POSITION CALCULATING SYSTEM AND HAULAGE VEHICLE
First Claim
1. A position calculating system for being mounted on a haulage vehicle including wheels and a body frame which is mounted on the wheels via suspensions and carries a body mounted thereon, comprising:
- an attitude detection sensor configured to output attitude information indicating an attitude of the body frame relative to the wheels,a wheel rotational speed sensor that outputs a rotational speed of one of the wheels,a loading status information acquiring unit configured to acquire loading status information on the body frame, said information indicating whether the body frame is in a loaded state with a load carried thereon or in an unloaded state with the load not carried thereon,a correction amount setting unit that calculates, based on the attitude information, a correction amount required for bringing detection axes, which are to be used upon outputting the attitude information in the loaded state, into coincidence with corresponding detection axes, which are to be used upon outputting the attitude information in the unloaded state, and that sets the correction amount as a correction amount for use in calculating a velocity vector of the haulage vehicle in the loaded state,a velocity vector calculating unit that determines, based on the loading status information, whether the body frame is in the loaded state or the unloaded state and that, when the body frame has been determined to be in the loaded state, calculates the velocity vector of the haulage vehicle by using a wheel speed available from the rotational speed of the one wheel, a direction of motion of the haulage vehicle as determined from the attitude information, and the set correction amount, anda position calculating unit that calculates a position of the haulage vehicle by using the velocity vector.
1 Assignment
0 Petitions
Accused Products
Abstract
Disclosed is a position calculating system for a haulage vehicle including wheels and a body frame mounted on the wheels. The system includes an attitude detection sensor fixed on the body frame, a wheel rotational speed sensor, a loading status information acquiring unit, a correction amount setting unit, a velocity vector calculating unit, and a position calculating unit. The loading status information acquiring unit acquires loading status information indicating whether the body frame is in a loaded state or in an unloaded state . The correction amount setting unit calculates, based on the attitude information, a correction amount required for bringing detection axes in the loaded state into coincidence with corresponding detection axes in the unloaded state. The velocity vector calculating unit calculates the velocity vector of the haulage vehicle. The position calpulating unit calculates a position of the haulage vehicle by using the velocity vector.
-
Citations
6 Claims
-
1. A position calculating system for being mounted on a haulage vehicle including wheels and a body frame which is mounted on the wheels via suspensions and carries a body mounted thereon, comprising:
-
an attitude detection sensor configured to output attitude information indicating an attitude of the body frame relative to the wheels, a wheel rotational speed sensor that outputs a rotational speed of one of the wheels, a loading status information acquiring unit configured to acquire loading status information on the body frame, said information indicating whether the body frame is in a loaded state with a load carried thereon or in an unloaded state with the load not carried thereon, a correction amount setting unit that calculates, based on the attitude information, a correction amount required for bringing detection axes, which are to be used upon outputting the attitude information in the loaded state, into coincidence with corresponding detection axes, which are to be used upon outputting the attitude information in the unloaded state, and that sets the correction amount as a correction amount for use in calculating a velocity vector of the haulage vehicle in the loaded state, a velocity vector calculating unit that determines, based on the loading status information, whether the body frame is in the loaded state or the unloaded state and that, when the body frame has been determined to be in the loaded state, calculates the velocity vector of the haulage vehicle by using a wheel speed available from the rotational speed of the one wheel, a direction of motion of the haulage vehicle as determined from the attitude information, and the set correction amount, and a position calculating unit that calculates a position of the haulage vehicle by using the velocity vector. - View Dependent Claims (2, 3, 4, 5)
-
-
6. A haulage vehicle including wheels and a body frame which is mounted on the wheels via suspensions and carries a body mounted thereon, comprising:
-
an attitude detection sensor configured to output attitude information indicating an attitude of the body frame relative to the wheels, a wheel rotational speed sensor that outputs a rotational speed of one of the wheels, a loading status information acquiring unit configured to acquire loading status information on the body frame , said information indicating whether the body frame is in a loaded state with a load carried thereon or in an unloaded state with the load not carried thereon, a correction amount setting unit that calculates, based on the attitude information, a correction amount required for bringing detection axes, which are to be used upon outputting the attitude information in the loaded state, into coincidence with corresponding detection axes, which are to be used upon outputting the attitude information in the unloaded state, and that sets the correction amount as a correction amount for use in calculating a velocity vector of the haulage vehicle in the loaded state, a velocity vector calculating unit that determines, based on the loading status information, whether the body frame is in the loaded state or the unloaded state and that, when the body frame has been determined to be in the loaded state, calculates the velocity vector of the haulage vehicle by using a wheel speed available from the rotational speed of the one wheel, a direction of motion of the haulage vehicle as determined from the attitude information, and the set correction amount, and a position calculating unit that calculates a position of the haulage vehicle by using the velocity vector.
-
Specification