Hitachi Construction Machinery Co., Ltd.

Hitachi, Ltd.

Hitachi Astemo Ltd.

Masanori Ichinose

Tomohiko Yasuda

Takayuki Sato

Atsushi Yokoyama

Yuzo Kadomukai

Wataru Tanaka

Takaomi Nishigaito

Shinjiro Saito

Toshio Manaka

Kenichiro Matsubara

Nobuyuki Ueki

Takayuki Satou

Hiroyuki Saito

Akira Kuriyama

Masaki Higurashi

Toru Takahashi

Makoto Yamakado

Tatsuya Yoshida

Takehiko Kowatari

Hidefumi Ishimoto

Ayumu Miyajima

Mikio Bando

Shingo Nasu

Atsushi Kitaguchi

Shigenori Hayase

Kazunori Ishihara

Yukihiko Ono

Yoshiaki Tsutsumi

Haruki Nishimura

Naoshi Yamaguchi

Yoko Tsukada

Shouta Fujiyoshi

Jyotsna Pandey

Youko Tsukada

Ishimoto Hidefumi

A dump truck reduces drive wheel braking torques to avoid locking drive wheels during slipping and generates braking torques for driven wheels to ensure an overall braking torque using a controller that outputs a regenerative torque command value, corresponding to a brake pedal operation amount, to an inverter that regeneratively controls electric motors. The controller reduces the regenerative torque command value and outputs a drive command value, corresponding to a regenerative torque command value reduction amount, to a solenoid proportional valve, when the controller determines that slip ratios of rear wheels equal or exceed a predetermined value. A hydraulic pressure generated by a hydraulic valve based on the brake pedal operation amount actuates rear wheel brakes. A hydraulic pressure selected by a higher-pressure selecting valve that selects the higher of the hydraulic pressure from the hydraulic valve and the hydraulic pressure from the solenoid proportional valve actuates front wheel brakes.

Dump truck

Provided is a work vehicle capable of excavating an excavation object efficiently and in various excavation patterns with appropriate fuel efficiency, regardless of the operator's skill level. The work vehicle includes a controller. The controller executes control including insertion control, acceleration control, and deceleration control. The insertion control keeps the tilt amount (stroke amount S) of the bucket and increases the lift amount (stroke amount S) of the lift arm in the insertion period Phfrom the timing when the work vehicle meets an entry condition for object, where the acceleration α of the vehicle becomes negative, to the timing when the acceleration α first becomes positive. The acceleration control keeps the tilt amount and increases the lift amount if the acceleration condition that the acceleration α becomes positive is met in the lift period Phfrom the timing when the work vehicle first meets the insertion condition to the timing when the end condition is met, where the lift amount and the tilt amount reach their specified values. The deceleration control keeps the lift amount and increases the tilt amount when the deceleration condition that the acceleration α becomes negative is met in the lift period Ph

Work vehicle

A method determines the region where a vehicle can travel without changing clarity of the position information of the object detected by a sensor. An in-vehicle control device includes an object detection unit detecting the position of an object from image information captured by an image pickup device, an object information storage unit stores a pre-processing grid map including a position of a detected object set as an object occupied region and a position where no object has been detected is as an object unoccupied region, an information processing unit generates a determination grid map in which part of the object unoccupied region of the map is replaced with the object occupied region, and a road surface region determination unit that generates an automatic driving grid map in which a closed space surrounded by the object occupied region of the determination grid map is set as a road surface region.

System for determining a road surface based on objects on the side of the road

A wheel loader includes a lift arm, bucket, a lift cylinder that rotates the lift arm, a hydraulic force detection unit that detects a hydraulic force of the lift cylinder, an arm angle detection unit that detects a rotation angle of the lift arm, and a controller that calculates a weight of the load. A hydraulic force measurement unit measures a hydraulic force with the rotation angle of the lift arm within a predetermined measurement angle range; and a hydraulic-force-change-rate calculation unit calculates a change rate of the hydraulic force with respect to the rotation angle of the lift arm, and then calculates a new hydraulic force change rate within the measurement angle range. The controller corrects an error of the weight of the load occurring due to the inclination angle of the body on the basis of the new hydraulic force change rate calculated by the hydraulic-force-change-rate calculation unit.

Work machine

The present invention provides a object detection device for vehicle capable of performing distance measurement more reliably than in the past and having high compatibility for distance measurement. The present invention provides an object detection devicefor vehicle including a first detection unit, a second detection unit, an error quantity calculation unit, a correction quantity calculation unit, and a distance correction unit. The error quantity calculation unitcompares the distances Dand D′ of the same object detected by the first detection unitand the second detection unitto calculate the error quantity ΔD. The correction quantity calculation unitcalculates the correction quantity CAbased on the error quantity ΔD. The distance correction unitcorrects the distances D′ and D′ of the object detected by the second detection unitbased on the correction quantity CA.

Object detection device for vehicle

When large vehicles and small vehicles travel together in a mine, they are distinguishably detected. On a haulage vehicle for a mine, a first obstacle detection device and a second obstacle detection device are disposed. The obstacle detection devices are disposed so that they have detection directions oriented in a same direction in horizontal planes, respectively. The first obstacle detection deviceis disposed at a height where it can detect each small vehicle, while the second obstacle detection deviceis disposed at a height where it can detect each large vehicle without detection of any small vehicle. On the basis of detection results of the first obstacle detection deviceand second obstacle detection device, a detection processing devicedetermines whether an object is a small vehicle or a large vehicle.

Obstacle detection system and transportation vehicle

A haulage vehicle comprises: a position calculating system () calculating an estimated position of its own vehicle; a position range calculating unit () 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 () 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 () 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 () performing control for the haulage vehicle to travel along the target route in compliance with the target vehicle speed.

Haulage vehicle and travel control system for the same

A steering control device () for a working vehicle includes an electric motor device () that generates an assistance torque to a steering column (), and an inverter (). The steering control device () includes a load torque sensor () that is attached between the electric motor device () and a load portion of a steering mechanism unit () to detect a load torque applied on a steering system, a steering load torque calculating section () that calculates a steering load torque based upon an output value of the load torque sensor (), and an assistance torque calculating section () that adds the steering load torque outputted from the steering load torque calculating section () and a target steering torque input from an exterior to calculate an assistance torque to command the electric motor device () and command the inverter ().

Steering control device for working vehicle

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.

Travel control device for work vehicle, and work vehicle

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 () that identifies the shape of a bund () provided on a traveling surface based on information from an external sensor () provided on the transport vehicle; and a target stop position calculation module () that calculates a target stop position (SP) for the transport vehicle based on the shape of the bund identified by the bund identification module.

Stop position determining device for transport vehicle and transport vehicle with the same

A traveling stop control device for a transport vehicle includes: a torque command value setting module that sets a torque command value for the transport vehicle based on a target speed and an actual speed of the transport vehicle; a threshold value setting module that sets an upper limit threshold value for the torque command value based on information regarding the state of the transport vehicle; and a traveling stop determination module that determines the traveling stop of the transport vehicle. The traveling stop determination module determines the traveling stop of the transfer vehicle on condition that the torque command value exceeds the upper limit threshold value and that the actual speed of the transport vehicle is zero or close to zero.

Traveling stop control device for transport vehicle and transport vehicle with the same

A mining vehicle is provided, which is capable of appropriately recognizing a condition of a traveling road in front of the vehicle, preventing an obstacle on a roadside from being erroneously detected by a distance detector, and controlling the speed of the vehicle in a stable manner even when the vehicle is approaching a curved portion of the road from a linear portion of the road. The mining vehicle that travels on a transport road of a mining site includes: a minimum roadside distance determining unit; a traveling status calculator configured to calculate traveling status of the vehicle and a turning radius of the vehicle; a roadside distance calculator configured to calculate a roadside distance between the vehicle and a roadside of the transport road; a roadside distance selector configured to select and output a minimum roadside distance if the vehicle is in a rectilinearly traveling state and select and output the roadside distance calculated with the roadside distance calculator if the vehicle is in a turning state; a detected distance limiter configured to disable a signal representing the distance, detected with the distance detector, between the vehicle and the object and the relative speed if the distance between the vehicle and the object is larger than a distance represented by a signal selected and output from the roadside distance selector; and a vehicle speed controller configured to control the speed of the vehicle on the basis of a signal output from the detected distance limiter.

Mining vehicle

Disclosed is a driving force control device that includes a determination section (), a driving force command value calculation section (), and a command value output section (). The determination section () determines whether each of a plurality of motors (), which independently drive a plurality of wheels (), can be operated within a desired operating range when driven by a target driving force calculated for each of the motors (). The driving force command value calculation section () adjusts the distribution of driving force for each of the motors in accordance with the target driving force for each of the motors and with the operating status of each of the motors and calculates an actual driving force command value for each of the motors for the purpose of operating each of the motors within the desired operating range if the determination means determines that each of the motors cannot be operated within the desired operating range. The command value output section () outputs the driving force command value to each of a plurality of inverters (). Therefore, a target vehicle motion can be maximally realized while appropriately maintaining the drive status of each of the motors.

Driving force control device for electric vehicle

A dump truck parking position/direction indication system and a hauling system are provided that allow the operator of a loading machine to determine a parking position and a parking direction of a dump truck. The dump truck parking position/direction indication system includes: a bucket position detection device which detects the position of a bucket of the loading machine; a locus calculation device which calculates a movement locus of the bucket based on the positions of the bucket detected by the bucket position detection device; a parking position/direction determination device which determines the parking position and the parking direction of the dump truck based on the movement locus calculated by the locus calculation device; and an output device which outputs the parking position and the parking direction of the dump truck determined by the parking position/direction determination device.

System for indicating parking position and direction of dump truck and hauling system

A dump vehicle overturn preventing device includes: a loaded weight estimation unit which estimates loaded weight on the body; a vehicle rotation moment calculation unit which calculates a vehicle rotation moment Mb caused by movement of the dump vehicle's load upon discharging of the load; a reference moment calculation unit which determines a reference moment Ms not greater than an overturn threshold moment MI which is the minimum value of a rotation moment required to lift the front wheels off the ground; a judgment unit which judges whether or not the vehicle rotation moment Mb has exceeded the reference moment Ms; and a display device which notifies the driver that there is a probability of an overturn of the vehicle when the vehicle rotation moment Mb is judged to have exceeded the reference moment Ms.

Growing community of inventors

Tsukuba, Japan

Masanori Ichinose