System for indicating parking position and direction of dump truck and hauling system
A dump truck parking position/direction indication system and a hauling system are provided that allow the operator of a loading machine to determine a parking position and a parking direction of a dump truck. The dump truck parking position/direction indication system includes: a bucket position detection device which detects the position of a bucket of the loading machine; a locus calculation device which calculates a movement locus of the bucket based on the positions of the bucket detected by the bucket position detection device; a parking position/direction determination device which determines the parking position and the parking direction of the dump truck based on the movement locus calculated by the locus calculation device; and an output device which outputs the parking position and the parking direction of the dump truck determined by the parking position/direction determination device.
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 ).