WO2011071112A1 - ダンプ車両の転倒防止装置 - Google Patents
ダンプ車両の転倒防止装置 Download PDFInfo
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- WO2011071112A1 WO2011071112A1 PCT/JP2010/072133 JP2010072133W WO2011071112A1 WO 2011071112 A1 WO2011071112 A1 WO 2011071112A1 JP 2010072133 W JP2010072133 W JP 2010072133W WO 2011071112 A1 WO2011071112 A1 WO 2011071112A1
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- vehicle body
- road shoulder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
- B60P1/04—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with a tipping movement of load-transporting element
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
- B60P1/04—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with a tipping movement of load-transporting element
- B60P1/045—Levelling or stabilising systems for tippers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C7/00—Tracing profiles
- G01C7/02—Tracing profiles of land surfaces
- G01C7/04—Tracing profiles of land surfaces involving a vehicle which moves along the profile to be traced
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
- B60P1/04—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading with a tipping movement of load-transporting element
- B60P1/28—Tipping body constructions
- B60P1/283—Elements of tipping devices
Definitions
- the present invention relates to a tipping prevention device for a dump vehicle that prevents the tipping vehicle from overturning when the loading platform is inclined to discharge a transported object.
- dump vehicles In quarrying sites and mines, dump vehicles are used to transport excavated materials such as earth and sand (loads) to the site of discharge, and tilt the loading platform to discharge the items. If this dump vehicle is stopped on rough terrain or slopes, the entire vehicle may be tilted or the ground may be fragile, resulting in an unstable state. In such a state, if the carrier is inclined to discharge the transported goods, the center of gravity of the entire vehicle increases due to the inclination of the carrier, and the vehicle may become unstable and fall down.
- excavated materials such as earth and sand (loads)
- the inclination angle of the host vehicle is monitored by a measuring means such as an angle meter, and when the inclination angle exceeds a predetermined value, the operation of tilting the platform is performed.
- the technology to regulate is known (see Patent Document 1).
- the present invention has been made paying attention to the above problems, and an object of the present invention is to provide a tipping prevention device for a dump vehicle that can prevent the tipping of the vehicle caused by the transported material sliding down from the loading platform at a stretch. .
- the present invention prevents a tipping over of a dump vehicle including a loading platform that is rotatably supported on a vehicle body, and a hoist cylinder that expands and contracts to rotate the loading platform about its rotation axis.
- a load amount estimating means for estimating a load load of the loading platform, and a vehicle body rotation moment for calculating a rotation moment of the vehicle body caused by the load movement at the time of discharging the load based on the estimated weight estimated by the load load amount estimating means.
- a calculation means a minimum moment of rotation required to lift the front wheel of the vehicle from the ground, a reference moment calculation means using a rotation moment less than the minimum value as a reference moment, and the vehicle body rotation moment calculation means It is determined whether or not the calculated vehicle body rotation moment exceeds the reference moment calculated by the reference moment calculation means. And determining means, when the vehicle body rotation moment in the determination means is determined to have exceeded the reference moment, it is assumed and a notifying means for informing the driver that a risk of the vehicle overturning is high.
- FIG. 1 is an overall configuration diagram of a dump vehicle according to an embodiment of the present invention.
- BRIEF DESCRIPTION OF THE DRAWINGS The whole block diagram of the fall prevention device of the dump vehicle which concerns on the 1st Embodiment of this invention.
- the side view at the time of the cargo discharge of the dump vehicle which concerns on the 1st Embodiment of this invention.
- the flowchart of the process of vehicle fall possibility determination in the dump vehicle fall prevention apparatus which concerns on the 1st Embodiment of this invention.
- the side view at the time of the cargo discharge of the dump vehicle which concerns on the 2nd Embodiment of this invention.
- the whole block diagram of the fall prevention device of the dump vehicle which concerns on the 2nd Embodiment of this invention.
- the flowchart of the process of vehicle fall possibility determination in the dump vehicle fall prevention apparatus which concerns on the 2nd Embodiment of this invention.
- FIG. 1 is an overall configuration diagram of a dump vehicle according to an embodiment of the present invention
- FIG. 2 is an overall configuration diagram of a dump vehicle overturn prevention device according to a first embodiment of the present invention.
- the dump vehicle shown in this figure includes a front wheel 1 and a rear wheel 2 that are attached to the front and rear of a body frame 4, a cargo bed 3 that is rotatably supported on the body frame 4 via a support shaft 6, and a telescopic structure.
- a hoist cylinder 5 that rotates the loading platform 3 around the support shaft 6, a main control device 40 in the tipping prevention device of the dump vehicle, and a display device (notification means) 37 installed in the cab are mainly provided. ing.
- a front axle load sensor (front axle load detecting means) 31A for detecting the total load acting on the front wheel 1 is attached to the front wheel 1, and the total load acting on the rear wheel 2 is measured on the rear wheel 2.
- a rear axle load sensor (rear axle load detection means) 31B to be detected is attached. That is, the front axle load sensor 31A detects a load acting on the front side of the vehicle, and the rear axle load sensor 31B detects a load acting on the rear side of the vehicle.
- These sensors 31A and 31B may be constituted by force sensors attached to the suspension mechanisms of the front wheel 1 and the rear wheel 2, for example.
- the suspension mechanism of the front wheel 1 and the rear wheel 2 is constituted by a hydraulic mechanism
- the load applied to the front wheel 1 and the rear wheel 2 is determined by measuring the pressure in the hydraulic cylinder that supports the suspension mechanism. It is easy to know.
- the vehicle body frame 4 is equipped with main components such as a drive system and a driver's seat, and the vehicle can freely travel on the road surface by the front wheels 1 and the rear wheels 2.
- the loading platform 3 operates so as to raise the front end while rotating about the support shaft 6 to increase the inclination angle, and a load (carrying material) 7 loaded on the loading platform 3.
- the support shaft 6 is provided with a potentiometer (rotary potentiometer) 38 for measuring the rotation angle of the support shaft 6 as an angle detection means for detecting the inclination angle of the loading platform 3 with respect to the vehicle body frame 4.
- the main controller 40 includes a product load amount estimation unit (product load amount estimation unit) 32, a vehicle body rotation moment calculation unit (vehicle body rotation moment calculation unit) 33, and a reference moment calculation unit. (Reference moment calculation means) 34, a determination unit (determination means) 35, and a cylinder controller (cylinder control means) 39 are provided.
- the product load amount estimation unit 32 is connected to the front axle load sensor 31A and the rear axle load sensor 31B, and the dump vehicle is calculated from the sum of the load data (detected values) obtained by the front axle load sensor 31A and the rear axle load sensor 31B. This is a part for estimating the weight (product load amount) m of the load 7 by subtracting its own weight.
- the reference moment calculation unit 34 is connected to the front axle load sensor 31A and the rear axle load sensor 31B. Based on the load data obtained from the front axle load sensor 31A and the rear axle load sensor 31B, the overturn limit moment Ml ( This is a part for calculating a rotation moment equal to or less than the calculated fall limit moment Ml as a reference moment Ms.
- the overturn limit moment Ml is a vehicle body rotation moment when the load on the front wheel 1 falls below zero, that is, a rotation moment with the rear wheel 2 as a fulcrum, and is necessary to lift the front wheel 1 from the ground.
- the fall limit moment Ml is calculated by calculating the position of the center of gravity of the vehicle from the load data obtained by the front wheel load sensor 31A and the rear wheel load sensor 31B.
- the reference moment Ms is used as a reference when determining whether or not to notify the driver that the vehicle is likely to fall over the display device 37, and is set to be equal to or less than the fall limit moment Ml. Has been.
- the calculated tipping limit moment Ml may be used as it is, but as the reference moment Ms is set smaller than the tipping limit moment Ml, the vehicle tipping can be surely avoided.
- the distance (that is, the wheel base) between the front wheel 1 and the rear wheel 2 of the dump vehicle is Lw
- the wheel reaction forces based on the load data obtained by the front wheel load sensor 31A and the rear wheel load sensor 31B are Ff and Fr, respectively.
- the distance Lr from the rear wheel 2 to the center of gravity is expressed by the following formula (1).
- Lr Lw ⁇ (Ff / F) (1)
- the overturning limit moment Ml for lifting the total load F around the rear wheel 2 is expressed by the following formula (2).
- the vehicle body rotation moment calculation unit 33 is connected to the product load amount estimation unit 32, and calculates the vehicle body rotation moment generated by the movement of the load 7 when the load is discharged based on the product load amount estimated by the product load amount estimation unit 32. Part.
- the vehicle body rotation moment is a moment when the loading platform 3 is rotated around the support shaft 6 when the load 7 as a transported article is discharged, and becomes a large moment when the loading 7 slides down from the loading platform 3 at a stroke.
- the vehicle body rotation moment calculation unit 33 in the present embodiment calculates the vehicle body rotation moment that is predicted to occur when the load 7 slides down at a stroke.
- FIG. 3 is a side view when the load 7 is discharged in the dump vehicle according to the first embodiment of the present invention.
- the loading platform 3 can be rotated about the support shaft 6, when the load 7 moves to the rear of the loading platform 3 at a stroke, it rotates in the clockwise direction in FIG. 3 by the weight of the loading platform 7.
- the product load amount estimated by the product load amount estimation unit 32 is m
- the gravitational acceleration is g
- the inclination angle of the loading platform 3 with respect to the horizontal plane is ⁇
- the maximum m A load of ⁇ g ⁇ cos ⁇ is received at the rear end of the loading platform 3.
- the vehicle body rotation moment Mb when the load 7 slides down from the loading platform 3 at once can be expressed by the following equation (4), where Lb is the distance from the support shaft 6 to the rear end of the loading platform 3.
- Lb is the distance from the support shaft 6 to the rear end of the loading platform 3.
- the determination unit 35 is connected to the vehicle body rotation moment calculation unit 33 and the reference moment calculation unit 34, and based on the values of the vehicle body rotation moment Mb and the reference moment Ms input from these, the vehicle body rotation moment This is a part for determining whether Mb exceeds the reference moment Ms.
- the determination unit 35 uses the following equation (5) to determine the possibility of vehicle overturning from the above equations (3) and (4). judge.
- the display device 37 is, for example, a high-definition liquid crystal monitor, and is connected to the determination unit 35.
- the display device 37 is installed at a position that can be easily seen by the driver in the driver's seat.
- the determination unit 35 determines that the vehicle body rotation moment Mb exceeds the reference moment Ms
- the display device 37 indicates that there is a high risk of the vehicle falling. , Graphics, symbols or combinations thereof. In this way, when the display device 37 informs that there is a high risk of the vehicle falling, the driver can be made aware that the vehicle may fall over.
- the display device 37 is used as a means (notification means) for notifying that there is a high risk of the vehicle falling, but in addition to this, a warning lamp provided in the meter panel of the driver's seat is used. This may be notified, or a warning sound such as a buzzer may be notified.
- the cylinder controller 39 is connected to the determination unit 35.
- the determination unit 35 determines that the vehicle body rotation moment Mb exceeds the reference moment Ms
- the cylinder controller 39 suppresses the extension speed of the hoist cylinder 5 or stops the extension. It is.
- a speed smaller than the speed at which the load 7 is not discharged at a stroke may be set.
- a switch 36 may be installed between the determination unit 35 and the display device 37 and the cylinder controller 39 as shown in FIG.
- the switch 36 is connected to the angle determination unit 11 and is appropriately opened and closed according to the inclination angle of the loading platform 3 detected by the potentiometer 38.
- the angle determination unit 11 is connected to the potentiometer 38 and is a part that determines whether or not the tilt angle detected by the potentiometer 38 exceeds the set angle.
- the set angle is an angle stored in the angle determination unit 11 (or a storage unit (not shown) of the main control device 40) or the like, and a vehicle body rotation moment that can cause the vehicle to fall is generated.
- the inclination angle of the cargo bed 3 that is not present is shown.
- the setting angle is set to an angle at which the low-viscous load such as earth and sand naturally collapses and is discharged from the loading platform 3 when the loading platform 3 is tilted, the loading platform 3 is tilted more than the set angle.
- the load still remains, it can be estimated that the load is highly viscous. In other words, it is highly likely that the load will slip down all at once, and further, the need to consider the risk of the vehicle falling will increase.
- the angle determination unit 11 is configured to close the switch 36 when it is determined that the tilt angle detected by the potentiometer 38 exceeds the set angle, and open the switch 36 otherwise. As a result, only when the detected value of the potentiometer 38 is larger than the set angle, the display device 37 displays that the risk of the vehicle overturning is high, and the speed control of the hoist cylinder 5 by the cylinder controller 39 is performed. Will be done.
- FIG. 4 is a diagram showing a flow of processing for determining the possibility of vehicle overturning in the dump vehicle overturn preventing device according to the first embodiment of the present invention.
- the main controller 40 When a switch (not shown) for tilting the loading platform 3 is operated to discharge the load 7, the processing shown in the figure is started, and the main controller 40 first loads the load data obtained by the axial load sensors 31A and 31B. (Sensor value) is input to the product load amount estimation unit 32 and the reference moment calculation unit 34 (step 61). Next, the product load amount estimation unit 32 estimates the product load m from the load data of the shaft load sensors 31A and 31B (step 62), and the vehicle body rotation moment calculation unit 33 calculates the product load m estimated by the product load amount estimation unit 32. Is used to calculate the vehicle body rotation moment Mb (step 63).
- the reference moment calculator 34 calculates the center of gravity position of the vehicle from the load data of the axial load sensors 31A and 31B acquired in step 61, calculates the tipping limit moment Ml using the center of gravity position, and further sets the tipping limit.
- a reference moment Ms is set with reference to the moment Ml (step 64).
- step 64 the comparison unit 35 compares the vehicle body rotation moment Mb calculated in step 63 with the reference moment Ms calculated in step 64 (step 65). If the vehicle body rotation moment Mb is below the reference moment Ms, the process returns to step 61 and the subsequent processing is repeated. On the other hand, if the vehicle body rotation moment Mb exceeds the reference moment Ms in step 65, the display device 37 displays that the driver is highly likely to fall over the vehicle (step 66). Repeat the process.
- the tipping prevention apparatus for a dump vehicle As described above, in the tipping prevention apparatus for a dump vehicle according to the present invention, when the loading platform 3 is tilted and the load (carrying material) 7 such as earth and sand is discharged, the load distribution measured by the axial load sensors 31A and 31B is used. From the obtained center-of-gravity position and the known position data of the wheels 1 and 2, the overturn limit moment Ml that is a moment when the vehicle falls over (that is, when the vertical load of the front wheel 1 falls below zero due to the movement of the center of gravity position) is calculated. The reference moment Ms is set.
- the vehicle body rotation moment around the load carrier support shaft 6 generated by the load movement at the time of discharge is obtained.
- Mb is calculated, and the magnitude relationship between the reference moment Ms and the vehicle body rotation moment Mb is determined.
- the driver who has received a notification that there is a risk of falling through the display device 37 can take measures such as reducing the extension speed of the hoist cylinder 5 and stopping the extension. It is possible to prevent the vehicle from falling over due to 7 sliding down at a stroke.
- the effect in the case of operating the angle determination part 11 and controlling opening and closing of the switch 36 according to the inclination-angle of the loading platform 3 is demonstrated.
- the switch 36 since the switch 36 is closed only when the angle determination unit 11 determines that the inclination angle of the loading platform 3 exceeds the set angle, the loading platform 3 has the inclination angle equal to or larger than the setting angle and the vehicle body rotation moment Mb. Only when the reference moment Ms exceeds the reference moment Ms, the display device 37 displays a warning that the vehicle is likely to fall over.
- FIG. 5 is a side view of the dump vehicle according to the second embodiment of the present invention when the cargo is discharged.
- symbol is attached
- the road shoulder has a road surface portion 20 and a slope portion 21 provided at a downward slope with respect to the road surface portion 20.
- the dump vehicle is stopped on the road surface portion 20 with its rear side (load discharge side of the vehicle) facing the slope portion 21, and is provided with a road shoulder shape measurement sensor (road shoulder shape measuring means) 8.
- the road shoulder shape measurement sensor 8 measures the distance from the vehicle to the slope portion 21 at the rear of the vehicle and the shape of the road shoulder, and is attached to the rear of the dump vehicle. More specifically, the road shoulder shape measuring sensor 8 in the present embodiment measures the distance from the ground contact position of the rear wheel 2 to the slope surface portion 21 and the shape of the road shoulder (the road surface portion 20 and the slope surface portion 21). (Hereinafter, the data on the distance and the shape may be referred to as “shoulder shape data”).
- the road shoulder shape data measured by the road shoulder shape measurement sensor 8 is output to a road shoulder strength calculation unit 54 (described later) in the main controller 40A.
- the road shoulder shape measurement sensor 8 for example, a laser radar can be used.
- the distance from the sensor 8 to the road shoulder is optically measured using infrared laser light or the like, and road shoulder shape data is acquired based on the point sequence obtained thereby.
- a distance detection device using a millimeter wave array or an ultrasonic array, an image recognition device that extracts distance information by processing an image captured using an imaging device (camera), and the like are used. May be.
- the road shoulder shape measurement sensor 8 is preferably installed at a position as high as possible behind the vehicle in order to easily measure the shapes of the road surface portion 20 and the slope portion 21.
- FIG. 6 is an overall configuration diagram of a tipping prevention device for a dump vehicle according to a second embodiment of the present invention.
- the overturn prevention device shown in this figure includes a main control device 40A.
- the main control device 40A includes the product load amount estimation unit 32, the vehicle body rotation moment calculation unit 33, the angle determination unit 11, and the cylinder controller 39 described above.
- a load movement amount calculation unit (load movement amount calculation unit) 51, a road shoulder strength calculation unit (road shoulder strength calculation unit) 54, and a load comparison determination unit (load comparison determination unit) 52 are provided.
- the load movement amount calculation unit 51 is connected to the vehicle body rotation moment calculation unit 33. Based on the vehicle body rotation moment Mb calculated here, the load movement amount ⁇ Fr of the rear wheel 2 generated by the vehicle body rotation moment Mb is calculated. It is a part to do.
- the load movement amount ⁇ Fr is output to the load comparison determination unit 52 connected to the load movement amount calculation unit 51.
- the road shoulder strength calculation unit 54 is connected to the road shoulder shape measurement sensor 8 and calculates a load resistance (road shoulder load resistance W) of the road shoulder on which the vehicle is located based on the road shoulder shape data measured by the road shoulder shape measurement sensor 8.
- a load resistance road shoulder load resistance W
- the road shoulder load capacity W is the maximum value of the load that does not cause the road shoulder to collapse when an arbitrary load is applied to the road shoulder
- the size of the road shoulder load capacity W is substantially determined by the type of earth and sand forming the road shoulder.
- the calculated internal friction angle ⁇ (see FIG. 7) is calculated as follows.
- FIG. 7 is a diagram schematically showing the concept of road shoulder strength calculation according to the present invention.
- the internal friction angle ⁇ in this figure is an angle that appears naturally when the earth and sand collapses, and defines the sliding surface 45.
- the magnitude of the friction 42 generated by the vertical load 43 is the resultant force of the load 46 caused by the earth and sand 44 and the axial load 41 caused by the rear wheel 2 of the vehicle. What is necessary is just to be larger than the component force of the sliding surface 45 direction. That is, the road shoulder load capacity W to be calculated is the magnitude of the axial load 41 when the magnitude of the resultant force becomes equal to the friction 42.
- the internal friction angle ⁇ is a value determined by the kind of earth and sand as described above, the angle of the slope portion 21 obtained from the road shoulder shape data input from the road shoulder shape measurement sensor 8 and the distance from the rear wheel 2 to the slope portion 21. If the distance is used, the load 46 due to the earth and sand 44 can be calculated, whereby the road shoulder load resistance W can be calculated.
- the calculated road shoulder withstand load W is input to the load comparison determination unit 52 connected to the road shoulder strength calculation unit 54.
- the load comparison / determination unit 52 determines that the maximum rear axle load FR calculated based on the rear axle load Fr detected by the rear axle load sensor 31B and the load movement amount ⁇ Fr calculated by the load movement amount calculator 51 is the shoulder strength. This is a part for determining whether or not the road shoulder load W calculated by the calculation unit 54 has been exceeded.
- the load comparison / determination unit 52 in the present embodiment adds the load movement amount ⁇ Fr calculated by the load movement amount calculation unit 51 and the rear axle load Fr measured by the rear axle load sensor 31B, thereby obtaining the maximum rear axle load.
- FR Fr + ⁇ Fr
- the load comparison / determination unit 52 determines the possibility of the vehicle overturning using the following equation (6). Fr + ⁇ Fr> W (6) If the load comparison / determination unit 52 determines that the equation (6) holds, the shoulder of the road 7 may collapse and the vehicle may fall when the load 7 is discharged at a stroke. A signal for displaying a high-risk message is transmitted. Similarly to the first embodiment, a signal for suppressing the extension speed of the hoist cylinder 5 or for stopping the extension is transmitted to the cylinder controller 39 together with the signal to the display device 37 or instead of the signal. You may comprise.
- FIG. 8 is a diagram showing a flow of processing for determining the possibility of vehicle overturn in the overturn prevention device for a dump vehicle according to the second embodiment of the present invention.
- the main controller 40A uses the shaft load sensors 31A and 31B and the road shoulder shape sensor 8 to start processing.
- the obtained load data and road shoulder shape data (sensor value) are input to the product load amount estimation unit 32, the road shoulder strength calculation unit 54, and the load comparison determination unit 52 (step 81).
- the product load amount estimation unit 32 estimates the product load m from the load data of the axial load sensors 31A and 31B (step 82), and the vehicle body rotation moment calculation unit 33 calculates the product load m estimated by the product load amount estimation unit 32. Is used to calculate the vehicle body rotation moment Mb (step 83). Then, the load movement amount calculation unit 51 calculates the load movement amount ⁇ Fr by dividing the vehicle body rotation moment Mb calculated by the vehicle body rotation moment calculation unit 33 by the wheel base Lw of the vehicle (step 84).
- the road shoulder strength calculation unit 54 extracts the angle of the slope portion 21 and the distance from the rear wheel 2 to the slope portion 21 from the shoulder shape data acquired in step 81, and uses these and the internal friction angle ⁇ and the like.
- a road shoulder load W is calculated (step 85).
- step 85 the load comparison / determination unit 52 calculates the maximum rear shaft load FR by adding the load movement amount ⁇ Fr calculated in step 84 to the rear shaft load Fr acquired in step 81, and the calculation is performed.
- the maximum rear axle load FR is compared with the road shoulder load W calculated in step 85 (step 86).
- the process returns to step 81 and the subsequent processing is repeated.
- the display device 37 displays a message that the risk of the vehicle overturning is high for the driver (step 87).
- the processes after 81 are repeated.
- an object of the invention according to the present embodiment is to provide a tipping prevention device for a dump vehicle that can prevent the tipping of the vehicle caused by the transported material sliding down from the loading platform at a stretch.
- the road shoulder shape calculation unit 54 measures the road shoulder shape data (from the rear wheel 2 to the slope portion 21) measured by the road shoulder shape measurement sensor 8.
- the road shoulder load resistance W is calculated based on the distance, the angle of the slope portion 21, and the like, and the load comparison determination unit 52 calculates the maximum calculated by adding the axial load Fr on the rear wheel 2 and the load movement amount ⁇ Fr due to the platform tilt.
- the angle determination unit 11 may be operated to control the opening / closing of the switch 36 in accordance with the inclination angle of the loading platform 3. If comprised in this way, like 1st Embodiment, it will reduce that a warning will be alert
- the cylinder controller 39 may be operated to control the extension speed of the hoist cylinder 5 according to the determination result in the load comparison determination unit 52. According to this configuration, as in the first embodiment, when the possibility of a large rear axle load increases, the vehicle body can be automatically stabilized, and the vehicle is reliably Falling can be prevented.
- a load movement amount calculation unit 51 a road shoulder shape measurement sensor 8, a road shoulder strength calculation unit 54, and a load comparison determination unit 52 are additionally provided for the dump vehicle according to the first embodiment.
- You may comprise the tipping prevention apparatus of the dump vehicle which has the form and the characteristic of 2nd Embodiment. In this case, in addition to the effects of the first embodiment, the possibility of the vehicle falling due to a shoulder fall can be included in the determination target, so that the vehicle can be prevented more effectively.
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Abstract
Description
Lr=Lw×(Ff/F) ・・・式(1)
一方、総荷重Fを後輪2周りに持ち上げる転倒限界モーメントMlは下記式(2)によって表される。
Ml=Lr×F ・・・式(2)
したがって、式(2)に式(1)を代入することで、転倒限界モーメントMlは下記式(3)で表すことができる。
Ml=Lw×Ff ・・・式(3)
車体回転モーメント算出部33は、積荷重量推定部32と接続されており、積荷重量推定部32で推定された積荷重量に基づいて、積荷排出時における積荷7の移動によって生じる車体回転モーメントを算出する部分である。車体回転モーメントとは、運搬物である積荷7の排出時に荷台3が支持軸6を中心に回転させられるときのモーメントであり、荷台3から積荷7が一気に滑り落ちるときには大きなモーメントとなる。本実施の形態における車体回転モーメント算出部33では、その積荷7が一気に滑り落ちるときに発生すると予測される車体回転モーメントを算出している。次に、図3を用いて、その車体回転モーメントの算出方法の一例について説明する。
Mb=Lb×m×g×cosθ ・・・式(4)
図2に戻り、判定部35は、車体回転モーメント算出部33及び基準モーメント算出部34と接続されており、これらから入力される車体回転モーメントMb及び基準モーメントMsの値に基づいて、車体回転モーメントMbが基準モーメントMsを超えたか否かを判定する部分である。基準モーメント算出部34において、基準モーメントMsを転倒限界モーメントMlと設定したときには、判定部35は、上記式(3)及び(4)から、下記式(5)を用いて車両転倒の可能性を判定する。
Lb×m×g×cosθ>Lw×Ff・・・式(5)
判定部35は、式(5)が成り立つと判定した場合には、積荷7が一気に排出されたときに車両の前後重量配分が後側に集中することで前輪1が浮き上がり車両が不安定な状態になる可能性が高いので、表示装置37に車両転倒のおそれが高い旨を表示させるための信号を送信する。また、この表示装置37への信号とともに又は当該信号に代えて、ホイストシリンダ5の伸長速度を抑制する又は伸長を停止する信号をシリンダコントローラ39に送信するように構成しても良い。
Fr+ΔFr>W ・・・式(6)
荷重比較判定部52は、式(6)が成り立つと判定した場合には、積荷7が一気に排出されたときには路肩が崩落して車両が転倒する可能性が高いので、表示装置37に車両転倒のおそれが高い旨を表示させるための信号を送信する。また、第1の実施の形態と同様に、この表示装置37への信号とともに又は当該信号に代えて、ホイストシリンダ5の伸長速度を抑制する又は伸長を停止する信号をシリンダコントローラ39に送信するように構成しても良い。
ダンプ車両がその積荷を排出する場所は、一般に縦坑と呼ばれる放土用の縦穴の縁に位置することが多く、場合によっては路肩の地盤が脆弱な場合も考えられる。特に未舗装であって路肩法面に何ら補強などの措置が取られていない縦坑であれば、第1の実施の形態のように荷台から積荷が一気に滑り落ちた場合には、後輪を介して路肩に作用する荷重が突然大きくなるので、路肩崩落による車両転倒のおそれが高くなる。この点に関し、特許文献1記載の転倒防止装置は、このような路肩崩落リスクに対応する仕組みを持たないため、路肩が崩落して初めて動作することになり、その効果が限定的になってしまうという課題があった。すなわち、本実施の形態に係る発明の目的とするところは、荷台から運搬物が一気に滑り落ちることに起因する車両の転倒を予防できるダンプ車両の転倒防止装置を提供することにある。
3 荷台
5 ホイストシリンダ
7 積荷
8 路肩形状計測センサ
11 角度判定部
21 法面部
31A 前軸荷重センサ
31B 後軸荷重センサ
32 積荷重量推定部
33 車体回転モーメント算出部
34 基準モーメント算出部
35 判定部
37 表示装置
38 ポテンショメータ(角度センサ)
39 シリンダコントローラ
40 主制御装置
51 荷重移動量算出部
52 荷重比較判定部
54 路肩強度算出部
m 積荷荷重
Mb 車体回転モーメント
Ml 転倒限界モーメント
Ms 基準モーメント
Fr 後軸荷重
ΔFr 後軸荷重移動量
FR 最大後軸荷重
W 路肩耐荷重
Claims (8)
- 車体フレーム上に回動可能に支持された荷台と、伸縮して当該荷台をその回動軸を中心に回動させるホイストシリンダとを備えるダンプ車両の転倒防止装置において、
前記荷台の積荷荷重を推定する積荷重量推定手段と、
積荷排出時の積荷移動によって生じる車体回転モーメントを、前記積荷重量推定手段で推定された推定重量に基づいて算出する車体回転モーメント算出手段と、
車両の前輪を地面から浮き上がらせるために必要な回転モーメントの最小値を算出し、当該最小値以下の回転モーメントを基準モーメントとする基準モーメント算出手段と、
前記車体回転モーメント算出手段で算出された車体回転モーメントが、前記基準モーメント算出手段で算出された基準モーメントを超えたか否かを判定する判定手段と、
前記判定手段において前記車体回転モーメントが前記基準モーメントを超えたと判定された場合に、車両転倒のおそれが高い旨を運転者に報知する報知手段とを備えることを特徴とするダンプ車両の転倒防止装置。 - 車体フレーム上に回動可能に支持された荷台と、伸縮して当該荷台をその回動軸を中心に回動させるホイストシリンダとを備えるダンプ車両の転倒防止装置において、
車両の前輪に作用する荷重を検出する前軸荷重検出手段と、
車両の後輪に作用する荷重を検出する後軸荷重検出手段と、
前記前軸荷重検出手段及び前記後軸荷重検出手段の検出値に基づいて、前記荷台の積荷荷重を推定する積荷重量推定手段と、
前記荷台から積荷が一気に滑り落ちるときに発生すると予測される車体回転モーメントを、前記積荷重量推定手段で推定された積荷重量に基づいて算出する車体回転モーメント算出手段と、
車両の前輪を地面から浮き上がらせるために必要な回転モーメントの最小値を前記前軸荷重検出手段及び前記後軸荷重検出手段の検出値に基づいて算出し、当該最小値以下の回転モーメントを基準モーメントとする基準モーメント算出手段と、
前記車体回転モーメント算出手段で算出された車体回転モーメントが、前記基準モーメント算出手段で算出された基準モーメントを超えたか否かを判定する判定手段と、
前記判定手段において前記車体回転モーメントが前記基準モーメントを超えたと判定された場合に、車両転倒のおそれが高い旨を運転者に報知する報知手段とを備えることを特徴とするダンプ車両の転倒防止装置。 - 請求項1に記載のダンプ車両の転倒防止装置において、
車体フレームに対する前記荷台の傾斜角度を検出する角度検出手段と、
車両転倒が発生する程度の車体回転モーメントが生じ得ない前記荷台の傾斜角度を設定角度としたとき、前記角度検出手段の検出値が前記設定角度を超えたか否かを判定する角度判定手段とをさらに備え、
前記報知手段は、前記角度判定手段において前記角度検出手段の検出値が前記設定角度を超えたと判定された場合にのみ、車両転倒のおそれが高い旨を報知することを特徴とするダンプ車両の転倒防止装置。 - 請求項1に記載のダンプ車両の転倒防止装置において、
前記判定手段において前記車体回転モーメントが前記基準モーメントを超えたと判定された場合に、前記ホイストシリンダの伸長速度の抑制又は伸長の停止を行うシリンダ制御手段をさらに備えること特徴とするダンプ車両の転倒防止装置。 - 請求項1に記載のダンプ車両の転倒防止装置において、
車両の後輪に作用する荷重を検出する後軸荷重検出手段と、
前記車体回転モーメント算出手段で算出された車体回転モーメントにより生じる後輪の荷重移動量を当該車体回転モーメントに基づいて算出する荷重移動量算出手段と、
車両から当該車両後方の路肩までの距離及び当該路肩の形状を計測する路肩形状計測手段と、
前記路肩形状計測手段で計測された路肩形状に基づいて当該路肩の耐荷重を算出する路肩強度算出手段と、
前記後軸荷重検出手段で検出された後軸荷重及び前記荷重移動量算出手段で算出された後軸荷重移動量に基づいて算出した最大後軸荷重が、前記路肩強度算出手段で算出された前記路肩の耐荷重を超えたか否かを判定する荷重比較判定手段とをさらに備え、
前記報知手段は、さらに、前記荷重比較判定手段において前記最大後軸荷重が前記路肩の耐荷重を超えたと判定された場合に、車両転倒のおそれが高い旨を運転者に報知することを特徴とするダンプ車両の転倒防止装置。 - 車体フレーム上に回動可能に支持された荷台と、伸縮して当該荷台をその回動軸を中心に回動させるホイストシリンダとを備えるダンプ車両の転倒防止装置において、
車両の前輪に作用する荷重を検出する前軸荷重検出手段と、
車両の後輪に作用する荷重を検出する後軸荷重検出手段と、
前記前軸荷重検出手段及び前記後軸荷重検出手段の検出値に基づいて、前記荷台の積荷荷重を推定する積荷重量推定手段と、
前記荷台から積荷が一気に滑り落ちるときに発生すると予測される車体回転モーメントを、前記積荷重量推定手段で推定された積荷重量に基づいて算出する車体回転モーメント算出手段と、
前記車体回転モーメント算出手段で算出された車体回転モーメントにより生じる後輪の荷重移動量を当該車体回転モーメントに基づいて算出する荷重移動量算出手段と、
車両から当該車両後方の路肩までの距離及び当該路肩の形状を計測する路肩形状計測手段と、
前記路肩形状計測手段で計測された路肩形状に基づいて当該路肩の耐荷重を算出する路肩強度算出手段と、
前記後軸荷重検出手段で検出された後軸荷重及び前記荷重移動量算出手段で算出された後軸荷重移動量に基づいて算出した最大後軸荷重が、前記路肩強度算出手段で算出された前記路肩の耐荷重を超えたか否かを判定する荷重比較判定手段と、
前記荷重比較判定手段において前記最大後軸荷重が前記路肩の耐荷重を超えたと判定された場合に、車両転倒のおそれが高い旨を運転者に報知する報知手段とを備えることを特徴とするダンプ車両の転倒防止装置。 - 請求項6に記載のダンプ車両の転倒防止装置において、
車体フレームに対する前記荷台の傾斜角度を検出する角度検出手段と、
車両転倒が発生する程度の車体回転モーメントが生じ得ない前記荷台の傾斜角度を設定角度としたとき、前記角度検出手段の検出値が前記設定角度を超えたか否かを判定する角度判定手段とをさらに備え、
前記報知手段は、前記角度判定手段において前記角度検出手段の検出値が前記設定角度を超えたと判定された場合にのみ、車両転倒のおそれが高い旨を報知することを特徴とするダンプ車両の転倒防止装置。 - 請求項6に記載のダンプ車両の転倒防止装置において、
前記荷重比較判定手段において前記最大後軸荷重が前記路肩の耐荷重を超えたと判定された場合に、前記ホイストシリンダの伸長速度の抑制又は伸長の停止を行うシリンダ制御手段をさらに備えること特徴とするダンプ車両の転倒防止装置。
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JP5138665B2 (ja) | 2009-12-10 | 2013-02-06 | 日立建機株式会社 | ダンプ車両の転倒防止装置 |
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- 2010-12-09 CN CN201510205655.7A patent/CN104802687B/zh not_active Expired - Fee Related
- 2010-12-09 CN CN201080055708.7A patent/CN102652076B/zh not_active Expired - Fee Related
- 2010-12-09 EP EP10836032.2A patent/EP2511131B1/en not_active Not-in-force
- 2010-12-09 US US13/505,749 patent/US8670906B2/en not_active Expired - Fee Related
- 2010-12-09 AU AU2010329033A patent/AU2010329033B2/en not_active Ceased
- 2010-12-09 WO PCT/JP2010/072133 patent/WO2011071112A1/ja active Application Filing
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Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
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US9002588B2 (en) | 2009-12-10 | 2015-04-07 | Hitachi Construction Machinery Co., Ltd. | Dump vehicle overturn preventing device |
EP2474443A3 (de) * | 2011-01-07 | 2013-08-28 | Huesker Synthetic GmbH | Auskleidung für Silobehälter eines Silofahrzeugs und Verfahren zum Einbringen und Positionieren einer Auskleidung |
CN109376477A (zh) * | 2018-11-29 | 2019-02-22 | 济南大学 | 一种塔吊防倾覆的仿真方法 |
CN109376477B (zh) * | 2018-11-29 | 2022-11-18 | 济南大学 | 一种塔吊防倾覆的仿真方法 |
FR3102421A1 (fr) * | 2019-10-28 | 2021-04-30 | Benalu | Systeme de securite pour vehicule de transport industriel comportant un caisson de chargement basculant |
EP3815935A1 (fr) * | 2019-10-28 | 2021-05-05 | Benalu | Systeme de securite pour vehicule de transport industriel comportant un caisson de chargement basculant |
CN113536469A (zh) * | 2021-08-03 | 2021-10-22 | 中国航空工业集团公司沈阳飞机设计研究所 | 一种驱动装置的输出力矩计算方法 |
CN113536469B (zh) * | 2021-08-03 | 2023-10-10 | 中国航空工业集团公司沈阳飞机设计研究所 | 一种驱动装置的输出力矩计算方法 |
Also Published As
Publication number | Publication date |
---|---|
CN102652076A (zh) | 2012-08-29 |
EP2511131B1 (en) | 2018-04-18 |
AU2010329033A1 (en) | 2012-05-24 |
EP2511131A1 (en) | 2012-10-17 |
CN102652076B (zh) | 2015-11-25 |
AU2010329033B2 (en) | 2013-12-19 |
US9002588B2 (en) | 2015-04-07 |
EP2511131A4 (en) | 2014-07-16 |
CN104802687B (zh) | 2017-12-29 |
JP2011121470A (ja) | 2011-06-23 |
CN104802687A (zh) | 2015-07-29 |
US20120239257A1 (en) | 2012-09-20 |
JP5138665B2 (ja) | 2013-02-06 |
US8670906B2 (en) | 2014-03-11 |
US20140129097A1 (en) | 2014-05-08 |
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