A work vehicle includes an electric motor, a traveling body, a hydraulic oil tank, and a hydraulic pump, and an accumulator. The hydraulic pump is driven by regenerative electric power of the electric motor, which is generated by braking of the traveling body, and pumps a hydraulic oil in the hydraulic oil tank. The accumulator accumulates the pressure of the hydraulic oil pumped from the hydraulic pump.
B60L 7/22 - Freinage dynamo-électrique par résistance combiné avec le freinage dynamo-électrique par récupération
B60L 58/33 - Procédés ou agencements de circuits pour surveiller ou commander des batteries ou des piles à combustible, spécialement adaptés pour des véhicules électriques pour la surveillance et la commande des piles à combustible pour la commande de la température des piles à combustible, p.ex. en commandant la charge électrique par refroidissement
A work vehicle includes a fuel cell, a fuel-cell DCDC converter that adjusts the voltage output from the fuel cell, a battery, a battery DCDC converter that adjusts the voltage output from the battery, and a vehicle body that supports the fuel cell, the fuel-cell DCDC converter, the battery, and the battery DCDC converter. The fuel cell is disposed in the vehicle body in front of the fuel-cell DCDC converter, the battery, and the battery DCDC converter.
B60L 50/75 - Propulsion électrique par source d'énergie intérieure au véhicule utilisant de la puissance de propulsion fournie par des batteries ou des piles à combustible utilisant de la puissance de propulsion fournie à la fois par des piles à combustible et des batteries
B60K 11/06 - Dispositions des ensembles de propulsion relatives au refroidissement avec refroidissement par air
H01M 8/04 - Dispositions auxiliaires, p.ex. pour la commande de la pression ou pour la circulation des fluides
3.
WORK MACHINE CONTROL DEVICE AND WORK MACHINE CONTROL METHOD
A load ratio determination unit determines a load ratio of each of a plurality of fuel cells based on desired electric power of a work machine. An operation instruction unit operates each of the plurality of fuel cells at the determined load ratio.
B60L 58/30 - Procédés ou agencements de circuits pour surveiller ou commander des batteries ou des piles à combustible, spécialement adaptés pour des véhicules électriques pour la surveillance et la commande des piles à combustible
B60L 58/40 - Procédés ou agencements de circuits pour surveiller ou commander des batteries ou des piles à combustible, spécialement adaptés pour des véhicules électriques pour la commande d'une combinaison de batteries et de piles à combustible
H01M 8/04 - Dispositions auxiliaires, p.ex. pour la commande de la pression ou pour la circulation des fluides
This transportation vehicle comprises: a dump body; a vehicle body that supports the dump body; a traveling device that supports the vehicle body; a power device that generates power for driving the traveling device by causing a reaction between hydrogen and oxygen; a water storage tank that stores water generated in the power device; and a water sprinkling device which sprays the water stored in the water storage tank and sprinkles the water to at least a portion of the surroundings of the vehicle body.
B60L 50/70 - Propulsion électrique par source d'énergie intérieure au véhicule utilisant de la puissance de propulsion fournie par des batteries ou des piles à combustible utilisant de l'énergie fournie par des piles à combustible
B60P 1/04 - Véhicules destinés principalement au transport des charges et modifiés pour faciliter le chargement, la fixation de la charge ou son déchargement avec un mouvement de basculement de l'élément supportant ou contenant la charge
B60P 3/00 - Véhicules adaptés pour transporter, porter ou comporter des charges ou des objets spéciaux
5.
SPRINKLING SYSTEM AT WORK SITE AND SPRINKLING METHOD AT WORK SITE
A work site sprinkling system according to the present invention includes: a power unit that is mounted on a transport vehicle and that generates power for driving a traveling device of the transport vehicle by causing hydrogen and oxygen to react with each other; a storage unit that stores a sprinkling position in a work site; a sprinkling device that is mounted on the transport vehicle and that sprays water generated in the power unit; and a sprinkling control unit that outputs a control command so that the sprinkling device sprinkles water at the sprinkling position.
Provided is a state estimating system for a dump truck which is provided with an engine and a dump body that is loaded with cargo and has a flow channel through which exhaust gas discharged from the engine circulates, said system comprising: an exhaust gas flow rate acquisition unit that acquires an exhaust gas flow rate indicating detection data of the flow rate of exhaust gas flowing into the flow channel; an exhaust gas temperature acquisition unit that acquires an exhaust gas temperature indicating detection data of the temperature of the exhaust gas flowing into the flow channel; and a body temperature estimating unit that estimates, on the basis of the exhaust gas flow rate and the exhaust gas temperature, a body temperature indicating the temperature of a prescribed site of the inner surface of the dump body which contacts the cargo.
B60P 1/04 - Véhicules destinés principalement au transport des charges et modifiés pour faciliter le chargement, la fixation de la charge ou son déchargement avec un mouvement de basculement de l'élément supportant ou contenant la charge
An unmanned vehicle that comprises: a travel device; an obstacle sensor; an own-path storage unit for storing the path of the unmanned vehicle; a travel control unit that controls the travel device on the basis of the path for the unmanned vehicle; an oncoming path storage unit that stores oncoming paths applied to oncoming vehicles; and an obstacle-presence determination unit that, on the basis of detection data from the obstacle sensor, determines whether or not there is an obstacle present in the oncoming path.
The present invention suppresses entry of dust into a fuel cell even when a large amount of dust is present in the aerial space. A fuel cell system (3) mounted on a work machine (2) is provided with: an external air introducing member (31) including an external air introducing port; an air cleaner device (33) for bringing air that has been introduced from outside the work machine (2) via the external air introducing port (31A) into contact with a liquid; and a fuel cell (20) supplied with the air after being brought into contact with the liquid and a fuel gas.
H01M 8/0662 - Traitement des réactifs gazeux ou des résidus gazeux, p.ex. nettoyage
H01M 8/0606 - Combinaison d’éléments à combustible avec des moyens de production de réactifs ou pour le traitement de résidus avec des moyens de production des réactifs gazeux
B01D 47/00 - Séparation de particules dispersées dans l'air, des gaz ou des vapeurs en utilisant un liquide comme agent de séparation
9.
WORK MACHINE AND METHOD FOR CONTROLLING WORK MACHINE
In the present invention, a controller acquires current topography data indicating the current topography which is subject to work. The controller acquires target topography data indicating a target topography. The controller controls a lift actuator such that the blade edge of a blade moves in accordance with the target topography. The controller controls a pitch actuator such that the pitch angle of the blade is changed, on the basis of the vertical positional relationship between any two from among the current topography corresponding to the current blade edge position, the target topography corresponding to the current blade edge position, and the current blade edge position.
A blade is supported on a body so as to be rotatable about a pitch axis. A pitch actuator causes the blade to pitch about the pitch axis. A controller determines whether slip has occurred in a travel apparatus during work performed using the blade. When it has been determined that slip has occurred, the controller causes the blade to pitch in a rearward-tilting direction.
This system is provided with: an on-vehicle controller; a remote control device; and a communication machine. The on-vehicle controller is mounted on a work machine, and controls the work machine. The remote control device communicates with the on-vehicle controller. The remote control device transmits, to the work machine, a start instruction signal for stating the work machine. The communication machine is provided to a body separated from the remote control device. The communication machine communicates with the on-vehicle controller. The communication machine can be operated so as to switch the work machine from a start-prohibited state to a start-permitted state. The on-vehicle controller switches the work machine from the start-prohibited state to the start-permitted state in response to an operation on the communication machine. When the work machine is in the start-prohibited state, the on-vehicle controller prohibits the work machine from starting even if the start instruction signal is received from the remote control device. When the work machine is in the start-permitted state, the on-vehicle controller causes the work machine to start if the start instruction signal is received from the remote control device.
A management system of a work site includes: a workplace data acquisition unit that acquires workplace data set in a workplace where an unmanned haul vehicle travels; and a sprinkling area setting unit that sets, on the basis of the workplace data, a sprinkling area on which the unmanned sprinkler vehicle sprinkles water in the workplace.
An unmanned vehicle management system includes: a traveling area definition unit that defines a traveling area on a traveling path of a work site; and a determination unit that determines whether or not an unmanned vehicle can enter the traveling area on the basis of a vehicle width indicating the width of the unmanned vehicle and a track width indicating the width of the traveling area.
This unmanned vehicle management system comprises: a congestion prediction unit that predicts the occurrence of congestion from the travel state of a plurality of unmanned vehicles traveling on a travel path at a work site; and an introduction command unit that, when congestion has been predicted to occur, outputs a first introduction command such that an unmanned vehicle that is a primary factor in the congestion enters a standby path branching from the travel path.
This dump truck comprises an engine, a cab floor that is located above the engine and that supports a cab, a first rear treatment device that treats exhaust gas exhausted from a first exhaust tube of the engine, and a second rear treatment device that treats exhaust gas exhausted from a second exhaust tube of the engine. The first rear treatment device and the second rear treatment device are aligned in the vehicle width direction to the rear of the engine and below the cab floor.
B60K 13/04 - Dispositions des ensembles de propulsion relatives à l'admission d'air de combustion ou à l'échappement des gaz relatives à l'échappement
E02F 9/00 - DRAGAGE; TERRASSEMENT - Eléments constitutifs des dragues ou des engins de terrassement, non limités à l'une des catégories couvertes par les groupes
F01N 3/24 - Silencieux ou dispositifs d'échappement comportant des moyens pour purifier, rendre inoffensifs ou traiter les gaz d'échappement pour rendre les gaz d'échappement inoffensifs par conversion thermique ou catalytique des composants nocifs des gaz d'échappement caractérisés par les aspects de structure de l'appareillage de conversion
This water sprinkler vehicle management system comprises: a water quantity data acquisition unit for acquiring water quantity data indicating the quantity of water stored in a tank of a water sprinkler vehicle for water sprinkling purposes; and a speed setting unit for setting, on the basis of the water quantity data, the travel speed of the water sprinkler vehicle.
This unmanned vehicle management system comprises: a protected area setting unit that, on the basis of a sprinkling state from a sprinkling sprayer provided to a sprinkler vehicle traveling in a work site, sets a protected area in which the entry of unmanned vehicles traveling around the sprinkler vehicle is prohibited; and an output unit that outputs the protected area set by the protected area setting unit.
This unmanned vehicle control system comprises: an inter-vehicle distance determination unit which, on the basis of the condition of water sprinkling from a water sprinkler spray disposed on a water sprinkler vehicle traveling on a site of work, determines an inter-vehicle distance between the water sprinkler vehicle and an unmanned vehicle that travels rearward of the water sprinkler vehicle in the same direction as the water sprinkler vehicle; and an output unit which outputs, to the unmanned vehicle, inter-vehicle distance data indicating the inter-vehicle distance determined by the inter-vehicle distance determination unit.
In this invention, a controller acquires default target displacement data to regulate target displacement according to the amount of movement of a work machine. The controller acquires a work interval that indicates the distance between the start position for the previous operation by the work machine and the current start position located behind the previous start position. The controller creates correction data resulting from the default target displacement data being corrected according to the work interval. By referencing the correction data, the controller determines target displacement corresponding to the amount of movement of the work machine from the current start position. The controller determines, as the target profile, topographical data arrived at by the current topographical data being displaced downward by the target displacement in the vertical direction. The controller operates the work machine in accordance with the target profile.
This display system comprises: a visible light image acquisition unit that acquires a visible light image indicating an image of a first object captured by a visible light imaging device provided in a working machine; an infrared image acquisition unit that acquires an infrared image indicating an image of a second object captured by an infrared imaging device provided in the working machine; a visible light distance calculation unit that calculates a visible light distance indicating a distance from the visible light imaging device to the first object in each of a plurality of first divided regions defined in the visible light image; an infrared distance calculation unit that calculates an infrared distance indicating a distance from the infrared imaging device to the second object in each of a plurality of second divided regions defined so as to correspond to the first divided regions in the infrared image; a determination unit that determines whether or not a difference between the visible light distance and the infrared distance is greater than or equal to a distance threshold value in each of the corresponding first divided regions and second divided regions; a composition unit that generates a composite image by compositing the second divided region having a difference greater than or equal to the distance threshold value and the visible light image; and a display output unit that outputs the composite image such that the composite image is displayed on a display device.
G09G 5/377 - Dispositions ou circuits de commande de l'affichage communs à l'affichage utilisant des tubes à rayons cathodiques et à l'affichage utilisant d'autres moyens de visualisation caractérisés par l'affichage de dessins graphiques individuels en utilisant une mémoire à mappage binaire - Détails concernant le traitement de dessins graphiques pour mélanger ou superposer plusieurs dessins graphiques
G06T 7/593 - Récupération de la profondeur ou de la forme à partir de plusieurs images à partir d’images stéréo
B60R 1/20 - Dispositions de visualisation en temps réel pour les conducteurs ou les passagers utilisant des systèmes de capture d'images optiques, p.ex. des caméras ou des systèmes vidéo spécialement adaptés pour être utilisés dans ou sur des véhicules
G06T 1/00 - Traitement de données d'image, d'application générale
G06T 5/50 - Amélioration ou restauration d'image en utilisant plusieurs images, p.ex. moyenne, soustraction
G09G 5/00 - Dispositions ou circuits de commande de l'affichage communs à l'affichage utilisant des tubes à rayons cathodiques et à l'affichage utilisant d'autres moyens de visualisation
H04N 7/18 - Systèmes de télévision en circuit fermé [CCTV], c. à d. systèmes dans lesquels le signal vidéo n'est pas diffusé
21.
SPRINKLING VEHICLE CONTROL SYSTEM, SPRINKLING VEHICLE, AND SPRINKLING VEHICLE CONTROL METHOD
This water spraying vehicle control system comprises: a travel control unit that switches the traveling direction of a water spraying vehicle; and a water spraying control unit that controls a first water spraying sprayer provided to a first area on one side of the water spraying vehicle in the traveling direction. The water spraying control unit controls the first water spraying sprayer such that spraying conditions of the first water spraying sprayer when the water spraying vehicle travels in one traveling direction are different from the spraying conditions of the first water spraying sprayer when the water spraying vehicle travels in the other traveling direction.
B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes
B05B 12/12 - Aménagements de commande de la distribution; Aménagements de réglage de l’aire de pulvérisation sensibles à l'état du liquide ou d'un autre matériau fluide expulsé, du milieu ambiant ou de la cible sensibles à l'état du milieu ambiant ou de la cible, p.ex. à l'humidité, à la température
B60W 40/00 - Calcul ou estimation des paramètres de fonctionnement pour les systèmes d'aide à la conduite de véhicules routiers qui ne sont pas liés à la commande d'un sous-ensemble particulier
B60W 40/02 - Calcul ou estimation des paramètres de fonctionnement pour les systèmes d'aide à la conduite de véhicules routiers qui ne sont pas liés à la commande d'un sous-ensemble particulier liés aux conditions ambiantes
E21F 5/00 - Moyens ou procédés pour empêcher, fixer, abattre ou enlever la poussière; Prévention des explosions ou des feux
G05D 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions
22.
SYSTEM AND METHOD FOR CONTROLLING A PLURALITY OF WORK MACHINES
A controller according to the present invention acquires area data indicating the location of a work area. The controller determines a first work path for excavation by a first work machine. The first work path extends in the work direction in the work area. The controller determines a second work path for excavation by a second work machine. The second work path extends in the work direction in the work area. The second work path is positioned at an interval from the first work path in the horizontal direction, which intersects the work direction. The controller determines the next first work path and the next second work path in a manner such that said interval becomes narrower.
The present invention determines whether the transportation of earth and sand to a first soil discharge location is completed by a transportation vehicle. When the transportation of the earth and sand to the first soil discharge location is completed, the transportation vehicle is controlled so as to exit from a first operation region. It is determined whether the transportation vehicle exits from the first operation region. When the transportation vehicle exits from the first operation region, the entry of the transportation vehicle into the first operation region is prohibited. After the entry of the transportation vehicle into the first operation region is prohibited, the entry of the bulldozer into the first operation region is permitted.
G05D 1/693 - pour éviter toute collision entre les véhicules
G08G 1/00 - Systèmes de commande du trafic pour véhicules routiers
G08G 1/09 - Dispositions pour donner des instructions variables pour le trafic
G08G 1/13 - Systèmes de commande du trafic pour véhicules routiers indiquant la position de véhicules, p.ex. de véhicules à horaire déterminé à une station centrale l'indicateur étant sous la forme d'une carte
A first process acquires the location of a boundary between a work area and a dumping area. A second process acquires the current location of a work machine. A third process controls the work machine so as to form a wheel stop when the work machine is traveling from the work area toward the dumping area, by causing work equipment to be raised from a location that is a prescribed distance away from the location of the boundary and is on the work area side.
This unmanned vehicle control system comprises: a traveling control unit which outputs a start command that starts an unmanned vehicle; and a management area setting unit which, when the unmanned vehicle is determined not to start by means of the start command, sets a management area to which the unmanned vehicle can be moved. The traveling control unit outputs an exit command that causes a traveling device of the unmanned vehicle to perform an exit operation in a state where the unmanned vehicle is prevented from moving out of the management area.
This system for controlling an unmanned vehicle comprises: a travel control unit that outputs a start-advancing command for causing an unmanned vehicle to start advancing; and a dump body control unit that outputs a dump command causing a dump body of the unmanned vehicle to perform a dumping action when it has been determined that the unmanned vehicle will not start advancing in response to the start-advancing command.
G05D 1/85 - Fonctionnement à sécurité intégrée, p. ex. mode de fonctionnement de secours
B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes
B60P 1/04 - Véhicules destinés principalement au transport des charges et modifiés pour faciliter le chargement, la fixation de la charge ou son déchargement avec un mouvement de basculement de l'élément supportant ou contenant la charge
G05D 1/226 - Liaisons de communication avec les dispositions de commande à distance
G05D 1/639 - Résorption ou évitement de situations de blocage ou d’obstruction
G05D 1/648 - Exécution d’une tâche au sein d’une zone ou d’un espace de travail, p. ex. nettoyage
G05D 1/656 - Interaction avec des charges utiles ou des entités externes
G05D 1/693 - pour éviter toute collision entre les véhicules
A captured image acquisition unit acquires a captured image showing work equipment from a camera provided at a work machine. A blade edge shadow generation unit generates a blade edge shadow obtained by projecting a blade edge of the work equipment on a projection surface toward a vertical direction. A display image generation unit generates a display image obtained by superimposing the captured image, the blade edge shadow, a left line, and a right line. The left line passes through a left end of the blade edge shadow and extends in a front-and-rear direction of the work equipment along the projection surface. The right line passes through a right end of the blade edge shadow and extends in the front-and-rear direction of the work equipment along the projection surface. A display control unit outputs a display signal for displaying the display image.
A captured image acquisition unit acquires a captured image showing work equipment from a camera provided at a work machine. A blade edge shadow generation unit generates a blade edge shadow obtained by projecting a blade edge of the work equipment on a projection surface toward a vertical direction. A display image generation unit generates a display image obtained by superimposing the captured image, the blade edge shadow, and a reference range graphic obtained by projecting the reachable range of the blade edge on the projection surface toward the vertical direction. A display control unit outputs a display signal for displaying the display image.
An unmanned vehicle control system according to the present invention is provided with a traveling control unit that outputs a first command for starting an unmanned vehicle. The traveling control unit outputs a second command for causing the unmanned vehicle to generate an assist driving force when it is determined that the unmanned vehicle is not started by the first command.
B60W 30/00 - Fonctions des systèmes d'aide à la conduite des véhicules routiers non liées à la commande d'un sous-ensemble particulier, p.ex. de systèmes comportant la commande conjuguée de plusieurs sous-ensembles du véhicule
B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes
An unmanned vehicle control system provided with: a requested steering speed calculation unit for calculating a requested steering speed of an unmanned vehicle so that the unmanned vehicle travels along a travel course; an actual steering speed acquisition unit for acquiring the actual steering speed of the unmanned vehicle as detected by a steering sensor; and a travel control unit for adjusting the travel speed of the unmanned vehicle on the basis of the result of a comparison of the requested steering speed and the actual steering speed.
G05D 1/617 - Sécurité ou protection, p. ex. définition de zones de protection autour d’obstacles ou évitement de zones dangereuses (dispositions de commande de la position ou du cap de plusieurs véhicules afin d’éviter toute collision entre les véhicules G05D 1/693;dispositions visant à réagir aux défaillances du système ou d’origine humaine ou à les prévenir G05D 1/80)
B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes
This system comprises a plurality of work machines, a communication device, an operation device, and a controller. The plurality of work machines can operate automatically. The plurality of work machines include a first work machine and a second work machine. The communication device wirelessly communicates with the plurality of work machines. The operation device transmits an operation signal to the plurality of work machines via the communication device. The operation device can remotely and individually control the plurality of work machines. The controller disables the operation of the operation device on the first work machine, when the first work machine and the second work machine are automatically operating.
E02F 3/85 - Utilisation de systèmes hydrauliques ou pneumatiques
E02F 9/20 - Entraînements; Dispositifs de commande
H04Q 9/00 - Dispositions dans les systèmes de commande à distance ou de télémétrie pour appeler sélectivement une sous-station à partir d'une station principale, sous-station dans laquelle un appareil recherché est choisi pour appliquer un signal de commande ou
32.
UNMANNED VEHICLE CONTROL SYSTEM, UNMANNED VEHICLE, AND UNMANNED VEHICLE CONTROL METHOD
An unmanned vehicle control system 1 that sets, for each unmanned vehicle, a permitted area in which travel is permitted, said control system being provided with: an unmanned vehicle data acquisition unit 321 that acquires unmanned vehicle data that includes position data for an unmanned vehicle; a road surface state data acquisition unit 322 that acquires road surface state data, with which the stopping precision of a travel path traveled by the unmanned vehicle can be predicted; and a travel condition data generation unit 323 that, on the basis of the unmanned vehicle data acquired by the unmanned vehicle data acquisition unit 321, generates data that includes a permitted area in the travel path of the unmanned vehicle, a stopping point in the permitted area, and a target travel speed for stopping the unmanned vehicle at the stopping point. The travel condition data generation unit 323 sets the permitted area or the stopping point on the basis of road surface state data for a prescribed area that includes the stopping point acquired by the road surface state data acquisition unit 322.
B60W 40/06 - Calcul ou estimation des paramètres de fonctionnement pour les systèmes d'aide à la conduite de véhicules routiers qui ne sont pas liés à la commande d'un sous-ensemble particulier liés aux conditions ambiantes liés à l'état de la route
B60W 60/00 - Systèmes d’aide à la conduite spécialement adaptés aux véhicules routiers autonomes
G08G 1/00 - Systèmes de commande du trafic pour véhicules routiers
33.
UNMANNED VEHICLE CONTROL SYSTEM, UNMANNED VEHICLE, AND UNMANNED VEHICLE CONTROL METHOD
A control system 1 for an unmanned vehicle is provided with a travel condition data generation unit 322 for generating travel condition data that includes a travel course of the unmanned vehicle and a travel speed of the unmanned vehicle, and a travel control unit 124 for controlling the unmanned vehicle on the basis of the travel condition data generated by the travel condition data generation unit 322, wherein the travel condition data generation unit 322 changes a speed limit for the travel speed of the unmanned vehicle on the basis of information indicating a degree of safety when the unmanned vehicle is traveling beside a manned vehicle.
This transport vehicle management system is provided with: a three-dimensional data acquisition unit that acquires three-dimensional data on the outside of an outline of a traveling area in which a transport vehicle can travel; and a course data generation unit that, on the basis of the three-dimensional data and outline data of the transport vehicle, generates a travel course for the transport vehicle set in the traveling area.
This remote operation system for a work machine comprises: a sensor data reception unit for receiving detection data of the orientation of a work device of the work machine operated by an operation signal from a remote location; a warning control unit for outputting a warning control signal if it is determined that the work device is approaching or has reached an end position of a movable range on the basis of the detection data; and a warning device provided in the remote location and for outputting a warning on the basis of the warning control signal from the warning control unit.
This transport vehicle management system is provided with: a storage unit that stores a traveling path outer shape line indicating an outer shape line of a traveling path at a work site and an intersection outer shape line indicating an outer shape line of an intersection at the work site; a designation unit that designates the traveling start point and the traveling end point of a transport vehicle at the work site; and a connection unit that, on the basis of the start point and the end point designated by the designation unit, connects the traveling path outer shape line and the intersection outer shape line and generates a traveling area outer shape line.
A hydraulic control system (100) for a transmission comprises a motive power source (2), two drive wheels (6a, 6b), a motive power transmission device, a hydraulic pump (50), a main valve (52), and a controller (41). The motive power transmission device can be set to a plurality of speed stages. The main valve (52) is positioned between the hydraulic pump (50) and the motive power transmission device, and adjusts the main pressure of working oil supplied from the hydraulic pump (50) to the motive power transmission device. The controller (41) controls the main valve (52). The controller (41) sets the main pressure to a pressure value obtained by correcting a clutch-holding pressure of the set speed stage on the basis of a load applied to the drive wheels (6a, 6b).
F16H 59/44 - Entrées de commande vers des transmissions transmettant un mouvement rotatif pour changements de vitesse ou pour mécanismes d'inversion les entrées étant fonction d'une vitesse fonction de la vitesse de la machine
F16H 59/46 - Entrées de commande vers des transmissions transmettant un mouvement rotatif pour changements de vitesse ou pour mécanismes d'inversion les entrées étant fonction d'une vitesse fonction de la comparaison de vitesses
F16H 59/48 - Entrées de commande vers des transmissions transmettant un mouvement rotatif pour changements de vitesse ou pour mécanismes d'inversion les entrées étant fonction d'une accélération
F16H 59/50 - Entrées de commande vers des transmissions transmettant un mouvement rotatif pour changements de vitesse ou pour mécanismes d'inversion les entrées étant fonction de l'état de la machine, p.ex. de la position des portes ou des ceintures de sécurité
F16H 61/02 - Fonctions internes aux unités de commande pour changements de vitesse ou pour mécanismes d'inversion des transmissions transmettant un mouvement rotatif caractérisées par les signaux utilisés
F16H 61/68 - Fonctions internes aux unités de commande pour changements de vitesse ou pour mécanismes d'inversion des transmissions transmettant un mouvement rotatif spécialement adaptées aux transmissions étagées
38.
SYSTEM AND METHOD FOR CONTROLLING TRANSPORT VEHICLE
A controller according to the present invention acquires a static path indicating a target route for a transport vehicle. The static path includes a first endpoint and a second endpoint. The static path is established between a first work machine and a second work machine. The controller determines a first dynamic path that connects the first endpoint and a first target position for the work of the first work machine. The controller determines a second dynamic path that connects the second endpoint and a second target position for the work of the second work machine. The controller controls the transport vehicle such that the transport vehicle travels in accordance with the static path, the first dynamic path, and the second dynamic path.
A forestry machine includes a ground propulsion apparatus, a vehicle body supported by the ground propulsion apparatus, an operator seat disposed on the vehicle body, a first control lever operable by an operator sitting in the operator seat, a work implement including a saw, and a control circuit. The control circuit includes a first user input disposed on the first control lever. The first user input is operatively coupled to the work implement. Power to the saw is engaged upon the first user input being operated in combination with another operation. A method of operating a forestry machine includes operating a first user input disposed on the first control lever. Power is engaged to the saw in response to the first user input being operated in combination with another operation.
This work machine comprises: a body; a first image-capturing device that is disposed on the body and captures images of a first image capture range; a second image-capturing device that is disposed on the body and captures images of a second image capture range; and a communication device that sends a first image of the first image capture range and a second image of the second image capture range to a remote location. At least part of the second image capture range is set below the first image capture range.
B60R 1/23 - Dispositions de visualisation en temps réel pour les conducteurs ou les passagers utilisant des systèmes de capture d'images optiques, p.ex. des caméras ou des systèmes vidéo spécialement adaptés pour être utilisés dans ou sur des véhicules pour visualiser une zone extérieure au véhicule, p.ex. l’extérieur du véhicule avec un champ de vision prédéterminé
G05D 1/224 - Dispositions de sortie sur les dispositifs de commande à distance, p. ex. écrans, dispositifs haptiques ou haut-parleurs
This remote operation system for a work machine comprises, in an area remote from the work machine: an image-data-receiving unit that receives a first image of a first imaging range and a second image of a second imaging range, at least a part of which overlaps the first imaging range; and a display control unit that causes a display device to display a first image and a second image including an object of which the state changes in the range where the first imaging range and the second imaging range overlap.
H04Q 9/00 - Dispositions dans les systèmes de commande à distance ou de télémétrie pour appeler sélectivement une sous-station à partir d'une station principale, sous-station dans laquelle un appareil recherché est choisi pour appliquer un signal de commande ou
42.
WORK SITE MANAGEMENT SYSTEM AND WORK SITE MANAGEMENT METHOD
NATIONAL UNIVERSITY CORPORATION YOKOHAMA NATIONAL UNIVERSITY (Japon)
Inventeur(s)
Maeda, Yusuke
Ogawa, Yudai
Osagawa, Kenta
Sakai, Atsushi
Matsui, Yasuchika
Abrégé
This management system is provided with: a course data generation unit which generates course data of each of multiple unmanned vehicles such that, at a worksite where multiple loading machines operate, operations in which the loading machines load the multiple unmanned vehicles are executed in sequence; and a priority determination unit which, in order to reduce the total loading loss, which indicates the sum of the amount of loss associated with the operations of each of the loading machines, determines a sequence for passing through an intersection at the worksite where multiple unmanned vehicles travel in accordance with the course data.
G05D 1/69 - Commande coordonnée de la position ou du cap de plusieurs véhicules
G06Q 10/04 - Prévision ou optimisation spécialement adaptées à des fins administratives ou de gestion, p. ex. programmation linéaire ou "problème d’optimisation des stocks"
G06Q 10/08 - Logistique, p.ex. entreposage, chargement ou distribution; Gestion d’inventaires ou de stocks
A controller determines a plurality of candidate paths. Each of the plurality of candidate paths crosses a first excavation wall from a first slot to a second slot, and extends in one of a plurality of directions. The controller calculates an evaluation function of a route search algorithm for each of the plurality of candidate paths. The controller determines the path having the optimal evaluation function, among the plurality of candidate paths, as a first excavation path. The controller controls a work machine along the first excavation path.
A clutch includes a clutch disk that rotates by receiving motive power from an engine and a clutch plate switched between an engaged state in which it is engaged with the clutch disk and a disengaged state in which it is not engaged with the clutch disk. A controller calculates a coefficient of friction µ between the clutch disk and the clutch plate based on a time period .DELTA.t elapsed from a first time point when the number of relative rotations of the clutch disk and the clutch plate attains to a first number of rotations to a second time point when a second number of rotations smaller than the first number of rotations is attained, in a state in which the clutch disk rotates while transfer of motive power from the engine to the clutch disk is cut off and in the engaged state.
F16H 61/12 - Détection d'un dysfonctionnement ou d'un dysfonctionnement potentiel, p.ex. dispositif de sécurité positive
F16D 25/12 - Embrayages actionnés par fluide - Eléments constitutifs non particuliers à l'un des types mentionnés ci-dessus
F16H 61/686 - Fonctions internes aux unités de commande pour changements de vitesse ou pour mécanismes d'inversion des transmissions transmettant un mouvement rotatif spécialement adaptées aux transmissions étagées sans interruption de l'entraînement avec des engrenages à mouvement orbital
45.
PREDICTION DEVICE, PREDICTION METHOD, AND WORK VEHICLE
This prediction device is for predicting the time that it takes for a reducing agent housed in a container mounted on a work vehicle to get frozen, said prediction device being provided with: a residual quantity information acquisition unit which acquires residual quantity information indicative of the quantity of the reducing agent remaining in the container; a wall surface temperature acquisition unit which acquires a result of temperature detection on a wall surface of the container; a reducing agent temperature acquisition unit which acquires a result of detection of temperature of the reducing agent; and a time calculation unit which, on the basis of the wall surface temperature, the reducing agent temperature, and the residual quantity information, calculates the time that it takes for the reducing agent to freeze.
F01N 3/08 - Silencieux ou dispositifs d'échappement comportant des moyens pour purifier, rendre inoffensifs ou traiter les gaz d'échappement pour rendre les gaz d'échappement inoffensifs
In the present invention, a controller determines a first pass target excavation depth on the basis of the end position for the excavation, the target soil volume, and the excavation distance. The controller executes a first pass excavation by moving a work machine to the first pass target excavation depth. The controller acquires the actual volume of soil excavated in the first pass. The controller corrects the target soil volume on the basis of the actual volume of soil. The controller determines a second pass target excavation depth on the basis of the corrected target soil volume. The controller executes a second pass excavation by moving the work machine to the second pass target excavation depth.
One or more processors control a first work machine such that the first work machine performs work along a first work lane. One or more processors control a second work machine such that the second work machine performs work along a second work lane. One or more processors determine whether at least part of the second work machine is located in a first work area. When at least part of the second work machine is located in a first work area, one or more processors control the first work machine to perform an interference avoidance operation with respect to the second work machine.
This work field managing system is provided with: a specifying unit that specifies an excavation position by a manned vehicle in a work field in which unmanned vehicles and manned vehicles are intermixed and operate; and an operation control unit for controlling the operation of an unmanned vehicle on the basis of the excavation position.
A system of controlling an unmanned vehicle includes: a travel course data acquisition unit that acquires travel course data including blinker data for controlling a blinker provided in an unmanned vehicle; an operation data acquisition unit that acquires operation data of a blinker operation device provided in the unmanned vehicle; and a blinker control unit that controls the blinker based on the blinker data acquired by the travel course data acquisition unit when the operation data is acquired by the operation data acquisition unit at a time when the unmanned vehicle operates based on the travel course data.
G05D 1/225 - actionnées par des ordinateurs externes
B60Q 1/34 - Agencement des dispositifs de signalisation optique ou d'éclairage, leur montage, leur support ou les circuits à cet effet les dispositifs ayant principalement pour objet d'indiquer le contour du véhicule ou de certaines de ses parties, ou pour engendrer des signaux au bénéfice d'autres véhicules pour indiquer un changement de direction
B60Q 1/40 - Agencement des dispositifs de signalisation optique ou d'éclairage, leur montage, leur support ou les circuits à cet effet les dispositifs ayant principalement pour objet d'indiquer le contour du véhicule ou de certaines de ses parties, ou pour engendrer des signaux au bénéfice d'autres véhicules pour indiquer un changement de direction ayant un retour automatique à la position neutre
G05D 1/646 - Suivi d’une trajectoire prédéfinie, p. ex. d’une ligne marquée sur le sol ou d’une trajectoire de vol
G05D 1/692 - impliquant une pluralité de véhicules disparates
This display system of a working machine is provided with: an acquisition unit which acquires three-dimensional data of a plurality of measurement points; a conversion unit which converts the three-dimensional data into a vehicle body coordinate system; an image generation unit which generates, on the basis of the three-dimensional data converted into the vehicle body coordinate system, a reference image representing a three-dimensional shape of the topography; and a display processing unit which superposes the reference image onto a captured image and displays the superposed image, wherein the image generation unit determines the display type of the reference image at a position corresponding to each of the measurement point on the reference image according to a distance of the measurement point in a normal direction with respect to the grounding surface of the working machine.
An aspect of the present invention relates to a map generation system including: a three-dimensional data acquisition unit which acquires three-dimensional data from a scanning-type distance measurement sensor which measures the distance to an object to be measured; an operation information acquisition unit which acquires operation information indicating an operation of a working machine, which occurs between update periods of the three-dimensional data by the scanning-type distance measurement sensor; a correction amount calculation unit which calculates, on the basis of the operation information, a correction amount for each measurement point of the three-dimensional data; and a correction processing unit which applies the correction amount for each measurement point of the three-dimensional data and corrects the three-dimensional data.
One embodiment of the present invention is a map generation system that has: a three-dimensional data acquisition unit that acquires three-dimensional data from a scanning distance measurement sensor for measuring the distance to an object of interest; a movement information acquisition unit for acquiring movement information that indicates movement of a work machine and is generated between cycles of updating the three-dimensional data with the scanning distance measurement sensor; and a three-dimensional data correction unit that removes portions of the three-dimensional data corresponding to the work machine on the basis of the movement information.
In the present invention, a controller determines, in a worksite, a work area that contains a plurality of work lanes. The plurality of work lanes extends in a prescribed work direction. The controller allocates a work machine to the plurality of work lanes. The controller determines a prescribed area, which is defined with an excavator position used as a reference, in the worksite as a work machine work restricted area. The controller controls the work machine so that automatic operation of the work machine is restricted in the work restricted area.
E02F 9/20 - Entraînements; Dispositifs de commande
H04Q 9/00 - Dispositions dans les systèmes de commande à distance ou de télémétrie pour appeler sélectivement une sous-station à partir d'une station principale, sous-station dans laquelle un appareil recherché est choisi pour appliquer un signal de commande ou
54.
A SYSTEM AND A METHOD FOR CONTROLLING A WORK MACHINE
In the present invention, on the basis of current geographic data, a processor displays, on a display, site images that indicate at least a portion of a worksite. The processor acquires area data. The area data includes the location and size of a work area that is specified on the site image by an input device. The processor acquires work data showing the work direction in the work area. The processor determines the layout of a plurality of work lanes in the work area on the basis of the area data and the work data. The plurality of work lanes extends in the work direction. The processor sends a command for automatic operation to a work machine according to the layout of the work lanes.
E02F 9/20 - Entraînements; Dispositifs de commande
H04Q 9/00 - Dispositions dans les systèmes de commande à distance ou de télémétrie pour appeler sélectivement une sous-station à partir d'une station principale, sous-station dans laquelle un appareil recherché est choisi pour appliquer un signal de commande ou
55.
MANAGEMENT SYSTEM OF WORK SITE AND MANAGEMENT METHOD OF WORK SITE
This work site management system is provided with an instruction unit which outputs a work instruction to an unmanned vehicle and a manned vehicle on the basis of input data from a working machine operating in a work site in which the unmanned vehicle and the manned vehicle coexist and operate.
A management system for worksites in which a mix of unmanned vehicles and manned vehicles operate comprises a determination unit that determines whether a manned vehicle is present in a prescribed area of a worksite, and a command unit that outputs a work command to cause an unmanned vehicle or a manned vehicle to travel to a work point set in the worksite on the basis of the determination results.
In the present invention, a processor acquires current topography data representing the current topography of a work site. The processor acquires work data including the width of a work machine. The processor generates work path data on the basis of the current topography data and the work data. The work path data represents the positions of a plurality of work paths lined up in the horizontal direction. The processor determines a work order for the plurality of work paths on the basis of the work path data. The processor controls work machinery so as to work according to the work paths in the work order.
According to the present invention, a processor acquires current terrain data indicating a current terrain of a work site. The processor acquires work path data. The work path data indicates the positions of a plurality of work paths arranged in the transverse direction in the current terrain. The processor determines a target trajectory for each of the plurality of work paths. Each of the target trajectories of the plurality of work paths is located on the same virtual horizontal plane in the transverse direction. The processor controls a working machine such that a work implement moves along the target trajectory.
A method for controlling one or more work machines in a plurality of work machines is provided. The method includes controlling the one or more work machines to iTBVel following a lead machine based on movement data and assessing a state of the lead machine. The method also includes stopping the folbwing by the one or more work machines in response 133 the slate of the lead machine.
This unmanned vehicle control system comprises a velocity limit calculation unit that calculates a velocity limit for an unmanned vehicle on the basis of inclination data pertaining to a traveled path ahead of the unmanned vehicle, and a travel control unit that drives the unmanned vehicle on the basis of the velocity limit.
This management system for a work site comprises: a travel course data acquisition unit that acquires travel course data of an unmanned vehicle, the data including course-type data indicating a type of intersection of a work site through which the unmanned vehicle travels; and a turn signal control unit that determines whether to normally operate or abnormally operate direction indicators of the unmanned vehicle on the basis of the course-type data.
B60Q 1/38 - Agencement des dispositifs de signalisation optique ou d'éclairage, leur montage, leur support ou les circuits à cet effet les dispositifs ayant principalement pour objet d'indiquer le contour du véhicule ou de certaines de ses parties, ou pour engendrer des signaux au bénéfice d'autres véhicules pour indiquer un changement de direction utilisant des sources lumineuses fixes, p.ex. feux fixes clignotants
62.
WORK SITE MANAGEMENT SYSTEM AND WORK SITE MANAGEMENT METHOD
A worksite management system is provided with a no-entry area setting unit for setting a no-entry area that prohibits entry of manned transport vehicles in a dumping area of the worksite, and a notification unit for notifying manned transport vehicles of the no-entry area.
An orientation sensor outputs orientation data indicating the orientation of a vehicle body. A position sensor is attached to the vehicle body. A storage device stores machine data. The machine data indicates the position of the position sensor in a vehicle body coordinate system. An input device receives the input of calibration data. The calibration data includes the position of a prescribed measurement point on a work machine as measured by an external measurement instrument, and the position of the position sensor as measured by the external measurement instrument. A processor calibrates the machine data on the basis of the calibration data and the orientation data.
In the present invention, a controller operates, during a rearward traveling of a work machine, a working apparatus following a target track during the rearward traveling of the work machine.
In the present invention, a vehicle body position sensor is attached to a second vehicle body section. The vehicle body position sensor outputs vehicle body position data indicating the position of the second vehicle body section. A work machine position sensor is attached to the second vehicle body section. The work machine position sensor outputs work machine position data. The work machine position data indicates the relative position of the work machine with respect to the second vehicle body section. A controller calculates the position of the work machine on the basis of the vehicle body position data and the work machine position data.
This unmanned vehicle control system comprises: a switching unit which can switch an unmanned vehicle having a turning indicator between a manual mode and an automatic mode; a determination unit which determines whether or not the turning indicator is being operated; and a travel control unit which, on the basis of determination data from the determination unit, controls the travel of the unmanned vehicle.
G05D 1/82 - Commande avec une autorité limitée, p. ex. pour faire respecter une enveloppe de vol (limitation de l’accélération ou contrainte structurelle G05D 1/83)
PF20180114-CA - 21 - ABSTRACT A machine component (1), made of steel or cast iron and having a circular hole (19) that opens in a first surface (11), includes a plurality of first quench- hardened regions (21) that include the first surface (11) and are arranged apart from each other along a first circle (29) surrounding the hole (19) when viewed in a plane in a direction perpendicular to the first surface (11), and a base region (22) that is a region other than the first quench- hardened regions (21). Date recue/Date Received 2021-05-10
This unmanned vehicle control system is provided with: a determining unit for determining, on the basis of operating oil data supplied to a hydraulic actuator which is disposed in the unmanned vehicle and which is operated by means of the operating oil, whether to output an operating oil heating request; a vehicle reception unit for receiving an operating oil heating command generated on the basis of the heating request; and a heating processing unit for executing an operating oil heating process on the basis of the heating command.
B62D 5/065 - Direction assistée ou à relais de puissance à fluide, c. à d. au moyen d'un fluide sous pression produisant toute la force nécessaire, ou la plus grande partie de celle-ci, pour commander la direction du véhicule caractérisée par des moyens spécialement adaptés pour faire varier selon les besoins l'alimentation en fluide sous pression, p.ex. à la demande, pour une assistance variable
B62D 5/07 - Alimentation en fluide sous pression pour la direction du véhicule ainsi que pour d'autres organes
69.
WORK VEHICLE CONTROL SYSTEM AND WORK VEHICLE CONTROL METHOD
A work vehicle control system according to the present invention comprises: a tracking unit for tracking, in a travel path area through which the work vehicle passes and in a tracking area outside the travel path area, detection points of an object detected by an obstacle sensor; and a travel control unit for controlling the traveling of the work vehicle on the basis of detection point tracking results.
According to the present invention, a plurality of cameras capture peripheral images of a working machine. A processor acquires image data indicating the peripheral images. The processor synthesizes the peripheral images and generates a panoramic video from a viewpoint moving around the working machine. A display displays, on the basis of a signal from the processor, the panoramic video from the viewpoint moving around the working machine.
H04N 7/18 - Systèmes de télévision en circuit fermé [CCTV], c. à d. systèmes dans lesquels le signal vidéo n'est pas diffusé
B60R 11/02 - Autres aménagements pour tenir ou monter des objets pour postes radio, de télévision, téléphones, ou objets similaires; Disposition de leur commande
G03B 15/00 - Procédés particuliers pour prendre des photographies; Appareillage à cet effet
G03B 37/00 - Photographie panoramique ou à grand écran; Photographie de surfaces étendues, p.ex. pour la géodésie; Photographie de surfaces internes, p.ex. de tuyaux
In the present invention, a lidar is attached to a working machine, and includes a laser and a light detector. The lidar measures the distance to at least a portion of a working machine and the distance to an object near the working machine. A processor acquires position data from the distance measured by the lidar. The position data indicates the position of the at least a portion of the working machine and the position of the object near the working machine. The processor generates, on the basis of the position data, an image illustrating the position of at least the portion of the working machine and the position of the object near the working machine. A display displays the image in response to a signal from the processor.
According to the present invention, a plurality of cameras capture images illustrating the periphery of a working machine. A processor acquires image data indicating the images captured by the plurality of cameras. The processor acquires a traveling state of the working machine. The processor synthesizes the images to generate an image from a viewpoint according to the traveling state. A display displays, on the basis of a signal from the processor, the image from the viewpoint according to the traveling state.
B60R 11/02 - Autres aménagements pour tenir ou monter des objets pour postes radio, de télévision, téléphones, ou objets similaires; Disposition de leur commande
This working machine comprises a vehicle body and a work device attached to the vehicle body. A camera captures a peripheral image in the traveling direction of the working machine. A processor acquires image data indicating the peripheral image. The processor synthesizes a guide display and the peripheral image and generates an image including the peripheral image and the guide display. The guide display indicates the dimension of the working machine in a vehicle width direction. A display displays the image including the peripheral image and the guide display on the basis of a signal from the processor.
According to the present invention, a processor acquires shape data indicating a peripheral shape in a traveling direction of a working machine. The processor generates a guide line. The guide line is disposed apart from the working machine. The guide line indicates a peripheral shape in the traveling direction of the working machine. The processor synthesizes a peripheral image and the guide line and generates an image including the peripheral image of the working machine and the guide line. The display displays an image including the peripheral image and the guide line on the basis of a signal from the processor.
H04N 7/18 - Systèmes de télévision en circuit fermé [CCTV], c. à d. systèmes dans lesquels le signal vidéo n'est pas diffusé
B60R 1/23 - Dispositions de visualisation en temps réel pour les conducteurs ou les passagers utilisant des systèmes de capture d'images optiques, p.ex. des caméras ou des systèmes vidéo spécialement adaptés pour être utilisés dans ou sur des véhicules pour visualiser une zone extérieure au véhicule, p.ex. l’extérieur du véhicule avec un champ de vision prédéterminé
This control system for an unmanned vehicle is provided with: a travel command unit that outputs travel commands for controlling the travel speed of an unmanned vehicle; a steering command unit that outputs steering commands for controlling a steering device in the unmanned vehicle; a responsiveness calculation unit that calculates the steering responsiveness of the steering device on the basis of a target value for the steering device and a detected value from the steering device detected during travel of the unmanned vehicle; a determination unit that determines whether the steering responsiveness satisfies a limit condition; and a limit command unit that outputs a limit command for limiting the travel speed when the steering responsiveness satisfies the limit condition.
NATIONAL UNIVERSITY CORPORATION YOKOHAMA NATIONAL UNIVERSITY (Japon)
Inventeur(s)
Maekawa, Takashi
Usami, Riku
Kobashi, Yuji
Abrégé
A transport vehicle management system includes: a three-dimensional data acquisition unit that acquires three- dimensional data of a work site; a two-dimensional course generation unit that generates a two-dimensional course for a transport vehicle on a two-dimensional plane set at the work site; and a three-dimensional course generation unit that generates a three-dimensional course- of the transport vehicle from the two-dimensional course, based on the three-dimensional data.
B60W 30/00 - Fonctions des systèmes d'aide à la conduite des véhicules routiers non liées à la commande d'un sous-ensemble particulier, p.ex. de systèmes comportant la commande conjuguée de plusieurs sous-ensembles du véhicule
G01C 21/26 - Navigation; Instruments de navigation non prévus dans les groupes spécialement adaptés pour la navigation dans un réseau routier
G08G 1/00 - Systèmes de commande du trafic pour véhicules routiers
G08G 1/09 - Dispositions pour donner des instructions variables pour le trafic
77.
SYSTEM AND METHOD FOR AUTOMATICALLY CONTROLLING WORK MACHINE INCLUDING WORK IMPLEMENT
In the present invention, a processor selectively executes a normal excavation mode and a wall excavation mode and operates work machinery. When the wall excavation mode is executed, the processor acquires starting-end position data indicating the position of a starting end of an excavation wall. The processor determines an excavation start position on the basis of the position of the starting end of the excavation wall. The processor controls the working machinery to excavate the excavation wall from the excavation start position.
In the present invention, a processor executes load reduction control for causing work machinery to operate so as to reduce a load, such control executed on the basis of the load applied to a working machine during excavation. The processor records, as a reference position, a position of the working machinery when the load applied to the working machine during excavation becomes a predetermined threshold or greater. The processor determines the next start position on the basis of the reference position. The processor controls the working machinery so as to start the next excavation from the next start position.
This system and method comprise a load sensor (34) and a processor (26a). The processor (26a) causes a work machine (1) to move to either one of adjacent slots (51, 52), which are adjacent to an excavation wall (53), when a load is a first threshold (Th1) or greater during excavation of the excavation wall (53).
A controller obtains topographical data which indicates the topography of a work site. The controller obtains material data which indicates the position of a material. The controller computes an evaluation function based on the material data for each of a plurality of candidates of travel path to be decided from the topographical data. The evaluation function includes a material function pertaining to the amount of the material. The controller decides the candidate having the smallest evaluation function among the plurality of candidates as the travel path.
E02F 9/20 - Entraînements; Dispositifs de commande
E02F 9/00 - DRAGAGE; TERRASSEMENT - Eléments constitutifs des dragues ou des engins de terrassement, non limités à l'une des catégories couvertes par les groupes
A dump truck (1) includes an engine (45) provided in an engine compartment (E), and a pair of fenders (70) provided at a rear side of the engine compartment (E) and provided at a distance in the vehicle width direction. The dump truck includes the fender (70) having a fender inclination plate (72) extending so as to incline downward along a rear portion of each front wheel (31), and a shield portion (80) having a shield inclination plate (82) inclined downward while directing rearward between the pair of fenders (70) and both ends of which in the vehicle width direction are connected to the respective fenders (70).
B62D 25/18 - Leurs éléments ou détails, p.ex. bavettes de garde-boue
B60K 13/04 - Dispositions des ensembles de propulsion relatives à l'admission d'air de combustion ou à l'échappement des gaz relatives à l'échappement
B60P 1/04 - Véhicules destinés principalement au transport des charges et modifiés pour faciliter le chargement, la fixation de la charge ou son déchargement avec un mouvement de basculement de l'élément supportant ou contenant la charge
According to the present invention, a camera captures an image of the surrounding environment of a working vehicle and outputs image data representing the image. A shape sensor measures the 3-dimensional shape of the surrounding environment and outputs 3D shape data representing the 3-dimensional shape. A controller acquires the image data and the 3D shape data. The controller generates a 3-dimensional projection model on the basis of the 3D shape data. The 3-dimensional projection model expresses the 3-dimensional shape of the surrounding environment. The image is projected onto the 3-dimensional projection model on the basis of the image data, thereby generating display image data that represents a display image of the surrounding environment of the vehicle.
A control device for an unmanned vehicle includes a temperature data acquisition unit acquiring temperature data of hydraulic oil supplied to a first hydraulic actuator actuating a steering device of the unmanned vehicle, and a command output unit outputting a change command for changing a travel parameter of the unmanned vehicle based on the temperature data.
G05D 1/43 - Commande de la position ou du cap par référence à un système à deux dimensions
B60K 28/10 - Dispositifs de sécurité pour la commande des ensembles de propulsion spécialement adaptés aux véhicules ou aménagés dans ceux-ci, p.ex. empêchant l'alimentation en carburant ou l'allumage en cas de danger sensibles à des conditions relatives au véhicule
B62D 5/065 - Direction assistée ou à relais de puissance à fluide, c. à d. au moyen d'un fluide sous pression produisant toute la force nécessaire, ou la plus grande partie de celle-ci, pour commander la direction du véhicule caractérisée par des moyens spécialement adaptés pour faire varier selon les besoins l'alimentation en fluide sous pression, p.ex. à la demande, pour une assistance variable
B62D 5/07 - Alimentation en fluide sous pression pour la direction du véhicule ainsi que pour d'autres organes
G05D 13/62 - Commande de la vitesse linéaire; Commande de la vitesse angulaire; Commande de l'accélération ou de la décélération, p.ex. d'une machine motrice caractérisée par l'utilisation de moyens électriques, p.ex. l'emploi de dynamos-tachymétriques, l'emploi de transducteurs convertissant des valeurs électriques en un déplacement
G05D 1/228 - Dispositions d’entrée de commande situées à bord de véhicules sans pilote
A work vehicle includes: an imaging device that captures an image in which a work target is shown; an image transmission unit that transmits the image captured by the imaging device to a control device; an operation signal reception unit that receives an operation signal from the control device; and an operation control unit that limits the operation signal according to a transmission status of the image.
H04Q 9/00 - Dispositions dans les systèmes de commande à distance ou de télémétrie pour appeler sélectivement une sous-station à partir d'une station principale, sous-station dans laquelle un appareil recherché est choisi pour appliquer un signal de commande ou
E02F 9/20 - Entraînements; Dispositifs de commande
A work system comprises: an operation device that transmits an operation signal; a work machine that operates on the basis of the operation signal; and a transport vehicle that outputs a travel control signal when a fault occurs in communication between the operation device and the work machine.
A control device that controls a work vehicle comprising a work machine comprises: a path acquisition unit that acquires a travel path of a transport vehicle; an area-setting unit that sets a limit area for limiting the entry of the work machine along the travel path; and a signal output unit that outputs a signal that controls the work vehicle or the transport vehicle on the basis of the relationship between the limit area and the work machine.
NATIONAL UNIVERSITY CORPORATION YOKOHAMA NATIONAL UNIVERSITY (Japon)
Inventeur(s)
Maekawa, Takashi
Suzuki, Taketoshi
Usami, Riku
Kobashi, Yuji
Takeda, Koji
Tanuki, Tomikazu
Abrégé
Provided is a transport vehicle control system comprising: a reference line generating unit that uses the outline of a work site travel area, on which a transport vehicle is allowed to travel, to accordingly generate a reference line to be set in the travel area; and a travel course generating unit that generates a transport vehicle travel course to be set in the travel area on the basis of the reference line.
A control system for a work vehicle includes a sensor and a controller. The sensor outputs a signal indicating an actual traveling direction of the work vehicle. The controller communicates with the sensor. The controller is programmed so as to execute the following processing. The controller acquires the actual traveling direction of the work vehicle. The controller sets the actual traveling direction as a target traveling direction when a condition that indicates that the work vehicle has started straight travel has been met. The controller calculates a bearing difference between the target traveling direction and the actual traveling direction. The controller moves the work implement at a target tilt angle corresponding to the bearing difference so as to reduce the bearing difference.
E01H 5/06 - Enlèvement de la neige ou de la glace des routes ou surfaces analogues; Aménagement de la pente ou de la rugosité de la neige ou de la glace par traction à bras et entraînement des éléments de détachage ou de transport, p.ex. de transport au moyen d'air comprimé le détachage étant essentiellement effectué par éléments non entraînés, p.ex. lames racleuses
89.
CONVEYANCE SYSTEM, CONTROL APPARATUS, AND CONVEYANCE METHOD
This conveyance system comprises: a conveyance device including a first conveyance mechanism that conveys a load supplied from a loader and a second conveyance mechanism that conveys the load supplied from the first conveyance mechanism; a weight detection device that detects the weight of the load loaded onto the second conveyance mechanism; and a control device. The control device includes a first conveyance control unit that controls the first conveyance mechanism. The first conveyance control unit controls the first conveyance mechanism on the basis of a value detected by the weight detection device.
B65G 43/08 - Dispositifs de commande actionnés par l'alimentation, le déplacement ou le déchargement des objets ou matériaux
B65G 47/68 - Dispositifs pour transférer objets ou matériaux entre transporteurs, p.ex. pour décharger ou alimenter adaptés pour recevoir les objets arrivant d'un transporteur en une couche et pour les transférer en couches individuelles à plus d'un transporteur, ou vice versa, p.ex. en combinant l'écoulement des objets transportés par plus d'un transporteur
B65G 67/08 - Chargement des véhicules terrestres utilisant des transporteurs sans fin
E02F 7/00 - Matériel pour transporter ou séparer les déblais
90.
CONTROL SYSTEM FOR WORK VEHICLE, CONTROL METHOD, AND WORK VEHICLE
A controller acquires dumping area data that indicates the shape of the edge of a dumping area. The controller acquires material data that indicates the shape of material in the dumping area. The controller uses the material data to determine a plurality of segments into which the material is to be partitioned. The controller determines a dump location at which to perform the dump operation by combining the plurality of segments and a plurality of dump candidate locations.
E02F 3/76 - Niveleuses, bulldozers ou machines analogues avec lame racleuse ou éléments en soc de charrue ou éléments analogues; Dispositifs de nivellement
E02F 9/20 - Entraînements; Dispositifs de commande
91.
CONTROL SYSTEM FOR WORK VEHICLE, AND METHOD FOR SETTING TRAJECTORY OF WORK IMPLEMENT
A control system for a work vehicle includes a controller. The controller is programmed to perform the following processing. The controller decides a target profile of a work site. The controller generates a command signal for operating a work implement according to the target profile. The controller acquires the load to which the work vehicle is subjected. The controller modifies the target profile according to the magnitude of the load. The controller generates a command signal for operating the work implement according to the modified target profile.
A control system for a work vehicle includes a controller. The controller acquires the travel direction of the work vehicle. The controller acquires current terrain data indicating the current terrain existing in the travel direction of the work vehicle. The controller decides a target profile of the work site based on the current terrain data. The controller generates a command signal for operating a work implement according to the target profile. The controller updates the travel direction of the work vehicle. The controller updates the target profile based on the updated travel direction.
E01H 5/06 - Enlèvement de la neige ou de la glace des routes ou surfaces analogues; Aménagement de la pente ou de la rugosité de la neige ou de la glace par traction à bras et entraînement des éléments de détachage ou de transport, p.ex. de transport au moyen d'air comprimé le détachage étant essentiellement effectué par éléments non entraînés, p.ex. lames racleuses
93.
A DISPLAY SYSTEM AND METHOD FOR REMOTE OPERATION USING ACQUIRED THREE-DIMENSIONAL DATA OF AN OBJECT AND VIEWPOINT POSITION DATA OF A WORKER
This display system is provided with: an image data acquisition unit that acquires image data including three-dimensional data of an object in a work site; a viewpoint position data acquisition unit that acquires viewpoint position data of a worker; and a display control unit that causes a free viewpoint image of the object to be displayed on the basis of the image data and the viewpoint position data.
H04N 13/239 - Générateurs de signaux d’images utilisant des caméras à images stéréoscopiques utilisant deux capteurs d’images 2D dont la position relative est égale ou en correspondance à l’intervalle oculaire
G06T 19/00 - Transformation de modèles ou d'images tridimensionnels [3D] pour infographie
H04N 13/271 - Générateurs de signaux d’images où les signaux d’images générés comprennent des cartes de profondeur ou de disparité
A control system includes a controller. The controller acquires current terrain data that indicates the current terrain to be worked. The controller decides on a target design terrain that is displaced vertically from the current terrain by referring to target displacement data. The target displacement data indicates the target displacement of a work implement according to the amount of movement from a work start position. The controller generates a command signal for moving the work implement toward the target design terrain.
An axle apparatus includes: an axle housing in which a machine part is disposed, the axle housing including a discharge port that discharges oil supplied to the machine part and a plurality of inflow ports into which the oil flows; a filter disposed outside the axle housing; a discharge pipe connecting the discharge port of the axle housing and the filter; a supply pipe of which one end side is connected to the filter, the other end side of the supply pipe being branched off and connected to the plurality of inflow ports; and a pump that causes the oil to circulate from the axle housing to the filter via the discharge pipe, and causes the oil to circulate from the filter to the axle housing via the supply pipe.
F16H 57/04 - Caractéristiques relatives à la lubrification ou au refroidissement
B60K 17/16 - Agencement ou montage des transmissions sur les véhicules caractérisées par la disposition, l'emplacement ou le type de mécanisme de transmission du différentiel
96.
CONTROL SYSTEM FOR WORK VEHICLE, CONTROL METHOD, AND WORK VEHICLE
A control system for a work vehicle is provided with a controller. The controller receives current topography information indicating the current topography that is the object of work. The controller determines a design plane positioned below the current topography. The controller generates a command signal that causes a work machine to move along the design plane. The controller assesses the occurrence of slippage by the work vehicle. When slippage occurs, the controller raises the design plane if the blade tip of the work machine is positioned below the initial target plane. The initial target plane is the design plane prior to the occurrence of slippage.
A control system for a work vehicle is provided with a controller. The controller receives current topography information indicating the current topography that is the object of work. The controller determines a design plane that is positioned below the current topography. The controller generates a command signal that causes a work machine to move along the design plane. The controller assesses the occurrence of slippage by the work vehicle. If slippage is assessed to have occurred, the controller changes the design plane to a position at or above the position of the blade tip of the work machine when the slippage occurs.
A management system for a work vehicle, includes:a traveling condition data generation unit configured to generate traveling condition data of a work vehicle having a notification device configured to notify a moving direction; a notification data generation unit configured to generate notification data for controlling the notification device such that, based on the traveling condition data, the notification device operates in a first state at a time of moving forward of the work vehicle, and the notification device operates in a second state different from the first state at a time of moving backward of the work vehicle; and an output unit configured to output the notification data, to the work vehicle.
B60Q 1/26 - Agencement des dispositifs de signalisation optique ou d'éclairage, leur montage, leur support ou les circuits à cet effet les dispositifs ayant principalement pour objet d'indiquer le contour du véhicule ou de certaines de ses parties, ou pour engendrer des signaux au bénéfice d'autres véhicules
E02F 9/20 - Entraînements; Dispositifs de commande
G05D 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions
99.
MANAGEMENT SYSTEM FOR WORK VEHICLE AND MANAGEMENT METHOD FOR WORK VEHICLE
A work vehicle management system that comprises: a travel condition data generation unit that, with respect to a transport path that leads to a worksite at which the work of a work vehicle is conducted, sets travel condition data that includes a first travel route along which the work vehicle is made to travel forward and a second travel route along which the work vehicle is made to travel backward; a specified area data acquisition unit that acquires specified area data that indicates a specified area of the transport path in which the work vehicle can switch back; and a switchback command unit that outputs a command signal that makes the work vehicle as traveling one of the first travel route and the second travel route switch back in the specified area and travel the other of the first travel route and the second travel route.
Provided is a work machine graphics display system to be applied to a work machine equipped with work equipment having a work tool, and a rotating body on which the work equipment is mounted, said work machine graphics display system comprising: a position detection unit that detects the attitude and/or the position of the work equipment; a distance detection device that obtains information on the distance from the work machine to a work object; and a processing device that, using the information on the position of the work tool obtained by the position detection unit and the information on the position of the work object obtained from the distance information determined by the distance detection device, creates a first image extending in a direction in which the rotating body rotates and including a portion corresponding to a part of the work tool on the work object located opposite of the work tool, and that displays the created image.
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