PROBLEM TO BE SOLVED: To make it possible to detect existence and absence of a contamination of an environment recognition device with at a high accuracy thereby preventing lowering of an accuracy of environment recognition.SOLUTION: An environment recognition device 18 equipped with a camera 20 is mounted on a vehicle main body 1a of a dump truck 1, the camera 20 is accommodated in a transparent protective case 22, and the protective case 22 is covered by a shield cover 23 having a high strength. The shield cover 23 can be displaced between an open state that a visual field of the camera 20 is opened by an opening and closing drive part 30 and a closed state that the protective case 22 with the camera 20 mounted thereon is closed by the shield cover 23. A contamination detection plate 40 having a prescribed pattern is provided on an inner surface of a shield part 23a of the shield cover 23, and the contamination detection plate 40 is photographed by the camera 20 in the closed state of the shield cover 23 thereby detecting a contamination degree of a light transmission part 22a of the protective case 22.SELECTED DRAWING: Figure 4B
【課題】外界認識装置の汚れの有無を高精度に検出して、外界の認識精度が低下するのを防止できるようにする。【解決手段】ダンプトラック1の車体本体1aにカメラ20を備えた外界認識装置18を装着し、このカメラ20は透明な保護ケース22内に収容されており、さらにこの保護ケース22は高強度を有する遮蔽カバー23で覆うようになし、この遮蔽カバー23は開閉駆動部30によりカメラ20の視野を開く開口状態と、遮蔽カバー23でカメラ20を装着した保護ケース22を閉じた閉鎖状態とに変位可能となし、遮蔽カバー23の遮蔽部23aの内面には所定のパターンを有する汚れ検出板40を設け、遮蔽カバー23の閉鎖状態でカメラ20により汚れ検出板40を撮影して、保護ケース22の光透過部22aのう汚れ度合いを検出する。【選択図】 図4B
WORK MACHINE FOR MINE
鉱山用作業機械
2016-05-16
Patent
Electronic Resource
Japanese
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