Abstract: Leveling operation can be effectively performed at a discharge site without increasing a cost of vehicles, and a running course can be easily generated in a short time and at a low-cost. Based on each of measured position data of a survey line 20 of a discharge site 21, a normal line Lc normal to the survey line 20 is obtained, a target discharge position 26? is positioned at a prescribed distance away from the survey line 20 in an inward direction of the discharge site 21 based on the normal line Lc, and then data of a running course 27 in which a reference approach direction 31 to approach the target discharge position 26? is a direction normal to the survey line 20 are generated.

Abstract: A restricted area (60) is created based on positional information of a manned vehicle (20) traveling one of outward/return lanes (51, 52), and a detour course (72) is created based on information of the restricted area (60). Information on the detour course (72) is provided to the unmanned vehicles (10, 11) and the manned vehicle (20). Based on the positional information of the unmanned vehicles (10, 11) which proceed towards each other from the opposite directions with the restricted area (60) therebetween, the unmanned vehicle (11) on the lane (52) which is the opposite side of the restricted area (60) is blocked at a block position (61B) and at the same time a travel permission command for permitting traveling the detour course (72) is issued to the unmanned vehicle (10) traveling the lane (51) on the restricted area side so that the unmanned vehicle (10) travels the detour course (72).

Abstract: A restricted area (60) is created based on positional information of a manned vehicle (20) traveling one of outward/return lanes (51, 52), and a detour course (72) is created based on information of the restricted area (60). Information on the detour course (72) is provided to the unmanned vehicles (10, 11) and the manned vehicle (20). Based on the positional information of the unmanned vehicles (10, 11) which proceed towards each other from the opposite directions with the restricted area (60) therebetween, the unmanned vehicle (11) on the lane (52) which is the opposite side of the restricted area (60) is blocked at a block position (61B) and at the same time a travel permission command for permitting traveling the detour course (72) is issued to the unmanned vehicle (10) traveling the lane (51) on the restricted area side so that the unmanned vehicle (10) travels the detour course (72).

Abstract: Leveling operation can be effectively performed at a discharge site without increasing a cost of vehicles, and a running course can be easily generated in a short time and at a low-cost. Based on each of measured position data of a survey line 20 of a discharge site 21, a normal line Lc normal to the survey line 20 is obtained, a target discharge position 26? is positioned at a prescribed distance away from the survey line 20 in an inward direction of the discharge site 21 based on the normal line Lc, and then data of a running course 27 in which a reference approach direction 31 to approach the target discharge position 26? is a direction normal to the survey line 20 are generated.

Abstract: Only snapshot data necessary for monitoring faults are collected from machine such as vehicles, allowing faults to be more accurately monitored, and the amount of data and the memory storage volume at a monitoring station to be reduced. The values of a plurality of (A), (B), (C), and (D) operating parameters (engine rotational speed, lever operating position, vehicle speed, and tractive force) which change during the operation of the machine are sequentially detected for each machine. The fault detection history data are thus updated every time a fault (drop in engine oil pressure, overheating) is detected during the operation of the machine.

Abstract: Interference prediction apparatus is applied when an unmanned vehicle is guided within a course area based on travel position and course data, and comprises a device for inputting the form of the course area, a device for preparing course data, device for estimating error of travel position when the unmanned vehicle is operated according to course data, and a device for predicting interference between the unmanned vehicle and areas outside the course area on the basis of estimated error so that interference can be prevented when unmanned vehicles pass by each other.

Abstract: This invention is a vehicle monitor for avoiding interference between vehicles, etc., without incurring cost increases for deploying auxiliary equipment at a wide-area site, while imposing only low loads on communication lines and monitoring stations, without impairing safety, and while realizing high flexibility for modifications of planned travelling paths. This system can also cope with various forms of interference which can occur throughout the entire planned travelling paths. In the system of the present invention, transceiver devices are provided in the monitoring station and in a plurality of vehicles, respectively, for sending and receiving position data and directive data between the monitoring station and the plurality of vehicles, using a communication system wherewith radio-communication is possible over the distances between the monitoring station and the plurality of vehicles.

Abstract: Maintenance due times of components of a machine are determined according to the status of user-performed in-house maintenance and according to the occurrence of abnormalities during machine operation. A subtraction point (20 points) associated with an abnormality (overheating) detected during machine operation is subtracted from the score (80 points) of a corresponding component (engine) in the machine. An addition point (50 points) associated with the type of maintenance (overhaul performed by in-house maintenance) indicated in maintenance information is added to the score (80 points). Thus, at the time where the value resulting from subtractions from and additions to the score for that component (engine) reaches a prescribed value (10 points) indicating maintenance due time, it is determined that the maintenance due time for that component (engine) has been reached.

Abstract: A device which comprises first calculating means for calculating a lower-limit time Tmin of swiveling control on the basis of dynamic characteristics of a swiveling angular velocity control system, second calculating means for determining a swinging period T of the suspended load, third calculating means for selecting a smallest natural number n for which nT.gtoreq.Tmin, and braking and stopping control means for braking and stopping the rotary body with an angular acceleration .alpha. indicated by the equation .alpha.=-.OMEGA.O/nT (where .OMEGA.O is the swiveling angular velocity of the rotary body immediately prior to the initiation of automatic swiveling stopping control), and which eliminates influences of elastic vibrations so as to insure an excellent stopping accuracy.

Abstract: An automatic cushioning control apparatus for a cylinder of a working machine provides a quiet cylinder cushioning effect, causing little shaking of a vehicle body, without using a mechanical cylinder cushion.

Abstract: The velocity of a working tool of a hydraulic excavator can be automatically decelerated and stopped just before the working tool would encounter an obstacle. Hazard regions and decelerating regions which correspond upward, downward, forward, and other positions of the hydraulic excavator are designated and a working tool decelerating pattern V.sub.2 where the working tool velocity decreases from 100% to 0% in a decelerating region is stored in a control unit. When a working tool velocity V.sub.1 which corresponds to the amount of operations of working tool levers (1, 2) intersects with the working tool decelerating pattern V.sub.2 in a decelerating region, the working tool moves at the velocity V.sub.2 and stops just before a hazard region. A restoring pattern where the working tool is restored from a just-before-hazard position to a safety region is stored as a working tool accelerating pattern V.sub.4 where the working tool velocity accelerates from a predetermined velocity just before a hazard region.

Abstract: Even when a bucket is changed to an optional special bucket, path control as intended by an operator can be automatically performed without making a correction of the angle of the original bucket. For this purpose, in an operation mode determining section (9), there is calculated the possibility (U2) of an operation mode being a nose-fixed mode, depending on how much a bucket attitude angle (.gamma.) deviates from a predetermined angle, and there is also calculated the possibility (U1) of the operation mode being the fixed-angle to the ground mode, depending on the magnitude of a computed value of the allowable angle held with respect to the ground, whereby the operation mode during the automatic path control can be automatically determined by comparing these possibilities (U1, U2).

Abstract: A gripping device includes a plurality of articulate gripping fingers coupled to a support structure turnable with respect to a neck structure. The articulate fingers respectively have first and second segments pivotally movable by oil hydraulic cylinders. Oil hydraulic pressure is applied to the oil hydraulic cylinders from an oil hydraulic pump. A pilot relief valve which can provide a variable relief pressure according to a pilot pressure, is provided on the discharge line leading from the oil hydraulic pump, and can be connected to a directional control valve to an oil hydraulic cylinder, which can provide a variable pilot pressure according to the extent of depression of a clamping force setting pedal provided in an operator's room.

Abstract: A control system for a plurality of hydraulic actuators which requires smaller number of control valves than that of actuators. In one embodiment, three control valves are arranged in parallel for controlling four hydraulic cylinders. The control valves are preferably solenoid-operated and one of control valves are used for supplying a pilot fluid pressure into a plurality of pilot-operated check valves disposed between the control valves and the hydraulic cylinders.

Abstract: A control lever structure for a mechanical finger clamp having a grip and first and second members projecting therefrom in opposite directions from each other. The mechanical finger clamp comprises a mounting member, and a plurality of articulate fingers pivotally connected to the mounting member, each articulate finger having a base portion and a leading end portion pivotally connected to the base portion. Pivotal movements of the articulate fingers are caused by hydraulic cylinders. A plurality of switches are mounted on the grip and the first and second members for selectively operating the hydraulic cylinders via solenoid-operated control valves. The arrangement of the plurality of switches is such that the movements of operator's fingers for operating the switches are similar to the movements of the articulate fingers.