Stop indication system

Abstract

In this invention, the distance detection unit (41) detects a first distance (L1) from a specific reference position (20a) associated with the engineering machinery (20) to the rear (U2) portion (13b) of the platform (13) of the transport vehicle (10), and a second distance (L2) from the reference position (20a) to the front (U1) portion (13d) of the platform (13). If at least one of the following occurs: the first distance (L1) changes from a value greater than a first threshold (T1) to a value equal to or less than the first threshold (T1); or the second distance (L2) changes from a value greater than a second threshold (T2) to a value equal to or less than the second threshold (T2), the controller (50) causes the stop indication output unit (47) to output a stop indication.

Description

Technical Field

[0001] The present invention relates to a stop indication system for instructing a transport vehicle approaching construction machinery to stop. Background Technology

[0002] For example, Patent Document 1 describes a technique for stopping a transport vehicle at a target stopping position. When using the technique described in that document, the transport vehicle stops when the reference point of the transport vehicle reaches the target stopping position (see paragraph 0054 of that document). Figure 1 wait).

[0003] However, it is important to ensure that the transport vehicle stops in the correct position relative to the construction machinery. Therefore, it is desirable to provide instructions on how to stop the transport vehicle in the correct position.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Publication No. 2020-60032 Summary of the Invention

[0007] The object of the present invention is to provide a stop indication system that can give a stop indication for stopping the transport vehicle when the transport vehicle is in an appropriate position relative to the construction machinery.

[0008] A stop indication system provides an instruction to stop a transport vehicle approaching construction machinery. The stop indication system includes a distance detection unit, a stop indication output unit, and a controller. The distance detection unit detects the distance of the transport vehicle relative to the construction machinery. The stop indication output unit outputs an instruction to stop the transport vehicle, i.e., a stop instruction. The distance detection unit detects a first distance and a second distance. The first distance is the distance from a specific reference position associated with the construction machinery to the rear portion of the transport vehicle's platform. The second distance is the distance from the reference position to the front portion of the transport vehicle's platform. The controller sets a threshold value (a first threshold) for the first distance and a threshold value (a second threshold) for the second distance. The controller causes the stop indication output unit to output a stop instruction if at least one of the following occurs: the first distance changes from being greater than the first threshold to being equal to or less than the first threshold; or the second distance changes from being greater than the second threshold to being equal to or less than the second threshold. Attached Figure Description

[0009] Figure 1 This is a diagram showing the stop indicator system 30, etc., and is a view of the transport vehicle 10 and the construction machinery 20 from the side.

[0010] Figure 2 yes Figure 1 The block diagram shown is of the stop indication system 30.

[0011] Figure 3 It means Figure 1 The flowchart of the processing of the controller 50 shown.

[0012] Figure 4 It means Figure 1 The speed of the transport vehicle 10 shown is related to Figure 3 The line graph showing the relationship between the first threshold T1 and the second threshold T2.

[0013] Figure 5 Viewed from above Figure 1 The diagram shows the transport vehicle 10 and the construction machinery 20.

[0014] Figure 6 It means Figure 3 The flowchart shown illustrates the threshold calculation (S101) process. Detailed Implementation

[0015] Reference Figures 1 to 6 ,right Figure 1 The following describes the transport vehicle 10, the construction machinery 20, and the stop indication system 30 shown.

[0016] The transport vehicle 10 is a vehicle equipped with a platform 13. The transport vehicle 10 is used to transport goods loaded onto the construction machinery 20. The transport vehicle 10 can be a dump truck or a truck. The transport vehicle 10 has a main body 11 and a platform 13. The main body 11 is mobile and supports the platform 13. The main body 11 has a driver's cab 11a.

[0017] Platform 13 contains transported items. The transported items contained in platform 13 can be, for example, sand, stones, or waste. Figure 1 The forward / backward direction U shown refers to the forward / backward direction of the transport vehicle 10. The side from the platform 13 towards the driver's cab 11a is designated as the front side U1 of the transport vehicle in the forward / backward direction U, and the side from the driver's cab 11a towards the platform 13 is designated as the rear side U2 of the transport vehicle in the forward / backward direction U. The platform 13 can move relative to the main body 11 of the transport vehicle, or it can be fixed to the main body 11 of the transport vehicle. The platform 13 includes a platform floor 13a, a platform rear portion 13b, and a platform front portion 13d.

[0018] The platform floor portion 13a is the part that forms the bottom of the platform 13. The platform rear portion 13b is the portion of the platform 13 at the rear U2 of the transport vehicle (e.g., an end). The platform rear portion 13b protrudes upward from the portion of the platform floor portion 13a at the rear U2 of the transport vehicle, for example, it is plate-shaped (side rail). The platform rear portion 13b has a plane or a generally flat plane extending in a direction or substantially orthogonal to the transport vehicle's longitudinal direction U. The platform front portion 13d is the portion of the platform 13 at the front U1 of the transport vehicle. The platform front portion 13d protrudes upward from the portion of the platform floor portion 13a at the front U1 of the transport vehicle, for example, it is plate-shaped (front rail). The platform front portion 13d protrudes upward compared to the platform rear portion 13b. The platform front portion 13d has a plane or a generally flat plane extending in a direction or substantially orthogonal to the transport vehicle's longitudinal direction U.

[0019] Construction machinery 20 is machinery used for operations, such as construction machinery used for building operations, such as excavators. Construction machinery 20 grabs and transports materials (e.g., excavating sand and soil) and loads the grabbed materials onto a transport vehicle 10 (e.g., dumping soil). Construction machinery 20 includes a lower traveling body 21, an upper rotating body 23, and auxiliary equipment 25.

[0020] The lower running gear 21 enables the construction machinery 20 to move. The lower running gear 21 may have, for example, tracks 21c and 21c with left-hand tracks (see reference). Figure 5 The upper rotating body 23 is rotatably mounted on the lower walking body 21.

[0021] The auxiliary device 25 is mounted on the upper rotating body 23 in an undulating manner. The auxiliary device 25 includes a boom 25a, a stick 25b, and a distal auxiliary device 25c. The boom 25a is mounted on the upper rotating body 23 in an undulating (up-and-down rotating) manner. The stick 25b is rotatably (flexibly) mounted on the boom 25a. The distal auxiliary device 25c is located at the distal end of the auxiliary device 25 and is rotatably mounted on the stick 25b. The distal auxiliary device 25c can be a bucket for scooping and transporting materials (e.g., sand), or it can be a device for gripping and transporting materials (e.g., a grab bucket).

[0022] (Regarding the direction of construction machinery 20, etc.)

[0023] The direction of the extension of the axis of rotation of the upper rotating body 23 relative to the lower traveling body 21 is taken as the vertical direction of the engineering machinery 20. Figure 1 The front-rear direction X of the construction machinery shown is the front-rear direction of the construction machinery 20. In the direction orthogonal to the vertical direction of the construction machinery 20, the side of the auxiliary equipment 25 that protrudes relative to the upper rotating body 23 is taken as the front side X1 of the construction machinery in the front-rear direction X, and the opposite side is taken as the rear side X2 of the construction machinery in the front-rear direction X.

[0024] The stop indication system 30 is a system that automatically provides a stop indication (e.g., an automatic horn system) to bring a transport vehicle 10 approaching the construction machinery 20 to a stop. Figure 2 As shown, the stop indication system 30 includes a distance detection unit 41, a transport vehicle speed detection unit 42, a lower walking body posture detection unit 43, an auxiliary equipment posture detection unit 44, a stop indication output unit 47, and a controller 50.

[0025] Distance detection department 41 detection transport vehicle 10 relative to Figure 1 The distances to the construction machinery 20 are shown. The distance detection unit 41 detects a first distance L1 and a second distance L2. The first distance L1 is the distance (e.g., the shortest distance) from a specific reference position 20a associated with the construction machinery 20 to the rear portion 13b of the platform of the transport vehicle 10. The reference position 20a is, for example, a position uniquely determined based on the position of the upper rotating body 23, such as the base end of the boom 25a (the end on the side of the upper rotating body 23), or a specific point on the central axis of rotation of the upper rotating body 23 relative to the lower traveling body 21. The second distance L2 is the distance (e.g., the shortest distance) from the reference position 20a to the front portion 13d of the platform.

[0026] The distance detection unit 41 (position detection unit) can also detect the position of the transport vehicle 10 relative to the construction machinery 20. More specifically, the distance detection unit 41 can detect the three-dimensional position information of the transport vehicle 10, and it can also detect the three-dimensional shape information of the transport vehicle 10. In this case, the distance detection unit 41 acquires an image (distance image) containing distance information (depth information). The distance detection unit 41 can also detect the position of the transport vehicle 10 based on both three-dimensional information and two-dimensional information (image).

[0027] The distance detection unit 41 can also detect only a portion of the position (three-dimensional position information) of the transport vehicle 10, for example, it can detect only the position of the platform 13 in the transport vehicle 10. Only one distance detection unit 41 can be provided, or multiple units can be provided. The distance detection unit 41 can be mounted on the construction machinery 20 or disposed outside the construction machinery 20 (e.g., at the work site). When the distance detection unit 41 is disposed outside the construction machinery 20, it is sometimes possible to detect positions that cannot be detected when the distance detection unit 41 is only mounted on the construction machinery 20 (e.g., parts obscured by the auxiliary equipment 25). Furthermore, when the distance detection unit 41 is disposed outside the construction machinery 20, the stop indication system 30 of this embodiment can be applied even if the construction machinery 20 does not have a distance detection unit 41.

[0028] The distance detection unit 41 is a sensor capable of non-contact distance detection. The distance detection unit 41 can be equipped with a device that uses lasers to detect three-dimensional information, such as LiDAR (Light Detection and Ranging) or Laser Imaging Detection and Ranging, or a TOF (Time of Flight) sensor. The distance detection unit 41 can also be equipped with a device that uses radio waves to detect three-dimensional information (e.g., millimeter-wave radar). The distance detection unit 41 can also be equipped with a stereo camera. When the distance detection unit 41 detects the three-dimensional position and shape of the transport vehicle 10 based on both three-dimensional and two-dimensional information, the distance detection unit 41 can be equipped with a camera capable of detecting two-dimensional images.

[0029] Transport vehicle speed detection unit 42 (reference) Figure 2 The transport vehicle speed detection unit 42 can be mounted on the construction machinery 20 or disposed outside the construction machinery 20. The transport vehicle speed detection unit 42 can also be used as a distance detection unit 41, or it can be used independently. Figure 2 The same applies to the lower walking body posture detection unit 43 and the auxiliary equipment posture detection unit 44 shown. For example, the transport vehicle speed detection unit 42 can detect the speed of the transport vehicle based on the following data: Figure 1 The speed of the transport vehicle 10 is detected (calculated) by measuring the change in distance between the engineering machinery 20 and the transport vehicle 10 per unit time. For example, the transport vehicle speed detection unit 42 (see reference) Figure 2 The speed of the transport vehicle 10 can be calculated based on its three-dimensional position information. For example, the transport vehicle speed detection unit 42 can be a speed sensor installed on the transport vehicle 10.

[0030] Lower walking posture detection unit 43 (refer to) Figure 2 The lower traveling body 21 is used to detect its posture (e.g., angle) relative to the transport vehicle 10. The lower traveling body posture detection unit 43 can be mounted on the construction machinery 20 or disposed externally on the construction machinery 20. For example, the lower traveling body posture detection unit 43 (see reference...) Figure 2 The posture of the lower traveling body 21 relative to the transport vehicle 10 can be calculated based on the posture of the transport vehicle 10 relative to the upper rotating body 23 and the posture (rotation angle) of the upper rotating body 23 relative to the lower traveling body 21. For example, the posture detection unit 43 of the lower traveling body (see reference) Figure 2 The posture of the lower walking body 21 relative to the transport vehicle 10 can be detected based on the distance image (three-dimensional position and shape information) of the transport vehicle 10 and the lower walking body 21.

[0031] Auxiliary equipment posture detection unit 44 (refer to) Figure 2 The auxiliary equipment posture detection unit 44 can detect the posture of the auxiliary equipment 25. The auxiliary equipment posture detection unit 44 can be mounted on the construction machinery 20 or disposed outside the construction machinery 20. For example, the auxiliary equipment posture detection unit 44 (see reference...) Figure 2 The angle sensor 44 can be one or more angle sensors mounted on the engineering machinery 20. In this case, the auxiliary device posture detection unit 44 (see reference) Figure 2 The system detects the angle of boom 25a relative to upper slewing body 23, the angle of stick 25b relative to boom 25a, and the angle of distal auxiliary equipment 25c relative to stick 25b. For example, the auxiliary equipment posture detection unit 44 (see...) Figure 2 The posture of the auxiliary device 25 can be detected based on the distance image of the auxiliary device 25.

[0032] Stop indicator output unit 47 (refer to) Figure 2 The stop indication output unit 47 can be mounted on the construction machinery 20 or disposed outside the construction machinery 20. This "stop indication" can be an indication that can be perceived by the driver inside the transport vehicle cab 11a of the transport vehicle 10. In this case, the "stop indication" can be, for example, an indication of at least one of sound, light, and vibration. The "stop indication" can be an electrical signal used to automatically stop the transport vehicle 10. The stop indication output unit 47 can be a horn (e.g., a horn mounted on the construction machinery 20), a loudspeaker, a light, or a display device (monitor, etc.).

[0033] The controller 50 is a computer that performs operations such as signal input / output, judgment or calculation, and information storage. The controller 50 can be mounted on the construction machinery 20 or configured externally. The controller 50 is configured with thresholds T (first threshold T1, second threshold T2, etc.). Figure 3 The following mainly refers to... Figure 3 The first threshold T1 and the second threshold T2 are explained.

[0034] The first threshold T1 is about Figure 1 The threshold value of the first distance L1 is shown. The first threshold value T1 is set such that when the first distance L1 is equal to the first threshold value T1, a specified interval is separated between the rear part 13b of the platform and the engineering machine 20. The aforementioned "specified interval" is such that the rear part 13b of the platform does not contact the engineering machine 20.

[0035] The second threshold T2 is a threshold relating to the second distance L2. The second threshold T2 is set such that the auxiliary device 25 can reach the front part 13d of the stage when the second distance L2 is equal to the second threshold T2. The aforementioned "able to reach" can mean that the auxiliary device 25 can contact the front part 13d of the stage. The aforementioned "able to reach" can mean that the auxiliary device 25 can almost contact the front part 13d of the stage, or it can mean that the auxiliary device 25 can approach the front part 13d of the stage to the extent that a small gap can be created between the auxiliary device 25 and the front part 13d of the stage.

[0036] (action)

[0037] The operation of the stop indication system 30, etc., is summarized as follows. The controller 50, upon satisfying at least one of the following conditions α and β, activates the stop indication output unit 47 (see reference 1). Figure 2 Output a stop indication. Condition α is the case where the first distance L1 changes from being greater than the first threshold T1 to being less than or equal to the first threshold T1. Condition β is the case where the second distance L2 changes from being greater than the second threshold T2 to being less than or equal to the second threshold T2. (See reference...) Figure 3 The flowchart shown illustrates the details of the actions of the stop instruction system 30, etc.

[0038] In this example, Figure 3 When the controller 50 starts processing, the transport vehicle 10 is a sufficient distance away from the construction machinery 20, with a first distance L1 greater than a first threshold T1 and a second distance L2 greater than a second threshold T2. In this state, the transport vehicle 10 moves towards the construction machinery 20, and both the first distance L1 and the second distance L2 gradually decrease. The transport vehicle 10 moves towards the construction machinery 20 with the first distance L1 less than the second distance L2. That is, the transport vehicle 10... Figure 1 As shown, it moves backward toward the construction machinery 20. For example, the transport vehicle 10 moves toward the construction machinery 20 with the rear side U2 of the transport vehicle 10 facing in opposite directions to the front side X1 of the construction machinery 20. The forward / backward direction X of the construction machinery and the forward / backward direction U of the transport vehicle can be parallel or inclined to each other.

[0039] Controller 50 calculates the first threshold T1 and the second threshold T2. Figure 3 (See step S101 shown). This calculation will be described later. The first threshold T1 and the second threshold T2 can also be predetermined constant values.

[0040] Controller 50 determines whether the first distance L1 detected by distance detection unit 41 is below the first threshold T1 (whether L1≤T1). Figure 3 Step S11 is shown. If L1 ≤ T1, the process moves to step S15 (see step S11). Figure 3 If L1 is not less than or equal to T1 (if L1 > T1), the process moves to step S12 (see...). Figure 3 ).

[0041] Controller 50 determines whether the second distance L2 detected by distance detection unit 41 is below the second threshold T2 (whether L2≤T2). Figure 3 Step S12 is shown. If L2 ≤ T2, the process moves to step S15 (see step S12). Figure 3 If L2 ≤ T2 (L1 > T1 and L2 > T2), the process returns to step S11 (see...). Figure 3 ).

[0042] If at least one of the conditions L1≤T1 and L2≤T2 is satisfied, the controller 50 sets the stop indication output unit 47 (see reference 47). Figure 2 The controller 50 outputs a stop indication. Specifically, for example, the controller 50 makes the stop indication output unit 47 (see reference) Figure 2 The horn of the transport vehicle 10 sounds at a specified time (honking). The driver of the transport vehicle 10 notices the stop instruction (e.g., hears the horn) and stops the transport vehicle 10. Additionally, for example, the stop instruction output unit 47 (see...) Figure 2 The transport vehicle 10 can also be stopped by outputting a signal to automatically stop the transport vehicle 10. Stop indication output unit 47 (see...) Figure 2 The content of the stop indication output when L1≤T1 and when L2≤T2 are satisfied can be the same or different.

[0043] (Calculation of threshold T)

[0044] Controller 50 calculates (changes) threshold T (first threshold T1 and second threshold T2) based on various conditions. Figure 3 The step S101 shown is referred to Figure 6 ).

[0045] (Calculated based on the threshold T of the speed of the transport vehicle 10)

[0046] From the stop instruction output unit 47 (see reference) Figure 2 When outputting a stop indication (refer to...) Figure 3A time lag occurs from step S15) until the transport vehicle 10 actually stops. The higher the speed of the transport vehicle 10 when the stop instruction is output, the longer the time lag, and it is foreseeable that the transport vehicle 10 may not stop at the proper position. Therefore, the controller 50 changes the threshold T according to the speed of the transport vehicle 10 relative to the construction machinery 20. That is, the controller 50 changes the timing of the stop instruction output according to the speed of the transport vehicle 10 relative to the construction machinery 20. The speed of the transport vehicle 10 relative to the construction machinery 20 is determined by the transport vehicle speed detection unit 42 (see reference). Figure 2 ) detection. When the speed of the transport vehicle 10 is higher, the controller 50 sets the threshold T (more specifically, the first threshold T1 and the second threshold T2) to a larger value (e.g., refer to...). Figure 4 This allows the controller 50 to output a stop instruction at an earlier time. Regarding the speed of the transport vehicle 10, the controller 50 can, for example... Figure 4 The threshold T can be changed gradually as shown, or it can be changed continuously.

[0047] (Calculated based on the first threshold T1 of the posture of the engineering machinery 20)

[0048] The extent to which the transport vehicle 10 can approach the construction machinery 20 (to the extent that it can approach without making contact) varies depending on the posture of the construction machinery 20. Therefore, the controller 50 changes the first threshold T1 according to the posture of the construction machinery 20.

[0049] (Calculated based on the first threshold T1 of the posture of the lower walking body 21)

[0050] The controller 50 changes the first threshold T1 based on information about the size and shape of the lower walking body 21 and the posture (e.g., angle) of the lower walking body 21 relative to the transport vehicle 10. The posture of the lower walking body 21 relative to the transport vehicle 10 is determined by the lower walking body posture detection unit 43 (see reference). Figure 2 The detection process (details of which are described above) involves the following steps. The size and shape information (specification information) of the lower traveling body 21 is set in the controller 50. This information can be input to the controller 50 via communication or stored in the controller 50 during, for example, the manufacturing process of the engineering machinery 20. The size and shape information of the lower traveling body 21 can be calculated from a two-dimensional image or a distance image. In this case, it can be determined by the distance detection unit 41 or the lower traveling body posture detection unit 43 (see reference 43). Figure 2 Alternatively, images or distance images can be acquired by sensors other than these detection units.

[0051] Specifically, for example Figure 5As shown, a straight line A1 is drawn from above, passing through a reference position 20a of the construction machinery 20 and a specific position 10a of the transport vehicle 10 (e.g., the position closest to the reference position 20a). The central axis of the lower traveling body 21 is defined as the lower traveling body central axis 21a. The lower traveling body central axis 21a is a straight line extending along the extension direction of the tracks 21c, passing through the center of the left and right tracks 21c. At this time, the distance between the lower traveling body 21 and the transport vehicle 10 varies based on the angle θ formed by the straight line A1 and the lower traveling body central axis 21a, and the distance to which the transport vehicle 10 can approach the construction machinery 20 (to the point where it can approach without contact) changes. For example, compared to an angle θ between 0° and 90° (e.g., 45°), when the angle θ is 0° or 90°, the controller 50 (refer to...)... Figure 1 The first threshold T1 is set relatively small. For example, sometimes the longitudinal length of the lower walking body 21 (the length in the direction of extension of the central axis 21a of the lower walking body) is longer than the width length of the lower walking body 21 (the length in the opposite direction of the left and right tracks 21c, 21c). In this case, compared with the angle θ being 0°, when the angle θ is 90°, the controller 50 (refer to...) Figure 1 The first threshold T1 is set to a smaller value. This method of setting the first threshold T1 is just one example, and the first threshold T1 can be set in a variety of ways (as are the examples of the setting methods described below).

[0052] (Calculated based on the first threshold T1 of the posture of the auxiliary device 25)

[0053] The controller 50 changes the first threshold T1 based on information about the size and shape of the auxiliary device 25 and the posture of the auxiliary device 25. The posture of the auxiliary device 25 is determined by the auxiliary device posture detection unit 44 (see reference). Figure 2 The detection process (details of which are described above) involves the following: Similar to the information regarding the size and shape of the lower walking body 21, the size and shape information of the auxiliary device 25 are set in the controller 50. The controller 50 can also change the first threshold T1 based on the information of the transport vehicle 10 (e.g., three-dimensional shape information). The information of the transport vehicle 10 can be calculated based on a two-dimensional image or a distance image. In this case, the sensor acquiring the image or distance image can be the distance detection unit 41, or it can be a sensor other than the distance detection unit 41.

[0054] Specifically, for example, the controller 50 can change the first threshold T1 based on the height of the auxiliary device 25 (e.g., remote auxiliary device 25c) above the ground and the height of the platform 13 of the transport vehicle 10 above the ground. For example, the remote auxiliary device 25c as a whole relative to a specified height H determined according to the height of the platform 13 (refer to...). Figure 1When the device is positioned above, compared to when at least a portion of the remote auxiliary device 25c is positioned below relative to a specified height H, the controller 50 sets the first threshold T1 to be smaller. For example, the controller 50 may set the first threshold T1 by comparing information about the three-dimensional position and shape of the auxiliary device 25 with the three-dimensional position and shape of the transport vehicle 10, so that the transport vehicle 10 can stop at a specified interval from the construction machinery 20.

[0055] (A specific example of threshold T calculation)

[0056] Reference Figure 6 The flowchart shown illustrates a specific example of the threshold T calculation process performed by controller 50. Figure 1 The controller 50 shown acquires the speed of the transport vehicle from the detection unit 42 (see reference). Figure 2 The speed of the transport vehicle 10 detected ( Figure 6 Step S201 is shown. The controller 50 acquires the attitude detection unit 44 of the auxiliary device (see reference). Figure 2 The posture of the auxiliary equipment 25 and the posture detection unit 43 of the lower walking body (see reference) are detected. Figure 2 The posture of the lower walking body 21 detected ( Figure 6 (See step S202). The controller 50, according to steps S201 and S202 (refer to...) Figure 6 The controller 50 uses the information obtained from the data to calculate the values ​​necessary for calculating the first threshold T1 and the second threshold T2. Specifically, for example, the controller 50 calculates the distance from the reference position 20a to the rear of the platform 13b, such that the transport vehicle 10 does not come into contact with the construction machinery 20 and the transport vehicle 10 can approach the construction machinery 20 (the distance necessary for calculating the first threshold T1). Furthermore, the controller 50 calculates the distance from the reference position 20a to the front of the platform 13d, such that the auxiliary equipment 25 reaches the front of the platform 13d (the distance necessary for calculating the second threshold T2). Moreover, the controller 50 determines (calculates) the first threshold T1 and the second threshold T2 based on these values. Figure 6 Step S204 is shown.

[0057] (Effects of the first invention)

[0058] Figure 1 The stop indication system 30 shown has the following effect. The stop indication system 30 provides an indication to stop the transport vehicle 10 that is approaching the construction machinery 20. The stop indication system 30 includes a distance detection unit 41 and a stop indication output unit 47 (see reference). Figure 2 ), controller 50. Distance detection unit 41 detects the distance between the transport vehicle 10 and the construction machinery 20. Stop indication output unit 47 (see Figure 2The output is an instruction to stop the transport vehicle 10, i.e., a stop instruction.

[0059] [Composition 1-1] The distance detection unit 41 detects a first distance L1 and a second distance L2. The first distance L1 is the distance from a specific reference position 20a associated with the engineering machinery 20 to the portion of the rear side U2 of the platform 13 of the transport vehicle 10 (the rear part of the platform 13b).

[0060] [Components 1-2] The second distance L2 is the distance from the reference position 20a to the portion of the front side U1 of the transport vehicle on the platform 13 (the front part of the platform 13d). A threshold value for the first distance L1, namely the first threshold value T1, is set in the controller 50 (refer to...). Figure 3 ) and the threshold regarding the second distance L2, i.e., the second threshold T2 (refer to Figure 3 ).

[0061] [Structure 1-3] In the event of at least one of the following: the first distance L1 changes from a value greater than the first threshold T1 to a value equal to or less than the first threshold T1; and the second distance L2 changes from a value greater than the second threshold T2 to a value equal to or less than the second threshold T2, the controller 50 causes the stop indication output unit 47 (see reference 1-3) to stop. Figure 2 Output a stop indication.

[0062] In the above [Configuration 1-1] and [Configuration 1-3], when the first distance L1 from the reference position 20a of the engineering machinery 20 to the rear part 13b of the platform changes from a value greater than the first threshold T1 to a value equal to or less than the first threshold T1, the indication output unit 47 stops (see reference). Figure 2 The stop indication is output. Therefore, when the first threshold T1 is properly set, a stop indication can be given when the distance between the rear part 13b of the platform and the construction machinery 20 is appropriate. In the above [configuration 1-2] and [configuration 1-3], when the second distance L2 from the reference position 20a of the construction machinery 20 to the front part 13d of the platform changes from a value greater than the second threshold T2 to a value equal to or less than the second threshold T2, the stop indication output unit 47 (see reference) will stop. Figure 2 Output a stop instruction. Therefore, when the second threshold T2 is properly set, a stop instruction can be given when the distance between the front part 13d of the platform and the construction machinery 20 is appropriate. Thus, a stop instruction to stop the transport vehicle 10 can be given when at least one of the distances from the construction machinery 20 to the rear part 13b of the platform and the distance from the construction machinery 20 to the front part 13d of the platform is appropriate. Therefore, a stop instruction to stop the transport vehicle 10 can be given when the position of the transport vehicle 10 relative to the construction machinery 20 is appropriate.

[0063] (Effects of the second invention)

[0064] [Structure 2] The first threshold T1 is set in such a way that when the first distance L1 is equal to the first threshold T1, the portion of the transport vehicle rear side U2 of the platform 13 (the rear part of the platform 13b) is spaced apart from the engineering machinery 20.

[0065] According to the above [configuration 2], a stop instruction can be given during a period when the rear part 13b of the platform is separated from the construction machinery 20, that is, during a period when the rear part 13b of the platform is not in contact with the construction machinery 20.

[0066] (Effects of the third invention)

[0067] [Structure 3] The second threshold T2 is set in such a way that when the second distance L2 is equal to the second threshold T2, the auxiliary device 25 can reach the portion of the front side U1 of the transport vehicle of the platform 13 (the front part 13d of the platform).

[0068] According to the above [configuration 3], a stop instruction can be given when the auxiliary device 25 can reach the front part 13d of the platform.

[0069] (Effects of the fourth invention)

[0070] [Component 4] The stop indication system 30 includes a transport vehicle speed detection unit 42 (see reference) for detecting the speed of the transport vehicle 10 relative to the construction machinery 20. Figure 2 The controller 50 changes the first threshold T1 and the second threshold T2 according to the speed detected by the transport vehicle speed detection unit 42 (refer to...). Figure 4 ).

[0071] Based on the above [configuration 4], the following effect can be obtained. From the stop indicator output unit 47 (refer to...) Figure 2 There will be a time delay between the output of the stop instruction and the actual stop of the transport vehicle 10. This time delay is based on the stop instruction output unit 47 (see reference). Figure 2 The speed of the transport vehicle 10 changes depending on the magnitude of the speed at which the stop instruction is output. Therefore, in the above [configuration 4], the controller 50 adjusts the speed based on the speed of the transport vehicle speed detection unit 42 (see reference 42). Figure 2 The magnitude of the detected velocity causes changes in the first threshold T1 and the second threshold T2 (refer to...). Figure 4 This allows for the issuance of stop instructions at a more appropriate time.

[0072] (Effects of the 5th Invention)

[0073] [Component 5] The stop indication system 30 includes a lower walking body posture detection unit 43 (see reference) for detecting the posture of the lower walking body 21 of the construction machinery 20 relative to the transport vehicle 10. Figure 2The controller 50 uses information about the size and shape of the lower walking body 21 and the posture detection unit 43 of the lower walking body (see reference). Figure 2 The detected posture causes a change in the first threshold T1.

[0074] Based on the above [configuration 5], the following effects can be obtained. Based on the size and shape of the lower traveling body 21 and the posture (e.g., angle) of the lower traveling body 21 relative to the transport vehicle 10, the transport vehicle 10 can approach to a point where it will not come into contact with the construction machinery 20 (see...). Figure 5 Therefore, the stop indicator output unit 47 should be activated when the transport vehicle 10 approaches the construction machinery 20 (see reference). Figure 2 The output stop indication will change. Therefore, in the above [configuration 5], the controller 50 determines the stop indication based on the size and shape information of the lower walking body 21 and the lower walking body posture detection unit 43 (see reference 43). Figure 2 The detected posture causes a change in the first threshold T1. This allows for a more appropriate stop indication at a more precise time.

[0075] (Effects of the 6th invention)

[0076] [Component 6] The stop indication system 30 includes an auxiliary equipment posture detection unit 44 for detecting the posture of the auxiliary equipment 25 of the construction machinery 20 (see reference). Figure 2 The controller 50 changes the first threshold T1 based on information about the size and shape of the auxiliary device 25 and the posture detected by the auxiliary device posture detection unit 44.

[0077] Based on the above [configuration 6], the following effect can be obtained. Depending on the size and shape of the auxiliary equipment 25 and its orientation, the distance to which the transport vehicle 10 can approach the construction machinery 20 without contacting it will vary. Therefore, the stop indication output unit 47 (see reference 6) should be activated at the appropriate distance the transport vehicle 10 approaches the construction machinery 20. Figure 2 The output stop indication will change. Therefore, in the above [configuration 6], the controller 50 determines the output stop indication based on the size and shape information of the auxiliary device 25 and the auxiliary device posture detection unit 44 (see reference 44). Figure 2 The detected posture causes a change in the first threshold T1. This allows for a more appropriate stop indication at a more precise time.

[0078] (Modified Example)

[0079] Various modifications can be made to the above embodiments. For example, the configuration, shape, and connection of the structural elements in the above embodiments can be changed. Figure 3 and Figure 6The flowchart shown illustrates the order of steps, but some steps may not be performed. For example, the number of structural elements can be changed, and some structural elements may not be set. For example, what is described as multiple distinct parts can also be a single part. For example, what is described as a single part can also be divided into multiple distinct parts. For example, Figure 2 The controller 50 shown can be a single device or multiple devices. For example, Figure 1 The threshold and range of the specified height H shown can be constant, can be changed manually, or can be changed automatically based on certain conditions.

Claims

1. A stop indication system, characterized in that, A stop indication system for instructing a transport vehicle approaching construction machinery to stop includes: The distance detection unit detects the distance between the transport vehicle and the construction machinery. The stop instruction output unit outputs an instruction to stop the transport vehicle, i.e., a stop instruction: and, Controller; where, The distance detection unit detects a first distance and a second distance. The first distance is the distance from a specific reference position associated with the engineering machinery to the rear portion of the transport vehicle's platform, and the second distance is the distance from the reference position to the front portion of the transport vehicle's platform. The controller is configured with a threshold for the first distance (i.e., the first threshold) and a threshold for the second distance (i.e., the second threshold). If at least one of the following occurs: the first distance changes from a value greater than the first threshold to a value equal to or less than the first threshold, and the second distance changes from a value greater than the second threshold to a value equal to or less than the second threshold, the controller causes the stop indication output unit to output a stop indication.

2. The stop indication system according to claim 1, characterized in that, The first threshold is set in such a way that when the first distance is equal to the first threshold, the portion of the transport vehicle on the platform at the rear is spaced apart from the engineering machinery.

3. The stop indication system according to claim 1 or 2, characterized in that, The second threshold is set in such a way that when the second distance is equal to the second threshold, the auxiliary equipment of the engineering machinery can reach the front part of the transport vehicle of the platform.

4. The stop indication system according to any one of claims 1 to 3, characterized in that... Also includes: The transport vehicle speed detection unit detects the speed of the transport vehicle relative to the construction machinery; wherein... The controller changes the first threshold and the second threshold according to the speed detected by the transport vehicle speed detection unit.

5. The stop indication system according to any one of claims 1 to 4, characterized in that... Also includes: The lower walking body posture detection unit detects the posture of the lower walking body of the construction machinery relative to the transport vehicle; wherein, The controller changes the first threshold based on the size and shape information of the lower walking body and the posture detected by the posture detection unit of the lower walking body.

6. The stop indication system according to any one of claims 1 to 5, characterized in that... Also includes: An auxiliary equipment posture detection unit detects the posture of the auxiliary equipment of the construction machinery; wherein, The controller changes the first threshold based on information about the size and shape of the accessory device and the posture detected by the posture detection unit of the accessory device.

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