Abstract: A work machine includes a second pilot line that introduces a hydraulic fluid from a pilot hydraulic fluid source to a pilot valve bypassing a first gate lock valve, a second gate lock valve that is disposed on the second pilot line and that is configured to be switched to an open position for allowing the supply of the hydraulic fluid to the pilot valve or a closed position for interrupting the supply of the hydraulic fluid, and a controller that controls the second gate lock valve on the basis of a second remote operation signal transmitted from a remote operation apparatus and that controls the pilot valve according to a first remote operation signal transmitted from the remote operation apparatus. In a state where the first gate lock valve is at a closed position, the second gate lock valve is allowed to be controlled by the controller when stairs are in a retracted state, and is kept at the closed position irrespective of the second remote operation signal when the stairs are in an extended state.

Abstract: Provided is a work machine that allows assisting a loading work without giving uncomfortable feeling to an operator. The control device 40 of the work machine 1 includes an allowable range calculation section 46 that calculates an allowable range indicating a range in which the front work device 2 is movable in a height direction allowed in a swing operation; an operation determining section 45 that determines whether the work machine 1 is under a convey operation; and an operation control section 4 that controls a turn operation of a boom 8 such that the position of the front work device 2 in the height direction remains within the allowable range when the work machine 1 is determined to be under the convey operation.

Abstract: A vehicle control system includes an autonomous traveling vehicle configured to autonomously travel in a mine, a manned vehicle. The autonomous traveling vehicle and the manned vehicle each include an own position estimating device and a vehicle mounted communication terminal. The autonomous traveling vehicle and the manned vehicle are communicatively connected via one wireless channel. The manned vehicle transmits manned vehicle location information using a first communication method at a first granularity. When a distance from the manned vehicle is determined to be a first inter-vehicular distance threshold or less based on the manned vehicle location information transmitted by the first communication method, the autonomous traveling vehicle instructs the manned vehicle to transmit the manned vehicle location information by a second communication method different from the first communication method at a second granularity smaller than the first granularity.

Abstract: A vehicle control system that makes it possible to ensure the safety and enhance the productivity at the same time is provided. An unmanned dump 10 receives positional information about a manned vehicle 20 by using infrastructure-to-vehicle communication 520 and infrastructure-to-infrastructure communication 510. In a case where an inter-vehicle distance X between the unmanned dump 10 and the manned vehicle 20 is equal to or shorter than a reference distance Y, the unmanned dump 10 decides whether or not vehicle-to-vehicle communication 550 is established between the unmanned dump 10 and the manned vehicle 20. In a case where it is decided that the vehicle-to-vehicle communication 550 is established, the upper limit of the travel speed of the unmanned dump 10 is set to a first speed V1, and in a case where it is decided that the vehicle-to-vehicle communication 550 is not established, the upper limit of the travel speed of the unmanned dump 10 is set to a second speed V2.

Abstract: A safety switch input diagnosis device includes a circuit formed from a series connection of an emergency stop switch and a line having a resistor. A connection state of the emergency stop switch and failure modes of the lines are diagnosed on the basis of a voltage value at one end of the circuit. Consequently, an operation of the switch and failure modes of a circuit relating to the switch can be diagnosed.

Abstract: A vehicle control system includes an autonomous traveling vehicle configured to autonomously travel in a mine, a manned vehicle. The autonomous traveling vehicle and the manned vehicle each include an own position estimating device and a vehicle mounted communication terminal. The autonomous traveling vehicle and the manned vehicle are communicatively connected via one wireless channel. The manned vehicle transmits manned vehicle location information using a first communication method at a first granularity. When a distance from the manned vehicle is determined to be a first inter-vehicular distance threshold or less based on the manned vehicle location information transmitted by the first communication method, the autonomous traveling vehicle instructs the manned vehicle to transmit the manned vehicle location information by a second communication method different from the first communication method at a second granularity smaller than the first granularity.

Abstract: A reversing assistance device suited for a mining dump truck measures a first distance to a first object, which exists at a first height comprising a trajectory of a rear wheel of the dump truck during reversing, and a second distance to a second object, which exists at a second height comprising a trajectory of a vessel during the reversing, for computing the position of the first object. If the distance between the position of the first object and a designated loading position designated by an operator of a loading machine is equal to or smaller than a threshold, the first object is determined to be an approachable object, a smaller one of the first distance and the second distance is determined as a target stop distance, and based on the target stop distance, a target stop position is computed.

Abstract: An autonomous traveling vehicle, equipped with autonomous traveling function on a standard machine, has a high-pressure selector valve placed on a flow path in which pressure-oil is supplied from a standard brake valve (SBV) installed in the standard machine to a hydraulic brake. A flow path is installed to connect the high-pressure selector valve and an autonomous brake control valve (ABCV) that is supplied with pressure-oil delivered by a hydraulic pump. Further, an autonomous traveling controller is installed to perform control for autonomous travel, and an autonomous brake controller is installed to perform open or close control on the ABCV in response to a braking instruction from the autonomous traveling controller. When the brake pedal is stepped on, the pressure-oil flows from the SBV to the hydraulic brake, and when the autonomous traveling controller outputs a stop instruction, the pressure-oil flows from the ABCV to the hydraulic brake.

Abstract: A safety switch input diagnosis device includes a circuit formed from a series connection of an emergency stop switch and a line having a resistor. A connection state of the emergency stop switch and failure modes of the lines are diagnosed on the basis of a voltage value at one end of the circuit. Consequently, an operation of the switch and failure modes of a circuit relating to the switch can be diagnosed.

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: In an industrial machine, the work safety is further improved by eliminating blind spots from an image displayed on a monitor. A hydraulic excavator 1 which is the industrial machine is equipped with monitoring cameras 15F, 15B, 15L, 15R mounted in the respective places of a revolving upperstructure 3 in order to capture images for monitoring. A monitor 20 displays camera images 21F, 21B, 21L, 21R obtained by the cameras as well as an icon image 21C of an image illustration of the hydraulic excavator 1. The cameras 15F, 15L, 15R are mounted at the distal ends of support arms 40F, 40L, 40R to be located in positions jutting from a revolving upperstructure main unit 3a of the revolving upperstructure 3, so that a hidden area under the underside of a catwalk 14 provided on the revolving upperstructure 3 falls within the field of view.

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: When large vehicles and small vehicles travel together in a mine, they are distinguishably 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 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: A reversing assistance device suited for a mining dump truck measures a first distance to a first object, which exists at a first height comprising a trajectory of a rear wheel of the dump truck during reversing, and a second distance to a second object, which exists at a second height comprising a trajectory of a vessel during the reversing, for computing the position of the first object. If the distance between the position of the first object and a designated loading position designated by an operator of a loading machine is equal to or smaller than a threshold, the first object is determined to be an approachable object, a smaller one of the first distance and the second distance is determined as a target stop distance, and based on the target stop distance, a target stop position is computed.

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 autonomous traveling vehicle, equipped with autonomous traveling function on a standard machine, has a high-pressure selector valve placed on a flow path in which pressure-oil is supplied from a standard brake valve (SBV) installed in the standard machine to a hydraulic brake. A flow path is installed to connect the high-pressure selector valve and an autonomous brake control valve (ABCV) that is supplied with pressure-oil delivered by a hydraulic pump. Further, an autonomous traveling controller is installed to perform control for autonomous travel, and an autonomous brake controller is installed to perform open or close control on the ABCV in response to a braking instruction from the autonomous traveling controller. When the brake pedal is stepped on, the pressure-oil flows from the SBV to the hydraulic brake, and when the autonomous traveling controller outputs a stop instruction, the pressure-oil flows from the ABCV to the hydraulic brake.

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: In an industrial machine, the work safety is further improved by eliminating blind spots from an image displayed on a monitor. A hydraulic excavator 1 which is the industrial machine is equipped with monitoring cameras 15F, 15B, 15L, 15R mounted in the respective places of a revolving upperstructure 3 in order to capture images for monitoring. A monitor 20 displays camera images 21F, 21B, 21L, 21R obtained by the cameras as well as an icon image 21C of an image illustration of the hydraulic excavator 1. The cameras 15F, 15L, 15R are mounted at the distal ends of support arms 40F, 40L, 40R to be located in positions jutting from a revolving upperstructure main unit 3a of the revolving upperstructure 3, so that a hidden area under the underside of a catwalk 14 provided on the revolving upperstructure 3 falls within the field of view.

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.