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 management system 1 includes an unmanned vehicle 20 capable of autonomous traveling, a loading machine 10 performing a loading work for the unmanned vehicle 20, and a management station 30 performing dispatch management and traffic control of the unmanned vehicle 20. The loading machine 10 includes a bucket tip position calculator 111 that calculates a bucket tip position of a bucket based on information on a position, an orientation, and an angle of each joint of the loading machine. The management station 30 includes an unmanned vehicle instruction section 313 that calculates a loading zone of the unmanned vehicle 20 and issues a calling instruction or a departure instruction to the unmanned vehicle 20 based on the calculated loading zone and the bucket tip position of the loading machine 10.

Abstract: Provided is an autonomous travel system capable of effectively suppressing generation of ruts. It is a further object to provide an autonomous travel system including unmanned vehicles that travel on a transportation path constituted of opposite lanes, which is capable of suppressing generation of ruts while preventing proximity to an on-corning vehicle. An in-vehicle control device 200 includes: an offset amount determination unit 202 adapted to, based on common offset information received via a wireless communication device 240, determine an offset amount of a travel path 60 based on map information 251 and generate a target track 62; and an autonomous travel control unit 201 adapted to output a travel instruction to control traveling of a body so as to track the target track 62 to which the offset amount has been added based on the target track 62 and an own-vehicle position.

Abstract: Provided is a traffic control server, a traffic control system, and a display device capable of wirelessly communicating with the traffic control server that are capable of realizing both safety securement for a manned vehicle and an unmanned vehicle traveling in a mine and prevention of reduction in productivity by controlling interference between the manned vehicle and the unmanned vehicle. An interference control part of the traffic control server generates warning information for performing at least one of displaying a warning screen or making a warning sound to the manned vehicle in accordance with an overlap (interference) among a stop trigger region of the manned vehicle, a travel-permitted section set for the unmanned vehicle, a next travel-permitted section that is the travel-permitted section to be subsequently set for the unmanned vehicle, and a warning region set for the travel-permitted section, and a server-side communication control part transmits the warning information to the manned vehicle.

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 protected region is set for a manned working machine, said region including a first protected region in which new protected region setting request information is not transmitted and which includes the position of the manned working machine, and a second protected region which is set along a periphery of the first protected region and in which new protected region setting request information is transmitted. An area occupied by the vehicle body of the manned working machine on a plane projected on the ground surface is calculated on the basis of vehicle body information indicating the size of the vehicle body of the manned working machine and position information thereof. When the occupied area is present within the first protected region, new protected region setting request information is not transmitted, whereas when the occupied area is present within the second protected region, protected region setting request information is transmitted.

Abstract: A traffic control system for a manned vehicle, traveling on one of plural lanes arranged side by side in a mine, and a traffic control device connected with the vehicle. A zone of the lane, on which the vehicle is traveling, is set as a first travel-permitted zone with a travel permission given to the vehicle only. Upon receipt of a request from the vehicle for a travel-permitted zone of another-lane with a travel permission given only to the vehicle on a lane adjacent the lane on which the vehicle is traveling, the traffic control device sets, as the travel-permitted zone of the another-lane, a zone including at least a part of a zone arranged on the adjacent lane side by side with the first travel-permitted zone, and transmits the travel-permitted zone of the another-lane to the vehicle, which the vehicle displays on a display screen.

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: A protected region is set for a manned working machine, said region including a first protected region in which new protected region setting request information is not transmitted and which includes the position of the manned working machine, and a second protected region which is set along a periphery of the first protected region and in which new protected region setting request information is transmitted. An area occupied by the vehicle body of the manned working machine on a plane projected on the ground surface is calculated on the basis of vehicle body information indicating the size of the vehicle body of the manned working machine and position information thereof. When the occupied area is present within the first protected region, new protected region setting request information is not transmitted, whereas when the occupied area is present within the second protected region, protected region setting request information is transmitted.

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: A wireless communication system includes an on-board terminal equipment mounted on a working machine, and a control server communicably connected together via a network including a first wireless base station and a second wireless base station. The control server sets a zone of a travel route as a travel-permitted zone, for which a travel permission has been given only to the working machine. A permission requesting zone in the travel-permitted zone, in which the working machine makes a setting request to the control server for a new travel-permitted zone, is set as a no-handover zone in which switching of the connected base station from the first wireless base station to the second wireless base station is prohibited. The on-board terminal equipment switches the first wireless base station to the second wireless base in a zone other than the no-handover zone in the travel-permitted zone.

Abstract: A wireless system for a mine performs a management of the quality of wireless communication at each point in the mine at a time point closer to a current time while maintaining the operating state of each dump truck. The wireless system is provided with a server, wireless base stations and dump trucks in the mine. The server contains fleet operations management information and communication quality information, and the dump trucks each include a GPS and a wireless terminal. The server specifies an update target point where the communication quality information requires an update. Then, the server specifies one of the dump trucks, which is plan to travel through the update target point, from the fleet operations management information, calculates a time at which the dump truck would arrive at the update target point, and performs communication trigger processing to make the dump truck transmit wireless data.

Abstract: A wireless communication system includes an on-board terminal equipment mounted on a working machine, and a control server communicably connected together via a network including a first wireless base station and a second wireless base station. The control server sets a zone of a travel route as a travel-permitted zone, for which a travel permission has been given only to the working machine. A permission requesting zone in the travel-permitted zone, in which the working machine makes a setting request to the control server for a new travel-permitted zone, is set as a no-handover zone in which switching of the connected base station from the first wireless base station to the second wireless base station is prohibited. The on-board terminal equipment switches the first wireless base station to the second wireless base in a zone other than the no-handover zone in the travel-permitted zone.

Abstract: To provide a technology that enables dump trucks to travel smoothly even in a mine where electromagnetic wave conditions are bad. The invention is a vehicle travel system in which haulage vehicles 20 traveling in a premise of a mine along predetermined travel routes 60 and a fleet management server for managing operations of haulage vehicles are connected in communication together via wireless communication network and that sets a travel-permitted segment n+1 so that difference between a communication timing at which the haulage vehicle 20-1 transmits permission request information to the fleet management server from a provisional permission-requesting point RP and communication timing at which other haulage vehicle transmits the permission request information to the same wireless base station may become more than or equal to a predetermined threshold value.

Abstract: Disclosed are a vehicle travel system and vehicle travel control method for guiding a haulage vehicle to a loading point without interference with obstacles. The vehicle travel system is provided with a direction input device (102), travel route calculating unit (1507) and vehicle control unit (205). Through the direction input device, an operator of a loading machine (10) inputs the direction of a body of a haulage vehicle (20-1) at a loading point (LP-L or LP-R). The travel route calculating unit calculates a travel route on which the haulage vehicle (20-1) is to be stopped in the inputted direction at the loading point (LP-L or LP-R). The vehicle control unit performs vehicle control to allow the haulage vehicle (20-1) to travel along and stop on the travel route.

Abstract: A traffic control system for a manned vehicle, traveling on one of plural lanes arranged side by side in a mine, and a traffic control device connected with the vehicle. A zone of the lane, on which the vehicle is traveling, is set as a first travel-permitted zone with a travel permission given to the vehicle only. Upon receipt of a request from the vehicle for a travel-permitted zone of another-lane with a travel permission given only to the vehicle on a lane adjacent the lane on which the vehicle is traveling, the traffic control device sets, as the travel-permitted zone of the another-lane, a zone including at least a part of a zone arranged on the adjacent lane side by side with the first travel-permitted zone, and transmits the travel-permitted zone of the another-lane to the vehicle, which the vehicle displays on a display screen.

Abstract: A work vehicle control system includes an on-board communication controller for requesting, while a current travel position indicates that the work vehicle travels in a predetermined first block section of a travel path, a travel permission request signal for permitting travel in a second block section located next to the first block section from an on-board wireless controller. The on-board communication controller, respectively coupled to an on-board wireless controller and a GPS device, changes an interval of requesting the travel permission signal in accordance with a remaining distance to an emergency stop point in the case where it is determined from a current travel position detected by the GPS device that the work vehicle is traveling in the first block section and a control center is controlling travel of the work vehicle.

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: An on-board terminal device includes a volatile storage unit, a non-volatile storage unit, a map data storage unit that stores map data indicative of a target route, an error calculation unit that calculates an amount of positional offset of own mining machine from the target route on a basis of the map data and own mining machine position information, a departure determination unit which determines that the own mining machine has departed from the target route, and a data storage destination control unit that, if the departure determination unit determines to have departed, extracts log data out of the log data stored in the volatile storage unit, archives and stores the extracted log data in the non-volatile storage unit, and also stores log data, which would be outputted after the time point of the departure, in the non-volatile storage unit.

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.