WO2020202650A1 - 作業車両 - Google Patents

作業車両 Download PDF

Info

Publication number
WO2020202650A1
WO2020202650A1 PCT/JP2019/048771 JP2019048771W WO2020202650A1 WO 2020202650 A1 WO2020202650 A1 WO 2020202650A1 JP 2019048771 W JP2019048771 W JP 2019048771W WO 2020202650 A1 WO2020202650 A1 WO 2020202650A1
Authority
WO
WIPO (PCT)
Prior art keywords
body frame
obstacle
vehicle body
front wheels
obstacle sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2019/048771
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
舜 辻村
坂本　博史
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Construction Machinery Co Ltd
Original Assignee
Hitachi Construction Machinery Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Construction Machinery Co Ltd filed Critical Hitachi Construction Machinery Co Ltd
Priority to US17/275,344 priority Critical patent/US20220050209A1/en
Priority to CN201980056190.XA priority patent/CN112638708B/zh
Priority to EP19923035.0A priority patent/EP3950423B1/en
Publication of WO2020202650A1 publication Critical patent/WO2020202650A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • 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
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
    • B60P1/04—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with a tipping movement of load-transporting element
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9315—Monitoring blind spots
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93274—Sensor installation details on the side of the vehicles

Definitions

  • the present invention relates to a work vehicle.
  • a large dump truck is operating as a work vehicle for transporting ore and stripped soil from the loading site to the dumping site. Since the work vehicle operating in such a mine is much larger than a general vehicle, the range (so-called blind spot) that cannot be directly seen from the driver's seat provided on the work vehicle inevitably increases. , It is not easy to judge the presence or absence of obstacles around the work vehicle.
  • Patent Document 1 describes a dump truck with an obstacle detection mechanism capable of detecting obstacles around the vehicle by using a plurality of radars provided around the vehicle, and extends from the lower deck at the front of the vehicle toward the upper deck.
  • a rear-illuminated lateral radar that is mounted rearward at a position that projects laterally from the front fender, and has a depression angle at which the irradiation beam intersects the front wheels, and a side that is mounted laterally on the side of the lower deck.
  • the rear irradiation side radar and the side irradiation side radar include a side irradiation side radar, and the rear irradiation side radar has a horizontal forward detection limit line of the rear irradiation side radar and a horizontal rear detection of the side irradiation side radar.
  • a dump truck with an obstacle detection mechanism that overlaps the limit line and has the horizontal rear detection limit line of the rear-illuminated side radar directed toward the vehicle center surface side to detect obstacles on the side of the vehicle is disclosed. ing.
  • the irradiation range of the side radar is set to include the area where the structure of the vehicle exists, and this area is excluded from the detection range of the obstacle, so that the obstacle other than the structure of the vehicle is included. Is detected.
  • the detection target range when the detection target range is set so as to include the movement range due to the steering of the front wheels, the position (angle) of the front wheels during steering when making a right or left turn or the like is changed. Since it changes, it blocks the preset detection target range and narrows the detection range.
  • the present invention has been made in view of the above, and an object of the present invention is to provide a work vehicle capable of suppressing a narrowing of the detection range of an obstacle sensor.
  • the present application includes a plurality of means for solving the above problems, for example, a vehicle body frame, front wheels arranged and steered on the left and right sides of the vehicle body frame, and after being arranged on the left and right sides of the vehicle body frame.
  • Work including a wheel, an obstacle sensor provided on the side of the vehicle body frame to detect an obstacle, and a control device for outputting a notification signal to a notification device when an obstacle is detected by the obstacle sensor.
  • the obstacle sensor is provided between the front wheels and the rear wheels on the side of the vehicle body frame, and the outer surface of the front wheels corresponding to the maximum steering angle maximum steered in the direction toward the inner wheels. It is assumed that the virtual plane along the above is arranged at a position where the outer surface of the vehicle body frame intersects.
  • a dump truck having a loading platform for loading a loading target will be described as an example of a work vehicle, but the present invention can be applied to a work vehicle having wheels other than the dump truck. Is.
  • FIG. 1 is a side view schematically showing the appearance of a dump truck which is an example of a work vehicle according to the present embodiment
  • FIG. 2 is a rear view
  • FIG. 3 is a diagram showing the positional relationship between the front wheels and the rear wheels and the vehicle body frame from an upward viewpoint.
  • the dump truck 1 is arranged so as to extend in the front-rear direction to form a support structure and a vehicle body frame 2 extending in the front-rear direction and extending in the front-rear direction to the upper part of the body frame 2.
  • a vessel (loading platform) 3 is provided on the vehicle body frame 2 via a pin coupling portion 5 so as to be tiltable (tiltable), an undulating cylinder 6 for undulating the vessel 3, and lower front left and right sides of the vehicle body frame 2.
  • the front wheels 4A are roughly composed of the rear wheels 4A provided on the lower rear left and right sides of the vehicle body frame 2, and the driver's cab 8 provided on the upper front side of the vehicle body frame 2.
  • the vessel 3 is a container provided for loading luggage such as pyroclastic materials, and an eaves 7 is provided in the upper part of the front so as to cover the upper part of the driver's cab 8.
  • the eaves portion 7 has a function of protecting the driver's cab 8 from scattered objects such as crushed materials and protecting the driver's cab 8 when the vehicle falls or the like.
  • the front wheel 4A is both a driven wheel and a steering wheel, and changes the traveling direction of the dump truck 1 by rotating in the left-right direction by an operator such as a steering wheel (not shown) provided in the driver's cab 8.
  • a front wheel coordinate sensor 13 for detecting the steering angle and steering direction of the front wheel 4A is arranged on the front wheel 4A.
  • the rear wheels 4B are drive wheels and are driven by the output of an engine (not shown) arranged on the vehicle body frame 2 to move the dump truck 1 forward or backward.
  • a virtual plane (including the dotted line 32) between the front wheels 4A and the rear wheels 4B on the side of the vehicle body frame 2 along the outer surface of the front wheels 4A corresponding to the maximum steering angle steered to the inner wheel side.
  • a side obstacle sensor 11 that detects the position of an obstacle is arranged at a position where the vehicle body frame 2 (corresponding to a vertical plane) intersects with the side of the dump truck 1 as a detection target range. Further, the side obstacle sensor 11 is a virtual plane along the inner side surface of the vehicle body frame 2 at a position corresponding to the minimum steering angle of the front wheels 4A (that is, a position corresponding to the position when the steering angle is zero when traveling straight). It is arranged on the vehicle body frame 2 side. As a result, the side obstacle sensor 11 is less likely to be affected by mud and gravel scattered by the influence of the front wheels 4A when the dump truck 1 is traveling.
  • the side obstacle sensor 11 arranged on the left side of the vehicle body frame 2 will be described as a representative, but the side obstacle sensor 11 arranged on the right side of the vehicle body frame 2 (FIG. The same applies to (not shown), and the description thereof will be omitted.
  • a control device 18 and a notification device 17 that constitute an obstacle detection system
  • a steering wheel that is an operation device.
  • the steering wheel, accelerator pedal, brake pedal (both not shown), etc. are arranged.
  • FIG. 4 is a functional block diagram schematically showing an obstacle detection system including a side obstacle sensor.
  • the obstacle detection system is composed of a side obstacle sensor 11, a front wheel coordinate sensor 13, a control device 18, and a notification device 17.
  • the side obstacle sensor 11 is, for example, a LiDAR device (Light Detection and Ringing: light detection and range finder).
  • the side obstacle sensor 11 may be used as long as it can detect the position of the obstacle, and for example, a millimeter wave radar, an infrared sensor, a camera, or the like may be used.
  • the front wheel coordinate sensor 13 is, for example, an angle sensor provided in the link mechanism of the front wheel 4A, and detects the steering angle and the steering direction from the reference position of the front wheel 4A (for example, the position where the front wheel 4A is along the front-rear direction).
  • the front wheel coordinate sensor 13 only needs to be able to detect the steering angle and steering direction of the front wheels 4A.
  • the steering angle of the front wheels 4A is calculated from the detected values of the steering sensor (steering wheel steering angle sensor). You may.
  • the notification device 17 is provided inside the driver's cab 8 to notify the operator of various information, such as a speaker or a monitor that emits voice.
  • the control device 18 outputs a notification signal for notifying the operator of obstacle detection to the notification device 17 based on the detection result of the side obstacle sensor 11 and the detection result of the front wheel coordinate sensor 13. It includes an obstacle coordinate calculation unit 12, a front wheel information storage unit 14, a front wheel information storage unit 14, and a notification determination unit 16.
  • FIG. 5 is a flowchart showing an obstacle detection process by the obstacle detection system.
  • the obstacle coordinate calculation unit 12 of the control device 18 acquires the detection result from the side obstacle sensor 11 (step S100) and calculates the coordinates of the obstacle (step S110). Subsequently, the obstacle coordinate calculation unit 12 determines whether or not there is an obstacle in the detection target range of the side obstacle sensor 11 (step S120), and if the determination result is NO, the process ends. Further, when the determination result in step S120 is YES, that is, when there is an obstacle in the detection target range, the obstacle coordinate calculation unit 12 transmits the obstacle information (obstacle data) to the notification determination unit 16. It is output to the front wheel coordinate calculation unit 15.
  • the obstacle detection result (obstacle data) is composed of an ID for determining the obstacle and the coordinates at which the obstacle is detected, and the detected coordinates can be determined for each obstacle.
  • the front wheel coordinate calculation unit 15 acquires the detection result (front wheel angle data) from the front wheel coordinate sensor 13 (step S130), and the information stored in the front wheel information storage unit 14. By calculating the coordinates of each part of the front wheel using the above, the area where the front wheel exists (front wheel area) is calculated and output to the notification determination unit 16 (step S140).
  • FIG. 6 is a diagram for explaining the calculation of the region where the front wheels exist.
  • a vehicle body coordinate system is used in which the y-axis having the front side positive along the front-rear direction of the dump truck 1 and the x-axis having the right side positive along the direction perpendicular to the y-axis are set in advance. explain.
  • the front wheel region is calculated based on the steering angle ⁇ of the front wheels 4A, which are the steering wheels, the coordinates (x, y) of the rotation center in the steering of the front wheels, and the information on the shape of the front wheels. , Represented by the coordinates of each part of the front wheel 4A.
  • the information on the shape of the front wheels is, for example, information such as the relative coordinates of each part with respect to the rotation center coordinates (x, y) of the front wheels 4A, the diameter L and the width W of the front wheels 4A, and the front wheels from the information such as the steering angle ⁇ .
  • the coordinates of each part of 4A can be calculated.
  • the front wheel region is, for example, the coordinates (x1, y1), (x2, y2), (x3,) of the four corners in the projection of the front wheel 4A on the plane (xy plane) parallel to the ground on which the dump truck 1 is arranged. It is represented by y3) and (x4, y4).
  • the front wheel region can be obtained by the following (Equation 1) using the diameter L of the front wheel 4A, the width W, the rotation center coordinates (x, y), and the steering angle ⁇ .
  • the case where the front wheel region of the front wheel 4A is shown two-dimensionally by the coordinates in the xy plane has been described as an example, but the present invention is not limited to this, and for example, it is perpendicular to the xy plane.
  • the z-coordinate with the upper side positive along the direction may be set so as to obtain the front wheel region in three dimensions.
  • the notification determination unit 16 subsequently determines the obstacle based on the obstacle data from the obstacle coordinate calculation unit 12 and the front wheel region from the front wheel coordinate calculation unit 15. It is determined whether or not the coordinates of all obstacles in the data are included in the front wheel region (step S150), and if the determination result is YES, that is, the coordinates of all obstacles in the obstacle data are included in the front wheel region. If this is the case, it is determined that all the obstacle data is derived from the front wheels and notification is unnecessary, and the process is terminated.
  • step S150 determines the coordinates from the obstacle data.
  • obstacle data is generated by extracting obstacles not included in the front wheel region (step S160).
  • the notification determination unit 16 determines whether or not notification to the operator is necessary based on the extracted obstacle data generated in step S160 (step S170), and if the determination result is YES, the notification device A notification signal is output to 17 to notify the operator of the detection of an obstacle and call attention (step S180). If the determination result in step S170 is NO, the output of the notification signal to the notification device 17 is stopped (step S171), and the process ends.
  • the notification determination unit 16 calculates, for example, the predicted traveling path of the dump truck 1 and starts from the dump truck 1 (body frame 2, front wheels 4A, rear wheels 4B, etc.) when passing through the predicted traveling path. If an obstacle is detected at a position closer than the predetermined judgment distance, it is determined that notification is necessary, and if an obstacle is detected only at a position farther than the judgment distance, notification is not required. judge. Of the detected obstacles, those whose coordinates are in the front wheel region are not subject to determination in step S160 because the front wheel 4A itself is detected as an obstacle.
  • the detection target range is set to include the movement range due to the steering of the front wheels, turn left or right, etc. Since the position (angle) of the front wheels changes during steering, it is possible that the preset detection target range is blocked and the front wheels are detected as obstacles. It is also possible to exclude the movement range of the front wheels from the detection target range of obstacles in advance, but in this case, since the area where obstacles are not detected is set in advance around the front wheels, obstacle detection
  • the detection range 35 (the range in which obstacles can be detected in the detection target range: see FIG. 3, etc.) for actually detecting obstacles around the front wheels, which is highly necessary for the above, becomes narrow.
  • FIG. 7 and 8 are diagrams showing the positional relationship between the front wheels and rear wheels of the dump truck shown as a comparative example and the vehicle body frame from an upper viewpoint, respectively.
  • the detection range 35 near the side surface of the front wheel 4A is narrower than that in the case of FIG. 3 due to being blocked by the front wheel 4A. As a result, it becomes a blind spot in the detection target range of the side obstacle sensor 11.
  • the detection range 35 extends to the vicinity of the side surface of the front wheel 4A, but on the other hand, the side obstacle sensor. As the distance between 11 and the rear wheel 4B becomes shorter, the detection range 35 near the side surface of the rear wheel 4B becomes narrower than in the case of FIG. 3, and the blind spot in the detection target range of the side obstacle sensor 11 increases.
  • the front wheels 4A which are the steering wheels arranged on the left and right sides of the vehicle body frame 2, the rear wheels 4B arranged on the left and right sides of the vehicle body frame 2, and the side surfaces of the vehicle body frame 2.
  • a dump truck 1 provided with a side obstacle sensor 11 for detecting an obstacle and a control device 18 for outputting a notification signal to a notification device 17 when an obstacle is detected by the side obstacle sensor 11.
  • the side obstacle sensor 11 is provided between the front wheels 4A and the rear wheels 4B on the side of the vehicle body frame 2, and is the outer surface of the front wheels 4A corresponding to the maximum steering angle steered to the inner wheel side. Since it is configured to be arranged at a position where the virtual plane along the line and the outer surface of the vehicle body frame 2 intersect, it is possible to suppress the narrowing of the detection range of the side obstacle sensor 11.
  • the vehicle body frame 2 the front wheels 4A arranged on the left and right sides of the vehicle body frame and steered, the rear wheels 4B arranged on the left and right sides of the vehicle body frame, and the sides of the vehicle body frame.
  • a side obstacle sensor 11 provided in the vehicle, and a control device 18 that outputs a notification signal to the notification device when an obstacle is detected by the obstacle sensor.
  • the obstacle sensor is provided between the front wheels and the rear wheels on the side of the vehicle body frame, and is maximally steered in the direction toward the inner wheels. It is assumed that the virtual plane along the outer surface of the front wheel corresponding to the corner is arranged at a position where the outer surface of the vehicle body frame intersects.
  • the control device 18 calculates the region where the front wheel 4A exists, and the obstacle sensor (for example, for example).
  • the obstacle sensor for example, for example.
  • the notification signal is output to the notification device 17, and the obstacle detection position by the obstacle sensor. Is in the area where the front wheels exist, the output of the notification signal is stopped.
  • the obstacle sensor for example, the side obstacle sensor 11
  • the vehicle is arranged on the vehicle body frame side of the virtual plane along the inner surface of the front wheel 4A corresponding to the straight running when the steering angle is zero.
  • the work vehicle (for example, dump truck 1) of (1) is provided with a vessel 3 that is tiltably provided at the upper part of the vehicle body frame 2 and is loaded with loads, and the obstacle.
  • the object sensor (for example, the side obstacle sensor 11) is a side surface of the vehicle body frame and is installed between the lower end surface of the vehicle body frame and the bottom surface of the vessel.
  • the control device 18 has a steering angle of the front wheels 4A and a rotation center of the front wheels in the steering direction.
  • the region where the front wheels exist is calculated based on the coordinates and the shape of the front wheels.
  • the present invention is not limited to the above-described embodiment, and includes various modifications and combinations within a range that does not deviate from the gist thereof. Further, the present invention is not limited to the one including all the configurations described in the above-described embodiment, and includes the one in which a part of the configurations is deleted. Further, each of the above configurations, functions and the like may be realized by designing a part or all of them by, for example, an integrated circuit. Further, each of the above configurations, functions, and the like may be realized by software by the processor interpreting and executing a program that realizes each function.
  • the front wheel coordinate calculation unit 15 determines whether or not there is an obstacle coordinate in the front wheel region, but the present invention is not limited to this, and for example, the information of the front wheel region is obtained by the obstacle coordinate calculation unit 12. It may be configured so that the obstacle coordinate calculation unit 12 determines whether or not there is an obstacle coordinate in the front wheel region.
  • the notification method by the notification device 17 may be either a display display or a speaker alarm, and may be a means other than the display display or the speaker alarm as long as it is a means for calling attention to the operator. ..
  • the coordinates of obstacle data may be acquired and processed as an area instead of a point. At that time, basically, when the entire obstacle data area is included in the front wheel area, it is determined that the obstacle data is the front wheel and the notification is not performed, but only a part of the obstacle data area is used. It is not necessary to give notification even when it is included in the front wheel region.
  • the outer surface of the front wheel 4A is not a flat surface, it may be used close to a flat surface. However, in that case, it is desirable to install the side obstacle sensor 11 at a position where it can detect at least a part of the outer surface of the front wheel 4A.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Traffic Control Systems (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Radar Systems Or Details Thereof (AREA)
PCT/JP2019/048771 2019-03-29 2019-12-12 作業車両 Ceased WO2020202650A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US17/275,344 US20220050209A1 (en) 2019-03-29 2019-12-12 Work Machine
CN201980056190.XA CN112638708B (zh) 2019-03-29 2019-12-12 作业车辆
EP19923035.0A EP3950423B1 (en) 2019-03-29 2019-12-12 Work vehicle

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019067152A JP7374602B2 (ja) 2019-03-29 2019-03-29 作業車両
JP2019-067152 2019-03-29

Publications (1)

Publication Number Publication Date
WO2020202650A1 true WO2020202650A1 (ja) 2020-10-08

Family

ID=72668269

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2019/048771 Ceased WO2020202650A1 (ja) 2019-03-29 2019-12-12 作業車両

Country Status (5)

Country Link
US (1) US20220050209A1 (https=)
EP (1) EP3950423B1 (https=)
JP (1) JP7374602B2 (https=)
CN (1) CN112638708B (https=)
WO (1) WO2020202650A1 (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11543522B2 (en) * 2020-04-10 2023-01-03 Caterpillar Paving Products Inc. Ultrasonic sensors for work machine obstacle detection
JP2023090308A (ja) * 2021-12-17 2023-06-29 日立建機株式会社 鉱山機械及び自律走行システム

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010204030A (ja) * 2009-03-05 2010-09-16 Fuji Heavy Ind Ltd 車載レーダ用アンテナ
US20110196568A1 (en) * 2010-02-11 2011-08-11 Gm Global Technology Operations, Inc. Vehicle safety systems and methods
JP2013195084A (ja) 2012-03-15 2013-09-30 Komatsu Ltd 障害物検出機構付きダンプトラックおよびその障害物検出方法
JP2015065515A (ja) * 2013-09-24 2015-04-09 日立建機株式会社 車両周囲移動物体検知システム
JP2018185236A (ja) * 2017-04-26 2018-11-22 株式会社クボタ 作業車

Family Cites Families (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4779095A (en) * 1986-10-28 1988-10-18 H & G Systems, Inc. Image change detection system
JP4165168B2 (ja) * 2002-09-27 2008-10-15 日産自動車株式会社 車両用運転操作補助装置
US20040217851A1 (en) * 2003-04-29 2004-11-04 Reinhart James W. Obstacle detection and alerting system
DE102006026898A1 (de) * 2006-06-09 2007-12-20 Hans Dominik Vorrichtung zur Überwachung des rückwärtigen und seitlichen Raums eines Fahrzeugs
US20100076710A1 (en) * 2008-09-19 2010-03-25 Caterpillar Inc. Machine sensor calibration system
JP5172764B2 (ja) * 2009-03-30 2013-03-27 本田技研工業株式会社 路面摩擦係数推定装置
DE102010001370A1 (de) * 2010-01-29 2011-08-04 Robert Bosch GmbH, 70469 Verfahren zur Messung des Abstandes zwischen einem Objekt und einem Kraftfahrzeug
JP5324690B1 (ja) * 2012-09-21 2013-10-23 株式会社小松製作所 作業車両用周辺監視システム及び作業車両
AU2013400684B2 (en) * 2013-09-20 2018-05-17 Caterpillar Inc. Positioning system using radio frequency signals
JP2015191441A (ja) * 2014-03-28 2015-11-02 三菱電機株式会社 衝突判定装置
JP6262068B2 (ja) * 2014-04-25 2018-01-17 日立建機株式会社 車体近傍障害物報知システム
CN105283777B (zh) * 2014-04-25 2019-09-24 株式会社小松制作所 周边监视系统、作业车辆以及周边监视方法
CN204296580U (zh) * 2014-12-12 2015-04-29 厦门理工学院 大型商用车转弯时内轮差区域警示报警装置
JP6456173B2 (ja) * 2015-02-04 2019-01-23 日立建機株式会社 車体外部移動物体検知装置
EP3057061B1 (en) * 2015-02-16 2017-08-30 Application Solutions (Electronics and Vision) Limited Method and device for the estimation of car egomotion from surround view images
FR3043049B1 (fr) * 2015-11-03 2017-12-08 Newtl Dispositif d'assistance pour les manœuvres d'accostage au niveau d'un quai
US10444758B2 (en) * 2015-12-01 2019-10-15 Ricoh Company, Ltd. Autonomous traveling device
WO2018042567A1 (ja) * 2016-08-31 2018-03-08 日立建機株式会社 周辺監視システム及び周辺監視装置
WO2018051742A1 (ja) * 2016-09-16 2018-03-22 株式会社小松製作所 作業車両の制御システム、作業車両の制御システムの制御方法および作業車両
EP3572897B1 (en) * 2017-01-20 2025-01-29 Kubota Corporation Work vehicle
CN108528337B (zh) * 2018-05-14 2020-08-04 哈尔滨工业大学 一种基于视频投影的内轮差智能预警系统及预警方法
JP7044694B2 (ja) * 2018-12-27 2022-03-30 ヤンマーパワーテクノロジー株式会社 作業車両用の障害物検知システム

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010204030A (ja) * 2009-03-05 2010-09-16 Fuji Heavy Ind Ltd 車載レーダ用アンテナ
US20110196568A1 (en) * 2010-02-11 2011-08-11 Gm Global Technology Operations, Inc. Vehicle safety systems and methods
JP2013195084A (ja) 2012-03-15 2013-09-30 Komatsu Ltd 障害物検出機構付きダンプトラックおよびその障害物検出方法
JP2015065515A (ja) * 2013-09-24 2015-04-09 日立建機株式会社 車両周囲移動物体検知システム
JP2018185236A (ja) * 2017-04-26 2018-11-22 株式会社クボタ 作業車

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP3950423A4

Also Published As

Publication number Publication date
JP7374602B2 (ja) 2023-11-07
US20220050209A1 (en) 2022-02-17
CN112638708B (zh) 2022-12-16
JP2020165834A (ja) 2020-10-08
CN112638708A (zh) 2021-04-09
EP3950423B1 (en) 2026-02-11
EP3950423A1 (en) 2022-02-09
EP3950423A4 (en) 2023-01-04

Similar Documents

Publication Publication Date Title
US11898331B2 (en) System and method for detecting objects within a working area
CN108779628B (zh) 轮式装载机以及轮式装载机的控制方法
EP3412837B1 (en) Wheel loader and wheel loader control method
EP3409843A1 (en) Working machine
JP5550695B2 (ja) 作業車両用周辺監視システム及び作業車両
US12441562B2 (en) Device for assessing position of conveyance vehicle
CN103430044A (zh) 带障碍物检测机构的自卸汽车及其障碍物检测方法
WO2016016981A1 (ja) 運搬車両、ダンプトラック、及び運搬車両の制御方法
JP2009030235A (ja) ショベル
JP6757759B2 (ja) 作業車両
JP7346754B2 (ja) ダンプトラックの制御システム
WO2020202650A1 (ja) 作業車両
JP2017074871A (ja) 車両周囲障害物検出装置
JP6171034B2 (ja) 運搬車両及び運搬車両の制御方法
US11333767B2 (en) Avoidance modifier system for collision avoidance system
JP2025137650A (ja) 車両判別システム
JP5788048B2 (ja) 作業車両用周辺監視システム及び作業車両
JP6886929B2 (ja) 運搬車両
JP7456358B2 (ja) 産業車両
JP7567738B2 (ja) 障害物検出装置
JP2022054118A (ja) 停止指示システム
WO2023105944A1 (ja) 作業機械
CN115702279A (zh) 工程机械
JP2025018511A (ja) 識別システム、識別方法および作業車両

Legal Events

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

Ref document number: 19923035

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2019923035

Country of ref document: EP

Effective date: 20211029

WWG Wipo information: grant in national office

Ref document number: 2019923035

Country of ref document: EP