Hitachi Construction Machinery Co., Ltd.

Hitachi, Ltd.

Shinichi Uotsu

Mikio Bando

Koei Takeda

Atsushi Watanabe

Takuya Naka

Takehito Ogata

Kouichi Shibata

Masafumi Hita

Masaki Kanai

Yutaka Chiba

Masanobu Kumekawa

Kimiyoshi Machii

Hiroki Obara

Sasuga Kitai

An object of the invention of the application is to provide an autonomous travelling mine vehicle that can suppress a decrease in work efficiency when dust is generated at a work site. Therefore, the autonomous travelling mine vehicle includes a surrounding monitoring sensor that measures a three-dimensional point cloud of a terrain profile around the vehicle body, and a travelling route setting device calculates an undetected area representing a terrain profile part that the surrounding monitoring sensor cannot measure, calculates an alternative route on which the vehicle body can travel without passing through the undetected area on the basis of the positional relationship between the undetected area and the vehicle body, and updates the scheduled route with the alternative route.

Autonomous travelling mine vehicle

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

A measurement sensor that measures, as three-dimensional point cloud information having a plurality of vertically-adjacent layers, a surface position of an object around the work machine; and an object sensor that senses an object around the work machine on a basis of information from the measurement sensor are included, and the object sensor acquires three-dimensional point cloud information by measurement by the measurement sensor; senses, as point data, a point where microparticles are measured, based on a relation between distances, from the measurement sensor, of point data of vertically-adjacent layers and variations of distance differences, regarding a plurality of pieces of point data included in the three-dimensional point cloud information; deletes the point data of the point sensed as the point where the microparticles are measured, from the three-dimensional point cloud information; and senses an object around the work machine on a basis of the three-dimensional point cloud information.

Work machines

A mining machine includes: a road gradient calculator that calculates a road gradient of a travel route based on a position and a speed measured by a GNSS receiver, a vehicle body posture measured by a vehicle body posture sensor, and an acceleration measured by an acceleration sensor; a traction coefficient calculator that calculates a traction coefficient based on the speed measured by the GNSS receiver, the acceleration measured by the acceleration sensor, a wheel speed measured by a wheel speed sensor, a steering direction measured by a steering angle sensor, a vehicle weight measured by a load sensor, and a driving torque measured by a driving torque sensor; and a target torque calculator that calculates a target torque based on the road gradient calculated by the road gradient calculator and the traction coefficient calculated by the traction coefficient calculator.

Mining machine

A controller that controls a dump truck in such a manner that the dump truck travels on a travelling route and stops at a loading specified position is provided in the dump truck. The controller computes, from travelling route data, a front-rear direction (a first stop direction) of the dump truck in a case in which the dump truck has travelled on the travelling route and stopped at the loading specified position, and corrects the travelling route to compute a post-correction travelling route including the loading specified position as an end point in such a manner that an excavator is located on an extension line of the front-rear direction (a second stop direction) of the dump truck in a case in which the dump truck has travelled on the post-correction travelling route and stopped at the loading specified position, on the basis of the computed first stop direction, position data of the loading specified position, and swing center position data of the excavator.

Control system of dump truck

A work vehicle includes an override operation sensor that senses override operation to carry out switching between an automatic driving mode and a manual driving mode and a selection device for selecting any one of the manual driving mode, a manned automatic driving mode, and an unmanned automatic driving mode, as the driving mode of a dump truck. A controller carries out switching from the manned automatic driving mode to the manual driving mode when override operation is sensed by the override operation sensor in the case in which the manned automatic driving mode is selected by the selection device, and continues the unmanned automatic driving mode when override operation is sensed by the override operation sensor in the case in which the unmanned automatic driving mode is selected by the selection device.

Work vehicle with manual driving mode, manned automatic driving mode, and unmanned automatic driving mode

The present disclosure provides a work vehicle that allows detecting an error in an installation position of an antenna more flexibly than a conventional device. The work vehicle includes a control device. The control devicehas a detection function F, a calculation function F, a calculation function F, a calculation function F, and an estimation function F. The detection function Fdetects steady traveling based on a velocity, an acceleration, and an angular velocity of a vehicle. The calculation function Fcalculates a first vehicle direction based on installation information of a first antenna and a second antenna with respect to the vehicle. The calculation function Fcalculates a second vehicle direction based on a time change of position information of the first antenna when the steady traveling is detected. The calculation function Fcalculates a direction correction parameter for correcting the first vehicle direction based on the second vehicle direction. The estimation function Festimates a location and a posture of the vehicle based on the direction correction parameter and the first vehicle direction.

Work vehicle

Provided is a conveying vehicle that ensures efficiently travelling while suppressing vehicle slip. A dump truckincludes a vehicle bodyprovided with wheelsand a vehicle control deviceand travels on a travel route. The vehicle control devicecalculates and stores slip limit values at a plurality of positions on the travel route, reads out the slip limit values to calculate at least one of a maximum acceleration and a maximum deceleration of the dump truckat which the wheelsis capable of maintaining a grip state against a road surface, and sets a target travel speed at a travel position between the dump truckand a target position according to a target speed at the target position and at least one of the maximum acceleration and the maximum deceleration.

Conveying vehicle

An obstacle determination device mounted on a mining work machine determines whether the state of the mining work machine is a state immediately after progressing or a normal travel state; selects, as a distance threshold provided to determine a non-obstacle, a starting distance threshold if in the state immediately after starting, or a normal distance threshold if in the normal travel state; extracts obstacle candidates on the basis of the result of comparison of the distance at which an obstacle candidate was initially detected with the distance threshold; selects a starting reflection intensity threshold if the state immediately after starting, or a normal reflection intensity threshold if in the normal travel state; excludes non-obstacles on the basis of the result of comparison of the reception strength of the reflection wave of the remaining obstacle candidates with the reflection intensity threshold; and outputs the remaining obstacle candidates as obstacles.

Mining work machine and obstacle discrimination device

An electrically-driven mining vehicle includes an obstacle detector, a speed detector, and an alarm. The alarm outputs a first warning, which urges an operator of the electrically-driven mining vehicle to operate a regenerative brake pedal that actuates only the regenerative brake device, and a second warning, which urges the operator to operate a cooperative brake pedal that uses the regenerative brake device and the mechanical brake device in combination. If the travel speed of the vehicle is included in a low speed range in which no difference can be considered to exist in distance between a first braking distance upon actuation of only the regenerative brake device and a second braking distance upon operation of a cooperative braking, a signal for performing the first warning is outputted earlier by at least a warning time interval.

Electrcally-driven mining vehicle and brake operation guiding method in electrically-driven mining vehicle

An off-road dump truck includes a vehicle body, a peripheral recognition device, and an obstacle discrimination device. The peripheral recognition device detects obstacle candidates in front of the vehicle body. The obstacle discrimination device classifies the obstacle candidates, which were detected by the peripheral recognition device, into obstacles and non-obstacles and outputs, as obstacles, the obstacle candidates classified as obstacles. The obstacle discrimination device includes a travel state determination section, a distance filter section, and a reflection intensity filter section. The travel state determination section determines whether each obstacle candidate is a moving object or a stationary object. The distance filter section compares a distance, where the stationary object was first detected, with a distance threshold. The reflection intensity filter section calculates statistical information based on reflection intensity information on the obstacle candidate, and based on a comparison result of the statistical information with a threshold, classifies the obstacle candidate.

Off-road dump truck and obstacle discrimination device

A mining work machine includes an obstacle determination device connected to a periphery detection device. If measurement points detected by the periphery detection device in a current cycle are equal to or greater than predetermined size thresholds equivalent in size to the mining work machine, these measurement points are put into a single obstacle candidate group. Based on relative speeds of the obstacle candidate at the measurement points and a traveling speed of the mining work machine, it is determined whether the obstacle candidate is a stationary object or a moving object, and whether the stationary object has been also detected by the periphery detection device in a preceding cycle. If a position of detection of the stationary object detected for the first time is equal to or smaller than a non-obstacle determination distance threshold, the obstacle determination device outputs the obstacle candidate as a non-obstacle.

Mining work machine

Provided is an obstacle detection device for a work machine which can detect an obstacle coming close to a vehicle accurately regardless of vehicle speed. In the present invention, an obstacle detection devicefor a dump truckwhich detects an obstacle coming close to the vehicle includes: a periphery monitoring unitfor detecting an obstacle in the area around the vehicle and monitoring the area around the vehicle; a distant monitoring unitfor detecting an obstacle in a more distant place from the vehicle than the detection range of the periphery monitoring unitand monitor a distant area from the vehicle; and a monitoring switching unitfor switching between monitoring by the periphery monitoring unitand monitoring by the distant monitoring unit

Obstacle detection device for work machine

In a cell phone, no consideration is given to a switch unit when a reception circuit for space diversity is added, and consequently an antenna can be optimally connected to the reception circuit for space diversity. The cell phone comprises a first antenna for radio communication, a transmission-reception circuit to exchange signals with a base station through the first antenna, and a GPS reception circuit to receive signals from the GPS satellite through the first antenna. The reception circuit receives a signal from the base station, a second antenna different from the first antenna is provided, and the switch unit changes over connections between the first antenna and the second antenna, and the transmission-reception circuit, the GPS reception circuit and the reception circuit according to operation modes.

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Tsuchiura, Japan

Shinichi Uotsu