Haulage Vehicle Position Calculation with Inclination Correction
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Solution Overview
Problem
Existing position calculation systems for mining dump trucks face accuracy issues due to body frame inclination during loaded states, as the inclination affects inertial measurement unit outputs, leading to reduced position calculation accuracy.
Innovation Solution
A position calculating system that corrects the direction of motion using attitude information from the inertial measurement unit, calculates a correction amount to align detection axes in a loaded state with those in an unloaded state, and uses this correction to eliminate inclination effects, ensuring high accuracy in position calculation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If dead reckoning is applied using an inertial measurement unit mounted on the body frame of a mining dump truck, then position calculation can be performed, but the inclination of the body frame in a loaded state affects the output values of the gyro sensor and acceleration sensor, leading to reduced position calculation accuracy
Solution Approach 1:
The patent introduces suspension extension/contraction amount as an intermediary parameter to detect body frame inclination. By monitoring the change in suspension length (which varies when the body frame inclines relative to the wheels due to load distribution), the system can detect inclination effects and apply corrections to the inertial measurement unit output values, thereby resolving the accuracy reduction caused by body frame inclination during dead reckoning
Solution Approach 2:
The patent changes the parameter used for inclination detection from direct body frame angle measurement to suspension extension/contraction amount. This parameter change allows the system to indirectly detect body frame inclination through the mechanical state of the suspension system, providing a more reliable indicator that can be used to correct inertial measurement unit outputs and improve position calculation accuracy
2Measurement precision
If correction techniques are applied to account for body frame inclination, then position calculation accuracy can be improved, but the complexity of the system increases due to additional sensors and calculation processes
Solution Approach 1:
The patent makes the suspension extension/contraction amount detection serve multiple functions: it not only indicates body frame inclination for correction purposes but also provides information about the loading state and suspension health. This multi-functionality reduces the need for separate dedicated sensors, thereby limiting the increase in system complexity while achieving improved position calculation accuracy through inclination correction
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system achieves high-accuracy position calculation for mining dump trucks even when the body frame is inclined, by accounting for and correcting the inclination effects, thereby improving the reliability of the vehicle's position determination.
Implementation Method 1
an inertial measurement unit (IMU) including a gyro sensor and acceleration sensor
Implementation Method 2
an inertial measurement unit (IMU) including a gyro sensor and acceleration sensor
Data Source
Figure 1
Figure 2A~2B
Figure 3
AI summary
Disclosed is a position calculating system for a haulage vehicle including wheels and a body frame 22 mounted on the wheels. The system includes an attitude detection sensor fixed on the body frame, a wheel rotational speed sensor 103, a loading status information acquiring unit 111, a correction amount setting unit 112, a velocity vector calculating unit 113, and a position calculating unit 114. The loading status information acquiring unit 111 acquires loading status information indicating whether the body frame 22 is in a loaded state or in an unloaded state. The correction amount setting unit 112 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 113 calculates the velocity vector of the haulage vehicle. The position calculating unit 114 calculates a position of the haulage vehicle by using the velocity vector.