System for Indicating Parking Position and Direction of Dump Truck and Hauling System

• US 20140261152A1
• Filed: 10/16/2012
• Published: 09/18/2014
• Est. Priority Date: 10/17/2011
• Status: Active Grant

• Current Assignee: Hitachi Construction Machinery Company Limited (Hitachi, Ltd.)
• Original Assignee: Hitachi Construction Machinery Company Limited (Hitachi, Ltd.)
• Inventors: Yasuda, Tomohiko, Tanaka, Wataru, Ichinose, Masanori, Sato, Takayuki
• Granted Patent: US 9,052,716 B2
• Time in Patent Office: Days
• US Class Current: 116/230
• CPC Class Codes: B60P 1/283 Elements of tipping devices
• CPC Class Codes: B60P 1/30 in combination with another movement of the element
• CPC Class Codes: E02F 9/2033 Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin sub-groups of E02F3/431 of E02F3/435 take precedence; for turntables E02F9/123
• CPC Class Codes: E02F 9/205 Remotely operated machines, e.g. unmanned vehicles E02F3/8866 takes precedence
• CPC Class Codes: E02F 9/265 with follow-up actions (e.g. control signals sent to actuate the work tool)
• CPC Class Codes: G05D 1/02 Control of position or course in two dimensions
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

The present invention provides a dump truck parking position/direction indication system and a hauling system that allow the operator of a loading machine to determine a parking position and a parking direction of a dump truck that let the operator easily perform the loading operation and to make the dump truck stop and park at the parking position and in the parking direction. The dump truck parking position/direction indication system in accordance with the present invention comprises: a bucket position detection device 542 which detects the position of a bucket 10 of the loading machine 50; a locus calculation device 102 which calculates a movement locus 61 of the bucket based on the positions of the bucket detected by the bucket position detection device; a parking position/direction determination device 110 which determines the parking position (63) and the parking direction (66) of the dump truck 1 based on the movement locus calculated by the locus calculation device; and an output device 101 which outputs the parking position and the parking direction of the dump truck determined by the parking position/direction determination device.

Claims

1. A dump truck parking position/direction indication system comprising:

a bucket position detection device (542) that detects the position of a bucket (10) of a loading machine (50);

a locus calculation device (102) that calculates a movement locus (61) of the bucket based on the positions of the bucket detected by the bucket position detection device;

a parking position/direction determination device (110) that determines a parking position (63) and a parking direction (66) of a dump truck (1) based on the movement locus calculated by the locus calculation device; and

an output device (101) that outputs the parking position and the parking direction of the dump truck determined by the parking position/direction determination device.

2. The dump truck parking position/direction indication system according to claim 1, wherein the parking position/direction determination device (110) includes:

a bucket stoppage detection device (103) that detects a stop position of the bucket in the movement locus (61) calculated by the locus calculation device (102) and determines the stop position of the bucket as the parking position (63) of the dump truck (1); and

a tangential direction calculation device (104) that calculates a tangential direction (65) based on a tangential line (64) to the movement locus (61) calculated by the locus calculation device (102) at the stop position of the bucket and the moving direction of the movement locus,

wherein the parking position/direction determination device (110) determines the parking direction (66) of the dump truck (1) based on the tangential direction (65) calculated by the tangential direction calculation device (104).

3. The dump truck parking position/direction indication system according to claim 2, wherein the parking position/direction determination device (110) further includes:

a loading machine judgment device (105) that judges the type of the loading machine (50); and

a tangential direction rotation device (106) that determines the parking direction (66) of the dump truck (1) by rotating the tangential direction (65) calculated by the tangential direction calculation device (104) by a prescribed angle corresponding to the type of the loading machine judged by the loading machine judgment device.

4. The dump truck parking position/direction indication system according to claim 2, wherein the bucket stoppage detection device (103) detects the stop position of the bucket by detecting that the movement locus (61) calculated by the locus calculation device (102) does not change for a prescribed time period and determines the stop position of the bucket as the parking position (63) of the dump truck (1).

5. The dump truck parking position/direction indication system according to claim 1, further comprising a loading detection device (543) that detects the loading onto the bucket (10),

wherein the locus calculation device (102) starts the calculation of the movement locus (61) of the bucket when the loading onto the bucket (10) is detected by the loading detection device.

6. A hauling system comprising a loading machine (50) and a dump truck (1), wherein the hauling system comprises:

a bucket position detection device (542) that detects the position of a bucket (10) of the loading machine (50);

a locus calculation device (102) that calculates a movement locus (61) of the bucket based on the positions of the bucket detected by the bucket position detection device;

a parking position/direction determination device (110) that determines a parking position (63) and a parking direction (66) of the dump truck (1) based on the movement locus calculated by the locus calculation device; and

an output device (120;

130) that outputs the parking position and the parking direction of the dump truck determined by the parking position/direction determination device.

7. The hauling system according to claim 6, wherein the parking position/direction determination device (110) includes:

a bucket stoppage detection device (103) that detects a stop position of the bucket in the movement locus (61) calculated by the locus calculation device (102) and determines the stop position of the bucket as the parking position (63) of the dump truck (1); and

a tangential direction calculation device (104) that calculates a tangential direction (65) based on a tangential line (64) to the movement locus (61) calculated by the locus calculation device (102) at the stop position of the bucket and the moving direction of the movement locus,

wherein the parking position/direction determination device (110) determines the parking direction (66) of the dump truck (1) based on the tangential direction (65) calculated by the tangential direction calculation device (104).

8. The hauling system according to claim 7, wherein the parking position/direction determination device (110) further includes:

a loading machine judgment device (105) that judges the type of the loading machine (50); and

a tangential direction rotation device (106) that determines the parking direction (66) of the dump truck (1) by rotating the tangential direction (65) calculated by the tangential direction calculation device (104) by a prescribed angle corresponding to the type of the loading machine judged by the loading machine judgment device.

9. The hauling system according to claim 7, wherein the bucket stoppage detection device (103) detects the stop position of the bucket by detecting that the movement locus (61) calculated by the locus calculation device (102) does not change for a prescribed time period and determines the stop position of the bucket as the parking position (63) of the dump truck (1).

10. The hauling system according to claim 6, further comprising a loading detection device (543) that detects the loading onto the bucket (10),

wherein the locus calculation device (102) starts the calculation of the movement locus (61) of the bucket when the loading onto the bucket (10) is detected by the loading detection device.

11. The hauling system according to claim 6, wherein:

the loading machine (50) is equipped with the bucket position detection device (542) and a loading machine communication device (541) capable of data communication with the dump truck (1), and

the dump truck (1) is equipped with the locus calculation device (102), the parking position/direction determination device (110), and a dump truck communication device (101) capable of data communication with the loading machine (50).

12. The hauling system according to claim 10, wherein:

the loading machine (50) is equipped with the bucket position detection device (542), the loading detection device (543), and a loading machine communication device (541) capable of data communication with the dump truck, and

the dump truck (1) is equipped with the locus calculation device (102), the parking position/direction determination device (110), and a dump truck communication device (101) capable of data communication with the loading machine (50).

13. The hauling system according to claim 6, further comprising a control station (900), wherein:

the loading machine (50) is equipped with the bucket position detection device (542) and a loading machine communication device (541) capable of data communication with the dump truck (1) and the control station (900), and

the control station (900) is equipped with the locus calculation device (102), the parking position/direction determination device (110), and a control station communication device (901) capable of data communication with the loading machine (50) and the dump truck (1).

14. The hauling system according to claim 10, further comprising a control station (900), wherein:

the loading machine (50) is equipped with the bucket position detection device (542), the loading detection device (543), and a loading machine communication device (541) capable of data communication with the dump truck (1) and the control station (900), and

the control station (900) is equipped with the locus calculation device (102), the parking position/direction determination device (110), and a control station communication device (901) capable of data communication with the loading machine (50) and the dump truck (1).

15. The hauling system according to claim 6, further comprising an autonomous travel device (200) that implements autonomous traveling of the dump truck (1), wherein:

the output device (120) outputs the parking position (63) and the parking direction (66) of the dump truck (1) determined by the parking position/direction determination device (110) to the autonomous travel device (200), and

the autonomous travel device (200) controls the traveling of the dump truck (1) so as to realize the parking position (63) and the parking direction (66).

16. The hauling system according to claim 6, further comprising a monitor (950) arranged in a cab (951) of the dump truck (1), wherein:

the output device (130) outputs the parking position (63) and the parking direction (66) of the dump truck (1) determined by the parking position/direction determination device (110) to the monitor (950), and

the monitor (950) displays the parking position (63) and the parking direction (66).