Title:
MINING WORK MACHINE AND OBSTACLE DETERMINATION DEVICE
Document Type and Number:
WIPO Patent Application WO/2018/056125
Kind Code:
A1
Abstract:
An obstacle determination device: determines whether the state of a host vehicle is a state immediately after progressing, which includes a stopped state and a state in which the vehicle is traveling under a preset host vehicle state determination speed threshold immediately after starting, or a normal travel state in which the vehicle is traveling at or above the host vehicle state determination speed threshold; selects, as a distance threshold value provided to determine a non-obstacle, a starting distance threshold value if in the state immediately after starting, or a normal distance threshold value if in the normal travel state; and extracts obstacles on the basis of the result of comparison of the distance at which an obstacle candidate was initially detected with the distance threshold value selected by the distance threshold value selector and outputs the obstacles to a reflection intensity filter. The obstacle determination device then: selects a starting reflection intensity threshold value if in the state immediately after starting, and a normal reflection intensity threshold value if in the normal travel state; excludes non-obstacles on the basis of the result of comparison of the reception strength of the reflection wave of obstacle information with the starting reflection intensity threshold value or the normal reflection intensity threshold value; and outputs the remaining obstacle candidates as obstacles.
Inventors:
WATANABE ATSUSHI (JP)
NAKA TAKUYA (JP)
UOTSU SHINICHI (JP)
TAKEDA KOEI (JP)
NAKA TAKUYA (JP)
UOTSU SHINICHI (JP)
TAKEDA KOEI (JP)
Application Number:
PCT/JP2017/032937
Publication Date:
March 29, 2018
Filing Date:
September 12, 2017
Export Citation:
Assignee:
HITACHI CONSTRUCTION MACH CO (JP)
International Classes:
G01S13/931; G01S13/93; G08G1/16; G01S17/931
Foreign References:
| JP2013186761A | 2013-09-19 | |||
| JP2012227699A | 2012-11-15 | |||
| JP2009031053A | 2009-02-12 | |||
| JP2010048240A | 2010-03-04 |
Other References:
See also references of EP 3496067A4
Attorney, Agent or Firm:
THE PATENT BODY CORPORATE TAKEWA INTERNATIONAL PATENT OFFICE (JP)
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