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公开(公告)号：US20180182248A1
公开(公告)日：2018-06-28
申请号：US15736038
申请日：2016-03-09
发明人： Masaki KANAI , Manabu KATOU , Tomoyuki HAMADA
IPC分类号： G08G1/16 , G08G1/0968
CPC分类号： G08G1/167 , B60R21/00 , G08G1/00 , G08G1/096716 , G08G1/096775 , G08G1/096822 , G08G1/096855 , G08G1/0969 , G08G1/16 , G08G1/166 , G08G1/207
摘要： A traffic control system for a manned vehicle, traveling on one of plural lanes arranged side by side in a mine, and a traffic control device connected with the vehicle. A zone of the lane, on which the vehicle is traveling, is set as a first travel-permitted zone with a travel permission given to the vehicle only. Upon receipt of a request from the vehicle for a travel-permitted zone of another-lane with a travel permission given only to the vehicle on a lane adjacent the lane on which the vehicle is traveling, the traffic control device sets, as the travel-permitted zone of the another-lane, a zone including at least a part of a zone arranged on the adjacent lane side by side with the first travel-permitted zone, and transmits the travel-permitted zone of the another-lane to the vehicle, which the vehicle displays on a display screen.
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公开(公告)号：US20230324928A1
公开(公告)日：2023-10-12
申请号：US18023817
申请日：2021-11-04
发明人： Masaki KANAI , Tomoyuki HAMADA
CPC分类号： G05D1/0297 , E02F9/264 , B60K35/00 , G05D2201/0202 , B60K2370/12
摘要： A vehicle management system 1 includes an unmanned vehicle 20 capable of autonomous traveling, a loading machine 10 performing a loading work for the unmanned vehicle 20, and a management station 30 performing dispatch management and traffic control of the unmanned vehicle 20. The loading machine 10 includes a bucket tip position calculator 111 that calculates a bucket tip position of a bucket based on information on a position, an orientation, and an angle of each joint of the loading machine. The management station 30 includes an unmanned vehicle instruction section 313 that calculates a loading zone of the unmanned vehicle 20 and issues a calling instruction or a departure instruction to the unmanned vehicle 20 based on the calculated loading zone and the bucket tip position of the loading machine 10.
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公开(公告)号：US20230227021A1
公开(公告)日：2023-07-20
申请号：US18023455
申请日：2022-01-25
发明人： Hiroki OBARA , Masaki KANAI , Mikio BANDO , Shinichi UOTSU
CPC分类号： B60W20/19 , B60W10/08 , B60W2300/12 , B60W2556/45 , B60W2554/80
摘要： An unmanned vehicle 20 is a vehicle that drives an electric motor by electric power generated in a power generator to travel by driving of the electric motor and includes a position sensor 240 that detects a position of the unmanned vehicle 20, a speed sensor 250 that detects a speed of the unmanned vehicle 20, and a vehicle control device 220 that controls the unmanned vehicle 20. The vehicle control device 220 calculates a work progression of a loading operation to the unmanned vehicle 20 by a loading machine 30 or a work progression of a preceding vehicle based on the position of the unmanned vehicle 20 detected by the position sensor 240 and the speed of the unmanned vehicle 20 detected by the speed sensor 250, calculates a period from a predicted time at which the calculated work progression exceeds a predetermined proportion until a predicted time at which the unmanned vehicle 20 starts acceleration as an acceleration preparation time, and drives the power generator to generate electricity during the calculated acceleration preparation time.
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公开(公告)号：US20170017239A1
公开(公告)日：2017-01-19
申请号：US15124042
申请日：2015-03-03
发明人： Masaki KANAI , Tomoyuki HAMADA , Manabu KATOU , Takuya NAKA , Masatsugu ARAI
IPC分类号： G05D1/02 , G08G1/0968 , B60W10/18 , B60W30/10 , B60W10/20 , G08G1/0965 , G05D1/00
CPC分类号： G05D1/0287 , A01B39/00 , B60W10/18 , B60W10/20 , B60W30/10 , B60W2720/14 , G05D1/0055 , G05D1/0088 , G05D1/02 , G05D1/0274 , G05D1/0297 , G05D2201/021 , G08G1/0965 , G08G1/096805 , G08G1/096816 , G08G1/0969 , G08G1/164 , G08G1/166 , G08G1/167 , G08G1/207
摘要： A management control device controls multiple unmanned vehicles, including the overtaking of a vehicle using an opposite lane. First and second travel permission sections are set for an own vehicle and another vehicle in a stopped state located ahead of the own vehicle on a traveling lane. A path by which the own vehicle overtakes the other vehicle is generated to include a first transition section to change lanes from a traveling lane to an opposite lane, an overtaking section that connects to the first transition section. Also included is a second transition section that connects to the front end of the overtaking section and is for the own vehicle to return to the traveling lane. The section length of the second travel permission section being set in advance is thereby shortened.
摘要翻译： 管理控制装置控制多个无人驾驶车辆，包括使用相对车道超车。 第一和第二行驶许可部分设置在本车辆上，并且在行驶车道上设置在本车辆前方的停止状态的另一车辆。 产生自身车辆超越另一车辆的路径，以包括第一过渡部分，以将车道从行驶车道改变为相对车道，超车段连接到第一过渡部分。 还包括第二过渡部分，其连接到超车部分的前端，并且用于本车返回行驶车道。 因此，预先设定的第二行驶许可部的截面长度被缩短。
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公开(公告)号：US20240152157A1
公开(公告)日：2024-05-09
申请号：US18279223
申请日：2022-03-23
发明人： Masaki KANAI , Katsuaki TANAKA
CPC分类号： G05D1/617 , G05D1/242 , G07C5/0816 , G05D2105/05
摘要： A hauling vehicle including a vehicle body, a distance meter that measures the distance to an obstacle, an in-vehicle controller that controls the vehicle body, and a communication device that communicates with a management controller that manages the vehicle body is provided. In the hauling vehicle, the in-vehicle controller executes primary determination of whether or not the distance meter is in a dirt-presumed state in which dirt of an objective surface of the distance meter is presumed, commands the vehicle body to stop at a current position when determining that the distance meter is in the dirt-presumed state in the primary determination, executes secondary determination of whether or not the distance meter is in the dirt-presumed state after the elapse of a set time from the execution of the primary determination, transmits an alarm to the management controller through the communication device when determining that the distance meter is in the dirt-presumed state in the secondary determination, and commands the vehicle body to resume travelling of the vehicle body when determining that the dirt-presumed state has been eliminated in the secondary determination.
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公开(公告)号：US20230367323A1
公开(公告)日：2023-11-16
申请号：US18029148
申请日：2021-05-26
发明人： Hiroki OBARA , Masaki KANAI , Mikio BANDO , Shinichi UOTSU
IPC分类号： G05D1/02 , B60W40/068
CPC分类号： G05D1/0217 , G05D1/0223 , G05D1/0274 , B60W40/068 , G05D2201/021 , B60W2300/125 , B60W2552/40 , B60W2555/20 , B60W2556/40 , B60W2556/45
摘要： Provided is a control system for hauling vehicle capable of suppressing slippage of a hauling vehicle while suppressing a decrease in travel speed of the hauling vehicle. A control system for hauling vehicle causes a hauling vehicle 100 to travel based on a control target including a target route. The control system generates a control target based on the map information, which includes information on the travel path WP along which the hauling vehicle 100 travels and information on a plurality of travel sections TS obtained by dividing the travel path WP; the loading quantity on the hauling vehicle 100 in each travel section TS; and a slippage index indicating the slipperiness of the travel path WP in each travel section TS. If the slippage index SI of at least one travel section TS is less than the predetermined threshold, the control system sets a larger turning radius of the turning route included in the target route for that travel section TS than for the case where the slippage index is equal to or greater than the predetermined threshold.
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公开(公告)号：US20230121070A1
公开(公告)日：2023-04-20
申请号：US17909455
申请日：2021-03-19
发明人： Masaki KANAI , Tomoyuki HAMADA , Mikio BANDO , Hiroto MORIZANE
摘要： Provided is an autonomous travel system capable of effectively suppressing generation of ruts. It is a further object to provide an autonomous travel system including unmanned vehicles that travel on a transportation path constituted of opposite lanes, which is capable of suppressing generation of ruts while preventing proximity to an on-corning vehicle. An in-vehicle control device 200 includes: an offset amount determination unit 202 adapted to, based on common offset information received via a wireless communication device 240, determine an offset amount of a travel path 60 based on map information 251 and generate a target track 62; and an autonomous travel control unit 201 adapted to output a travel instruction to control traveling of a body so as to track the target track 62 to which the offset amount has been added based on the target track 62 and an own-vehicle position.
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公开(公告)号：US20230311937A1
公开(公告)日：2023-10-05
申请号：US18024412
申请日：2022-02-16
发明人： Masaki KANAI , Katsuaki TANAKA
CPC分类号： B60W60/001 , G07C5/006 , B60W2554/4041
摘要： Provided is a vehicle management system capable of securing safety of an escorted vehicle while suppressing a decrease in productivity by improving setting of an entry prohibited area of an unmanned vehicle at the time when an abnormal state of position information on the escorted vehicle has been detected. The vehicle management system is configured such that an unmanned vehicle, an escorted vehicle, an escorting vehicle, and a control station that controls the unmanned vehicle on the basis of position information on the escorting vehicle and position information on the escorted vehicle are capable of communicating with each other. A controller of the control station computes, when an abnormal state of the position information on the escorted vehicle has been detected, an inter-vehicle distance between the escorting vehicle and the escorted vehicle before the detection of the abnormal state, to thereby set an entry prohibited area of the unmanned vehicle on the basis of the current position information on the escorting vehicle and the inter-vehicle distance. An output device of the escorting vehicle outputs an alarm that prompts maintenance of the inter-vehicle distance when the abnormal state of the position information on the escorted vehicle has been detected.
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公开(公告)号：US20230123961A1
公开(公告)日：2023-04-20
申请号：US17913968
申请日：2021-03-12
发明人： Hiroto MORIZANE , Tomoyuki HAMADA , Mikio BANDO , Masaki KANAI
摘要： Provided is a traffic control server, a traffic control system, and a display device capable of wirelessly communicating with the traffic control server that are capable of realizing both safety securement for a manned vehicle and an unmanned vehicle traveling in a mine and prevention of reduction in productivity by controlling interference between the manned vehicle and the unmanned vehicle. An interference control part of the traffic control server generates warning information for performing at least one of displaying a warning screen or making a warning sound to the manned vehicle in accordance with an overlap (interference) among a stop trigger region of the manned vehicle, a travel-permitted section set for the unmanned vehicle, a next travel-permitted section that is the travel-permitted section to be subsequently set for the unmanned vehicle, and a warning region set for the travel-permitted section, and a server-side communication control part transmits the warning information to the manned vehicle.
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公开(公告)号：US20220136211A1
公开(公告)日：2022-05-05
申请号：US17429953
申请日：2019-12-13
发明人： Hidekazu MORIKI , Ryu NARIKAWA , Masaki KANAI , Kouji SHIWAKU , Shinya IMURA
摘要： In a case that a change instruction to instruct to change a work area A1 to a requested work area A2 is input, whether or not change of the work area A1 to the requested work area A2 is possible is judged on the basis of the work area A1, location information of a machine main body configured by an upper swing structure 10 and a lower track structure 9, and posture information of a work device 15, and the work area A1 is overwritten with the requested work area A2 to change the work area in an only case that it is judged that change is possible. This can suppress interference between plural work machines.
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