【０００１】[0001]
【産業上の利用分野】本発明は、ダンプトラックのタイ
ヤ半径を稼動中に計測するシステムに関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a system for measuring a tire radius of a dump truck during operation.
【０００２】[0002]
【従来の技術】ダンプトラックの走行距離は変速機出力
回転数とタイヤ半径等によって算出しているが、タイヤ
半径がオプションの有無、燃料・油脂水量による空車重
量や、積荷重量によって変化するので、算出した走行距
離と実際の走行距離に誤差が生じてしまう。このよう
に、算出した走行距離と実際の走行距離に誤差が生じる
とダンプトラックを自動走行制御する場合等に設定した
走行距離と実際の走行距離に誤差が生じて正確に制御で
きない。このために従来は、タイヤのバネ定数を基とし
て標準空車重量と定格積載重量によって空車時に積載時
のタイヤ半径を予め算出し、自動走行制御システムのコ
ントローラに２つのタイヤ半径をメモリし、空車走行
時、積載走行時に一方の値を呼び出して走行距離を算出
している。2. Description of the Related Art The traveling distance of a dump truck is calculated based on the output rotation speed of a transmission and the tire radius. An error occurs between the calculated traveling distance and the actual traveling distance. As described above, if an error occurs between the calculated traveling distance and the actual traveling distance, an error occurs between the set traveling distance and the actual traveling distance in the case where the dump truck is automatically controlled, and accurate control cannot be performed. For this purpose, conventionally, the tire radius at the time of empty loading is calculated in advance based on the standard empty weight and the rated loading weight based on the spring constant of the tire, the two tire radii are stored in the controller of the automatic driving control system, and the idle driving is performed. At the time of loading, one value is called at the time of loading traveling to calculate the traveling distance.
【０００３】[0003]
【発明が解決しようとする課題】しかしながら、オプシ
ョン類の有無、燃料・油脂水量の変化により個々の車両
やその時で空車重量の異なり、また、積載重量は積載物
の種類や積載状況などでその時々により異なるから、積
載走行時のタイヤ半径を正確に計測できない。However, the weight of an individual vehicle and the empty vehicle at that time vary depending on the presence or absence of options, changes in the amount of fuel and oil and water, and the load weight may vary depending on the type of load and the load situation. Therefore, it is not possible to accurately measure the radius of the tire when the vehicle is loaded.
【０００４】そこで、本発明は前述の課題を解決できる
ようにしたダンプトラックのタイヤ半径計測システムを
提供することを目的とする。Accordingly, an object of the present invention is to provide a tire radius measuring system for a dump truck which can solve the above-mentioned problems.
【０００５】[0005]
【課題を解決するための手段】車体１に後輪４を後輪サ
スペンションシリンダ５で支承し、この車体１にベッセ
ルを起伏自在に設け、タイヤ半径等によって走行距離を
算出するダンプトラックにおいて、前記後輪サスペンシ
ョンシリンダの圧力を車両停止時に検出する手段と、こ
の検出圧力を加味してタイヤ半径を演算する手段より成
るダンプトラックのタイヤ半径計測システム。Arear wheel 4 is mounted on a body 1 of a vehicle.
It is supported by a spence cylinder 5 and
The mileage can be adjusted by changing the tire radius etc.
In the calculated dump truck, therear wheel suspension
Means for detecting the pressure of the cylinder when the vehicle stops.
From the means for calculating the tire radius taking into account the detected pressure of
Dump truck tire radius measurement system.
【０００６】[0006]
【作 用】後輪サスペンションシリンダの圧力によっ
て後輪に作用する軸重量を知ることができるから、その
時々のタイヤ半径を正しく計測できる。[Operation] Since the weight of the shaft acting on the rear wheel can be known from the pressure of the rear wheel suspension cylinder, the tire radius at each time can be accurately measured.
【０００７】[0007]
【実 施 例】図１に示すように、車体１の前部左右に
前輪２が前輪サスペンションシリンダ３を介して支承さ
れ、車体１の後部左右に後輪４が後輪サスペンションシ
リンダ５を介して支承され、その車体１にはベッセルが
起伏自在に取付けられてダンプトラックを構成し、その
車体１には傾斜計６が取付けてある。前記後輪サスペン
ションシリンダ５は図２に示すように、シリンダチュー
ブ１０内にピストンロッド１１を備えたピストン１２を
嵌挿して伸長室１３と縮小室１４を形成し、その伸長室
１３に油とチッソガス、縮小室１４に油を各々封入する
と共に、細孔１５で連通してあり、伸長室１３内の圧力
を検出することで外力Ｆの大きさが判る構造であって、
その伸長室１３内の圧力を測定する圧力センサ１６を備
えている。図３に示すように、中央演算回路等のタイヤ
半径演算器２０には前記圧力センサ１６から後輪サスペ
ンションシリンダ圧Ｐａが入力され、車両停止検出手段
２１から車両停止信号が入力され、傾斜計６から車体傾
斜角度が入力され、メモリ２２にはタイヤ自由時半径、
タイヤの荷重一半径特性、後輪サスペンションシリンダ
ロッド外径、バネ下荷重、後輪サスペンションシリンダ
圧Ｐａ、車体傾斜角度、傾斜補正係数が記憶されてい
る。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As shown in FIG. 1, a front wheel 2 is supported on the front left and right of a vehicle body 1 via a front wheel suspension cylinder 3, and a rear wheel 4 is supported on a rear left and right of the vehicle body 1 via a rear wheel suspension cylinder 5. The vehicle is supported, and a vessel is mounted on the vehicle body 1 so as to be able to move up and down to form a dump truck, and the inclinometer 6 is mounted on the vehicle body 1. As shown in FIG. 2, the rear wheel suspension cylinder 5 has an extension chamber 13 and a reduction chamber 14 formed by inserting a piston 12 having a piston rod 11 into a cylinder tube 10, and oil and nitrogen gas are provided in the extension chamber 13. A structure in which oil is sealed in the reduction chamber 14 and communicated with the small holes 15 so that the magnitude of the external force F can be determined by detecting the pressure in the expansion chamber 13.
A pressure sensor 16 for measuring the pressure in the extension chamber 13 is provided. As shown in FIG. 3, a rear wheel suspension cylinder pressure Pa is input from the pressure sensor 16 to a tire radius calculator 20 such as a central processing circuit, and a vehicle stop signal is input from a vehicle stop detector 21. The vehicle body inclination angle is input from the
Tire load-radius characteristics, rear wheel suspension cylinder rod outer diameter, unsprung load, rear wheel suspension cylinder pressure Pa, vehicle body inclination angle, and inclination correction coefficient are stored.
【０００８】次に後輪４のタイヤ半径の計測について説
明する。車両停止時には車両停止検出手段２１、例えば
車輪回転の有無検出器から車両停止信号がタイヤ半径演
算器２０に入力され、タイヤ半径演算器２０は所定時間
間隔毎に後輪サスペンションシリンダ圧Ｐａを読み取っ
てメモリ２２に送り、最新の後部サスペンションシリン
ダ圧Ｐａをメモリ２２に記憶する。この時旧いデータは
抹消しても良い。これと同時に傾斜計６からの車体傾斜
角度をメモリ２２に記憶する。車両停止検出手段２１か
ら車両停止信号が入力されなくなったら車両走行開始と
判断し、タイヤ半径演算器２０の圧力センサ１６の圧力
読み取りを中止してメモリ２２内のタイヤ自由時半径、
タイヤの荷重一半径特性、後輪サスペンションシリンダ
ロッド外径、バネ下荷重、後輪サスペンションシリンダ
圧力Ｐａ、車体傾斜角度、傾斜補正係数に基づいてタイ
ヤ半径を演算し、その演算したタイヤ半径はダンプトラ
ックの自動走行システムなどの他のシステムに送る。以
上のシステムにおいて、傾斜計６からの車体傾斜角度は
車両停止時の車体傾斜角度によって後輪サスペンショシ
リンダ５に作用する外力が変化し、平坦地の場合と誤差
が生じるためであって、その車体傾斜角度によって傾斜
補正係数を選択してタイヤ半径を演算する。Next, measurement of the tire radius of the rear wheel 4 will be described. When the vehicle is stopped, a vehicle stop signal is input to the tire radius calculator 20 from a vehicle stop detection unit 21, for example, a wheel rotation presence / absence detector, and the tire radius calculator 20 reads the rear wheel suspension cylinder pressure Pa at predetermined time intervals. It is sent to the memory 22 and the latest rear suspension cylinder pressure Pa is stored in the memory 22. At this time, the old data may be deleted. At the same time, the vehicle body inclination angle from the inclinometer 6 is stored in the memory 22. When the vehicle stop signal is no longer input from the vehicle stop detecting means 21, it is determined that the vehicle is running, the pressure reading of the pressure sensor 16 of the tire radius calculator 20 is stopped, and the tire free radius in the memory 22 is determined.
The tire radius is calculated based on the tire load-radius characteristic, rear wheel suspension cylinder rod outer diameter, unsprung load, rear wheel suspension cylinder pressure Pa, vehicle body inclination angle, and inclination correction coefficient. Send it to other systems, such as an automated driving system. In the above system, the vehicle body inclination angle from the inclinometer 6 is different from the case of a flat ground because an external force acting on the rear wheel suspension cylinder 5 changes depending on the vehicle body inclination angle when the vehicle is stopped. A tire radius is calculated by selecting an inclination correction coefficient according to the inclination angle.
【０００９】[0009]
【発明の効果】後輪サスペンションシリンダ５の圧力に
よって車両の状態やベッセ内の積載重量における後輪４
に作用する重量を知ることができるから、その後輪サス
ペンションシリンダ５の圧力をタイヤ半径演算に加味す
ればその時々のタイヤ半径を正しく計測できる。したが
って、計測したタイヤ半径等によって走行距離を正確に
算出でき、正確に自動走行制御することが可能である。According to the pressure of the rear wheel suspension cylinder 5, the rear wheel 4 in the state of the vehicle and the load weight in the vessel is
Then, by adding the pressure of the wheel suspension cylinder 5 to the tire radius calculation, the tire radius at each time can be correctly measured.But
The mileage can be accurately calculated based on the measured tire radius, etc.
It is possible to calculate and accurately perform automatic traveling control.
【図１】ダンプトラックの車両支承部の斜視図である。FIG. 1 is a perspective view of a vehicle support portion of a dump truck.
【図２】後輪サスペンションシリンダの断面図である。FIG. 2 is a sectional view of a rear wheel suspension cylinder.
【図３】タイヤ半径演算回路図である。FIG. 3 is a circuit diagram of a tire radius calculation circuit.
【図４】タイヤ半径演算の動作フローチャートである。FIG. 4 is an operation flowchart of tire radius calculation.
１…車体、２…前輪、３…前輪サスペンションシリン
ダ、４…後輪、５…後輪サスペンションシリンダ、６…
傾斜計、１６…圧力センサ、２０…タイヤ半径演算器、
２２…メモリ。DESCRIPTION OF SYMBOLS 1 ... Body, 2 ... Front wheel, 3 ... Front wheel suspension cylinder, 4 ... Rear wheel, 5 ... Rear wheel suspension cylinder, 6 ...
Inclinometer, 16 ... pressure sensor, 20 ... tire radius calculator,
22 ... Memory.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP03228676AJP3107861B2 (en) | 1991-08-14 | 1991-08-14 | Dump truck tire radius measurement system |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP03228676AJP3107861B2 (en) | 1991-08-14 | 1991-08-14 | Dump truck tire radius measurement system |
| Publication Number | Publication Date |
|---|---|
| JPH0545154A JPH0545154A (en) | 1993-02-23 |
| JP3107861B2true JP3107861B2 (en) | 2000-11-13 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP03228676AExpired - Fee RelatedJP3107861B2 (en) | 1991-08-14 | 1991-08-14 | Dump truck tire radius measurement system |
| Country | Link |
|---|---|
| JP (1) | JP3107861B2 (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6548956B2 (en) | 1994-12-13 | 2003-04-15 | The Trustees Of Princeton University | Transparent contacts for organic devices |
| US6596134B2 (en) | 1994-12-13 | 2003-07-22 | The Trustees Of Princeton University | Method of fabricating transparent contacts for organic devices |
| US6642544B1 (en) | 1996-12-11 | 2003-11-04 | Sanyo Electric Co., Ltd. | Display apparatus using electroluminscence elements and method of manufacturing the same |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6548956B2 (en) | 1994-12-13 | 2003-04-15 | The Trustees Of Princeton University | Transparent contacts for organic devices |
| US6596134B2 (en) | 1994-12-13 | 2003-07-22 | The Trustees Of Princeton University | Method of fabricating transparent contacts for organic devices |
| US7714504B2 (en) | 1994-12-13 | 2010-05-11 | The Trustees Of Princeton University | Multicolor organic electroluminescent device formed of vertically stacked light emitting devices |
| US8324803B2 (en) | 1994-12-13 | 2012-12-04 | The Trustees Of Princeton University | Transparent contacts for organic devices |
| US6642544B1 (en) | 1996-12-11 | 2003-11-04 | Sanyo Electric Co., Ltd. | Display apparatus using electroluminscence elements and method of manufacturing the same |
| Publication number | Publication date |
|---|---|
| JPH0545154A (en) | 1993-02-23 |
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