JP2017095061A - Dump truck - Google Patents

Abstract

PROBLEM TO BE SOLVED: To measure a cargo amount remaining on a load-carrying platform of a dump truck with good accuracy.SOLUTION: A dump truck equipped with a vehicle body, and a load-carrying platform which is so provided on the vehicle body as to be capable of being tilted and on which a cargo is loaded. The dump truck comprises: soil drop execution determination part 323 which determines whether the load-carrying platform is in a state after soil dropping in which the platform is transited from a non-seating state to a seating state on the basis of attitude information concerning the load-carrying platform; a withdrawal determination part 324 which determines whether the dump truck is withdrawn from a soil dropping spot in the state after soil dropping; and a remaining load calculation part 325 which receives the withdrawal determination from the withdrawal determination part, acquires load information from a load measurement device, and calculates a remaining load of a cargo based on said load information.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a dump truck, and more particularly to a load measuring technique.

  In general, for the purpose of grasping the work amount and operation cost of the dump truck, the dump truck is equipped with a transport work recording function for recording the number of times the load is transported and the elapsed time in each work state.

  The dump truck is repeatedly used to transport a load such as earth and sand at a mine site or a mining site, for example. The load loaded on the dump truck at the loading site is transported to a predetermined place by the dump truck and is lowered there. When the dump truck finishes unloading, it returns to the loading site again and loads the load. The dump truck repeats such a work cycle.

  In the loading operation, a loading machine such as a backhoe or a wheel loader collects the earth and sand and loads it on the dump truck a plurality of times, and then the dump truck transports a predetermined weight of the load to the dumping ground. Therefore, as a technique for grasping that the load has started to load earth and sand and has shifted to the loading operation, Patent Document 1 obtains the load of the load by subtracting the initial load obtained by calibration from the total load of the dump truck. A method of transitioning to the loading state when the load of the load reaches a preset threshold value can be mentioned.

JP 2005-227270 A

  In the technique described in Patent Document 1 described above, the determination of transition to the loading state is performed by the work state detection unit, on condition that the loaded weight exceeds a predetermined threshold Gth.

  However, even if the dump truck performs unloading, the load may adhere to the loading platform and the loading platform may not be completely empty. When there is a large amount of loads after the unloading, there is a problem that the load is detected immediately after the work state determination unit determines that the unloading work has been completed, and it is erroneously determined that the loading operation has started.

  As a method for preventing the erroneous determination, there is a method for increasing the threshold Gth. However, when this method is adopted, if all the cargo falls due to the release of earth, the load does not exceed Gth even if loading is performed, and a new problem occurs that the start of loading is not detected correctly. End up.

  Furthermore, even if the dump truck transports the load and releases it, if the load adheres to the loading platform and cannot be completely discharged, the productivity is increased by the amount of load attached to the loading platform rather than the conveyed load amount. Will fall. Therefore, although there is a demand at the dump truck operation site to accurately grasp the amount of load remaining on the dump truck platform from various uses such as detection of the starting point of loading work and load production management, There is a fact that there is no technology that can meet the demand.

  The present invention has been made in view of such circumstances, and an object of the present invention is to accurately measure the amount of load remaining on the loading platform of the dump truck.

  In order to achieve the above object, according to one aspect of the present invention, a seating posture of the loading platform is detected in a dump truck that includes a vehicle body and a loading platform on which the luggage that can be tilted is loaded. A seating posture detector that outputs posture information, a vehicle body speed detector that detects the speed of the vehicle body and outputs speed information, a load measuring device that measures the load of the loading platform and outputs load information, A load remaining amount calculating device that calculates a remaining load after discharging the loading platform, wherein the load remaining amount calculating device has changed the loading platform from a non-sitting state to a sitting state based on the posture information. Detaching execution determination unit for determining whether the state is after the release, a departure determination unit for determining whether the dump truck has left the release point in the state after the release, and a departure determination of the separation determination unit Receiving, from the load measuring device It acquires heavy information, characterized by and a residual load calculation unit for calculating a residual load of cargo on the basis of the load information.

  According to the present invention, it is possible to accurately measure the amount of cargo remaining on the loading platform of the dump truck. Problems, configurations, and effects other than those described above will be clarified by the following description of embodiments.

Left side view showing the configuration of the dump truck according to the first embodiment The hardware block diagram of the processing apparatus mounted in the dump truck concerning a first embodiment The block diagram of the program of the various processes stored in ROM of the working state determination apparatus which concerns on 1st embodiment State transition diagram showing the working state of the dump truck Flow chart showing flow of remaining load detection processing The flowchart which shows the flow of the work state determination process using the loading start determination process Flow chart showing the flow of load movement state determination processing The block diagram of the program of the various processes stored in ROM of the work state determination apparatus which concerns on 2nd embodiment Diagram showing schematic configuration of mine production management system

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Note that components having the same function are denoted by the same or related reference symbols throughout the drawings for describing the embodiments, and the repetitive description thereof is omitted. In the following embodiments, the description of the same or similar parts will not be repeated in principle unless particularly necessary.

<First embodiment>
Hereinafter, the first embodiment will be described in detail with reference to FIGS. First, the schematic configuration of the dump truck according to the present embodiment will be described with reference to FIGS. 1 and 2. FIG. 1 is a schematic configuration diagram of a dump truck according to the first embodiment. FIG. 2 is a hardware configuration diagram of a processing apparatus mounted on the dump truck according to the first embodiment.

  The dump truck 100 shown in FIGS. 1 and 2 operates at a large-scale site such as a mine or a quarry site. For example, the dump truck 100 has a vehicle weight of about 140 t and a loading weight of about 180 t. A body (loading platform) 2 for carrying a load is mounted on the vehicle body 1 of the dump truck 100. When the operator operates the hoist operating lever 10 (see FIG. 2) to operate the hoist cylinder 3, the body 2 can be woken up from the position indicated by the solid line to the state indicated by the two-dot chain line. The earth and sand loaded in can be released.

  Further, the vehicle body 1 of the dump truck 100 is provided with a plurality of suspensions 4 a and 4 b for supporting the vehicle body 1 on the front and rear axles, and the load of the vehicle body 1 including earth and sand mounted on the body 2 and the body 2. Is applied to each suspension 4. A cylinder pressure sensor (hereinafter abbreviated as “pressure sensor”) is attached to each suspension 4 in order to measure the pressure in the cylinder of the suspension 4. In FIG. 1, only the left front suspension 4a and the left rear suspension 4b are shown for convenience of explanation, but there are also a right front suspension and a right rear suspension, which are supported by a total of four suspensions. Each suspension is provided with a pressure sensor, and the dump truck 100 includes a total of four pressure sensors 6a, 6b, 6c, and 6d.

  As shown in FIG. 2, the dump truck 100 includes a work state determination device 32 for determining the work state of the dump truck 100, a load measurement device 31, a body seating switch 5, a vehicle body speed detector 8, a position calculation device 9, And a hoist operation lever 10.

  The body seating switch 5 is provided between the vehicle body 1 and the body 2 of the dump truck 100, and when the body 2 is seated, this seating state is detected and posture information is output to the work state determination device 32.

  The vehicle body 1 of the dump truck 100 is provided with an inclination angle sensor 7. The inclination angle sensor 7 measures the inclination of the vehicle body 1 in the front-rear direction.

  The load measuring device 31 calculates the load from the vehicle body 1 and the body 2 (including the load load) based on the output from each pressure sensor 6a, 6b, 6c, 6d and the output from the tilt angle sensor 7. A load calculation unit 311 is provided. The load calculation unit 311, the pressure sensors 6 a, 6 b, 6 c, 6 d and the tilt angle sensor 7 are collectively referred to as a load measuring device 31. The measurement result of the load measuring device 31 is input to the work state determining device 32 as load information.

  The load calculation unit 311 reads the output signals of the pressure sensors 6a, 6b, 6c, and 6d of each suspension 4 and the output signal of the inclination angle sensor 7 at predetermined sampling periods, and calculates a load Wp that is the weight of the load. . The total weight calculated by the four pressure sensors 6a, 6b, 6c, 6d is the total load Wt. The total load Wt is the total weight applied to the suspension including the vehicle body 1 and the body 2 in the load. The load Wp is obtained by subtracting the initial load Ws of the vehicle body obtained in advance by calibration from the total load Wt. The load measuring device 31 always performs this load measurement calculation regardless of whether or not there is a load.

  Further, the dump truck 100 detects a rotation speed of a wheel attached to the vehicle body 1, in this embodiment, a front wheel, which is a driven wheel, and outputs speed information, and a GPS (Global Positioning System) or IMU. A position calculation device 9 that calculates the position of the host vehicle such as (Inertial Measurement Unit) and outputs position information. The speed information and the position information are input to the work state determination device 32.

Further, the operation content of the hoist operation lever 10, specifically, a state signal indicating the tilt direction and tilt angle of the lever is input to the work state determination device 32.

  The dump truck 100 includes a display device 19 as an output destination of the work state determination device 32 and a communication device 20 for communicating with an external device.

  In addition, the structure which acquires the output signal and speed information from the pressure sensor mentioned above by communication from another controller which controls a transmission or a body may be sufficient.

  The work state determination device 32 includes a CPU 12 that performs calculation, a timer 13 that drives the CPU 12, a clock 14 that acquires time, a ROM 15 that stores various processes (programs), and variable values and load measurement results. A RAM 16 that stores certain load data, an input interface 17 (described as input I / F in FIG. 2) that performs sensor input and communication, and an output interface that outputs the calculation results of the CPU 12 to the display device 19 and the communication device 20 (FIG. 2, described as output I / F) 18. Moreover, you may provide the hard disk (HDD) 11 as an example of a non-volatile storage device. Particularly in the second embodiment to be described later, it is preferable to include a nonvolatile memory device.

  Then, the calculated remaining load amount and the actual transport amount transported by the immediately preceding transport operation in the second embodiment to be described later (corresponding to the load amount unloaded by the immediately previous unloading operation) 32 can be output to the display device 19 and displayed on the screen of the display device 19. As a result, it is possible to notify the operator in the cab of the remaining load amount and the load amount. Furthermore, in a third embodiment to be described later, the remaining amount of cargo may be transmitted to a production amount management apparatus connected via a wireless communication line to calculate and aggregate the actual transport amount. Further, the remaining load may be monitored.

  Further, for example, a display device (not shown) visually recognized by an operator of a loader as an external device notifies the start of loading measured from the work state determination device 32 based on the remaining load, or during loading work by the loader A signal indicating the amount of loading may be transmitted.

  The CPU 12 loads various processes (programs) stored in the ROM 15 to the RAM 16 and executes them. FIG. 3 is a configuration diagram of various processing programs stored in the ROM of the work state determination apparatus according to the first embodiment.

  Based on the load calculated by the load calculation unit 311, the posture information for determining the posture of the body detected by the body seating switch 5, and the speed information by the vehicle body speed detector 8, the work state determination device 32. The work state of the dump truck 100 including the loaded state is determined. The earthing state determination unit 321, the movement distance calculation unit 322, the earthing execution determination unit 323, the earthing ground exit determination unit 324, and the remaining load calculation unit 325 The loading state determination unit 326 and the load movement state determination unit 327 are included. Among these, the unloading execution determination unit 323, the unloading field exit determination unit 324, and the remaining load calculation unit 325 are also components of the remaining load calculation device 330.

  Next, processing contents of the work state determination device 32 will be described with reference to FIG. FIG. 4 is a state transition diagram showing a working state of the dump truck.

  Here, for convenience of explanation, the explanation will be made from the dumping state S41. The earthing state S41 means a state from the time when the body 2 of the dump truck 100 starts to rise and fall (the time when the earthing starts) to the time when the body 2 is seated again.

  After dumping state (After Dumping) S42 is a state after dumping state S41 and in which dump truck 100 is in the dumping ground. The transition condition from the earth release state S41 to the after dumping state (After Dumping) S42 is that the posture information acquired from the body seating switch 5 is a seating signal.

  The empty load movement state (Empty) S43 refers to a point in time after the release after the release state S42 and before the loading is started. The transition condition from the post-earthing state S42 to the unloading state S43 is that the dump truck 100 has left the earthing ground after the state S42. That is, in this embodiment, when the work state determination device 32 detects the seating of the body 2 and detects that the body 2 has left the earthing ground, the earthing work is finished and the state shifts to the unloading movement state S43. Judgment is made.

  The loading state (Being loaded) S44 refers to a state from when loading to the dump truck 100 is started until the loading point is departed. The transition condition from the empty load movement state S43 to the loading state S44 is that the work state determination device 32 detects the start of loading.

  The loaded movement state (Loaded) S45 is a state until the vehicle stops at the release point after leaving the loading place. The transition condition from the loading state S44 to the loading movement state S45 is that the dump truck 100 exits the loading place after detecting that loading has started.

  The transition condition from the loaded movement state (Loaded) S45 to the earthing state S41 is that the body 2 has shifted from the sitting posture to the wake-up posture (non-sitting posture).

  When the earthing work is completed, the dump truck seats the body 2 and returns to the loading site. Thereafter, the dump truck 100 repeatedly performs a work cycle from the unloading state to the post-unloading state, the empty load moving state, the loading state, and the load moving state.

  The work state determination device 32 determines which state the dump truck 100 corresponds to among the above five states.

  Hereinafter, the details of each function in the work state determination device 32 will be described along the flow of processing of the work state determination device 32. FIG. 5 is a flowchart showing the flow of the remaining load detection process in the process of the work state determination device 32.

  When the earthing execution determination unit 323 acquires posture information indicating that the body sitting switch 5 is seated, the body seating switch 5 is turned on, that is, the body 2 is changed from the non-sitting state to the sitting state. Judgment is made (S501 / Yes), and the elapsed time (sitting time) after the body seating timer 13 of the work state judging device 32 shifts to the seating state is measured (S502).

  On the other hand, when determining that the body seating switch 5 is OFF (S501 / No), the earthing execution determination unit 323 initializes the body seating timer 13 (S503) and returns to S501.

  The earthing execution determination unit 323 compares the seating time with a time threshold (seat determination time) provided to determine that the body has been seated, and if the seating time exceeds the seating determination time (S504 / Yes), It is determined that the state has shifted from the released state to the post-release state (S505). If the seating time is less than or equal to the seating determination time (S504 / No), the process returns to S501.

  In the above example, the signal of the body seating switch 5 is used to detect the posture state (sitting state or non-sitting state) of the body, but from the angle sensor that detects the angle between the vehicle body 1 and the body 2. You may use the signal and the state signal of the hoist control lever 10 which performs the raising / lowering motion of the body. Therefore, the posture information detector may be the body seating switch 5 or the hoist operation lever 10.

  The travel distance calculation unit 322 acquires vehicle speed information from the vehicle body speed detector 8, multiplies the vehicle speed indicated by the vehicle speed information by the time acquired from the timer 13, and travels from the release point (“travel distance after release”). And a moving distance from the loading point (referred to as “moving distance after loading”) (S506). The calculation result is output to the release ground exit determination unit 324 and the load movement state determination unit 328 as needed.

  The earthmoving field exit determination unit 324 determines whether the post-earthing travel distance exceeds an earthing ground distance indicating a predetermined earthing field range (S507). If it has exceeded (S507 / Yes), the dumping ground exit determination unit 324 determines that the dump truck 100 has exited the dumping ground, and that the work state has transitioned from the post-unloading state to the empty cargo movement state (S508). ). If the travel distance after earthing is equal to or less than the earthing ground distance (S507 / No), the calculation of the distance after earthing is continued (S506).

  The above earth release distance may be changed at each work site. Depending on the change of the release point within the same release area, the distance from the release point to the entrance of the release area depends on the distance. May be changed.

  The earthing ground distance may be defined by using the rotation speed of a wheel (preferably a driven wheel) instead of a value obtained by multiplying the vehicle speed by time. In this case, the movement distance calculation unit 322 acquires speed information indicating the wheel rotation speed from the vehicle body speed detector 8, and compares it with a rotation speed threshold value for determining that the exit from the release point has exited. It may be determined whether the dump truck has left.

  The remaining load calculation unit 325 receives the release determination from the release ground exit determination unit 324, acquires the load We from the load calculation unit 311 (S509), and uses this load We as the remaining load amount according to the purpose. Output (S510).

  According to the remaining load detection process described above, the remaining amount of the load is measured after the earthing work is completely completed because the body is seated, starts running, and the remaining load is measured after leaving the earthing ground. The amount is measured, and the measurement accuracy of the remaining load can be improved.

  In the above, the remaining load calculation unit 325 may selectively use the load We during the movement of the dump truck 100 as the remaining load, among the loads We at the time of empty load movement. As an example, when traveling on a curved path where the load of the dump truck 100 is not stable, the output of the load of the load measured at that time is invalidated, and the empty load movement when the traveling is stable The remaining load may be calculated using the load We at the time.

  Further, the release ground exit determination unit 324 determines whether or not the exit from the release ground is made using the travel distance from the release point, but the vehicle body is released based on the position information of the vehicle body acquired from the position calculation device 9. It is good also as a structure which determines whether it came out of the ground. In this case, the work state determination device 32 is provided with a map information storage unit (not shown) that stores map information defining the boundary points of the earthmoving field. Then, in place of steps 506 and 507, the release ground exit determination unit 324 compares the position information of the host vehicle acquired from the position calculation device 9 with the map information read from the map information storage unit, and the host vehicle releases the ground. It may be determined whether the place has been left.

  Further, a gate may be provided at the entrance / exit of the earthing ground, a signal transmitter may be installed through the gate, and a dump signal receiver may be provided in the dump truck 100. Then, when the dump truck 100 departs from the release point and wirelessly receives a passage signal (corresponding to an exit signal), the release site exit determination unit 324 may determine that the exit site has exited.

  Moreover, in the above example, the release ground exit determination unit 324 is provided, but instead of this, a point (leaving point) where it is possible to determine that the release work has been completed completely before the exit of the release ground. A departure determination unit may be provided for determining whether the dump truck has left the release point (departure determination) based on whether the dump truck has traveled to the end.

  As an output example corresponding to the usage of the remaining load in step 510, a loading start determination process using the remaining load will be described with reference to FIG. FIG. 6 is a flowchart showing the flow of the loading start determination process.

  As shown in FIG. 6, the loading state determination unit 326 performs load calculation in addition to the fact that the body is seated (S601 / Yes), the vehicle body speed V is less than the travel detection threshold VL (S602 / Yes). The load Wp of the current load acquired from the unit 311 is not less than a value obtained by adding a loading start determination threshold Gth for determining that loading has been performed on the load We (loading remaining amount We) at the time of empty load movement. If this is detected (S603 / Yes), it is determined that the loading operation has started on the dump truck 100 and the working state has shifted from the empty load movement state to the loading state (S604). Here, the predetermined threshold Gth is a value that can detect the equivalent of one full bucket of a loader that loads the dump truck. In general, the matching between the loader and the dump truck is selected so that the loading operation into the dump truck 100 by the loader can be performed with 3 to 4 buckets and the rated load capacity can be loaded.

  If the load start determination threshold Gth is determined to be smaller by comparing the load Wp of the load with the load start determination threshold Gth without considering the remaining load We of the load, for example, the rated load In the case where the value is set to 5% of the amount, the remaining amount of the load exceeds the loading start determination threshold value Gth, and it is erroneously detected that the loading state is shifted to before loading. On the other hand, when the loading start determination threshold Gth is set to be large, for example, when the remaining load We is small even though it is set to a value about half of the rated loading weight, the loading state is detected. Since it is necessary to load a plurality of times by the loader until the start of loading, the start of loading cannot be detected correctly.

  On the other hand, in the present embodiment, a value obtained by adding a relatively small loading start determination threshold Gth (margin with respect to the remaining load We) to the remaining load We is compared with the load Wp at that time to start loading. Therefore, it is possible to detect the transition from the unloading state to the loading state (loading start) regardless of the amount of remaining load We, and the time lag between the detection timing and the actual loading work start timing Can be reduced.

  Next, the load movement state determination process will be described with reference to FIG. FIG. 7 is a flowchart showing the flow of the load movement state determination process.

  The load movement state determination unit 328 is a dump truck when the following three conditions are satisfied based on the load Wp acquired from the load calculation unit 311 and the post-loading movement distance from the body seating switch 5 and the movement distance calculation unit 322. Is determined to have shifted from the loading state S44 to the loading movement state S45 (S704). That is, first, the body 2 is seated (S701 / Yes), and secondly, the load Wp of the load is greater than or equal to a preset loading completion determination threshold GH for determining that the loading operation has been completed. (S702 / Yes), and thirdly, the following three conditions are satisfied: the movement distance after loading is equal to or greater than the loading field radius (S703 / Yes). The loading field radius may be changed at each work site. Further, the determination order of the above three conditions is not limited to the example of FIG. 7 and may be any order. The third condition, that is, the condition that the movement distance after loading is equal to or greater than the loading field radius may be replaced with a condition that the dump truck 100 has left the loading point. Since the load movement state determination unit 328 determines that the dump truck 100 has detached from the loading point when the movement distance after loading exceeds the loading field radius, determination of separation from the loading point (the loading as one aspect thereof) It has a function to judge exit / exit.

  In addition, the transition from the load movement state S44 to the release state S41 determines that the release state determination unit 321 has shifted to the release state when the release operation is started. For example, when the earthing state determination unit 321 detects the non-sitting state of the body 2 based on the posture information from the body seating switch 5, it can determine that the state has shifted to the earthing state.

  The transition from the load movement state S44 to the earthing state S41 detects the non-sitting state of the body 2 based on the posture information from the body seating switch 5, but operates the hoist operation lever 10 to operate the hoist cylinder. 3 may be determined to have shifted to the earthing state based on the operation of the hoist operation lever 10.

  According to the loading start determination process, the start of loading work can be correctly detected. As a result, the loading operation time can be grasped more accurately, and the manager can more accurately manage whether or not the vehicle is dispatched accurately.

<Second embodiment>
As another application of the remaining load calculated in step 510, a mine production volume management system will be described with reference to FIG. FIG. 8 is a configuration diagram of various processing programs stored in the ROM of the work state determination apparatus according to the second embodiment.

  As illustrated in FIG. 8, the work state determination device 32a according to the second embodiment includes an actual transport amount calculation unit 352, a transport amount storage unit 111, and an actual transport amount in addition to the work state determination device 32 of the first embodiment. A storage unit 112 is included.

  The load movement state determination unit 328 stores the remaining load information indicating the load Wf acquired from the load calculation unit 311 in the load movement state in the transfer amount storage unit 111 as a provisional transfer amount. The load Wf at this time is assumed to be a transport load (provisional transport amount) in the n-th work cycle starting from the earthing state, and is hereinafter referred to as Wf_n.

  Thereafter, when the dump truck 100a is released and the remaining load calculation unit 325 calculates the remaining load amount We in step 510, the remaining load We is output to the actual transport amount calculation unit 352. Since the remaining load We at this time is the remaining load calculated in the (n + 1) th work cycle, it will be referred to as We_n + 1.

  The actual transport amount calculation unit 352 subtracts the load remaining amount We_n + 1 calculated in the current work cycle (n + 1 cycle) from the provisional transport amount (load Wf_n) acquired in the immediately preceding work cycle (n cycles). The actual transport amount (corresponding to the amount actually released) is calculated in the immediately preceding work cycle (n cycles), and the actual transport amount information indicating the value is stored in the actual transport amount storage unit 112.

  The actual transport amount information stored in the actual transport amount storage unit 112 is the regular transport amount information periodically, for example, once a day, or in the case of a manned dump truck on which a driver is boarded, when the driver of the dump truck changes. May be read and written to a portable recording medium, or may be read by wireless communication. The read actual transport amount information may be used for mine production amount management.

  According to the present embodiment, it is possible to calculate a more accurate production amount by reducing an error in the production amount due to the remaining amount of the load attached to the body 2.

<Third embodiment>
The third embodiment is a modification of the second embodiment, and is a mine production amount management system using actual transport amount information. FIG. 9 is a diagram showing a schematic configuration of a mine production management system.

  As shown in FIG. 9, the mine production volume management system 200 includes at least one dump truck (six dump trucks 100a, 100b, 100c, 100d, 100e, 100f in the example of FIG. 9) and a production volume management apparatus 210. Are connected via a wireless communication line.

  The production amount management device 210 includes a communication unit 211 that performs wireless communication with each dump truck, a management device-side actual transport amount storage unit 212, a transport amount totaling unit 213, and a display unit 214.

  As shown in FIG. 9, each dump truck 100a, 100b, 100c, 100d, 100e, 100f used in the mine production volume management system 200 is equipped with a work state determination device 32a according to the second embodiment.

  Each dump truck 100a, 100b, 100c, 100d, 100e, 100f adds vehicle identification information uniquely indicating the own vehicle to the actual conveyance amount information stored in the actual conveyance amount storage unit 112 of the own vehicle. The communication device 20 transmits the actual conveyance amount information to the production amount management device 210.

  The management apparatus side actual transport amount storage unit 212 records the received actual transport amount information, and the transport amount totaling unit 213 sums the actual transport amount from each dump truck within a certain time (for example, one day), The daily production amount of the mine may be calculated and displayed on the display unit 214.

  According to the present embodiment, it is possible to calculate a more accurate production amount by reducing an error in the production amount due to the remaining amount of the load attached to the body 2.

  In addition to the actual transport amount information received from each dump truck, the remaining load information indicating the load information used to calculate the actual transport amount is received, and the remaining load is less than the remaining load maintenance threshold for determining whether maintenance is necessary. There may be provided a remaining load monitoring unit 250 for monitoring whether or not. When the remaining load monitoring unit 250 determines that a large amount of earth and sand has adhered to the body 2 and the remaining load is large, an instruction is given to shake the body 2 and shake off the remaining load during the next earthing operation. May be. Also, when there is a heater on the floor of the body 2, the heater is turned on to warm the floor and to dry the cargo that contains moisture and to make it easier to release. May be instructed from the remaining load monitoring unit 250 to the dump truck. Thereby, it is possible to suppress the decrease in the mine productivity due to the decrease in the actual transport amount during one transport due to the influence of the remaining load.

  The present invention is not limited to the above-described embodiment, and modifications within a range not departing from the gist of the present invention are included in the present invention.

  For example, in consideration of the case where the earthing is performed in two steps, after the earthing work execution determination unit 323 detects the execution of the earthing work, the earthing ground exit determination unit 324 leaves the earthing ground. Before the determination is made, when the body 2 is raised again and the earthing work is performed, the load amount may change, so that the load We may be acquired again.

  Further, the dump truck of the above embodiment may be a so-called manned dump truck that the driver rides and travels according to the driving operation, or may be an autonomous traveling dump truck that autonomously travels according to the traffic control instruction without boarding the driver. .

1: body, 2: body, 3: hoist cylinder, 4: suspension, 6a, 6b, 6c, 6d: pressure sensor (load measuring device) 7: tilt angle sensor (load measuring device), 31: load measuring device, 32 : Work state determination device, 324: Release ground exit determination unit (leaving determination unit), 325: Remaining load calculation unit (load remaining amount calculation device)

Claims (8)

In a dump truck provided with a vehicle body and a loading platform for loading luggage provided on the vehicle body so as to be tiltable,
A seating posture detector that detects the seating posture of the cargo bed and outputs posture information;
A vehicle body speed detector for detecting the vehicle body speed and outputting speed information;
A load measuring device that measures the load of the loading platform and outputs load information;
A load remaining amount calculating device for calculating a load remaining amount after unloading the loading platform,
The load remaining amount calculation device includes:
Based on the posture information, a grounding execution determination unit that determines whether the loading platform is in a post-grounding state in which it has transitioned from a non-sitting state to a sitting state;
In the post-release state, a departure determination unit that determines whether the dump truck has left the release point,
In response to the detachment determination of the detachment determination unit, the load information is acquired from the load measuring device, and a remaining load calculation unit that calculates the remaining load of the load based on the load information;
A dump truck characterized by comprising: The dump truck according to claim 1,
The leaving determination unit is configured by a release ground exit determination unit that determines that the dump truck has left the release ground including the release point.
The remaining load calculation unit obtains the load information from the load measuring device after the dump truck exits the release field,
A dump truck characterized by that. The dump truck according to claim 2,
A timer,
A moving distance calculating unit that calculates a moving distance from the release point based on the speed information and the time measured by the timer;
The earthmoving field exit determining unit is said to have exited from the earthing ground when the travel distance calculated by the travel distance calculating unit exceeds a distance threshold provided for determining that the earthing ground has been exited. judge,
A dump truck characterized by that. The dump truck according to claim 2,
The vehicle body speed detector is a wheel rotation speed sensor that detects the rotation speed of a wheel provided in the vehicle body,
The earthing ground exit determination unit obtains the rotational speed of the wheel from the wheel rotational speed sensor, and the wheel rotational speed exceeds a rotational speed threshold provided for determining that the wheel ground has exited. If it is determined that the player has left the ground,
A dump truck characterized by that. The dump truck according to claim 2,
A position calculation device for calculating the position of the host vehicle;
A map information storage unit that stores map information defining boundary points of the release ground, the release site exit determination unit compares the position of the vehicle acquired from the position calculation device and the map information And determine whether the vehicle has left the landing site,
A dump truck characterized by that. The dump truck according to claim 2,
A communication device that wirelessly receives an exit signal from a gate installed at the exit of the release ground,
The release ground exit determination unit determines that the communication device has exited the release ground when wirelessly receiving the exit signal.
A dump truck characterized by that. The dump truck according to claim 1,
A work state determination device for determining a work state of the dump truck;
The working state determination device includes:
Based on the result of comparing the value obtained by adding the loading start determination threshold provided to determine the start of loading work to the remaining load of the load, and the current load acquired by the load measuring device, Including a loading state determination unit for determining whether loading work has started on the dump truck;
A dump truck characterized by that. The dump truck according to claim 1,
A work state determination device for determining a work state of the dump truck;
The working state determination device includes:
Based on the result of comparing the loading completion determination threshold provided for determining that loading is completed and the current load acquired by the load measuring device, the posture information, and the speed information, the dump truck A loading movement state determination unit that determines whether the dump truck is in a loading movement state in which the dump truck is traveling, and
A transport amount storage unit that stores the load information acquired from the load measuring device as a provisional transport amount during the load movement state;
When the remaining load calculation unit newly calculates the remaining load, the provisional conveyance amount stored in the conveyance amount storage unit is acquired, and the newly calculated remaining load is subtracted from the provisional conveyance amount. An actual conveyance amount calculation unit for calculating an actual conveyance amount by the immediately preceding conveyance operation;
An actual transport amount storage unit for storing the actual transport amount;
including,
A dump truck characterized by that.