A control system and related method for controlling the machine in a mine. The control system may comprise a LADAR, an interface device, a processor and an AECM. The LADAR may be configured to capture scan data of physical mine walls. The interface device may be configured to display a mine map illustrating a section of the mine. The processor may be configured to add a virtual wall to the mine map in response to a first user input. The processor may be configured to add a temporary wall to the mine map in response to a second user input. The temporary wall may be based on scan data of a physical mine wall captured by the LADAR. The AECM is configured to control an operation of the machine, based on the mine map, to avoid collision of the machine with the virtual wall or the temporary wall.

Provided is hybrid construction machine that can charge/discharge an electrical storage device appropriately and can suppress stop of an engine accompanying sharp increase of a load. The present invention includes a hybrid controller 22 that controls power of a hydraulic pump 17 and electric power of an inverter 15 in response to storage battery characteristics of the electrical storage device 16, and an output command unit 22F of the hybrid controller 22 is configured to control at least either one of the power of the hydraulic pump 17 and the electric power of the inverter 15 on the basis of at least either one of electric current or voltage of the storage battery characteristics and at least either one of temperature or a state of charge of the storage battery characteristics.

At the time of starting up an engine (9) using an assist motor generator (10), a main controller (28) lowers a lower limit value in a charge/discharge range of an electricity storage device (19) from a first lower limit value (min1) to a second lower limit value (min2) through an energy management control part (28B). The main controller (28) heightens the lower limit value in the charge/discharge range of an electricity storage device (19) from the second lower limit value (min2) to the first lower limit value (min1) when the start of the engine (9) is completed. Further, the main controller (28) displays engine stop prohibition information on a display device (30) when the start of the engine (9) is completed and when an SOC of the electricity storage device (19) falls below the first lower limit value (min1).

The object of the present invention is to provide a hybrid construction machine that can quickly warm up an electrical storage device and can improve the service life of the electrical storage device. This hybrid construction machine is equipped with: a prime mover (1); an electric motor that supplements the power of the prime mover (1) and generates electric power; an electrical storage device (8) that transmits power to and receives power from the electric motor; a warm-up circuit (25) that circulates a heating medium heated by waste heat from the prime mover (1) or the electric motor, or by a heater (40), to the vicinity of the electrical storage device (8); a control device that controls charging/discharging of the electrical storage device (8) and circulation of the heating medium of the warm-up circuit (25); and an outside air temperature measurement device that measures the outside air temperature. The control device executes warm-up operation by means of the heating medium, determines whether or not to execute charging/discharging of the electrical storage device (8) for the purpose of the warm-up operation in response to the outside air temperature measured by the outside air temperature measurement device, and conducts warm-up operation in which the warm-up operation by charging/discharging of the electrical storage device (8) is effected simultaneously.

A hydraulic system for a work machine includes a prime mover, a setup member, a hydraulic pump, an operation valve, a hydraulic device, and a memory. The memory stores first control characteristics indicating relations between the first pressure and an actual revolution speed of the prime mover, and stores a second control characteristic indicating a relation between the first pressure and the actual revolution speed of the prime mover. The hydraulic system includes a controller to set the first pressure based on the second control characteristic when a dropping amount of the actual revolution speed from the target revolution speed is less than a threshold value and to set the first pressure based on the first control characteristics determined corresponding to the target revolution speed when the dropping amount of the actual revolution speed from the target revolution speed is the threshold value or more.

Provided is a hybrid work machine in which a hybrid system and a downsized engine are used. The hybrid work machine improves fuel consumption, improves exhaust characteristics, and reduces noise. The hybrid work machine also performs rapid charging of a power storage device while preventing decreases in the output power of a hydraulic pump if the charge amount of the power storage device is extremely insufficient. A vehicle body controller 46 performs engine revolution speed decreasing control in which, if the charge rate of a battery 33 becomes equal to or less than a minimum charge rate, the target revolution speed of an engine 11 is reduced. The vehicle body controller also performs torque reducing control in which the maximum absorption torque of a hydraulic pump 21 is reduced. By performing these control operations, the vehicle body controller coercively generates surplus torque for the engine and operates a generator-motor 31 as a generator with the use of the surplus torque, thereby rapidly charging the battery.

A perception system for an autonomous machine to be hauled by a towing vehicle includes sensors that are configured to determine characteristics of an environment associated with the machine. Such characteristics associated with the machine include at least structural characteristics of the towing vehicle. The sensors are further configured to detect a presence of the towing vehicle on a job site, an orientation of the towing vehicle on the job site, and a loading end of the towing vehicle. The perception system further includes a controller that is communicably coupled to each of the sensors. The controller is configured to actuate movement of the machine in relation to the towing vehicle based on the characteristics of the environment determined by the sensors.

The application describes a self-propelling work machine, in the form of a truck, having an electric drive comprising at least one electric motor, a generator drivable by an internal combustion engine for the power supply of the electric drive, and a braking apparatus for braking the work machine, wherein the braking apparatus provides a regenerative braking by the electric drive and a feedback apparatus for feeding back electrical motor braking power of the electric motor to the generator to apply the motor braking power on the internal combustion engine. The application further describes a method for braking the work machine. A braking control apparatus is provided for an automatic connection of a mechanical brake in dependence on the motor braking power fed back to the internal combustion engine and/or in dependence on the operating state of the internal combustion engine acted on by the fed back motor braking power.

A hydraulic system is disclosed for assisting starting of a machine having an engine. The hydraulic system may include a work tool, a pump driven by the engine to pressurize fluid, and an actuator configured to receive pressurized fluid from the pump and move the work tool. The hydraulic system may also include an accumulator configured to selectively receive pressurized fluid from the pump and from the actuator, an electric starter configured to start the engine, and a motor selectively supplied with fluid from the accumulator to assist the electric starter in starting the engine.

The present application relates to a vehicle comprising a vehicle control system, the vehicle control system being configured to operate the vehicle in an autonomous mode and in a manual mode, the vehicle control system comprising: a first selector switch for switching between said autonomous mode and said manual mode; a second selector switch for switching between said autonomous mode and said manual mode; and an interlock circuit configured to deactivate propulsion of the machine when the first and the second selector switch are switched to different modes.