JPH02229330A - Vehicle travel control device and its control method - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a vehicle travel control device and its control method, and relates to a travel control device and its control for industrial vehicles, particularly construction vehicles such as hydraulic power shovels. Regarding the method.

(Prior Art) Conventionally, as shown in FIG. 7, there is a lower traveling device consisting of an upper revolving body l having a driver's seat 4, a right traveling device 6 having a right traveling motor 7, and a left traveling device 8 having a left traveling motor 9°. As shown in FIG. 8, in the vehicle configured with The travel operation valve 22 and the left travel operation valve 24 are connected to the right and left pilot pressure generation valves 2l, respectively, and the right travel motor 7, the right travel operation valve 22, and the left travel motor are connected to the lower traveling device 2. 9 and the left travel control valve 24 are connected to each other, and these circuits are supplied with pressure oil from a hydraulic pressure generation source (not shown).

When the right travel lever 20 is tilted in the forward direction of the upper revolving structure l, the pilot pressure generation valve 21 generates pilot pressure, which activates the right travel operation valve 22 to rotate the right travel motor 7 in the forward direction, causing the right travel device 6 to rotate. moves forward and turns the lower traveling gear 2 to the left. When the left traveling lever 23 is tilted in the forward direction, only the left traveling device 8 moves forward, causing the lower traveling device 2 to turn to the right. When the right and left travel levers 20.23 are simultaneously tilted in the forward direction, the left travel device 8 and the right travel device 6 move forward at the same time, and the lower travel device 2 moves straight forward, and the travel levers 20.23 move backward. When tilting in the direction at the same time, the left running device 8
and the right traveling device 6 move backward at the same time, and eventually the lower traveling device 2 moves straight in the backward direction. When the right traveling lever 20 is tilted in the forward direction and the left traveling lever 23 is tilted in the reverse direction at the same time, the right traveling device 6 moves forward and the left traveling device 8 moves backward, so the lower traveling device 2 moves around the center of the lower traveling device. Turn on the spot to the left.

(Problem to be Solved by the Invention) However, with the above-described conventional device and control method, the driver may make a mistake in the forward or backward direction due to an illusion. That is, as shown in FIG. 9, when the upper revolving body l faces direction B and the forward direction of the lower traveling gear 2 is in the C direction, that is, the upper revolving body l is turned 180 degrees with respect to the lower traveling gear 2. In this case, when the right and left travel levers 20.23 are tilted in the forward direction shown in FIG.
is traveling in direction C, which means that the driver in the driver's seat is moving backwards.If the driver operates the travel lever with the intention of traveling in direction B, this means that the driver's vehicle is traveling in direction C. This is an illusion and is extremely dangerous. Furthermore, since there are two travel levers on the left and right, there is a problem in that when performing the above-mentioned on-spot turning, the operation is complicated and it takes time to get used to driving. The present invention has been made in view of the above-mentioned problems, and it is an object of the present invention to provide a vehicle travel control device and a control method thereof that can easily cause the vehicle to travel in a desired direction without causing any illusions to the driver. The purpose is to

(Means for Solving the Problems) In order to achieve the above object, the present invention provides a first invention of a vehicle travel control device and a control method thereof according to the present invention, which comprises a lower travel device and an upper revolving structure, In a vehicle equipped with an operation valve, a travel lever that operates the travel operation valve, and a travel motor controlled by the travel operation valve, a vehicle body rotation encoder that detects a relative rotation angle between an upper swing structure and a lower travel device; A lever angle detector that detects the angle of the operation direction of one travel lever attached to the revolving body that controls the travel direction, a travel operation valve that operates in response to an electric signal from the control device, a vehicle rotation encoder, and a lever angle. The second invention is characterized in that it has the above-mentioned control device which receives a signal from the detector, calculates the signal, and sends a signal to the traveling six operation valve.
In the vehicle control device described in the invention, one traveling lever is tilted in the traveling direction, and the angle of the operating direction of the traveling lever and the relative rotation angle of the upper rotating body and the lower traveling device are calculated to control the lower traveling device. Determine the turning direction, send a signal to the travel operation valve, and turn the lower traveling gear on the spot until the lower traveling gear and the operating direction of the traveling lever are parallel, and the lower traveling gear is parallel to the operating direction of the traveling lever. The system is characterized in that it stops turning on the spot when it detects that the vehicle has reached this point, and then causes the lower traveling device to move straight in the direction in which the traveling lever is operated.

(Function) According to the above configuration and method, a vehicle body rotation encoder for detecting the relative rotation angle of the upper rotating structure and the lower traveling device and a lever angle detector for detecting the operating direction angle of the travel lever are provided;
The control device calculates the turning direction and turning angle, sends a signal to the travel operation valve, turns the lower traveling device on the spot to face the travel direction, and then instructs the travel direction and makes it travel. If you tilt the traveling lever in the direction you want to travel, the lower traveling gear will turn on the spot, and when the operating direction of the traveling lever and the lower traveling gear become parallel, the rotating will stop on the spot, and the lower traveling gear will turn in the direction in which the traveling lever is operated. It can be made to travel in the direction in which the travel lever is operated.

(Example) Examples of a vehicle travel control device and a control method thereof according to the present invention will be described in detail below with reference to the drawings.

FIG. 1 shows an overall configuration diagram of the present invention, in which an upper part is rotatably pivoted to a lower traveling device 2 consisting of a right traveling device 6 having a right traveling motor 7 and a left traveling device 8 having a left traveling motor 9. A vehicle body rotation encoder 3 is installed at the center of rotation of the revolving structure 1, and a second encoder is installed in the driver's seat 4 fixed to the upper revolving structure 1.
As shown in the figure, it has a lever angle detector 5 at the lower end,
A single travel lever 10 that can be tilted in all directions, including X, Y, and intermediate directions, is installed, and the vehicle body rotation encoder 3 and lever angle detector 5 are connected to a control device 11 fixed to the upper rotating body l. ing. The pilot portions of the electrohydraulic pilot type right travel operation valve 12 and left travel operation valve 13 fixed to the upper revolving structure 1 are wired to the control device 1l. The right travel motor 7 and the right travel operation valve 12 and the left travel motor 9 and the left travel operation valve l3 are connected to each other, and these circuits are supplied with pressure oil from a hydraulic pressure generating source (not shown).

In the above configuration, as shown in FIG.
Let CD be the center line of , let the forward direction be the direction C, and let the relative angle between the upper revolving structure l and the lower traveling device 2 be α. Figure 1,
As shown in Fig. 2, the angle β is between a straight line passing through the center of the lever parallel to the center line BE of the upper revolving body l and the operating direction of the lever 10, and a lower part as shown in Fig. 3. The case where α is measured in the clockwise direction with respect to the line segment CN in the C direction of the center line CD of the traveling device 2 as a reference is expressed as positive, and the case where it is measured in the counterclockwise direction is expressed as negative, that is, -α, and the value is expressed as clockwise with xx as the reference. The case where β is measured in the rotational direction is expressed as positive, and the case where β is measured in the counterclockwise direction is expressed as negative, that is, -β. Next, the operation will be explained. When the travel lever 10 is tilted in the desired direction, the vehicle body rotation encoder 3 reads the relative angle α between the upper rotating structure 1 and the lower travel device 2 and sends a signal to the control device 11, and the lever angle detector 5 tilts the travel lever 10. Angle β in the operating direction of
is read and sends a signal to the control device 11, and the control device 11
calculates this and determines the turning direction in which the lower traveling device 2 faces the operation direction of the traveling lever 10 at the minimum turning angle, and sends a signal to the right and left traveling operation valves 12, l3 to turn the lower traveling device 2 on the spot. let When the undercarriage 2 starts turning on the spot, the direction C of the center line of the undercarriage 2 before the start of the turn changes to C' as shown in FIG. The driver then returns the operation direction of the travel lever 10 to position A. Continuing this operation, when the angle α+β formed by the direction C and the direction A reaches a predetermined angle K, the control device 1l controls the traveling operation valve 12.
13, a signal is given to stop turning on the spot and to drive forward or backward, causing the vehicle to proceed straight. Next, the control method will be explained using the flowchart shown in FIG. If the travel lever 10 is not turned on in step 100, steps 101 and 102
The vehicle does not move because the command to stop both forward and backward driving and turning on the spot is issued. When the travel lever IO is tilted in the direction of travel in step 100, the angles α and β are read in step 103, and it is verified in step 104 whether -90°≦α+β≦90＠, and if YES, in step 105 α It is tested whether the absolute value of β is smaller than a predetermined angle K. In the case of 1α+β1≦K, it is determined that the C direction and the A direction match, that is, the center line BE of the lower traveling device and the operating direction NA of the traveling lever 10 are parallel.

In this case, in step 106, an instruction to stop turning is issued on the spot, and in step 107, a forward direction instruction is issued to move the vehicle forward. In addition, if 1α+βl>K in step 105, test whether O≦α+β≦906 in step 108 and determine YE.
In the case of S, in step 109, the minimum turning angle is 1α+β1.
An on-the-spot right turn instruction is given to reach ≦K, and if ON, an on-the-spot left turn instruction is similarly given at step 110 to reach the minimum turning angle. Then, when the vehicle starts turning, the travel lever 10 is adjusted as described above and α. Load β and repeat the same operation until 1α + β1≦K. As shown in FIG. 6, in step 104 -90°≦α+β≦90＠
If not, in step 111 180"-1α+β1≦
If it is YES, an instruction to stop turning is given at step 112, and then at step 113, in this case, the operation direction A of the travel lever 1O and the forward direction C of the lower traveling device 2 are 180 degrees opposite to each other. Therefore, a reverse direction driving instruction is issued and the vehicle runs in the A direction. If No in step 111, step 1 1 4 te9 0'<cx
+β'= 1 8 0@ is tested, and if YES, a leftward turn on the spot with the minimum turning angle is instructed in step 115, and if No, a rightward on the spot turn is instructed in step 116, and 180@ The same operation is repeated until -1α+β1≦K. In the above embodiment, the rotation is made in the minimum turning direction, but it goes without saying that the judgment may be changed and the rotation made in the opposite direction. (Effects of the Invention) As detailed above, the present invention provides a vehicle body turning encoder and a lever angle detector, calculates the respective angles with a control device, and determines the direction of turning on the spot and the direction of movement of the lower traveling device. Since the instructions are sent to the travel control valve, the driver can simply tilt one travel lever in the travel direction to turn the lower travel device in the travel direction on the spot and make the vehicle travel in the direction in which the travel lever is tilted. This provides a safe vehicle running control device and control method that is easy to operate and does not cause any illusion regarding the direction of travel.

[Brief explanation of the drawing]

Figure 1 is an overall configuration diagram of the present invention, Figure 2 is an explanatory diagram of the operating direction and angle of the travel lever, and Figure 3. Figures 4 and 6 are explanatory diagrams of the relationship between the relative turning angle and the operating direction angle, Figure 5 is a flowchart diagram, Figure 7 is an overall view of the vehicle, Figure 8 is a conventional overall configuration diagram, and Figure 9 is an explanatory diagram showing the direction of travel of a conventional vehicle. 1... Upper revolving structure, 2... Lower traveling device, 3.
...Vehicle body turning encoder, 4...Driver's seat, 5...Lever angle detector, 6...Right travel device, 7 Right travel motor, butt...Left travel device, 9…Left travel motor, lO...
- Travel lever 41...Control device, l2...Right electromagnetic hydraulic pilot type travel operation valve, l3...Left electromagnetic hydraulic pilot type travel operation valve, 20...Right travel lever, 2
l...Pilot pressure generation valve, 22...Right travel control valve, 23...Left travel lever, 24...Left travel operation valve. B Figure 1 Figure 2 Figure 4 Figure 4

Claims (1)

[Scope of Claims] 1) In a vehicle comprising a lower traveling device and an upper rotating structure, and comprising a traveling operation valve, a traveling lever for operating the traveling operation valve, and a traveling motor controlled by the traveling operation valve, A vehicle body rotation encoder 3 that detects the relative rotation angle between the vehicle body and the lower traveling device, and a lever angle detector 5 that detects the angle of the operating direction of one travel lever attached to the upper rotating body that controls the traveling direction. The vehicle is characterized by having a traveling operation valve that operates in response to a signal from the device 11, and the control device 11 that receives signals from the vehicle body turning encoder 3 and the lever angle detector 5, performs calculations, and sends a signal to the traveling operation valve. Vehicle travel control device. 2) In the vehicle travel control device described in item 1, one travel lever is tilted in the travel direction, and the angle of the operation direction of the travel lever and the relative rotation angle between the upper swing structure and the lower travel device are calculated, and the lower part is rotated. The turning direction of the traveling gear is determined, and a signal is sent to the traveling operation valve to turn the lower traveling gear on the spot until the lower traveling gear and the operating direction of the traveling lever are parallel, and the operating direction of the traveling lever and the lower traveling A control method characterized by stopping turning on the spot when detecting that the device has become parallel, and then causing the lower traveling device to move straight in the operating direction of the traveling lever.