JP2020148074A - 作業機械の接触防止装置 - Google Patents
作業機械の接触防止装置 Download PDFInfo
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- JP2020148074A JP2020148074A JP2019049102A JP2019049102A JP2020148074A JP 2020148074 A JP2020148074 A JP 2020148074A JP 2019049102 A JP2019049102 A JP 2019049102A JP 2019049102 A JP2019049102 A JP 2019049102A JP 2020148074 A JP2020148074 A JP 2020148074A
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- 230000002265 prevention Effects 0.000 title claims abstract description 33
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- 238000010276 construction Methods 0.000 abstract description 74
- 238000000034 method Methods 0.000 description 23
- 230000008569 process Effects 0.000 description 20
- 238000006243 chemical reaction Methods 0.000 description 15
- 238000013459 approach Methods 0.000 description 10
- 238000001514 detection method Methods 0.000 description 10
- 230000008859 change Effects 0.000 description 5
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Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
- E02F3/325—Backhoes of the miniature type
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2033—Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2285—Pilot-operated systems
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/24—Safety devices, e.g. for preventing overload
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
- E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
-
- 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
- G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
-
- 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
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/17—Construction vehicles, e.g. graders, excavators
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Component Parts Of Construction Machinery (AREA)
- Operation Control Of Excavators (AREA)
Abstract
Description
34 表示装置
36 報知装置
41 Tofカメラ(3次元計測センサ)
42 発光部
43 受光部
46 撮像装置
54 物体判別部
55 障害物情報出力部
100 接触防止装置
Claims (5)
- 発光部及び受光部を備え、前記発光部からの光が物体に当たって反射した反射光を前記受光部で受光するタイミング及び受光強度を検出可能な3次元計測センサと、
少なくとも前記受光強度に基づいて、物体を判別する物体判別部と、
障害物に関する情報を出力する障害物情報出力部と、
前記障害物情報出力部の出力結果に応じて報知する報知装置と、
を備え、
前記障害物情報出力部は、前記3次元計測センサで取得された前記物体までの距離と、前記物体判別部の判別結果と、に基づいて、前記障害物に関する情報を生成することを特徴とする作業機械の接触防止装置。 - 請求項1に記載の作業機械の接触防止装置であって、
前記作業機械の周囲を撮像する撮像装置と、
前記3次元計測センサにより検出された物体の位置を、前記撮像装置で得られた画像に合成して表示する表示装置と、
を備え、
前記表示装置は、前記物体の位置を、前記撮像装置が出力する画像の視点を変換した視点変換画像の対応位置に合成して表示可能であることを特徴とする作業機械の接触防止装置。 - 請求項1又は2に記載の作業機械の接触防止装置であって、
前記障害物情報出力部の出力結果に応じて、前記作業機械が備えるアクチュエータの駆動速度を減少させる制御を行うことを特徴とする作業機械の接触防止装置。 - 請求項1から3までの何れか一項に記載の作業機械の接触防止装置であって、
前記作業機械の周囲に定められた動作停止領域を記憶する記憶部を備え、
前記障害物情報出力部が出力する物体の位置が前記動作停止領域に含まれる場合に、前記作業機械が備えるアクチュエータを停止させる制御を行うことを特徴とする作業機械の接触防止装置。 - 請求項4に記載の作業機械の接触防止装置であって、
前記障害物情報出力部が出力する物体の位置が前記動作停止領域に含まれない場合であって、当該位置が前記動作停止領域に近づく向きに変化しているときは、前記報知装置が報知することを特徴とする作業機械の接触防止装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019049102A JP2020148074A (ja) | 2019-03-15 | 2019-03-15 | 作業機械の接触防止装置 |
EP20774697.5A EP3940148A4 (en) | 2019-03-15 | 2020-02-25 | CONTACT PROTECTION DEVICE FOR A WORKING MACHINE |
US17/439,391 US20220154425A1 (en) | 2019-03-15 | 2020-02-25 | Contact Prevention Device for Work Machine |
PCT/JP2020/007551 WO2020189194A1 (ja) | 2019-03-15 | 2020-02-25 | 作業機械の接触防止装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019049102A JP2020148074A (ja) | 2019-03-15 | 2019-03-15 | 作業機械の接触防止装置 |
Publications (1)
Publication Number | Publication Date |
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JP2020148074A true JP2020148074A (ja) | 2020-09-17 |
Family
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Family Applications (1)
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JP2019049102A Pending JP2020148074A (ja) | 2019-03-15 | 2019-03-15 | 作業機械の接触防止装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US20220154425A1 (ja) |
EP (1) | EP3940148A4 (ja) |
JP (1) | JP2020148074A (ja) |
WO (1) | WO2020189194A1 (ja) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2020183623A (ja) * | 2019-04-26 | 2020-11-12 | 住友建機株式会社 | ショベル |
JP2022071349A (ja) * | 2020-10-28 | 2022-05-16 | ヤンマーホールディングス株式会社 | 作業車両 |
WO2022202855A1 (ja) * | 2021-03-22 | 2022-09-29 | 住友建機株式会社 | 建設機械及び建設機械用支援装置 |
WO2024101146A1 (ja) * | 2022-11-11 | 2024-05-16 | 株式会社小松製作所 | 作業現場の表示システム及び作業現場の表示方法 |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7255454B2 (ja) * | 2019-11-07 | 2023-04-11 | コベルコ建機株式会社 | 作業機械の周囲監視装置 |
US11898331B2 (en) * | 2020-12-02 | 2024-02-13 | Caterpillar Sarl | System and method for detecting objects within a working area |
US20240052601A1 (en) * | 2022-08-12 | 2024-02-15 | Caterpillar Inc. | Monitoring system for work machine |
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2019
- 2019-03-15 JP JP2019049102A patent/JP2020148074A/ja active Pending
-
2020
- 2020-02-25 US US17/439,391 patent/US20220154425A1/en active Pending
- 2020-02-25 EP EP20774697.5A patent/EP3940148A4/en not_active Withdrawn
- 2020-02-25 WO PCT/JP2020/007551 patent/WO2020189194A1/ja active Application Filing
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Also Published As
Publication number | Publication date |
---|---|
WO2020189194A1 (ja) | 2020-09-24 |
EP3940148A4 (en) | 2022-12-21 |
US20220154425A1 (en) | 2022-05-19 |
EP3940148A1 (en) | 2022-01-19 |
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