Method and apparatus for preparing running course data for an unmanned dump truck

• US 6,044,312 A
• Filed: 09/23/1997
• Issued: 03/28/2000
• Est. Priority Date: 03/24/1995
• Status: Expired due to Term

• Current Assignee: Komatsu Ltd.
• Original Assignee: Komatsu Ltd.
• Inventors: Nagai, Takao, Miyake, Kozo, Sudo, Tsugio
• Primary Examiner(s): Chin, Gary
• Application Number:
  US08/913,807
• Time in Patent Office: 917 Days
• Field of Search: 701/23, 701/25, 701/50, 701/200, 701/202, 701/209, 701/210, 701/213, 73/178 R, 340/988, 340/990, 340/995, 180/167-169
• US Class Current: 701/25
• CPC Class Codes: E02F 3/842 using electromagnetic, optical or photoelectric beams, e.g. laser beams
• CPC Class Codes: E02F 9/2045 Guiding machines along a predetermined path for graders E02F3/841; machines for construction of roads E01C19/004
• CPC Class Codes: E02F 9/205 Remotely operated machines, e.g. unmanned vehicles E02F3/8866 takes precedence
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/0295 by at least one leading vehicle of the fleet

Abstract

The present invention relates to a method of and an apparatus for preparing travel-course data for an unmanned dump truck which can automatically prepare travel-course data with ease and improve the operability and operating efficiency. To this end, the preparing apparatus comprises a position measuring means (11), for measuring a current position of a loader; a loader controller (13), for transmitting by radio the current position, an automatic guiding mode switch (25), for selecting a mode of automatically traveling the unmanned dump truck to a new loading position; and a course preparing means (24), for preparing new travel-course data based on a new loading position and stored travel-course data by regarding the current position as a new loading position when a mode selection signal is inputted, wherein an automatic travel controller (6) rewrites the stored data as new travel-course data.

Claims

1. A method which comprises the steps of:

storing travel-course data representing a set travel course;

travelling an unmanned dump truck on the set travel course represented by the thus stored travel-course data;

using a loader to load a load onto said unmanned dump truck at a loading position provided on said set travel course represented by said thus stored travel-course data;

unloading said load from said unmanned dump truck by travelling said unmanned dump truck on said set travel course represented by said thus stored travel-course data;

whenever said loading position is changed to a new loading position, automatically ascertaining position coordinate data for the new loading position;

automatically calculating new travel-course data for a new set travel course for said unmanned dump truck, based on position coordinate data for said new loading position and said thus stored travel-course data; and

rewriting said thus stored travel-course data with the automatically calculated new travel-course data to thereby provide new thus stored travel-course data.

2. A method in accordance with claim 1, wherein said step of automatically ascertaining the position coordinate data for the new loading position comprises using GPS to determine said position coordinate data for the new loading position.

3. A method in accordance with claim 1, wherein said step of automatically ascertaining the position coordinate data for the new loading position comprises using a fixed radar station, provided at a reference position outside of said loader, to determine said position coordinate data for the new loading position.

4. An unmanned dump truck operating system which comprises:

an unmanned dump truck;

a course data storage device for storing travel-course data representative of a set travel course for said unmanned dump truck;

an automatic travel controller, provided on said unmanned dump truck, for controlling said unmanned dump truck so as to travel along said set travel course represented by said stored travel-course data in said course data storage device;

a loader for loading a load onto said unmanned dump truck at a loading position provided on said set travel course;

a position measuring means for automatically ascertaining position coordinates of a current position of said loader;

a loader controller for automatically receiving from said position measuring means the position coordinates of said current position of said loader;

an initiation device for generating an initiation signal to initiate preparation of a new set travel course; and

a course preparing means for automatically preparing new travel-course data, based on a new loading position and said stored travel-course data, by regarding said current position of said loader as said new loading position when said initiation signal is generated by said initiation device;

wherein said automatic travel controller rewrites, in said course data storage device, said stored travel-course data with the automatically prepared new travel-course data to thereby provide new thus stored travel-course data.

5. An unmanned dump truck operating system in accordance with claim 4, further comprising:

a first radio device at said loader; and

a second radio device at said unmanned dump truck;

wherein said first and second radio devices provide radio communications between said loader controller and said automatic travel controller of monitored travel condition information and an operating control signal.

6. An unmanned dump truck operating system in accordance with claim 5, wherein said first and second radio devices also provide radio communications between said loader controller and said automatic travel controller of said position coordinates of said current position of said loader.

7. An unmanned dump truck operating system in accordance with claim 4, wherein said initiation device for generating said initiation signal to initiate preparation of said new set travel course comprises an automatic guiding mode switch attached to said loader controller for selecting a mode of automatically travelling said unmanned dump truck to said new loading position, and wherein said initiation signal is inputted to said course preparing means by actuation of said automatic guiding mode switch.

8. An unmanned dump truck operating system in accordance with claim 7, wherein said position measuring means automatically ascertains said current position of said loader by obtaining position coordinates from GPS.

9. An unmanned dump truck operating system in accordance with claim 7, wherein said position measuring means automatically measures said current position of said loader by obtaining position coordinates from a fixed radar station.

10. An unmanned dump truck operating system in accordance with claim 7, wherein said course data storage device is provided on said unmanned dump truck.

11. An unmanned dump truck operating system in accordance with claim 4, wherein said initiation device for generating said initiation signal to initiate preparation of said new set travel course comprises a trigger signal generating means, positioned at said loader, for generating a trigger signal for reporting that said loader is at said new loading position;

and

wherein said course preparing means automatically prepares said new travel-course data, based on said new loading position and said stored travel-course data by regarding said current position of said loader as said new loading position when receiving said trigger signal.

12. An unmanned dump truck operating system in accordance with claim 4, wherein said position measuring means automatically ascertains said current position of said loader by obtaining position coordinates from GPS.

13. An unmanned dump truck operating system in accordance with claim 4, wherein said position measuring means automatically measures said current position of said loader by obtaining position coordinates from a fixed radar station.

14. An unmanned dump truck operating system in accordance with claim 4, wherein said course data storage device is provided on said unmanned dump truck.

15. An unmanned dump truck operating system in accordance with claim 4, wherein said initiation device comprises:

an operating condition detecting means for detecting operating conditions of said loader; and

a trigger generation judging means for judging whether or not the thus detected operating conditions satisfy predetermined conditions, and for outputting, when said thus detected operations conditions satisfy said predetermined conditions, a trigger signal as said initiation signal for reporting that said loader is at said new loading position.

16. An unmanned dump truck operating system which comprises:

an unmanned dump truck;

a course data storage device for storing travel-course data representative of a set travel course for said unmanned dump truck;

an automatic travel controller, provided on said unmanned dump truck, for controlling said unmanned dump truck so as to travel along said set travel course represented by said stored travel-course data in said course data storage device;

a loader for loading a load onto said unmanned dump truck at a loading position provided on said set travel course;

a position measuring means for automatically ascertaining position coordinates of a new loading position of said loader;

a loader controller for automatically receiving from said position measuring means the position coordinates of said new loading position of said loader;

an initiation device for generating an initiation signal to initiate preparation of a new set travel course; and

a course preparing means for automatically preparing new travel-course data, based on said new loading position and said stored travel-course data, when said initiation signal is generated by said initiation device;

wherein said automatic travel controller rewrites, in said course data storage device, said stored travel-course data with the automatically prepared new travel-course data to thereby provide new thus stored travel-course data; and

wherein said position measuring means for automatically ascertaining position coordinates of said new loading position of said loader comprises a loading position calculating means for automatically calculating and outputting position coordinates for said new loading position upon receiving said initiation signal.

17. An unmanned dump truck operating system which comprises:

an unmanned dump truck;

a course data storage device for storing travel-course data representative of a set travel course for said unmanned dump truck;

an automatic travel controller, provided on said unmanned dump truck, for controlling said unmanned dump truck so as to travel along said set travel course represented by said stored travel-course data in said course data storage device;

a loader for loading a load onto said unmanned dump truck at a loading position provided on said set travel course;

a monitor station for monitoring said unmanned dump truck as said unmanned dump truck travels on said set travel course;

a monitor controller, provided at said monitor station;

a first radio device at said monitor station and a second radio device at said unmanned dump truck for providing radio communications between said monitor controller and said automatic travel controller of monitored travel condition information and an operating control signal;

a position measuring means for automatically ascertaining position coordinates of a current position of said loader;

a loader controller for automatically receiving from said position measuring means the position coordinates of said current position of said loader;

a third radio device, provided at said loader, for radio communication of said position coordinates of said current position of said loader;

an initiation device for generating an initiation signal to initiate preparation of a new set travel course; and

a course preparing means for automatically preparing new travel-course data, based on a new loading position and said stored travel-course data, by regarding said current position of said loader as said new loading position when said initiation signal is generated by said initiation device;

wherein said automatic travel controller rewrites, in said course data storage device, said stored travel-course data with the automatically prepared new travel-course data to thereby provide new thus stored travel-course data.

18. An unmanned dump truck operating system in accordance with claim 17, wherein said initiation device for generating said initiation signal to initiate preparation of said new set travel course comprises an automatic guiding mode switch attached to said monitor controller for selecting a mode of automatically travelling said unmanned dump truck to said new loading position, and wherein said initiation signal is inputted to said course preparing means by actuation of said automatic guiding mode switch.

19. An unmanned dump truck operating system in accordance with claim 17, wherein said initiation device for generating said initiation signal to initiate preparation of said new set travel course comprises a trigger signal generating means, positioned at said loader, for generating a trigger signal for reporting that said loader is on said new loading position;

and

wherein said third radio device provides for radio communication of said trigger signal to said course preparing means; and

wherein said course preparing means automatically prepares new travel-course data, based on said new loading position and said stored travel-course data by regarding said current position of said loader as said new loading position when receiving said trigger signal.

20. An unmanned dump truck operating system in accordance with claim 17, wherein said position measuring means for automatically ascertaining position coordinates of said current position of said loader comprises a loading position calculating means for automatically calculating and outputting position coordinates for said new loading position upon receiving said initiation signal.

21. An unmanned dump truck operating system in accordance with claim 17, wherein said position measuring means automatically ascertains said current position of said loader by obtaining position coordinates from GPS.

22. An unmanned dump truck operating system in accordance with claim 17, wherein said position measuring means automatically measures said current position of said loader by obtaining position coordinates from a fixed radar station.

23. An unmanned dump truck operating system in accordance with claim 17, wherein said course data storage device is provided on said unmanned dump truck.

24. An unmanned dump truck operating system in accordance with claim 17, wherein said initiation device comprises:

an operating condition detecting means for detecting operating conditions of said loader; and

a trigger generation judging means for judging whether or not the thus detected operating conditions satisfy predetermined conditions, and for outputting, when said thus detected operations conditions satisfy said predetermined conditions, a trigger signal as said initiation signal for reporting that said loader is at said new loading position.

25. An unmanned dump truck operating system which comprises:

an unmanned dump truck;

a course data storage device for storing travel-course data representative of a set travel course for said unmanned dump truck;

an automatic travel controller, provided on said unmanned dump truck, for controlling said unmanned dump truck so as to travel along said set travel course represented by said stored travel-course data in said course data storage device;

a loader for loading a load onto said unmanned dump truck at a loading position provided on said set travel course;

a monitor station for monitoring said unmanned dump truck as said unmanned dump truck travels on said set travel course;

a monitor controller, provided at said monitor station;

a first radio device at said monitor station and a second radio device at said unmanned dump truck for providing radio communications between said monitor controller and said automatic travel controller of monitored travel condition information and an operating control signal;

a position measuring means for automatically ascertaining position coordinates of a new loading position of said loader;

a loader controller for automatically receiving from said position measuring means the position coordinates of said new loading position of said loader;

a third radio device, provided at said loader, for radio communication of said position coordinates of a current position of said loader;

an initiation device for generating an initiation signal to initiate preparation of a new set travel course; and

a course preparing means for automatically preparing new travel-course data, based on said new loading position and said stored travel-course data, when said initiation signal is generated by said initiation device;

wherein said automatic travel controller rewrites, in said course data storage device, said stored travel-course data with the automatically prepared new travel-course data to thereby provide new thus stored travel-course data; and

wherein said position measuring means for automatically ascertaining position coordinates of said new loading position of said loader comprises a loading position calculating means for automatically calculating and outputting position coordinates for said new loading position upon receiving said initiation signal.

26. An unmanned dump truck operating system in accordance with claim 25, wherein said initiation device comprises:

an operating condition detecting means for detecting operating conditions of said loader; and

a trigger generation judging means for judging whether or not the thus detected operating conditions satisfy predetermined conditions, and for outputting, when said thus detected operations conditions satisfy said predetermined conditions, a trigger signal as said initiation signal for reporting that said loader is at said new loading position.