JP2016078724A - Work machine for mine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make it possible to detect existence and absence of a contamination of an environment recognition device with at a high accuracy thereby preventing lowering of an accuracy of environment recognition.SOLUTION: An environment recognition device 18 equipped with a camera 20 is mounted on a vehicle main body 1a of a dump truck 1, the camera 20 is accommodated in a transparent protective case 22, and the protective case 22 is covered by a shield cover 23 having a high strength. The shield cover 23 can be displaced between an open state that a visual field of the camera 20 is opened by an opening and closing drive part 30 and a closed state that the protective case 22 with the camera 20 mounted thereon is closed by the shield cover 23. A contamination detection plate 40 having a prescribed pattern is provided on an inner surface of a shield part 23a of the shield cover 23, and the contamination detection plate 40 is photographed by the camera 20 in the closed state of the shield cover 23 thereby detecting a contamination degree of a light transmission part 22a of the protective case 22.SELECTED DRAWING: Figure 4B

Description

  The present invention relates to a mining work machine having traveling means such as a dump truck and a hydraulic excavator whose main operating field is a mine, and particularly to a mining work machine that can monitor the surroundings of the work machine. is there.

  Patent Document 1 discloses a configuration in which a camera is mounted on a traveling vehicle and the surroundings of the traveling vehicle, for example, a rear state is displayed on a monitor device. Protect the camera against raindrops and dirt. For this reason, a shutter is attached to the camera, the shutter is opened only when necessary, and the shutter is closed otherwise, so that the lens surface is not soiled.

  Here, in Patent Document 1, the field of view of the camera is rearward, that is, configured as a back monitor device. The shutter is automatically opened and closed according to the situation. The shutter is automatically opened when the vehicle is moving backward. Specifically, when the shift lever enters reverse, the shutter is opened in conjunction with this operation, and when the shift is switched from reverse to neutral, the shutter is closed.

JP 2008-265726 A

  By the way, in Patent Document 1, a target vehicle is an automobile, that is, a vehicle that is usually paved and travels on a road with favorable traveling conditions. Although the shutter attached to the camera is provided to protect the lens surface constituting the light incident portion from being contaminated, the shutter is configured to exert a protective function such as preventing the camera from being damaged. Absent.

  Examples of mining work machines include dump trucks and hydraulic excavators. In particular, dump trucks are used for transporting ores and earth and sand excavated in mines, and their operating fields are off-roads with poor driving conditions. Is in a situation where dust is scattered.

  In the dirt detection in Patent Document 1, a reference image taken in advance is compared with an actual measurement image taken at the time of checking the state, and a dirt determination is made based on the difference. Since the time has passed since the time of image capturing, a difference based on the difference in conditions in the comparison target occurs due to changes in climatic conditions or the like. Further, the field of view may be different between the position when the reference image is captured and the actual image. For this reason, the contamination detection cannot be detected with high accuracy.

  The present invention has been made in view of the above points, and the object of the present invention is to prevent the recognition accuracy of the outside world from being lowered by detecting the presence or absence of dirt on the outside recognition device with high accuracy. There is in doing so.

  In order to achieve the above-described object, the present invention provides a mine work equipped with a recognition device that is provided in a traveling vehicle that operates in a work field including a mine and recognizes a situation in at least one of the traveling directions. A shield member that covers a front surface portion of the external field recognition device, an opening / closing drive unit that opens and closes the shield member, and a position of the shield member that faces the external field recognition device. The present invention is characterized in that it is configured to include a dirt detection unit that detects the presence or absence of dirt.

  It is possible to detect the contamination of the light incident portion of the recognition means constituting the external environment recognition device provided in the mining work machine with high accuracy, and to exert a monitoring function for the periphery of the work machine.

  The problems, configurations, and effects of the invention described above and other than those described above will be further clarified by embodiments of the present invention described below with reference to the drawings.

It is a side view of the dump truck as an example of the working machine for mines. It is explanatory drawing which shows typically the structure of the mine site where a dump truck operates. FIG. 2 is an explanatory diagram showing a mounting portion of an external environment recognition device in the dump truck of FIG. 1. It is an external view in the state where the structure of an external field recognition apparatus was shown and the shielding cover was closed. It is a longitudinal cross-sectional view of FIG. 4A. It is an external view of the external field recognition apparatus which shows the state which the shielding cover opened. It is a longitudinal cross-sectional view of FIG. 4C. FIG. 4 is a cross-sectional view showing an external environment recognition device different from that in FIG. 4B in a state where a shielding cover is closed. FIG. 4D is a cross-sectional view showing an external environment recognition device different from that in FIG. 4D in a state where a shielding cover is opened. It is a block diagram of the mechanism which performs opening / closing control of a shielding cover. It is a front view of a dirt detection board. It is structure explanatory drawing which shows other embodiment of a dirt detection board. It is a BB sectional view of Drawing 8A. It is a configuration explanatory view showing a specific example of the cleaning mechanism of the light transmission part of the protective cover. It is a flowchart figure which shows the operation | movement procedure of an external field recognition apparatus. It is explanatory drawing of the mechanism which detects the traveling direction and traveling speed of a dump truck.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. Here, as the mining work machine, a dump truck is shown in the present embodiment. The dump truck is for transporting ores and earth and sand excavated in the mine, and its operating field is off-road with poor driving conditions, and it travels in the presence of rocks and gravel, and the surroundings are dusty. Etc. are in a situation where they are scattered. In addition, the external environment recognition device is provided for grasping the situation around the vehicle, such as recognizing an obstacle on the road. Therefore, the recognition means in the external environment recognition apparatus is constituted by a camera in the present embodiment. The external environment recognition device is configured with a field of view in front of or behind the traveling direction of the vehicle.

  FIG. 1 shows the overall configuration of the dump truck 1, and FIG. 2 schematically shows the state of a mine site as an example of the operation field of the dump truck 1. The dump truck 1 is for transporting ores and earth and sand excavated in the mine, and its operating field is off-road with poor driving conditions, and it travels in the presence of rocks and gravel, It is in a situation where dust or the like is scattered. Here, although the dump truck 1 has a traveling means, the traveling is not only manned but also autonomously travels unattended.

  The dump truck 1 includes a vehicle main body 1a and a vessel 1b. A driver's cab 2 is installed in the vehicle main body 1a, and has a front wheel 3 and a rear wheel 4 respectively provided on the left and right as traveling means.

  In FIG. 2, reference numeral 10 denotes a mining site, and a hydraulic excavator 11 for performing mining work is operating in the mining site 10. A traveling path 12 extends from the mining site 10, and the traveling path 12 is not shown in the figure, but the ore transporting path 13 toward the ore accumulation field and the earth and sand transporting path 14 toward the earth discharging field are branched. Is formed.

  The dump truck 1 is carried into the mining site 10, and earth and sand, ore, and the like are loaded on the vessel 1 b from the excavator 11 and travel along the travel path 12. When the ore is loaded, it is transferred from the ore transport path 13 to the ore depository. Further, when earth and sand are loaded on the vessel 1b, the vehicle travels toward the earth and sand transport path 14. Whichever route is taken, the load is discharged from the vessel 1b at the ore accumulation site and the earth removal site.

  As described above, a plurality of dump trucks 1 are operating in the field where the dump truck 1 operates, and these dump trucks 1 are managed by a management device provided in the management center 15. Bidirectional transmission of information is possible between the dump truck 1 and the management center 15 by wireless communication. For this purpose, an antenna 16 is provided at a predetermined position in the travel path 12 and the management center 15. Further, each dump truck 1 can acquire position information from a communication satellite (GPS) 17.

  As shown in FIG. 3, the dump truck 1 includes an external recognition device 18. The external environment recognition device 18 includes a moving image shooting camera 20 as recognition means. Here, FIG. 3 shows the outside recognition device 18 with the rear side of the dump truck 1 as a field of view. At the rear position of the vehicle body 1a, the vessel 1b between the pair of rear wheels 4 and 4 is shown. Mounted in the lower position.

  In the case where the dump truck 1 is manned with an operator boarding the cab 2, the front field of view can be obtained by the operator's visual recognition. However, in order to complement the front field of view, the camera 20 is also provided at the front position. Can do. On the other hand, in the case where the operator travels autonomously without an operator boarding the driver's cab 2, cameras for obtaining a forward visual field are also provided, and cameras can also be provided on both the left and right sides.

  The configuration of the external recognition device 18 is shown in FIGS. 4A to 4D. 4A shows the camera in an open state, FIG. 4B shows an external view of the camera in a closed state, and FIGS. 4C and 4D show cross sections of FIGS. 4A and 4B, respectively. As is apparent from these drawings, the external environment recognition device 18 is attached to the vehicle main body 1a by the mounting member 21, the camera 20 is accommodated in the protective case 22, and the protective case 22 further includes a shielding cover. 23 and is unitized.

  The attachment member 21 is fixed to the vehicle main body 1a, and the lower end portion thereof includes a pedestal portion 21a. The camera 20 is installed on the pedestal portion 21a. The protective case 22 protects the camera 20 mounted inside from being damaged or attached with rainwater, mud, dust, etc., and is composed of a transparent glass, a transparent resin plate, etc. Has a generally sealed structure. The shielding cover 23 includes a front shielding part 23 a and a top plate part 23 b, and the top plate part 23 b is provided with left and right side plate parts. The top plate part 23 b is a slide groove 24 formed in the mounting member 21. It is the structure which moves up and down along.

  In the closed state in which the shielding cover 23 is closed, as shown in FIGS. 4A and 4C, the camera 20 accommodated in the protective case 22 is held in the closed state by the shielding cover 23 and the base portion 21a of the mounting member 21. The Here, the shielding cover 23 is made of a high-strength metal plate. Therefore, even when the shielding cover 23 is open, it is possible to prevent the entry of contaminated materials such as rainwater, mud, and dust, and to the rock. It is protected so that gravels and the like do not collide with the protective case 22. On the other hand, as shown in FIGS. 4B and 4D, when the shielding cover 23 is opened, the front of the camera 20 is opened, and the field of view is opened. That is, when the outside world is recognized by the camera 20, the outside world can be photographed by the camera 20 through the light transmitting portion 22 a constituting the front portion of the transparent protective case 22 by opening the shielding cover 23. it can. The light transmissive portion 22a has a planar shape in the protective case 22, thereby facilitating cleaning when the surface is soiled. On the other hand, the shielding cover 23 is composed of a high-strength member such as a metal plate, and can be entirely box-shaped, or can be composed of a frame and a shielding plate.

  As described above, the dump truck 1 is provided with one or more external recognition devices 18 provided with a camera 20 at a required location, and can travel smoothly without interfering with obstacles such as rocks during traveling. It is provided to Accordingly, the camera 20 functions as an obstacle detection mechanism in the travel route of the dump truck 1. Here, the camera 20 can be opened and closed by the shielding cover 23. When there is no need to recognize the outside world, the shielding cover 23 is held in a closed state, and the shielding portion 23a of the shielding cover 23 is attached to the camera as necessary. Control is performed so as to ensure that the field of view of the camera 20 is secured by retreating from the 20 optical paths.

  In addition, the external environment recognition device can be configured to have the shielding cover 123 shown in FIGS. 5A and 5B. The shielding cover 123 can be displaced between the closed state shown in FIG. 5A and the open state shown in FIG. 5B by rotating up and down around the pivotal support portion 125.

  Next, a mechanism for performing opening / closing control of the shielding cover 23 will be described with reference to FIG. The shielding cover 23 is opened and closed by moving the top plate portion 23b up and down along a slide groove 24 formed in the mounting member 21. For example, the shielding cover 23 is moved up and down by appropriate lifting drive means such as a motor, a cylinder, and a solenoid. It is something to move. In FIG. 6, reference numeral 30 denotes an opening / closing driving unit that performs opening / closing driving of the shielding cover 23, and the opening / closing driving operation by the opening / closing driving unit 30 is controlled by the control unit 31.

  Here, the shielding cover 23 can be opened and closed manually, and a switch is provided at a predetermined position in the cab 2 for this purpose. Further, when the starter key is turned on, the shielding cover 23 can be set to open for a predetermined time.

  By the way, the dump truck 1 performs unmanned autonomous driving in addition to a driving operation mode that is operated by operating an operating means such as an operating handle, a shift lever, an accelerator pedal, and the like that are boarded by an operator and provided in the cab 2. It is configured to operate in the autonomous running mode. When operating in this autonomous travel mode, the shielding cover 23 automatically opens and closes depending on the operating status.

  The control unit 31 is provided with a switch 32, and the dump truck 1 is driven by the switch 32. In addition, a GPS receiver 33 is connected to the controller 31, and information related to the current position of the dump truck 1 is acquired by communicating with the GPS 17. In addition, the operation state of each part of the operation of the dump truck 1 is input to the control unit 31 as vehicle body information 34. Here, the vehicle body information 34 is information on start and stop of the engine, information on the presence / absence of traveling and its speed, information on steering operation, information on operation of the shift lever, and the like. In the control unit 31, the opening / closing operation by the opening / closing drive unit 30 of the shielding cover 23 is performed based on the vehicle body information 34.

  When the shielding cover 23 is opened, the camera 20 can check the external environment. Here, the confirmation of the external environment is mainly for confirming the presence or absence of rocks and other obstacles in the surroundings in order to smoothly run the dump truck 1. In the case of manned, it is indispensable to display the image from the camera 20 on the monitor. However, in the case of autonomous driving by unattended, the recognition means does not necessarily have to be an image, for example, by scanning with a laser beam. It is possible to determine whether there are obstacles around the dump truck 1.

  As described above, the camera 20 constituting the external recognition device 18 is for recognizing the situation around the dump truck 1. However, since the dump truck 1 moves forward and backward, the external recognition device 18 is used for the dump truck 1. It is desirable to install in front and rear of the. Further, it may be necessary to obtain an oblique visual field by steering, and for this purpose, the same external recognition device 18 can be installed on both the left and right sides of the vehicle body 1a.

  In any case, the image obtained by photographing with the camera 20 must be clear. Since the camera 20 is accommodated in the protective case 22 in a substantially sealed state, there is no possibility that the camera 20 itself is soiled or damaged. However, if the surface of the protective case 22 is contaminated with dirt, mud, rainwater, or the like, or the surface is damaged, a clear visual field cannot be obtained. Although the protective case 22 is surrounded by the shielding cover 23, the front side of the camera 20 is opened by retracting the shielding cover 23 from the front part of the camera 20 during photographing. Dirt may adhere to the part.

  If dirt adheres to the light transmission part 22a of the protective case 22, the field of view is kept good by performing cleaning. For this purpose, the external environment recognition device 18 is provided with a dirt detecting means for the protective case 22 and a cleaning means for cleaning the dirt when the protective case 22 is confirmed to be attached. ing. In order to detect dirt on the surface of the protective case 22, particularly the light transmitting portion 22a, a dirt detection plate 40 having a predetermined pattern is used as shown in FIG. The dirt detection plate 40 is a pattern having a predetermined contrast. In the case shown in FIG. 7, the stain detection plate 40 is made of a plate having a black and white check pattern, and is fixed to the inner surface of the shielding portion 23 a of the shielding cover 23. Is provided. This detection pattern is a pattern such as a stripe or a check. The pattern has a clear boundary such as black and white, or a pattern having a clear boundary such as unevenness. It is.

  In the dirt detection unit 35 for dirt detection, the degree of dirt on the protective case 22 is detected by photographing the dirt detection plate 40 with the camera 20 and comparing it with a reference pattern. It is assumed that the reference pattern is taken in a state where the protective case 22 is not contaminated. Here, since the dirt detection plate 40 is provided inside the shielding cover 23, the amount of light during pattern photographing may be insufficient. For this purpose, a lamp is provided in the camera 20 or its peripheral part, and shooting is performed with this lamp turned on. In this way, by taking a picture with the lamp turned on, the influence of disturbance light and the like can be eliminated, and the reproducibility of the imaging pattern is improved.

  When the shielding cover 23 is in a closed state, the pattern of the dirt detection plate 40 is photographed under illumination with a lamp in conjunction with this. Dirt detection is performed by comparing this image with the reference pattern. This comparison can be executed by a so-called template matching method or the like that detects the degree of similarity with an actually captured image using the reference pattern as a template. Here, there is a case where a positional deviation occurs, for example, the position of the dirt detection plate 40 is tilted between the reference pattern photographing and the photographing performed for dirt detection. For this purpose, processing such as affine transformation is performed, the template is deformed, all assumed inclination patterns are searched, and the degree of coincidence of images is measured with the inclination pattern having the highest degree of coincidence as a true value. As a result, if the coincidence degree is a certain level or more, it is judged that there is no dirt, and if the coincidence degree is lower than that, it is judged that the light transmitting portion 22a of the protective case 22 is dirty.

  As a comparison method, in addition to the above-described pattern matching, for example, matching by feature point search is also possible. In this case, the feature of the corner portion of the pattern can be considered as the reference pattern, and more accurate dirt detection can be performed by measuring the feature coincidence point of the corner portion. The matching process can be based on, for example, Harrison characteristics.

  In addition, as a recognition means of the external recognition device, for example, it may be configured to recognize the external environment by scanning with laser light. In this case, it is apparent from FIG. 8A and FIG. 8B showing its cross section. As described above, it is possible to use the dirt detection plate 140 having a surface with unevenness. By scanning the dirt detection plate 140 with a laser beam, it is possible to detect a step due to the convex portion 140a, and when dirt is attached to the protective case 22 positioned in front of the dirt detection plate 140, Detection is possible by distorting the line at the boundary of the unevenness on the dirt detection plate 140.

  Next, as a result of the contamination detection of the light transmission portion 22a of the protective case 22 performed based on the contamination detection portion 35, if contamination that may interfere with the recognition of the outside world is detected, the light transmission portion 22a is cleaned. Is done. For this purpose, a cleaning mechanism 36 is provided. An example of the cleaning mechanism 36 is shown in FIG. As is apparent from this figure, the spray liquid pipe 41 is attached to the tip of the pedestal 21a of the mounting member 21. The jet liquid pipe 41 has a length that covers almost the entire length of the light transmission portion 22a, and a plurality of jet holes are formed in the jet liquid pipe 41 at predetermined pitch intervals. From these ejection holes, the cleaning liquid is ejected toward the surface of the light transmission portion 22a. In addition, the interval and direction of the ejection holes in the ejection pipe 41 are such that the sprayed cleaning liquid is supplied to the entire surface of the light transmission part 22a. A supply hose 42 is connected to the ejection pipe 41, and the other end of the supply hose 42 is connected to a cleaning liquid tank 43. The cleaning liquid tank 43 is configured to pump the cleaning liquid toward the ejection pipe 41. Equipped with a cleaning liquid pump (not shown),

  When it is determined that the light transmitting portion 22a is contaminated, cleaning such as cleaning of the light transmitting portion 22a is performed. When cleaning is performed, a cleaning liquid is sprayed toward the light transmitting portion 22a. Although shower cleaning is common, cleaning by wiper friction may be performed. In addition to these cleaning methods, a well-known method such as blow can be employed, and a plurality of cleaning methods can be combined. Further, since it may not be possible to remove the dirt only after one cleaning step, the dirt detection and cleaning are repeated a plurality of times. If the dirt is not eliminated even after the predetermined number of times of cleaning, it is determined that the cleaning cannot be performed, and the operation of the external recognition device is stopped.

  Further, in the shielding cover 23 shown in FIGS. 4B and 4D, the wiper rubber 44 is in contact with the surface of the light transmitting portion 22a at a position facing the light transmitting portion 22a of the protective case 22 of the shielding portion 23a. Is installed. Therefore, when the shielding cover 23 is moved up and down, the wiper rubber 44 rubs the light transmitting portion 22a to remove dirt, water droplets and the like attached to the surface of the light transmitting portion 22a, and cleaning is performed. The wiper does not operate in conjunction with the opening / closing operation of the shielding cover 23, and may have an independent driving means.

  Therefore, hereinafter, operation control of the external recognition device 18 during operation of the dump truck 1 will be described with reference to FIG. Here, it is assumed that the dump truck 1 is equipped with an external recognition device 18 having a visual field range behind the traveling direction.

  As described above, the dump truck 1 is operated such that a load such as ore or earth and sand is loaded on the vessel 1b, and when a predetermined amount of load is loaded on the vessel 1b, the place where the load is unloaded. That is, it travels toward the ore accumulation site and the earth removal site. When the loading / unloading location of the load is reached, the vessel 1b is tilted, and the load in the vessel 1b is discharged. After that, the dump truck 1 travels toward the mining site 10 and adjusts the position so that the excavator 11 has a predetermined positional relationship with the mining site 10.

  The above operations will be repeated. Of these series of operations, during the loading and unloading operations to the vessel 1b, rocks and earth and sand, especially gravel soil, will be placed in a situation where they are scattered. There is a high risk of the recognition device 18 being soiled or damaged. Further, when the dump truck 1 travels, when traveling on the traveling path 12 from the loading position to the unloading position, the rear wheel 4 is sprinkled with earth and sand or gravel, so the vehicle body The external environment recognition device 18 disposed on the rear side of 1a is soiled and is likely to be damaged. In addition, while the dump truck 1 is traveling forward, the backward confirmation is not particularly required.

  From the above, in the dump truck 1, at least the load during loading and unloading work needs to protect the external environment recognition device 18, and it is also necessary to protect the rear external recognition device 18 during traveling.

  When the engine of the dump truck 1 is started and the dump truck 1 is in an operating state, the power of the camera 20 constituting the outside recognition device 18 is turned on (step 1). In this state, it is determined whether the shielding cover 23 is closed or open (step 2). When the shielding cover 23 is open, the camera 20 can acquire an image of the outside, specifically, the surroundings of the dump truck 1, whereas when the shielding cover 23 is closed, an image cannot be obtained. Alternatively, a pattern image of the dirt detection plate 40 provided on the inner surface of the shielding part 23a is taken. Thereby, it is determined whether the shielding cover 23 is open or closed. When it is detected that the shielding cover 23 is closed, the shielding cover 23 is opened, and the camera 20 is brought into a state where the outside world is photographed (step 3).

  In the operation of the dump truck 1, it is determined whether a loading operation or a loading operation is being performed (step 4). Further, it is determined whether or not the dump truck 1 is traveling (step 5). Here, even when the dump truck 1 is in the running state, an operation of repeating running and stopping is performed in order to adjust the position and the like, but at this time, the operation control of the external recognition device 18 is not performed. Therefore, whether or not the dump truck 1 is traveling in a direction opposite to the visual field direction of the external recognition device 18, that is, whether or not the dump truck 1 is traveling in the forward direction and the traveling speed is traveling at a predetermined speed or higher. Is determined (step 6).

  The loading operation in the dump truck 1 can be detected using, for example, a load sensor of the vessel 1b, and the loading / unloading operation can be determined by the operation of a hoist cylinder provided in the vessel 1b. Further, whether or not the dump truck 1 is traveling at a predetermined speed or more can be determined based on the traveling speedometer and the position of the shift lever. Further, it is desirable to determine the traveling direction and the traveling speed more accurately. To detect the traveling speed of the dump truck 1 more accurately, as shown in FIG. Can do. That is, it is assumed that the dump truck 1 is traveling at the speed v1. Here, since the external recognition device 18 provided at the rear position is the object of control, the speed v1 of the dump truck 1 is decomposed into the speed v1y in the axial direction and the speed v1x in the direction orthogonal thereto. It is determined whether or not the speed v1y exceeds a predetermined set value. The above-described various information is input to the control unit 31 as the vehicle body information 34. Therefore, the operation control of the shielding cover 23 in the external environment recognition device 18 is performed by the control unit 31.

  Here, while the loading and unloading operations on the vessel 1b are being performed, it is not necessary to check the surrounding situation by the external recognition device 18, and in order to protect the protective case 22, from the high strength member It is desirable to cover with the shielding cover 23 configured. Further, when the dump truck 1 is traveling and the traveling speed is higher than a predetermined speed, the external environment recognition device 18 disposed in the direction opposite to the traveling direction, apart from the visual field in front of the traveling direction. It is not always necessary to obtain a field of view. Rather, if the shielding cover 23 is open, gravel soil lifted up by the rear wheel 4 (during forward travel) or the front wheel 3 (during reverse travel) will adhere to the protective case 22. .

  From the above, when it is determined in step 4 that loading or unloading work is being performed, and when it is determined in step 6 that the vehicle is traveling at a predetermined speed or more, the shielding cover 23 is It is determined whether or not it is open (step 7). If the shielding cover 23 is open, the shielding cover 23 is closed (step 8).

  As described above, when the dump truck 1 is in operation, the field of view is opposite to the traveling direction when loading or unloading ore or earth and sand that is in a state where dust or gravel is scattered, and when traveling at high speed. The shielding cover 23 in the external environment recognition device 18 provided to ensure the above can be securely held in a closed state. In other cases, the shielding cover 23 is opened so that the external environment can be recognized.

  Further, when it is recognized that the shielding cover 23 is closed, it is detected whether or not the light transmission portion 22a of the protective case 22 is dirty (step 9). The stain detection is performed by the stain detection unit 35 by capturing an image of the pattern of the stain detection plate 40 provided on the inner surface of the shielding cover 23 by the camera 20 and comparing the image pickup pattern with the reference pattern. Since the light transmission part 22a of the protective case 22 is located between the camera 20 and the dirt detection plate 40, if dirt is attached to the light transmission part 22a, the imaging pattern does not match the reference pattern. When the degree of mismatch is equal to or greater than a preset value, it is determined that there is dirt. Based on the determination result, cleaning is performed (step 10). This cleaning is executed by spraying the cleaning liquid from the spray liquid pipe 41 toward the light transmission portion 22a. After the cleaning operation is completed, it is confirmed whether or not the light transmission portion 22a has been cleaned. That is, it is determined whether or not the cleaning operation has been performed a preset number of times (step 10), and if it is less than or equal to the preset number of times, the process returns to step 9 to determine whether or not the light transmission portion 22a is dirty. Done. As a result of this determination, if it is determined that the light transmitting portion 22a is in a clean state, the process returns to step 4. On the other hand, if it is determined that the dirt remains, the cleaning in Step 10 is executed again. When it is determined that the dirt remains even though the cleaning operation has been performed a predetermined number of times, it is not normal dirt of the light transmitting portion 22a, but is dirt that cannot be removed by the cleaning work or dirt. For example, it is determined that the surface of the light transmission part 22a is damaged, and the external recognition device 18 is determined to have a failure (step 11).

  In addition, this invention is not limited to embodiment mentioned above, Various deformation | transformation aspects are included. For example, the above-described embodiments are for explaining the present invention in an easy-to-understand manner, and the present invention is not necessarily limited to only having all the configurations described.

DESCRIPTION OF SYMBOLS 1 Dump truck 1a Vehicle main body 1b Vessel 2 Driver's cab 11 Hydraulic excavator 12 Traveling path 13 Ore transporting path 14 Sediment transporting path 15 Management center 18 External field recognition apparatus 20 Camera 21, 121 Mounting member 21a, 121a Base part 22 Protective case 22a Light transmission Parts 23 and 123 Shielding cover 23a Shielding part 30 Opening and closing drive part 31 Control part 36 Cleaning mechanism part 40 and 140 Detection plate

Claims (4)

A working machine for a mine that is provided in a traveling vehicle that operates in a work field including a mine, and that is equipped with an external environment recognition device that recognizes the situation in at least one direction of the traveling direction,
A shielding member that covers the front portion of the external recognition device;
Open / close driving means for opening / closing the shielding member;
A mining work machine comprising: a shielding member that is disposed at a position of the shielding member facing the external environment recognition device, and that detects a contamination of the external environment recognition device.   The external environment recognition apparatus has a camera as a recognition means, and the camera is provided in a protective case having at least a light transmitting portion that is transparent, and the shielding member includes a shielding cover that covers the protective case. The cover is arranged so that a shielding part is located on the front part of the protective case. The shielding part covers a front position in the visual field direction of the camera, and an open position retracted from the front of the camera. 2. The mine work machine according to claim 1, wherein the mining work machine is configured to include an opening / closing drive unit that is displaced between the two, and the dirt detection unit is fixedly provided on an inner surface of the shielding unit. 3. The mining work machine according to claim 2, wherein a cleaning mechanism is provided to clean the light transmission part of the protective cover. The traveling vehicle is a dump truck that operates in a mine, the external environment recognition device is provided at least at a rear position of the vehicle, and a control unit is connected to the opening / closing drive unit of the shielding cover. The part is configured to control the shielding part to be closed when traveling at a speed higher than a predetermined speed when loading or unloading ore or earth and sand and when the vehicle moves forward. The mining work machine according to claim 2, wherein: