PROBLEM TO BE SOLVED: To reduce a false judgement in judging the presence or absence of dirt of an obstacle detection sensor of work machines moving back and forth in the vast and monotonous environment such as mines.SOLUTION: A dirt determination device includes: a number of obstacles acquisition part 210 for acquiring the number of obstacles detected from information of the obstacles detected by a radar 121; a vehicle information storage part 220 for storing vehicle information acquired by a vehicle information detection sensor 120; and a dirt judgement part 230 for judging the presence or absence of the radar 121 using the number of obstacles and the vehicle information. Using the number of obstacles, the dirt judgement part 230 calculates non-detection periods which are periods in which the detected number of obstacles is below the predetermined number. When the calculated non-detection period is more than the predetermined number, the steering duration which is the period in which a travel distance of a work machine and a steering amount of prescribed degree or greater of the work machine continues is calculated using speed and steering amount among the vehicle information, and when at least one of the conditions in which the travel distance is more than the prescribed value and the steering duration is more than the prescribed value is satisfied, the dirt is judged to be present.SELECTED DRAWING: Figure 2
【課題】鉱山等の広大で単調な環境を往復する作業機械の障害物検出センサの汚れの有無の判定において、誤判定を低減する。【解決手段】レーダ121が検出した障害物の情報から、検出した障害物の個数を取得する障害物個数取得部210と、車体情報検出センサ120が取得した車体情報を格納する車体情報格納部220と、障害物の個数および車体情報を用いて、レーダ121の汚れの有無を判定する汚れ判定部230と、を備え、汚れ判定部230は、障害物の個数を用い、検出された障害物の個数が所定数以下の期間である未検出期間を算出し、算出した未検出期間が所定値以上である場合、車体情報のうち車速および操舵量を用い、未検出期間中の、作業機械の走行距離および所定以上の操舵量が継続する期間である操舵継続期間を算出し、走行距離が所定値以上および操舵継続期間が所定値以上の少なくとも一方の条件を満たす場合、汚れ有と判定する。【選択図】図2
DIRT DETERMINATION DEVICE OF OBSTACLE DETECTION SENSOR AND DIRT DETERMINATION METHOD
障害物検出センサの汚れ判定装置および汚れ判定方法
2018-11-15
Patent
Electronic Resource
Japanese
Automotive engineering | 2003
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