Method and apparatus for interlocking entrance of unmanned dump truck into work area

• US 6,134,493 A
• Filed: 07/20/1998
• Issued: 10/17/2000
• Est. Priority Date: 01/18/1996
• Status: Expired due to Term

• Current Assignee: Komatsu Ltd.
• Original Assignee: Komatsu Ltd.
• Inventors: Kaneko, Kiyoshi
• Primary Examiner(s): Chin, Gary
• Application Number:
  US09/117,307
• Time in Patent Office: 820 Days
• Field of Search: 701/23, 701/24, 701/25, 701/50, 701/300, 701/301, 340/988, 340/994, 180/167, 180/168, 180/169, 318/587
• US Class Current: 701/50
• 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 1/0289 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

Abstract

The present invention is a method and an apparatus for preventing the entrance of an unmanned dump truck, so that an interference and a collision between the unmanned dump trucks and a working vehicle in the working area are prevented. In the method, an unmanned dump truck (3) enters the working area (91) only when another dump truck (3a) is not in the working area (91) and the working vehicle (92) in the working area (91) issues an entrance permission command. The apparatus includes entrance permission means (22), provided on the working vehicle (92), and computing means (11), for outputting a control command thus permitting the unmanned dump truck (3) to enter only when another dump truck (3a) is not in the working area (91) and an entrance permission command is inputted into the apparatus.

Claims

1. An apparatus for preventing the entrance of an unmanned dump truck into a working area comprising:

position detecting means for detecting a position of said unmanned dump truck on an automatic traveling course;

memory means for storing position data corresponding to coordinate locations along said automatic traveling course;

traveling control means for controlling said unmanned dump truck;

entrance permission means for outputting an entrance permission command;

a first transmitter/receiver for transmitting said position data, detected by said position detecting means;

for receiving position data of another unmanned dump truck; and

for receiving said entrance permission command;

first computing means for storing said position data in said memory means;

for comparing data outputted from said position detecting means to thus stored position data;

for outputting control commands to said traveling control means;

for controlling the transmitting and receiving of said first transmitter/receiver; and

for determining whether another unmanned dump truck is within said working area;

a standby vehicle indicator for providing a standby vehicle indicator signal indicating that said unmanned dump truck is at a standby location on said automatic traveling course;

a second transmitter/receiver for transmitting said entrance permission command and receiving said standby vehicle indicator signal; and

a second computing means for controlling the transmitting and receiving of said second transmitter/receiver;

for sensing the state of said entrance permission means; and

for changing the state of said vehicle standby indicator;

wherein said apparatus allows said unmanned dump truck to enter said working area only when said another unmanned dump truck is not in said work area and said entrance permission command has been received by said first computing means, and

said position detecting means, said first computing means, said first transmitter/receiver, said traveling control means, and said memory means are disposed in said unmanned dump truck.

2. An apparatus for preventing the entrance of an unmanned dump truck into a working area, as claimed in claim 1,

wherein said second transmitter/receiver, said second computing means, said entrance permission means, and said standby vehicle indicator are disposed in a working vehicle in said working area.

3. An apparatus for preventing the entrance of an unmanned dump truck into a working area, as claimed in claim 1,

wherein said second transmitter/receiver, said second computing means, said entrance permission means, and said standby vehicle indicator are disposed in a manned ground monitoring station.

4. An apparatus for preventing the entrance of an unmanned dump truck into a working area comprising:

position detecting means for detecting a position of said unmanned dump truck on an automatic traveling course;

memory means for storing position data corresponding to coordinate locations along said automatic traveling course;

traveling control means for controlling said unmanned dump truck;

entrance permission means for outputting an entrance permission command;

a first transmitter/receiver for transmitting said position data, detected by said position detecting means;

for receiving position data of another unmanned dump truck; and

for receiving said entrance permission command;

first computing means for outputting control commands to said traveling control means, for controlling the transmitting and receiving of said first transmitter/receiver, and for determining whether another unmanned dump truck is within said working area;

a standby vehicle indicator for providing a standby vehicle indicator signal indicating that said unmanned dump truck is at a standby location on said automatic traveling course;

a second transmitter/receiver for transmitting said entrance permission command and receiving said standby vehicle indicator signal; and

a second computing means for storing in said memory means said position data corresponding to coordinate locations along said automatic traveling course;

for comparing data outputted from said position detecting means to thus stored position data;

for controlling the transmitting and receiving of said second transmitter/receiver;

for sensing the state of said entrance permission means; and

for changing the state of said vehicle standby indicator;

wherein said apparatus allows said unmanned dump truck to enter said working area only when said another unmanned dump truck is not in said work area and said entrance permission command has been received by said first computing means, and

said position detecting means, said first computing means, said first transmitter/receiver, and said traveling control means are disposed in said unmanned dump truck.

5. An apparatus for preventing the entrance of an unmanned dump truck into a working area, as claimed in claim 4,

wherein said second transmitter/receiver, said second computing means, said entrance permission means, said memory means, and said standby vehicle indicator are disposed in a working vehicle in said working area.

6. An apparatus for preventing the entrance of an unmanned dump truck into a working area, as claimed in claim 4,

wherein said second transmitter/receiver, said second computing means, said entrance permission means, said memory means, and said standby vehicle indicator are disposed in a manned ground monitoring station.

7. A method for preventing the entrance of an unmanned dump truck into a working area, comprising the steps of:

setting an automatic traveling course;

storing location data, corresponding to said automatic traveling course;

transmitting position data corresponding to the location of said unmanned dump truck along said automatic traveling course, from said unmanned dump truck to other unmanned dump trucks;

receiving position data corresponding to the location of one of said other unmanned dump trucks by said unmanned dump truck;

traveling said unmanned dump truck along said automatic traveling course;

stopping said unmanned dump truck at a standby vehicle location whenever at least one of said other unmanned dump trucks is in said working area and an entrance permission command has not been received by said unmanned dump truck; and

permitting said unmanned dump truck to enter said working area only when no other unmanned dump trucks are in said working area and an entrance permission command has been received by said unmanned dump truck.

8. A method for preventing the entrance of an unmanned dump truck into said working area, as claimed in claim 7, further comprising the step of:

heading said unmanned dump truck to another working area from said working area in a lateral direction.