JPH026086Y2 - - Google Patents

Description

[Detailed Description of the Invention] "Industrial Application Field" The present invention relates to an automatic steering device for a paving vehicle such as an asphalt finisher.

"Conventional technology and its problems" Conventional asphalt finishing has a structure in which it is operated by two workers: an operator who operates the machine and a screed man who operates the screed. There are non-economic complaints.

"Purpose of the invention and its solution" The purpose of the invention is to provide an automatic steering device that can be automated and operated by one person.

In order to achieve the above object, the present invention includes a position detection device that detects the position based on a driving reference line provided on the road surface, and a command device that receives the detection signal output from the position detection device. In the automatic steering system for a paving work vehicle, which is configured to control the operation of the actuator of the steered wheels by the command device, the position detection device detects a traveling reference line and outputs a central position detection signal. A light sensor that emits
The command device includes an optical sensor that detects the running reference line and issues a right position detection signal, and an optical sensor that detects the running reference line and issues a left position detection signal. A memory that adds and stores the amount of correction from receiving the detection signal to inputting the detection signal of the central photosensor, and outputs a correction command signal to the actuator based on the memorized results stored in this memory and outputs a correction command signal to the actuator in the reverse direction. The system is equipped with a control section that operates the system.

"Function" With the above configuration, when driving, when a detection signal of the driving reference line is issued from either the left or right optical sensor, the command device is corrected to face the direction of the optical sensor from which the detection signal was issued. When a command is output to the actuator and then a detection signal is emitted from the central optical sensor, the control section of the command device outputs a correction command signal to the actuator based on the result of the correction amount added up to that point. Operate in the opposite direction.

"Embodiment" An embodiment of the present invention will be described below with reference to the drawings.

1 to 4 show an embodiment of the present invention, in which numeral 1 represents an asphalt finisher. This asphalt finisher 1 is equipped with a hopper 2 in the front part (upper part in Fig. 1), and the asphalt mixture put in the hopper is sent backward by a bar feeder 3 and dropped onto the road surface by a screw 4, and then It consists of a pair of movable screeds, and is configured to be compacted by an extendable screed 5 whose laying width can be adjusted. A position detection device 6, which will be described in detail next, is provided on the front right side of the asphalt finisher 1, and a command device 7 is mounted in the center.

The position detection device 6 detects the position of the asphalt finisher 1 based on a driving reference line (reference member) 8 laid on the road surface, and includes three optical sensors 9, 10, which are composed of a projector and a receiver. 11. In FIGS. 2 and 3, the optical sensor 10 in the center detects the driving reference line 8 and issues a signal to notify that the asphalt finisher 1 is in the correct position, and the optical sensor 9 on the left , detects the traveling reference line 8 and issues a signal in the same manner as above to notify that the asphalt finisher 1 is moving to the right, and the right optical sensor 11
It detects the travel reference line 8 and issues a signal to notify that the asphalt finisher 1 is moving to the left. In the above, the central optical sensor 1
0 is fixed to a holder 14 that is attached to a support member 12 so as to be movable back and forth (up and down in FIG. 2),
Further, the left and right optical sensors 9 and 11 are mounted on holders 13 and 1 that are attached to the support member 12 so as to be movable left and right.
It is fixed at 5. Further, the support member 12 is inserted into the elongated hole 20 of the support member 12, and the end member 19 is inserted into the tip of the cylindrical movable beam 17 and fixed with a tightening bolt 18.
It is fixed so as to be movable up and down by tightening a bolt 21 screwed into. Furthermore, the movable beam 17 has a fixed beam 2 fixed to the front right side of the asphalt finisher 1 so as to protrude to the right.
2, and is fixed with a tightening bolt 23. Therefore, in the above configuration, by loosening the tightening bolt 23 and expanding and contracting the movable beam 17 with respect to the fixed beam 22, the separation distance of the position detection device 6 from the asphalt finisher 1 can be made to correspond correctly to the working conditions at the site. , also, loosen the bolt 21 and remove the position detection device 6.
The height of the optical sensors 9, 10, 11 can be adjusted, and the relationship between the optical sensors 9, 10, 11 can be finely adjusted by moving the holders 13, 14, 15 back and forth, left and right with respect to the support member 12.

The command device 7 receives the detection signals emitted from the optical sensors 9, 10, and 11, and as shown in FIG.
The direction of the steering wheels 24 of the asphalt finisher 1 is changed by controlling the operation of an actuator 26 such as a hydraulic cylinder that moves the steering wheels 24 of the asphalt finisher 1 via a steering rod 25. That is, as shown in FIG. 7, the command device 7 is composed of a microcomputer, and its control section (central processing unit) 7a communicates with the position detection device 6 through one I/O interface 7b. An electromagnetic switching valve 27 connected to the rotary encoder 30 and incorporated into the hydraulic circuit of the actuator 26 via the other I/O interface 7c, and a main clutch hydraulic pressure that operates the running/stopping of the asphalt finisher. cylinder 31
The electromagnetic switching valves 32 are respectively connected to the electromagnetic switching valves 32 incorporated in the circuit. Then, in response to the detection signals sent from the position detection device 6 and the rotary encoder 30, a command is issued to the electromagnetic switching valves 27 and 32, and if the running direction of the asphalt finisher 1 deviates from the running reference line 8, The actuator 26 is moved to correct this, and the main clutch hydraulic cylinder 31 is operated when necessary to stop the vehicle from traveling.

The control mode of the actuator 26 by the command device 7 is as shown in FIG.

That is, to explain the outline of this, the central optical sensor 10 is positioned directly above the running reference line 8 and starts. At this time, no correction command is issued and the correction amount q
is 0. After the correction interval time dt has elapsed, a detection signal of the travel reference line 8 is output from the left optical sensor 9, so the command device 7 corrects the unit correction amount (α amount) so that the direction is changed to the left. A command is sent to the actuator 26. Furthermore, this state continues even after the dt time elapses, and the left optical sensor 9 outputs a detection signal for the traveling reference line 8, so the command device 7 instructs the controller 7 to further change the α amount direction to the left. Additional amendment directives will be issued. In this way, at each interval time dt, a correction command is issued according to the detection signal from the optical sensor at that time (for example, in the case of Fig. 5, a correction command is issued m times so that the α amount direction is changed to the left). is issued), and this modification command continues thereafter until a detection signal is issued from the central optical sensor 10. Then, since the paving vehicle moved to the left with respect to the driving reference line 8 and returned to the normal driving state, the command device 7 caused the control unit 7a to adjust the correction amount until now (that is, until returning to the normal driving state). A correction command is issued to the actuator 26 so that the direction is changed to the right by half the added amount (mα/2), and the normal running state is restored. In addition,
Since the case where a detection signal is emitted from the right optical sensor 11 is the same as the case from the left, the explanation thereof will be omitted.

In the above case, the comparison of the positions and the amount of correction are performed by the control unit 7.
For example, a is the optical sensor 9 [1], the optical sensor 10
Define position data such as [2] for the optical sensor 11 and [3] for the optical sensor 11, and store it in the memory.
A calculation process is performed to subtract the value of the position data of the optical sensor that issued the detection signal last time from the value of the position data of the optical sensor that issued the detection signal this time, and if the answer is +1, move α to the right, - In the case of 1, correction commands are issued such as α to the left, 2α to the right in the case of +2, 2α to the left in the case of -2, and so on. In addition, in the case of the one shown in FIG.
The amount of correction from receiving the detection signal from 1 to inputting the detection signal of the central optical sensor 10 is added and stored, and the actuator 26 is operated in the opposite direction based on this stored result. A correction command signal is now issued.

28 is a cover surrounding the position detection device 6, and 29 is an auxiliary screw attached to the screw 4.

Next, the operation of the paving vehicle constructed as described above will be explained with reference to FIG.

When starting control, first, the command device 7
This confirms the detection signal from the optical sensor, reads the position of the optical sensor that is emitting the detection signal, and confirms whether the automatic steering switch is ON or OFF. If this automatic steering switch is turned on, it is immediately checked to see if it is an initial start, and if it is an initial start, it is checked to see if work equipment other than the travel system is in a working position. . In the above, if the automatic steering switch is turned off, the presence or absence of a travel stop output is asked. If the starting conditions are not met, the vehicle is returned to the starting position.

If the start conditions are met, or if the initial start is not made, it is checked whether the work vehicle is running or not based on the signal from the running speed encoder 30, and if it is running, the light is turned off. The presence or absence of a sensor signal is determined. When the work vehicle is stopped in the above manner, it is returned to the starting position again. If there is a signal from the optical sensor, the count of the correction interval time dt is cleared and it is checked whether the position data of the optical sensor is the same as the previous position data. If the location data is different,
A correction command is sent to the actuator 26, and the running direction is corrected as shown in FIG. 5 described above. If the positions are the same, and after a correction command is issued, the data will be replaced and then returned to the starting position.

Further, if there is no data from the optical sensor and a detection signal is output from the central optical sensor 10, the process returns to the start. When the optical sensors 9 and 11 at the ends are on the travel reference line 8 and are emitting detection signals, a correction command is issued and the correction is performed, and time counting is started and a predetermined time has elapsed.
dt, the state continues.

After that, it is confirmed whether or not the vehicle is uncontrollable, and if it is uncontrollable, an output to stop travel is sent to the main clutch electromagnetic switching valve 32, which activates the hydraulic cylinder 31 to release the main clutch of the travel drive system. If it is not out of control, it will be returned to its starting position.

In the above, a case has been described in which the number of optical sensors used in the position detecting device 6 is three, but the number is not limited to this and any number may be used, and the control form thereof is not limited to that shown in FIG. Although the amount by which the actuator 26 is operated in the opposite direction is not limited to this embodiment, it is better to output half the added correction amount in the opposite direction and operate the actuator in the opposite direction. This is preferable for controlling steering.

"Effect of the invention" As explained above, in this invention, the steering of a paving work vehicle such as an asphalt finisher is
This is automatically done using the position detection device and command device based on the driving reference line marked on the road surface to be paved, reducing the number of on-board workers from two to one. , paving can be done economically with labor savings.

In addition, since the actuator is operated in the opposite direction based on the result of the amount of correction made to convert and return to the reference line when it deviates from the driving reference line, the paving vehicle does not meander, and the amount of correction is The steering direction can be controlled according to the vehicle speed, the vehicle can travel in a stable state along the travel reference line, and it has excellent effects such as good steering performance.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention. Figure 1 is a plan view of an asphalt finish equipped with the automatic steering system of the present invention, and Figure 2 is a plan view of the main parts of the automatic steering system of the present invention. Fig. 3 is - of Fig. 2.
4 is a schematic diagram of the hydraulic circuit of the actuator, FIG. 5 is an explanatory diagram showing an example of a control mode, FIG. 6 is an explanatory diagram showing an example of control of the command device, and FIG. FIG. 3 is a block diagram of a control system. 6...Position detection device, 7...Command device, 8...
Travel reference line, 9, 10, 11... optical sensor, 24
... Steering wheel, 26 ... Actuator.

Claims (1)

[Scope of utility model registration request] A steering wheel, an actuator that changes the direction of the steering wheel, a position detection device that detects the position based on a driving reference line provided on the road surface, and a detection signal sent from the position detection device. In the automatic steering system for a paving vehicle, the position detection device includes an optical sensor that detects a traveling reference line and issues a center position detection signal. ,
The command device includes an optical sensor that detects the running reference line and issues a right position detection signal, and an optical sensor that detects the running reference line and issues a left position detection signal. A memory that adds and stores the amount of correction from receiving the detection signal to inputting the detection signal of the central photosensor, and outputs a correction command signal to the actuator based on the memorized results stored in this memory and outputs a correction command signal to the actuator in the reverse direction. An automatic steering device for a paving work vehicle, comprising: a control unit for operating the automatic steering device.