To provide an autonomous mine vehicle capable of inhibiting a decrease in working efficiency when fugitive dust occurs on a work site.SOLUTION: An autonomous mine vehicle 101 comprises a periphery monitoring sensor 108 that measures a three-dimensional point group of the terrain around a vehicle body 102. A travel route setting device 203 calculates an undetected area 602 that expresses a terrain part incapable of being measured by the periphery monitoring sensor 108. An alternate route, on which the vehicle body 102 can travel without traveling through the undetected area 602, is calculated on the basis of a positional relationship between the undetected area 602 and the vehicle 102. A planned route is updated by the alternate route.SELECTED DRAWING: Figure 3
【課題】作業現場で砂埃が発生した場合に作業効率の低下を抑制することが可能な自律走行鉱山車両を提供する。【解決手段】自律走行鉱山車両101は、車両本体102の周囲の地形の3次元点群を計測する周囲監視センサ108を備え、走行経路設定装置203は、周囲監視センサ108が計測できない地形部分を表す不検知領域602を算出し、不検知領域602と車両本体102との位置関係を基に、車両本体102が不検知領域602を通過せずに走行できる代替経路を算出し、前記予定経路を前記代替経路で更新する。【選択図】 図3
AUTONOMOUS MINE VEHICLE
自律走行鉱山車両
2023-03-28
Patent
Electronic Resource
Japanese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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