Vehicle discrimination system

Abstract

To allow a vehicle type to be discriminated without imparting a mark for discriminating the vehicle type on a vehicle.SOLUTION: A vehicle discrimination system 1 comprises: a loading space detection part 30; a dimension information arithmetic part 51; a storage part 53; and a discrimination part 55. The loading space detection part 30 detects information containing a distance to a loading space 13. The dimension information arithmetic part 51 computes dimension information of the loading space 13 on the basis of the distance detected by the loading space detection part 30. The storage part 53 stores a correspondence relationship between the dimension information of the loading space 13 and a type of a vehicle 10. The discrimination part 55 discriminates a type of the vehicle 10 on the basis of the dimension information computed by the dimension information arithmetic part 51, and the correspondence relationship stored in the storage part 53.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a vehicle discrimination system for discriminating the type of a vehicle.

Background Art

[0002] For example, Patent Document 1 and the like describe a technique for discriminating the type of a vehicle (model in the same document). In the technique described in the same document, a display unit is provided on the vehicle. It is described in the same document that the blinking period of the display unit is different for each type of vehicle, the display unit has a different color for each type of vehicle, and the emission color of the display unit is different for each type of vehicle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the technique described in the same document, it is necessary to provide a display unit (mark) for discriminating the type of a vehicle on the vehicle and set the display unit according to the type of the vehicle, which is troublesome.

[0005] Therefore, an object of the present invention is to provide a vehicle discrimination system that can discriminate the type of a vehicle without providing a mark for discriminating the type of the vehicle on the vehicle.

Means for Solving the Problems

[0006] The vehicle discrimination system discriminates the type of a vehicle having a loading platform. The vehicle discrimination system includes a loading platform detection unit, a dimensional information calculation unit, a storage unit, and a discrimination unit. The loading platform detection unit detects information including the distance to the loading platform. The dimensional information calculation unit calculates the dimensional information of the loading platform based on the distance detected by the loading platform detection unit. The storage unit stores the correspondence between the dimensional information of the loading platform and the type of the vehicle. The discrimination unit discriminates the type of the vehicle based on the dimensional information calculated by the dimensional information calculation unit and the correspondence stored in the storage unit.

Effect of the Invention

[0007] With the above configuration, the type of the vehicle can be discriminated without providing a vehicle with a mark for discriminating the type of the vehicle.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Embodiment for Carrying Out the Invention

[0009] With reference to FIGS. 1 to 5, the vehicle discrimination system 1 will be described.

[0010] The vehicle discrimination system 1 is a system for discriminating the type of the vehicle 10 shown in FIG. 1. The vehicle discrimination system 1 includes the vehicle 10, the working machine 20, the loading platform detection unit 30, the attitude detection unit 41 shown in FIG. 4, the position detection unit 43, and the controller 50.

[0011] As shown in FIG. 1, the vehicle 10 has a loading platform 13. The vehicle 10 is a machine (a working machine that performs a transportation operation, a transport vehicle, a transport vehicle) that transports the object to be transported stored in the loading platform 13. The vehicle 10 is, for example, a dump truck or the like. The vehicle 10 includes a vehicle main body 11 and a loading platform 13.

[0012] The vehicle main body 11 supports the loading platform 13. The vehicle main body 11 is capable of traveling, and may travel by wheels or may travel by crawlers. The vehicle main body 11 includes a vehicle cab 11a.

[0013] The loading platform 13 accommodates the object to be transported. The object to be transported accommodated in the loading platform 13 may be earth and sand, stones, wood, metal, waste, a structure such as concrete, or the like. The loading platform 13 is disposed on the rear side X2 (described later) of the vehicle with respect to the vehicle cab 11a. The loading platform 13 is, for example, a box shape without a lid (see FIG. 3). The loading platform 13 may be movable with respect to the vehicle main body 11 or may be fixed to the vehicle main body 11. Hereinafter, a state in which the floor surface 13a (described later) of the loading platform 13 is disposed horizontally or substantially horizontally will be described. The loading platform 13 includes a floor surface 13a, a rear tilting plate surface 13b, side tilting plate surfaces 13c, and a torii surface 13d.

[0014] (Direction of the vehicle 10) Regarding the direction of the vehicle 10, the direction that coincides with the vertical direction when the vehicle 10 is placed on a horizontal plane is defined as the vehicle vertical direction Z. The longitudinal direction of the loading platform 13 is defined as the vehicle front-rear direction X. In the vehicle front-rear direction X, the side facing from the loading platform 13 toward the vehicle cab 11a is defined as the vehicle front side X1, and the opposite side is defined as the vehicle rear side X2. The direction orthogonal to each of the vehicle vertical direction Z and the vehicle width direction Y is defined as the vehicle width direction Y.

[0015] The bed surface 13a is the bottom surface of the loading platform 13. The bed surface 13a is planar or substantially planar (the same applies to the rear inclined plate surface 13b, the side inclined plate surface 13c, and the torii surface 13d). The rear inclined plate surface 13b is the surface on the rear side X2 of the vehicle of the loading platform 13 and protrudes upward from the portion on the rear side X2 of the vehicle of the bed surface 13a. The side inclined plate surface 13c is the surface on the outer side (left and right) in the vehicle width direction Y of the loading platform 13 (see Fig. 3) and protrudes upward from the left and right ends of the bed surface 13a. The torii surface 13d is the surface on the front side X1 of the vehicle of the loading platform 13 and protrudes upward from the portion on the front side X1 of the vehicle of the bed surface 13a. The torii surface 13d protrudes higher than the side inclined plate surface 13c and higher than the rear inclined plate surface 13b.

[0016] The working machine 20 performs operations on the vehicle 10. The working machine 20 performs, for example, operations of loading objects to be transported onto the loading platform 13 (such as earth and sand loading operations). The working machine 20 is, for example, a construction machine, and may be, for example, an excavator or may be, for example, a crane. Hereinafter, the case where the working machine 20 is an excavator will be described. The working machine 20 includes a lower traveling body 21, an upper revolving body 23, and an attachment 25.

[0017] The lower traveling body 21 makes the working machine 20 travel. The lower traveling body 21 includes, for example, crawlers.

[0018] The upper revolving body 23 is rotatably mounted on the lower traveling body 21. The upper revolving body 23 includes a working machine cab 23a. The working machine cab 23a is a part where an operator can operate the working machine 20. The working machine 20 may operate according to the operation of the operator or may operate by automatic driving.

[0019] The attachment 25 is a part for performing operations and includes, for example, a boom 25a, an arm 25b, and a tip attachment 25c. The boom 25a is attached to the upper swing body 23 so as to be able to undulate (rotate in the vertical direction). The arm 25b is rotatably attached to the boom 25a. The tip attachment 25c is provided at the tip of the attachment 25 and is rotatably attached to the arm 25b. The tip attachment 25c may be, for example, a bucket for scooping up earth and sand, a device for clamping objects (such as a grapple), or a device for performing crushing, excavation, etc. (such as a breaker).

[0020] The loading platform detection unit 30 (distance acquisition means) detects information including the distance to the loading platform 13 (the distance from the loading platform detection unit 30 to the loading platform 13). The loading platform detection unit 30 is arranged at a position where the loading platform 13 can be detected. For example, the loading platform detection unit 30 may be attached to the working machine 20. For example, the loading platform detection unit 30 may be attached to the cab 23a of the working machine. In this case, the loading platform detection unit 30 may be attached to the roof portion of the cab 23a of the working machine, or may be arranged inside the cab 23a of the working machine. The loading platform detection unit 30 may be attached to a part of the working machine 20 other than the cab 23a of the working machine.

[0021] This loading platform detection unit 30 may be arranged outside the working machine 20 (refer to the loading platform detection unit 30 shown by the dashed-dotted line in FIG. 1). For example, the loading platform detection unit 30 may be installed at the work site where the working machine 20 is arranged (the work site where the vehicle 10 is arranged). Similar to the loading platform detection unit 30, each of the position detection unit 43 and the controller 50 may be mounted on the working machine 20 or may be arranged outside the working machine 20. The loading platform detection unit 30 may be provided at only one location or may be provided at a plurality of locations (the same applies to the position detection unit 43 and the controller 50). For example, a loading platform detection unit 30 mounted on the working machine 20 and a loading platform detection unit 30 arranged outside the working machine 20 may be provided (the same applies to the position detection unit 43 and the controller 50).

[0022] This loading platform detection unit 30 may detect the distance to a part of the loading platform 13 (for example, the torii surface 13d and the rear tilting plate surface 13b, etc.). The loading platform detection unit 30 may detect a distance image (described later) of the entire or substantially entire loading platform 13. The loading platform detection unit 30 may detect information other than the distance, specifically, it may detect a two-dimensional image of the loading platform 13. For example, the loading platform detection unit 30 includes a two-dimensional image detection unit 31 and a three-dimensional information detection unit 33.

[0023] The two-dimensional image detection unit 31 detects a two-dimensional image of the loading platform 13. The two-dimensional image detected by the two-dimensional image detection unit 31 includes the entire loading platform 13, for example, as shown in FIG. 3 (the same applies to the distance image obtained by the three-dimensional information detection unit 33). This two-dimensional image may include parts of the vehicle 10 other than the loading platform 13, and may include the work machine 20 (for example, the attachment 25, etc.) (the same applies to the distance image obtained by the three-dimensional information detection unit 33). Specifically, the two-dimensional image detection unit 31 shown in FIG. 1 is a monocular camera.

[0024] The three-dimensional information detection unit 33 detects three-dimensional information (three-dimensional distance information) including the loading platform 13. The three-dimensional information detection unit 33 acquires an image (distance image) having distance information (depth information). Specifically, for example, the three-dimensional information detection unit 33 detects point cloud data, etc. The three-dimensional information detection unit 33 may be provided with a device that detects three-dimensional information using laser light, for example, it may be provided with LIDAR (Light Detection and Ranging), or it may be provided with a TOF (Time Of Flight) sensor. The three-dimensional information detection unit 33 may be provided with a device that detects three-dimensional information using radio waves (for example, a millimeter-wave radar, etc.). The three-dimensional information detection unit 33 may be provided with a stereo camera. The coordinate system of the two-dimensional image and the coordinate system of the three-dimensional information are unified. For example, these coordinate systems may be unified to a coordinate system based on the work machine 20 (machine coordinate system), or may be unified to a coordinate system based on the work site.

[0025] Note that the loading platform detection unit 30 may include a device that detects one-dimensional or two-dimensional distance information. More specifically, the loading platform detection unit 30 may include a device that detects the distance from the loading platform detection unit 30 to a certain point (a device that detects one-dimensional distance information). The loading platform detection unit 30 may include a device that detects the distances to the points where the plane passing through the loading platform detection unit 30 intersects the loading platform 13 (a device that detects two-dimensional distance information). For example, the loading platform detection unit 30 may include an optical sensor (e.g., a laser sensor) or a radio wave sensor that detects one-dimensional or two-dimensional distance information.

[0026] The attitude detection unit 41 (see FIG. 4) detects the attitude of the working machine 20. The attitude detection unit 41 may detect the rotation angle (pitching angle) of the boom 25a with respect to the upper swing body 23. The attitude detection unit 41 may detect the rotation angle of the arm 25b with respect to the boom 25a. The attitude detection unit 41 may detect the rotation angle of the tip attachment 25c with respect to the arm 25b. The attitude detection unit 41 may detect the swing angle of the upper swing body 23 with respect to the lower traveling body 21. The attitude detection unit 41 may include a sensor that detects an angle (e.g., a rotary encoder, etc.), a sensor that detects the inclination with respect to the horizontal plane, or a sensor that detects the stroke of a cylinder (not shown) that drives the attachment 25. The attitude detection unit 41 may detect the attitude of the working machine 20 based on at least one of a two-dimensional image and a distance image. In this case, at least one of the two-dimensional image and the distance image may be detected by the loading platform detection unit 30 (the loading platform detection unit 30 and the attitude detection unit 41 may be used in common).

[0027] The position detection unit 43 (see FIG. 4) detects the position of the working machine 20 at the work site. The position detection unit 43 may detect the position and orientation of the working machine 20 with respect to the work site (e.g., the orientation of the upper swing body 23). The position detection unit 43 may detect the position and orientation of the reference part of the working machine 20 with respect to the work site. The reference part of the working machine 20 may be, for example, a specific part of the upper swing body 23 or the lower traveling body 21, or may be, for example, the attachment part of the boom 25a to the upper swing body 23 (boom foot).

[0028] The controller 50 (see FIG. 4) is a computer that performs signal input / output, calculation (processing), information storage, and the like. For example, the functions of the controller 50 shown in FIG. 4 are realized by a program stored in a storage unit 53 or the like of the controller 50 being executed by an arithmetic unit. The controller 50 performs processing related to discrimination of the type of the vehicle 10 (see FIG. 1). The controller 50 may perform processing different from the discrimination of the type of the vehicle 10. For example, the controller 50 may control the automatic driving of the working machine 20 (see FIG. 1), or may perform control to assist the operation of the working machine 20. The controller 50 includes a dimension information calculation unit 51, a storage unit 53, a discrimination unit 55, and a detection availability determination unit 57.

[0029] The dimension information calculation unit 51 calculates the dimension information of the loading platform 13 based on the distance detected by the loading platform detection unit 30 shown in FIG. 1. This dimension information is information serving as a criterion for discriminating the type of the vehicle 10. Information that can discriminate the type of the vehicle 10 is used as the dimension information. Specific examples of the dimension information are as follows.

[0030] [Example A1] The dimension information may include the dimension of the loading platform 13 in a specific direction or the dimension of a specific part. [Example A1a] The dimension information may include the dimension Lx in the vehicle longitudinal direction X of the loading platform 13 (the dimension of the loading platform 13 in the longitudinal direction of the loading platform 13, the depth). For example, the dimension Lx is the interval in the vehicle longitudinal direction X between the torii surface 13d and the rear tilting plate surface 13b. [Example A1b] The dimension information may include the dimension Ly in the vehicle width direction Y of the loading platform 13 shown in FIG. 2 (width). For example, the dimension Ly may be the interval in the vehicle width direction Y between the side tilting plate surfaces 13c·13c on both sides in the vehicle width direction Y. For example, the dimension Ly may be the dimension in the vehicle width direction Y of the rear tilting plate surface 13b or the torii surface 13d. [Example A1c] The dimension information may include the dimension of the loading platform 13 in the vehicle vertical direction Z. For example, the dimension information may include the dimension Lzb (height) in the vehicle vertical direction Z of the rear tilting plate surface 13b (or the side tilting plate surface 13c) shown in FIG. 1. For example, the dimension information may include the dimension Lzd (height) in the vehicle vertical direction Z of the torii surface 13d.

[0031] [Example A2] The dimensional information may include the dimensions of the entire loading platform 13 (in each direction). More specifically, the dimensional information may include the dimensions Lx, Ly (see FIG. 2), and the dimension in the vehicle vertical direction Z (at least either of the dimensions Lzb and Lzd) of the loading platform 13.

[0032] [Example A3] The dimensional information may include the capacity of the loading platform 13 calculated from the dimensions of the loading platform 13. Specifically, the capacity of the loading platform 13 is the product of the dimension Lx of the loading platform 13, the dimension Ly (see FIG. 2), and the dimension Lzb.

[0033] [Example A4] The dimensional information may include information on the three-dimensional shape of the loading platform 13. More specifically, the dimensional information may include information on the three-dimensional shape of the entire (or substantially the entire) loading platform 13. For example, the information on the three-dimensional shape of the loading platform 13 may include the dimensions Lx, Ly (see FIG. 2), and the dimension Lzb. For example, the information on the three-dimensional shape of the loading platform 13 may include the height (the value obtained by subtracting the dimension Lzb from the dimension Lzd) from the intersection of the upper end of the side sloping plate surface 13c and the torii surface 13d to the upper end of the torii surface 13d. For example, the information on the three-dimensional shape of the loading platform 13 may include the dimension Lzd of the torii surface 13d in the vehicle vertical direction Z. The information on the three-dimensional shape of the loading platform 13 may include information on the angles between each surface (such as the rear sloping plate surface 13b and the side sloping plate surface 13c).

[0034] This dimensional information calculation unit 51 (see FIG. 4) calculates the dimensional information as follows, for example.

[0035] [Example B1] A specific example of the case where the dimensional information calculation unit 51 (see FIG. 4) calculates the three-dimensional shape of the loading platform 13 is as follows.

[0036] [Example B1a] For example, the dimensional information calculation unit 51 shown in FIG. 4 calculates the three-dimensional shape based on a two-dimensional image and three-dimensional information. More specifically, the dimensional information calculation unit 51 includes a two-dimensional shape calculation unit 51a and a three-dimensional shape calculation unit 51b.

[0037] The two-dimensional shape calculation unit 51a calculates (estimates) the two-dimensional shape of the loading platform 13 (see FIG. 3) based on the two-dimensional image detected by the two-dimensional image detection unit 31. For example, the two-dimensional shape calculation unit 51a calculates the two-dimensional shape of the loading platform 13 by image recognition. Specifically, for example, the two-dimensional shape calculation unit 51a extracts (recognizes, estimates) feature points P (see FIG. 3) corresponding to the positions of the corners of the loading platform 13 in the two-dimensional image. Also, the two-dimensional shape calculation unit 51a determines a link L (see FIG. 3) corresponding to the side of the loading platform 13 in the two-dimensional image. As shown in FIG. 3, the link L is a line segment connecting the feature points P. The two-dimensional shape calculation unit 51a shown in FIG. 4 determines the feature points P (see FIG. 3) and the link L (see FIG. 3) by, for example, executing software that extracts a specific shape from the two-dimensional image. For example, this software uses deep learning technology or the like.

[0038] The three-dimensional shape calculation unit 51b calculates the three-dimensional shape of the loading platform 13 (see FIG. 3). The three-dimensional shape calculation unit 51b calculates the three-dimensional shape of the loading platform 13 based on the two-dimensional shape of the loading platform 13 calculated by the two-dimensional shape calculation unit 51a and the three-dimensional information (e.g., point cloud data) of the loading platform 13 detected by the three-dimensional information detection unit 33. Specifically, for example, the three-dimensional shape calculation unit 51b specifies the positions of the corners and sides of the loading platform 13 (see FIG. 3) in the three-dimensional information detected by the three-dimensional information detection unit 33 from the positions (two-dimensional coordinates) of the feature points P (see FIG. 3) and the link L (see FIG. 3) in the two-dimensional image. Then, the three-dimensional shape calculation unit 51b acquires the three-dimensional coordinates at the positions of the corners and sides of the loading platform 13 from the three-dimensional information (e.g., point cloud data). Thereby, the three-dimensional shape calculation unit 51b determines the three-dimensional coordinates of the corners and sides of the loading platform 13 and determines the three-dimensional shape of the loading platform 13.

[0039] [Example B1b] The dimension information calculation unit 51 may calculate the three-dimensional shape of the loading platform 13 (see FIG. 3) based on three-dimensional information without using a two-dimensional image. Specifically, for example, the three-dimensional shape calculation unit 51b clusters the three-dimensional information (e.g., point cloud data) of the loading platform 13 detected by the three-dimensional information detection unit 33 to specify (estimate, calculate) the three-dimensional positions of the respective surfaces of the loading platform 13. As a result, the three-dimensional shape calculation unit 51b determines the three-dimensional shape of the loading platform 13. In this example, the loading platform detection unit 30 may not include the two-dimensional image detection unit 31, and the dimension information calculation unit 51 may not include the two-dimensional shape calculation unit 51a.

[0040] [Example B2] The dimension information calculation unit 51 may calculate the dimensions and capacity of the loading platform 13 (see FIG. 3) based on the information on the three-dimensional shape of the loading platform 13 calculated by the three-dimensional shape calculation unit 51b (see [Example A1], [Example A2], and [Example A3] above).

[0041] [Example B3] The dimension information calculation unit 51 may calculate the dimensions and capacity of the loading platform 13 (see FIG. 3) without calculating the three-dimensional shape of the loading platform 13. In this example, the dimension information calculation unit 51 may not include the two-dimensional shape calculation unit 51a and the three-dimensional shape calculation unit 51b.

[0042] [Example B3a] For example, the loading platform detection unit 30 shown in FIG. 1 detects the distances from the loading platform detection unit 30 to two opposite surfaces of the loading platform 13. Then, the dimension information calculation unit 51 (see FIG. 4) may calculate the dimension of the loading platform 13 in the direction in which these two surfaces face each other based on the detected distances. Specifically, for example, the distance in the vehicle longitudinal direction X from the loading platform detection unit 30 to the rear inclined plate surface 13b and the distance in the vehicle longitudinal direction X from the loading platform detection unit 30 to the torii surface 13d are detected. Then, the dimension information calculation unit 51 (see FIG. 4) may calculate the interval in the vehicle longitudinal direction X between the torii surface 13d and the rear inclined plate surface 13b based on these distances, and calculate the dimension Lx of the loading platform 13 in the vehicle longitudinal direction X (see the above [Example A1a]). Similarly, the dimension information calculation unit 51 may calculate the dimension Ly of the loading platform 13 in the vehicle width direction Y (see the above [Example A1b]) from the interval between the two side inclined plate surfaces 13c·13c shown in FIG. 2. In this example, the loading platform detection unit 30 may be a device that detects one-dimensional or two-dimensional distance information. In this example, the loading platform detection unit 30 does not have to include the two-dimensional image detection unit 31 and the three-dimensional information detection unit 33 (the same applies to the following [Example B3b]). In this example, the dimension information calculation unit 51 does not have to include the two-dimensional shape calculation unit 51a and the three-dimensional shape calculation unit 51b (the same applies to the following [Example B3b]).

[0043] [Example B3b] For example, the loading platform detection unit 30 shown in FIG. 1 detects the dimension of a specific direction of a part of the surface of the loading platform 13. Then, the dimension information calculation unit 51 (see FIG. 4) may use the dimension detected by the loading platform detection unit 30 as part or all of the dimension information of the loading platform 13. Specifically, for example, the loading platform detection unit 30 detects the height (dimension Lzd) of the torii surface 13d. Then, the dimension information calculation unit 51 (see FIG. 4) may use the dimension Lzd as part or all of the dimension information. In this example, the loading platform detection unit 30 may be a device that detects two-dimensional distance information, for example.

[0044] The storage unit 53 (see FIG. 4) stores the correspondence between the dimension information of the loading platform 13 and the type of the vehicle 10. The storage unit 53 stores this correspondence in advance (before the type of the vehicle 10 is determined).

[0045] [Example C1] For example, the correspondence relationship stored in the storage unit 53 (see FIG. 4) may be a relationship between the conditions (e.g., numerical range) of part or all of the dimensions of the loading platform 13 (see [Example A1] and [Example A2] above) and the type of the vehicle 10. Specifically, for example, the correspondence relationship stored in the storage unit 53 may be a relationship between the conditions (e.g., numerical range) of the dimension Lx of the loading platform 13 and the type of the vehicle 10.

[0046] [Example C2] For example, the correspondence relationship stored in the storage unit 53 (see FIG. 4) may be a relationship between the conditions (e.g., numerical range) of the capacity of the loading platform 13 (see [Example A3] above) and the type of the vehicle 10 (see the relationships R1 and R2 shown in FIG. 4). [Example C3] For example, the correspondence relationship stored in the storage unit 53 may be a relationship between the conditions of the three-dimensional shape information (e.g., the dimension ratio of each surface, angle, etc.) of the loading platform 13 and the type of the vehicle 10.

[0047] This storage unit 53 (see FIG. 4) may store information different from the correspondence relationship between the dimension information of the loading platform 13 and the type of the vehicle 10. For example, the storage unit 53 may store the specifications information (known information) for each model of the vehicle 10. This specifications information may include the dimension information of the loading platform 13 or may include the shape information of the loading platform 13.

[0048] This storage unit 53 (see FIG. 4) may store information as to whether the type of the vehicle 10 is the type expected to enter the work site where the working machine 20 performs work. The storage unit 53 may store the correspondence relationship regarding the type of the vehicle 10 expected to enter the work site where the working machine 20 performs work, and may not store the correspondence relationship regarding the type of the vehicle 10 not expected to enter the work site.

[0049] The discrimination unit 55 discriminates the type of the vehicle 10 shown in FIG. 1 based on the dimension information calculated by the dimension information calculation unit 51 shown in FIG. 4 and the correspondence relationship stored in the storage unit 53. Specific examples of the "type" of the vehicle 10 discriminated by the discrimination unit 55 (see FIG. 4) are as follows.

[0050] [Example D1] The type discriminated by the discrimination unit 55 (see FIG. 4) may be a classification based on the size of the loading platform 13. [Example D1a] The type may be a classification (class) based on the maximum load capacity on the loading platform 13. For example, the type may be a classification including "4t", "8t", and "10t" (see the relationship R1 shown in FIG. 4). Specifically, "4t" is a classification to which the vehicle 10 with a maximum load capacity of about 4t on the loading platform 13 belongs. For example, when the vehicle 10 is a dump truck, it is "4t dump". [Example D1b] The type may be a classification based on the capacity of the loading platform 13. [Example D1c] Information on whether or not it is a classification (class) that the working machine 20 is expected to enter the work site where the work is to be performed may be set in the storage unit 53 (see FIG. 4). In this case, the discrimination unit 55 (see FIG. 4) may perform discrimination of the type only from the classifications that are expected to enter the work site. The candidates for the classifications discriminated by the discrimination unit 55 may be narrowed down to the classifications that are expected to enter the work site.

[0051] Normally, when the classifications based on the size of the loading platform 13 (specifically, for example, the classes of "4t", "8t", and "10t") are different, the dimension Lx in the vehicle front-rear direction X of the loading platform 13 is likely to be different compared to the dimensions in other directions of the loading platform 13 (for example, the dimension Ly (see FIG. 2), etc.). Therefore, when the type discriminated by the discrimination unit 55 (see FIG. 4) is a classification based on the size of the loading platform 13, it is preferable that the dimension information includes the dimension Lx in the vehicle front-rear direction X of the loading platform 13. For example, when the type discriminated by the discrimination unit 55 is a classification based on the size of the loading platform 13, the dimension information may be only the dimension Lx in the vehicle front-rear direction X of the loading platform 13.

[0052] [Usage Example 1] The controller 50 (see FIG. 4) may use the discrimination result of the classification based on the size of the loading platform 13 to grasp the appropriate loading amount of the object to be transported onto the loading platform 13. The controller 50 may use the discrimination result of the classification based on the size of the loading platform 13 to guide the loading amount in the loading operation from the working machine 20 to the loading platform 13.

[0053] [Example D2] The type discriminated by the discrimination unit 55 (see FIG. 4) may be the model of the vehicle 10. The "model of the vehicle 10" is the type to which the vehicles 10 manufactured with the same (or substantially the same) dimensions and shapes belong. [Example D2a] Information on whether or not it is the model scheduled to enter the work site where the work machine 20 performs work may be set in the storage unit 53. In this case, the discrimination unit 55 may perform discrimination of the model only from the models scheduled to enter the work site. The candidates for the model discriminated by the discrimination unit 55 may be narrowed down to the models scheduled to enter the work site.

[0054] [Usage Example 2] The controller 50 (see FIG. 4) may read the specifications information (specifications information of the loading platform 13) of the model stored in the storage unit 53 (see FIG. 4) based on the discrimination result of the model of the vehicle 10. [Usage Example 2a] The controller 50 (see FIG. 4) may use the specifications information of the loading platform 13 to grasp the appropriate loading amount of the object to be transported to the loading platform 13. [Usage Example 2b] The controller 50 may use the specifications information of the loading platform 13 to guide the loading amount of the object to be transported from the work machine 20 to the loading platform 13. [Usage Example 2c] The controller 50 may use the specifications information of the loading platform 13 to grasp the detailed position of the loading platform 13. [Usage Example 2c-1] In this case, the controller 50 may use the information on the detailed position of the loading platform 13 for the automatic driving of the loading of the object to be transported from the work machine 20 to the loading platform 13. For example, the controller 50 may use the information on the detailed position of the loading platform 13 to specify the loading position (for example, the soil discharge position) of the object to be transported from the work machine 20 to the loading platform 13. [Usage Example 2c-2] The controller 50 may use the information on the detailed position of the loading platform 13 to assist the loading operation of the object to be transported from the work machine 20 to the loading platform 13. [Usage Example 2c-3] The controller 50 may use the information on the detailed position of the loading platform 13 for collision prevention control between the loading platform 13 and the work machine 20.

[0055] This discrimination unit 55 (see FIG. 4) does not need to discriminate only one type. The discrimination unit 55 may narrow down to a plurality of types from the type candidates stored in the storage unit 53 (see FIG. 4).

[0056] This discrimination unit 55 (see FIG. 4) may discriminate the type based on all the information included in the dimensional information, or may discriminate the type based on only a part of the information (information necessary for discriminating the type) included in the dimensional information.

[0057] The detection possibility determination unit 57 (see FIG. 4) determines whether the loading platform 13 can be detected by the loading platform detection unit 30. As a result, the detection possibility determination unit 57 determines whether the dimensional information calculation unit 51 (see FIG. 4) can appropriately calculate the dimensional information of the loading platform 13, and determines whether the discrimination unit 55 (see FIG. 4) can appropriately discriminate the type of the vehicle 10. The information necessary for the determination by the detection possibility determination unit 57 (see FIG. 4) differs depending on whether the loading platform detection unit 30 is attached to the working machine 20.

[0058] [Example E1] When the loading platform detection unit 30 is attached to the working machine 20, the detection possibility determination unit 57 (see FIG. 4) makes a determination as follows. The detection possibility determination unit 57 determines whether the posture of the working machine 20 is a "loading platform detectable posture". The loading platform detectable posture is the posture of the working machine 20 in which the loading platform 13 can be detected by the loading platform detection unit 30. More specifically, the loading platform detectable posture is the posture of the working machine 20 in which the loading platform detection unit 30 can detect the information necessary for the dimensional information calculation unit 51 to appropriately calculate the dimensional information of the loading platform 13. The loading platform detectable posture is set in the controller 50 (see FIG. 4). Specifically, for example, the loading platform detectable posture is a posture in which the ratio of the attachment 25 reflected in the detection area (view angle) of the loading platform detection unit 30 shown in FIG. 3 is equal to or less than a predetermined value. For example, the loading platform detectable posture may be a posture in which the attachment 25 is not reflected in the detection area of the loading platform detection unit 30 (the above "predetermined value" may be zero). For example, a posture in which the ratio of the attachment 25 reflected in the detection area of the loading platform detection unit 30 exceeds the predetermined value does not correspond to the loading platform detectable posture.

[0059] In this [Example E1], when the posture detected by the posture detection unit 41 (see FIG. 4) is a posture in which the loading platform can be detected (YES in step S1 of FIG. 5), the dimension information calculation unit 51 (see FIG. 4) calculates the dimension information of the loading platform 13 (step S2 of FIG. 5). In this case, the discrimination unit 55 (see FIG. 4) discriminates the type of the vehicle 10 (step S3 of FIG. 5). On the other hand, when the posture detected by the posture detection unit 41 (see FIG. 4) is not a posture in which the loading platform can be detected (NO in step S1 of FIG. 5), the dimension information calculation unit 51 does not calculate the dimension information of the loading platform 13. In this case, the discrimination unit 55 does not discriminate the type of the vehicle 10.

[0060] [Example E2] When the loading platform detection unit 30 is arranged outside the working machine 20 (see the loading platform detection unit 30 indicated by the dashed two-dot line in FIG. 1), the detection availability determination unit 57 (see FIG. 4) makes the following determination. The detection availability determination unit 57 determines whether or not the "loading platform detection possible condition" is satisfied. The loading platform detection possible condition is the posture and position of the working machine 20 in which the loading platform 13 can be detected by the loading platform detection unit 30. More specifically, the loading platform detection possible posture is the posture and position of the working machine 20 such that the loading platform detection unit 30 can detect the information necessary for the dimension information calculation unit 51 (see FIG. 4) to appropriately calculate the dimension information of the loading platform 13. The loading platform detection possible condition is set in the controller 50 (see FIG. 4). Specifically, for example, the loading platform detection possible condition is the posture and position of the working machine 20 such that the ratio of the working machine 20 reflected in the detection area of the loading platform detection unit 30 is equal to or less than a predetermined value. For example, the loading platform detection possible condition may be the posture and position of the working machine 20 such that the working machine 20 is not reflected in the detection area of the loading platform detection unit 30 (the above "predetermined value" may be zero). For example, the posture and position of the working machine 20 such that the working machine 20 reflected in the detection area of the loading platform detection unit 30 exceeds a predetermined value do not satisfy the loading platform detection possible condition.

[0061] In this [Example E2], when the posture detected by the posture detection unit 41 (see FIG. 4) and the position detected by the position detection unit 43 (see FIG. 4) satisfy the cargo bed detection enable condition, the dimension information calculation unit 51 (see FIG. 4) calculates the dimension information of the cargo bed 13. In this case, the discrimination unit 55 (see FIG. 4) discriminates the type of the vehicle 10. On the other hand, when the posture detected by the posture detection unit 41 (see FIG. 4) and the position detected by the position detection unit 43 (see FIG. 4) do not satisfy the cargo bed detection enable condition, the dimension information calculation unit 51 (see FIG. 4) does not calculate the dimension information of the cargo bed 13. In this case, the discrimination unit 55 (see FIG. 4) does not discriminate the type of the vehicle 10.

[0062] (Effect of the First Invention) The effects of the vehicle discrimination system 1 shown in FIG. 1 are as follows. The vehicle discrimination system 1 discriminates the type of the vehicle 10 having the cargo bed 13. As shown in FIG. 4, the vehicle discrimination system 1 includes a cargo bed detection unit 30, a dimension information calculation unit 51, a storage unit 53, and a discrimination unit 55.

[0063] [Configuration 1] The cargo bed detection unit 30 detects information including the distance to the cargo bed 13 (the distance from the cargo bed detection unit 30 to the cargo bed 13). The dimension information calculation unit 51 calculates the dimension information of the cargo bed 13 based on the distance detected by the cargo bed detection unit 30. The storage unit 53 stores the correspondence between the dimension information of the cargo bed 13 and the type of the vehicle 10 (see FIG. 1). The discrimination unit 55 discriminates the type of the vehicle 10 based on the dimension information calculated by the dimension information calculation unit 51 and the correspondence stored in the storage unit 53.

[0064] In the above [Configuration 1], the dimension information of the cargo bed 13 is calculated based on the distance from the cargo bed detection unit 30 to the cargo bed 13 shown in FIG. 1. Then, the type of the vehicle 10 is discriminated based on this dimension information. Therefore, even if no mark for discriminating the type of the vehicle 10 is provided on the vehicle 10, the type of the vehicle 10 can be discriminated. As a result, the labor required for the work of providing a mark or the like on the vehicle 10 can be saved. In addition, the labor required for setting a mark according to the type of the vehicle 10 (for example, setting the light emission pattern or color of the mark) can be saved.

[0065] (Effect of the Second Invention) [Configuration 2] "Dimension information" (refer to the above [Configuration 1]) includes the dimension Lx of the loading platform 13 in the longitudinal direction of the loading platform 13 (vehicle front-rear direction X).

[0066] According to the above [Configuration 2], the following effects can be obtained. Usually, compared with the dimension Ly of the loading platform 13 in the vehicle width direction Y (refer to FIG. 2), the dimension Lzb and dimension Lzd of the loading platform 13 in the vehicle up-down direction Z, the dimension Lx of the loading platform 13 in the vehicle front-rear direction X has a greater difference for each type of vehicle 10. In the above [Configuration 2], since the dimension Lx of the loading platform 13 in the vehicle front-rear direction X is included in the dimension information, the vehicle discrimination system 1 can appropriately discriminate the type of the vehicle 10.

[0067] (Effect of the Third Invention) [Configuration 3] "Dimension information" (refer to the above [Configuration 1]) includes information on the three-dimensional shape of the loading platform 13.

[0068] According to the above [Configuration 3], compared with the case where the dimension information does not include information on the three-dimensional shape of the loading platform 13 (for example, when only including the dimension of the loading platform 13 in a specific direction, etc.), the amount of information of the dimension information can be increased. As a result, the vehicle discrimination system 1 can accurately discriminate the type of the vehicle 10.

[0069] (Effect of the Fourth Invention) The loading platform detection unit 30 includes a two-dimensional image detection unit 31 and a three-dimensional information detection unit 33. The two-dimensional image detection unit 31 detects a two-dimensional image of the loading platform 13. The three-dimensional information detection unit 33 detects three-dimensional information of the loading platform 13. As shown in FIG. 4, the dimension information calculation unit 51 includes a two-dimensional shape calculation unit 51a and a three-dimensional shape calculation unit 51b.

[0070] [Configuration 4] The two-dimensional shape calculation unit 51a calculates the two-dimensional shape of the loading platform 13 (refer to FIG. 3) based on the two-dimensional image detected by the two-dimensional image detection unit 31. The three-dimensional shape calculation unit 51b calculates the three-dimensional shape of the loading platform 13 based on the two-dimensional shape of the loading platform 13 calculated by the two-dimensional shape calculation unit 51a and the three-dimensional information of the loading platform 13 detected by the three-dimensional information detection unit 33.

[0071] With the above [Configuration 4], by combining the two-dimensional image and the three-dimensional information to calculate the three-dimensional shape of the loading platform 13 shown in FIG. 1, the three-dimensional shape can be calculated with higher accuracy compared to the case where the three-dimensional shape is calculated from only the three-dimensional information. As a result, the vehicle discrimination system 1 can accurately discriminate the type of the vehicle 10.

[0072] (Effect of the Fifth Invention) [Configuration 5] "The type of the vehicle 10" (see the above [Configuration 1]) is a classification based on the size of the loading platform 13.

[0073] With the above [Configuration 5], the discrimination result of the type of the vehicle 10 can be used for functions that require information on the size of the loading platform 13. Specifically, for example, the discrimination result of the type of the vehicle 10 may be used for grasping the appropriate loading amount of the object to be transported on the loading platform 13 or guiding the loading amount of the object to be transported on the loading platform 13.

[0074] (Effect of the Sixth Invention) [Configuration 6] "The type of the vehicle 10" (see the above [Configuration 1]) is the model of the vehicle 10.

[0075] With the above [Configuration 6], the discrimination result of the type of the vehicle 10 can be used for functions that require information on the model of the vehicle 10. Specifically, for example, the discrimination result of the type of the vehicle 10 may be used for reading the specifications information corresponding to the discriminated model of the vehicle 10. When the specifications information of the vehicle 10 is read, the specifications information may be used for accurately grasping the position of the loading platform 13, automatic driving or assistance of the loading operation for the loading platform 13, and control for preventing collision between the loading platform 13 and the working machine 20.

[0076] (Effect of the Seventh Invention) The vehicle discrimination system 1 includes an attitude detection unit 41 (see FIG. 4). The attitude detection unit 41 detects the attitude of the working machine 20 that performs work on the vehicle 10. The loading platform detection unit 30 is attached to the working machine 20.

[0077] [Configuration 7] The discrimination unit 55 (see FIG. 4) discriminates the type of the vehicle 10 when the posture detected by the posture detection unit 41 (see FIG. 4) is a loading platform detectable posture. The loading platform detectable posture is a posture set as a posture in which the loading platform 13 can be detected by the loading platform detection unit 30. The discrimination unit 55 (see FIG. 4) does not discriminate the type of the vehicle 10 when the posture detected by the posture detection unit 41 (see FIG. 4) is not a loading platform detectable posture.

[0078] According to the above [Configuration 7], the type of the vehicle 10 can be discriminated in a state where the loading platform 13 is appropriately detected by the loading platform detection unit 30. Therefore, the vehicle discrimination system 1 can accurately discriminate the type of the vehicle 10.

[0079] (Effect of the Eighth Invention) The vehicle discrimination system 1 includes a posture detection unit 41 (see FIG. 4) and a position detection unit 43 (see FIG. 4). The posture detection unit 41 (see FIG. 4) detects the posture of the working machine 20 that performs work on the vehicle 10. The position detection unit 43 (see FIG. 4) detects the position of the working machine 20 at the work site where the working machine 20 is arranged. The loading platform detection unit 30 is arranged outside the working machine 20.

[0080] [Configuration 8] The discrimination unit 55 shown in FIG. 4 discriminates the type of the vehicle 10 when the posture detected by the posture detection unit 41 and the position detected by the position detection unit 43 satisfy the loading platform detectable conditions. The loading platform detectable conditions are conditions set as conditions under which the loading platform 13 can be detected by the loading platform detection unit 30 shown in FIG. 1. The discrimination unit 55 shown in FIG. 4 does not discriminate the type of the vehicle 10 shown in FIG. 1 when the posture detected by the posture detection unit 41 and the position detected by the position detection unit 43 do not satisfy the loading platform detectable conditions.

[0081] According to the above [Configuration 8], the type of the vehicle 10 can be discriminated in a state where the loading platform 13 is appropriately detected by the loading platform detection unit 30. Therefore, the vehicle discrimination system 1 can accurately discriminate the type of the vehicle 10.

[0082] (Modification Example) The above-described embodiments may be variously modified. For example, the connections shown in FIG. 4 between the components of the above-described embodiments may be changed. For example, values, ranges, etc. (such as the conditions of the correspondence relationship stored in the storage unit 53) may be constant, may be changed manually, or may be automatically changed according to some conditions. For example, the number of components may be changed, and some of the components may not be provided. For example, the fixing or connection between components may be direct or indirect. For example, what has been described as a plurality of different members or parts may be made into one member or part. For example, what has been described as one member or part may be divided and provided as a plurality of different members or parts. Specifically, for example, the components (dimension information calculation unit 51, storage unit 53, and discrimination unit 55) of the controller 50 may be arranged in one place or may be dispersed and arranged in a plurality of places. For example, a component may have only a part of each feature (function, arrangement, shape, manufacturing method, operation, etc.).

Explanation of Signs

[0083] 1 Vehicle discrimination system 10 Vehicle 13 Loading platform 20 Working machine 30 Loading platform detection unit 31 Two-dimensional image detection unit 33 Three-dimensional information detection unit 41 Attitude detection unit 43 Position detection unit 51 Dimension information calculation unit 51a Two-dimensional shape calculation unit 51b Three-dimensional shape calculation unit 53 Storage unit 55 Discrimination unit

Claims

1. A vehicle discrimination system for discriminating the type of a vehicle having a loading platform, comprising: a loading platform detection unit that detects information including the distance to the loading platform; a dimensional information calculation unit that calculates the dimensional information of the loading platform based on the distance detected by the loading platform detection unit; a storage unit that stores the correspondence between the dimensional information of the loading platform and the type of the vehicle; a discrimination unit that discriminates the type of the vehicle based on the dimensional information calculated by the dimensional information calculation unit and the correspondence stored in the storage unit; a posture detection unit that detects the posture of a working machine that performs work on the vehicle; and the loading platform detection unit is attached to the working machine; the discrimination unit discriminates the type of the vehicle when the posture detected by the posture detection unit is a loading platform detectable posture set as a posture in which the loading platform can be detected by the loading platform detection unit; the discrimination unit does not discriminate the type of the vehicle when the posture detected by the posture detection unit is not the loading platform detectable posture; a vehicle discrimination system.

2. A vehicle discrimination system for discriminating the type of a vehicle having a loading platform, comprising: a loading platform detection unit that detects information including the distance to the loading platform; a dimensional information calculation unit that calculates the dimensional information of the loading platform based on the distance detected by the loading platform detection unit; a storage unit that stores the correspondence between the dimensional information of the loading platform and the type of the vehicle; a discrimination unit that discriminates the type of the vehicle based on the dimensional information calculated by the dimensional information calculation unit and the correspondence stored in the storage unit; a posture detection unit that detects the posture of a working machine that performs work on the vehicle; a position detection unit that detects the position of the working machine at a work site where the working machine is arranged; and the loading platform detection unit is arranged outside the working machine; the discrimination unit discriminates the type of the vehicle when the posture detected by the posture detection unit and the position detected by the position detection unit satisfy the loading platform detectable conditions set as conditions in which the loading platform can be detected by the loading platform detection unit; the discrimination unit does not discriminate the type of the vehicle when the posture detected by the posture detection unit and the position detected by the position detection unit do not satisfy the loading platform detectable conditions; a vehicle discrimination system.

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