To provide a mining vehicle autonomous running system that, when a non-detected region has occurred in a region that should be detected by an environment detection sensor, can suppress a reduction in work efficiency of a mining vehicle by appropriately handling the cause of the non-detected region.SOLUTION: A controller 203 associates a three-dimentional point cloud acquired by an environment detection sensor 108 with a point cloud map, and calculates a position change of the environment detection sensor 108 on the basis of a measurement result of a vehicle position measurement sensor 202. If the environment inspection sensor 108 cannot acquire a three-dimentional point cloud that has to be acquired, the controller 203 extracts a region of the point cloud map as a non-detected region, determines a cause of the non-detected region on the basis of whether or not the position of the non-detected region on the point cloud map changes along with the position change of a vehicle 101, and determines an operation of the vehicle 101.SELECTED DRAWING: Figure 3
【課題】外界検知センサによって検知されるべき領域に非検知領域が発生した場合に、当該非検知領域が発生した要因に対し適切に対処させ、鉱山車両の作業効率が低下するのを抑制することが可能な鉱山車両自律走行システムを提供する。【解決手段】コントローラ203は、外界検知センサ108が取得した3次元点群を点群マップに対応づけ、車両位置計測センサ202の計測結果に基づいて外界検知センサ108の位置変化を算出し、外界検知センサ108が取得すべき3次元点群を取得できなかった場合に、前記点群マップの領域を非検知領域として抽出し、前記点群マップにおける前記非検知領域の位置が車両101の位置変化に応じて変化するか否かに基づいて前記非検知領域の要因を判断し、前記非検知領域の要因に応じて車両101の動作を決定する。【選択図】 図3
MINING VEHICLE AUTONOMOUS RUNNING SYSTEM
鉱山車両自律走行システム
2024-04-18
Patent
Electronic Resource
Japanese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / 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 |
European Patent Office | 2023
|European Patent Office | 2023
|European Patent Office | 2023
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