JP3420291B2 - Traveling distance detection device for traveling vehicles - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for detecting a traveling distance of a traveling vehicle such as an unmanned dump truck. 2. Description of the Related Art In recent years, unmanned dump trucks have been developed in which a dump truck automatically travels along a predetermined course unmannedly. In order to allow the vehicle to travel, for example, the position and direction of a dump truck are set in advance, the position of the dump truck is detected, and the direction is detected and steering is performed so that the set direction is achieved. As described above, as the position detection of the dump truck, a method of detecting the position based on the traveling distance of the dump truck is known. In order to detect the traveling distance of the dump truck, there are known a device that detects the rotation speed of the driving wheel and a device that detects the rotation distance of the steering wheel. [0004] In the case of an apparatus that detects the rotation speed of the drive wheels, the drive wheels cannot idle (slip) when traveling on an incline, so that the travel distance cannot be accurately detected. If the apparatus detects the rotation speed of the steered wheels, the steered wheels do not idle (slip) when traveling on an inclined ground because the driven wheels are driven wheels, so that the above-described problem can be solved. However, since the rotational speeds of the left and right steered wheels are different at the time of steering, the rotational speed is corrected by the steering angle or is corrected by half of the rotational speed of the left and right steered wheels. In some cases, the traveling distance cannot be detected correctly. As described above, when the traveling distance is detected based on the rotation speed of the front wheels, a slight error occurs, and when the vehicle travels on all the predetermined courses, a slight error is accumulated. The difference becomes large. Accordingly, an object of the present invention is to provide a traveling distance detecting device for a traveling vehicle which can solve the above-mentioned problems. [0007] In a traveling vehicle in which a driving wheel 2 and a steering wheel 3 are provided on a vehicle body 1, a vehicle body inclinometer 6 is provided on the vehicle body 1, and a vehicle body inclination angle by the vehicle body inclinometer 6 is provided. When the angle is equal to or less than the set angle, the mileage is detected based on the rotation speed of the drive wheel 2, and when the angle is equal to or more than the set angle, the mileage is detected based on the rotation speed of the steering wheel 3. apparatus. The driving distance can be accurately detected based on the rotation speed of the driving wheel 2 when traveling on a flat road, and the traveling distance can be detected based on the rotation speed of the steering wheel 3 when traveling on a slope. In addition to preventing the error caused by idling, the accumulation of the error due to the correction becomes small only during traveling on a slope, and the traveling distance of the entire course can be correctly detected. [0009] As shown in Fig. 1, a driving wheel 2 and a steering wheel 3 are mounted on a vehicle body 1, and a driver's cab 4 and a body 5 are mounted on the vehicle body 1. Make up. The vehicle body 1 is provided with a vehicle inclinometer 6, a steering angle sensor 7, and a gyro 8. A drive wheel 2 is provided with a drive wheel rotation sensor 9 such as a rotation pulse generator. A steering wheel rotation sensor 10 such as a generator is provided, and their detection signals are input to a controller 11 as shown in FIG. The steering angle sensor 7 is a potentiometer that detects the rotation angle of the center lever of the steering link that steers the left and right steered wheels 3, but may be other means. The controller 11 calculates a running distance based on the number of rotations of the driving wheel rotation sensor 9 by a first calculating circuit 12.
, The rotation speed from the steered wheel rotation sensor 10 and the steering angle sensor 7
Arithmetic circuit 13 for detecting the traveling distance based on the steering angle of the vehicle
A third arithmetic circuit 14 for calculating the current position based on the traveling distance and the angle data from the gyro 8, and a first or second arithmetic circuit 12 based on the vehicle body tilt angle detected by the vehicle inclinometer 6.
A switching circuit 15 for outputting a command to output the travel distance calculated in step 13 to a third arithmetic circuit 14;
Selects the first arithmetic circuit 12 when the vehicle body tilt angle detected by the vehicle inclinometer 6 is smaller than a set angle, for example, ± 2 degrees, and selects the second arithmetic circuit 13 when it is larger. Next, the operation will be described. When traveling on a flat ground, that is, a road surface smaller than a set angle, the first arithmetic circuit 12
Is selected and the current position is detected based on the travel distance detected by the rear wheel speed. When the vehicle travels on a slope, that is, a road surface larger than a set angle, the second arithmetic circuit 13 is selected and the second arithmetic circuit 13 is selected based on the front wheel speed and the steering angle. The current position is detected based on the detected travel distance. When a vehicle body inclination angle smaller than the set angle is input using one of the first and second arithmetic circuits as a unit, a travel distance is calculated based on the drive wheel rotation speed, and a vehicle body inclination angle larger than the set angle is input. In this case, the travel distance may be calculated based on the steering wheel rotation speed and the steering angle. This operation is shown in a flowchart of FIG. The driving distance can be accurately detected based on the rotation speed of the driving wheel 2 when traveling on a flat road, and the traveling distance can be detected based on the rotation speed of the steering wheel 3 when traveling on an inclined road. In addition to preventing the error due to the idle rotation of the wheel 2, the accumulation of the error due to the correction becomes small only during traveling on the slope, and the traveling distance of the entire course can be correctly detected.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an overall front view of a dump truck. FIG. 2 is a circuit diagram of a detection device. FIG. 3 is an operation flowchart. [Description of Signs] 1 ... vehicle body, 2 ... drive wheel, 3 ... steering wheel, 6 ... vehicle body inclinometer
7 ... steering angle sensor, 9 ... drive wheel rotation sensor, 10 ... steering wheel rotation sensor.

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-5-249127 (JP, A) JP-A-1-110320 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) G01C 22/00-22/02

Claims (1)

(57) [Claim 1] In a traveling vehicle in which a driving wheel 2 and a steering wheel 3 are provided on a vehicle body 1, a vehicle body inclinometer 6 is provided on the vehicle body 1, and a vehicle body using the vehicle body inclinometer 6 is provided. When the inclination angle is equal to or smaller than the set angle, the traveling distance is detected based on the rotation speed of the drive wheel 2, and when the inclination angle is equal to or larger than the set angle, the traveling distance is detected based on the rotation speed of the steering wheel 3. Distance detection device.