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Mining work machine

  • US 10,656,265 B2
  • Filed: 03/13/2017
  • Issued: 05/19/2020
  • Est. Priority Date: 03/14/2016
  • Status: Active Grant
First Claim
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1. A mining work machine including:

  • a periphery detection device that radially irradiates millimeter-waves forward in a traveling direction, receives reflected waves from a plurality of measurement points, and periodically detects positions of the measurement points and speeds of the measurement points relative to the mining work machine, anda speed sensor that detects a traveling speed of the mining work machine, wherein;

    the mining work machine further comprises an obstacle determination device that determines whether an obstacle candidate is a non-obstacle which would not interfere with traveling of the mining work machine; and

    the obstacle determination device comprises;

    a grouping processing section that puts the detected measurement points into a single group, in which the measurement points are located on the same obstacle candidate, if the detected measurement points are equal to or smaller than predetermined size thresholds equivalent in size to the mining work machine,a stationary/moving determination section that, based on the relative speeds of the obstacle candidate at the measurement points put into the group and the traveling speed of the mining work machine as detected in a current cycle, determines whether the obstacle candidate is a stationary object or a moving object, anda size determination section that determines a type of the obstacle candidate based on a result of a comparison between a size of the obstacle candidate associated with the measurement points put into the group by the grouping processing section and the predetermined size thresholds.

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