Object detection sensor calibration system and object detection sensor calibration method of working machine

Abstract

To improve the work efficiency related to calibration of a contactless sensor.SOLUTION: An object detection sensor calibration system of a work machine includes: a contactless sensor provided in the work machine, and contactlessly detecting an object around the work machine; a first position detection unit for detecting a position of the work machine; a second position detection unit for detecting a position of a reflector used to calibrate the contactless sensor; a calculation unit for calculating a target position of the reflector on the basis of the position of the work machine detected by the first position detection unit; and a notification unit for notifying a user of the target position and the position of the reflector detected by the second position detection unit.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a system and method for calibrating an object detection sensor of a work machine. [Background technology]

[0002] At work sites such as mines, work machines such as dump trucks are operated. As disclosed in Patent Document 1, the dump truck is equipped with a non-contact sensor (detection device) that detects objects present around the dump truck in a non-contact manner. A reflector (reflective member) is used in inspecting the non-contact sensor. Also, a reflector is used in calibrating the non-contact sensor, which is performed when a new vehicle is delivered or after a sensor is replaced. When inspecting or calibrating the non-contact sensor, an operator moves around the dump truck while holding the reflector. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2015 / 162800 Summary of the Invention [Problem to be solved by the invention]

[0004] In calibrating a non-contact sensor, it is necessary to set a reflector at a target position relative to the non-contact sensor. Conventionally, a grid is drawn on the ground around the dump truck, and a reflector is set using the grid as a guide. Since the work of drawing the grid on the ground is a manual task by an operator, the work efficiency for calibrating a non-contact sensor is low.

[0005] The present disclosure aims to improve the efficiency of work involved in calibrating a non-contact sensor. [Means for solving the problem]

[0006] According to the present disclosure, there is provided an object detection sensor calibration system for a work machine comprising: a non-contact sensor provided on the work machine for non-contact detection of objects around the work machine; a first position detection unit for detecting the position and orientation of the work machine; a second position detection unit for detecting the position of a reflector used to calibrate the non-contact sensor; a calculation unit for calculating a target position of the reflector based on the position and orientation of the work machine detected by the first position detection unit; and a notification unit for notifying of the target position and the position of the reflector detected by the second position detection unit. Effect of the Invention

[0007] According to the present disclosure, the work efficiency for calibrating a non-contact sensor is improved. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing an object detection sensor calibration system for a work machine according to an embodiment. [Diagram 2] FIG. 2 is a block diagram showing the object detection sensor calibration system for the work machine according to the embodiment. [Diagram 3] FIG. 3 is a diagram showing a non-contact sensor disposed at the front of the vehicle body according to the embodiment. [Figure 4] FIG. 4 is a diagram for explaining the detection range of the non-contact sensor according to the embodiment. [Diagram 5] FIG. 5 is a diagram for explaining a method of using the reflector according to the embodiment. [Figure 6] FIG. 6 is a flowchart showing a method for calibrating an object detection sensor of a work machine according to the embodiment. [Figure 7] FIG. 7 is a diagram showing a display device on which display data for selecting the type of non-contact sensor and the non-contact sensor to be calibrated according to the embodiment is displayed. [Figure 8] FIG. 8 is a diagram showing a display device on which a target position and a current position of a reflector according to the embodiment are displayed. [Figure 9]FIG. 9 is a diagram showing the display device when the target position and the current position of the reflector according to the embodiment coincide with each other. [Figure 10] FIG. 10 is a diagram showing a calibration button according to the embodiment. [Figure 11] FIG. 11 is a block diagram illustrating a computer system according to an embodiment. [Figure 12] FIG. 12 is a diagram showing an object detection sensor calibration system for a work machine according to another embodiment. [Figure 13] FIG. 13 is a diagram showing a reflector according to another embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings, but the present disclosure is not limited to the embodiment. The components of the embodiments described below can be appropriately combined. In addition, some components may not be used.

[0010] In the embodiment, the positional relationship of each part will be described using the terms left, right, front, rear, top, and bottom. These terms indicate relative positions or directions based on the center of the work machine 1. The left-right direction is the vehicle width direction of the work machine 1.

[0011] [Calibration system for object detection sensors in work machines] Fig. 1 is a diagram showing an object detection sensor calibration system 20 of a work machine 1 according to an embodiment. Fig. 2 is a block diagram showing the object detection sensor calibration system 20 of a work machine 1 according to an embodiment.

[0012] The work machine 1 operates at a work site. In an embodiment, the work site is a mine or a quarry. A mine refers to a place or business where minerals are extracted. A quarry refers to a place or business where rocks are extracted.

[0013] In the embodiment, the work machine 1 is a dump truck, which is a type of transport vehicle that travels through a work site to transport a load. Examples of the load transported by the work machine 1 include ore or earth and sand excavated in a mine or a quarry. In the following description, the work machine 1 will be referred to as a dump truck 1 as appropriate.

[0014] In the embodiment, the dump truck 1 is an unmanned dump truck that operates without being driven by an operator. In the embodiment, the dump truck 1 is of a rigid frame type. The dump truck 1 may be of an articulated type.

[0015] The dump truck 1 includes a traveling device 2, a vehicle main body 3, a dump body 4, an object detection system 5, a position detection system 6, and a communication device 7.

[0016] The traveling device 2 supports the vehicle body 3. The traveling device 2 has a plurality of wheels 8. The wheels 8 rotate to cause the dump truck 1 to travel. The wheels 8 rotate by power generated by a power generating device arranged in the vehicle body 3. The power generating device is an internal combustion engine such as a diesel engine. The power generating device may also be an electric motor. The wheels 8 include front wheels 8F and rear wheels 8R. The vehicle width direction refers to the direction parallel to the rotation axis of the wheels 8 when the dump truck 1 is traveling straight.

[0017] The vehicle body 3 includes a vehicle body frame. The vehicle body 3 is supported by the traveling device 2. The vehicle body 3 supports a dump truck body 4.

[0018] The dump body 4 is a member on which a load is loaded. At least a portion of the dump body 4 is disposed above the vehicle body 3. The dump body 4 is supported by the vehicle body 3. The dump body 4 performs a dumping operation and a lowering operation. The dump body 4 is adjusted to a dumping posture and a loading posture by the dumping operation and the lowering operation. The dumping operation refers to an operation of raising the dump body 4 from the vehicle body 3 so that the dump body 4 is inclined in the dumping direction. In the embodiment, the dumping direction is the rear of the vehicle body 3. The dumping posture refers to a posture in which the dump body 4 is raised. The lowering operation refers to an operation of lowering the dump body 4 so that the dump body 4 approaches the vehicle body 3. The loading posture refers to a posture in which the dump body 4 is lowered. When performing soil removal work, the dump body 4 performs a dumping operation so as to change from the loading posture to the dumping posture. By the dumping operation of the dump body 4, the load loaded on the dump body 4 is discharged from the dump body 4 in the dumping direction. When a loading operation is performed, the dump body 4 is adjusted to a loading position.

[0019] The object detection system 5 monitors the periphery of the dump truck 1. The object detection system 5 has a non-contact sensor 9 which is an object detection sensor, and an object detection controller 10. The non-contact sensor 9 detects objects around the dump truck 1 in a non-contact manner. A plurality of non-contact sensors 9 are provided on the dump truck 1. The non-contact sensor 9 is disposed at the front of the vehicle body 3. The non-contact sensor 9 detects objects ahead of the dump truck 1. The object detection controller 10 includes a computer system. The object detection controller 10 has at least one processor and a main memory that stores a computer program executable by the processor.

[0020] FIG. 3 is a diagram showing a non-contact sensor 9 arranged at the front of the vehicle body 3 according to the embodiment. As shown in FIG. 3, a plurality of non-contact sensors 9 are arranged in the vehicle width direction at the front of the dump truck 1. In the embodiment, eight non-contact sensors 9 are arranged at the front of the vehicle body 3. The non-contact sensors 9 include a non-contact sensor 98 and a non-contact sensor 91 arranged at the center in the left-right direction, a non-contact sensor 92 arranged to the left of the non-contact sensor 91, a non-contact sensor 93 arranged to the left of the non-contact sensor 92, a non-contact sensor 94 arranged to the left of the non-contact sensor 93, a non-contact sensor 95 arranged to the right of the non-contact sensor 91, a non-contact sensor 96 arranged to the right of the non-contact sensor 95, and a non-contact sensor 97 arranged to the right of the non-contact sensor 96. The eight non-contact sensors 9 are held by a bracket 90 fixed to the front of the vehicle body 3.

[0021] The non-contact sensor 98 is disposed above the non-contact sensor 91. In the left-right direction, the center position of the front surface of the non-contact sensor 98 and the center position of the front surface of the non-contact sensor 91 coincide with each other. In the left-right direction, the distance from the center position of the front surface of the non-contact sensor 91 to the center position of the front surface of the non-contact sensor 92 and the distance from the center position of the front surface of the non-contact sensor 91 to the center position of the front surface of the non-contact sensor 95 are substantially equal. In the left-right direction, the distance from the center position of the front surface of the non-contact sensor 91 to the center position of the front surface of the non-contact sensor 93 and the distance from the center position of the front surface of the non-contact sensor 91 to the center position of the front surface of the non-contact sensor 96 are substantially equal. In the left-right direction, the distance from the center position of the front surface of the non-contact sensor 91 to the center position of the front surface of the non-contact sensor 94 and the distance from the center position of the front surface of the non-contact sensor 91 to the center position of the front surface of the non-contact sensor 97 are substantially equal. Non-contact sensor 94, non-contact sensor 93, non-contact sensor 92, non-contact sensor 91, non-contact sensor 95, non-contact sensor 96, and non-contact sensor 97 may be disposed at equal intervals in the left-right direction.

[0022] The non-contact sensor 9 detects an object by irradiating the object with a detection wave. The non-contact sensor 9 has an emitter that emits the detection wave and a receiver that receives the detection wave reflected by the object. The non-contact sensor 9 can detect the relative position of the object. The relative position of the non-contact sensor 9 and the object includes one of the relative distance and the relative angle between the non-contact sensor 9 and the object.

[0023] Examples of the detection wave include radio waves, laser light, and ultrasonic waves. Examples of the non-contact sensor 9 include radar sensors, laser sensors, and ultrasonic sensors. A radar sensor detects an object by emitting radio waves and receiving the radio waves reflected by the object. A laser sensor detects an object by emitting laser light and receiving the laser light reflected by the object. An ultrasonic sensor detects an object by emitting ultrasonic waves and receiving the ultrasonic waves reflected by the object.

[0024] In the embodiment, the non-contact sensor 9 is a radar sensor (millimeter wave radar sensor). At least one of the multiple non-contact sensors 9 may be a laser sensor. For example, the non-contact sensor 98 may be a laser sensor.

[0025] Examples of objects detected by the non-contact sensor 9 include a work machine other than the dump truck 1 operating at the work site, a structure located at the work site, and a natural object such as a rock. The objects detected by the non-contact sensor 9 include an obstacle that exists ahead of the dump truck 1 and obstructs the travel of the dump truck 1.

[0026] The non-contact sensor 9 may be disposed at the rear of the vehicle body 3. A plurality of non-contact sensors 9 may be disposed in the vehicle width direction at the rear of the dump truck 1. The non-contact sensor 9 may detect an object behind the dump truck 1.

[0027] The object detection controller 10 controls the non-contact sensor 9. The object detection controller 10 can switch between emitting and stopping the emission of a detection wave from the non-contact sensor 9. The object detection controller 10 receives detection data from the non-contact sensor 9 and executes a predetermined process. The object detection controller 10 determines whether or not an object exists around the dump truck 1 based on the detection data from the non-contact sensor 9. When the object detection controller 10 determines that an object exists in the traveling direction of the dump truck 1 based on the detection data from the non-contact sensor 9, it can reduce the traveling speed of the dump truck 1 or stop the traveling of the dump truck 1.

[0028] The position detection system 6 detects at least the position of the dump truck 1. In the embodiment, objects whose positions are to be detected by the position detection system 6 include the dump truck 1 and a reflector 15, which will be described later. The position detection system 6 detects the position of the object to be detected by utilizing a global navigation satellite system (GNSS: Global Navigation Satellite System). The global navigation satellite system includes a global positioning system (GPS: Global Positioning System). The global navigation satellite system detects the absolute position of the object to be detected, which is defined by coordinate data of latitude, longitude, and altitude. The global navigation satellite system detects the position of the object to be detected, which is defined in a global coordinate system. The global coordinate system refers to a coordinate system fixed to the earth.

[0029] The position detection system 6 has two GNSS antennas 11 provided on the dump truck 1, and a GNSS receiver 12 that calculates the position and direction of the dump truck 1 based on satellite signals received by each of the two GNSS antennas 11. The position detection system 6 also has a GNSS receiver 13 separate from the GNSS receiver 12.

[0030] The GNSS antenna 11 is provided on the vehicle body 3. In the embodiment, the GNSS antenna 11 is provided at the front of the vehicle body 3. The two GNSS antennas 11 are arranged at a distance from each other. In the embodiment, the two GNSS antennas 11 are arranged at a distance from each other in the left-right direction of the vehicle body 3. In the following description, of the two GNSS antennas 11, one GNSS antenna 11 is appropriately referred to as GNSS antenna 11A, and the other GNSS antenna 11 is appropriately referred to as GNSS antenna 11B. In the left-right direction, the GNSS antenna 11A is arranged to the left of the GNSS antenna 11B.

[0031] The GNSS receiver 12 calculates the position of the dump truck 1 based on a satellite signal received by at least one of the two GNSS antennas 11. In an embodiment, the GNSS receiver 12 calculates the position of a reference portion of the vehicle body 3 as the position of the dump truck 1.

[0032] The GNSS receiver 12 can calculate the position of the GNSS antenna 11A based on the satellite signal received by the GNSS antenna 11A. The GNSS receiver 12 can calculate the position of the GNSS antenna 11B based on the satellite signal received by the GNSS antenna 11B. The GNSS receiver 12 can calculate the intermediate position between the GNSS antenna 11A and the GNSS antenna 11B based on the satellite signal received by the GNSS antenna 11A and the satellite signal received by the GNSS antenna 11B. In the embodiment, the position of the reference part of the vehicle body 3 calculated by the GNSS receiver 12 is the intermediate position between the GNSS antenna 11A and the GNSS antenna 11B. Note that the position of the reference part of the vehicle body 3 calculated by the GNSS receiver 12 may be the position of the GNSS antenna 11A or the position of the GNSS antenna 11B.

[0033] In the left-right direction, the midpoint between the GNSS antenna 11A and the GNSS antenna 11B is substantially equal to the center position of the vehicle body 3. The GNSS receiver 12 calculates the center position of the front part of the vehicle body 3 in the left-right direction as the position of the reference portion of the vehicle body 3.

[0034] The GNSS receiver 12 calculates the orientation of the dump truck 1 based on the satellite signals received by each of the two GNSS antennas 11. The GNSS receiver 12 calculates the orientation of the dump truck 1 relative to a reference orientation (e.g., north). The orientation of the dump truck 1 calculated by the GNSS antenna 11 is the orientation of a reference portion of the vehicle body 3.

[0035] The non-contact sensor 9 is provided at the front of the vehicle body 3. The relative position between a reference part of the vehicle body 3 and the non-contact sensor 9 is known data. The GNSS receiver 12 can calculate the position and orientation of the non-contact sensor 9 by calculating the position and orientation of the reference part of the vehicle body 3.

[0036] The communicator 7 communicates with an information terminal 23, which will be described later. The communicator 7 communicates, for example, via a local area network. The communicator 7 has a communication antenna 14. The communication antenna 14 is provided on the left part of the front of the vehicle body 3. The communication antenna 14 includes an Ethernet Radio antenna. The communicator 7 may communicate via the Internet, a mobile phone communication network, or a satellite communication network.

[0037] The object detection sensor calibration system 20 calibrates the non-contact sensor 9. The calibration of the non-contact sensor 9 includes adjusting the detection range Rd of the non-contact sensor 9.

[0038] 4 is a diagram for explaining the detection range Rd of the non-contact sensor 9 according to the embodiment. As shown in FIG. 4, the detection range Rd of the non-contact sensor 9 is defined so as to extend forward from the non-contact sensor 9. The non-contact sensor 9 detects an object within the detection range Rd. The positions of the detection ranges Rd of the multiple non-contact sensors 9 are different from each other. As shown in FIG. 4, the detection range Rd of the non-contact sensor 91 is defined so as to extend forward from the front of the vehicle body 3.

[0039] 4, when a center line CL is defined on the vehicle body 3, a target detection range Rdr of the non-contact sensor 91 is defined so that the center line of the detection range Rd in the left-right direction coincides with the center line CL of the vehicle body 3. The center line CL of the vehicle body 3 is a virtual line that passes through the center of the vehicle body 3 in the left-right direction and extends in the front-rear direction.

[0040] Although not shown, the detection range Rd of each of the non-contact sensors 92, 93, and 94 is defined so as to extend from the front of the vehicle body 3 to the left front. The detection range Rd of each of the non-contact sensors 95, 96, and 97 is defined so as to extend from the front of the vehicle body 3 to the right front.

[0041] For example, an actual detection range Rds, which is the actual detection range Rd of the non-contact sensor 9, may deviate from the target detection range Rdr due to an installation error of the non-contact sensor 9. The object detection sensor calibration system 20 calibrates the non-contact sensor 9 so that the actual detection range Rds coincides with the target detection range Rdr.

[0042] In the calibration of the non-contact sensor 9, a reflector 15 is used. As shown in FIG. 1, the reflector 15 is a reflective member called a corner reflector. The reflector 15 is supported by a support member 16 such as a tripod. The reflector 15 does not have to be supported by the support member 16. The reflector 15 is a triangular pyramid member made of a metal such as iron or aluminum. The reflector 15 has a reflective surface capable of reflecting radio waves emitted from the non-contact sensor 9. The reflectance of the reflective surface of the reflector 15 to radio waves is higher than the reflectance of objects surrounding the reflector 15. The objects surrounding the reflector 15 include rocks in a mine, etc.

[0043] FIG. 5 is a diagram for explaining a method of using the reflector 15 according to the embodiment. A target position Pr of the reflector 15 is defined on the ground around the dump truck 1. The target position Pr is an absolute position with respect to the dump truck 1. In the calibration of the non-contact sensor 9, the reflector 15 is set at a target position Pr on the ground around the dump truck 1. The target position Pr of the reflector 15 indicates a target relative position with respect to the dump truck 1. A target position Pr of the reflector 15 is defined for each of the multiple non-contact sensors 9. As an example, when the non-contact sensor 91 is calibrated, the reflector 15 is set at the first target position Pr1. When the non-contact sensor 94 is calibrated, the reflector 15 is set at the fourth target position Pr4. When the non-contact sensor 97 is calibrated, the reflector 15 is set at the seventh target position Pr7.

[0044] The first target position Pr1 is defined on the center line CL. That is, the first target position Pr1 is installed in front of the non-contact sensor 91. The distance between the non-contact sensor 91 and the first target position Pr1 in the front-rear direction is a predetermined value. The fourth target position Pr4 is defined to the left of the first target position Pr1. The seventh target position Pr7 is defined to the right of the first target position Pr1.

[0045] Although not shown, when calibrating the non-contact sensor 92, the reflector 15 is placed at a second target position Pr2 between the first target position Pr1 and the fourth target position Pr4. When calibrating the non-contact sensor 93, the reflector 15 is placed at a third target position Pr3 between the second target position Pr2 and the fourth target position Pr4. When calibrating the non-contact sensor 95, the reflector 15 is placed at a fifth target position Pr5 between the first target position Pr1 and the seventh target position Pr7. When calibrating the non-contact sensor 96, the reflector 15 is placed at a sixth target position Pr6 between the fifth target position Pr5 and the seventh target position Pr7.

[0046] When calibrating the non-contact sensor 91, after the reflector 15 is placed at the first target position Pr1, the non-contact sensor 91 emits radio waves to the reflector 15. The non-contact sensor 91 receives the radio waves reflected by the reflector 15. The object detection controller 10 calculates the amount of deviation between the target detection range Rdr and the actual detection range Rds based on the radio waves received by the non-contact sensor 91. The object detection controller 10 calibrates the actual detection range Rds of the non-contact sensor 91 based on the amount of deviation between the target detection range Rdr and the actual detection range Rds so that the target detection range Rdr and the actual detection range Rds match.

[0047] Similarly, when calibrating the non-contact sensor 94, for example, the reflector 15 is placed at a fourth target position Pr4. After the reflector 15 is placed at the fourth target position Pr4, a radio wave is emitted from the non-contact sensor 94. The object detection controller 10 calibrates the actual detection range Rds of the non-contact sensor 94 based on the deviation amount between the target detection range Rdr and the actual detection range Rds so that the target detection range Rdr and the actual detection range Rds match. The same procedure is used when calibrating the other non-contact sensors 9.

[0048] The object detection sensor calibration system 20 performs a guidance process so that the operator places the reflector 15 at the target position Pr. The object detection sensor calibration system 20 provides guidance data to the operator so that the reflector 15 is placed at the target position Pr.

[0049] As shown in Figures 1 and 2, the object detection sensor calibration system 20 has a first position detection unit 21 that detects the position and orientation of the dump truck 1, a second position detection unit 22 that detects the position of the reflector 15 used to calibrate the non-contact sensor 9, and an information terminal 23.

[0050] The first position detection unit 21 detects the position and orientation of the dump truck 1. The first position detection unit 21 includes two GNSS antennas 11 provided on the dump truck 1, and a GNSS receiver 12 that calculates the position and orientation of the dump truck 1 based on satellite signals received by the GNSS antennas 11.

[0051] The second position detection unit 22 detects the position of the reflector 15. The second position detection unit 22 includes a GNSS antenna 17 provided on the reflector 15 and a GNSS receiver 13 that calculates the position of the reflector 15 based on a satellite signal received by the GNSS antenna 17.

[0052] In the embodiment, the GNSS receiver 13 is mounted on the dump truck 1. The reflector 15 and the GNSS antenna 17 are disposed outside the dump truck 1. The satellite signal received by the GNSS antenna 17 is transmitted to the GNSS receiver 13 via a signal cable 18.

[0053] The information terminal 23 is disposed outside the dump truck 1. The information terminal 23 is a portable personal computer that can be carried by the operator. In the embodiment, the information terminal 23 is a tablet personal computer (tablet terminal). Note that the information terminal 23 may be a smartphone or a notebook personal computer.

[0054] The information terminal 23 has a terminal controller 24, a display device 25, and an input device 26. The terminal controller 24 includes a computer system. The terminal controller 24 has at least one processor and a main memory that stores computer programs executable by the processor. The display device 25 includes a flat panel display such as a liquid crystal display or an organic EL display. The input device 26 includes a touch panel (touch sensor) arranged on the display screen of the display device 25. The input device 26 may be a computer keyboard, a mouse, or a voice input device.

[0055] The first position data indicating the position and orientation of the dump truck 1 detected by the first position detection unit 21, and the second position data indicating the position of the reflector 15 detected by the second position detection unit 22 are each wirelessly transmitted from the communication device 7 to the information terminal 23.

[0056] The information terminal 23 has a calculation unit 24A and a notification unit 24B. The calculation unit 24A calculates a target position Pr of the reflector 15 based on the position and direction of the dump truck 1 detected by the first position detection unit 21. The notification unit 24B notifies an operator of the target position Pr of the reflector 15 calculated by the calculation unit 24A and the position of the reflector 15 detected by the second position detection unit 22.

[0057] In the following description, the position of the reflector 15 detected by the second position detection unit 22 will be appropriately referred to as the current position Ps of the reflector 15. The current position Ps is an absolute position.

[0058] The calculation unit 24A calculates target positions Pr (Pr1, Pr2, Pr3, Pr4, Pr5, Pr6, Pr7, Pr8) of the reflector 15 used for calibrating each of the multiple non-contact sensors 9 (91, 92, 93, 94, 95, 96, 97, 98).

[0059] The notification unit 24B notifies the operator of each of a plurality of target positions Pr (Pr1, Pr2, Pr3, Pr4, Pr5, Pr6, Pr7, Pr8) of the reflector 15 and the current position Ps of the reflector 15 detected by the second position detection unit 22. The notification unit 24B notifies the operator of the target position Pr and the current position Ps of the reflector 15 as guidance data for placing the reflector 15 at the target position Pr.

[0060] In the embodiment, notifying the target position Pr and the current position Ps of the reflector 15 includes displaying the target position Pr and the current position Ps on the display device 25. The notification unit 24B causes the display device 25 to display the target position Pr and the current position Ps of the reflector 15. The notification unit 24B may notify the target position Pr and the current position Ps of the reflector 15 by voice.

[0061] [Method for calibrating object detection sensors on work machines] 6 is a flowchart showing a method for calibrating the object detection sensors of the dump truck 1 according to the embodiment. The non-contact sensors 9 are calibrated one by one. The notification unit 24B causes the display device 25 to display display data for selecting the type of the non-contact sensor 9 and the non-contact sensor 9 to be calibrated (step S1).

[0062] 7 is a diagram showing a display device 25 on which display data is displayed for selecting the type of non-contact sensor 9 and the non-contact sensor 9 to be calibrated according to the embodiment. Display data for allowing the operator to select the type of non-contact sensor 9 and the non-contact sensor 9 to be calibrated is displayed on the display device 25 of the information terminal 23. The display data includes buttons indicating multiple types and multiple non-contact sensors 9. The type of non-contact sensor 9 includes the type, number, and combination of non-contact sensors 9 mounted on the dump truck 1. The type of non-contact sensor 9 includes the range of the non-contact sensor 9 (short range or long range).

[0063] The type, number, and combination of non-contact sensors 9 mounted on each dump truck 1 are different. The type of non-contact sensors 9 indicating the type, number, and combination of non-contact sensors 9 for each dump truck 1 is stored in the storage of the information terminal 23. Selecting the type of non-contact sensor 9 is equivalent to selecting the dump truck 1 on which the non-contact sensor 9 to be calibrated is mounted. In the example shown in FIG. 7, two types (type 1 and type 2) are displayed on the display device 25. In the example shown in FIG. 7, type 1 is composed of nine non-contact sensors 9. Type 2 is composed of eight non-contact sensors 9.

[0064] The input device 26 is operated by an operator to select the type of non-contact sensor 9 and the non-contact sensor 9 to be calibrated. The operator selects the type of non-contact sensor 9 via the input device 26. For example, the operator selects type 1, and then selects one non-contact sensor 9 to be calibrated from the multiple non-contact sensors 9 belonging to type 1.

[0065] Hereinafter, it is assumed that the non-contact sensor 9 to be calibrated selected by the operator is the above-mentioned non-contact sensor 91.

[0066] A start button 31 for starting a guidance process for placing the reflector 15 at the target position Pr is displayed on the display device 25. The start button 31 is an example of the input device 26. The operator operates (tap) the start button 31 after selecting one of the non-contact sensors 9 to be calibrated.

[0067] The input data generated by operating the start button 31 is transmitted to the terminal controller 24. The calculation unit 24A acquires the input data from the input device 26 (step S2).

[0068] As described with reference to FIG. 5, a plurality of target positions Pr of the reflector 15 are determined in advance for each of the plurality of non-contact sensors 9. A plurality of target positions Pr of the reflector 15 determined for each of the plurality of non-contact sensors 9 are stored in advance in the storage of the terminal controller 24. As described above, the target position Pr of the reflector 15 indicates a target relative position with respect to the dump truck 1. The calculation unit 24A selects a target position Pr of the reflector 15 corresponding to the non-contact sensor 9 to be calibrated from the plurality of target positions Pr based on input data from the input device 26. When the calibration target is the non-contact sensor 91, the calculation unit 24A selects a first target position Pr1 from the plurality of target positions Pr.

[0069] Further, the calculation unit 24A acquires the position and orientation of the dump truck 1 from the first position detection unit 21. As described above, the target position Pr of the reflector 15 indicates a target relative position with respect to the dump truck 1. The target position Pr of the reflector 15 changes depending on the position and orientation of the dump truck 1. The calculation unit 24A calculates the target position Pr of the reflector 15 corresponding to the non-contact sensor 9 to be calibrated, based on the position and orientation of the dump truck 1 detected by the first position detection unit 21. When the calibration target is the non-contact sensor 91, the calculation unit 24A calculates the first target position Pr1 based on the position and orientation of the dump truck 1 detected by the first position detection unit 21 (step S3).

[0070] The notification unit 24B acquires the target position Pr of the reflector 15 calculated by the calculation unit 24A from the calculation unit 24A. The notification unit 24B also acquires the current position Ps of the reflector 15 from the second position detection unit 22. Each of the target position Pr and the current position Ps is an absolute position. The notification unit 24B causes the display device 25 to display the target position Pr and the current position Ps of the reflector 15 (step S4).

[0071] 8 is a diagram showing a display device 25 on which a target position Pr and a current position Ps of the reflector 15 according to the embodiment are displayed. The notification unit 24B causes the display device 25 to display an overhead image of the work site. The overhead image of the work site is an image of the work site viewed from above. The overhead image of the work site is an image that simulates the work site.

[0072] A grid 32 indicating a guideline for a relative position with respect to the dump truck 1, a simulated image 33 simulating the dump truck 1, a target position image 34 indicating the target position Pr of the reflector 15, and a current position image 36 indicating the current position Ps of the reflector 15 are displayed on the display device 25. The simulated image 33 is an image of the front part of the dump truck 1 as viewed from above. Each of the target position image 34 and the current position image 36 is circular. The notification unit 24B causes the display device 25 to display the target position image 34 and the current position image 36 as guidance data for placing the reflector 15 at the target position Pr.

[0073] On the display screen of the display device 25, the positions of the grid 32, the simulated image 33, and the target position image 34 are fixed. When the calibration target is the non-contact sensor 91, the target position Pr is defined as being in front of the dump truck 1. When the calibration target is the non-contact sensor 91, the target position image 34 is displayed in front of the simulated image 33. When the reflector 15 moves in the work site, the current position image 36 moves on the display screen of the display device 25.

[0074] The operator holds the reflector 15 and moves around the dump truck 1 while checking the display device 25 of the information terminal 23 so that the reflector 15 is placed at the target position Pr. As the reflector 15 moves, the current position image 36 moves on the display screen of the display device 25. The operator holds the reflector 15 and moves around the dump truck 1 while checking the display device 25 of the information terminal 23 so that the current position Ps of the reflector 15 coincides with the target position Pr, i.e., so that the current position image 36 coincides with the target position image 34. Since the target position image 34 and the current position image 36 are displayed on the display device 25 as guidance data for placing the reflector 15 at the target position Pr, the operator can place the reflector 15 at the target position Pr with good workability.

[0075] A stop button 37 for stopping the guidance process is displayed on the display device 25. The stop button 37 is an example of the input device 26. When the operator wishes to stop the guidance process, the operator can stop the guidance process by operating (tapping) the stop button 37.

[0076] When the current position Ps of the reflector 15 approaches the target position Pr, the notification unit 24B outputs first notification data indicating that the target position Pr and the current position Ps of the reflector 15 have approached each other (step S5).

[0077] The state in which the target position Pr and the current position Ps are close to each other refers to a state in which the relative distance between the target position Pr and the current position Ps is equal to or smaller than a predetermined first distance threshold.

[0078] The first notification data may be character data or image data to be displayed on the display device 25, or may be audio data output from an audio output device of the information terminal 23. For example, the notification unit 24B may cause the audio output device to output a first pattern of sound. The first pattern of sound may be, for example, an intermittent sound.

[0079] When the current position Ps of the reflector 15 coincides with the target position Pr, the notification unit 24B outputs second notification data indicating that the target position Pr of the reflector 15 coincides with the current position Ps (step S6).

[0080] The state in which the target position Pr and the current position Ps coincide may be a state in which the reflector 15 reaches the target position Pr and the target position Pr and the current position Ps coincide completely, or a state in which the relative distance between the target position Pr and the current position Ps is equal to or smaller than a second distance threshold that is determined in advance. The second distance threshold is a value smaller than the above-mentioned first distance threshold.

[0081] The second notification data may be character data or image data to be displayed on the display device 25, or may be audio data output from an audio output device of the information terminal 23. For example, the notification unit 24B may cause the audio output device to output a sound of a second pattern different from the first pattern. The sound of the second pattern may be, for example, a continuous sound.

[0082] 9 is a diagram showing the display device 25 when the target position Pr and the current position Ps of the reflector 15 according to the embodiment coincide with each other. When the target position Pr and the current position Ps of the reflector 15 coincide with each other, an emphasis image 38 is displayed to indicate that the target position Pr and the current position Ps of the reflector 15 coincide with each other. As shown in FIG. 9, the emphasis image 38 is an image of a double circle displayed so as to surround the current position image 36 that coincides with the target position image 34. The emphasis image 38 and the second notification data including the sound of the second pattern allow the operator to recognize that the current position Ps of the reflector 15 coincides with the target position Pr. The operator can place the reflector 15 at the target position Pr.

[0083] 9, when the target position Pr and the current position Ps of the reflector 15 coincide with each other, a calibration button 39 for starting a calibration process by the object detection controller 10 is displayed on the display device 25. After placing the reflector 15 at the target position Pr, the operator operates (tap) the calibration button 39. By operating the calibration button 39, a calibration start command is transmitted from the information terminal 23 to the object detection controller 10 of the dump truck 1 (step S7).

[0084] After receiving a calibration start command from the information terminal 23, the object detection controller 10 causes the non-contact sensor 91 to emit radio waves to the reflector 15. The non-contact sensor 91 receives the radio waves reflected by the reflector 15. The object detection controller 10 calculates the amount of deviation between the target detection range Rdr and the actual detection range Rds based on the radio waves received by the non-contact sensor 91. The object detection controller 10 calibrates the actual detection range Rds of the non-contact sensor 91 based on the amount of deviation between the target detection range Rdr and the actual detection range Rds so that the target detection range Rdr and the actual detection range Rds match.

[0085] FIG. 10 is a diagram showing a calibration button 39 according to an embodiment. The calibration button 39 transitions based on the progress of the calibration process of the non-contact sensor 91 by the object detection controller 10. The calibration button 39 includes a numerical value indicating the progress rate of the calibration process by the object detection controller 10. As shown in FIG. 9 and FIG. 10, at the start of the calibration process, an initial image 39A of the calibration button 39 is displayed. The numerical value indicating the progress rate included in the initial image 39A is 0%. When the initial image 39A is operated (tapped) and the calibration process by the object detection controller 10 is started, an intermediate image 39B of the calibration button 39 is displayed. In the example shown in FIG. 10, the numerical value indicating the progress rate included in the intermediate image 39B is 55%. When the calibration process by the object detection controller 10 is ended, an end image 39C of the calibration button 39 is displayed. The numerical value indicating the progress rate included in the end image 39C is 100%.

[0086] This completes the guidance process and the calibration process for one non-contact sensor 9 (non-contact sensor 91). After the guidance process and the calibration process for one non-contact sensor 9 are completed, the notification unit 24B determines whether or not to complete the calibration of the non-contact sensor 9, including the guidance process and the calibration process, based on the input data from the input device 26 (step S8).

[0087] When the operator wishes to end the calibration of the non-contact sensor 9, he or she operates (taps) the stop button 37. If it is determined in step S8 that the calibration of the non-contact sensor 9 is to be ended (step S8: Yes), the calibration of the non-contact sensor 9 is ended. If it is determined in step S8 that the calibration of another non-contact sensor 9 is to be started (step S8: No), the process returns to step S1, and the guidance process and calibration process for the other non-contact sensor 9 are started.

[0088] [Computer System] FIG. 11 is a block diagram showing a computer system 1000 according to an embodiment. Each of the above-mentioned object detection controller 10 and the terminal controller 24 includes a computer system 1000. The computer system 1000 includes a processor 1001 such as a CPU (Central Processing Unit), a main memory 1002 including a non-volatile memory such as a ROM (Read Only Memory) and a volatile memory such as a RAM (Random Access Memory), a storage 1003, and an interface 1004 including an input / output circuit. The functions of the above-mentioned object detection controller 10 and the terminal controller 24 are stored in the storage 1003 as a program. The processor 1001 reads the program from the storage 1003, expands it in the main memory 1002, and executes the above-mentioned process according to the program. The program may be distributed to the computer system 1000 via a network.

[0089] In accordance with the above-described embodiment, the computer system 1000 can detect the position and orientation of the dump truck 1, detect the position of a reflector 15 that is provided on the dump truck 1 and used to calibrate a non-contact sensor 9 that detects objects around the dump truck 1 in a non-contact manner, calculate a target position Pr of the reflector 15 based on the position and orientation of the dump truck 1, and notify the target position Pr and the current position Ps of the reflector 15.

[0090] [effect] As described above, according to the embodiment, the object detection sensor calibration system 20 for the dump truck 1 includes a non-contact sensor 9 provided on the dump truck 1 for non-contact detection of objects around the dump truck 1, a first position detection unit 21 for detecting the position and orientation of the dump truck 1, a second position detection unit 22 for detecting the current position Ps of the reflector 15 used to calibrate the non-contact sensor 9, a calculation unit 24A for calculating a target position Pr of the reflector 15 based on the position and orientation of the dump truck 1 detected by the first position detection unit 21, and a notification unit 24B for notifying the target position Pr and the current position Ps of the reflector 15 detected by the second position detection unit 22.

[0091] According to the embodiment, the notification unit 24B notifies the operator of the target position Pr and the current position Ps of the reflector 15 as guidance data for placing the reflector 15 at the target position Pr. Since the target position Pr and the current position Ps are notified to the operator, the operator can place the reflector 15 at the target position Pr with good workability. Therefore, the work efficiency for calibrating the non-contact sensor 9 is improved. Also, the number of operators required for calibration can be reduced.

[0092] The first position detection unit 21 includes two GNSS antennas 11 provided on the dump truck 1, and a GNSS receiver 12 that calculates the position and orientation of the dump truck 1 based on satellite signals received by the GNSS antennas 11. This allows the first position detection unit 21 to detect the position and orientation of the dump truck 1 with high accuracy.

[0093] The second position detection unit 22 includes a GNSS antenna 17 provided on the reflector 15, and a GNSS receiver 13 that calculates the position of the reflector 15 based on a satellite signal received by the GNSS antenna 17. This allows the second position detection unit 22 to detect the position of the reflector 15 with high accuracy.

[0094] The GNSS receiver 13 is mounted on the dump truck 1. This eliminates the need for the operator to carry the GNSS receiver 13 with him or her.

[0095] A plurality of non-contact sensors 9 are provided on the dump truck 1. The calculation unit 24A calculates a target position Pr of the reflector 15 used for calibration of each of the plurality of non-contact sensors 9. Since an appropriate target position Pr of the reflector 15 is determined in advance for each of the plurality of non-contact sensors 9, the calibration of the non-contact sensor 9 is appropriately performed by calculating the target position Pr of the reflector 15 corresponding to the non-contact sensor 9 to be calibrated.

[0096] Notifying the target position Pr and the current position Ps of the reflector 15 includes displaying the target position Pr and the current position Ps of the reflector 15 on the display device 25. Since a target position image 34 indicating the target position Pr of the reflector 15 and a current position image 36 indicating the current position Ps are displayed on the display device 25 as guidance data for placing the reflector 15 at the target position Pr, the operator can place the reflector 15 at the target position Pr with good workability by checking the display device 25.

[0097] The notification unit 24B is provided in an information terminal 23 outside the dump truck 1. The operator can carry the information terminal 23. The operator can move around the work site while holding the reflector 15, while checking the target position Pr and the current position Ps of the reflector 15 notified by the notification unit 24B of the information terminal 23.

[0098] The notification unit 24B outputs the second notification data indicating that the target position Pr and the current position Ps of the reflector 15 coincide with each other. This allows the operator to recognize that the target position Pr and the current position Ps of the reflector 15 coincide with each other.

[0099] The input device 26 is operated by an operator to select the type of non-contact sensor 9 and the non-contact sensor 9 to be calibrated. The calculation unit 24A calculates the target position Pr of the reflector 15 based on the input data from the input device 26. As described above, since the appropriate target position Pr of the reflector 15 is determined in advance for each of the multiple non-contact sensors 9, the target position Pr of the reflector 15 corresponding to the non-contact sensor 9 to be calibrated is properly calculated by selecting the type of the non-contact sensor 9 and the non-contact sensor 9 to be calibrated. By properly calculating the target position Pr of the reflector 15, the calibration of the non-contact sensor 9 is properly performed.

[0100] A plurality of non-contact sensors 9 are arranged in the vehicle width direction at the front of the dump truck 1. Thereby, objects around the dump truck 1 are detected.

[0101] [Another embodiment] FIG. 12 is a diagram showing an object detection sensor calibration system 20 of a work machine 1 according to another embodiment. As shown in FIG. 12, the GNSS receiver 13 that calculates the position of the reflector 15 may be disposed outside the dump truck 1. In the example shown in FIG. 12, the GNSS receiver 13 is accommodated in a case 130 outside the dump truck 1. The GNSS antenna 17 and the GNSS receiver 13 are connected via a signal cable 181. A satellite signal received by the GNSS antenna 17 is transmitted to the GNSS receiver 13 via the signal cable 181. The GNSS receiver 13 and the communication device 7 are connected via a signal cable 182. Second position data indicating the position of the reflector 15 detected by the GNSS receiver 13 is transmitted to the information terminal 23 via the signal cable 182 and the communication device 7. Power is supplied to the GNSS receiver 13 from a battery mounted on the dump truck 1 via a power cable 183. The GNSS receiver 13 operates based on power supplied from the battery of the dump truck 1 via the power cable 183.

[0102] 12, the GNSS receiver 13 is disposed outside the dump truck 1, so there is no need to mount the GNSS receiver 13 on each of the multiple dump trucks 1 operating at the work site. This prevents the cost of the dump truck 1 from increasing.

[0103] FIG. 13 is a diagram showing a reflector 150 according to another embodiment. In the above-described embodiment, the reflector 15 is a corner reflector. As shown in FIG. 13, the reflector 150 may be a pole-shaped reflective member called a reflector pole. The reflector 150 is supported by a leg member 160. The reflector 150 does not have to be supported by the leg member 160. A GNSS antenna 170 is disposed on the upper end of the reflector 150. For example, when the non-contact sensor 9 is a laser sensor, the reflector 150 may be used to calibrate the laser sensor.

[0104] In the above-described embodiment, the calculation unit 24A may be provided in the dump truck 1. For example, the object detection controller 10 may have the function of the calculation unit 24A. The notification unit 24B may be provided in the dump truck 1. For example, the object detection controller 10 may have the function of the notification unit 24B. The notification unit 24B of the object detection controller 10 may transmit a control command to the information terminal 23 via the communication device 7 to notify the target position Pr and the current position Ps of the reflector 15. The notification unit 24B of the object detection controller 10 may transmit a control command to the information terminal 23 via the communication device 7 to output first notification data indicating that the target position Pr and the current position Ps of the reflector 15 have approached each other. The notification unit 24B of the object detection controller 10 may transmit a control command to the information terminal 23 via the communication device 7 to output second notification data indicating that the target position Pr and the current position Ps of the reflector 15 have matched each other.

[0105] In the above-described embodiment, the non-contact sensor 9 detects an object by irradiating the object with a detection wave. The non-contact sensor 9 may be a stereo camera provided on the dump truck 1. A marker is used instead of a reflector to calibrate the stereo camera. A GNSS antenna may be provided on the marker. The second position detection unit 22 detects the position of the marker used to calibrate the stereo camera. The calculation unit 24A calculates a target position Pr of the marker based on the position and orientation of the dump truck 1 detected by the first position detection unit 21. The notification unit 24B may notify the operator of the target position Pr of the marker and the current position Ps of the marker detected by the second position detection unit 22.

[0106] In the above-described embodiment, the dump truck 1 is an unmanned dump truck that operates without being driven by an operator. The dump truck 1 may be a manned dump truck that operates by being driven by an operator. When the dump truck 1 is a manned dump truck, the operator may get on the dump truck 1 and drive it, or may remotely operate the dump truck 1 from outside the dump truck 1.

[0107] In the above-described embodiment, the dump truck 1 is of a rigid frame type. The dump truck 1 may be of an articulated type.

[0108] In the above-described embodiment, the work machine 1 is a dump truck, which is a type of transport vehicle. The work machine 1 may be a sprinkler vehicle, a shovel, a bulldozer, or a wheel loader. The work machine 1 may be an unmanned work machine that operates without being driven by an operator. The work machine 1 may be a manned work machine that operates by being driven by an operator. When the work machine 1 is a manned work machine, the operator may get on board the work machine 1 to drive and operate it, or may remotely operate the work machine 1 from outside the work machine 1. [Explanation of symbols]

[0109] 1...Dump truck (working machine), 2...Traveling gear, 3...Vehicle body, 4...Dump body, 5...Object detection system, 6...Position detection system, 7...Communication device, 8...Wheels, 8F...Front wheels, 8R...Rear wheels, 9...Non-contact sensor, 10...Object detection controller, 11...GNSS antenna, 11A...GNSS antenna, 11B...GNSS antenna, 12...GNSS receiver, 13...GNSS receiver, 14...Communication antenna, 15...Reflector, 16...Support member, 17...GNSS antenna, 18...Signal cable, 20...Object detection sensor calibration system, 21...First position detection unit, 22...Second position detection unit, 23...Information terminal, 24...Terminal controller, 24A...Calculation unit, 24B...Notification unit, 25...Display device, 26...Input device, 31...Start button, 32...Grid, 33...Simulated image, 34...Target position image, 36...Current position image, 37...Stop button 38...enhanced image, 39...calibration button, 39A...initial image, 39B...intermediate image, 39C...final image, 90...bracket, 91...non-contact sensor, 92...non-contact sensor, 93...non-contact sensor, 94...non-contact sensor, 95...non-contact sensor, 96...non-contact sensor, 97...non-contact sensor, 98...non-contact sensor, 130...case, 181...signal cable, 182...signal cable, 183...power cable, 150 ...reflector, 160...leg member, 170...GNSS antenna, 1000...computer system, 1001...processor, 1002...main memory, 1003...storage, 1004...interface, CL...center line, Rd...detection range, Rdr...target detection range, Rds...actual detection range, Pr...target position, Pr1...first target position, Pr4...fourth target position, Pr7...seventh target position, Ps...current position.

Claims

1. a non-contact sensor provided in the work machine for detecting objects around the work machine in a non-contact manner; A first position detection unit that detects a position and an orientation of the work machine; a second position detection unit that detects a position of a reflector used for calibrating the non-contact sensor; a calculation unit that calculates a target position of the reflector based on the position and orientation of the work machine detected by the first position detection unit; a notification unit that notifies the target position and the position of the reflector detected by the second position detection unit, An object detection sensor calibration system for work machines.

2. The first position detection unit includes two GNSS antennas provided on the work machine, and a GNSS receiver that calculates a position and a direction of the work machine based on satellite signals received by the GNSS antennas. The object detection sensor calibration system of claim 1 .

3. The second position detection unit includes a GNSS antenna provided on the reflector and a GNSS receiver that calculates a position of the reflector based on a satellite signal received by the GNSS antenna. The object detection sensor calibration system of claim 1 .

4. The GNSS receiver is mounted on the work machine. The object detection sensor calibration system according to claim 3 .

5. the GNSS receiver is located external to the work machine; The object detection sensor calibration system according to claim 3 .

6. The non-contact sensor is provided in plurality on the work machine, The calculation unit calculates the target position of the reflector used for calibration of each of the plurality of non-contact sensors. The object detection sensor calibration system of claim 1 .

7. The notifying includes displaying the target position and the position of the reflector on a display device. The object detection sensor calibration system of claim 1 .

8. The notification unit is provided in an information terminal external to the work machine. The object detection sensor calibration system of claim 1 .

9. The notification unit outputs notification data indicating that the target position and the position of the reflector coincide with each other. The object detection sensor calibration system of claim 1 .

10. an input device that is operated to select the type of the non-contact sensor and the non-contact sensor to be calibrated; The calculation unit calculates the target position based on input data from the input device. The object detection sensor calibration system of claim 1 .

11. The work machine is a dump truck, The non-contact sensors are arranged in a plurality of positions in the vehicle width direction at the front and rear of the dump truck. The object detection sensor calibration system of claim 1 .

12. Detecting a position and orientation of a work machine; Detecting a position of a reflector used for calibrating a non-contact sensor that is provided on a work machine and detects objects around the work machine in a non-contact manner; Calculating a target position for the reflector based on a position and an orientation of the work machine; and reporting the target location and the reflector location. A method for calibrating an object detection sensor of a work machine.

Images