JPH0738963Y2 - Traveling control device for mountainous transport vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention relates to a control device for a transportation vehicle in a mountain area,
In particular, the present invention relates to a travel control device in a compound transport vehicle having both functions of running on an endless track and running on a monorail.

(Prior Art) In the conventional material transport vehicle in the mountain area, a tracked vehicle is used in a normal mountain road, and a monorail vehicle that runs a monorail is installed in the mountain area where it is impossible to run on the ground. There is.

Since a conventional track-type or wheel-type vehicle has only a single running function, it is not possible for a single vehicle to run the entire route in a mountainous area having complicated terrain such as steep slopes, stairs, cliffs and rivers. It is possible.

When controlling the traveling of this type of vehicle, generally, a combination of a single traveling function and two control systems such as electromagnetic induction and radio control, computer program control and radio control is generally used.

(Problems to be Solved by the Invention) However, the traveling control device cannot be used on a complicated terrain such as a mountainous region because there is no vehicle whose traveling system changes depending on the terrain conditions.

Therefore, the applicant of the present invention has devised a hauling vehicle for mountainous areas, in which one vehicle is provided with both the track running device and the monorail running device.

As a result, it can be used in places where conventional vehicles cannot be used, and there is no need to rely on human power as in the past, which has the advantages of high efficiency and high safety.

However, at the present time, a controller suitable for such two different driving systems has not been developed, so that the adaptability of the vehicle to a complicated terrain is insufficient.

(Means and Actions for Solving Problems) The present invention has been made in view of the above points, and in a transport vehicle having two different traveling functions, that is, the endless track traveling and the monorail traveling, traveling control by electromagnetic induction. System,
Combining a program run control system with a computer and a run control system with a radio control that can be operated by humans by radio control that has priority over electromagnetic induction run or program run. So, while applying program running by computer to the monorail to make it unmanned,
By using radio-controlled remote-controlled driving by humans, it is possible to safely perform transportation work in mountainous areas with steep and complicated terrain without relying on human power, and adapting the vehicle to the complicated terrain of mountainous areas. It has been increased.

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

FIG. 1 shows an external view of a main part of a vehicle to which the present invention is applied,
FIG. 2 is an explanatory view of the power transmission system of FIG. 1, and FIG. 3 shows the correlation between the power transmission system and the control system.

In FIG. 1, reference numeral 1 is a main part of the transport vehicle of the present invention,
2 is an endless track for traveling on the ground.

Reference numeral 3 is a monorail installed on a terrain that cannot run on an endless track, and a tooth 6 of a sprocket 5 (see FIG. 2) of a monorail traveling device 4 is configured to mesh with a hole 7 formed on the monorail 3. 8 and 9 are guide rollers for running the monorail.

In FIG. 2, reference numeral 10 designates an endless track traveling device and an engine.
A hydrostatic transmission (hereinafter abbreviated as HST) 13 for running the endless track via a belt 12 and a variable displacement hydraulic pump for running the monorail.
Drive 14

The output of HST13 is connected via chain 15
It is decelerated by 16 and this power is a sprocket for running on a crawler track.
It is transmitted to 17 and rotates the endless track 18 to run.

To switch from running on a crawler track to running on a monorail, use H.
ST13 lever 13 'and variable displacement hydraulic pump 14 lever
By operating 14 ', the power of the engine 11 is
The variable displacement hydraulic pump 14 is driven via 12, the hydraulic motor 19 is driven by the hydraulic pressure generated here, and the monorail is run by rotating the running sprocket 5.

20 is a servo motor for operating the lever 13 ′,
Reference numeral 21 is a control box for operating the servomotor 20 and the brake 22.

24 is a servo motor for operating the lever 14 ',
Reference numeral 25 is a controller for operating the servomotor 24 and the solenoid valve 26, and 27 is a potentiometer for transmitting a rotation speed signal of the sprocket 5 to the controller 25.

As described above, in the present invention, by switching the traveling to one of the endless track traveling device and the monorail traveling device provided in one vehicle, the vehicle travels on the endless track traveling device,
In terrain where it is not possible to run on the ground, rails can be installed and run with a monorail running device.

The important points of this device are as follows.

That is, in the compound transport vehicle having different traveling functions, the electromagnetic induction traveling control as shown in FIG. 3 is applied to the endless track traveling, and the program traveling control by the computer is applied to the monorail traveling as will be described later to perform unmanned traveling. In addition to the adoption of radio control, so-called human remote control (described later) is also used to increase the adaptability of the vehicle to complex terrain.

(1) Electromagnetic induction traveling control As shown in Fig. 4, an electromagnetic induction wire 100 is installed at the center of the road, and two or four pickup coils 101 are attached to the vehicle body side so as to sandwich the induction wire.

While traveling, the pickup coil attached to the vehicle senses the magnetic force line emitted from the guide wire, and when the vehicle deviates from the guide line, there is a difference in the magnetic force lines sensed by the left and right pickup coils. It detects the deviation from the vehicle and controls the left and right HST levers to adjust the speed of the left and right endless tracks to run unmanned along the guide line.

Fig. 5 shows a control system diagram.

(2) Program run control by computer In monorail running, the travel route is regulated by rails, so speed, start and stop are programmed in advance.
Computers process the reception and transmission of instruction signals from outside the vehicle and drive unmanned.

(3) Radio control traveling control The traveling is controlled by the operation lever and volume of the radio control transmitter.

There are two types of running levers, one for the track and one for the monorail, and the volume is for the engine throttle.

The vehicle can be moved forward, backward, stopped, or steered by operating one or two levers, and the speed is set by the tilting angle of the lever. (See FIG. 7) In the case of the electromagnetic induction traveling control and the program traveling control described above, both are characterized in that only a preset single traveling path is repeated and unmanned traveling is performed, but traveling by radio control is performed. The control system is normally used in the following cases.

(A) In the case of making the vehicle run unsteadily or suddenly.

(B) Emergency intervention by the operator when an abnormality occurs during unmanned traveling (electromagnetic induction, program control) (road angle damage, fallen object, abnormal load, etc.).

(C) Accidents such as vehicle overturns can often occur in mountainous areas and uneven terrain, but in such cases it is dangerous for the operator to be on board or in the immediate vicinity of the vehicle, so operate from a safe place away from the vehicle. Etc.

FIG. 6 shows a flow chart of the traveling control function of the compound transport vehicle having the traveling function.

It is difficult to run on endless tracks on topographical parts such as steep slopes, soft roadbeds, stairs, and swamps. In such cases, running on a monorail is sufficient to allow running on the road surface (endless tracks are available). Causes electromagnetic induction traveling.

Also, since the radio control has a priority intervention function, the operator can control the vehicle regardless of the environment, which increases the degree of freedom of driving and ensures safety, making it possible to drive in complicated terrain. The vehicle adaptability can be significantly increased.

(Effect of the Invention) Since the present invention is configured as described above in detail, unmanned material transportation is performed on a complicated terrain in a mountainous area by using a compound transportation vehicle having two different traveling functions, that is, a crawler track traveling and a monorail traveling. At this time, electromagnetic induction is applied to the endless track traveling, and program traveling by a computer is applied when traveling on the monorail, and the remote control traveling controlled by humans is also possible with the radio control functioning prioritizing electromagnetic induction traveling or program traveling. Due to the three-system driving control function, the adaptability of the vehicle to complicated terrain is significantly increased.

Therefore, it is difficult to run on endless tracks on terrain such as steep slopes, weak roadbeds, stairs, and swamps, but in such cases, running on a monorail can be used to enable running on the road surface (parts that can run on endless tracks). Can be handled by performing electromagnetic induction traveling.) And especially by providing a priority intervention function by radio control, the operator can control the vehicle under any environment, and the degree of freedom of driving can be improved. Since it is possible to increase and secure safety and increase the adaptability of vehicles with complicated terrain, it is possible to safely perform transportation work especially in mountainous areas with steep and complicated terrain without relying on human power. You can

[Brief description of drawings]

FIG. 1 is an external view of a main part of a vehicle to which the present invention is applied, and FIG.
The figure is an illustration of the power transmission system of FIG. 1, and FIG. 3 shows the correlation between the power transmission system and the control system. FIG. 4 is an explanatory diagram of electromagnetic induction traveling control, FIG. 5 is a control system diagram, FIG. 6 is a flow chart showing a traveling control function of a compound vehicle having both traveling functions of the embodiment of the present invention, and FIG. It is explanatory drawing of arrangement | positioning of a traveling lever. 1 …… Transport vehicle, 2 …… Endless track 3 …… Monorail, 4 …… Monorail traveling device 10 …… Endless track traveling device

Front page continuation (72) Inventor Masaru Yamada 3-3-22 Nakanoshima, Kita-ku, Osaka City, Osaka Prefecture Kansai Electric Power Co., Inc. (72) Inventor Akio Terai 2-142-1, Sakuragaoka, Higashiyamato, Tokyo Komatsu Zenoa Stock In-house (56) Reference JP 59-52309 (JP, A) JP 58-51967 (JP, A) JP 56-35220 (JP, A)

Claims (1)

[Scope of utility model registration request] 1. A transport vehicle having two different traveling functions, namely, an endless track travel and a monorail travel, and a travel control system by electromagnetic induction for the endless track travel, and a program travel control system by a computer for the monorail travel,
A traveling control device for a mountain transport vehicle, each of which is provided with a traveling control system by a radio control that can be operated by a human by a radio control that has priority over electromagnetic induction traveling or program traveling.