Patent ID: 7970508
Filing Date: 2011-06-28
Classification: G05D

Abstract:
1. A guided travel control method for an unmanned vehicle by which the unmanned vehicle is guided to travel along a traveling course such that the unmanned vehicle moves in a target movement direction to a target earth unloading position of a hopper pit, and the unmanned vehicle is caused to perform an earth unloading operation in a state in which a vehicle body interferes with the hopper pit, comprising: finding a position obtained by shifting the target earth unloading position in a direction of withdrawing from the hopper pit that is a direction opposite to the target movement direction, to a position in which the vehicle body does not interfere with the hopper pit, as a corrected target earth unloading position; creating an area of the hopper pit as a hopper detour area in which interference with the unmanned vehicle is prohibited; creating a corrected traveling course for guiding the unmanned vehicle to travel such that the unmanned vehicle moves in the target movement direction to the corrected target earth unloading position without interfering with the hopper detour area, based on the hopper detour area, the corrected target earth unloading position, and the target movement direction in the target earth unloading position; guiding the unmanned vehicle to travel along the created corrected traveling course and causing the unmanned vehicle to move in the target movement direction to the corrected target earth unloading position; and further guiding the unmanned vehicle to travel along a route from the corrected target earth unloading position to the target earth unloading position and causing the unmanned vehicle to move in the target movement direction to the target earth unloading position.