JP7745491B2 - アーティキュレート式車両 - Google Patents

アーティキュレート式車両

Info

Publication number
JP7745491B2
JP7745491B2 JP2022047809A JP2022047809A JP7745491B2 JP 7745491 B2 JP7745491 B2 JP 7745491B2 JP 2022047809 A JP2022047809 A JP 2022047809A JP 2022047809 A JP2022047809 A JP 2022047809A JP 7745491 B2 JP7745491 B2 JP 7745491B2
Authority
JP
Japan
Prior art keywords
reference point
articulated vehicle
travel
calculation unit
target
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
JP2022047809A
Other languages
English (en)
Japanese (ja)
Other versions
JP2023141474A5 (https=
JP2023141474A (ja
Inventor
慎也 笠井
秀一 森木
和也 関根
寿身 中野
昌則 一野瀬
庸子 塚田
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
Priority to JP2022047809A priority Critical patent/JP7745491B2/ja
Application filed by Hitachi Construction Machinery Co Ltd filed Critical Hitachi Construction Machinery Co Ltd
Priority to KR1020247030764A priority patent/KR20240152877A/ko
Priority to US18/848,186 priority patent/US20250207361A1/en
Priority to PCT/JP2023/008140 priority patent/WO2023181861A1/ja
Priority to EP23774460.2A priority patent/EP4501747A4/en
Priority to CN202380027565.6A priority patent/CN119072429A/zh
Publication of JP2023141474A publication Critical patent/JP2023141474A/ja
Publication of JP2023141474A5 publication Critical patent/JP2023141474A5/ja
Application granted granted Critical
Publication of JP7745491B2 publication Critical patent/JP7745491B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D12/00—Steering specially adapted for vehicles operating in tandem or having pivotally connected frames
    • 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
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • E02F9/2087—Control of vehicle steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
    • B62D11/003—Electric or electronic control systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • 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
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
    • 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
    • G05D1/40—Control within particular dimensions
    • G05D1/43—Control of position or course in two dimensions [2D]
    • 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
    • G05D1/60—Intended control result
    • G05D1/646—Following a predefined trajectory, e.g. a line marked on the floor or a flight path
    • 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
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/05—Specific applications of the controlled vehicles for soil shifting, building, civil engineering or mining, e.g. excavators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/90—Building sites; Civil engineering
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles
    • G05D2109/16—Articulated vehicles, e.g. snake-like robots

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Structural Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Civil Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
JP2022047809A 2022-03-24 2022-03-24 アーティキュレート式車両 Active JP7745491B2 (ja)

Priority Applications (6)

Application Number Priority Date Filing Date Title
JP2022047809A JP7745491B2 (ja) 2022-03-24 2022-03-24 アーティキュレート式車両
US18/848,186 US20250207361A1 (en) 2022-03-24 2023-03-03 Articulated Vehicle
PCT/JP2023/008140 WO2023181861A1 (ja) 2022-03-24 2023-03-03 アーティキュレート式車両
EP23774460.2A EP4501747A4 (en) 2022-03-24 2023-03-03 ARTICULATED VEHICLE
KR1020247030764A KR20240152877A (ko) 2022-03-24 2023-03-03 아티큘레이트식 차량
CN202380027565.6A CN119072429A (zh) 2022-03-24 2023-03-03 铰接式车辆

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2022047809A JP7745491B2 (ja) 2022-03-24 2022-03-24 アーティキュレート式車両

Publications (3)

Publication Number Publication Date
JP2023141474A JP2023141474A (ja) 2023-10-05
JP2023141474A5 JP2023141474A5 (https=) 2024-11-12
JP7745491B2 true JP7745491B2 (ja) 2025-09-29

Family

ID=88100682

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2022047809A Active JP7745491B2 (ja) 2022-03-24 2022-03-24 アーティキュレート式車両

Country Status (6)

Country Link
US (1) US20250207361A1 (https=)
EP (1) EP4501747A4 (https=)
JP (1) JP7745491B2 (https=)
KR (1) KR20240152877A (https=)
CN (1) CN119072429A (https=)
WO (1) WO2023181861A1 (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2025114291A (ja) * 2024-01-24 2025-08-05 株式会社小松製作所 作業機械の制御システム及び作業機械の制御方法
CN119384949A (zh) * 2025-01-06 2025-02-07 宁波翠科机械有限公司 一种乘坐式割草机

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017204089A (ja) 2016-05-10 2017-11-16 大成建設株式会社 自律走行用制御装置および自律走行方法

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06298374A (ja) * 1993-04-12 1994-10-25 Komatsu Ltd 材料移載システムにおける材料投下高さ位置制御装置
JP7139019B2 (ja) * 2018-08-23 2022-09-20 酒井重工業株式会社 建設車両の自律走行制御装置

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017204089A (ja) 2016-05-10 2017-11-16 大成建設株式会社 自律走行用制御装置および自律走行方法

Also Published As

Publication number Publication date
JP2023141474A (ja) 2023-10-05
CN119072429A (zh) 2024-12-03
WO2023181861A1 (ja) 2023-09-28
EP4501747A4 (en) 2026-03-18
EP4501747A1 (en) 2025-02-05
KR20240152877A (ko) 2024-10-22
US20250207361A1 (en) 2025-06-26

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