CA2956564C - Dump truck - Google Patents

Dump truck Download PDF

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Publication number
CA2956564C
CA2956564C CA2956564A CA2956564A CA2956564C CA 2956564 C CA2956564 C CA 2956564C CA 2956564 A CA2956564 A CA 2956564A CA 2956564 A CA2956564 A CA 2956564A CA 2956564 C CA2956564 C CA 2956564C
Authority
CA
Canada
Prior art keywords
dump truck
travel
target position
node
setting unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CA2956564A
Other languages
English (en)
French (fr)
Other versions
CA2956564A1 (en
Inventor
Wataru Tanaka
Masanori Ichinose
Shinjiro Saito
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Construction Machinery Co Ltd
Original Assignee
Hitachi Construction Machinery Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Construction Machinery Co Ltd filed Critical Hitachi Construction Machinery Co Ltd
Publication of CA2956564A1 publication Critical patent/CA2956564A1/en
Application granted granted Critical
Publication of CA2956564C publication Critical patent/CA2956564C/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0297—Fleet control by controlling means in a control room
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2045—Guiding machines along a predetermined path
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/205—Remotely operated machines, e.g. unmanned vehicles
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
    • G01C21/3461—Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types or segments such as motorways, toll roads or ferries
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
    • G01S19/12—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are telecommunication base stations
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Human Computer Interaction (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Traffic Control Systems (AREA)
  • Business, Economics & Management (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
CA2956564A 2014-09-29 2015-08-20 Dump truck Active CA2956564C (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2014199440A JP6285838B2 (ja) 2014-09-29 2014-09-29 作業車両の移動制御装置及び作業車両
JP2014-199440 2014-09-29
PCT/JP2015/073395 WO2016051988A1 (ja) 2014-09-29 2015-08-20 作業車両の移動制御装置及び作業車両

Publications (2)

Publication Number Publication Date
CA2956564A1 CA2956564A1 (en) 2016-04-07
CA2956564C true CA2956564C (en) 2019-07-16

Family

ID=55630034

Family Applications (1)

Application Number Title Priority Date Filing Date
CA2956564A Active CA2956564C (en) 2014-09-29 2015-08-20 Dump truck

Country Status (5)

Country Link
US (1) US10101740B2 (enExample)
JP (1) JP6285838B2 (enExample)
AU (1) AU2015325965B2 (enExample)
CA (1) CA2956564C (enExample)
WO (1) WO2016051988A1 (enExample)

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EP3237856B1 (en) * 2014-12-24 2022-10-12 CQMS Pty Ltd A system and method of identifying a payload destination
CA2942553C (en) * 2016-02-01 2018-10-02 Komatsu Ltd. Work machine control system, work machine, and work machine management system
CA2942874C (en) * 2016-02-01 2020-12-29 Komatsu Ltd. Work machine control system, work machine, and work machine management system
CA2990943C (en) * 2017-03-31 2020-06-16 Komatsu Ltd. Control system of transporter vehicle, transporter vehicle, and control method of transporter vehicle
JP7133298B2 (ja) * 2017-08-10 2022-09-08 株式会社小松製作所 運搬車両の管制システム及び運搬車両の管理方法
JP7202064B2 (ja) * 2017-10-04 2023-01-11 株式会社小松製作所 作業機械制御装置および制御方法
US11364903B2 (en) * 2018-09-28 2022-06-21 Logistics and Supply Chain MultiTech R&D Centre Limited Automated guide vehicle with a collision avoidance apparatus
CN110968090B (zh) * 2018-09-28 2024-08-20 物流及供应链多元技术研发中心有限公司 具有防碰撞设备的自动导引车辆
KR102716359B1 (ko) * 2018-12-14 2024-10-10 현대자동차주식회사 차량의 주행 제어 장치 및 방법
WO2020137520A1 (ja) * 2018-12-28 2020-07-02 株式会社三井Ｅ＆Ｓマシナリー クレーンの制御システム及び制御方法
JP7251190B2 (ja) * 2019-02-14 2023-04-04 株式会社アイシン 車両走行制御システム
JP7325984B2 (ja) * 2019-03-20 2023-08-15 株式会社小松製作所 無人車両の制御システム及び無人車両の制御方法
US11131082B2 (en) 2019-06-13 2021-09-28 Deere & Company Work vehicle with a payload tracking system
JP7565677B2 (ja) * 2019-06-27 2024-10-11 株式会社クボタ 農作業車のための障害物検出システム
US11403941B2 (en) 2019-08-28 2022-08-02 Toyota Motor North America, Inc. System and method for controlling vehicles and traffic lights using big data
CN110486017B (zh) * 2019-08-30 2021-04-06 西安建筑科技大学 一种基于露天矿区路径的无人驾驶车辆能耗节能方法
EP3855121A3 (en) 2019-12-30 2021-10-27 Waymo LLC Kinematic model for autonomous truck routing
JP7486733B2 (ja) 2020-01-16 2024-05-20 株式会社小松製作所 作業現場の管理システム及び作業現場の管理方法
CN111650935A (zh) * 2020-05-29 2020-09-11 北京三快在线科技有限公司 控制运输设备的方法、装置、存储介质及服务器
KR20220001777A (ko) * 2020-06-30 2022-01-06 현대두산인프라코어(주) 자율 작업 건설 기계 및 그의 동작 방법
WO2022005132A1 (ko) * 2020-06-30 2022-01-06 두산인프라코어 주식회사 자율 작업 건설 기계 및 그의 동작 방법
WO2022024122A1 (en) * 2020-07-28 2022-02-03 Ception Technologies Ltd. Onboard hazard detection system for a vehicle
US20220101022A1 (en) * 2020-09-29 2022-03-31 Rivian Ip Holdings, Llc Vehicle cliff and crevasse detection systems and methods
AU2020477273A1 (en) * 2020-11-12 2023-06-08 Sandvik Mining And Construction Oy Mine vehicle autonomous drive control
JP7179116B2 (ja) * 2021-04-14 2022-11-28 日立建機株式会社 運搬車両及び運搬システム
JP7700076B2 (ja) * 2022-03-30 2025-06-30 日立建機株式会社 車両管理システム
US20230373572A1 (en) * 2022-05-20 2023-11-23 Ayro, Inc. Systems and methods for providing a reconfigurable payload system
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Also Published As

Publication number Publication date
WO2016051988A1 (ja) 2016-04-07
JP6285838B2 (ja) 2018-02-28
US10101740B2 (en) 2018-10-16
AU2015325965B2 (en) 2018-07-26
AU2015325965A1 (en) 2017-03-02
US20170269591A1 (en) 2017-09-21
CA2956564A1 (en) 2016-04-07
JP2016071564A (ja) 2016-05-09

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