lamp when receiving the notification signal from the earthing place entry determination device 105.

The vehicle stop detection device 10, the vehicle stop guidance device 60, the self-position estimation device 300, the display image generation device 103, and the earthing place entry determination device 105 are a microcomputer device including a central processing unit, a storage device, an input / output circuit, and a communication circuit. It may be configured by a combination of hardware and software that realizes the function of each device, or each device may be configured by an arithmetic circuit.

Next, a process for detecting the vehicle stop 1002 behind the dump truck 1 using the measuring device 200 will be described with reference to FIGS. 8 (a) and 8 (b). FIG. 8A is a schematic diagram for explaining a vehicle stop detection process by the vehicle stop detection device 10. FIG. 8B is a schematic diagram in which the measurement results of the first distance measuring device 201 are plotted.

8A represents the distance to the detected object (including both the road surface and the vehicle stop 1002) measured by the first vehicle stop detection device 40. The dotted line 1011 in FIG. Further, a black point 1012 in FIG. 8A indicates a measurement point measured by the first distance measuring device 201. A black point 1013 in FIG. 8B indicates a position where the first distance measurement device 201 outputs the first distance information R1i on the orthogonal coordinates.

When the dump truck 1 starts to move backward toward the car stop 1002, the scanner as the measuring device 200 rotates and irradiates the laser at −45 ° to −225 ° to incline the car stop 1002 from the rear end of the rear wheel of the dump truck 1. The distance to each point arranged along the surface 1002a is calculated and output as the first distance information R1i. As the dump truck 1 approaches the vehicle stop 1002, the line of intersection between the first scan surface 21 and the traveling road surface 1001 becomes shorter.

As shown in FIG. 8B, when the first distance information R1i is plotted in a coordinate system in which the horizontal axis indicates the horizontal position and the vertical axis indicates the vertical height, the straight line 1021 substantially parallel to the horizontal direction and the vertical height A straight line 1022 having a variable length is obtained. The intersection 1023 of the two straight lines is an inflection point of the first distance information R1i, and can be estimated as a point where the _road surface (t _load ) and the _vehicle stop (t _berm ) are in contact with each other.

In FIG. 8A, since the dump truck 1 is sufficiently close to the car stop 1002, the second scan surface 22 calculates the distance to each point aligned in the width direction on the inclined surface 1002a, not the traveling road surface 1001. And output as the second distance information R2i. Thereafter, as the dump truck 1 further approaches the vehicle stop 1002, the second scan surface 22 moves toward the upper end of the inclined surface 1002a.

Next, the operation of the first vehicle stop detection device 40 will be described with reference to FIG. FIG. 9 is a flowchart showing the vehicle stop position estimation process.

The road surface estimation device 41 extracts first distance information estimated as a road surface from the first distance information R1i measured by the first distance measurement device 201 (S101). Specifically, the first distance information R1i whose distance from the road surface _{road_old} estimated by the road surface estimation device 41 in the previous measurement is equal to or less than the first threshold value K1 is extracted.

The road surface estimation device 41 compares the number n of the first distance information R1i extracted as the road surface with a predetermined threshold value (road surface threshold Kn). When the number n of the extracted distance information is less than the road threshold Kn (S102 / NO), the road line _{t road} set to an initial value _{ini_t road} (S108), the process proceeds to S104 to be described later.

When the number n of the extracted first distance information R1i is equal to or greater than the road surface threshold Kn (S102 / YES), the road surface estimation device 41 calculates the _road surface _road load from the extracted distance information (S103). Here, the _road surface line _road is calculated by approximating the extracted first distance information R1i by linear regression. As the linear regression processing, for example, linear approximation may be performed by a first-order least square method, or two or more linear approximations or curve approximations may be used. The same applies to linear regression in the calculation of the vehicle stop line described later. The road surface estimation device 41 outputs the calculated _road surface _road to the vehicle stop estimation device 42.

The vehicle stop estimation device 42 extracts the first distance information R1i estimated as the vehicle stop 1002 from the first distance information R1i measured by the first distance measurement device 201 (S104). Here, in the first distance information R1i measured by the first distance measuring device 201, the distance from the _road surface road is equal to or greater than the second threshold value K2, and the vehicle stop estimated by the vehicle stop estimation device 42 in the previous measurement. First distance information R1i whose distance from the line t _{berm_old} is equal to or smaller than a third threshold value K3 is extracted.

The car stop estimation device 42 compares the number m of the first distance information R1i extracted as the car stop 1002 with a predetermined threshold (car stop threshold Km). If the number m of the first distance information R1i extracted as the car stop 1002 is less than the car stop threshold Km (S105 / No), the process ends.

On the other hand, when the number m of the extracted first distance information R1i is equal to or greater than the vehicle stop threshold value Km (S105 / YES), the car stop estimation device 42 uses the linear stop to approximate the extracted first distance information _R1i. Is calculated (S106).

The wheel stop estimating device 42, as well as determining the distance Lb1 from the road line _{t road} and bollard line _t intersection of _berm to bollard _1002, calculates the wheel stopper inclination angle Ab from the slope of _{t road} and _{t berm} (S107).

Next, the operation of the second vehicle stop detection device 50 will be described with reference to FIGS. 10 (a) and 10 (b). FIG. 10A is a flowchart showing a vehicle stop width direction shape detection process by the second vehicle stop detection device 50. FIG.10 (b) is a schematic diagram for demonstrating the mapping in a vehicle stop width direction shape detection process.

The pitch vibration correction device 51 calculates the installation depression angle α (see FIG. 2) of the second distance measuring device 202 and the inclination angle θ (see FIG. 12) of the vehicle body horizontal plane H with respect to the road surface estimated by the road surface estimation device 41 (see FIG. 12). Applied to 1) to (3), three-dimensional conversion is performed while correcting pitch vibration for the second distance information R2i (S201).
xi = R2i × cos (φ) (1)
yi = R2i × sin (φ) × cos (α + θ) (2)
zi = R2i * sin ([phi]) * sin ([alpha] + [theta]) (3)

Next, the vehicle stop shape estimation device 52 performs mapping of the second distance information R2i corrected by the pitch vibration correction device 51 based on the self-position estimated by the self-position estimation device 300 (S202). Then, the vehicle stop shape estimation device 52 writes the width direction shape information including the corrected second distance information R2i mapped to the vehicle stop shape storage device 53, and accumulates the mapped distance information (S203).

In FIG. 10B, point group R2_c indicates current distance information, and point group R2_pre1 and point group R2_pre2 indicate past width direction shape information. It should be noted that the point group R2_pre2 is the width direction shape information before the point group R2_pre1.

Next, the operation of the vehicle stop guidance device 60 will be described with reference to FIG. FIG. 11 is a flowchart of the contact distance determination process performed by the vehicle stop guidance device 60.

The vehicle stop guidance determination device 61 compares the distance Lb1 to the vehicle stop 1002 and the vehicle stop inclination angle Ab calculated by the vehicle stop estimation device 42 with predetermined fourth threshold value K4 and fifth threshold value K5, respectively.

When the distance Lb1 is equal to or smaller than the fourth threshold value K4 and the vehicle stop inclination angle Ab is equal to or greater than the fifth threshold value K5 (S301 / Yes), the vehicle stop guidance determination device 61 estimates the predicted travel path p (S302). ). The traveling path p is estimated based on the turning angular velocity (steering angle) s measured by the steering angle measuring device 302 and acquired through the self-position estimating device 300.

Next, the vehicle stop guidance determination device 61 uses the traveling path p, the width direction shape information G stored in the vehicle stop shape storage device 53 by the second vehicle stop detection device 50, and the vehicle body shape D stored by the vehicle body shape storage device 62. A distance Lb2 to the car stop 1002 is calculated (S303).

When the calculated distance Lb2 is equal to or less than the sixth threshold value K6 (S304 / Yes), the distance Lb2 is set as the contact distance Lc (S305).

When the calculated distance Lb is larger than the sixth threshold K6 (S304 / No), the distance Lb1 is set as the contact distance Lc (S306).

When the distance Lb1 is larger than the fourth threshold value K4 or the vehicle stop inclination angle Ab is smaller than the fifth threshold value K5 (S301 / No), the fourth threshold value K4 is set as the contact distance Lc.

Next, vehicle stop detection by the vehicle stop detection device 10 when pitch vibration is occurring will be described. FIG. 12 is a schematic diagram for explaining a vehicle stop detection process when pitch vibration is generated in the dump truck 1. FIG. 13A and FIG. 13B are diagrams illustrating measurement results performed by the first distance measuring device 201 in the state of FIG.

FIG. 13A is a diagram showing a case where the road surface is a plane. The case where the road surface has an inclination angle θ = 0, that is, the road surface is horizontal, with the ground directly below the vertical direction of the first distance measuring device 201 as the center is shown. The raw data from the first distance measuring device 201 is the distance L and the polar coordinates of the laser irradiation angle φ, and these are coordinate-converted into orthogonal coordinates (x, y). Then, from the point group, what is estimated to be a road surface is extracted, and a straight line approximation by a linear analysis (least square method) is performed to calculate a road surface line y = ax + b. At this time, the inclination angle θ is atan (a).

When the road surface is an ideal plane, the road surface straight line is y = b and the inclination angle θ = 0.

FIG. 13B shows a state in which the road surface is rotated by an inclination angle θ around the ground directly below the first distance measuring device 201 in the vertical direction. The place measured by the second distance measuring device 202 is a place rotated by θ around the second distance measuring device 202 with reference to a case where there is no pitch vibration.

When the tilt angle θ is generated, the laser irradiation angle φ is not changed, but the distance L is short (or long). When the distance L of the raw data from the first distance measuring device 201 and the polar coordinates of the laser irradiation angle φ are converted into orthogonal coordinates (x, y), xy coordinates plotted on the orthogonal coordinates as shown in FIG. Is converted to The inclination angle θ can be calculated by performing linear approximation in the same manner as in FIG. 13A and calculating the road surface line y = ax + b.

FIG. 14A is a diagram showing the inclination angle θ in the case of two or more linear approximations. When two or more straight lines are obtained, the inclination a of the first straight line, that is, the straight line closer to the dump truck 1 is the inclination angle θ.

FIG. 14B is a diagram showing the inclination angle θ in the case of approximating two or more curves. When two or more curves are obtained, the slope of the differential value of the curve at the position in the horizontal direction near 0, that is, the position close to the dump truck 1 is the inclination angle θ.

14A and 14B, in both the linear approximation and the curve approximation, the horizontal position axis and the road surface when the horizontal position of the approximate road surface line is near 0 (near the dump truck 1). It is common that the inclination of is θ.

Since the road surface estimation device 41 extracts the first distance information R1i obtained by measuring the road surface using the previously estimated road surface _{road_old_old} and estimates the road surface, the influence of the pitch vibration is alleviated even in the situation where the pitch vibration is occurring. Thus, the slope of the road surface can be estimated. Further, the vehicle stop estimation device 42 also extracts the first distance information R1i obtained by measuring the _vehicle stop 1002 using the previously estimated _vehicle stop line t _{berm_old} , and estimates the vehicle stop 1002 so that the pitch vibration is generated even in a situation where pitch vibration is occurring. The position and inclination of the vehicle stop 1002 can be estimated by reducing the influence of vibration.

Since the pitch vibration correction device 51 performs correction using the vehicle body horizontal plane H and the road surface inclination angle θ calculated by the road surface estimation device 41 according to the equations (1) to (3), the second distance measurement device 202 is used. It is possible to correct the depression angle caused by the pitch vibration.

Next, the operation of the vehicle stop detection device 10 when the traveling road surface 1001A is inclined will be described with reference to FIG. FIG. 15 is a schematic diagram for explaining the backward detection process when the dump truck 1 is traveling on an inclined traveling road surface 1001A.

In FIG. 15, when there is no pitch vibration in the dump truck 1, the distance information measured by the first distance measuring device 201 and the second distance measuring device 202 is on the traveling road surface 1001 having no inclination shown in FIG. It will be the same as that measured. Accordingly, the distance to the car stop 1002, the car stop angle, and the car stop shape 1002b can be accurately estimated even when the vehicle travels on the inclined road surface 1001A.

When the pitch vibration is measured by an inclination sensor or the like, the inclination sensor determines the inclination by gravity. Therefore, when traveling on the traveling road surface 1001A having the inclination as shown in FIG. 15, the pitch vibration even when there is no pitch vibration. As a result, it is determined that there is noise, and accurate pitch vibration correction cannot be performed.

On the other hand, since the pitch vibration correction device 51 uses the relative inclination angle θ between the vehicle body horizontal surface H of the dump truck 1 and the traveling road surface 1001A, the pitch vibration correction device 51 can correct the pitch vibration regardless of the road surface inclination. Therefore, when traveling on a traveling road surface where the inclination changes, the pitch vibration correction device 51 can correct not only the pitch vibration but also the change in the inclination of the road surface.

Next, the operation of the vehicle stop detection device 10 when there is a change in the inclination of the traveling road surface 1001B will be described with reference to FIG. FIG. 16 is a schematic diagram for explaining the rear detection process when the dump truck 1 is traveling on a traveling road surface 1001B having a change in inclination.

In FIG. 16, the slope of the traveling road surface 1001B changes from the middle. However, since the first distance measuring device 201 measures the distance in the traveling direction, the relative relationship between the current dump truck 1 and the traveling road surface 1001B is obtained. Rather than the inclination, the relative inclination between the road surface in the future and the dump truck 1 is measured.

Therefore, when traveling on the traveling road surface 1001B where the inclination changes, the pitch vibration correcting device 51 can correct not only the pitch vibration but also the change in the inclination of the road surface.

As described above, the scanning surfaces of the first distance measuring device 201 and the second distance measuring device 202 are crossed and installed on the dump truck 1 so that when the pitch vibration is generated in the dump truck 1 or on the road surface Even if the vehicle has an inclination, it is possible to reduce the influence of pitch vibration and accurately measure the distance to the car stopper 1002 and the shape and direction of the car stopper 1002 (the inclination angle and the width direction shape of the car stopper 1002). According to the present embodiment, the dump truck 1 can be guided to the car stop 1002 by using the distance to the car stop 1002 accurately measured and the shape and direction of the car stop 1002. Thereby, it can guide | invade so that it can stop at an appropriate earthing position at the time of earthing.

The above embodiments do not limit the present invention, and modifications within a range not departing from the gist of the present invention are included in the present invention. For example, the work machine is not limited to a dump truck, but may be a dozer, a wheel loader, or a hydraulic excavator. A scanner may be attached to the rear of these work machines to detect the shape of a rear obstacle. In addition to the rear obstacles, the scanner may be installed in front, left, and right of the work machine to detect the shapes of the front obstacle, the left obstacle, and the right obstacle.

The display image generation device 103 and the earthing place entry determination device 105 are only examples of the output destination of the contact distance calculation device 101, and are other devices such as a so-called unmanned dump truck in which the dump truck 1 autonomously travels. In some cases, the vehicle is output to an autonomous traveling control device that controls autonomous traveling, and the distance from the dump truck 1 to the car stop 1002 and the direction of the body of the dump truck 1 relative to the car stop 1002 (the direction of the body horizontal plane, the body longitudinal axis, The autonomous traveling control device may be configured to execute calculations necessary for stopping, such as the direction of the left and right axis of the vehicle body. In this case, the imaging device 102, the display video generation device 103, the video display device 104, the earthing place entry determination device 105, and the earthing place entry notification device 106 may not be provided.

Furthermore, the dump truck 1 may be provided with a contact determination device, and this contact determination device may be used as the output destination of the contact distance calculation device 101. Then, the contact determination device may perform contact determination with the vehicle stop 1002 and perform control for avoiding contact (interference) with the vehicle stop 1002.

1: dump truck, 1a: icon image, 2: body frame, 3l: left front wheel, 3r: right front wheel, 4l: left rear wheel, 4r: right rear wheel, 5: driver's seat, 6: vessel, 7: rear axle ,
DESCRIPTION OF SYMBOLS 100: Back assistance apparatus, 101: Contact distance calculation apparatus, 102 imaging | photography apparatus, 103: Display image generation apparatus, 104: Image display apparatus, 105: Excavation place approach determination apparatus, 106: Excavation place approach notification apparatus,
10: Car stop detection device, 40: First vehicle stop detection device, 41: Road surface estimation device, 42: Car stop estimation device, 50: Second vehicle stop detection device, 51: Pitch vibration correction device, 52: Car stop shape estimation device, 53: Car stop shape storage device, 60: Car stop guidance device, 61: Car stop guidance determination device, 62: Car body shape storage device,
200: Measuring device 201: First distance measuring device 202: Second distance measuring device 21: First scanning surface 22: Second scanning surface
300: Self-position estimation device, 301: Wheel speed measurement device, 302: Steering angle measurement device, 400: Cartesian coordinate system,
1001: traveling road surface, 1001A: traveling road surface, 1001B: traveling road surface, 1002: car stop, 1002a: inclined surface, 1002b: car stop shape, 1003: earthmoving field, 1011: dotted line, 1012: black point, 1013: black point, 1023: intersection point

Claims

A backward support device for a work machine that supports the backward running of the work machine,
A first distance measuring device and a second distance measuring device that irradiate a laser, receive reflected light reflected by the detected object, and measure the distance to the detected object, the first distance measuring device and the The second distance measuring device orthogonally crosses the first scan surface consisting of the laser irradiation surface of the first distance measuring device and the second scan surface consisting of the laser irradiation surface of the second distance measuring device, and A measuring device disposed on the work machine, wherein the first scan plane is perpendicular to a vehicle body horizontal plane including a front and rear axis and a left and right axis, and the second scan plane has a depression angle with respect to the vehicle body horizontal plane;
Detecting the distance to the vehicle stop located in the traveling direction of the work machine and the shape of the vehicle stop based on the first distance measured by the first distance measurement device and the second distance measured by the second distance measurement device; A backward support device for a work machine, wherein a distance until the work machine comes into contact with the vehicle stop is calculated.
The work machine retreat support device according to claim 1,
A self-position estimation device that calculates the position and orientation from when the work machine started to operate as a self-position;
A road surface estimation device that calculates an inclination of a traveling road surface on which the work machine travels with respect to the vehicle body horizontal plane based on the first distance;
Based on the second distance after correcting the pitch vibration based on the inclination of the traveling road surface calculated by the road surface estimation device and the self-position calculated by the self-position estimation device, the traveling direction of the work machine A vehicle stop shape estimating device for estimating the terrain as the shape of the vehicle stop;
A vehicle stop shape storage device that accumulates the shape of the vehicle stop estimated by the vehicle stop shape estimation device;
A backward support for the work machine, further comprising: a car stop guidance device that calculates a distance until the work machine contacts the car stop based on the shape of the car stop accumulated in the car stop shape storage device. apparatus.
The work machine retreat support device according to claim 2,
A vehicle stop estimation device for estimating an intersection between the travel road surface and the vehicle stop and an angle of the vehicle stop based on the first distance and the inclination of the travel road surface estimated by the road surface estimation device; Work equipment retreat support device.
The work machine retreat support device according to claim 1,
The first distance measuring device and the second distance measuring device each have an irradiation surface of one or a plurality of laser radars.
The work machine retreat support device according to claim 1,
The depression angle of the second distance measuring device is an intersection line between the traveling road surface on which the work machine travels and the second scan surface, and a point at which the rearmost end of the rear wheel of the work machine is projected onto the traveling road surface. A reverse assist device for a work machine, wherein the distance is set to be equal to or greater than a braking distance of the maximum reverse speed of the work machine.
The work machine retreat support device according to claim 1,
The second distance measuring device is installed such that a length of an intersection line between the second scan plane and a traveling road surface on which the working machine travels is equal to or greater than a wheel width of the working machine. Retreat support device.
The work machine retreat support device according to claim 1,
A photographing device for photographing the rear of the work machine;
A display video generation device that generates a display video from the video acquired by the imaging device;
A video display device for displaying the generated display video,
The display image generation device generates the display image by superimposing the detected shape of the vehicle stop on the image acquired by the photographing device in an identifiable manner.
The work machine retreat support device according to claim 1,
When the work machine enters the earthing place, the earthing place entry determination device that outputs a notification signal;
An unloading place approach notifying device that outputs a notification when receiving the notification signal, further comprising a work machine retreat support device.