PROBLEM TO BE SOLVED: To provide a detection technique of backward obstacles fit for a mine work machine.SOLUTION: A mine work machine 20 is provided with right and left backward obstacle detection devices 2L, 2R, on the respective left and right sides of the machine body, for detecting obstacles on the road surface at the left backward and the right backward of the machine body, and provided with a forward obstacle detection device 2F on the front face of the machine body. The mine work machine collects left backward detection data and right backward detection data while advancing to a turning back point. Then, the mine work machine detects a road surface boundary position positioning backward of the mine work machine from the left backward detection data and the right backward detection data. Further, the mine work machine is provided with a backward monitoring device for determining whether obstacles exist within a backward monitoring target area, which is from own machine to the road surface boundary position, within a dead angle area that lies between a right-side limit of the detection area of the left backward obstacle detection device 2L and a left-side limit of the detection area of the right backward obstacle detection device 2R. If no obstacle can be detected from either the left backward detection data or the right backward detection data, the backward monitoring device determines that no obstacle exists in the backward monitoring target area.SELECTED DRAWING: Figure 14
【課題】鉱山用作業機械に適した後方障害物の検出技術を提供する。【解決手段】鉱山用作業機械20の機体左右各側に機体左後方、及び右後方の路面上の障害物を検出する左右の障害物検出装置2L、2Rを、機体前面に前方障害物検出装置2Fを設け、切返し地点に前進しながら左後方検出データ及び右後方検出データを収集する。そして、左後方検出データ及び右後方検出データから鉱山用作業機械の後方に位置する路面境界位置を検出し、左後方障害物検出装置2Lの検出域の右側限界及び右後方障害物検出装置2Rの検出域の左側限界の間にある死角領域のうち、自機から路面境界位置までの間の後方監視対象領域内に障害物があるかを判定する後方監視装置を備える。後方監視装置は、左後方検出データ及び右後方検出データのいずれからも障害物が検出できない場合は、後方監視対象領域内に障害物がないと判定する。【選択図】図14
MINE WORK MACHINE AND METHOD OF MONITORING BACKWARD THEREOF
鉱山用作業機械及びその後方監視方法
2018-03-22
Patent
Electronic Resource
Japanese
MACHINE FOR MINE WORK AND OBSTACLE DETECTION DEVICE THEREOF
European Patent Office | 2018
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