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公开(公告)号：US10101740B2
公开(公告)日：2018-10-16
申请号：US15500149
申请日：2015-08-20
发明人： Wataru Tanaka , Masanori Ichinose , Shinjiro Saito
摘要： The travel control system includes: a travel zone holding unit configured to hold a travel zone which is set in a particular travel area set beforehand and over which a dump truck is to autonomously travel; a target position setting unit configured to set, on an outer side of the particular travel area, a target position that the dump truck is to reach; a distance measurement unit configured to measure a traveling distance of the dump truck from a position of the dump truck as acquired using a position acquisition device provided in the dump truck to the target position set by the target position setting unit; and an autonomous travel control unit configured to control the dump truck so that the dump truck moves to an outer side of a travel zone held by the travel zone holding unit and autonomously travels the traveling distance.
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公开(公告)号：US09914441B2
公开(公告)日：2018-03-13
申请号：US15118506
申请日：2015-07-02
发明人： Koei Takeda , Shinjiro Saito
CPC分类号： B60T8/72 , B60L7/24 , B60L7/26 , B60L11/08 , B60L11/12 , B60T7/12 , B60T8/17 , B60T8/172 , B60T8/18 , B60T8/245 , B60T8/52 , B60T2210/12 , B60T2220/04 , B60W10/04 , B60W10/08 , B60W10/18 , B60W10/184 , B60W30/18127 , Y02T10/6217 , Y02T10/7077
摘要： A braking distance control device employed for an electrically driven work vehicle includes a safety vehicle speed calculation unit that calculates a safety vehicle speed at which a braking distance provided by use of an electric brake device becomes less than or equal to a threshold value, based on gradient information, payload information, road surface friction information, vehicle speed information, and a braking torque characteristic of electric motors: a critical vehicle speed for deceleration calculation unit that calculates a critical vehicle speed for deceleration at which deceleration provided by use of the electric brake device becomes less than or equal to a threshold value; and an operation judgment unit 14 that judges a setting of notification, based on pedal operation amounts.
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公开(公告)号：US09452679B2
公开(公告)日：2016-09-27
申请号：US14396513
申请日：2013-04-24
IPC分类号： B60L9/00 , B60K6/34 , B60L3/00 , B60L11/18 , B60K6/46 , B60L11/12 , B60L13/00 , B60W10/06 , B60W10/08 , B60W20/00 , B60L5/04 , H01B1/22 , H02J7/00 , B60M3/00
CPC分类号： B60L3/00 , B60K6/34 , B60K6/46 , B60L5/04 , B60L9/00 , B60L11/12 , B60L11/123 , B60L11/1842 , B60L13/00 , B60L2200/36 , B60L2260/26 , B60M3/00 , B60W10/06 , B60W10/08 , B60W20/00 , B60W20/12 , B60W2300/17 , B60W2550/40 , B60Y2400/212 , H01B1/22 , H02J7/00 , Y02E60/721 , Y02T10/6217 , Y02T10/6286 , Y02T10/7005 , Y02T10/7072 , Y02T10/7077 , Y02T90/121 , Y02T90/128 , Y02T90/14 , Y02T90/163 , Y04S10/126
摘要： An operation management system obviates such a situation that a power substation would trip and a supply of power to overhead wires would stop. The operation management system controls operation of electric drive vehicles, each of which is provided with a trolley mode, in which the electric drive vehicle runs by power supplied to the overhead wires, and a diesel mode, in which the electric drive vehicle runs by an output from an engine. A supply margin detection unit detects a current supply margin of power and a running position detecting unit detects a current running position of the electric drive vehicle. A running mode detection unit detects a current running mode of the electric drive vehicle and a running mode determination unit determines a next running mode based on the detection results of the supply margin detection unit, running position detecting unit, and running mode detection unit.
摘要翻译： 操作管理系统避免了变电站跳闸的情况，架空线的电力供应停止。 操作管理系统控制电动车辆的操作，每个电动车辆具有手推车模式，电动驾驶车辆通过供应到架空线的动力运行，以及柴油模式，其中电动驾驶车辆由 从发动机输出。 供电余量检测单元检测电力的当前供给余量，并且运行位置检测单元检测电动车辆的当前行驶位置。 运行模式检测单元检测电动车辆的当前行驶模式，并且行驶模式确定单元基于供给余量检测单元，行驶位置检测单元和行驶模式检测单元的检测结果来确定下一行驶模式。
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4.发明授权公开(公告)号：US09598823B2
公开(公告)日：2017-03-21
申请号：US14837540
申请日：2015-08-27
发明人： Wataru Tanaka , Masanori Ichinose , Yukihiko Ono , Shinjiro Saito
CPC分类号： E01C19/004 , B60T7/22 , B60T2201/022 , B60W30/18036 , B60W30/181 , B60W30/18109 , B60W40/06 , B60W2300/125 , B60W2550/10 , B60Y2200/142 , E02F3/841 , E02F9/2045 , G05D1/0225 , G05D2201/0202 , G05D2201/0213
摘要： To make a transport vehicle stop close to a bund in dependence on the shape of the bund. A stop position determining device for a transport vehicle includes: a bund identification module (520) that identifies the shape of a bund (400) provided on a traveling surface based on information from an external sensor (231) provided on the transport vehicle; and a target stop position calculation module (530) that calculates a target stop position (SP) for the transport vehicle based on the shape of the bund identified by the bund identification module.
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公开(公告)号：US10207736B2
公开(公告)日：2019-02-19
申请号：US15553212
申请日：2015-10-05
发明人： Masanori Ichinose , Shinjiro Saito
摘要： A steering control device (20) for a working vehicle includes an electric motor device (34) that generates an assistance torque to a steering column (33), and an inverter (43). The steering control device (20) includes a load torque sensor (39) that is attached between the electric motor device (34) and a load portion of a steering mechanism unit (21) to detect a load torque applied on a steering system, a steering load torque calculating section (41) that calculates a steering load torque based upon an output value of the load torque sensor (39), and an assistance torque calculating section (42) that adds the steering load torque outputted from the steering load torque calculating section (41) and a target steering torque input from an exterior to calculate an assistance torque to command the electric motor device (34) and command the inverter (43).
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公开(公告)号：US09771078B2
公开(公告)日：2017-09-26
申请号：US15124074
申请日：2014-09-30
发明人： Shinjiro Saito , Hidefumi Ishimoto
CPC分类号： B60W30/182 , B60W10/04 , B60W10/18 , B60W10/20 , B60W2300/125 , B60W2600/00 , B60W2710/18 , B60W2710/202 , B60W2720/106 , G05D1/0061 , G05D1/0088 , G05D1/0212 , G05D1/0223 , G05D2201/0202 , G05D2201/021
摘要： An autonomous mode controller (61) that outputs an acceleration command (SAa), a braking command (SBa) and a torque command (Ta) is connected to a steering actuator (33) and a traveling drive unit (52). The steering actuator (33) generates combined torque (T1) based upon steering torque (Tm) from a steering handle (32) and the torque command (Ta), and controls a steering angle (θ) of a vehicle based upon the combined torque (T1). The traveling drive unit (52) selects a larger one of an acceleration command (SAm) by an accelerator pedal (50) and the acceleration command (SAa) as an acceleration command (SA), and selects a larger one of a braking command (SBm) by a brake pedal (51) and the acceleration command (SBa) as a braking command (SB). The traveling drive unit (52) controls a vehicle speed based upon the acceleration command (SA) and the braking command (SB).
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公开(公告)号：US09709391B2
公开(公告)日：2017-07-18
申请号：US14837304
申请日：2015-08-27
发明人： Mikio Bando , Hidefumi Ishimoto , Shinjiro Saito
摘要： A position calculating system for a haulage vehicle including wheels and a body frame mounted on the wheels. The system includes an attitude detection sensor fixed on the body frame, a wheel rotational speed sensor, a loading status information acquiring unit, a correction amount setting unit, a velocity vector calculating unit, and a position calculating unit. The loading status information acquiring unit acquires loading status information indicating whether the body frame is in a loaded state or in an unloaded state. The correction amount setting unit calculates, based on the attitude information, a correction amount required for bringing detection axes in the loaded state into coincidence with corresponding detection axes in the unloaded state. The velocity vector calculating unit calculates the velocity vector of the haulage vehicle. The position calculating unit calculates a position of the haulage vehicle by using the velocity vector.
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公开(公告)号：US09315116B2
公开(公告)日：2016-04-19
申请号：US14395573
申请日：2013-04-11
CPC分类号： B60L15/2072 , B60L3/106 , B60L15/20 , B60L15/2009 , B60L2200/36 , B60L2220/46 , B60L2240/421 , B60L2240/423 , B60L2240/461 , B60L2240/465 , B60L2260/28 , B60L2270/145 , Y02T10/645 , Y02T10/646 , Y02T10/7275
摘要： Provided is an electric drive vehicle which can control wheel speed so as to achieve an appropriate slip ratio of the wheels even when pitching vibration of the vehicle is large. This electric drive vehicle is provided with electric motors (1, 4), drive wheels (3, 6), driven wheels (7, 8), an electric motor controller (50) for controlling the electric motors, and speed detectors (9-12) for detecting the wheel speed of the drive wheels and the driven wheels. The electric motor controller is provided with: a slip ratio calculation unit (21) which calculates the slip ratio of the drive wheels from the wheel speed detected values detected by the speed detectors; a torque command calculation unit (20) which calculates torque commands for the drive wheels; a drive force calculation unit (19) which, from the wheel speed detected values of the drive wheels and the torque commands of the drive wheels, calculates the drive force generated in the drive wheels; and filters (54, 55) which reduce the pitching vibration frequency components of the vehicle included in the slip ratio and the drive force.
摘要翻译： 提供了一种能够控制车轮速度以便即使当车辆的俯仰振动较大时车轮的适当滑移率的电动车辆。 该电动车辆设置有电动机（1,4），驱动轮（3,6），从动轮（7,8），用于控制电动机的电动机控制器（50）和速度检测器（9- 12），用于检测驱动轮和从动轮的车轮速度。 电动机控制装置具备：滑差比计算部（21），根据由速度检测器检测出的车轮速度检测值来计算驱动轮的滑移率; 扭矩指令计算单元（20），其计算用于所述驱动轮的扭矩指令; 驱动力计算单元，根据驱动轮的车轮速度检测值和驱动轮的转矩指令，计算在驱动轮中产生的驱动力; 以及减小包含在滑移率中的车辆的俯仰振动频率分量和驱动力的过滤器（54,55）。
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公开(公告)号：US11760325B2
公开(公告)日：2023-09-19
申请号：US17434788
申请日：2020-09-15
发明人： Masayuki Fukushi , Shinjiro Saito , Daiki Tetsuka
CPC分类号： B60T13/14 , B60T17/22 , B60T2230/00 , B60T2270/40
摘要： Provided is a dump truck capable of performing an actuation test of an emergency brake system at an appropriate timing. The dump truck comprises: front wheel and rear wheel emergency brake systems, each system including an accumulator that accumulates hydraulic oil supplied from a hydraulic pump, a brake device that is actuated by the hydraulic oil supplied from the accumulator, and a solenoid valve that opens and closes a flow path of the hydraulic oil extending from the accumulator to the brake device; and a controller configured to execute front test processing and rear test processing alternately (step S16/step S18) in the case of determining that the dump truck is stopped (step S11: Yes), a vessel is in a fallen position (step S12: YES), and a loading operation onto the vessel is completed (step S15: Yes/step S17: Yes).
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公开(公告)号：US10248128B2
公开(公告)日：2019-04-02
申请号：US15124134
申请日：2015-03-03
发明人： Wataru Tanaka , Shinjiro Saito , Mikio Bando , Masanori Ichinose
摘要： A haulage vehicle comprises: a position calculating system (220) calculating an estimated position of its own vehicle; a position range calculating unit (201b) calculating a position range which is centered around the estimated position and in which the haulage vehicle is present with a predetermined expected probability; a maximum deviation amount calculating unit (602) calculating a maximum deviation amount indicating a highest value among the amounts of deviations between a target route of the haulage vehicle and each of points included in the position range; a target vehicle-speed decision unit (603) setting a target vehicle speed of the haulage vehicle to be relatively low when the maximum deviation amount is relatively large; and a target route-tracing unit (201g) performing control for the haulage vehicle to travel along the target route in compliance with the target vehicle speed.
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