JP2017178167A5 - Passenger type vehicle - Google Patents

Description

The present invention includes a drive source, a left wheel and a right wheel that can be driven independently with respect to the rotation direction and the rotation speed, a caster wheel that is provided away from the left wheel and the right wheel in the front-rear direction, and mowing the lawn. The present invention relates to a passenger type vehicle including a machine.

An object of the present invention is a configuration in which a left and right wheels can be independently driven in the rotation direction and the rotation speed in a passenger-type vehicle , and it is easy to automatically avoid a collision with an obstacle object when making a sudden backward turn Is to realize.

The passenger type vehicle according to the present invention can drive the left wheel and the right wheel independently of each other in the rotation direction and the rotation speed by receiving power from the drive source, the left wheel and the right wheel, and the drive source. a transmission configured to, and a caster wheel which is provided apart in the longitudinal direction with respect to the left wheel and the right wheel, around the turn center position, only one rotation of the left wheel and the right wheel Or a passenger-type vehicle capable of making a sudden turn in which the left wheel and the right wheel rotate in opposite directions, disposed in the vehicle, and capable of detecting an obstacle object on the rear side, And a control device that decelerates the turn when the obstacle is detected by the sensor and is suddenly turning backward, and stops the turn before the vehicle collides with the obstacle.

According to the passenger vehicle according to the present invention, in a configuration in which the left and right wheels can be independently driven in the rotation direction and the rotation speed, it is easy to automatically avoid a collision with the obstacle target when making a sudden backward turn.

1 is a perspective view of a passenger type vehicle according to an embodiment of the present invention. It is a figure which shows the detection range of a 1st sensor seeing the vehicle of embodiment from upper direction. It is a block diagram which shows the characteristic structure of the vehicle of embodiment. (A) is the figure which looked at the power transmission structure of the power generation unit for left wheels and right wheels, and an engine from the upper side in the vehicle of embodiment, (b) is the arrow A direction of (a). FIG. In the vehicle of an embodiment, it is a figure showing a hydraulic circuit of a power generation unit for left wheels and right wheels. In the vehicle of an embodiment, it is a schematic diagram showing the state of straight running. In the vehicle of an embodiment, it is a schematic diagram showing the state of gentle turning to the front side. In the vehicle of an embodiment, it is a schematic diagram showing the state where it turns sharply ahead centering on one wheel of a right-and-left wheel. In the vehicle of an embodiment, it is a schematic diagram showing the state where it turns sharply ahead centering on the center between left and right wheels. In the vehicle of an embodiment, it is a schematic diagram showing the state of avoiding the collision to the obstacle object when turning sharply backward about one wheel of the left and right wheels. FIG. 3 is a diagram showing a state when the vehicle turns in the α direction from the state of FIG. 2 and a sensor detects an obstacle. FIG. 3 is a diagram showing a state when the vehicle turns in the β direction from the state of FIG. 2 and a sensor detects an obstacle. It is a block diagram which shows the characteristic structure of the passenger type vehicle of another example of embodiment which concerns on this invention. In the structure shown in FIG. 10, it is a figure corresponding to FIG. It is a block diagram which shows the characteristic structure of the passenger type vehicle of another example of embodiment which concerns on this invention. (A) is a figure corresponding to Drawing 4A in the composition shown in Drawing 12, (b) is a figure seen in the direction of arrow B of (a). It is a block diagram which shows the characteristic structure of the passenger type vehicle of another example of embodiment which concerns on this invention. FIG. 15 is a diagram corresponding to FIG. 4A in the configuration illustrated in FIG. 14.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the following description, a configuration in which the left and right wheels of a passenger type vehicle are mainly driven by a hydraulic motor as a traveling motor will be described. However, the traveling motor may be another motor such as an electric motor. For example, a case where an engine is used as a power source of the hydraulic pump will be described below, but an electric motor may be provided as a power source of the hydraulic pump. In the following, the case where the wheels as the left and right main drive wheels are arranged on the rear side and the caster wheels are arranged on the front side will be described, but the wheels may be on the front side and the caster wheels may be on the rear side.

The shape, the number, the arrangement relationship of components, and the like described below are examples for explanation, and can be appropriately changed according to the specification of the passenger type vehicle . Also, in the following, the same reference numerals are given to the same elements in all the drawings, and overlapping descriptions are omitted or simplified.

1 to 9 show a passenger type vehicle according to an embodiment. Hereinafter, the passenger vehicle 10 is referred to as a vehicle 10. FIG. 1 is a perspective view of the vehicle 10. FIG. 2 is a diagram illustrating detection ranges of the first sensors 50a and 50b when the vehicle 10 is viewed from above. FIG. 3 is a block diagram showing a characteristic configuration of the vehicle 10. FIG. 4A (a) is a diagram of the power transmission structure between the power generation units 26 and 27 for the left wheel 12 and the right wheel 13 and the engine 14 in the vehicle 10 as viewed from above, and FIG. 4A (b) FIG. 5 is a view as seen in the direction of arrow A in FIG. FIG. 4B is a diagram illustrating hydraulic circuits 28 and 29 of power generation units 26 and 27 for the left wheel 12 and the right wheel 13 in the vehicle 10.

Further, as shown in FIG. 4A, the vehicle 10 is disposed in the periphery of the left back switch 75 disposed in the periphery of the lower end portion of the left control lever 22 and in the periphery of the lower end portion of the right control lever 23. And a right back switch 76. The left and right back switches 75 and 76 detect whether or not the left and right control levers 22 and 23 are swung to an area (R area in FIG. 4A ) instructing reverse movement with the axis S in the horizontal direction at the lower end as a center . To do. The left and right back switches 75 and 76 transmit detection signals to the controller 60 when it is detected that the left and right control levers 22 and 23 are swung to the reverse instruction area. For example, when the front ends of the back switches 75 and 76 are pushed downward by the front ends of the lower ends of the control levers 22 and 23, the control levers 22 and 23 are tilted rearward from the neutral state to instruct reverse travel. It is detected that As will be described later, the controller 60 uses the detection signals of the left and right lever potentiometers 38 and 39 to determine whether or not the vehicle is turning sharply backward. At this time, the detection signals of the back switches 75 and 76 are used in an auxiliary manner, so that it can be stably determined whether or not the vehicle is suddenly turning backward.

4B, the charge oil passage C1 is connected to the two main oil passages S1, S2 connecting the hydraulic pumps 32, 33 and the hydraulic motors 30, 31. The charge oil passage C1 connects the main oil passages S1, S2 and the oil sump E via check valves F1, F2. The charge oil passage C1 is replenished with oil from the oil reservoir E in the main oil passage on the low pressure side of the main oil passages S1 and S2. Further, bypass valves 28a and 29a are connected between both the main oil passages S1 and S2 and the oil sump E. The bypass valves 28a and 29a are configured to be manually switchable between opening and closing which are connections between the main oil passages S1 and S2 and the oil sump E and closing. In the example of FIG. 4B, when the bypass valves 28a and 29a are switched to the open side, the main oil passages S1 and S2 are connected to the oil sump E through the throttle, but the throttle is omitted. May be.

FIG. 7 is a schematic diagram illustrating a state in which the vehicle 10 avoids a collision with the obstacle target P when the vehicle 10 suddenly turns backward about the ground contact position of the right wheel 13 that is one of the left and right wheels 12 and 13. In FIG. 7, for easy understanding, the vehicle 10 is schematically illustrated by rectangles of a one-dot chain line G <b> 1 and a broken line G <b> 2. When the vehicle 10 is in the state indicated by the one-dot chain line G1, only the left wheel 12 that is the other wheel of the left and right wheels 12 and 13 rotates in the reverse direction, and the stop of the right wheel 13 that is one of the wheels may be maintained. In this case, as indicated by the broken line G2, the vehicle 10 turns sharply backward as indicated by the arrow α direction with the grounding position of the right wheel 13 as the turning center position 70. In some cases, there is a failure target indicated by P near the front end of the vehicle 10 and outside the left side surface in the state of the one-dot chain line G1. At this time, the obstacle target P may not be seen from the driver of the driver's seat 21 or the driver may miss the obstacle target P. At this time, since the vehicle 10 continues to turn while spreading outward in the left-right direction on the front side, the vehicle 10 may collide with the obstacle target P in the state of the broken line G2. In the vehicle 10 of the embodiment shown in FIGS. 1 to 9, the controller 60 calculates that the vehicle 10 changes from the first direction of the dashed-dotted line G1 in FIG. 7 to the second direction of the broken line G2. Then, the controller 60 controls the driving of the left and right wheels 12 and 13 so that the vehicle is stopped in the third direction before the second direction after the first direction of the vehicle. Accordingly, at the time of a sudden turn to the rear, at least one of the first sensors 50a and 50b can easily detect the failure target at an early stage, and before the vehicle collides with the failure target. Easy to stop turning. Further, since the turning is decelerated from the time when the obstacle target is detected by the first sensor 50a, 50b, the deceleration applied to the driver can be reduced compared with the case where the turning is suddenly stopped. Can be reduced.

FIG. 12 is a block diagram illustrating a characteristic configuration of a vehicle 10 according to another example of the embodiment. FIG. 13A is a view corresponding to FIG. 4A in the configuration shown in FIG. 12, and FIG. 13B is a view seen in the direction of arrow B in FIG. 13A. The vehicle 10 shown in FIGS. 12 and 13 has the configuration shown in FIGS. 1 to 9, and the swash plate operation levers 32c and 33c of the left and right power generation units 26 and 27 are connected to the control levers 22 and 23 via links. Not. Instead, the vehicle 10 includes left and right swash plate actuators 44 and 45. The swash plate actuators 44 and 45 drive the swash plate operation levers 32c and 33c connected to the swash plate operation shafts 32b and 33b (FIG. 4B) of the corresponding hydraulic pumps 32 and 33 (FIG. 4B). , Controlled by the controller 60. The swash plate actuators 44 and 45 include, for example, a piston cylinder mechanism or a motor for rotating the corresponding swash plate operation levers 32c and 33c.

10- passenger type vehicle (vehicle), 11 transmission, 12 left wheel, 13 right wheel, 14 engine, 14a drive shaft, 15, 16 caster wheel, 18 lawn mower, 19 mower deck, 20 main frame, 20a, 20b side plate, 20c Connection part, 21 Driver's seat, 22, 23 Control lever, 24 Grip part, 25 Wheel cover, 26, 27 Power generation unit, 26a, 27a Case, 26b, 27b Reduction gear mechanism, 28, 29 Hydraulic circuit, 28a, 29a Bypass Valve, 30 Left hydraulic motor, 31 Right hydraulic motor, 32, 33 Hydraulic pump, 32a, 33a Drive shaft, 32b, 33b Swash plate operation shaft, 32c, 33c Swash plate operation lever, 34 Oil passage, 35 Drive pulley, 36 Belt 37 Link, 38, 39 Lever potentiometer, 40 Drive pulley, 41 Throttle actuator Tutor, 42, 43 Wheel speed pickup, 44, 45 Swash plate actuator, 46 Belt tension switching mechanism, 46a Spring, 47 Pressing pulley, 48 Tension switching actuator, 48a Cylinder member, 48b Rod, 49 Swing plate, 50a, 50b 1st sensor, 51a, 51b 2nd sensor, 60 controller, 61 Back sudden turning judgment part, 62 Turning deceleration stop part, 70 Turning center position, 72 Warning light, 73 Warning buzzer, 75, 76 Back switch, 141 Engine bonnet .

Claims (6)

A driving source;
With left and right wheels,
A transmission configured to be able to drive the left wheel and the right wheel independently of each other with respect to the rotation direction and the rotation speed by receiving power from the drive source;
Caster wheels provided in the front-rear direction with respect to the left wheel and the right wheel ;
A passenger-type vehicle capable of making a sudden turn in which only one of the left wheel and the right wheel rotates around the turning center position or the left wheel and the right wheel rotate in opposite directions Because
A sensor arranged in the vehicle and capable of detecting a fault target on the rear side;
A passenger-type vehicle comprising: a control device that detects a failure target with the sensor and decelerates the turn when the vehicle is suddenly turning backward, and stops the turn before the vehicle collides with the failure target. The passenger type vehicle according to claim 1,
A left wheel rotation speed detection unit for detecting the rotation speed of the left wheel per unit time;
A right wheel rotation number detection unit for detecting the rotation number of the right wheel per unit time,
The control device calculates the direction of the vehicle according to the detection signals from the left and right wheel rotation number detection units, and determines the first direction of the vehicle at the time when the failure target is detected by the sensor and the vehicle or vehicle. And calculating the second direction of the vehicle or the vehicle simulation model when the rectangular parallelepiped vehicle simulation model collides with the obstacle target, and changes from the first direction to the third direction before the second direction. A passenger-type vehicle that controls the rotation state of the left wheel and the right wheel so as to decelerate the turn before the turn and stop the turn in the third direction. In the passenger type vehicle according to claim 1 or 2,
It has a warning section that warns that it has approached the obstacle,
The control device is a passenger-type vehicle that decelerates a turn and activates the warning unit when a failure target is detected by the sensor and the vehicle is making a sudden turn. The passenger type vehicle according to any one of claims 1 to 3,
The drive source is an engine, and includes a throttle actuator that adjusts an opening of a throttle valve of the engine,
Wherein the control device, wherein by controlling the driving of the throttle actuator gradually decelerates the pivot by close to closing the throttle valve, stopping the rotation of the rearward by closing, riding type vehicle. The passenger type vehicle according to any one of claims 1 to 3,
The transmission is
A left hydraulic motor driven by pressure oil supply from a swash plate variable displacement left hydraulic pump, and a right hydraulic motor driven by pressure oil supply from a swash plate variable displacement right hydraulic pump,
A left adjustment shaft for adjusting the pressure oil discharge amount of the left hydraulic pump;
A right adjusting shaft for adjusting the pressure oil discharge amount of the right hydraulic pump;
A left swing angle detector for detecting the swing angle position of the left steering lever;
A right swing angle detector for detecting the swing angle position of the right steering lever;
A left actuator connected to the left adjustment shaft and driving a left swash plate operating lever;
A right actuator connected to the right adjustment shaft and driving a right swash plate operating lever;
The control device controls the drive of the left actuator according to a detection signal of the left swing angle detection unit to change the discharge amount of the left hydraulic pump, and detects the right swing angle detection unit In response to the signal, the drive of the right actuator is controlled to change the discharge amount of the right hydraulic pump, and the drive of the left actuator and the right actuator is controlled to control the left hydraulic pump and the right hydraulic pump. A passenger-type vehicle that decelerates turning by bringing the discharge amount substantially close to zero and stops turning backward by setting the discharge amount to zero. The passenger type vehicle according to any one of claims 1 to 3,
A clutch disposed between the output of the drive source and the input of the transmission;
A switching mechanism including a switching actuator for connecting and disconnecting power transmission in the clutch,
The control device controls the drive of the switching actuator to decelerate the turning by setting the power transmission in the clutch to a half transmission state, and turns backward by turning off the power transmission in the clutch. A passenger-type vehicle to be stopped.

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