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A platform for research: civil engineering, architecture and urbanism
WORK MACHINE TRAVEL ASSIST SYSTEM AND TRANSPORT VEHICLE
PROBLEM TO BE SOLVED: To guide a work machine to a target stop position in a mine irrespectively of GPS accuracy.SOLUTION: A work machine travel assist system comprises: a target-stop-position designation device designating a target stop position Pin a coordinate system Σof a first work machine 200; a surrounding-shape measuring device provided in a second work machine 100 and acquiring a shape of a surrounding environment forward in a travel direction of the second work machine; a map generation device generating a surrounding shape map on the basis of a measurement result of the surrounding-shape measuring device; a work-machine-position detection device detecting a position of the first work machine in the surrounding shape map on the basis of outer shape data on the first work machine; and a relative-position calculation device converting the target stop position Pdesignated in the coordinate system Σof the first work machine into a coordinate system Σof the surrounding shape map on the basis of the position of the first work machine in the surrounding shape map and the target stop position P, and calculating relative positions of the second work machine and the target stop position Pon the basis of a position of the second work machine in the surrounding shape map and the target stop position Pin the coordinate system of the surrounding shape map obtained by conversion.SELECTED DRAWING: Figure 3
【課題】ＧＰＳの精度に関らず鉱山内において作業機械を停車目標位置に誘導する。【解決手段】第一の作業機械200の座標系Σｓにおける停車目標位置Ｐｓを指定する停車目標位置指定装置と、第二の作業機械100に備えられ、第二の作業機械の進行方向前方の周囲環境の形状を取得する周囲形状測定装置と、周囲形状測定装置の測定結果を基に周囲形状地図を生成する地図生成装置と、第一の作業機械の外形形状データを基に周囲形状地図内における第一の作業機械の位置を検出する作業機械位置検出装置と、周囲形状地図内における第一の作業機械の位置及び第一の作業機械の座標系Σｓで指定された停車目標位置Ｐｓを基に当該停車目標位置を周囲形状地図の座標系ΣＴに変換し、周囲形状地図内における第二の作業機械の位置及び周囲形状地図の座標系に変換された停車目標位置ＰＴを基に第二の作業機械と停車目標位置との相対位置を算出する相対位置算出装置とを備える。【選択図】図３
WORK MACHINE TRAVEL ASSIST SYSTEM AND TRANSPORT VEHICLE
PROBLEM TO BE SOLVED: To guide a work machine to a target stop position in a mine irrespectively of GPS accuracy.SOLUTION: A work machine travel assist system comprises: a target-stop-position designation device designating a target stop position Pin a coordinate system Σof a first work machine 200; a surrounding-shape measuring device provided in a second work machine 100 and acquiring a shape of a surrounding environment forward in a travel direction of the second work machine; a map generation device generating a surrounding shape map on the basis of a measurement result of the surrounding-shape measuring device; a work-machine-position detection device detecting a position of the first work machine in the surrounding shape map on the basis of outer shape data on the first work machine; and a relative-position calculation device converting the target stop position Pdesignated in the coordinate system Σof the first work machine into a coordinate system Σof the surrounding shape map on the basis of the position of the first work machine in the surrounding shape map and the target stop position P, and calculating relative positions of the second work machine and the target stop position Pon the basis of a position of the second work machine in the surrounding shape map and the target stop position Pin the coordinate system of the surrounding shape map obtained by conversion.SELECTED DRAWING: Figure 3
【課題】ＧＰＳの精度に関らず鉱山内において作業機械を停車目標位置に誘導する。【解決手段】第一の作業機械200の座標系Σｓにおける停車目標位置Ｐｓを指定する停車目標位置指定装置と、第二の作業機械100に備えられ、第二の作業機械の進行方向前方の周囲環境の形状を取得する周囲形状測定装置と、周囲形状測定装置の測定結果を基に周囲形状地図を生成する地図生成装置と、第一の作業機械の外形形状データを基に周囲形状地図内における第一の作業機械の位置を検出する作業機械位置検出装置と、周囲形状地図内における第一の作業機械の位置及び第一の作業機械の座標系Σｓで指定された停車目標位置Ｐｓを基に当該停車目標位置を周囲形状地図の座標系ΣＴに変換し、周囲形状地図内における第二の作業機械の位置及び周囲形状地図の座標系に変換された停車目標位置ＰＴを基に第二の作業機械と停車目標位置との相対位置を算出する相対位置算出装置とを備える。【選択図】図３
WORK MACHINE TRAVEL ASSIST SYSTEM AND TRANSPORT VEHICLE
作業機械の走行支援システム及び運搬車両
ONO YUKIHIKO (author) / ISHIMOTO HIDEFUMI (author) / KATO MANABU (author)
2017-01-19
Patent
Electronic Resource
Japanese
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