JPH02229331A - 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 provided an upper rotating structure 1 having a driver's seat 4, and a lower traveling device 2 comprising 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, there are a right travel lever 40 and a left travel lever 43 connected to a pilot pressure generating valve 41 in the driver's seat 4, which are mounted on the upper revolving body l. The right travel operation valve 42 and the left travel operation valve 44 are connected to the right and left pilot pressure generation valves 41, respectively, and the right travel operation valve 42 and the right travel operation valve 42 are connected to the right travel motor 7 attached to the lower travel device 2, and the left travel operation valve 42 is connected to the right and left pilot pressure generation valves 41, respectively. The motor 9 and the left travel control valve 44 are connected to each other, and these circuits are supplied with pressure oil from a hydraulic pressure generating source (not shown). When the right travel lever 40 is tilted in the forward direction of the upper revolving structure l, the pilot pressure generation valve 4l generates pilot pressure, which activates the right travel operation valve 42 and rotates the right travel motor 7 in the forward direction to rotate the right travel device 6. moves forward and turns the lower traveling gear 2 to the left. When the left traveling lever 43 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 40.43 are simultaneously tilted in the forward direction, the lower traveling gear 2 moves straight forward, and when the traveling levers 40.43 are simultaneously tilted in the reverse direction, the lower traveling gear 2 moves straight forward.
goes straight backwards. When the right traveling lever 40 is tilted in the forward direction and the left traveling lever 43 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 conventional device and control method described above, the driver may misjudge the direction of forward or backward travel due to an illusion. In other words, as shown in FIG. 9, when the upper revolving body 1 faces the B direction and the forward direction of the lower traveling gear 2 is the C direction, that is, the upper revolving body 1 is rotated by 180 @ with respect to the lower traveling gear 2. In this case, move the right and left travel levers 40 and 43 in the forward direction,
In other words, when tilting in direction B, the lower traveling device 2 travels in direction C, and for the driver in the driver's seat, this means that the vehicle is traveling in reverse.If the driver operates the travel lever with the intention of traveling in direction B, If so, this is an illusion on the part of the driver regarding the vehicle 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-the-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 an object of the present invention is to provide a vehicle travel control device and a control method therefor that allow the driver to easily drive the vehicle in a desired direction without causing any illusions. It is an object. (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 angle between an upper rotating structure and a lower traveling device, and an upper rotating structure. A lever angle detector that detects the operating direction angle and inclination angle of a single travel lever that controls the travel direction and speed attached to the vehicle, and a flow control type travel operation that is activated in response to electric signals from the control device. Valve, e.g. JP-A-63-
92801, 62-129425, 62-27080
4, and the control device which receives signals from a vehicle body turning encoder and a lever angle detector, calculates the signals, and sends signals to the traveling operation valve, In the vehicle control device described,
Tilt one traveling lever to an arbitrary angle in the traveling direction, and calculate the angle of the operating direction of the traveling lever, the inclination angle of the traveling lever, and the relative rotation angle between the upper rotating structure and the lower traveling device to rotate the lower traveling device. The direction is determined, a signal is sent to the travel operation valve, the undercarriage is turned on the spot at a speed proportional to the inclination angle of the travel lever until the undercarriage and the travel lever are parallel to the operation direction, and the travel lever is turned. When it is detected that the operating direction of the lower traveling gear is parallel to the lower traveling gear, the turning is stopped on the spot, and the lower traveling gear then moves straight in the operating direction of the traveling lever at a speed proportional to the inclination angle of the traveling lever. It is said that

(Function) According to the above structure and method, a vehicle body rotation encoder for detecting the relative rotation angle between the upper rotating structure and the lower traveling device and a lever angle detector for detecting the raking direction and tilt angle of the traveling lever are provided, and the control The device calculates the turning direction, turning angle, and control flow rate, sends a signal to the travel operation valve, turns the lower traveling device on the spot at a turning speed proportional to the travel lever inclination angle, faces the traveling direction, and then turns the lower traveling device in the traveling direction. Since it is possible to run by instructing the flow rate of hydraulic fluid, by tilting one travel lever in the desired direction and at the desired speed, the lower traveling device can be moved at a speed proportional to the tilt angle of the travel lever. It can turn on the spot and stop turning when the lower traveling device becomes parallel to the direction in which the travel lever is operated, allowing the user to travel in the direction in which the travel lever is operated at a speed proportional to the inclination angle of the travel lever. .

(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,
1 that can be tilted in X, Y and all directions in between
The main travel lever 10 is attached, and the vehicle body rotation encoder 3
The lever angle detector 5 and the control device 11 fixed to the upper rotating body 1 are connected by wire. The variable displacement hydraulic pump l2 sends pressure oil to the right travel motor 7 via the right travel operation valve 20 of a flow rate control type, and the return oil is returned to the oil tank 13 via the right travel operation valve 20.

The right travel operation valve 20 includes a solenoid valve 21, 22 and a poppet valve 23.
．． 24, 25, and 26, the solenoid valve 21 controls the poppet valves 23, 24 and connects the circuit 27 to the traveling motor.
The electromagnetic valve 22 controls the povet valves 25 and 26 to control the flow rate of the circuit 28 to the travel motor, thereby controlling the motor rotation speed during reverse rotation.

The pilot parts of the solenoid valves 21, 22 and the control device 11 are connected by wire. The left travel operation valve 3o and the left travel motor 9 also have a similar configuration.

In the above configuration, as shown in FIG.
The center line of is CD, the forward direction is C direction, and the relative angle between upper revolving structure 1 and lower traveling device 2 is α. Figure 1,
As shown in FIG. 2, the angle between the straight line XX that is parallel to the center line BH of the upper revolving structure 1 and passing through the center of the lever and the operating direction of the lever 10 is β, and as shown in FIG.
Let T be the inclination angle of Also, as shown in Fig. 3, when α is measured clockwise with reference to the line segment CN in the C direction of the center line CD of the lower traveling gear, it is positive, and when measured counterclockwise, it is negative, that is, -α. The case where β is measured clockwise with respect to XX is expressed as positive, and the case where β is measured counterclockwise is expressed as negative, that is, −β.

Next, the operation will be explained. When the travel lever 10 is tilted in the desired direction and at an angle corresponding to the desired speed, the vehicle body rotation encoder 3 reads the relative angle α between the upper rotating structure 1 and the lower travel device 2, sends a signal to the control device 11, and moves the lever. The angle detector 5 reads the angle β in the operating direction of the travel lever 10 and the tilt angle T, sends a signal to the control device 11, and sends a signal to the control device 11.
1 calculates these and determines the turning direction in which the lower traveling device 2 faces in the operating direction of the traveling lever 10 at the minimum turning angle,
The control flow rate is determined from the inclination angle T, and the right and left traveling operation valves 20
．． Send a signal to the solenoid valves 21 and 22 of 30, and the solenoid valve 21
．． 22 receives this, the boppet valves 23, 24, 25.2
6 to rotate the traveling motors 7 and 9 in the designated direction at the designated rotational speed to turn the lower traveling device on the spot. When the lower traveling device 2 starts turning on the spot, the fourth
As shown in the figure, the direction C of the center line of the lower traveling device 2 before the start of the turn changes to C', and therefore the operating direction A of the travel lever 10 also changes to A', so the driver operates the travel lever 10 in the direction A. Return to position. Continuing this operation, when the angle α+β formed by direction C and direction A reaches a predetermined angle K, the control device 11 sends a signal to the traveling operation valve 20.30 to stop turning on the spot, to travel forward or backward, and to control the flow rate. The lower traveling device 2 is caused to go straight in a designated direction at a designated speed.

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, instructions to stop both forward and backward travel and turning on the spot are issued in steps 101 and 102, and the vehicle does not move. In step 100, tilt the travel lever lO in the direction you want to travel by an angle T, and in step 103, read the angles α, β, and T.Step 1
In step 04, it is tested whether -90°≦α+β≦90@, and if YES, in step 105, it is tested whether the absolute value of α+β is smaller than a predetermined angle K. 1
In the case of α+βl≦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 travel lever 10 are parallel to each other. In that case, in step 106, an instruction to stop turning on the spot is given, and in step 1
At step 07, a forward direction instruction and a control flow rate instruction are given, and the vehicle is moved forward at the instructed speed. Also, in step 105, 1α+β
If l>K, it is checked in step 108 whether 0≦α+β≦90＠, and if YES, in step 109, the rightward on-spot turning and control flow instruction are performed to reach 1α+β1≦K at the minimum turning angle. Do this. Then, when the vehicle starts turning, the operation direction of the traveling lever 10 is adjusted as described above.
, T and repeat the same operation until 1α+β1≦K.

As shown in FIG. 6, in step 104 -90''≦α+β≦90
If not, 180°−1α+β1 in step 111
≦K or not, and if YES, an instruction to stop turning on the spot is given in step 112, and then in step 113, the operation direction A of the travel lever 10 and the lower travel device 2 are determined in step 113.
Since the forward direction C is 180 degrees opposite to the forward direction C, a reverse direction travel instruction and a control flow rate instruction are issued, and the vehicle travels in the A direction at the instructed speed. If No in step 111, step 11
In step 4, 90＠α1β≦180" is verified. If YES, in step 115, instruct leftward on-the-spot turning and control flow rate, which is the minimum turning angle; if NO, in step 116, rightward in-situ turn is instructed. Instruct turning and control flow rate 180@-1α+β
Repeat the same operation until I≦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 described in detail above, the present invention includes 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 traveling direction of the lower traveling device. Since the control flow rate of the pressure oil is determined and instructed to the travel operation valve, the driver simply tilts one travel lever in the travel direction according to the desired speed, and the lower travel device is moved in the travel direction at the desired speed. To provide a vehicle running control device and control method that is easy to operate, allows the vehicle to turn on the spot and run at a desired speed in the direction in which the travel lever is tilted, and is safe without creating any illusion regarding the direction of travel. It will be done.

[Brief explanation of the drawing]

Fig. 1 is an overall configuration diagram of the present invention, Fig. 2 is an explanatory diagram of the operation direction and inclination angle of the travel lever, Fig. 3, Fig. 4. Fig. 6 is an explanatory diagram of the relationship between the relative turning angle and the operating direction angle, Fig. 5 is a flowchart, Fig. 7 is an overall view of the vehicle, Fig. 8 is a conventional overall configuration diagram, and Fig. 9 is a conventional vehicle. FIG. l... Upper revolving structure, 2... Lower traveling device, 3...
Vehicle body rotation encoder, 4... Driver's seat, 5... Lever angle detector, 6... Right travel device, 7 Right travel motor, 8
...Left travel device, 9...Left travel motor, 10...
Travel lever l1...Control device, l2...Variable capacity pump, 13...Oil tank, 20...Right travel operation valve, 30...Left travel operation valve, 21.22...Solenoid valve ,
23, 24, 25. 26...Poppet valve, 40...
Right travel lever, 41...Pilot pressure generation valve, 42...
...Right travel operation valve, 43...Left travel lever 44...
Left travel operation valve.

Claims (1)

[Scope of Claims] 1) A vehicle comprising an undercarriage device 2 and an upper revolving structure 1, and equipped with a travel operation valve, a travel lever for operating the travel operation valve, and a travel motor controlled by the travel operation valve,
The vehicle body rotation encoder 3 detects the relative rotation angle β between the upper revolving structure 1 and the lower traveling device 2, and the operating direction angle α of one traveling lever attached to the upper revolving structure 1 that controls the traveling direction and traveling speed. and a lever angle detector 5 that detects the tilt angle γ, a flow control type traveling operation valve that operates in response to an electric signal from the control device 11, and a lever angle detector 5 that receives signals from the vehicle body turning encoder 3 and the lever angle detector 5. A travel control device for a vehicle, comprising the control device 11 that calculates and sends a signal to a travel control valve. 2) In the vehicle travel control device described in item 1, one travel lever is tilted at an arbitrary angle in the travel direction, and the angle α in the operating direction of the travel lever, the inclination angle γ of the travel lever, and the upper rotating body 1 The rotation direction of the undercarriage 2 is determined by calculating the relative rotation angle β of the undercarriage 2, and a signal is sent to the travel operation valve until the undercarriage 2 and the operating direction of the travel lever become parallel. The undercarriage device is turned on the spot at a speed proportional to the inclination angle γ of the travel lever, and when it is detected that the operating direction of the travel lever and the undercarriage device 2 are parallel, the rotation is stopped on the spot, and then the lower travel device is turned on the spot. A control method characterized by causing the device 2 to move straight in the operating direction of the travel lever at a speed proportional to the inclination angle γ of the travel lever.