WO2013191017A1 - Dispositif de détermination de position d'arrêt pour machine de transport, et machine de chargement munie dudit dispositif - Google Patents

Dispositif de détermination de position d'arrêt pour machine de transport, et machine de chargement munie dudit dispositif Download PDF

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Publication number
WO2013191017A1
WO2013191017A1 PCT/JP2013/065933 JP2013065933W WO2013191017A1 WO 2013191017 A1 WO2013191017 A1 WO 2013191017A1 JP 2013065933 W JP2013065933 W JP 2013065933W WO 2013191017 A1 WO2013191017 A1 WO 2013191017A1
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WIPO (PCT)
Prior art keywords
machine
range
unit
transport
inclined surface
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PCT/JP2013/065933
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English (en)
Japanese (ja)
Inventor
航 田中
一野瀬　昌則
佐藤　隆之
岡田　祐子
藤田　浩二
石本　英史
真二郎 齋藤
田中　克明
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Hitachi Construction Machinery Co Ltd
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Hitachi Construction Machinery Co Ltd
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Publication of WO2013191017A1 publication Critical patent/WO2013191017A1/fr
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    • 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
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/205—Remotely operated machines, e.g. unmanned vehicles
    • 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
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)

Definitions

  • the present invention relates to a stop position determination device for a transport machine and a loading machine equipped with the device, and more particularly to a stop position determination device for a transport machine used in an open pit mine and the like and a loading machine equipped with the device. .
  • a loader controller that transmits the current position input from the position measuring means that measures the current position of the loader via a wireless device, and the loader automatically travels to the load position along the traveling course.
  • a monitoring controller with an automatic guidance mode switch for selecting a mode and an automatic guidance mode signal from the automatic guidance mode switch are input, the current position of the loader is regarded as a new loading position.
  • Course creation means for newly creating traveling course data based on the loading position data and the predetermined traveling pattern, and stored in the course data storage device Traveling course data there is provided an automatic travel controller rewrites the new travel course data created by the course creation means that (for example, see Patent Document 1).
  • loading machines such as excavators are installed in the vicinity of the natural ground excavated by excavation, and the work of loading crushed stones such as ores and earth and sand into transporting machines such as dump trucks is performed. Is called.
  • the transporting machine such as the dump truck moves backward toward the position where the crushed stone or the like excavated by the loading machine is released, the transporting machine Stop at the discharge position (loading position) of the excavated material by the loading machine. At this time, the transporting machine needs to stop near the loading machine in order to efficiently perform the loading operation.
  • the method of automatically stopping the transporting machine at the loading position as in Patent Document 1, or the operator of the loading machine indicates the stop position of the transporting machine with the excavation bucket of the loading machine and rings the horn.
  • a method for notifying the operator of the transporting machine that the stop position has been determined is used.
  • the inclined surface (slope) of the natural ground excavated by the loading machine is a slope near a right angle or a slope with a certain angle. May be.
  • the loading machine may be located in the flat part on the natural ground excavated and formed beforehand on the relationship of excavation work.
  • the method of instructing the stop position to the transporting machine by the operator of the loading machine is adopted
  • the operator of the loading machine cannot sufficiently recognize the occurrence of insufficient visibility with respect to the surrounding environment and the enlargement of the blind area, and instructs the stop position of the transporting machine by the excavation bucket of the loading machine.
  • the present invention has been made on the basis of the above-mentioned matters, and even if the loading position of the loading machine or the angle of the inclined surface of the natural ground excavated by the loading machine is changed, the loading machine
  • An object of the present invention is to provide a stop position determination device for a transport machine capable of accurately determining and instructing a stop position to the transport machine and improving productivity in the field, and a loading machine equipped with this device. To do.
  • the first invention is a stop position determination device for a transport machine capable of determining and instructing a stop position from the load machine to the transport machine, and a state around the load machine Captures information, recognizes an object that interferes with the transporting machine from the captured state information, calculates an interference target range occupied by the interference target, and calculates a range necessary for stopping the transporting machine Interference that determines the presence or absence of interference between the transport machine and the interference target based on the calculation results from the transport machine range determination device, the interference object recognition device, and the transport machine range determination device, and outputs the determination result And a determination device.
  • the interference object recognition device is provided in the loading machine, captures a state in front of the loading machine, and captures a signal from the distance sensor.
  • An inclined surface range calculation unit that calculates an inclined surface range that interferes with an inclined surface excavated by the transport machine
  • the transport machine range determination device includes a transport machine specification storage unit that stores specifications of the transport machine, , A transport machine specification reading unit that reads the specifications of the transport machine from the transport machine specification storage unit, and a range necessary for stopping the transport machine is calculated based on the specifications of the transport machine from the transport machine specification reading unit
  • the interference determination device is based on a calculation result from the inclined surface range calculation unit of the interference target recognition device and the transport machine range calculation unit of the transport machine range determination device. There is judged whether the interference with the transportation machine and the inclined surface, and outputs the determination result.
  • the inclined surface range calculation unit of the interference object recognition device includes an inclined surface detection unit that detects the inclined surface based on an imaging result of the distance sensor, and the distance.
  • a traveling surface detection unit that detects the traveling surface based on an imaging result of the sensor, and a boundary line between the inclined surface and the traveling surface based on detection results from the inclined surface detection unit and the traveling surface detection unit. It further has an inclined surface boundary detection unit for detecting, and an inclined surface range determination unit for calculating the inclined surface range based on a detection result of the inclined surface boundary detection unit.
  • the transport machine range calculation unit of the transport machine range determining device is configured to project the transport machine projection area based on the specifications of the transport machine from the transport machine specification reading unit.
  • a projection area calculation unit that calculates the bucket position calculation unit that calculates the bucket position of the loading machine, and projects the projection area from the projection area calculation unit directly below the bucket position from the bucket position calculation unit
  • a bucket lower region projection unit for calculating the transporting machine range.
  • the interference object recognition device includes a loading machine specification reading unit that reads the specification of the loading machine, and the loading machine specification reading unit that reads the loading machine specification reading unit.
  • a loading machine range calculation unit that calculates the range of the loading machine based on specifications; and the interference determination device determines the loading machine range calculation unit and the transporting machine range determination of the interference target recognition device Based on the calculation result from the said conveyance machine range calculating part of an apparatus, the presence or absence of interference with the said conveyance machine and the said loading machine is determined, The determination result is output, It is characterized by the above-mentioned.
  • the interference object recognizing device is configured such that the height of the rear portion of the transporting machine from the transporting machine specification storage unit when the transporting machine moves backward toward the inclined surface. Based on the rear height dimension reading section for reading the dimensions, the height dimension of the rear part of the transport machine from the rear height dimension reading section and the information on the inclined surface from the distance sensor, And a rear limit line calculating section for calculating a position of the inclined surface corresponding to the height of the height as a rear limit line of the transporting machine.
  • the interference object recognizing device includes a rear boundary line calculated by the rear limit line calculating section and a boundary portion between the traveling surface and the inclined surface.
  • a first distance calculation unit for obtaining one distance L; a second distance calculation unit for reading a second distance J between the rear end of the transport machine and the center of the rear wheel from the transport machine specification storage unit;
  • a line connecting the centers of the left and right rear wheels of the transport machine is used as the rear limit line.
  • a correction determination unit for outputting.
  • the interference object recognition device is provided in the loading machine, captures a state in front of the loading machine, and captures a signal from the distance sensor.
  • a traveling surface range calculating unit that calculates a traveling surface range that can be stopped without interfering with an inclined surface excavated by the transporting machine, and the transporting machine range determination device stores the specifications of the transporting machine Necessary for stopping the transporting machine based on the specifications of the transporting machine from the transporting machine specification storing unit, the transporting machine specification reading unit that reads the specifications of the transporting machine from the transporting machine specification storing unit
  • a machine range calculation unit for calculating a range, the interference determination device from the traveling surface range calculation unit of the interference object recognition device and the conveyance machine range calculation unit of the conveyance machine range determination device Based on the calculation result to determine the presence or absence of interference with the transportation machine and the running surface, and outputs the determination result.
  • a ninth aspect of the present invention is a loading machine including the stop position determination device for a transporting machine according to any of the first to eighth aspects of the invention.
  • the stop position from the loading machine to the transporting machine is accurately determined. Therefore, the efficiency of excavation and loading work by the loading machine is improved.
  • the excavation and loading work of the loading machine and the carrying work of the transporting machine function organically, and the productivity at an excavation site such as an open pit mine can be improved.
  • FIG. 1st Embodiment of the stop position determination apparatus of the materials handling machine of this invention It is the figure which showed the whole structure of 1st Embodiment of the stop position determination apparatus of the materials handling machine of this invention. It is the figure which showed an example of the attachment position to the loading machine of the distance sensor in the stop position determination apparatus of the materials handling machine of this invention. It is explanatory drawing which shows the function of the inclined surface detection part in the 1st Embodiment of the stop position determination apparatus of the materials handling machine of this invention, a running surface detection part, and an inclined surface boundary line detection part.
  • FIG. 1 It is a figure which shows the flow of a part of detail of the flowchart explaining the control processing procedure in 5th Embodiment of the stop position determination apparatus of the materials handling machine of this invention. It is a perspective view which shows a mode that the stop position determination apparatus of the materials handling machine of this invention was applied to the backhoe type loading machine. It is the figure which showed another example of the attachment position to the loading machine of the distance sensor in the stop position determination apparatus of the materials handling machine of this invention. It is the figure which showed another example of the attachment position to the loading machine of the distance sensor in the stop position determination apparatus of the materials handling machine of this invention.
  • FIG. 1 is a perspective view showing a state of an excavation site of a mine equipped with a first embodiment of a stop position determination device for a transport machine according to the present invention
  • FIG. 2 shows a first stop position determination device for a transport machine according to the present invention. It is a block diagram which shows the whole structure of 1 embodiment.
  • an excavation site such as a mine is a natural ground M, an inclined surface 6 serving as an excavation surface of the natural ground M, an installation location of a loading machine 1 described later, and a traveling road surface of a transportation machine 2 described later.
  • ground X A traveling surface 3 of the transport machine 2 is provided on the ground X.
  • a loading machine 1 for performing excavation work is installed on the ground near the inclined surface 6 of the excavation site.
  • a transporting machine 2 that transports crushed stones excavated by the loading machine 1 is carried in and out of the ground X of the excavation site.
  • a control station 7 for managing the operation of the loading machine 1 and the transporting machine 2 is installed at a remote location of the excavation site. The control station 7 is configured so that data can be exchanged between the loading machine 1 and the transport machine 2 in a wireless communication system.
  • the transport machine stop position determination device 1000 includes an inclined surface range calculation unit 200, a distance sensor 211, a transport machine range calculation unit 300, an interference determination unit 400, a display device 500, and a transport machine specification acquisition. Unit 600 and loading machine range calculation unit 700.
  • a partial function (transport machine database 620) of the transport machine specification acquisition unit 600 is provided in the control station 7, and the inclined surface range calculation unit 200, the distance sensor 211, and the transport machine range calculation unit 300.
  • the other functions of the interference determination unit 400, the display device 500, the transporting machine specification acquisition unit 600, and the loading machine range calculation unit 700 are provided in the loading machine 1.
  • the transport machine specification acquisition unit 600 is configured to acquire the ID of the transport machine 2, acquire the specification of the transport machine 2 from the ID, and output the specification to the transport machine range calculation unit 300.
  • the transport machine specification acquisition unit 600 includes a communication unit 610 that can communicate with the transport machine 2, a transport machine database 620 that records specifications of various transport machines 2 traveling in the mine, and the acquired transport machine. And an ID verification unit 630 that acquires the specifications of the transporting machine 2 from the transporting machine database 620 based on the ID of 2.
  • the communication unit 610 When the loading machine 1 is in operation, the communication unit 610 always obtains the ID of the transporting machine 2 that performs the next loading by exchanging with the ID notifying unit 611 of the transporting machine 2 or the control station 7, and the ID is the ID.
  • the verification unit 630 is notified.
  • the transport machine database 620 records various data such as the dimensions of the transport machine 2.
  • the ID collating unit 630 collates the ID acquired by the communication unit 610 with the data recorded in the transporting machine database 620, reads the specification of the corresponding transporting machine 2, and outputs it to the transporting machine range calculation unit 300.
  • the distance sensor 211 detects the front state of the loading machine, for example, the distance to the front object, and outputs the detection result to the inclined surface detection unit 210 and the traveling surface detection unit 220 described later.
  • it includes a sensor capable of detecting a distance to an object in front, such as an infrared sensor, a laser scanner, or a stereo camera.
  • the distance sensor 211 is installed in the loading machine 1 and is detected based on the three-dimensional position and orientation of the loading machine 1 and the position and angle of the distance sensor 211 installed in the loading machine 1. Is converted into a vertical height in the absolute coordinate system 24.
  • the absolute coordinate system 24 is a coordinate system in which the origin is located at a certain position on the earth as shown in FIG.
  • the loading machine 1 includes a front 14 and a loading machine main body 21.
  • the loading machine main body 21 has a turning body 21A and a traveling body 21B.
  • the distance sensor 211 is disposed in front of the loading machine main body 21, which is a position capable of detecting a region almost directly below the bucket 10 of the loading machine 1.
  • the distance sensor 211 is set so that the detection range 11 for detecting the distance is larger than the transporting machine range 4 (see FIG. 4) described later.
  • the distance sensor 211 is configured such that when the operator of the loading machine 1 turns the swing body 21A, the detection range 11 also turns and moves accordingly, and the front 14 provided with the bucket 10 is connected to the swing body 21A. When turning along with the turning, the distance sensor 211 also turns and always detects the lower side of the bucket 10. For example, in the loading machine 1, after the inclined surface 6 is excavated and crushed stones are loaded in the bucket 10, the revolving body 21 ⁇ / b> A rotates in a direction away from the inclined surface 6 in order to load the contents of the bucket 10 into the transport machine 2. To do.
  • the distance sensor 211 has a detection range 11 on the inclined surface 6 while the loading machine 1 excavates crushed stone, and when the loading machine 1 turns, the detection range 11 travels on the transport machine. Move towards plane 3 As a result, the distance sensor 211 always detects a region almost directly below the bucket 10.
  • the inclined surface range calculation unit 200 calculates a range (inclined surface range) 18 (see FIG. 4) that cannot be stopped because the transport machine 2 interferes with the inclined surface 6, and outputs it to the interference determination unit 400. It is configured as follows.
  • the inclined surface range calculation unit 200 detects the inclined surface detection unit 210 that detects the inclined surface 6 based on the imaging result of the distance sensor 211 and also detects the transporting machine traveling surface 3 based on the output result of the distance sensor 211.
  • the inclined surface boundary line 12 that is a boundary line between the inclined surface 6 and the transporting machine traveling surface 3 based on the output result of the traveling surface detector 220, the inclined surface detector 210, and the output result of the traveling surface detector 220.
  • At least an inclined surface boundary detecting unit 240 for detecting, and an inclined surface range determining unit 260 for calculating the inclined surface range 18 based on the inclined surface 6, the traveling surface 3, and the inclined surface boundary line 12 are provided.
  • FIG. 4 a state when the detection range 11 exists on both the inclined surface 6 and the transporting machine traveling surface 3, that is, when the bucket 10 is near the boundary between the inclined surface 6 and the transporting machine traveling surface 3. Show the state.
  • the distance sensor 211 acquires the height data in the vertical direction of each point in the detection range 11 and creates a profile P of the height change in the cross section Y with the detection range 11 as shown in the graph of FIG. To do.
  • the horizontal axis of the graph indicates the position of the detection range 11, and the vertical axis indicates the height in the vertical direction.
  • the inclined surface detection unit 210 detects, for example, a region A where the height gradually increases from the profile P of the height change as the inclined surface 6, and the inclined surface boundary detection unit 240 and the inclined surface range.
  • the data is output to the determination unit 260.
  • the traveling surface detection unit 220 detects a region B in which the height of the profile P hardly changes or is sufficiently small as the transporting machine traveling surface 3, and outputs it to the inclined surface boundary detection unit 240 and the inclined surface range determination unit 260. To do.
  • the inclined surface boundary detection unit 240 the boundary between the inclined surface 6 detected by the inclined surface detection unit 210 and the transporting machine traveling surface 3 detected by the traveling surface detection unit 220, that is, the position D where the profile P changes greatly.
  • the inclined surface range determination unit 260 a range of the inclined surface boundary line 12 on the opposite side of the inclined surface boundary line 12 detected by the inclined surface boundary line detection unit 240 is calculated as the inclined surface range 18, and an inclined surface interference determination described later is performed. Output to the unit 420.
  • the transport machine range calculation unit 300 calculates the transport machine range 4 that is necessary for the transport machine 2 to stop. It is configured to calculate and output to the interference determination unit 400.
  • the transport machine range calculation unit 300 acquires and calculates a projection region on the transport machine traveling surface 3 at the time of stop based on the specifications of the transport machine 2 acquired from the transport machine specification acquisition unit 600,
  • the bucket position calculation unit 320 that acquires and calculates the position of the bucket 10 in the mine coordinate system 24 of the loading machine 1 and the range necessary for stopping the transporting machine 2 based on the calculation results are set in the loading machine 1.
  • At least a bucket lower area projection unit 330 that projects onto the transporting machine traveling surface 3 directly below the position of the bucket 10 and calculates the transporting machine range 4 is provided.
  • the bucket lower area projection unit 330 includes a bucket position calculation unit 330a and a range determination unit 330b.
  • the projection area calculation unit 310 includes the geometric center position G1 when the transport machine 2 is projected from the transport machine specification acquisition unit 600 onto the traveling surface 3, and the transport machine end 8 that is farthest from the center position G1 in the horizontal direction. Get the data. Thereafter, the radius R1 from the center position G1 to the transport machine end 8 is taken as the radius, and the circular projection area 9 centered on the center position G1 is calculated and output to the bucket lower area projection unit 330.
  • the bucket position calculation unit 320 is configured to acquire and calculate the position of the bucket 10 of the loading machine 1 in the absolute coordinate system 24 shown in FIG.
  • the bucket position calculation unit 320 is installed in the loading machine 1, for example, a GPS (global positioning system) capable of measuring a three-dimensional position in the absolute coordinate system 24, and a rotation angle on each axis of the front 14. And a sensor that can detect the displacement of the linear cylinder that drives the front 14. It is also possible to use a GPS provided in the bucket 10.
  • the bucket lower region projection unit 330 is configured to obtain the position of the bucket 10 in the absolute coordinate system 24 acquired and calculated from the bucket position calculation unit 320 (for example, the bucket 10 and the arm on the front 14). The position K projected on the traveling surface 3 of the transporting machine is calculated. Further, the bucket lower area projection unit 330 uses the range determination unit 330b to obtain the position K calculated by the bucket position calculation unit 330a as the center position of the circular projection area 9 obtained from the projection area calculation unit 310, as shown in FIG. 6B.
  • the transporting machine range 4 is calculated by regarding the circular projection area 9 projected onto the transporting machine traveling surface 3 as the transporting machine range 4 represented by the absolute coordinate system 24, approximately matching G1.
  • the calculated transport machine range 4 is output to the loading machine interference determination unit 410 and the inclined surface interference determination unit 420 of the interference determination unit 400.
  • the loading machine range calculation unit 700 calculates a range (loading machine range) 712 (see FIG. 6A) that prohibits the entry of the transporting machine 2 based on data such as the approximate outer dimensions of the loading machine 1. It is configured to output to the interference determination unit 400.
  • the loading machine range calculation unit 700 includes a loading machine position acquisition unit 730, a loading machine specification reading unit 710 that reads the specifications of the loading machine 1, and a product that prohibits entry of the transporting machine 2 based on the specifications. At least a loading machine range determination unit 720 that calculates the loading machine range 712 is provided.
  • the loading machine position acquisition unit 730 is configured to detect the position of the loading machine 1 in the absolute coordinate system 24 and output the detected position to the loading machine range determination unit 720.
  • GPS installed in the loading machine 1 corresponds.
  • the position where the GPS is installed is used as a reference.
  • the loading machine specification reading unit 710 reads necessary specifications from the loading machine database 711 storing the specifications of the loading machine 1 (for example, the data of the outer dimensions of the loading description 1), the most of the turning body 21A and the traveling body 21B. Edges on the outside in the horizontal direction are acquired as loading machine boundary lines, and these data are output to the loading machine range determination unit 720.
  • the loading machine range determination unit 720 is based on the loading machine boundary line acquired by the loading machine specification reading unit 710 and the position of the loading description 1 in the absolute coordinate system 24 acquired by the loading machine position acquisition unit 730. Then, the area surrounded when the loading machine boundary line as shown in FIG. 6A is projected onto the transporting machine traveling surface 3 is calculated as the loading machine range 712, and the loading machine interference determination unit 410 of the interference determination unit 400 is operated. Output.
  • the interference determination unit 400 is configured such that the transport machine 2 interferes with the inclined surface 6 and the loading machine 1 based on the calculation results of the inclined surface range calculation unit 200, the transport machine range calculation unit 300, and the loading machine range calculation unit 700. It is configured to determine whether or not it can be safely stopped without performing the operation, and to output the determination result to the display device 500.
  • the interference determination unit 400 includes at least a loading machine interference determination unit 410, an inclined surface interference determination unit 420, and an overall determination unit 430.
  • the loading machine interference determination unit 410 is output from the conveyance machine range 4 output from the bucket lower region projection unit 330 of the conveyance machine range calculation unit 300 and the loading machine range determination unit 720 of the loading machine range calculation unit 700.
  • the presence or absence of interference with the loading machine range 712 is determined, and the determination result is output to the comprehensive determination unit 430.
  • the inclined surface interference determination unit 420 includes the conveying machine range 4 output from the bucket lower region projection unit 330 of the conveying machine range calculation unit 300 and the inclined surface output from the inclined surface range determination unit 260 of the inclined surface range calculation unit 200. The presence / absence of interference with the range 18 is determined, and the determination result is output to the comprehensive determination unit 430.
  • the positional relationship between the loading machine 1 and the bucket 10, the transporting machine range 4, the inclined surface range 18, and the loading machine range 712, and the determination criteria for the presence or absence of interference in the comprehensive determination unit 430 will be described.
  • the general judgment unit 430 determines that the planned stop position is “safe”. Further, when the loading machine interference determination unit 410 has no interference, but the inclined surface interference determination unit 420 has interference (the transporting machine range 4 does not interfere with the loading machine range 712, but interferes with the inclined surface range 18). (B in FIG.
  • the scheduled stop position is “inclined surface interference”. Further, when the inclined surface interference determination unit 420 has no interference but the loading machine interference determination unit 410 has interference (the transport machine range 4 does not interfere with the inclined surface range 18 but interferes with the loading machine range 712). (C in FIG. 7) determines that the planned stop position is “loading machine interference”. Further, when the loading machine interference determination unit 410 and the inclined surface interference determination unit 420 both interfere (the transporting machine range 4 interferes with both the inclined surface range 18 and the loading machine range 712) (D in FIG. 7). Determines that the planned stop position is “loading machine inclined surface interference”.
  • the overall determination unit 430 outputs any of the determinations of “safety”, “inclined surface interference”, “loading machine interference”, and “loading machine inclined surface interference” to the display device 500. Further, the determination result can be output to the control station 7 via a communication unit (not shown). Furthermore, the overall judgment unit 430 does not output a sound to the horn control unit 901 when it is judged as one of “inclined surface interference”, “loading machine interference”, and “loading machine inclined surface interference”. Output an unsound sound signal. The horn control unit 901 performs control so as not to sound the horn 900 even when the horn switch 902 is pressed by the operator of the loading machine 1 while receiving the unsound sound signal from the general determination unit 430.
  • interference in the loading machine interference determination unit 410, the inclined surface interference determination unit 420, and the comprehensive determination unit 430 means that the transporting machine range 4 is partly in contact with the inclined surface range 18 and the loading machine range 712. , Indicates the overlapping state.
  • the display device 500 notifies the operator of the loading machine 1 of the determination result output from the interference determination unit 400. For example, a sound pattern predetermined according to each of “safety”, “inclined surface interference”, “loading machine interference”, and “loading machine inclined surface interference” by a speaker installed in the cab of the loading machine 1 Is output to the operator.
  • the determination result can be displayed on the display as it is, and the operator of the loading machine 1 can be notified visually.
  • the interference target recognition apparatus includes a distance sensor 211, an inclined surface range calculation unit 200, and a loading machine range calculation unit 700.
  • the transporting machine range determination device includes a transporting machine database (transporting machine specification storage unit) 620, a transporting machine specification reading unit including a communication unit 610 and an ID verification unit 630, and a transporting machine range calculation unit 300.
  • the interference determination device includes an interference determination unit 400.
  • the loading machine 1 When the crushed stone is excavated, the loading machine 1 turns in a direction away from the inclined surface 6 in order to load the excavated crushed stone into the transporting machine 2. Then, the operator of the loading machine 1 stops the bucket 10 at a position where the loading operation to the transporting machine 2 is performed (scheduled stop position of the transporting machine 2).
  • the transport machine specification acquisition unit 600 of the transport machine stop position determination device 1000 performs transport in step S ⁇ b> 200 regardless of whether or not the bucket 10 is stopped during operation of the loading machine 1.
  • the ID of the machine 2 is acquired, and the specification of the transporting machine 2 is acquired based on the ID. Thereafter, the acquired ID is output to the transporting machine range calculation unit 300. Details of step S200 will be described with reference to FIG.
  • the communication unit 610 acquires the ID of the transport machine 2, and notifies the ID collation unit 630 of the acquired ID.
  • the transport machine database 620 and the ID collation unit 630 acquire the specifications of the transport machine 2 by collating the ID and data notified from the communication unit 610 in step S201 in step S202.
  • the specifications of the machine 2 are output to the projection area calculation unit 310 of the transport machine range calculation unit 300.
  • the inclined surface range calculation unit 200 of the transport machine stop position determination device 1000 calculates the inclined surface range 18 and outputs it to the interference determination unit 400 in step S300. Details of step S300 will be described with reference to FIG. First, the distance sensor 211 detects the height of the object in the detection range 11 in the vertical direction in step S301. Next, in step S302, the distance sensor 211 creates a height change profile P from the height data detected in step S301. Next, in step S303, the inclined surface detecting unit 210 detects the inclined surface 6 from the height change profile P created by the distance sensor 211 in step S302. Next, in step S304, the travel surface detection unit 220 detects the transport machine travel surface 3 from the height change profile P created by the distance sensor 211 in step S302.
  • step S305 the inclined surface boundary line detection unit 240 is inclined from the inclined surface 6 detected by the inclined surface detection unit 210 in step S303 and the transport machine traveling surface 3 detected by the traveling surface detection unit 220 in step S304.
  • the surface boundary line 12 is detected.
  • step S306 the inclined surface range determination unit 260 inclines in step S305 and the inclined surface 6 detected by the inclined surface detection unit 210 in step S303 and the transport machine traveling surface 3 detected by the traveling surface detection unit 220 in step S304.
  • the inclined surface range 18 is calculated from the inclined surface boundary line 12 detected by the surface boundary line detection unit 240, and the calculated inclined surface range 18 is output to the inclined surface interference determination unit 420 of the interference determination unit 400.
  • step S400 the transport machine range calculation unit 300 of the transport machine stop position determination apparatus 1000 calculates the transport machine range 4 based on the specifications of the transport machine 2 input from the transport machine specification acquisition unit 600 in step S200. Calculate and output to interference determination section 400. Details of step S400 will be described with reference to FIG. First, in step S401, the projection area calculation unit 310 acquires information on the geometric center position G1 of the transport machine 2 from the specification of the transport machine 2 input from the ID collation unit 630 of the transport machine specification acquisition unit 600 in step S202. . Next, the projection area
  • step S403 the projection area calculation unit 310 calculates the circular projection area 9 from the information on the geometric center position G1 acquired in step S401 and the information on the transport machine end 8 acquired in step S402.
  • step S ⁇ b> 404 the bucket position calculation unit 320 acquires and calculates the position of the bucket 10 of the loading machine 1 in the absolute coordinate system 24, and outputs it to the bucket lower area projection unit 330.
  • the bucket lower region projection unit 330 moves the bucket position calculation unit 330a from the position of the bucket 10 in the absolute coordinate system 24 acquired and calculated by the bucket position calculation unit 320 in step S404 to the transporting machine traveling surface 3 in step S405.
  • the projected position K is calculated.
  • step S406 the bucket lower area projection unit 330 causes the range determination unit 330b to match the geometric center position G1 acquired in step S401 with the position K calculated in step S405, thereby conveying the machine range 4 And the calculated transport machine range 4 is output to the loading machine interference determination unit 410 and the inclined surface interference determination unit 420 of the interference determination unit 400.
  • the loading machine range calculation unit 700 of the transport machine stop position determination apparatus 1000 calculates the loading machine range 712 and outputs it to the interference determination unit 400 in step S500. Details of step S500 will be described with reference to FIG. First, the loading machine position acquisition unit 730 detects the position of the loading machine 1 in the absolute coordinate system 24 in step S501. Next, the loading machine specification reading unit 710 acquires the specification of the loading machine 1 in step S502. Next, in step S503, the loading machine range determination unit 720 detects the position of the loading machine 1 detected by the loading machine position acquisition unit 730 in step S501 and the product acquired by the loading machine specification reading unit 710 in step S502. The loading machine range 712 is calculated from the specifications of the loading machine 1, and the calculated loading machine range 712 is output to the loading machine interference determination unit 410 of the interference determination unit 400.
  • the interference determination unit 400 of the transport machine stop position determination apparatus 1000 includes the inclined surface range 18 calculated by the inclined surface range calculation unit 200 in step S300 and the transport machine range calculation unit 300 in step S400. Based on the calculated transport machine range 4 and the load machine range 712 calculated by the load machine range calculation unit 700 in step S500, it is determined whether the transport machine 2 interferes with the load machine 1 or the inclined surface 6. The determination result is output to the display device 500 and the horn control unit 901. Details of step S600 will be described with reference to FIG. First, in step S601, the inclined surface interference determination unit 420 performs the transportation machine range 4 input from the bucket lower region projection unit 330 of the transporting machine range calculation unit 300 in step S406 and the inclined surface range calculation unit 200 in step S306.
  • step S604 the loading machine interference determination unit 410 calculates the loading machine range 4 input from the bucket lower area projection unit 330 of the conveying machine range calculation unit 300 in step S406 and the loading machine range calculation in step S503. Whether there is interference with the loading machine range 712 input from the loading machine range determination unit 720 of the unit 700 is determined. If there is interference, the process proceeds to step S604, and if there is no interference, the process proceeds to step S603.
  • step S ⁇ b> 603 when the transport machine 2 stops at the planned stop position indicated by the bucket 10, the general determination unit 430 determines that it can stop “safely” without interfering with the inclined surface 6 and the loading machine 1. For this reason, a signal indicating safety is output to the display device 500 in the cab of the loading machine 1.
  • the general judgment unit 430 interferes with at least one of the inclined surface 6 and the loading machine 1 and cannot stop safely. Since it is determined, a signal indicating that it is not safe is output to the display device 500 in the cab of the loading machine 1.
  • the comprehensive judgment unit 430 outputs a non-sounding signal to the horn control unit 901 so that no sound is output from the horn 900.
  • steps S601 and S602 may be reversed.
  • step S650 the interference determination unit 400 of the transport machine stop position determination device 1000 determines whether the horn switch 902 is pressed by the general determination unit 430. When it is determined that the horn switch 902 is not pressed, it is determined that it is not necessary to display the determination result of the above-described step S200 to step S600, not the state where the transporting machine 2 is not in the vicinity to perform the loading operation. Then, the process returns to step S200. When it is determined that the horn switch 902 has been pressed, the process proceeds to step S700 in order to display the determination result in the interference determination unit 400.
  • step S700 the display device 500 of the transport machine stop position determination device 1000 uses the current bucket 10 for the operator of the loading machine 1 based on the determination result of the interference determination unit 400 in step S600.
  • a display indicating that the planned stop position is safe or not is displayed.
  • the general determination unit 430 of the transport machine stop position determination device 1000 operates so that the horn 900 sounds without outputting a false sound signal, and the operator of the transport machine 2 determines the stop position. Operates to notify you.
  • the general judgment unit 430 operates so that the horn 900 does not sound by outputting a non-sounding signal to the horn control unit 901.
  • the operator of the transport machine 2 confirming the sound of the horn 900 operates the transport machine 2 so as to travel toward the planned stop position indicated by the bucket 10 of the loading machine 1. After that, the operator of the loading machine 1 rings the horn 900 by pressing the horn switch 902 again when the transporting machine 2 arrives under the bucket 10, and informs the operator of the transporting machine 2 that a stop instruction has been reached. Notice. The operator of the transporting machine 2 that has confirmed the sound of the horn 900 that has arrived at the stop instruction stops the transporting machine 2 on the spot, and then the operator of the loading machine 1 starts the loading operation.
  • the stop position determination device 1000 of the transporting machine when the operator of the loading machine 1 recognizes that the planned stop position is inappropriate by the stop position determination device 1000 of the transporting machine by the display on the display device 500, or the horn switch 902 When it is recognized that the horn 900 does not sound even when the button is pressed, the bucket 10 is moved to a new position, and a new stop position is determined. Then, the stop position determination apparatus 1000 of the transport machine performs a determination process from step S200 on whether or not the new planned stop position is safe.
  • the transport machine specification acquisition unit 600 acquires the specifications of the transport machine 2, and the transport machine range calculation unit 300 calculates the transport machine range 4 necessary for the transport machine 2 to stop. To do. Further, the inclined surface range calculation unit 200 calculates the inclined surface range 18 that cannot be stopped because the transport machine 2 interferes with the inclined surface 6. Then, the interference determination unit 400 determines the presence or absence of interference between the transport machine range 4 and the inclined surface range 18, displays the determination result on the display device 500, and shows the planned stop position currently shown to the operator of the transport machine 2. Tell if you can stop.
  • the loading operation to the transporting machine 2 by the loading machine 1 proceeds smoothly without re-stopping to avoid the collision with 6, and the work efficiency of the excavation loading work is improved. Therefore, the excavation and loading work of the loading machine 1 and the carrying work of the transport machine 2 function organically, and productivity at an excavation site such as an open pit mine can be improved.
  • the loading machine range calculation unit 700 calculates a loading machine range 712 that prohibits the entry of the transporting machine 2 based on the area occupied by the loading machine 1, and the loading machine range 712 and the transporting machine are calculated. By determining whether or not the range 4 interferes, the interference between the transport machine 2 and the loading machine 1 can be suppressed, and a safer and smoother operation is possible.
  • step S300 the order in which these three steps S300, step S400, and step S500 are performed is not determined.
  • the order can be as follows.
  • the order may be step S300 ⁇ step S500 ⁇ step S400, step S400 ⁇ step S300 ⁇ step S500, step S400 ⁇ step S500 ⁇ step S300, step S500 ⁇ step S300 ⁇ step S400, step
  • the order may be S500 ⁇ step S400 ⁇ step S300.
  • the direction (stop direction) for stopping the transport machine 2 with respect to the inclined surface 6 is not determined in advance, and the transport machine 2 is stopped by the circular projection region 9.
  • the presence of interference with the inclined plane boundary line 12 is confirmed over a wide range.
  • the transporting machine range 4 calculated in the bucket lower area projection unit 330 does not need to be circular, and an appropriate shape according to the stopping direction, for example, the transporting machine It can be made into the shape which gave a little margin slightly larger than two.
  • the second embodiment of the stop position determination device for the transport machine a preferred embodiment will be described in the case where the stop direction of the transport machine 2 is determined in advance.
  • the stop position determination device 1000 of the transport machine in the second embodiment is substantially the same as the stop position determination device of the transport machine in the first embodiment except for the transport machine range calculation unit 300, and the details are omitted.
  • FIG. 14 is a diagram illustrating a transport machine range in the second embodiment of the stop position determination device for the transport machine according to the present invention.
  • the transport machine range 4 calculated by the transport machine range calculation unit 300 stops the transport machine 2 in that direction.
  • This is a range that is necessary at the time, that is, a range in which the transporting machine 2 is projected onto the traveling surface 3.
  • the projection area calculation unit 310 of the conveyance machine range calculation unit 300 according to the second embodiment of the stop position determination device 1000 for the conveyance machine of the present invention receives the conveyance machine 2 from the conveyance machine specification acquisition unit 600. Data on the geometric center position G1 when projected onto the traveling surface 3 and the approximate outer dimension data of the transporting machine 2 are obtained, and the projection region 9 is determined from the approximate outer dimension and a predetermined stop direction of the transporting machine 2.
  • the bucket position calculation unit 320 acquires the position of the bucket 10 of the loading machine 1 in the absolute coordinate system 24.
  • the bucket lower area projection unit 330 calculates a position K obtained by projecting the position of the bucket 10 onto the transporting machine traveling plane 3, and roughly matches the position K with the previously calculated center position G1 of the projection area 9.
  • the range 4 is calculated.
  • the effect obtained is almost the same as that of the stop position determination device for a transport machine according to the first embodiment.
  • the circular projection area 9 is calculated, and the position K of the bucket 10 in the absolute coordinate system 24 projected onto the transporting machine traveling plane 3 and the center position G1 of the circular projection area 9 are approximately coincident with each other.
  • the transporting machine range 4 is calculated, the transporting machine range 4 is wide and safe, but the actual transporting machine 2 does not have a circular shape.
  • the range in which the transport machine 2 is projected onto the travel surface is calculated as the transport machine range 4 as in this embodiment, so that even if the range does not actually interfere, It suppresses that it judges.
  • the determination of the planned stop position it is possible to reduce the ratio of determining the interference, and it is possible to further reduce the time required for determining the planned stop position.
  • the safety determination of the planned stop position can be performed with higher accuracy, and the planned stop position of the transport machine 2 can be determined flexibly. Therefore, the planned stop position determination of the transport machine 2 can be performed more quickly. It is possible to improve the efficiency of loading work.
  • FIG. 15 is a diagram showing the overall configuration of the third embodiment of the stop position determination device for a transport machine according to the present invention.
  • FIGS. 16 and 17 show the third configuration of the stop position determination device for a transport machine according to the present invention. It is a figure explaining the function of a back limit line operation part and a correction judgment part in an embodiment.
  • the third embodiment of the transport machine stop position determination device 1000 includes an inclined surface range calculation unit 200, a transport machine range calculation unit 300, an interference determination unit 400, and a display device. 500, a transporting machine specification acquisition unit 600, and a loading machine range calculation unit 700. Among these, the conveyance machine specification acquisition part 600, the inclined surface range calculation part 200, the conveyance machine range calculation part 300, and the interference judgment part 400 are demonstrated below.
  • the transport machine specification acquisition unit 600 reads data of the transport machine rear end height 16 from the transport machine database 620 and outputs the data to the rear limit line calculation unit 295, which will be described later, and the rear end of the transport machine 2.
  • the inclined surface range calculation unit 200 further includes a rear limit line calculation unit 295.
  • a correction determination unit 290 is provided.
  • the rear limit line calculation unit 295 obtains the rear end height 16 of the transport machine that is the height of the rear end of the transport machine 2 from the transport machine specification acquisition unit 600.
  • a reading unit 295a is included.
  • the rear limit line calculating unit 295 is based on the rear end height 16 of the transporting machine, the transporting machine traveling surface 3 acquired by the traveling surface detecting unit 220, and the inclined surface 6 acquired by the inclined surface detecting unit 210.
  • the position 17 on the inclined surface 6 on the inclined surface 6 at a position 16 minutes higher than the traveling surface 3 by the height of the rear end of the transporting machine is calculated, and the position 17 on the inclined surface is projected onto the traveling surface 3 of the transporting machine.
  • the projection position 23 is calculated, and the projection position 23 is continuously connected in the longitudinal direction of the inclined surface 6 to calculate the provisional rear limit line 5a and output it to the correction determination unit 290.
  • the correction determination unit 290 calculates a distance (first distance) L between the inclined surface boundary line 12 output from the inclined surface boundary line detection unit 240 and the provisional rear limit line 5a output from the rear limit line calculation unit 295.
  • a distance calculation unit 290a and a second distance calculation unit 290b that reads the second distance J from the transport machine database 620 of the transport machine specification acquisition unit 600 are included.
  • the correction determination unit 290 compares the first distance L and the second distance J, and when the first distance L is larger than the second distance J (L> J) as shown in FIG.
  • the temporary rear limit line 5a is corrected with 12 as the rear limit line 5.
  • the provisional rear limit line 5a is used as the rear limit line 5 as it is.
  • the rear limit line 5 is output to the inclined surface range determination unit 260 and the bucket lower region projection unit 330.
  • the inclined surface range determining unit 260 in the inclined surface range calculating unit 200 calculates the opposite side of the region divided by the rear limit line 5 from the transporting machine traveling surface 3 side as the inclined surface range 18.
  • the transporting machine calculation unit 300 calculates the transporting machine range 4 in the bucket lower area projection unit 330.
  • the bucket lower region projection unit 330 obtains a relationship between the first distance L and the second distance J from the correction determination unit 290, that is, a comparison result as to whether or not the first distance L is greater than the second distance J.
  • a straight line (transport machine rear line) 40 connecting the left and right rear wheel center projection points 25 to each other.
  • the rear edge of the vessel 15 of the transport machine 2 is projected onto the transport machine traveling surface 3 to thereby transport the transport machine.
  • the backward line 40 is calculated.
  • the transport machine range 4 is output to the loading machine interference determination unit 410 of the interference determination unit 400, and the transport machine rear line 40 is output to the inclined surface interference determination unit 420 of the interference determination unit 400.
  • the interference determination unit 400 determines whether or not there is interference between the transporting machine range 4 and the loading machine range 712 in the loading machine interference determination unit 410 and outputs the determination result. Moreover, in the inclined surface interference judgment part 420, the presence or absence of interference with the conveyance machine back line 40 and the inclined surface range 18 is judged, and the judgment result is output. Furthermore, as shown in FIG. 18, in the comprehensive judgment unit 430, the transport machine rear line 40 does not interfere with the inclined surface range 18, and the transport machine range 4 does not interfere with the loading machine range 712 (A in FIG. 18). In this case, the planned stop position is determined as “safe”.
  • the planned stop position is determined as “inclined surface interference”. To do.
  • the planned stop position is “loading machine interference”. to decide.
  • the planned stop position is “loading machine inclined surface interference”.
  • the planned stop position is “loading machine inclined surface interference”.
  • “interference” in the present embodiment indicates a state in which the transport machine rear line 40 is in contact with the inclined surface range 18 and the transport machine range 4 is partially in contact with the loading machine range 712.
  • the obtained effect is almost the same as that of the transport machine stop position determination device of the first and second embodiments.
  • the stopping direction of the transporting machine 2 is determined to be substantially perpendicular to the approximate straight line of the inclined surface boundary line 12 and is scheduled to stop in the reverse direction facing the inclined surface 6.
  • the inclined surface range calculation unit 200 calculates the provisional rear limit line 5a of the transporting machine 2, and corrects the provisional rear limit line 5a according to the angle of the inclined surface 6, thereby correcting the rear limit line. 5 is calculated, and the side opposite to the transport machine traveling surface 3 side in the region divided by the rear limit line 5 is calculated as the inclined surface range 18.
  • the transport machine calculation unit 300 calculates the transport machine rear line 40 that is a criterion for determining whether the transport machine range 4 and the rear end or rear wheel of the transport machine 2 interfere with the inclined surface 6. Further, the interference determination unit 400 determines whether or not there is interference between the transport machine rear line 40 and the inclined surface range 18 and outputs the determination result. Thereby, since the stop position of the materials handling machine 2 can be set to the position closer to the inclined surface 6, the efficiency of loading work can be further improved.
  • the stop position determination device for a transport machine includes:
  • the present invention can also be applied to an unmanned transport machine that can travel autonomously.
  • the present embodiment is a case where the present invention is applied when an unmanned transport machine is used.
  • FIG. 19 is a diagram illustrating an overall configuration of a fourth embodiment of the stop position determination device for a transport machine according to the present invention and a configuration of an unmanned transport machine 50.
  • the mine is operated by a loading machine 1 that performs excavation work, an unmanned transport machine 50 that transports crushed stones, and a control station that manages their operation. 7.
  • the automatic guided machine 50 includes an autonomous traveling unit 51 that enables autonomous traveling.
  • the autonomous traveling unit 51 includes a communication unit 52 in which the unmanned transport machine 50 performs data communication between the loading machine 1 and the control station 7, and a target position recognition unit that recognizes a target position to which the own machine should move next. 53, an own device position recognizing unit 54 for recognizing the current position of the own device, a target route generating unit 55 for generating a route for moving from the own device position to the target position, and driving to move along the target route , And a target path follower 56 for controlling the braking and steering system.
  • the unmanned transport machine 50 recognizes the position of the own machine, generates a target route for reaching the target position, and travels to follow the route. By doing so, the commanded target position can be reached.
  • the communication unit 52 communicates its own information with the loading machine 1 and the control station 7. In addition, the ID of the own machine is notified to the stop position determination device 1000 of the transport machine, and data relating to the determined planned stop position is exchanged and output to the target position recognition unit 53.
  • the target position recognition unit 53 recognizes the target position based on the information on the planned stop position of the unmanned transport machine 50 notified from the stop position determination device 1000 of the transport machine to the autonomous traveling unit 51, and sends the target position recognition unit 54. It is configured to output.
  • the own device position recognizing unit 54 has a relative position and direction relationship between the target position notified from the target position recognizing unit 53 and the position and direction at the start of movement of the own device (the current position and direction of the own device). Is detected and output to the target route generation unit 55.
  • the own device position recognition unit 54 includes, for example, at least one of a GPS capable of detecting a ground position, an acceleration sensor capable of detecting vehicle body acceleration, a gyro sensor capable of detecting angular velocity, and a front wheel or a rear wheel. A wheel rotational speed sensor for detecting the attached wheel rotational speed is used. Further, since the GPS can directly detect the position, the GPS can be configured to correct the position calculated by the acceleration sensor, the gyro sensor, and the wheel rotation number sensor.
  • the target route generation unit 55 travels toward the target position from the relative position and direction detected by the own device position recognition unit 54 in consideration of the geometric characteristics and vehicle motion characteristics of the unmanned transport machine 50. Are calculated and output to the target path follower 56.
  • the target route follower 56 compares the target route generated by the target route generator 55 with the position of the own device, and controls the driving, braking, and steering system of the automatic transport machine 50 so as to reduce the deviation, It is configured to follow.
  • the stop position determination apparatus 1000 of the transport machine includes a transport machine specification acquisition unit 600, an inclined surface range calculation unit 200, a transport machine range calculation unit 300, and a loading machine.
  • a stop position notification unit 800 configured to notify the autonomous traveling unit 51 of the unmanned transport machine 50 of the planned stop position is provided.
  • the transport machine stop position determination apparatus 1000 transmits the coordinate value data of the bucket position K from the bucket position calculation unit 320 of the transport machine range calculation unit 300 to the interference determination unit 400 via the bucket lower region projection unit 330. Output.
  • the interference determination unit 400 regards the coordinate value of the bucket position K as the planned stop position, and transmits the data of the planned stop position to the unmanned transport machine via the stop position notification unit 800. 50.
  • the transport machine specification acquisition unit 600 further grasps the distance between the self-loading machine 1 and the unmanned transport machine 50 by exchanging information with the communication unit 52 of the unmanned transport machine 50 through the communication unit 610.
  • Other configurations of the inclined surface range calculation unit 200, the loading machine range calculation unit 700, and the display device 500 are substantially the same as those in the first embodiment.
  • the autonomous traveling unit 51 of the unmanned transport machine 50 calculates the target position from the planned stop position notified from the stop position notification unit 800 of the stop position determination device 1000 of the transport machine, and connects them from the target position and the own machine position.
  • the vehicle travels by calculating the route and automatically controlling the driving, braking, and steering systems so as to follow the route. And if it arrives at a target fixed position, the driving, braking, and automatic control of the steering system of the unmanned transport machine 50 are stopped and stopped.
  • the planned stop position does not necessarily need to be accurately stopped at the planned stop position, and can be configured to stop when entering the planned stop position area with a certain margin.
  • by determining the planned stop position area in consideration of errors such as the own machine position recognition unit 54, it is not necessary to finely adjust the stop position by repeatedly moving forward and backward, which is efficient. .
  • the loading machine 1 turns in a direction away from the inclined surface 6 in order to load the excavated crushed stone into the unmanned transport machine 50. Then, the operator of the loading machine 1 stops the bucket 10 at the position where the loading operation to the unmanned transport machine 50 is performed (the planned stop position of the unmanned transport machine 50).
  • step S210 the transport machine specification acquisition unit 600 of the transport machine stop position determination apparatus 1000 acquires the ID of the unmanned transport machine 50 and acquires the specification of the unmanned transport machine 50 based on the ID. Thereafter, the acquired ID is output to the transporting machine range calculation unit 300.
  • the inclined surface range calculation unit 200 of the stop position determination device 1000 of the transport machine calculates the inclined surface range 18 and outputs it to the interference determination unit 400 in step S310.
  • step S410 the transport machine range calculation unit 300 of the transport machine stop position determination apparatus 1000 is based on the specifications of the unmanned transport machine 50 input from the transport machine specification acquisition unit 600 in step S210. Is output to the interference determination unit 400.
  • the loading machine range calculation unit 700 of the transport machine stop position determination device 1000 calculates the loading machine range 712 and outputs it to the interference determination unit 400 in step S510.
  • the interference determination unit 400 of the transport machine stop position determination apparatus 1000 includes the inclined surface range 18 calculated by the inclined surface range calculation unit 200 in step S310 and the transport machine range calculation unit 300 in step S410. Whether the unmanned transport machine 50 interferes with the loading machine 1 or the inclined surface 6 based on the calculated transporting machine range 4 and the loading machine range 712 calculated by the loading machine range calculation unit 700 in step S510. And the determination result is output to the display device 500 and the stop position notifying unit 800.
  • the transport machine specification acquisition unit 600 of the transport machine stop position determination apparatus 1000 grasps whether the unmanned transport machine 50 exists in the vicinity of the loading machine 1 by the communication unit 610 in step S660. Determine whether. If it is determined that it exists in the vicinity, the process proceeds to step S710. If it is determined that the vehicle is not traveling in the vicinity, the process returns to step S210.
  • step S710 the display device 500 of the transport machine stop position determination device 1000 indicates the current bucket 10 to the operator of the loading machine 1 from the determination result of the interference determination unit 400 in step S610.
  • a display indicating that the planned stop position is safe or a display indicating that it is not safe is performed, and the process proceeds to step S810.
  • step S810 the stop position notification unit 800 of the transport machine stop position determination apparatus 1000 determines that the unmanned transport machine 50 exists in the vicinity of the self-loading machine 1 in step S610.
  • Information such as the coordinate value of the planned stop position is output to the automatic guided machine 50.
  • the autonomous traveling unit 51 of the unmanned transport machine 50 that has received the data of the planned stop position of the own machine from the stop position notification unit 800 of the transport machine stop position determination device 1000 is stopped by the bucket 10 of the loading machine 1.
  • a target position is calculated from the planned position, a route to the target position is calculated, and traveling autonomously toward the target position is started.
  • the autonomous traveling unit 51 of the unmanned transport machine 50 stops the unmanned transport machine 50, and the operator of the loading machine 1 starts the loading operation when the unmanned transport machine 50 stops.
  • step S810 the stop position notification unit 800 of the transport machine stop position determination apparatus 1000 determines that the unmanned transport machine 50 interferes with at least one of the loading machine 1 and the inclined surface 6 in step S610. In this case, the process is terminated without outputting the data of the scheduled stop position to the communication unit 52. Further, the operator of the loading machine 1 recognizes from the display on the display device 500 that the scheduled stop position is determined to be inappropriate by the stop position determination device 1000 of the transport machine, and then moves the bucket 10 to a new position. Move to determine a new stop position. Then, the stop position determination apparatus 1000 of the transport machine performs a determination process from step S210 on whether or not the new planned stop position is safe.
  • the stop position determination device 1000 of the transport machine of the fourth embodiment it is accurately determined whether the unmanned transport machine 50 can be safely stopped at the planned stop position. Since the determination can be instructed, it is possible to prevent the unmanned transport machine 50 and the inclined surface 6 from interfering with each other, and substantially the same effect as in the case of the stop position determination device for the transport machine of the first embodiment can be obtained. .
  • the stop direction of the unmanned transport machine 50 with respect to the inclined surface 6 is determined in advance as shown in the second and third embodiments.
  • the region of the transporting machine range 4 can be optimized, and the present invention can be operated more flexibly.
  • the time required for stopping the automatic guided machine 50 can be further shortened, and the operation efficiency can be further improved.
  • the order in which these three steps S310, S410, and S510 are performed is not determined, and other than the above.
  • the order can be as follows.
  • the order may be step S310 ⁇ step S510 ⁇ step S410, step S410 ⁇ step S310 ⁇ step S510, step S410 ⁇ step S510 ⁇ step S310, step S510 ⁇ step S310 ⁇ step S410, step The order may be S510 ⁇ step S410 ⁇ step S310.
  • the scheduled stop position of the unmanned transport machine 50 has been described as an example in which the loading machine 1 and the unmanned transport machine 50 communicate directly with each other.
  • the planned stop position may be exchanged via the control station 7.
  • the stop position determination device 1000 of the transport machine outputs the coordinate value of the planned stop position to the control station 7 by the stop position notification unit 800.
  • the control station 7 Upon receiving this output, the control station 7 outputs data such as the coordinate value of the planned stop position to the communication unit 52 of the automatic unmanned transport machine 50 as a target.
  • the autonomous traveling unit 51 of the unmanned transport machine 50 starts control to travel autonomously toward the planned stop position, and the unmanned transport machine 50 starts autonomous traveling.
  • FIG. 21 is a diagram illustrating a range of the transport machine in the fifth embodiment of the stop position determination device for the transport machine of the present invention
  • FIG. 22 is a control in the fifth embodiment of the stop position determination device for the transport machine of the present invention
  • FIG. 23 is a flowchart illustrating the processing procedure
  • FIG. 23 is a flowchart illustrating a part of the flowchart illustrating the control processing procedure in the fifth embodiment of the stop position determination device for a transporting machine according to the present invention
  • FIG. FIG. 10 is a flowchart showing a part of the details of a flowchart explaining a control processing procedure in the fifth embodiment of the stop position determination device for a transport machine of the present invention.
  • the fifth embodiment of the stop position determination device 1000 for the transport machine includes a travel surface range calculation unit 201, a transport machine range calculation unit 300, an interference determination unit 400, a display device 500, At least a transporting machine specification acquisition unit 600 and a loading machine range calculation unit 700 are provided.
  • the traveling surface range calculation unit 201 and the interference determination unit 400 will be described below.
  • the traveling surface range calculation unit 201 includes an inclined surface detection unit 210, a traveling surface detection unit 220, an inclined surface boundary line detection unit 240, and a traveling surface range determination unit 261.
  • the configurations and operations of the inclined surface detection unit 210, the traveling surface detection unit 220, and the inclined surface boundary line detection unit 240 are substantially the same as those in the first embodiment.
  • the traveling surface range determination unit 261 includes the inclined surface 6 detected by the inclined surface detection unit 210, the transporting machine traveling surface 3 detected by the traveling surface detection unit 220, and the inclined surface boundary line detected by the inclined surface boundary line detection unit 240. 12, a range (traveling surface range) 19 (see FIGS. 16 and 17) in which the transporting machine 2 can stop without interfering with the inclined surface 6 is calculated. Further, the calculated travel surface range 19 is output to the travel surface interference determination unit 421 of the interference determination unit 400.
  • the interference determination unit 400 includes a loading machine interference determination unit 410, a traveling surface interference determination unit 421, and an overall determination unit 430.
  • the interference determination unit 400 determines whether the loading machine range 4 does not interfere with the loading machine range 712 in the loading machine interference determination unit 410, and the conveying machine range 4 interferes with the loading machine range 712. If not, it is determined that the planned stop position is safe. Further, the interference determination unit 400 determines whether or not the traveling machine range 4 interferes completely with the traveling surface range 19 in the traveling surface interference determination unit 421, and the conveying machine range 4 interferes with the traveling surface range 19. If so, it is determined that the planned stop position is safe.
  • the interference determination unit 400 outputs the determination result to the display device 500 and the horn control unit 901. Note that “interference” in the present embodiment indicates a state in which the transporting machine range 4 is in contact with the traveling surface range 19 and the loading machine range 712 even in part.
  • the interference target recognition apparatus includes a distance sensor 211, a travel surface range calculation unit 201, and a loading machine range calculation unit 700.
  • the transporting machine range determination device includes a transporting machine database 620, a transporting machine specification reading unit including a communication unit 610 and an ID verification unit 630, and a transporting machine range calculating unit 300.
  • the interference determination device includes an interference determination unit 400.
  • the transport machine specification acquisition unit 600 of the transport machine stop position determination device 1000 acquires the ID of the transport machine 2 and acquires the specification of the transport machine 2 based on the ID in step S200. Thereafter, the acquired ID is output to the transporting machine range calculation unit 300.
  • the travel surface range calculation unit 201 of the transport machine stop position determination apparatus 1000 calculates the travel surface range 19 and outputs it to the interference determination unit 400 in step S300-1. Details of step S300-1 will be described with reference to FIG. Steps S301 to S305 are substantially the same as those in FIG.
  • the travel surface range determination unit 261 detects the inclined surface 6 detected by the inclined surface detection unit 210 in step S303 and the transport machine travel surface 3 detected by the travel surface detection unit 220 in step S304 in step S306-1.
  • the traveling surface range 19 is calculated from the inclined surface boundary 12 detected by the inclined surface boundary detection unit 240 in step S305, and the calculated traveling surface range 19 is output to the traveling surface interference determination unit 421 of the interference determination unit 400. To do.
  • step S400 the transport machine range calculation unit 300 of the transport machine stop position determination apparatus 1000 calculates the transport machine range 4 based on the specifications of the transport machine 2 input from the transport machine specification acquisition unit 600 in step S200. Calculate and output to interference determination section 400.
  • the loading machine range calculation unit 700 of the transport machine stop position determination device 1000 calculates the loading machine range 712 and outputs it to the interference determination unit 400 in step S500.
  • step S600 the interference determination unit 400 of the transport machine stop position determination device 1000 calculates the travel surface range 19 calculated by the travel surface range calculation unit 201 in step S300-1, and the transport machine range calculation unit in step S400. Whether the transporting machine 2 interferes with the loading machine 1 or the inclined surface 6 based on the transporting machine range 4 calculated by 300 and the loading machine range 712 calculated by the loading machine range calculating unit 700 in step S500. Whether or not and outputs the determination result to the display device 500 and the horn 900. Details of step S600 will be described with reference to FIG.
  • step S601-1 the traveling surface interference determination unit 421 performs the transportation machine range 4 input from the bucket lower area projection unit 330 of the transportation machine range calculation unit 300 in step S406 and the traveling surface range in step S306-1. It is determined whether or not there is interference with the travel surface range 19 input from the travel surface range determination unit 261 of the calculation unit 201. If there is no interference, the process proceeds to step S604. If there is interference, the process proceeds to step S602. Steps S602 to S604 are substantially the same as those in FIG.
  • the transport machine range calculation unit The transport machine range 4 calculated in 300 can be set to a necessary range when the transport machine 2 is stopped in that direction, and the same effect as that of the second embodiment can be obtained.
  • the stopping direction of the transporting machine 2 is determined to be substantially perpendicular to the approximate straight line of the inclined surface boundary line 12, and the inclined surface 6 is used.
  • the present invention can also be applied to the case where the transport machine is an unmanned transport machine 50 that can travel autonomously, and the same effects as in the fourth embodiment can be obtained.
  • the control station 7 includes the transport machine database 620 in the transport machine specification acquisition unit 600, and the loading machine 1 includes the inclined surface range calculation unit 200, the transport machine range calculation unit 300, and the loading.
  • the present invention is not limited to the above-described embodiment, and other components other than the distance sensor 211 and the bucket position calculation unit 320 that need to be installed in the loading machine 1 are the loading machine 1, the control system, and the like.
  • the station 7 and the transporting machine 2 may be installed anywhere, and it may be configured to exchange necessary data between the respective constituent elements by wireless communication or the like.
  • the loading machine 1 can also include all the parts of the stop position determination device 1000 of the transport machine.
  • the transport machine stop position determination apparatus 1000 includes the loading machine range calculation unit 700, and the interference determination unit 400 determines whether there is interference between the transporting machine range 4 and the loading machine range 712. ing.
  • the load machine 1 is positioned above the transport machine 2, Excavation loading work is performed at that position. For this reason, the loading machine 1 and the transport machine 2 do not interfere with each other. Therefore, the configuration and steps related to the loading machine range calculation unit 700 are not necessary. Even if the loading machine 1 is a loading excavator, the loading machine range calculation unit 700 is not essential.
  • FIG. 3 shows an example in which the distance sensor 211 is installed on the loading machine body 21 near the base of the front 14 of the loading machine body 1, but the region just below the bucket 10 of the loading machine 1 is always displayed.
  • the distance sensor 211 may be installed at other positions such as the bucket 10 as shown in FIG. 26 and the front 14 as shown in FIG. it can.
  • a plurality of distance sensors 211 can be arranged so that the region just below the bucket 1 becomes the detection range 11 regardless of the posture of the front 14 of the loading machine 1.
  • interference in the interference determination unit 400 is a state in which the transport machine range 4 and the transport machine rear line 40 are in contact with the inclined surface range 18, the travel surface range 19, and the loading machine range 712 at least partially.
  • the present invention is not limited to this, and “interference” can be set to allow a certain amount of overlap.
  • Back line of transport machine 50 ... unmanned transport machine, 51. Autonomous traveling part, 52. Communication part, 53. Target stop position recognition unit, 54 ... Own machine position recognition unit, 55... Target route generator, 56... Target path follower, 200 ... inclined surface range calculation unit, 201: Traveling surface range calculation unit, 210 ... inclined surface detection unit, 211 ... Distance sensor, 220 ... a running surface detection unit, 240 ... inclined surface boundary line detection unit, 260 ... inclined surface range determination unit, 261... A traveling surface range determination unit, 290 ... Correction determination unit, 295 ... rear limit line calculation unit, 300 ... transport machine range calculation unit, 310 ... projection area calculation unit, 320 ... Bucket position calculation unit, 330 ...

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
PCT/JP2013/065933 2012-06-21 2013-06-10 Dispositif de détermination de position d'arrêt pour machine de transport, et machine de chargement munie dudit dispositif Ceased WO2013191017A1 (fr)

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JP2012-139921 2012-06-21
JP2012139921A JP6032730B2 (ja) 2012-06-21 2012-06-21 運搬機械の停止位置判定装置およびこの装置を備えた積込機械

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JPWO2015087430A1 (ja) * 2013-12-12 2017-03-16 日立建機株式会社 車両走行システム及び車両走行制御方法
JP2020159142A (ja) * 2019-03-27 2020-10-01 日立建機株式会社 作業機械
WO2021202253A1 (fr) * 2020-03-31 2021-10-07 Caterpillar Inc. Système et procédé d'alignement basé sur la perception pour une machine de chargement
US11185003B2 (en) 2019-04-03 2021-11-30 Caterpillar Inc. Tipping avoidance system and method
US20240410128A1 (en) * 2021-11-02 2024-12-12 Kobelco Construction Machinery Co., Ltd. Load discharge system
EP4283052A4 (fr) * 2021-03-19 2024-12-25 Komatsu Ltd. Système de commande et procédé de commande d'un engin de chantier

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JP6315696B2 (ja) * 2014-09-29 2018-04-25 日立建機株式会社 運搬車両の停止位置算出装置
JP6517096B2 (ja) * 2015-07-02 2019-05-22 日立建機株式会社 作業機械の走行支援システム及び運搬車両
JP6603255B2 (ja) * 2017-03-13 2019-11-06 ファナック株式会社 ロボットシステムおよびロボット制御方法
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KR102022773B1 (ko) * 2017-10-11 2019-09-18 한국철도기술연구원 자율주행차량의 정밀위치감지 장치, 감지방법, 그 정밀위치감지장치를 통한 정차지원 시스템 및 정차지원방법
JP6900897B2 (ja) * 2017-12-25 2021-07-07 コベルコ建機株式会社 建設機械の障害物検出装置
JP7307051B2 (ja) * 2018-03-31 2023-07-11 住友建機株式会社 ショベル
JP7811851B2 (ja) * 2022-01-14 2026-02-06 日立建機株式会社 作業機械
JP2024052162A (ja) * 2022-09-30 2024-04-11 株式会社小松製作所 作業機械の制御システム及び作業機械の制御方法
JP2024052331A (ja) * 2022-09-30 2024-04-11 株式会社小松製作所 作業現場の検出システム及び作業現場の検出方法
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JPWO2015087430A1 (ja) * 2013-12-12 2017-03-16 日立建機株式会社 車両走行システム及び車両走行制御方法
JP2020159142A (ja) * 2019-03-27 2020-10-01 日立建機株式会社 作業機械
JP7003082B2 (ja) 2019-03-27 2022-01-20 日立建機株式会社 作業機械
US11185003B2 (en) 2019-04-03 2021-11-30 Caterpillar Inc. Tipping avoidance system and method
WO2021202253A1 (fr) * 2020-03-31 2021-10-07 Caterpillar Inc. Système et procédé d'alignement basé sur la perception pour une machine de chargement
US11401684B2 (en) 2020-03-31 2022-08-02 Caterpillar Inc. Perception-based alignment system and method for a loading machine
EP4283052A4 (fr) * 2021-03-19 2024-12-25 Komatsu Ltd. Système de commande et procédé de commande d'un engin de chantier
US20240410128A1 (en) * 2021-11-02 2024-12-12 Kobelco Construction Machinery Co., Ltd. Load discharge system
US12606981B2 (en) * 2021-11-02 2026-04-21 Kobelco Construction Machinery Co., Ltd. Load discharge system

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