JP7205834B2 - 重量物運搬車 - Google Patents
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Description
2 荷台
3 タイヤ
17A 第1回転角センサ(回転角検出器)
17B 第2回転角センサ(回転角検出器)
17C 第3回転角センサ(回転角検出器)
17D 第4回転角センサ(回転角検出器)
24A 第1圧力センサ(荷重検知器)
24B 第2圧力センサ(荷重検知器)
26 衛星測位受信機
31 加減速判定部(加減速判定器)
36 移動量算出部(移動量算出器)
37 補正部(補正器)
38 自車位置推定部(自車位置推定器)
41 相関関係記憶装置(記憶器)
Claims (6)
- 荷台及び前記荷台を支持する複数のタイヤを備え、前記荷台に重量物が積載された状態で前記複数のタイヤで走行する重量物運搬車であって、
前記複数のタイヤのうち少なくとも1つの特定タイヤの回転角に対応する第1物理量を検出する少なくとも1つの回転角検出器と、
前記回転角検出器で検出された前記第1物理量に対し、前記特定タイヤの外周における前記第1物理量の1単位に対応する単位回転角当たりの弧長を乗算して移動量を算出する移動量算出器と、
前記移動量算出器で算出された移動量を用いて自車位置を推定する自車位置推定器と、
前記荷台に積載された重量物の積載重量に対応する第2物理量を検出する荷重検知器と、
前記荷重検知器で検出される前記第2物理量と前記特定タイヤの外周における所定回転角当たりの弧長との間の相関関係を記憶する記憶器と、
衛星測位システムにより位置情報を受信する衛星測位受信機と、を備え、
前記移動量算出器は、
前記記憶器の前記相関関係を参照し、前記荷重検知器で検出される前記第2物理量から、前記特定タイヤの外周における前記単位回転角当たりの現在の弧長を算出し、
前記回転角検出器で検出された前記第1物理量に対し、前記単位回転角当たりの現在の弧長を乗算して前記移動量を算出する
前記自車位置推定器は、前記移動量算出器で算出された前記移動量と、前記衛星測位受信機で受信された情報とに基づいて、前記自車位置を推定し、
前記自車位置推定器は、
前記衛星測位受信機の受信状態が所定の不良状態であるときに、前記移動量算出器で算出された前記移動量を用いて前記自車位置を推定し、
前記衛星測位受信機の受信状態が所定の良好状態であるときに、前記衛星測位受信機で検出された情報を用いて前記自車位置を推定しながら、前記衛星測位受信機のサンプリング間隔の空白区間では前記移動量算出器で算出された前記移動量を用いて前記自車位置を推定する、重量物運搬車。 - 荷台及び前記荷台を支持する複数のタイヤを備え、前記荷台に重量物が積載された状態で前記複数のタイヤで走行する重量物運搬車であって、
前記複数のタイヤのうち少なくとも1つの特定タイヤの回転角に対応する第1物理量を検出する少なくとも1つの回転角検出器と、
前記回転角検出器で検出された前記第1物理量に対し、前記特定タイヤの外周における前記第1物理量の1単位に対応する単位回転角当たりの弧長を乗算して移動量を算出する移動量算出器と、
前記移動量算出器で算出された移動量を用いて自車位置を推定する自車位置推定器と、
前記荷台に積載された重量物の積載重量に対応する第2物理量を検出する荷重検知器と、
前記荷重検知器で検出される前記第2物理量と前記特定タイヤの外周における所定回転角当たりの弧長との間の相関関係を記憶する記憶器と、
前記重量物運搬車の加減速状態を判定する加減速判定器と、備え、
前記移動量算出器は、
前記記憶器の前記相関関係を参照し、前記荷重検知器で検出される前記第2物理量から、前記特定タイヤの外周における前記単位回転角当たりの現在の弧長を算出し、
前記回転角検出器で検出された前記第1物理量に対し、前記単位回転角当たりの現在の弧長を乗算して前記移動量を算出し、
前記少なくとも1つの特定タイヤは、複数の特定タイヤであり、
前記少なくとも1つの回転角検出器は、前記複数の特定タイヤの回転角に対応する第1物理量をそれぞれ検出する複数の回転角検出器であり、
前記移動量算出器は、前記加減速判定器で前記重量物運搬車が所定の加速状態であると判定されたときに、前記複数の回転角検出器でそれぞれ検出された複数の回転角のうち最大値以外の値を用いて前記移動量を算出する、重量物運搬車。 - 荷台及び前記荷台を支持する複数のタイヤを備え、前記荷台に重量物が積載された状態で前記複数のタイヤで走行する重量物運搬車であって、
前記複数のタイヤのうち少なくとも1つの特定タイヤの回転角に対応する第1物理量を検出する少なくとも1つの回転角検出器と、
前記回転角検出器で検出された前記第1物理量に対し、前記特定タイヤの外周における前記第1物理量の1単位に対応する単位回転角当たりの弧長を乗算して移動量を算出する移動量算出器と、
前記移動量算出器で算出された移動量を用いて自車位置を推定する自車位置推定器と、
前記荷台に積載された重量物の積載重量に対応する第2物理量を検出する荷重検知器と、
前記荷重検知器で検出される前記第2物理量と前記特定タイヤの外周における所定回転角当たりの弧長との間の相関関係を記憶する記憶器と、
前記重量物運搬車の加減速状態を判定する加減速判定器と、を備え、
前記移動量算出器は、
前記記憶器の前記相関関係を参照し、前記荷重検知器で検出される前記第2物理量から、前記特定タイヤの外周における前記単位回転角当たりの現在の弧長を算出し、
前記回転角検出器で検出された前記第1物理量に対し、前記単位回転角当たりの現在の弧長を乗算して前記移動量を算出し、
前記少なくとも1つの特定タイヤは、複数の特定タイヤであり、
前記少なくとも1つの回転角検出器は、前記複数の特定タイヤの回転角をそれぞれ検出する複数の回転角検出器であり、
前記移動量算出器は、前記加減速判定器で前記重量物運搬車が所定の減速状態であると判定されたときに、前記複数の回転角検出器でそれぞれ検出された複数の回転角のうち最小値以外の値を用いて前記移動量を算出する、重量物運搬車。 - 前記衛星測位受信機で受信された自車位置の所定時間における変化量と、前記所定時間における前記移動量算出器で算出された前記移動量との対比に基づいて、前記移動量算出器による算出過程を補正する補正器を更に備える、請求項1に記載の重量物運搬車。
- 前記衛星測位受信機は、RTK-GNSS又は準天頂衛星システムの受信機である、請求項請求項1に記載の重量物運搬車。
- 前記少なくとも1つの特定タイヤは、3つ以上の特定タイヤであり、
前記少なくとも1つの回転角検出器は、前記3つ以上の特定タイヤの回転角をそれぞれ検出する3つ以上の回転角検出器であり、
前記移動量算出器は、前記3つ以上の回転角検出器でそれぞれ検出された3つ以上の回転角のうち最大値及び最小値以外の値を用いて前記移動量を算出する、請求項1乃至5のいずれか1項に記載の重量物運搬車。
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