Control device and method for guided travel of unmanned vehicle
First Claim
1. A control device for a guided travel of an unmanned vehicle, in which the unmanned vehicle is guided to travel along a running course so as to approach in a desired direction to a target discharge position as a target position where the unmanned vehicle performs a discharge operation at a discharge site, and is controlled to perform the discharge operation to discharge a load on the unmanned vehicle at the target discharge position, the control device comprising:
- survey line position measuring means for measuring each position of a survey line showing a boundary line of the discharge site;
running course generation means for, after obtaining a line normal to the survey line based on each of measured position data of the survey line at the discharge site, generating, based on the obtained normal line, data of a running course in which the target discharge position is set at a position in a prescribed distance away from the survey line and a direction to approach the target discharge position is normal to the survey line; and
control means for guiding the unmanned vehicle to travel along the generated running course to the target discharge position, and operating the unmanned vehicle so as to discharge the load on the unmanned vehicle at the target discharge position after the unmanned vehicle reaches the target discharge position.
1 Assignment
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Accused Products
Abstract
Leveling operation can be effectively performed at a discharge site without increasing a cost of vehicles, and a running course can be easily generated in a short time and at a low-cost. Based on each of measured position data of a survey line 20 of a discharge site 21, a normal line Lc normal to the survey line 20 is obtained, a target discharge position 26′ is positioned at a prescribed distance away from the survey line 20 in an inward direction of the discharge site 21 based on the normal line Lc, and then data of a running course 27 in which a reference approach direction 31 to approach the target discharge position 26′ is a direction normal to the survey line 20 are generated.
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Citations
6 Claims
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1. A control device for a guided travel of an unmanned vehicle, in which the unmanned vehicle is guided to travel along a running course so as to approach in a desired direction to a target discharge position as a target position where the unmanned vehicle performs a discharge operation at a discharge site, and is controlled to perform the discharge operation to discharge a load on the unmanned vehicle at the target discharge position, the control device comprising:
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survey line position measuring means for measuring each position of a survey line showing a boundary line of the discharge site;
running course generation means for, after obtaining a line normal to the survey line based on each of measured position data of the survey line at the discharge site, generating, based on the obtained normal line, data of a running course in which the target discharge position is set at a position in a prescribed distance away from the survey line and a direction to approach the target discharge position is normal to the survey line; and
control means for guiding the unmanned vehicle to travel along the generated running course to the target discharge position, and operating the unmanned vehicle so as to discharge the load on the unmanned vehicle at the target discharge position after the unmanned vehicle reaches the target discharge position. - View Dependent Claims (2, 3, 4, 5)
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6. A control method for a guided travel of an unmanned vehicle, in which the unmanned vehicle is guided to travel along a running course so as to approach in a desired direction to a target discharge position as a target position where the unmanned vehicle performs a discharge operation at a discharge site, and to perform the discharge operation to discharge a load on the unmanned vehicle at the target discharge position, the control method comprising:
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measuring each position of a survey line showing a boundary line of the discharge site to obtain each of measured position data;
obtaining a line normal to the survey line based on each of the measured position data;
generating, based on the normal line, data of a running course in which the target discharge position is positioned at a prescribed distance away from the survey line and a direction to approach the target discharge position is normal to the survey line;
guiding the unmanned vehicle to travel along the generated running course to the target discharge position, and operating the unmanned vehicle so as to discharge the load on the unmanned vehicle at the target discharge position after the unmanned vehicle reaches the target
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Specification