JPH0735862A - Obstacle detection device for traveling vehicle - Google Patents

Abstract

(57) [Abstract] [Purpose] Prevents accidental output of obstacle detection signals when moving from a flat road to a slope. [Construction] A controller 8 for calculating the distance from the vehicle body to the laser irradiation unit and a mileage sensor 9 are provided so that the controller 8 outputs an obstacle detection signal only when the calculated distance sequentially decreases by the mileage. To do.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an obstacle detecting device provided in a traveling vehicle such as a large dump truck for construction machinery.

[0002]

2. Description of the Related Art In recent years, unmanned operation has been developed and researched for large dump trucks for construction machinery. One of the important things in this case is when an obstacle such as a person intrudes on a traveling road. It is to detect the obstacle immediately and make an emergency stop.

As the above-mentioned obstacle detection device, there is known a device in which a laser transmitter and a receiver are provided on a vehicle body and the reflection of the emitted laser from the obstacle is received to detect the obstacle.

[0004]

In the obstacle detection device using such a laser, when traveling from a flat road to a slope, the laser irradiates and reflects on the slope, so it is judged that there is an obstacle.

Therefore, it is an object of the present invention to provide an obstacle detection device for a traveling vehicle which can solve the above-mentioned problems.

[0006]

A laser transmitter 6 and a laser receiver 7 provided in front of a vehicle body 1 and a distance from the vehicle body 1 to a laser irradiation portion are calculated by laser reception of the laser receiver 7. A controller 8 and a mileage sensor 9 for detecting a mileage of the vehicle body 1 are provided, and an obstacle detection signal is output when the distance from the vehicle body 1 calculated by the controller 8 to the laser irradiation unit is sequentially reduced by the mileage. ,
An obstacle detection device for a traveling vehicle that does not output an obstacle detection signal at other times.

[0007]

[Operation] An obstacle can be detected by using one laser transmitter 6 and one laser receiver 7, and it is possible to prevent an obstacle detection signal from being erroneously output when changing from a flat road to a slope.

[0008]

[Example] As shown in FIG. 1, a front wheel 2,
A rear wheel 3 is provided, and a cab 4 and a vessel 5 are provided.
Is provided to configure a large dump truck for construction machinery,
A laser transmitter 6 and a laser receiver 7 are provided at the front of the vehicle body 1.
Is mounted toward the front, and the laser receiver 7 receives the reflection of the laser emitted from the laser oscillator 6 to detect an obstacle.

FIG. 2 is an obstacle detection circuit diagram. The laser emission time from the laser oscillator 6 and the laser reception time from the laser receiver 7 are input to the controller 8 and the vehicle body 1 is determined by the time difference between the emission time and the reception time. The distance from the vehicle to the laser irradiation unit is calculated by the controller 8, and the vehicle traveling distance is input to the controller 8 from the traveling distance sensor 9. Depending on this vehicle traveling distance and the distance from the vehicle to the laser irradiation unit, an obstacle or a slope The controller judges whether or not.

The mileage sensor 9 measures the number of rotations of the tire or detects the rotation of the tire driving input shaft, and detects the mileage of the vehicle based on the tire diameter and the reduction ratio.

Next, the operation of detecting an obstacle will be described. As shown in FIG. 3, the laser A is diffused and irradiated downward at an angle of θ with respect to the horizontal line B, and the distance from the vehicle body 1 (laser oscillation unit 6) to the laser irradiation unit C is input to the controller 8. It Therefore, when a person or the like enters the traveling road while traveling on the flat road D, the distance from the vehicle body 1 to the laser irradiation portion C is equal to the traveling distance input from the traveling distance sensor 9. When the distance from the vehicle body 1 to the laser irradiation portion C is sequentially decreased by the mileage input from the mileage sensor 9, the controller 8 determines that the obstacle is an obstacle and detects an obstacle detection signal R. Is output.

For example, in FIG. 3, the distance from the vehicle body 1 to the laser irradiation portion C is L _A, and if there is an obstacle standing perpendicular to the point of LA, if the vehicle travels only X from that state, the vehicle body 1 From the laser irradiation part C to L _A −
Since it is decreased by X, the controller 8 arithmetically judges this and outputs the obstacle detection signal R.

However, as shown in FIG.
When the car body 1 traveling on the road approaches the slope E, the laser A diverges downward by an angle θ, so that the slope E is irradiated with the laser and the laser receiver 7 receives the laser from the car body 1 at that time. The distance to the laser irradiation unit C is calculated.

In this case, as shown in FIG. 3, due to the relationship between the laser diffusion angle θ and the slope angle of the slope E, the distance from the vehicle body 1 to the laser irradiation portion C does not become a value reduced by the traveling distance but only the traveling distance. Since the value becomes slightly longer than the decreased value, the inclination angle of the slope E can be recognized by repeatedly measuring and calculating this at a certain sampling time of the controller 8. The obstacle detection signal R is not output because it is determined that the slope is not an obstacle and that the slope is less than a certain angle in advance in the controller.

For example, in FIG. 3, the laser is C on the slope E.
Let L _A be the distance from the vehicle body 1 to the laser irradiation portion C when the vehicle body 1 irradiates a point.
The distance to is L _B , and the distance in the case of an obstacle L _A −X
Will be longer by ΔL.

FIG. 4 shows a second embodiment, in which a first laser transmitter / receiver 10 and a second laser transmitter / receiver 11 are attached to the front portion of the vehicle body 1 at intervals in the vertical direction. Distance measurement data of the laser transmitters / receivers 10 and 11 are input to the controller, and it is determined whether the road is a slope or an obstacle based on the difference, and the obstacle detection signal is output accordingly.

For example, as shown in FIG. 4, when changing from a flat road to a slope, the first and second laser transmitters / receivers 10, 11 are used.
Laser beam hits a slope and is reflected, the distance measurement data of the first laser transmitter / receiver 10 is l ₁ , and the distance measurement data l ₂ of the second laser transmitter / receiver 11 is (l ₁ <l ₂ ). without outputting the obstacle detection signal determines that slope in the case of more than the value difference l ₂ -l ₁ is set, it is determined that the obstacle when: the value the difference l ₂ -l ₁ is set And outputs an obstacle detection signal.

[0018]

One laser transmitter 6 and one laser receiver 7 are provided.
Can be used to detect an obstacle, and it is possible to prevent the obstacle detection signal from being erroneously output when changing from a flat road to a slope. Obstacles can be detected by using the first and second laser transmitters / receivers 10 and 11, and it is possible to prevent the obstacle detection signal from being erroneously output when the road is changed from a flat road to a slope.

[Brief description of drawings]

FIG. 1 is a front view showing a first embodiment of the present invention.

FIG. 2 is an obstacle detection circuit diagram.

FIG. 3 is an explanatory diagram of an obstacle detection operation.

FIG. 4 is a front view showing a second embodiment of the present invention.

[Explanation of symbols]

1 ... Car body, 6 ... Laser oscillator, 7 ... Laser receiver, 8 ...
Controller, 9 ... Running distance detection sensor.

Claims (2)

[Claims] 1. A laser transmitter 6 and a laser receiver 7 which are provided on the vehicle body 1 toward the front, and a controller 8 which calculates the distance from the vehicle body 1 to the laser irradiation section by laser reception of the laser receiver 7. And a traveling distance sensor 9 for detecting the traveling distance of the vehicle body 1, and outputs an obstacle detection signal when the distance from the vehicle body 1 to the laser irradiation unit calculated by the controller 8 is sequentially decreased by the traveling distance, and other than that. An obstacle detection device for a traveling vehicle, wherein an obstacle detection signal is not output at times. 2. A first and a second laser transmitter / receiver 1 on a vehicle body 1.
Install 0 and 11 at intervals in the vertical direction.
An obstacle detection device for a traveling vehicle provided with a controller that outputs an obstacle detection signal when the difference between the distance measurement data of the second laser transmitters / receivers 10, 11 is less than or equal to a set value.