Hitachi Construction Machinery Co., Ltd.

Hitachi, Ltd.

Hitachi Automotive Systems, Ltd.

Masaki Kanai

Tomoyuki Hamada

Masatsugu Arai

Katsuaki Tanaka

Mikio Bando

Takuya Naka

Manabu Katou

Shinya Imura

Hidekazu Moriki

Shinji Seto

Kazuhiro Sugawara

Shinjiro Saito

Wataru Tanaka

Wataru Yokoyama

Ryu Narikawa

Ryoko Ichinose

Hiroto Morizane

Shinichi Uotsu

Takayuki Satou

Yukihiko Ono

Kouji Shiwaku

Hiroki Obara

Tosuke Iwanaga

A hauling vehicle includes a position detection device, a speed detection device, and a vehicle control device. The vehicle control device acquires a work content of the hauling vehicle corresponding to either hauling or standby based on the position of the hauling vehicle verified with the map information and detected by the position detection device and the speed of the hauling vehicle detected by the speed detection device, and calculates a work progression of a loading operation to the hauling vehicle. The vehicle control device also calculates a period from a predicted time at which the work progression exceeds a predetermined proportion until a predicted time at which the hauling vehicle starts acceleration based on the calculated work progression as an acceleration preparation time. The vehicle control device also drives the power generator to generate electricity during the acceleration preparation time based on the calculated acceleration preparation time.

Hauling vehicle and vehicle control system

In a case where a travel permission request regarding a queuing zone for a first unmanned vehicle stopped in a queuing zone is received, on the basis of a time length taken for the first unmanned vehicle arriving at a deceleration start position and a time length taken for a second unmanned vehicle positioned in a loading zone going out of the loading zone from reception of a loading completion notification, a travel start time difference after which the second unmanned vehicle goes out of the loading zone before the first unmanned vehicle arrives at a deceleration start position is calculated, a travel start time of the first unmanned vehicle is calculated on the basis of a reception time of the loading completion notification and the travel start time difference, and a travel permission regarding the queuing zone for the first unmanned vehicle is output after the travel start time has come. As a result, it is possible to shorten a time length required for replacement of unmanned vehicles at a loading position and enhance productivity.

Vehicle management system

A vehicle management systemincludes an unmanned vehiclecapable of autonomous traveling, a loading machineperforming a loading work for the unmanned vehicle, and a management stationperforming dispatch management and traffic control of the unmanned vehicle. The loading machineincludes a bucket tip position calculatorthat 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 stationincludes an unmanned vehicle instruction sectionthat calculates a loading zone of the unmanned vehicleand issues a calling instruction or a departure instruction to the unmanned vehiclebased on the calculated loading zone and the bucket tip position of the loading machine

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 deviceincludes: an offset amount determination unitadapted to, based on common offset information received via a wireless communication device, determine an offset amount of a travel pathbased on map informationand generate a target track; and an autonomous travel control unitadapted to output a travel instruction to control traveling of a body so as to track the target trackto which the offset amount has been added based on the target trackand an own-vehicle position.

Autonomous travel system

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.

In a case that a change instruction to instruct to change a work area Ato a requested work area Ais input, whether or not change of the work area Ato the requested work area Ais possible is judged on the basis of the work area A, location information of a machine main body configured by an upper swing structureand a lower track structure, and posture information of a work device, and the work area Ais overwritten with the requested work area Ato change the work area in an only case that it is judged that change is possible. This can suppress interference between plural work machines.

Work machine

A protected region is set for a manned working machine, said region including a first protected region in which new protected region setting request information is not transmitted and which includes the position of the manned working machine, and a second protected region which is set along a periphery of the first protected region and in which new protected region setting request information is transmitted. An area occupied by the vehicle body of the manned working machine on a plane projected on the ground surface is calculated on the basis of vehicle body information indicating the size of the vehicle body of the manned working machine and position information thereof. When the occupied area is present within the first protected region, new protected region setting request information is not transmitted, whereas when the occupied area is present within the second protected region, protected region setting request information is transmitted.

Management control device and on-board communication terminal device

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.

Traffic control system, traffic control device, and on-board terminal device

On a basis of a relative position of an obstacle, a size of the obstacle in an own vehiclewidth direction and a width of the own vehicle, a maximum amount Dof movement of the own vehiclein the vehicle width direction as required to avoid the obstacleis calculated. A point displaced over the maximum amount of movement toward a side of the adjacent lane from the relative position of the obstacleis determined as an avoiding point. If a distance d between the avoiding pointand the adjacent lane is greater than the width Wm of the own vehicle, an avoiding path is generated for allowing the own vehicleto pass the avoiding point

Obstacle avoidance system

Provided is an engagement position storage device capable of detecting a clutch engagement position of a vehicle finely and a brake system including such a device. In an engagement position storage devicethat stores an engagement position of a clutch to engage and disengage power of a vehicle, when the vehicle becomes a traveling state in predetermined duration after acceleration in a front-back direction of the vehicle changes, the engagement position storage devicestores a clutch engagement position based on a clutch position detected when the acceleration changes. A brake systemincludes a wheel latching mechanismthat latches wheels of a vehicle by driving a propelling memberby driving devicesand; and a controllerthat controls driving of the propelling memberof the wheel latching mechanismbased on a clutch engagement position stored in the engagement position storage device

Brake system

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.

Management control device

A traffic control system for allowing vehicles to travel unattended while maintaining their inter-vehicular distances without interfering with each other includes an onboard control apparatus mounted on the vehicles; and a traffic control apparatus which divides tracks for multiple vehicles into a plurality of sections and performs a blocking control to assign non-overlapping travelable sections to the multiple vehicles as a permitted travel section. The onboard control apparatus sets a travel permission request starting distance that is longer than a stoppable distance on the basis of the current speed of the vehicle and repeatedly transmits a travel permission request and current position information to the traffic control apparatus until the next travel permission is obtained when the remaining length of the permitted travel section has become shorter than the travel permission request starting distance in the advancing direction of the vehicle.

Vehicle traffic control system

An autonomous moving apparatus and an autonomous movement system has a configuration which prevents disabled autonomous moving apparatuses from traveling unexpectedly during collection. An autonomous moving apparatusincludes a wheel locking unitwhich locks the wheels at the time of stop, a manipulation unitwhich is provided at a location where manipulation thereof is enabled from the outside of the autonomous moving apparatus, and a wheel lock releasing unitwhich releases the lock of the wheels when the manipulation unitis manipulated by force from the outside. In addition, the wheel lock releasing unitreleases the lock of the wheels when force equal to or more than a predetermined value is applied to the manipulation unitand maintains the lock of the wheels when the force applied to the manipulation unitis less than the predetermined value.

Autonomous moving apparatus and autonomous movement system

A vehicle control system is provided in which, if a position requiring caution for the contact with an oncoming vehicle on a track road is found also on an ex-post facto basis, the information thereof is easily fed back to the control of each vehicle. This vehicle control system has a GPS receiverfor detecting the position of each vehicle, an encoderand an IMUmounted on each vehicle, a specific spot setting unitfor setting a position requiring caution for the passing with an oncoming vehicle as a specific spot on the basis of a vehicle position, a slip ratio and a curvature that are computed from the values output therefrom, and a storage device for storing the positional information on a place set as a specific spot by a specific spot detecting unit.

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Tokyo, Japan

Masaki Kanai