公开(公告)号：US07966106B2

公开(公告)日：2011-06-21

申请号：US11636054

申请日：2006-12-08

申请人： Tsugio Sudou ,  Masanori Tojima ,  Koji Takeda ,  Akiharu Nishijima ,  Masaki Mori ,  Tomonori Ozaki ,  Kazunori Kuromoto

发明人： Tsugio Sudou ,  Masanori Tojima ,  Koji Takeda ,  Akiharu Nishijima ,  Masaki Mori ,  Tomonori Ozaki ,  Kazunori Kuromoto

IPC分类号： G01C22/00

CPC分类号： G05D1/0272 ,  G05D1/0278 ,  G05D1/0282 ,  G05D2201/0202

摘要： Leveling operation can be effectively performed at a discharge site without increasing a cost of vehicles, and a running course can be easily generated in a short time and at a low-cost. Based on each of measured position data of a survey line 20 of a discharge site 21, a normal line Lc normal to the survey line 20 is obtained, a target discharge position 26′ is positioned at a prescribed distance away from the survey line 20 in an inward direction of the discharge site 21 based on the normal line Lc, and then data of a running course 27 in which a reference approach direction 31 to approach the target discharge position 26′ is a direction normal to the survey line 20 are generated.

摘要翻译： 可以在排放场地有效地进行调平操作，而不增加车辆的成本，并且可以在短时间内以低成本容易地产生行驶过程。 基于排出部位21的测量线20的测量位置数据，获得垂直于测量线20的法线Lc，目标排出位置26'位于离测线20的规定距离处 产生基于法线Lc的排出位置21的向内方向，然后产生其中接近目标排出位置26'的基准进入方向31与检测线20垂直的方向的行进路线27的数据。

公开(公告)号：US20070150133A1

公开(公告)日：2007-06-28

申请号：US11636054

申请日：2006-12-08

申请人： Tsugio Sudou ,  Masanori Tojima ,  Koji Takeda ,  Akiharu Nishijima ,  Masaki Mori ,  Tomonori Ozaki ,  Kazunori Kuromoto

发明人： Tsugio Sudou ,  Masanori Tojima ,  Koji Takeda ,  Akiharu Nishijima ,  Masaki Mori ,  Tomonori Ozaki ,  Kazunori Kuromoto

IPC分类号： G05D1/00

CPC分类号： G05D1/0272 ,  G05D1/0278 ,  G05D1/0282 ,  G05D2201/0202

摘要： Leveling operation can be effectively performed at a discharge site without increasing a cost of vehicles, and a running course can be easily generated in a short time and at a low-cost. Based on each of measured position data of a survey line 20 of a discharge site 21, a normal line Lc normal to the survey line 20 is obtained, a target discharge position 26′ is positioned at a prescribed distance away from the survey line 20 in an inward direction of the discharge site 21 based on the normal line Lc, and then data of a running course 27 in which a reference approach direction 31 to approach the target discharge position 26′ is a direction normal to the survey line 20 are generated.

摘要翻译： 可以在排放场地有效地进行调平操作，而不增加车辆的成本，并且可以在短时间内以低成本容易地产生行驶过程。 基于排出部位21的测量线20的测量位置数据，获得垂直于测量线20的法线Lc，目标排出位置26'位于离测线20的规定距离处 产生基于法线Lc的排出位置21的向内方向，然后产生其中接近目标排出位置26'的基准进入方向31与检测线20垂直的方向的行进路线27的数据。

公开(公告)号：US20070293996A1

公开(公告)日：2007-12-20

申请号：US11636133

申请日：2006-12-08

申请人： Masaki Mori ,  Tsugio Sudou ,  Akiharu Nishijima ,  Masanori Tojima ,  Kazunori Kuromoto ,  Koji Takeda ,  Tomonori Ozaki

发明人： Masaki Mori ,  Tsugio Sudou ,  Akiharu Nishijima ,  Masanori Tojima ,  Kazunori Kuromoto ,  Koji Takeda ,  Tomonori Ozaki

IPC分类号： G01C22/00

CPC分类号： G01C21/005 ,  G05D1/0297 ,  G05D2201/021

摘要： A restricted area (60) is created based on positional information of a manned vehicle (20) traveling one of outward/return lanes (51, 52), and a detour course (72) is created based on information of the restricted area (60). Information on the detour course (72) is provided to the unmanned vehicles (10, 11) and the manned vehicle (20). Based on the positional information of the unmanned vehicles (10, 11) which proceed towards each other from the opposite directions with the restricted area (60) therebetween, the unmanned vehicle (11) on the lane (52) which is the opposite side of the restricted area (60) is blocked at a block position (61B) and at the same time a travel permission command for permitting traveling the detour course (72) is issued to the unmanned vehicle (10) traveling the lane (51) on the restricted area side so that the unmanned vehicle (10) travels the detour course (72).

摘要翻译： 基于通过向外/返回车道（51,52）中的一个行驶的人载车辆（20）的位置信息创建限制区域（60），并且基于限制区域（60）的信息创建绕行路线（72） ）。 关于迂回路线（72）的信息被提供给无人驾驶车辆（10,11）和载人车辆（20）。 基于在其间具有限制区域（60）的相反方向彼此前进的无人驾驶车辆（10,11）的位置信息，位于车道（52）相对侧的无人驾驶车辆（11） 限制区域（60）在块位置（61B）处被阻挡，并且同时向行驶车道（51）的无人驾驶车辆（10）发出允许行驶迂回路线（72）的行驶许可命令 限制区域侧，使得无人驾驶车辆（10）行进绕行路线（72）。

公开(公告)号：US07742853B2

公开(公告)日：2010-06-22

申请号：US11636133

申请日：2006-12-08

申请人： Masaki Mori ,  Tsugio Sudou ,  Akiharu Nishijima ,  Masanori Tojima ,  Kazunori Kuromoto ,  Koji Takeda ,  Tomonori Ozaki

发明人： Masaki Mori ,  Tsugio Sudou ,  Akiharu Nishijima ,  Masanori Tojima ,  Kazunori Kuromoto ,  Koji Takeda ,  Tomonori Ozaki

IPC分类号： G01C21/26 ,  G05D1/02

CPC分类号： G01C21/005 ,  G05D1/0297 ,  G05D2201/021

摘要： A restricted area (60) is created based on positional information of a manned vehicle (20) traveling one of outward/return lanes (51, 52), and a detour course (72) is created based on information of the restricted area (60). Information on the detour course (72) is provided to the unmanned vehicles (10, 11) and the manned vehicle (20). Based on the positional information of the unmanned vehicles (10, 11) which proceed towards each other from the opposite directions with the restricted area (60) therebetween, the unmanned vehicle (11) on the lane (52) which is the opposite side of the restricted area (60) is blocked at a block position (61B) and at the same time a travel permission command for permitting traveling the detour course (72) is issued to the unmanned vehicle (10) traveling the lane (51) on the restricted area side so that the unmanned vehicle (10) travels the detour course (72).

摘要翻译： 基于通过向外/返回车道（51,52）中的一个行驶的人载车辆（20）的位置信息创建限制区域（60），并且基于限制区域（60）的信息创建绕行路线（72） ）。 关于迂回路线（72）的信息被提供给无人驾驶车辆（10,11）和载人车辆（20）。 基于在其间具有限制区域（60）的相反方向彼此前进的无人驾驶车辆（10,11）的位置信息，位于车道（52）相对侧的无人驾驶车辆（11） 限制区域（60）在块位置（61B）被阻挡，同时，向在行驶路线（51）上行驶的无人驾驶车辆（10）发出用于允许行走迂回路线（72）的行驶许可命令 限制区域侧，使得无人驾驶车辆（10）行进迂回路线（72）。

公开(公告)号：US08978851B2

公开(公告)日：2015-03-17

申请号：US14110774

申请日：2012-05-09

申请人： Masanori Tojima ,  Koji Takeda ,  Kouichi Yamashita

发明人： Masanori Tojima ,  Koji Takeda ,  Kouichi Yamashita

IPC分类号： H02G11/02 ,  E02F9/20 ,  B60L9/00

CPC分类号： H02G11/02 ,  B60L1/003 ,  B60L9/00 ,  B60L2200/40 ,  B60L2240/62 ,  B60L2260/44 ,  E02F9/2016 ,  E02F9/207 ,  E02F9/2095 ,  Y02T10/7291 ,  Y02T90/16 ,  Y02T90/162

摘要： A self-propelled cable relay truck includes: a power transmission relay unit to which a power supply side cable configured to perform power transmission between a power supply and the relay truck, and a work machine side cable configured to perform power transmission between an electric work machine and the relay truck are connected to perform relay of the power transmission between the power supply side cable and the work machine side cable; a travel device configured to perform traveling operation so as to be able to move the power transmission relay unit; and a movement control unit configured to perform movement control of the travel device.

摘要翻译： 一种自行式电缆继电器，包括：动力传递继电器单元，被配置为在电源和所述中继车之间进行动力传递的电源侧电缆以及被配置为在电力工作之间进行动力传递的作业机侧电缆 机器和继电器卡车连接在电源侧电缆和作业机侧电缆之间执行电力传输的继电器; 行驶装置，被配置为执行行驶操作，以便能够移动所述动力传递中继单元; 以及移动控制单元，被配置为执行行驶装置的移动控制。

公开(公告)号：US20140027228A1

公开(公告)日：2014-01-30

申请号：US14110774

申请日：2012-05-09

申请人： Masanori Tojima ,  Koji Takeda ,  Kouichi Yamashita

发明人： Masanori Tojima ,  Koji Takeda ,  Kouichi Yamashita

IPC分类号： H02G11/02 ,  B60L9/00

CPC分类号： H02G11/02 ,  B60L1/003 ,  B60L9/00 ,  B60L2200/40 ,  B60L2240/62 ,  B60L2260/44 ,  E02F9/2016 ,  E02F9/207 ,  E02F9/2095 ,  Y02T10/7291 ,  Y02T90/16 ,  Y02T90/162

摘要： A self-propelled cable relay truck includes: a power transmission relay unit to which a power supply side cable configured to perform power transmission between a power supply and the relay truck, and a work machine side cable configured to perform power transmission between an electric work machine and the relay truck are connected to perform relay of the power transmission between the power supply side cable and the work machine side cable; a travel device configured to perform traveling operation so as to be able to move the power transmission relay unit; and a movement control unit configured to perform movement control of the travel device.

摘要翻译： 一种自走式电缆继电器，包括：动力传递继电器单元，配置成在电源和继电器车之间进行动力传递的电源侧电缆以及被配置为在电力工作之间进行动力传递的作业机侧电缆 机器和继电器卡车连接在电源侧电缆和作业机侧电缆之间执行电力传输的继电器; 行驶装置，被配置为执行行驶操作，以便能够移动所述动力传递中继单元; 以及移动控制单元，被配置为执行行驶装置的移动控制。

公开(公告)号：US06321147B1

公开(公告)日：2001-11-20

申请号：US09574005

申请日：2000-05-19

申请人： Shu Takeda ,  Masanori Tojima ,  Koji Takeda

发明人： Shu Takeda ,  Masanori Tojima ,  Koji Takeda

IPC分类号： G05D100

CPC分类号： G05D1/0038 ,  G05D2201/021

摘要： An unmanned vehicle running system, capable of reducing a stop time of a vehicle by immediately judging whether or not an obstacle blocks the passage when detecting the obstacle. For this purpose, the unmanned vehicle running system has a plurality of vehicles (1) running without a driver in a predetermined course (3) while detecting the current position and a central monitor station (2) for monitoring operations of the plurality of vehicles, wherein each of said vehicles is provided with a phototaking device (24) for taking a photo of the course, with a vehicle communication unit (23) for transmitting the taken image to the central monitor station, and with an obstacle detecting unit (5) for detecting an obstacle (4) which blocks the passage, wherein the central monitor station is provided with a central communication unit (8) for receiving the image and with a monitor (9) for displaying the image, and wherein the phototaking device takes a photo when the obstacle detecting unit detects an obstacle.

摘要翻译： 一种无人驾驶车辆行驶系统，能够通过立即判断障碍物在检测到障碍物时是否堵塞通道，能够减少车辆的停车时间。 为此，无人驾驶车辆行驶系统在检测到当前位置的同时，在预定行程（3）中没有驾驶员的多个车辆（1），以及用于监视多个车辆的操作的中央监视站（2） 其特征在于，所述车辆中的每一个设置有用于拍摄所述路线的照片的摄影装置（24），其具有用于将拍摄图像发送到中央监视台的车辆通信单元（23），以及障碍物检测单元（5） 用于检测阻挡通道的障碍物（4），其中中央监测站设置有用于接收图像的中央通信单元（8）和用于显示图像的监视器（9），并且其中拍摄装置取出 当障碍物检测单元检测到障碍物时，照相。

公开(公告)号：US09698586B2

公开(公告)日：2017-07-04

申请号：US14117935

申请日：2012-06-15

申请人： Masanori Tojima ,  Koji Takeda ,  Takao Nagai ,  Katsuhiro Kajino

发明人： Masanori Tojima ,  Koji Takeda ,  Takao Nagai ,  Katsuhiro Kajino

IPC分类号： H02G11/02 ,  E02F9/20

CPC分类号： H02G11/02 ,  E02F9/2016 ,  E02F9/207 ,  E02F9/2095

摘要： A power support system to an electric work machine includes: a cable holding unit configured to hold a cable that transmits power; a cable support pole configured to support the cable held by the cable holding unit at a position higher than a height of a vehicle that travels on a track that intersects at a position where the cable is disposed; and a travel device connected to the cable holding unit and the cable support pole and configured to perform a traveling operation so as to be able to move the cable holding unit and the cable support pole.

公开(公告)号：US09377779B2

公开(公告)日：2016-06-28

申请号：US14119044

申请日：2012-06-15

申请人： Masanori Tojima ,  Koji Takeda

发明人： Masanori Tojima ,  Koji Takeda

IPC分类号： G05D1/00 ,  E02F9/20 ,  E02F9/26 ,  G05D1/02 ,  H02G11/02

CPC分类号： G05D1/00 ,  E02F9/2045 ,  E02F9/205 ,  E02F9/207 ,  E02F9/262 ,  G05D1/0214 ,  G05D1/0278 ,  G05D1/0297 ,  G05D2201/021 ,  H02G11/02

摘要： A computer program product for setting a travel-restricted area for an unmanned traveling vehicle, where a travel of a vehicle traveling with no man attended is restricted in a workplace of an electric work machine that operates with electricity supplied via a cable from an external power supply, the computer program causing a computer to execute: estimating a position of the cable based on at least information on a position of the electric work machine, information on a position of a support body that supports the cable, and a length of the cable between the electric work machine and the support body, and setting the travel-restricted area based on the estimated position of the cable.

摘要翻译： 一种用于设置无人行驶车辆的行驶限制区域的计算机程序产品，其中没有人参与的车辆行驶被限制在电力作业机器的工作场所，该电动工作机器通过电缆从外部电力供应的电力 提供计算机程序，使计算机执行：基于关于电动作业机械的位置的至少信息来估计电缆的位置，关于支撑电缆的支撑体的位置的信息和电缆的长度 在电动工作机与支撑体之间，基于电缆的估计位置设定行驶限制区域。

公开(公告)号：US06292725B1

公开(公告)日：2001-09-18

申请号：US09402236

申请日：2000-01-27

申请人： Masato Kageyama ,  Kiyoshi Kaneko ,  Shu Takeda ,  Masanori Tojima ,  Koji Takeda

发明人： Masato Kageyama ,  Kiyoshi Kaneko ,  Shu Takeda ,  Masanori Tojima ,  Koji Takeda

IPC分类号： G01S1393

CPC分类号： G08G1/20 ,  G01S19/03 ,  G01S19/07 ,  G01S19/49 ,  G01S2013/936 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0278 ,  G05D1/0297 ,  G05D2201/0202 ,  G08G1/164

摘要： The present invention prevents the interference of vehicles traveling on-coming to each other when a plurality of vehicles are traveling on-coming to each other on a traveling path with a predetermined road width without increase in cost caused by setting a wide course width and without a drop in work efficiency caused by decreasing velocity. If one of the vehicles detects the other vehicle by its obstacle detection means when the vehicles are traveling on-coming to each other, the vehicle which detects the other vehicle begins deceleration to stop itself. At the same time, this vehicle transmits a deceleration control command for stopping the other vehicle to the other vehicle via transmission/reception means, therefore the other vehicle starts deceleration even if this vehicle cannot detect an obstacle. The present invention is also applied when unmanned vehicles using autonomously guidance traveling based on the course data and traveling position data or an unmanned vehicle and a manned vehicle pass each other on the going and coming paths immediately adjacent to each other, where each vehicle has communication means for transmitting traveling position data of the respective vehicle and receiving traveling position data of the other vehicle, an unmanned vehicle has approach detection means for detecting the approach of the other vehicle based on its own traveling position data and position data of the other vehicle, and traveling control means for shifting its own vehicle toward the road shoulder side at detection of an approach.

摘要翻译： 本发明防止了当多个车辆在具有预定道路宽度的行进路径上彼此行进时，彼此行驶的车辆的干扰，而不会由于设定宽行程宽度并且没有 降低速度造成的工作效率下降。 如果其中一个车辆在车辆彼此行进时通过其障碍物检测装置检测到其他车辆，则检测另一车辆的车辆开始减速以停止自身。 同时，该车辆通过发送/接收装置向另一车辆发送用于停止另一车辆的减速控制命令，因此即使该车辆不能检测到障碍物，另一车辆也开始减速。 本发明也适用于使用基于课程数据和行驶位置数据的自主引导行驶的无人驾驶车辆或者无人驾驶车辆和载人车辆在彼此紧邻的往返路径上彼此通过的情况，其中每个车辆具有通信 用于发送各车辆的行驶位置数据并接收另一车辆的行驶位置数据的装置，无人驾驶车辆具有接近检测装置，用于根据其自身的行驶位置数据和其他车辆的位置数据检测另一车辆的接近， 以及行驶控制装置，用于在检测到接近时将其自己的车辆朝向道路肩侧移动。