Method and apparatus for preparing running course data for an unmanned dump truck

Claim 3

A method in accordance with claim 1, wherein said step of automatically ascertaining the position coordinate data for the new loading position comprises using GPS to determine said position coordinate data for the new loading position.

Claim 4

A method in accordance with claim 1, wherein said step of automatically ascertaining the position coordinate data for the new loading position comprises using a fixed radar station, provided at a reference position outside of said loader, to determine said position coordinate data for the new loading position.

Claim 5

An unmanned dump truck operating system which comprises: an unmanned dump truck; a course data storage device for storing travel-course data representative of a set travel course for said unmanned dump truck; an automatic travel controller, provided on said unmanned dump truck, for controlling said unmanned dump truck so as to travel along said set travel course represented by said stored travel-course data in said course data storage device; a loader for loading a load onto said unmanned dump truck at a loading position provided on said set travel course; a position measuring means for automatically ascertaining position coordinates of a current position of said loader; a loader controller for automatically receiving from said position measuring means the position coordinates of said current position of said loader; an initiation device for generating an initiation signal to initiate preparation of a new set travel course; and a course preparing means for automatically preparing new travel-course data, based on a new loading position and said stored travel-course data, by regarding said current position of said loader as said new loading position when said initiation signal is generated by said initiation device; wherein said automatic travel controller rewrites, in said course data storage device, said stored travel-course data with the automatically prepared new travel-course data to thereby provide new thus stored travel-course data.

Claim 6

An unmanned dump truck operating system which comprises: an unmanned dump truck; a course data storage device for storing travel-course data representative of a set travel course for said unmanned dump truck; an automatic travel controller, provided on said unmanned dump truck, for controlling said unmanned dump truck so as to travel along said set travel course represented by said stored travel-course data in said course data storage device; a loader for loading a load onto said unmanned dump truck at a loading position provided on said set travel course; a position measuring means for automatically ascertaining position coordinates of a current position of said loader; a loader controller for automatically receiving from said position measuring means the position coordinates of said current position of said loader; an initiation device for generating an initiation signal to initiate preparation of a new set travel course; and a course preparing means for automatically preparing new travel-course data, based on a new loading position and said stored travel-course data, by regarding said current position of said loader as said new loading position when said initiation signal is generated by said initiation device; wherein said automatic travel controller rewrites, in said course data storage device, said stored travel-course data with the automatically prepared new travel-course data to thereby provide new thus stored travel-course data.

Claim 7

An unmanned dump truck operating system in accordance with claim 4, further comprising: a first radio device at said loader; and a second radio device at said unmanned dump truck; wherein said first and second radio devices provide radio communications between said loader controller and said automatic travel controller of monitored travel condition information and an operating control signal.

Claim 8

An unmanned dump truck operating system in accordance with claim 5, wherein said first and second radio devices also provide radio communications between said loader controller and said automatic travel controller of said position coordinates of said current position of said loader.

Claim 9

An unmanned dump truck operating system in accordance with claim 4, wherein said initiation device for generating said initiation signal to initiate preparation of said new set travel course comprises an automatic guiding mode switch attached to said loader controller for selecting a mode of automatically travelling said unmanned dump truck to said new loading position, and wherein said initiation signal is inputted to said course preparing means by actuation of said automatic guiding mode switch.

Claim 10

An unmanned dump truck operating system in accordance with claim 7, wherein said position measuring means automatically ascertains said current position of said loader by obtaining position coordinates from GPS.

Claim 11

An unmanned dump truck operating system in accordance with claim 7, wherein said position measuring means automatically measures said current position of said loader by obtaining position coordinates from a fixed radar station.

Claim 12

An unmanned dump truck operating system in accordance with claim 7, wherein said course data storage device is provided on said unmanned dump truck.

Claim 13

An unmanned dump truck operating system in accordance with claim 4, wherein said initiation device for generating said initiation signal to initiate preparation of said new set travel course comprises a trigger signal generating means, positioned at said loader, for generating a trigger signal for reporting that said loader is at said new loading position; and wherein said course preparing means automatically prepares said new travel-course data, based on said new loading position and said stored travel-course data by regarding said current position of said loader as said new loading position when receiving said trigger signal.

Claim 14

An unmanned dump truck operating system in accordance with claim 4, wherein said position measuring means automatically ascertains said current position of said loader by obtaining position coordinates from GPS.

Claim 15

An unmanned dump truck operating system in accordance with claim 4, wherein said position measuring means automatically measures said current position of said loader by obtaining position coordinates from a fixed radar station.

Claim 16

An unmanned dump truck operating system in accordance with claim 4, wherein said course data storage device is provided on said unmanned dump truck.

Claim 17

An unmanned dump truck operating system in accordance with claim 4, wherein said initiation device comprises: an operating condition detecting means for detecting operating conditions of said loader; and a trigger generation judging means for judging whether or not the thus detected operating conditions satisfy predetermined conditions, and for outputting, when said thus detected operations conditions satisfy said predetermined conditions, a trigger signal as said initiation signal for reporting that said loader is at said new loading position.

Claim 18

An unmanned dump truck operating system which comprises: an unmanned dump truck; a course data storage device for storing travel-course data representative of a set travel course for said unmanned dump truck; an automatic travel controller, provided on said unmanned dump truck, for controlling said unmanned dump truck so as to travel along said set travel course represented by said stored travel-course data in said course data storage device; a loader for loading a load onto said unmanned dump truck at a loading position provided on said set travel course; a position measuring means for automatically ascertaining position coordinates of a new loading position of said loader; a loader controller for automatically receiving from said position measuring means the position coordinates of said new loading position of said loader; an initiation device for generating an initiation signal to initiate preparation of a new set travel course; and a course preparing means for automatically preparing new travel-course data, based on said new loading position and said stored travel-course data, when said initiation signal is generated by said initiation device; wherein said automatic travel controller rewrites, in said course data storage device, said stored travel-course data with the automatically prepared new travel-course data to thereby provide new thus stored travel-course data; and wherein said position measuring means for automatically ascertaining position coordinates of said new loading position of said loader comprises a loading position calculating means for automatically calculating and outputting position coordinates for said new loading position upon receiving said initiation signal.

Claim 19

An unmanned dump truck operating system which comprises: an unmanned dump truck; a course data storage device for storing travel-course data representative of a set travel course for said unmanned dump truck; an automatic travel controller, provided on said unmanned dump truck, for controlling said unmanned dump truck so as to travel along said set travel course represented by said stored travel-course data in said course data storage device; a loader for loading a load onto said unmanned dump truck at a loading position provided on said set travel course; a position measuring means for automatically ascertaining position coordinates of a new loading position of said loader; a loader controller for automatically receiving from said position measuring means the position coordinates of said new loading position of said loader; an initiation device for generating an initiation signal to initiate preparation of a new set travel course; and a course preparing means for automatically preparing new travel-course data, based on said new loading position and said stored travel-course data, when said initiation signal is generated by said initiation device; wherein said automatic travel controller rewrites, in said course data storage device, said stored travel-course data with the automatically prepared new travel-course data to thereby provide new thus stored travel-course data; and wherein said position measuring means for automatically ascertaining position coordinates of said new loading position of said loader comprises a loading position calculating means for automatically calculating and outputting position coordinates for said new loading position upon receiving said initiation signal.

Claim 20

An unmanned dump truck operating system which comprises: an unmanned dump truck; a course data storage device for storing travel-course data representative of a set travel course for said unmanned dump truck; an automatic travel controller, provided on said unmanned dump truck, for controlling said unmanned dump truck so as to travel along said set travel course represented by said stored travel-course data in said course data storage device; a loader for loading a load onto said unmanned dump truck at a loading position provided on said set travel course; a monitor station for monitoring said unmanned dump truck as said unmanned dump truck travels on said set travel course; a monitor controller, provided at said monitor station; a first radio device at said monitor station and a second radio device at said unmanned dump truck for providing radio communications between said monitor controller and said automatic travel controller of monitored travel condition information and an operating control signal; a position measuring means for automatically ascertaining position coordinates of a current position of said loader; a loader controller for automatically receiving from said position measuring means the position coordinates of said current position of said loader; a third radio device, provided at said loader, for radio communication of said position coordinates of said current position of said loader; an initiation device for generating an initiation signal to initiate preparation of a new set travel course; and a course preparing means for automatically preparing new travel-course data, based on a new loading position and said stored travel-course data, by regarding said current position of said loader as said new loading position when said initiation signal is generated by said initiation device; wherein said automatic travel controller rewrites, in said course data storage device, said stored travel-course data with the automatically prepared new travel-course data to thereby provide new thus stored travel-course data.

Claim 21

An unmanned dump truck operating system which comprises: an unmanned dump truck; a course data storage device for storing travel-course data representative of a set travel course for said unmanned dump truck; an automatic travel controller, provided on said unmanned dump truck, for controlling said unmanned dump truck so as to travel along said set travel course represented by said stored travel-course data in said course data storage device; a loader for loading a load onto said unmanned dump truck at a loading position provided on said set travel course; a monitor station for monitoring said unmanned dump truck as said unmanned dump truck travels on said set travel course; a monitor controller, provided at said monitor station; a first radio device at said monitor station and a second radio device at said unmanned dump truck for providing radio communications between said monitor controller and said automatic travel controller of monitored travel condition information and an operating control signal; a position measuring means for automatically ascertaining position coordinates of a current position of said loader; a loader controller for automatically receiving from said position measuring means the position coordinates of said current position of said loader; a third radio device, provided at said loader, for radio communication of said position coordinates of said current position of said loader; an initiation device for generating an initiation signal to initiate preparation of a new set travel course; and a course preparing means for automatically preparing new travel-course data, based on a new loading position and said stored travel-course data, by regarding said current position of said loader as said new loading position when said initiation signal is generated by said initiation device; wherein said automatic travel controller rewrites, in said course data storage device, said stored travel-course data with the automatically prepared new travel-course data to thereby provide new thus stored travel-course data.

Claim 22

An unmanned dump truck operating system in accordance with claim 17, wherein said initiation device for generating said initiation signal to initiate preparation of said new set travel course comprises an automatic guiding mode switch attached to said monitor controller for selecting a mode of automatically travelling said unmanned dump truck to said new loading position, and wherein said initiation signal is inputted to said course preparing means by actuation of said automatic guiding mode switch.

Claim 23

An unmanned dump truck operating system in accordance with claim 17, wherein said initiation device for generating said initiation signal to initiate preparation of said new set travel course comprises a trigger signal generating means, positioned at said loader, for generating a trigger signal for reporting that said loader is on said new loading position; and wherein said third radio device provides for radio communication of said trigger signal to said course preparing means; and wherein said course preparing means automatically prepares new travel-course data, based on said new loading position and said stored travel-course data by regarding said current position of said loader as said new loading position when receiving said trigger signal.

Claim 24

An unmanned dump truck operating system in accordance with claim 17, wherein said position measuring means for automatically ascertaining position coordinates of said current position of said loader comprises a loading position calculating means for automatically calculating and outputting position coordinates for said new loading position upon receiving said initiation signal.

Claim 25

An unmanned dump truck operating system in accordance with claim 17, wherein said position measuring means automatically ascertains said current position of said loader by obtaining position coordinates from GPS.

Claim 26

An unmanned dump truck operating system in accordance with claim 17, wherein said position measuring means automatically measures said current position of said loader by obtaining position coordinates from a fixed radar station.

Claim 27

An unmanned dump truck operating system in accordance with claim 17, wherein said course data storage device is provided on said unmanned dump truck.

Claim 28

An unmanned dump truck operating system in accordance with claim 17, wherein said initiation device comprises: an operating condition detecting means for detecting operating conditions of said loader; and a trigger generation judging means for judging whether or not the thus detected operating conditions satisfy predetermined conditions, and for outputting, when said thus detected operations conditions satisfy said predetermined conditions, a trigger signal as said initiation signal for reporting that said loader is at said new loading position.

Claim 29

An unmanned dump truck operating system which comprises: an unmanned dump truck; a course data storage device for storing travel-course data representative of a set travel course for said unmanned dump truck; an automatic travel controller, provided on said unmanned dump truck, for controlling said unmanned dump truck so as to travel along said set travel course represented by said stored travel-course data in said course data storage device; a loader for loading a load onto said unmanned dump truck at a loading position provided on said set travel course; a monitor station for monitoring said unmanned dump truck as said unmanned dump truck travels on said set travel course; a monitor controller, provided at said monitor station; a first radio device at said monitor station and a second radio device at said unmanned dump truck for providing radio communications between said monitor controller and said automatic travel controller of monitored travel condition information and an operating control signal; a position measuring means for automatically ascertaining position coordinates of a new loading position of said loader; a loader controller for automatically receiving from said position measuring means the position coordinates of said new loading position of said loader; a third radio device, provided at said loader, for radio communication of said position coordinates of a current position of said loader; an initiation device for generating an initiation signal to initiate preparation of a new set travel course; and a course preparing means for automatically preparing new travel-course data, based on said new loading position and said stored travel-course data, when said initiation signal is generated by said initiation device; wherein said automatic travel controller rewrites, in said course data storage device, said stored travel-course data with the automatically prepared new travel-course data to thereby provide new thus stored travel-course data; and wherein said position measuring means for automatically ascertaining position coordinates of said new loading position of said loader comprises a loading position calculating means for automatically calculating and outputting position coordinates for said new loading position upon receiving said initiation signal.

Claim 30

An unmanned dump truck operating system which comprises: an unmanned dump truck; a course data storage device for storing travel-course data representative of a set travel course for said unmanned dump truck; an automatic travel controller, provided on said unmanned dump truck, for controlling said unmanned dump truck so as to travel along said set travel course represented by said stored travel-course data in said course data storage device; a loader for loading a load onto said unmanned dump truck at a loading position provided on said set travel course; a monitor station for monitoring said unmanned dump truck as said unmanned dump truck travels on said set travel course; a monitor controller, provided at said monitor station; a first radio device at said monitor station and a second radio device at said unmanned dump truck for providing radio communications between said monitor controller and said automatic travel controller of monitored travel condition information and an operating control signal; a position measuring means for automatically ascertaining position coordinates of a new loading position of said loader; a loader controller for automatically receiving from said position measuring means the position coordinates of said new loading position of said loader; a third radio device, provided at said loader, for radio communication of said position coordinates of a current position of said loader; an initiation device for generating an initiation signal to initiate preparation of a new set travel course; and a course preparing means for automatically preparing new travel-course data, based on said new loading position and said stored travel-course data, when said initiation signal is generated by said initiation device; wherein said automatic travel controller rewrites, in said course data storage device, said stored travel-course data with the automatically prepared new travel-course data to thereby provide new thus stored travel-course data; and wherein said position measuring means for automatically ascertaining position coordinates of said new loading position of said loader comprises a loading position calculating means for automatically calculating and outputting position coordinates for said new loading position upon receiving said initiation signal.

Claim 31

An unmanned dump truck operating system in accordance with claim 25, wherein said initiation device comprises: an operating condition detecting means for detecting operating conditions of said loader; and a trigger generation judging means for judging whether or not the thus detected operating conditions satisfy predetermined conditions, and for outputting, when said thus detected operations conditions satisfy said predetermined conditions, a trigger signal as said initiation signal for reporting that said loader is at said new loading position.