Abstract: A slewing-type hydraulic excavator has a plurality of cameras 13 for respectively imaging toward different directions. A view point converting section 21 performs coordinate image data conversion to create overhead view images to look down from an upper position. A composite overhead view image creating section 22 creates a composite overhead view image P arranged around a graphic image of the hydraulic excavator 1. An interference scope indicating section 25 indicates the scope of potential interference on the overhead view image with a surrounding obstacle at respective ground heights at the time of rotating the hydraulic excavator 1. A display image creating section 26 produces the composite overhead view image P together with interference scope which is displayed on a monitor.

Abstract: To recognize an obstacle such as a working face which may be touched by a revolving upperstructure including a height position thereof at the time of a swing control. A plurality of first cameras 13 for forming bird's eye views which photograph obliquely lower parts of directions different from each other are arranged in a revolving upperstructure 3, a composite bird's eye view 20 is displayed on a display 15, second cameras 16R, 16L for photographing through images including corner parts from a rear end of the revolving upperstructure 3 to side parts within a visual field range are arranged in lower part positions of a swing frame 3a of the revolving upperstructure 3 so as to rotate following swing of the revolving upperstructure 3, and corner part through images 30R, 30L are displayed on the display 15 so as to be superimposed on the composite bird's eye view 20.

Abstract: A device of estimating a slip angle of vehicle wheel has an attitude-toward-road surface estimation section that uses a series of distances to measurement points on a road surface to estimate vehicle-body-road-surface coordinate conversion information (VCCI) for conversion from a vehicle-body coordinate system to a road-surface coordinate system, an on-road-surface inertia quantity calculation section that removes a gravity acceleration component from the vehicle-body inertia quantity to obtain inertia quantity caused by motion of a vehicle body and uses the VCCI to convert from the inertia quantity caused by the motion of the vehicle body to the road-surface coordinate system, and a wheel slip angle estimation section that estimates a sideslip angle of the vehicle wheel on the basis of a difference between a wheel acceleration vector and the acceleration vector converted to the road-surface coordinate system.

Abstract: A first measuring device measures a location of its own vehicle relative to each feature point on a surrounding structure around a road surface on which the vehicle. A first feature-point is provided which, based on output from the first measuring device, acquires coordinates of the each feature point expressed in a coordinate system of the first measuring device, and uses a self-location to convert the coordinates into an external coordinate. A feature-point trajectory generation section is provided to generate, based on the first coordinates, a trajectory of the feature point group. A second measuring device measures a location of its own vehicle relative to a feature point located rearward of the feature point measured by the first measuring device. An anomaly determination section is provided to determine that anomaly occurs in a self-location estimation device if the second coordinates are on the trajectory.

Abstract: To provide a road shoulder-detecting system which can accurately measure the orientation of a vehicle relative to a road shoulder and the distance to the road shoulder. The present invention includes road shoulder-detecting units to scan a road surface in front of a vehicle in the traveling direction of the vehicle and detect a road shoulder located on the road surface and a road shoulder-measuring device to measure the orientation of the vehicle relative to the road shoulder detected by the road shoulder-detecting units and the distance to the road shoulder; and the two road shoulder-detecting units are installed on the traveling direction side of the vehicle. The two road shoulder-detecting units are installed in a higher position than the upper ends of front wheels.

Abstract: A traffic control server 31 controls traffic for a first vehicle 70 traveling on an outgoing lane and a second vehicle 20 traveling on a return lane and having attributes that are different from the first vehicle 70. The traffic control server 31 is provided with a travel-permitted zone setting unit 331b for setting a first travel-permitted zone 100, which is a partial zone of the outgoing lane and in which travel of the first vehicle 70 is permitted, and a second travel-permitted zone 200, which is a partial zone of the return lane and in which travel of the second vehicle 20 is permitted. The travel-permitted zone setting unit 331b sets the first travel-permitted zone and the second travel-permitted zone 200 so as to cause the second vehicle to stop or decelerate and the first vehicle to travel when the first vehicle and the second vehicle pass each other.

Abstract: Provided is a technology that, when an unmanned haulage vehicle and a manned haulage vehicle are allowed to exist together and are subjected to fleet operations management, can provide driving assistance to an operator of the manned vehicle by using control data similar to those to be transmitted to the unmanned haulage vehicle. To this end, the manned vehicle is provided with a terminal-side communication control unit, a control command value conversion unit and a control command value providing unit. The terminal-side communication control unit receives, from a fleet operations management server that performs operations management of the unmanned haulage vehicle, a control command value for allowing the unmanned haulage vehicle to travel autonomously. The control command value conversion unit converts contents of the control command value to perceivable information. The control command value providing unit provides the perceivable information to the operator.

Abstract: This invention has an object to assist for traveling operation of a self-propelled industrial machine to display underneath image of the self-propelled industrial machine on a monitor of a display device mounted in a operator's cab. The display device of the self-propelled industrial machine according to the present invention is provided for a dump truck, which comprises cameras having field of view to underneath of the dump truck, a symbol image storage section to store a symbol image which is symbolized the dump truck, a superposing process section to make transparent with a predetermined transparent ratio in the symbol image as a transparent region and to superpose an image taken by the camera on the area corresponding to the transparent region as underneath image, and a monitor mounted in a cab of the dump truck for displaying the symbol image composed by the superposing process section.

Abstract: A bird's eye view image is displayed to be recognized by an operator intuitively and precisely, irrespective of the displayed direction of the bird's eye view image. The display device has a plurality of cameras having optical axis directed obliquely downward to take images around a self-propelled industrial machine. A view point converting section converts the camera images to an upper view point to create bird's eye images, and an image composing section creates a composite bird's eye view image by composing respective bird's eye images around a symbol image of a dump truck. A direction superposing section superposes a forward direction indicator to indicate the forward direction of the dump truck on the composite bird's eye view image, and a monitor mounted in a cab of the dump truck displays the composite bird's eye image in an arbitral direction which is composited with the forward direction indicator.

Abstract: An operation management system for dump trucks includes a storage device 130, 170 in which map data indicative of a road map for dump trucks are stored, a plurality of dump trucks 200 configured to travel based on the map data, and a control device 100, 150 configured to permit, upon updating of part 510 of the map data, updating of the part of the map data when, although the part of the map data is included in any of a plurality of mining fields 400, 330, 460, no dump truck exists in any of the plurality of mining fields.

Abstract: A plurality of images captured by a plurality of cameras respectively to create a plurality of upper viewpoint images. Display images are extracted from the upper viewpoint images, and the extracted display images are synthesized to create an overhead image or bird's eye view image of surroundings, which has an image corresponding to an operating machine at a center of the bird's eye view image. When extracting each of the display images, a region of the display image extracted from the upper viewpoint image is expanded beyond the size of a standard extraction region on the basis of the set height of a mating face. Each of the extracted display images is adjusted to the size of the standard extraction region, and synthesized. Thus, any three-dimensional object (obstacle) present near the boundary between display images constituting the bird's eye view image is displayed.

Abstract: A terminal side control device that executes processing for instructing travel of a vehicle to a driver on the basis of a travel permission section assigned thereto by a control server. The terminal-side control device includes: a remaining distance calculation unit that calculates a travel permission remaining distance on the basis of the present position of the own vehicle acquired from a position calculation device and the travel permission section; an upper limit speed calculation unit that calculates an upper limit speed of the own vehicle in the travel permission section on the basis of the travel permission remaining distance calculated by the remaining distance calculation unit; and a display control unit that causes a terminal side display device to output and present to the driver the upper limit speed calculated by the upper limit speed calculation unit and predetermined warning information corresponding to the upper limit speed.

Abstract: An object is to bring an operation to recognize precisely situation of an underneath of a vessel provided at a transportation vehicle and rearward situation on the basis of camera image which is attached to the transportation vehicle. Surveillance system of the transportation vehicle according to the present invention comprises a lamp unit 13 mounted at a position under the vessel and rear end of a frame of a dump truck 1, a rearward camera 10B mounted above the lamp unit 13 directing an optical axis toward obliquely downward and having a field of view including at least partially of an axle 11 provided rear wheels 6 of the dump truck 1, a shield plate 16 provided between the lamp unit 13 and the rearward camera 10B to be extended at a position to be included at least partially in the rearward camera 10B, a monitor device provided in the cab 2 of the dump truck 11 to display camera image taken by the rearward camera 10B.

Abstract: An autonomous mode controller (61) that outputs an acceleration command (SAa), a braking command (SBa) and a torque command (Ta) is connected to a steering actuator (33) and a traveling drive unit (52). The steering actuator (33) generates combined torque (T1) based upon steering torque (Tm) from a steering handle (32) and the torque command (Ta), and controls a steering angle (?) of a vehicle based upon the combined torque (T1). The traveling drive unit (52) selects a larger one of an acceleration command (SAm) by an accelerator pedal (50) and the acceleration command (SAa) as an acceleration command (SA), and selects a larger one of a braking command (SBm) by a brake pedal (51) and the acceleration command (SBa) as a braking command (SB). The traveling drive unit (52) controls a vehicle speed based upon the acceleration command (SA) and the braking command (SB).

Abstract: A relative position calculating system for work machines includes a first dump truck (101) which receives a navigation signal from at least one of a plurality of satellites (120), a second dump truck (111) which receives a navigation signal from at least one of the plurality of satellites (120), and a relative position calculating apparatus (102) which calculates a relative position between the first dump truck (101) and the second dump truck (111) based on the navigation signals which the first dump truck (101) and the second dump truck (111) receive, respectively, from a common satellite of the plurality of satellites (121). Thus, an influence of a positioning error due to a satellite positioning system is reduced, and accuracy of a calculation for the relative position between the two dump trucks (101, 111) can be enhanced.

Abstract: When large vehicles and small vehicles travel together in a mine, they are distinguishedly detected. On a haulage vehicle for a mine, a first obstacle detection device and a second obstacle detection device are disposed. The obstacle detection devices are disposed so that they have detection directions oriented in a same direction in horizontal planes, respectively. The first obstacle detection device 111 is disposed at a height where it can detect each small vehicle, while the second obstacle detection device 112 is disposed at a height where it can detect each large vehicle without detection of any small vehicle. On the basis of detection results of the first obstacle detection device 111 and second obstacle detection device 112, a detection processing device 120 determines whether an object is a small vehicle or a large vehicle.

Abstract: A position calculating system for a haulage vehicle including wheels and a body frame mounted on the wheels. The system includes an attitude detection sensor fixed on the body frame, a wheel rotational speed sensor, a loading status information acquiring unit, a correction amount setting unit, a velocity vector calculating unit, and a position calculating unit. The loading status information acquiring unit acquires loading status information indicating whether the body frame is in a loaded state or in an unloaded state. The correction amount setting unit calculates, based on the attitude information, a correction amount required for bringing detection axes in the loaded state into coincidence with corresponding detection axes in the unloaded state. The velocity vector calculating unit calculates the velocity vector of the haulage vehicle. The position calculating unit calculates a position of the haulage vehicle by using the velocity vector.

Abstract: A dump truck includes a plurality of rear wheels (15) rotatably attached to a frame (11) and two GPS receivers (101, 102) arranged to be dislocated from each other in an anteroposterior direction of a vehicle. Any point selected from an area C, in the vehicle coordinates system B set in the dump truck, where the rear wheels contact a ground is defined as a reference point D. The two GPS receivers are arranged so that a vertical line descends from a line segment PQ, connecting two points P, Q of which positions are calculated by the two GPS receivers, to the reference point D. This makes it possible to accurately estimate an attitude of mining machinery by two position estimation means without stopping operation of the machinery.

Abstract: The underneath image of a self-propelled industrial machine is displayed with as wide a range as possible on a monitor with cameras that take images around the self-propelled industrial machine in the form of bird's eye view images. A view point conversion section creates the bird's eye view image by converting images from plural cameras provided on a dump truck; and a superposing process section processes the images to make the underneath area in a symbol image a transparent region corresponding to the position in the bird's eye view. An image composing section sets the symbol image at the center position and the respective bird's eye view images around the symbol image. A monitor displays the composite image composed by the image composing section.

Abstract: Provided is a technology that, when an unmanned haulage vehicle and a manned haulage vehicle are allowed to exist together and are subjected to fleet operations management, can provide driving assistance to an operator of the manned vehicle by using control data similar to those to be transmitted to the unmanned haulage vehicle. To this end, the manned vehicle is provided with a terminal-side communication control unit, a control command value conversion unit and a control command value providing unit. The terminal-side communication control unit receives, from a fleet operations management server that performs operations management of the unmanned haulage vehicle, a control command value for allowing the unmanned haulage vehicle to travel autonomously. The control command value conversion unit converts contents of the control command value to perceivable information. The control command value providing unit provides the perceivable information to the operator.