Haul vehicle control system and haul vehicle management method

Patent metadata

Field	Value
Publication number	US-2020026305-A1
Application number	US-201816493047-A
Country	US
Kind code	A1
Filing date	Jun 28, 2018
Priority date	Aug 10, 2017
Publication date	Jan 23, 2020
Grant date	—

Abstract

A haul vehicle control system includes a reference line creating unit configured to create, on the basis of a boundary curve of a running area in a work site where a haul vehicle runs, a reference line set in the running area, and a running course creating unit configured to create a running course for the haul vehicle which is set in the running area on the basis of the reference line.

First claim

1 . A haul vehicle control system comprising:
a reference line creating unit configured to create, based on a boundary curve of a running area in a work site where a haul vehicle is configured to run, a reference line set so as to connect a start point and an end point of the running area; and a running course creating unit configured to create a running course for the haul vehicle which is set in the running area, based on the reference line.

2 . The haul vehicle control system according to claim 1 , wherein
the running course creating unit sets the running courses on both sides of at least part of the reference line.

3 . The haul vehicle control system according to claim 1 , wherein
the reference line creating unit creates the reference line such that a distance from the boundary curve is long, and a length of the reference line connecting the start point and the end point of the running area is short.

4 . The haul vehicle control system according to claim 1 , wherein
the reference line creating unit creates the reference line based on start point data and end point data of the haul vehicle configured to run in the running area.

5 . The haul vehicle control system according to claim 1 , wherein
the reference line creating unit creates the reference line so as to increase a turning radius of the haul vehicle and reduce a steering change amount of the haul vehicle per unit time.

6 . The haul vehicle control system according to claim 1 , wherein
the reference line creating unit determines reference points by selecting some candidate points from a plurality of candidate points calculated based on the boundary curve, and creates the reference line by interpolating the determined reference points.

7 . The haul vehicle control system according to claim 1 , wherein
the boundary curve includes at least one of a boundary line of a topographic shape of the work site, a survey line set based on a running locus of a survey vehicle that has run along the boundary line, measurement data of the topographic shape which is measured by a flight vehicle that has flied along the boundary line, and design data of the boundary line.

8 . The haul vehicle control system according to claim 1 , wherein
the running course creating unit creates the running course based on position data of the boundary curve and outer shape data of the haul vehicle so as to allow the haul vehicle to run on in the running area.

9 . The haul vehicle control system according to claim 8 , wherein
the running course creating unit creates the running course based on outer shape data of the haul vehicle so as to allow the haul vehicle running on one side of the reference line and the haul vehicle running on the other side of the reference line to travel in opposite directions.

10 . The haul vehicle control system according to claim 8 , wherein
the running course creating unit creates the running course so as to make a curvature radius of the running course larger than a minimum turning radius of the haul vehicle.

11 . The haul vehicle control system according to claim 1 , wherein
the boundary curve includes a first boundary curve and a second boundary curve facing the first boundary curve, the running area includes a running road between the first boundary curve and the second boundary curve, and the running course includes, in the running road, a first running course set between the reference line and the first boundary curve and a second running course set between the reference line and the second boundary curve.

12 . A haul vehicle control method comprising:
creating, based on a boundary curve of a running area in a work site where a haul vehicle is configured to run, a reference line set so as to connect a start point and an end point of the running area; and creating a running course for the haul vehicle which is set in the running area based on the reference line.

Assignees

• Komatsu Mfg Co Ltd
• Nat Univ Corp Yokohama Nat Univ

Inventors

• Maekawa Takashi
• Suzuki Taketoshi
• Usami Riku
• Kobashi Yuji
• Takeda Koji
• Tanuki Tomikazu

Classifications

• G05D2201/021

  Physics · mapped topic

• G05D2201/0202

  Physics · mapped topic

• G05D1/0217

  in accordance with energy consumption, time reduction or distance reduction criteria · CPC title

• G05D1/0274 Primary

  using mapping information stored in a memory device (navigation using map-matching G01C21/30) · CPC title

• G05D1/0289

  with means for avoiding collisions between vehicles (vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93) · CPC title