Self-discipline running mine vehicle

The purpose of the present invention is to provide an autonomous traveling mine vehicle capable of suppressing a decrease in work efficiency when dust is generated at a work site. To this end, the autonomous traveling mine vehicle is provided with a surroundings monitoring sensor for measuring a three-dimensional point cloud of the topography around the vehicle body, and a travel path setting device is configured so as to calculate an undetectable region indicating a topographic portion that cannot be measured by the surroundings monitoring sensor, on the basis of the positional relationship between the non-detectable area and the vehicle body, an alternative route through which the vehicle body can travel without passing through the non-detectable area is calculated, and the predetermined route is updated by the alternative route. 本申请发明的目的为，提供在作业现场产生沙尘的情况下能够抑制作业效率降低的自律行驶矿山车辆。为此，自律行驶矿山车辆具有测量车辆主体的周围地形的三维点云的周围监视传感器，行驶路径设定装置构成为：计算无法探测区域，该无法探测区域表示所述周围监视传感器无法测量出的地形部分，基于所述无法探测区域与所述车辆主体之间的位置关系，计算能够供所述车辆主体不从所述无法探测区域通