To allow plural carrier vehicles to safely and efficiently autonomously travel along a predetermined carrying route without a traveling operator.SOLUTION: A carrier vehicle is remotely controlled to travel for the purpose of creating data items of plural teaching routes. The positional relationships among plural carrier vehicles traveling along the created teaching routes are calculated. Whether the positional relationship among the carrier vehicles on each of the teaching routes is safe is determined using the calculated positional relationships. A model route is created by adopting as data of a route only the positional relationship determined to be safe. The carrier vehicles are instructed to advance or halt on the basis of the data of the model route and the present positions and postures acquired by the carrier vehicles. Thus, the carrier vehicles are caused to autonomously drive from an origin that is a soil loading place to a terminal that is a soil discharge place.SELECTED DRAWING: Figure 4

    【課題】走行操作オペレータがいなくても、複数台の運搬車両を所定の運搬経路に沿って、安全に、かつ、効率よく自走させる。【解決手段】運搬車両を遠隔操作にて走行させて、複数の教示経路のデータを作成し、この作成された複数の教示経路について、教示経路を走行する複数の運搬車両の位置関係を算出するとともに、算出された位置関係から、前記教示経路における複数の運搬車両の位置関係が安全であるか否かを判定する判定し、前記安全と判定された位置関係のみを経路のデータとしたモデル経路を作成し、このモデル経路のデータと複数の運搬車両が取得した現在位置と姿勢とに基づいて、運搬車両に進行もしくは停止を指示することで、運搬車両を、土砂積込場所である始点から土砂搬出場所である終点まで自動運転させる。【選択図】図4


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    Title :

    AUTONOMOUS DRIVING METHOD OF CARRIER VEHICLE


    Additional title:

    運搬車両の自動運転方法


    Contributors:

    Publication date :

    2021-10-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    E02F Baggern , DREDGING / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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