JPH05148858A - Position detecting device for wheel loader - Google Patents

Abstract

PURPOSE:To perform accurate detection of the position of a wheel loader. CONSTITUTION:A pole is installed to the central part of an off-road work site and a cable 4 is wound around a drum 22 arranged to the pole. The cable 4 is coupled to a revolvable arm 1, disposed to a wheel loader, through a revolvable and rotatable pulley 18. A first potentiometer 15 to detect the revolving angle of an arm 12, a third potentiometer 19 to detect the revolving angle of the pulley 18, and a fourth potentiometer 20 to detect rotation of the pulley 18 are provided. By means of signals from the potentiometers, a distance between the pole and the wheel loader, the revolving angle of the cable 4 with a reference position, and the direction of the wheel loader based on the cable 4 are calculated. A distance between the wheel loader and the pole, a revolving angle, and an orientation angle are determined by a controller 17.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for detecting the position of a wheel loader operating at an off-road work site such as a mine.

[0002]

2. Description of the Related Art Excavation and transportation work of earth and sand on an off-road work site such as a mine may be carried out by combining a wheel loader and an unmanned traveling dump truck. In this case, the position of the wheel loader is unmanned. Since the dump truck is notified and the unmanned traveling dump truck is caused to travel to the position of the wheel loader, it is necessary to accurately detect the position of the wheel loader. As a device for detecting the position of the wheel loader, there is known a device that integrates the rotations of tires or mounts a gyro and integrates a change in the attitude angle.

[0003]

On the off-road work site, the road surface condition is bad and the tire of the wheel loader slips or goes up and down a steep slope. Therefore, the above-mentioned tire rotations are integrated and the change in the posture angle due to the gyro is detected. Integral cannot accurately detect the position of the wheel loader due to tire slip and sudden change in posture angle. If the position of the wheel loader cannot be detected accurately, the unmanned traveling type dump truck cannot be correctly traveled and loaded near the wheel loader, so it is necessary to detect the position of the wheel loader accurately.

Therefore, an object of the present invention is to provide a position detecting device for a wheel loader, which is capable of accurately detecting the position of the wheel loader.

[0005]

[Means for Solving the Problems] A pole 2 installed on an off-road work site 1 and a drum 22 installed on the pole 2.
A cable 4 wound around the cable 4, an arm 12 for pivotally connecting the cable 4 to the wheel loader 3, means for detecting the amount of winding and unwinding of the cable 4, and a pole 2.
Means for detecting the turning angle of the cable 4 with respect to, the means for detecting the turning angle of the arm 12, the distance l between the pole 2 and the wheel loader 3 from the signals of these means, and the wheel loader 3 relative to the reference position. A position detecting device for a wheel loader, which comprises means for calculating a turning position and a direction of the wheel loader 3 with respect to the cable 4.

[0006]

[Operation] Since the distance, turning position, and direction of the wheel loader 3 can be detected based on the pole 2, the position of the wheel loader 3 can be accurately detected based on the pole 2.

[0007]

[Example] As shown in Fig. 1, a pole 2 is installed at the center of the off-road work site 1, and a cable 4 is arranged between the pole 2 and the upper portion of the wheel loader 3. As shown in FIG. 2, the cable 4 has an electric wire 5 for signal transmission and a reinforcing core wire 6 for increasing the tensile strength and can be strongly pulled. As shown in FIG. 3, the wheel loader 3 connects a front vehicle body 7 and a rear vehicle body 8 in a bendable manner, a bucket 9 is mounted on the front vehicle body 7 so as to be vertically movable, and a cab 10 is attached to the rear vehicle body 8. The cable 4 is connected to the ceiling of the operator's cab 10 as shown in FIG. That is, a bearing 11 is provided on the ceiling of the operator's cab 10, an arm 12 is rotatably supported by the bearing 11, and a cable 4 is connected to the arm 12. A gear 14 is meshed with a gear 13 provided on the arm 12, and a first potentiometer 15 is connected to the gear 14 so that the turning angle of the arm 12 can be detected. As shown in FIG. The signal from the second potentiometer 16 for detecting the angle formed by the vehicle body 7 and the rear vehicle body 8, that is, the steering angle .alpha.
A signal from the potentiometer 15 is sent to the controller 17 provided on the pole 2 side via the electric wire 5 of the cable 4. A pulley 18 is rotatably and rotatably provided on the pole 2 side. The rotation of the pulley 18 is detected by a third potentiometer 19, and the rotation of the pulley 18 is detected by a fourth potentiometer 20. Signal is sent to the controller 17 through the electric wire 21. The cable 4 is wound around a drum 22 provided on the pole 2 side via a pulley 18, and the drum 22 is rotated by a first motor 23, and a pulley 24 is attached to a cable 4 between the pulley 18 and the drum 22. , And the rope 25 connected to the pulley 24 is wound around the puter 27 rotated by the second motor 26,
A limit switch 28 is provided in contact with the policy 25, and when the cable 4 is loosened, the limit switch 28 is turned off.
Then, when it is stretched, it is turned on to form a cable tension detection mechanism, and the ON / OFF signal of the limit switch 28 is sent to the controller 17 by the electric wire 29.

Next, the operation will be described. Since the cable 4 loosens when the wheel loader 3 approaches the pole 2, the limit switch 28 is turned off and the controller 17 drives the first motor 23 to wind and rotate the drum 22 to wind the cable 4 and the cable 4 Limit switch 28 when stretched
Is turned on, the first motor 23 is stopped, and the wheel loader 3
When is separated from the pole 2, the cave 4 is pulled, the tension becomes excessive, and the drum 22 rotates in the feeding direction. In this way, the cable 4 is always in a tensioned state with a constant tension, and therefore the cable 4 is wound and unwound by the change in the distance from the pole 2 of the wheel loader 3 to be pulled out.
8 rotates, and the rotation is detected by the fourth encoder 20, so that as shown in FIG.
The distance 1 between and can be detected by the fourth encoder 20. When the wheel loader 3 turns around the pole 2, the cable 4 swings, causing the pulley 18 to turn. Therefore, the turning position of the wheel loader 3 relative to the reference position A by the third potentiometer 19 is the turning angle θ ₁ Can be detected as When the direction of the wheel loader 3 changes, the arm 12 turns, so that the signal from the first potentiometer 15 can detect the posture angle θ _{2 with} respect to the direction perpendicular to the cable 4. Depending on the direction of the wheel loader 3, the cable 4 and the bucket 9 may interfere with each other as shown in FIG.
In that case, the controller 17 activates an alarm to issue an alarm.

[0009]

EFFECT OF THE INVENTION Wheel loader 3 with pole 2 as a reference
Since the distance, turning position, and direction can be detected, the position of the wheel loader 3 can be accurately detected with the pole 2 as a reference.

[Brief description of drawings]

FIG. 1 is a perspective view of an off-road work site.

FIG. 2 is a sectional view of a cable.

FIG. 3 is a plan view of a wheel loader.

FIG. 4 is a perspective view of a cable connecting portion.

FIG. 5 is an explanatory diagram of a steering angle of a wheel loader.

FIG. 6 is a plan view showing an example of position detection of a wheel loader.

[Explanation of symbols]

1 ... Off-road work site, 2 ... Pole, 3 ... Wheel loader, 4 ... Cable, 12 ... Arm, 15 ... First potentiometer, 17 ... Controller, 18 ... Pulley, 19
... third potentiometer, 20 ... second potentiometer, 22 ... drum.

Claims (1)

[Claims] 1. A pole 2 installed at an off-road work site 1, a cable 4 wound around a drum 22 provided on the pole 2, an arm 12 for pivotally connecting the cable 4 to a wheel loader 3. Winding of the cable 4,
A means for detecting the amount of extension, a means for detecting the turning angle of the cable 4 with respect to the pole 2, a means for detecting the turning angle of the arm 12, and the pole 2 from the signals of these means.
A position detecting device for a wheel loader, which comprises means for calculating a distance 1 between the wheel loader 3 and the wheel loader 3, a turning position of the wheel loader 3 with respect to a reference position, and a direction of the wheel loader 3 with respect to the cable 4.