JP2975554B2 - Travel control device for special vehicle and travel control method thereof - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling control device for a special vehicle such as a rubber crawler carrier, an excavator, and a multi-wheel carrier.

[0002]

2. Description of the Related Art In a conventional traveling control apparatus for a special vehicle, a driver sits on a rotating seat, operates two steering wheels disposed forward when the seat is facing forward, and moves the seat backward. When the vehicle is facing, the two steering wheels arranged at the rear are operated to control the traveling of the special vehicle, that is, forward / reverse, left / right rotation and speed thereof.
However, in this case, the driver is operating the two handles, there is no vacant hand, and it is not possible to perform other manual operations during the operation, which is inconvenient.

The inventor has proposed a special vehicle as shown in FIG. In FIG. 11, 1 is a not-shown 1
A joystick controller on which two joystick handles are arranged, 100A is a rubber crawler carrier, and 103A is a driver operator seat to which the joystick controller 1 is integrally attached.

A rubber crawler carrier 100 shown in FIG.
In A, the driving operator moves the seat 103A from the normal position shown in FIG.
The joystick controller 1 is operated by adjusting the joystick controller 1 to the reverse position rotated by degrees. Since the joystick controller 1 rotates together with the seat 103A, the driver
Regardless of the normal position or the reverse position, the same operation may be performed by only one controller 1.

FIG. 8A is a block diagram showing a traveling control device for a special vehicle proposed by the present inventors. FIG.
4A, reference numeral 104 denotes an engine, 106 denotes a left hydraulic motor, 107 denotes a left sprocket driven by the left hydraulic motor 106, and 108 denotes a left sprocket 107.
, 110 is a right hydraulic motor, 111 is a right sprocket driven by the right hydraulic motor 110, 112 is a right sprocket 111
The right rubber crawler 115 driven by is an arrow indicating the forward direction. 1 is a joystick controller described above, 1a is one joystick handle for operating the joystick controller, 2a
Is a seat position detecting unit for detecting the position of the seat 103A (see FIG. 11), 3 is a front / rear position signal (signal indicating the front / rear position indicated by the joystick handle 1a) TN1 from the joystick controller 1, and a left / right position signal (of the joystick handle 1a). Signal indicating left and right positions) TN
2 and the front position signal TC from the seat position detector 2
1. A control current IL for inputting the rear position signal TC2 and controlling hydraulic pump devices 105A and 109A to be described later.
1, a control unit that outputs IR1, 105A is a control current IL
1 is a left hydraulic pump device that rotates the left hydraulic motor 106 in the forward or reverse direction by inputting 1; 109A is a right hydraulic pump device that inputs the control current IR1 and rotates the right hydraulic motor 110 in the forward or reverse direction. is there. Note that the traveling control device in FIG.
11 and a device consisting of components excluding the rubber crawlers 108 and 112. FIG. 8B shows a joystick handle 1 a of the joystick controller 1.
It is a top view which shows the operation direction of.

FIG. 9 shows the left hydraulic pump device 1 shown in FIG.
FIG. 5B is a block system diagram showing the hydraulic pump device for right 05A and the right hydraulic pump device 109A in further detail. In FIG. 9, reference numeral 4 denotes a left coil which becomes an electromagnet when the control current IL1 flows;
5 is a left hydraulic valve whose flapper position is controlled by a left coil 4, 6 is a left hydraulic pump whose discharge hydraulic pressure direction is controlled by a left hydraulic valve 5, 7 is a right coil that becomes an electromagnet when a control current IR1 flows. Reference numeral 8 denotes a right hydraulic valve whose flapper position is controlled by the right coil 7, and reference numeral 9 denotes a right hydraulic pump whose discharge hydraulic pressure is controlled by the right hydraulic valve 8. As shown in the figure, the hydraulic pump device 105A includes a coil 4, a hydraulic valve 5, and a hydraulic pump 6, and the hydraulic pump device 109A includes a coil 7, a hydraulic valve 8, and a hydraulic pump 9.

Next, the operation of the driver when the seat 103A is in the normal position will be described with reference to FIG. First, the forward operation will be described. When the driver operates the steering wheel 1a in the forward direction shown in FIG. 8B, a forward / backward position signal TN1 indicating forward movement is input to the control unit 3. At this time, since the seat 103A is at the normal position, the seat position detecting unit 2
Is turned on and input to the control unit 3. The control unit 3 receives the signals TN1 and TC1 and controls the hydraulic pump devices 105A and 105A by the control currents IL1 and IR1.
109A is controlled. At this time, the values of the control currents IL1 and IR1 output from the control unit 3 are both determined by the amount of operation of the joystick handle 1a, that is, the forward tilt angle of the handle 1a (the tilt angle when the 90 ° vertical direction is zero). When the inclination angle is large (when the joystick handle 1a is largely inclined and falling), the values of the control currents IL1 and IR1 are both large, and the hydraulic pump devices 105A and 109A are both hydraulic motors. 10
6, 110 are rotated at the same rotational speed in the forward direction at a high speed.
As a result, the rubber crawlers 108 and 112 rotate at high speed in the forward direction via the sprockets 107 and 111, and the rubber crawler carrier 100A (see FIG. 11) advances at high speed. Joystick handle 1a when you want to slow down
May be reduced.

Next, the reverse operation will be described. When the driver operates the steering wheel 1a in the backward direction shown in FIG. 8B, a front / rear position signal TN1 indicating the reverse is input to the control unit 3. At this time, since the seat 103A is in the normal position, the front position signal TC1 from the seat position detection unit 2 is turned on and input to the control unit 3. The control unit 3 outputs the signal TN
1, TC1 is input, and the hydraulic pump devices 105A, 109A are controlled by the control currents IL1, IR1. At this time, the values of the control currents IL1 and IR1 output from the control unit 3 are both amounts corresponding to the operation amount of the joystick handle 1a, that is, the amount of tilt of the joystick handle 1a in the backward direction. Current I
The values of L1 and IR1 both increase, and the hydraulic pump device 1
Both 05A and 109A rotate the hydraulic motors 106 and 110 at the same speed in the reverse direction at high speed. This allows the rubber crawler 10 to move through the sprockets 107 and 111.
8, 112 rotate at high speed in the reverse direction, and the rubber crawler carrier 100A (see FIG. 11) moves at high speed.

Next, a normal right turning operation will be described. As shown by a dotted arrow in FIG. 8B, when the joystick handle 1a is tilted in an oblique direction, that is, in the forward right direction, the joystick controller 1 sends a forward / backward position signal TN1 indicating forward movement and a left / right position signal TN2 indicating right turning.
Is input to the control unit 3. Since the seat 103A is at the normal position, the front position signal TC1 from the seat position detection unit 2 is output.
Is turned on and input to the control unit 3. The joystick controller 1 sends a forward / backward position signal TN1 indicating forward movement.
And a left / right position signal TN2 indicating a right turn are input to the control unit 3, and the control unit 3 outputs control currents IL1 and IR1 indicating forward and right turn. That is, the control current IL
1. The value of IR1 comprises a forward control current value and a right turn control current value. The forward control current value is a value as described above, that is, a value corresponding to the forward tilt angle. Similarly, the right turn control current value is a value corresponding to the rightward tilt angle. Since the operation here is a right turning operation, the value of the control current IL1 input to the left hydraulic pump device 105A is equal to the control current I input to the right hydraulic pump device 109A.
R1 is larger than the value of R1 and therefore the left rubber track 108
Of the right rubber crawler 112 is larger than the rotation speed of the right rubber crawler 112 in the forward direction, whereby the rubber crawler carrier 100A turns rightward while moving forward. In the case of a normal left turning operation, the same is true except that the right turning operation and the left and right are reversed. The normal turning operation has been described above, but the case of an unusual super turning operation will be described later.

[0010] Even when the seat 103A is in the reverse position, the operation method of the driver is the same, but at this time, the control unit 3 needs to reverse the forward movement to the reverse and the right turn to the left turn. This is determined by the position signals TC1 and TC2 input to the control unit 3 from the sheet position detection unit 2. That is, when the seat 103A is in the reverse position, the front position signal TC
1 is off, and the rear position signal TC2 is on, whereby the control unit 3 determines that it is in the reverse position, and inverts the front / rear position signal TN1 and the left / right position signal TN2 from the joystick controller 1 as described above. In this way, the driver can perform the driving operation with the same feeling whether the seat 103A is in the normal position or the reverse position.

FIG. 10 is a block diagram showing the control unit 3 in detail. In the figure, 3A is a microcomputer unit,
Reference numeral 3B denotes a driver unit, 31 denotes a RAM having a RAM 32 for temporarily storing data, and a CPU 3 for performing data processing and the like based on a program stored in an external ROM 33.
4 and 37 represent the frequency indicated by the frequency signals FL and FR as the voltage V
L / VR frequency / voltage converter (F / V), 3
Reference numerals 5 and 38 denote voltage / current converters (V / A) for converting the input voltages VL and VR into currents IL0 and IR0 corresponding to these voltage values, and reference numerals 36 and 39 denote polarity switching signals PL and PR from the CPU 31. A polarity switch that generates and outputs control currents IL1 and IR1 from currents IL0 and IR0 based on the current. That is, when the polarity switching signals PL and PR are on, the currents whose polarity has been switched between the currents IL0 and IR0 are output as the control currents IL1 and IR1, and the polarity switching signals PL and PR are output.
When R is off, the currents IL0 and IR0 are output as control currents IL1 and IR1 as they are. The left coil 4 and the right coil 7 are the same as those shown in FIG.

Next, the operation of the control unit 3 of the traveling control device for a special vehicle shown in FIG. 8 will be described with reference to the flowchart shown in FIG. First, the control unit 3 resets the memory contents of the RAM 32, for example, frequency data RT and LT described later.
Is initialized (step S1).
Next, the front / rear position signal AD0N indicated by the front / rear position signal TN1 is read by inputting the front / rear position signal TN1 from the joystick controller 1 (S2). Next, the left / right position signal TN2 from the joystick controller 1 is input, and the left / right position data AD1 indicated by the left / right position signal TN2 is input.
N is read (S3). Next, turning mode setting for traveling control is performed (S4), and frequency output processing for outputting frequency data FL and FR from the CPU 31 is performed (S4).
5).

Next, each processing of steps 2 to 5 will be described in detail. First, joystick controller 1
Of reading front / back position data AD0N from
This will be described with reference to the flowchart of FIG. The CPU 31 reads the front / rear position data AD0N indicated by the front / rear position signal TN1 (S11), and converts the front / rear position data AD0N into front / rear position data AD0X based on a table conversion characteristic as shown in FIG. 14 (S12). The table conversion characteristic in FIG. 14 is for providing a dead zone near the neutral position of the joystick handle 1a. Next, the sheet position detection unit 2
It is determined whether or not the seat 103A is at the rear position, that is, whether or not the rear position signal TC2 is ON, based on the front position signal TC1 and the rear position signal TC2 input to the CPU 31 from the CPU 31 (S13). Then, the polarity of the converted front / rear position data AD0X is inverted (S14),
The inverted front / rear position data AD0X is stored in the RAM 32. When it is determined that the seat 103A is not at the rear position but at the front position, the converted front / rear position data AD0X obtained in step 12 is stored in the RAM 32 as it is (S15).

Next, reading of the left / right position data AD1N from the joystick controller 1 will be described with reference to the flowchart of FIG. The CPU 31 reads the left / right position data AD1N indicated by the left / right position signal TN2 (S21), and reads the left / right position data AD1N based on the table conversion characteristics as shown in FIG.
It is converted to D1X (S22). The table conversion characteristic of FIG. 16 is for providing a dead zone near the neutral position of the joystick handle 1a. Next, it is determined whether or not the seat 103A is in the rear position, that is, whether or not the rear position signal TC2 is on, based on the front position signal TC1 and the rear position signal TC2 input to the CPU 31 from the seat position detector 2 (S23). ), When it is determined to be the rear position, the polarity of the converted front / rear position data AD1X is inverted (S24),
The inverted front / rear position data AD1X is stored in the RAM 32. If it is determined that the seat 103A is not at the rear position but at the front position, the converted front / rear position data AD1X obtained in step 22 is stored in the RAM 32 as it is (S25).

Next, the traveling control process of step 4 will be described with reference to the flowchart of FIG. First, C
The PU 31 determines whether the turning mode input from the input device (not shown) is the normal turning mode or the super turning operation mode (S31). Step 33 in case of mode
The process proceeds to (S32, S33).

Next, the normal turning mode of step 32 will be described with reference to the flowchart of FIG.
FIG. 18B is a data diagram showing front / rear position data AD0X and left / right position data AD1X corresponding to the area of the position of the joystick handle 1a. For example, at the upper right end point P1 of the area A, the front / rear position data AD0X = 100, left / right position data AD1X = 100, and at the lower right point P2 of the area A, the front / rear position data AD0X = 0, left / right position data AD1.
X = 100. First, joystick handle 1
It is determined whether the position of a is A, B, C or D (S41 to S4).
3). When the joystick handle 1a is at the position A, the frequency data RT and LT to be output to the F / V 34 are calculated based on the following formula (A1). When the joystick handle 1a is at the position B, the formula (B1) is calculated. Is calculated based on the equation (C1), and in the case of the position D, based on the equation (D1) (S44 to S47).
Note that AD0X = Y and AD1X = X.

RT = Y (1− | X | / 100), LT = Y (A1) RT = Y, LT = Y (1− | X | / 100) (B1) RT = Y, LT = Y (1− | X | / 100) (C1) RT = Y (1− | X | / 100), LT = Y (D1) Next, the frequency data RT obtained in steps 44 to 47
The LT is stored in the RAM 32 (S48).

Next, a description will be given, with reference to the flowchart of FIG. FIG. 19B is a data diagram showing front / rear position data AD0X and left / right position data AD1X corresponding to the area of the position of the joystick handle 1a. First, it is determined whether the position of the joystick handle 1a is A to H (S51 to S57). When the joystick handle 1a is at the position A, frequency data RT and LT to be output to the F / V 34 are calculated based on the following equation (A2), and when the joystick handle 1a is at the positions B, C, D, E, F and G, Is the formula (B
2), Equation (C2), Equation (D2), Equation (E2), Equation (F
2), the equation (G2), and in the case of the position H, the calculation is performed based on the equation (H2) (S58 to 65). Note that AD0X =
Y, AD1X = X.

RT = 2Y / 3 (1- | X | / 50), LT = 2Y / 3 ... (A2) RT = Y (1- | X | / 50), LT = Y (1- | X | /) 75) (B2) RT = Y (1- | X | / 75), LT = Y (1- | X | / 50) ... (C2) RT = 2Y / 3, LT = -2Y / 3 (1- | X | / 50) ... (D2) RT = -2Y / 3 (1- | X | / 50), LT = 2Y / 3 ... (E2) RT = Y (1- | X | / 50), LT = Y (1- | X | / 75) ... (F2) RT = Y (1- | X | / 75), LT = Y (1- | X | / 50) ... (G2) RT = 2Y / 3, LT = −2Y / 3 (1− | X | / 50) (H2) Next, the frequency data RT obtained in steps 58 to 65
The LT is stored in the RAM 32 (S66). As can be seen from the above equation, for example, in the area A, (X =
RT (except 50) is negative, LT is positive, and in the rubber crawler carrier, the left crawler is in a forward rotation and the right crawler is in a reverse rotation in a reverse rotation state.

Next, the frequency output processing of step 5 will be described with reference to the flowchart of FIG. First,
The frequency data RT obtained by the traveling control in step 4 is
It reads from M32 (S71) and outputs a right frequency signal FR indicating the right frequency (S72). Next, the frequency data LT is read from the RAM 32 (S73), and a left frequency signal FL indicating the left frequency is output (S74). FIG. 21 is a graph showing the relationship between the frequency data RT and LT and the frequency.

[0021]

However, the conventional traveling control device for a special vehicle has a problem in that when the joystick handle 1a is largely operated, the operation may be difficult because the vehicle suddenly starts. Was.
Further, when the driver performs a driving operation in a backward state where the driving operation is difficult (the seat 103A itself is in a forward state), such as when the vehicle is traveling backward, the position of the joystick handle 1a is provided to the driver. There is a problem that the vehicle turns larger than expected because it is difficult to understand.

The present invention has been made in consideration of the above circumstances, and has as its object to turn the vehicle even when the vehicle does not start suddenly and the driving operation is difficult in a backward direction. It is an object of the present invention to provide a special vehicle travel control device and a travel control method thereof that are easy to operate.

[0023]

In order to achieve this object, a traveling control device for a special vehicle according to the first aspect of the present invention comprises:
A joystick controller that outputs a forward / backward position signal indicating forward or backward and a right / left position signal indicating right or left turning according to the tilt direction and tilt angle of the joystick handle, and a forward / backward position signal and left / right position signal. A special-vehicle traveling control device having a control unit for controlling vehicle traveling by inputting, wherein the control unit determines a front-rear position of the joystick handle; Right and left position data conversion means for converting left and right position data indicated by the position signal, wherein the left and right position data conversion means
Left and right positions when the handle is behind the neutral position
The value of the left / right position data indicated by the signal is
This joystick is used in the left and right area of the tick handle operation position.
When the stick handle is at a position before the neutral position
Is wider than the zero area in the left and right position data of
It was decided to.

According to a second aspect of the present invention, there is provided a travel control device for a special vehicle, comprising: a front-rear position signal indicating forward or backward movement and a left-right position signal indicating right turn or left turn in accordance with a tilt direction and a tilt angle of a joystick handle. A joystick controller that outputs a front and rear position signal and a left and right position signal, and a control unit that controls the vehicle traveling, and a left and right rotating body driven by a left and right rotation drive command signal from the control unit. A travel control device for a vehicle, wherein the control unit includes:
It is determined whether the value indicated by the left / right position signal is within a predetermined range from the neutral position of the joystick handle, and when it is within the predetermined range, a time constant is given to the rotation drive command signal.
A soft process determining means for performing a soft start process for preventing sudden start, a running determining means for determining whether the soft start process is being performed, a direction determining means for determining a direction of movement of the joystick handle, A timer means for counting the time elapsed from the time, and an increasing / decreasing means for determining an increase / decrease of the value of the rotation drive command signal based on the direction of the movement and the elapsed time, wherein the joystick handle is in the neutral position.
After the operation within the specified range, the specified step amount and specified
A time constant is given to the rotation drive command signal in the elapsed time of
Soft start processing to increase line speed from low speed to multiple stages
And decided to do so.

According to a third aspect of the present invention, there is provided a traveling control method for a special vehicle, comprising: a forward / backward position signal indicating forward or backward movement and a left / right position signal indicating rightward turning or leftward turning in accordance with an inclination direction and an inclination angle of a joystick handle. A joystick controller that outputs a joystick handle, and a control unit that controls the vehicle running by inputting the front-rear position signal and the left-right position signal, the front-rear position determination for determining the front- rear position of the joystick handle a step a and a lateral position data converting step of converting the left and right position data indicating the left and right position signals in response to the longitudinal position of the joystick handle, lateral position data conversion step, Joyce
Left when tick handle is behind neutral position
The value of the left / right position data indicated by the right position signal is
In the left and right direction of the joystick handle operation position,
Joystick handle in front of neutral position
In some cases, it is wider than the zero area in the left and right position data.
It was decided to form a b.

According to a fourth aspect of the present invention, there is provided a traveling control method for a special vehicle, comprising: a forward / backward position signal indicating forward or backward movement and a left / right position signal indicating rightward turning or leftward turning according to the inclination direction and the inclination angle of the joystick handle. outputting a has a joystick controller, a control unit for controlling to input vehicle running left and right position signals and longitudinal position signal, and left and right rotary body driven by the rotation command signal of the left and right from the control unit A traveling control method for a special vehicle, comprising: determining whether a value indicated by the left / right position signal is within a predetermined range from a neutral position of a joystick handle, and when the value is within a predetermined range, a time constant is added to the rotation drive command signal. Give
A soft processing determining step of performing a soft processing for performing a soft start processing for preventing sudden start, a running determining step of determining whether the soft start processing is being performed, and a direction determining step of determining a direction of movement of the joystick handle When, a time measuring step for measuring an elapsed time from a predetermined time, and a decrease step of determining an increase or decrease in value of the rotation drive command signals on the basis of the elapsed time and the movement, before
The joystick handle is within a certain range from the neutral position
After being operated at a predetermined step amount and a predetermined elapsed time
The traveling speed is reduced by giving a time constant to the rotation drive command signal.
, A soft start process for raising the stage to a plurality of stages is performed .

[0027]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described with reference to the drawings. The travel control device for a special vehicle according to the present embodiment is the same as that shown in FIG. 8A, and a description thereof will be omitted.

FIG. 1 is a block diagram showing a function realizing means of the CPU 31 according to the present embodiment. In FIG. 1, 1
1 is a front / rear position determining means for determining the front / rear position of the joystick handle 1a, 12 is a left / right position data converting means for converting left / right position data indicated by a left / right position signal according to the front / rear position of the joystick handle 1a, 21 is a left / right rotating body. Software processing determining means for determining whether or not to perform software processing for giving a time constant to frequency data as left and right rotational drive command data for determining the rotational drive speeds of 107 and 111; and 22, a direction of movement of the joystick handle 1a 23 is a running determination means for determining whether or not software processing is being performed, and 24 is for determining increase or decrease of frequency data based on the direction of movement of the joystick handle 1a and the elapsed time from a predetermined time. The increasing / decreasing means 25 is a time measuring means for measuring an elapsed time from a predetermined time.

The operation of the present embodiment configured as described above will be described. The main flow of the CPU 31 is the same as that of the conventional FIG. In addition, the initialization processing in step 1 and the reading processing of the joystick front / rear position data in step 2 are the same as those in the related art, and thus description thereof will be omitted. In the present embodiment, the processing different from the conventional processing is the reading processing of the joystick left / right position data in step 3, the processing relating to the traveling control in step 4, and the frequency output processing in step 5.
The reading process of the joystick left / right position data in step 3 is a processing operation in the front / rear position determining means 11 and the left / right position data converting means 12 of the present embodiment in FIG. The processing operation is performed by the software processing determination unit 21, the direction determination unit 22, the execution determination unit 23, the increase / decrease unit 24, and the clock unit 25.

First, the reading process of the joystick left / right position data in the front / rear position determination means 11 and the left / right position data conversion means 12 will be described with reference to the flowchart of FIG. First, the front / rear position determination means 11
It is determined whether the front / rear position data AD0X is negative (S81,
If AD0X is negative, it is next determined whether AD0X is less than or equal to minus 50 (S8).
2, front / rear position determination step). FIG. 2B is a region diagram showing regions divided according to the value of the front / rear position data AD0X. In FIG. 2B, SF1 is a region where AD0X is zero or more, that is, a region above the point P1 of AD0X = 0, and SF2 is a region where AD0X = 0 and a point P2 indicated by a point P1.
The region between AD0X = -50 and SF3 is the point P2
Is an area below AD0X = -50. When the front / rear position data based on the position of the joystick handle 1a is within the area SF3, the left / right position data conversion means 1
2 converts the read left / right position data AD1N into a table (S83, S84, left / right position data conversion step).

FIGS. 3A to 3C are graphs showing table conversion contents. When the region of the front / rear position data AD0X is SF3, that is, steps 83 and 84, the conversion is performed based on FIG. As can be seen from FIG. 3A, in the table conversion in steps 83 and 84, the value of the left and right position data AD1X after the conversion is zero over a wide range of the central portion of the left and right position data AD1N before the conversion. ing. When the area of the front / rear position data AD0X is SF2, that is, steps 85 and 86 (left / right position data conversion step), conversion is performed based on FIG. As can be seen from FIG. 3B, in the table conversion in steps 85 and 86, the value of the left and right position data AD1X after conversion is zero over a considerably wide range of the central portion of the left and right position data AD1N before conversion. However, the range is narrower than the case of FIG. The area of front / back position data AD0X is SF
1, that is, in the case of steps 87 and 88 (left and right position data conversion steps), conversion is performed based on FIG. FIG.
As can be seen from (C), in the table conversion in steps 87 and 88, the value of the left and right position data AD1X after conversion is zero in a narrow range of the central part of the left and right position data AD1N before conversion. The range is narrower than in the case of FIG. The relationship between FIGS. 2A, 2B, and 2C is shown by the hatched portion in FIG. That is, when the joystick handle 1a is at the rear position (when the vehicle travels in the backward direction), even if the joystick handle 1a slightly moves left and right, the left / right position data is zero, meaning that the vehicle does not turn. . Next, the front position signal TC1 input to the CPU 31 from the seat position detection unit 2,
It is determined based on the rear position signal TC2 whether or not the seat 103A is at the rear position, that is, whether or not the rear position signal TC2 is on (S89). If it is determined that the seat 103A is at the rear position, the polarity of the converted left / right position data AD1X is determined. Is inverted (S9
0), the inverted left / right position data AD1X is stored in RAM3
Stored in 2. When it is determined that the seat 103A is not at the rear position but at the front position, steps 84, 86, 88
The converted left / right position data AD1X obtained in
It is stored in M32 (S91).

Next, step 4 in the main flow of FIG.
Will be described with reference to the flowchart of FIG. As different from the conventional driving control in the present embodiment, as can be seen from a comparison between FIG. 4 and FIG. 17, the determination as to whether or not the soft start process is being performed in step 101 and the soft start process in step 105 are performed. In FIG. 4, first, the soft processing determining means 21 determines whether or not the soft start processing is being performed (S101).
Whether or not the soft start process is being performed is determined by the left / right position data X = AD1X, as described later in the soft start process of FIG.
Is X = 0 (joystick handle 1a for X)
(Neutral position). For example, if −25 ≦ X ≦ 25, a soft start process is performed. That is, the soft start process prevents sudden start based on the operation of the joystick handle 1a in a narrow left and right range. The turning mode cannot be set during the soft start process, but if not, it is determined what the set turning mode is (S102). If the set turning mode is the normal turning mode, step 103
The process proceeds to step 104 in the case of the
The process proceeds to (S103, S104). After the processing of the set turning mode, a soft start processing is performed (S10).
5). The normal turning mode of step 103 and the super-spinning turning mode of step 104 are the same as those in the related art, and a description thereof will be omitted.

Next, the soft start processing in the software processing determining means 21, the direction determining means 22, the executing determining means 23, the increasing / decreasing means 24 and the timing means 25 in FIG. 1 will be described with reference to the flowchart in FIG. First, the software processing determining means 21 determines that the left / right position data X = AD1X
Is within a range of a predetermined value (−α, α) (S1).
11, software processing determination step). α is, for example, 25 (１ ／ of the maximum value 100). When it is determined that the left / right position data X is within the predetermined range (−α ≦ X ≦ α), that is, it is determined that the processing is the soft start processing, the processing flag is set (the processing flag bit is set to “1”) (S112a). If it is determined that it is not, the processing flag is lowered (the processing flag bit is set to "0") (S112b). First, the case where it is determined in step 111 that the process is the soft start process will be described. In this case, first, processing is performed on the right frequency data RT (S113 to S13).
2) Next, the process is performed on the left frequency data LT (S133).

After setting the processing flag in step 112a, the execution determination means 23 determines whether the right flag is set (S113, execution determination step). If the right flag is not set, soft start is performed. Since it is unknown whether the process is being executed or not, the previous frequency data RT and the current frequency data are read out (S114, S11).
5). Next, the executing determination unit 23 obtains a difference ΔRT between the previous RT and the present RT, and determines whether ΔRT is within a stop range (S116, an executing determination step). ΔR
If it is determined that T is within the stop range, that is, the joystick handle 1a has stopped, it is not necessary to increase or decrease the frequency data RT. Δ
When the RT is outside the stop range, the joystick handle 1a is in a moving state, and then the direction determination means 22 determines whether the joystick handle 1a is returning to the neutral direction or separated from the neutral position. (S117, direction determination step). When returning to the neutral direction, the right flag is set up, and when away from the neutral position, the right flag is set down (S118,
S119). If the right flag is set in step 113, the process immediately proceeds to step 120 because the soft start process is being executed.

Next, it is determined whether the right flag is down or up (S120). Regardless of whether the timer is up or down, the timer 25 measures the elapsed time from the predetermined time (S12).
If the predetermined time has not elapsed, there is no need to increase or decrease the frequency data RT, so the process proceeds to the processing step for the left frequency data LT (S133). When the right flag is in the up state and the predetermined time has elapsed, the increasing / decreasing means 24 adds a value obtained by adding a time constant step amount (predetermined amount of frequency data increment) to the previous frequency data RT. Right TMP (S1
22, increase / decrease step). Next, it is determined whether or not the right TMP has exceeded the current frequency data RT (S123). When it is determined that the right TMP has not exceeded the current frequency data RT, the right TMP is replaced with new frequency data (with a certain time constant) in order to continue the soft start process. The value of the right TMP is set as the value of the previous frequency data RT (S125). Right T at step 123
When it is determined that MP has exceeded the current frequency data RT, the soft start process does not need to be performed, so the right flag is lowered (S126), and the current frequency data RT is stored as new frequency data RTX (S12).
7). Here, the predetermined time is the time when the previous new frequency data was calculated, and the predetermined time is the calculation cycle of the new frequency data.

If it is determined in step 120 that the right flag is down and the predetermined time has elapsed, the increasing / decreasing means 24 adds a time constant step amount (a predetermined amount of frequency data increment value) to the previous frequency data RT. ) Minus TM
P (S129, increase / decrease step). Next, right TMP
Is determined to be smaller than the current frequency data RT (S130), and when it is determined not to be smaller, the right TMP is changed to new frequency data (the value is changed by a certain time constant) in order to continue the soft start process. Frequency data) RT
X is stored (S131), and the value of the right TMP is set as the value of the previous frequency data RT (S132). If it is determined in step 130 that the right TMP is smaller than the current frequency data RT, the right flag is lowered (S126) because there is no need to perform the soft start process, and the current frequency data RT is stored as new frequency data RTX. (S127).

If it is determined in step 111 that the process is not the soft start process, it is not necessary to perform the soft start process. Therefore, the process proceeds to step 126 and the process for the right frequency data RT is completed. In this case, it is not necessary to perform the soft start process on the left frequency data LT. Processing for Left Frequency Data LT (S1
33) is a process similar to steps 111 to 132 on the right side.

FIG. 6 is a time constant graph showing new frequency data RTX and LTX obtained based on the flow of FIG. As shown in FIG. 6, new frequency data R
TX and LTX gradually increase with a predetermined step amount and a predetermined elapsed time, and a certain time constant is given to the frequency data.

Next, the frequency output processing in step 5 in FIG. 12 will be described with reference to FIG. First, FIG.
Frequency data RTX obtained by soft start processing
(S141), the right frequency is determined based on the graph of FIG. 7B showing the relationship between the frequency data and the frequency, and the right frequency signal (right rotation drive command signal) FR is sent to the F / V 37 in FIG. Output (S142). Similarly, the left frequency data LTX is read out (S143), the left frequency is obtained based on the graph of FIG. 7B showing the relationship between the frequency data and the frequency, and the left frequency signal (left Output as a rotation drive command signal FL (S1
44).

As described above, according to the present embodiment, the front / rear position judging means 11 judges the front / rear position of the joystick handle 1a, and converts the left / right position data according to the front / rear position of the joystick handle 1a. Therefore, the value of the left / right position data can be adjusted based on the front / rear position data. For example, when the driver is in an unstable position facing forward and the vehicle moves backward, the left and right dead zones at the rear position of the joystick handle 1a are enlarged, and the left and right position data within the dead zones is set to zero. No turning can be performed, and even when the joystick handle 1a is at the rear position, if the steering wheel 1a is largely operated to go beyond the dead zone, a normal turning state can be obtained. Therefore, the effect of the joystick handle 1a when the vehicle moves backward can be reduced, and a stable operation for the driver can be obtained.

Further, the software processing determination means 21 of FIG. 1 determines that the soft start processing is to be performed when the left and right position data is within a predetermined range from the neutral position,
Determines the increase or decrease of the value of the frequency signal (rotation drive command signal) based on the direction of movement of the joystick handle 1a and the elapsed time from a predetermined time at which the previous frequency data was increased or decreased, so that the frequency data RT, LT That is, a time constant can be given to the frequency signals FR and FL, and sudden start of the vehicle can be prevented when the joystick handle 1a is within a predetermined left / right position range.

[0042]

As described above, the present invention provides a front / rear position judging means for judging the front / rear position of a joystick handle,
By having left-right position data conversion means for converting left-right position data indicated by the left-right position signal according to the front-back position of the joystick handle, the value of the left-right position data can be adjusted based on the front-back position of the joystick handle. For example, in the case of an unstable posture in which the driver is facing forward and the vehicle is moving backward, the left and right dead zones when the joystick handle is at the rear position are enlarged, and the left and right position data within the dead zone is obtained. It can be set to zero and there can be no turning, and even in the rear position, if the joystick handle is largely operated and the dead zone is exceeded, the normal turning state can be made, Can reduce the effect of the joystick handle when the vehicle reverses, providing a stable operation for the driver. Rukoto can.

When the joystick handle is at the rear position, the value of the left / right position data indicated by the left / right position signal is set to zero widely at the center portion, and when the joystick handle is at the front position, the left / right position data indicated by the left / right position signal is set. Is narrowed to zero at the center, so that the dead zone of the left / right position data when the joystick handle is at the rear position is large, no turning within the dead zone, and normal turning when the joystick handle exceeds the dead zone. Therefore, the influence of the joystick handle when the vehicle moves backward can be reduced, and a stable operation for the driver can be obtained.

Further, it is determined whether or not the value indicated by the left / right position signal is within a predetermined range from the neutral position of the joystick handle. If the value is within the predetermined range, a soft processing determining means for performing a soft start process; During-execution determining means for determining whether or not processing is being performed, direction determining means for determining the direction of movement of the joystick handle, time-measuring means for counting elapsed time from a predetermined time, direction of movement and elapsed time And the increase / decrease means for determining the increase / decrease of the value of the rotation drive command signal based on the above, it is possible to provide a time constant to the rotation drive command data (frequency data), that is, the rotation drive command signal (frequency signal),
The sudden start of the vehicle when the joystick handle is within the predetermined left / right position range can be prevented.

Further, the joystick handle includes a position determining step of determining the front / rear position of the joystick handle, and a left / right position data conversion step of converting left / right position data indicated by the left / right position signal according to the front / rear position of the joystick handle. Since the value of the left / right position data can be adjusted based on the front / rear position of the vehicle, for example, in the case of an unstable posture in which the driver is facing forward and the vehicle moves backward, the joystick handle may be adjusted to the rear position. When the dead zone on the left and right is enlarged, the left and right position data within the dead zone can be set to zero and no turning can be performed, and even at the rear position, the joystick handle can be operated greatly to exceed the dead zone. In such a case, a normal turning state can be achieved,
The effect of the joystick handle when the vehicle moves backward can be reduced, and a stable operation can be obtained for the driver.

Further, the left / right position data conversion step includes:
When the joystick handle is at the rear position, the value of the left / right position data indicated by the left / right position signal is widely set to zero at the center, and when the joystick handle is at the front position, the value of the left / right position data indicated by the left / right position signal is set at the center. , The dead zone of the left and right position data when the joystick handle is at the rear position is large, and it is possible to set a state of no turning within the dead zone and a normal turning state when exceeding the dead zone. So
The effect of the joystick handle when the vehicle moves backward can be reduced, and a stable operation for the driver can be obtained.

Further, it is determined whether or not the value indicated by the left / right position signal is within a predetermined range from the neutral position of the joystick handle. If the value is within the predetermined range, a soft processing determination step of performing a soft start process; An in-execution determining step of determining whether or not the processing is being performed, a direction determining step of determining a direction of movement of the joystick handle, a timing step of timing an elapsed time from a predetermined time, a direction of the movement and an elapsed time; And an increase / decrease step of determining the increase / decrease of the value of the rotation drive command signal based on the joystick handle, since a time constant can be given to the rotation drive command data (frequency data), that is, the rotation drive command signal (frequency signal). Can be prevented from suddenly starting when the vehicle is within the predetermined left / right position range.

[Brief description of the drawings]

FIG. 1 is a functional block diagram showing function realizing means of a CPU constituting a travel control device for a special vehicle according to an embodiment of the present invention.

FIG. 2A is a flowchart showing a joystick left / right position data reading process in the apparatus shown in FIG. 1; FIG. 3B is a region diagram showing regions divided according to values of front and rear position data.

FIG. 3A is a graph showing the contents of table conversion. (B) is a graph showing the contents of the table conversion. (C) is a graph showing the contents of the table conversion.

FIG. 4 is a flowchart showing a process relating to traveling control in the device of FIG. 1;

FIG. 5 is a flowchart showing a soft start process in the apparatus of FIG.

6 is a time constant graph showing a new frequency obtained based on the flow of FIG.

FIG. 7A is a flowchart illustrating a frequency output process. FIG. 3B is a graph showing the relationship between frequency data and frequency.

FIG. 8A is a block diagram showing a conventional travel control device for a special vehicle. (B) It is a top view which shows the joystick controller which comprises the driving | running control apparatus of the conventional special vehicle.

FIG. 9 is a block diagram showing the left and right hydraulic pump devices of FIG. 8 (A).

FIG. 10 is a block diagram showing a control unit of FIG.

FIG. 11 is a configuration diagram showing a proposed special vehicle.

FIG. 12 is a flowchart showing a main flow of a travel control device for a special vehicle.

FIG. 13 is a flowchart for describing reading of front / rear position data from a joystick controller.

FIG. 14 is a graph showing a relationship between a front-back position signal and front-back position data.

FIG. 15 is a flowchart illustrating reading of left and right position data from a joystick controller.

FIG. 16 is a graph showing the relationship between left and right position signals and left and right position data.

FIG. 17 is a flowchart for explaining conventional traveling control.

FIG. 18A is a flowchart for explaining a conventional normal turning mode. FIG. 4B is a data diagram showing front / rear position data and left / right position data corresponding to the area of the position of the joystick handle.

FIG. 19 (A) is a flowchart for explaining a super pivot turn mode. FIG. 4B is a data diagram showing front / rear position data and left / right position data corresponding to the area of the position of the joystick handle.

FIG. 20 is a flowchart for explaining conventional frequency output processing.

FIG. 21 is a graph showing the relationship between frequency data and frequency.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Joystick controller (progressive turning setting device) 1a Joystick handle 2 Seat position detection unit 3 Control unit 11 Front / back position determination unit 12 Left / right position data conversion unit 21 Software processing determination unit 22 Direction determination unit 23 Active determination unit 24 Increase / decrease unit 25 Clocking Means SF1 to SF3 Area 104 Engine 105A Left hydraulic pump device 106 Left hydraulic motor 107 Left sprocket 108 Left rubber crawler 109A Right hydraulic pump device 110 Right hydraulic motor 111 Right sprocket 112 Right rubber crawler

Claims (4)

(57) [Claims] A joystick controller for outputting a forward / backward position signal indicating forward or backward movement and a right / left position signal indicating rightward or leftward rotation in accordance with a tilt direction and a tilt angle of a joystick handle; And a control unit that controls the vehicle running by inputting the left and right position signals and the vehicle control device, wherein the control unit is a front and rear position determination unit that determines a front and rear position of the joystick handle, Right and left position data conversion means for converting left and right position data indicated by the right and left position signal according to the front and rear position of the joystick handle, wherein the left and right position data conversion means
When the steering wheel is located behind the neutral position,
The value of the left / right position data indicated by the
In the left / right direction of the stick handle operation position,
The stick handle is in front of the neutral position
The width of the left and right position data
Running controller for the special vehicle, characterized in that formed. 2. A joystick controller for outputting a forward / backward position signal indicating forward or backward movement and a right / left position signal indicating rightward or leftward rotation according to a tilt direction and a tilt angle of a joystick handle, and the forward / backward position signal. And a left / right rotation signal driven by a left / right rotation drive command signal from the control unit. The control unit determines whether a value indicated by the left / right position signal is within a predetermined range from a neutral position of the joystick handle, and when the value is within the predetermined range, gives a time constant to the rotation drive command signal. To prevent sudden start
A soft processing determining means for performing a soft start processing for stopping, a running determining means for determining whether or not the soft start processing is being performed, a direction determining means for determining a direction of movement of the joystick handle, and a predetermined time. Clocking means for measuring the elapsed time of, and increasing / decreasing means for determining increase / decrease of the value of the rotation drive command signal based on the direction of the movement and the elapsed time, wherein the joystick handle is within a predetermined range from the neutral position.
After being operated within steps of Jo Tokoro, predetermined elapsed time
To give a time constant to the rotation drive command signal to reduce the traveling speed.
A travel control device for a special vehicle, which performs a soft start process for raising the vehicle speed to a plurality of speeds. 3. A joystick controller for outputting a forward / backward position signal indicating forward or backward movement and a right / left position signal indicating rightward or leftward rotation according to a tilt direction and a tilt angle of the joystick handle, and the front / back position signal. And a control unit for controlling the vehicle traveling by inputting the right and left position signals and a left and right position signal, comprising: a front and rear position determining step of determining a front and rear position of the joystick handle; A left / right position data conversion step of converting left / right position data indicated by the left / right position signal in accordance with a position .
When the handle is behind the neutral position,
The value of the left / right position data indicated by the right position signal is
In the left and right direction of the joystick handle operation position,
Joystick handle in front of neutral position
In some cases, it is wider than the zero area in the left and right position data.
Travel control method for special vehicles, characterized in that formed between filtration. 4. A joystick controller for outputting a forward / backward position signal indicating forward or backward movement and a right / left position signal indicating rightward turning or leftward turning according to a tilt direction and a tilt angle of a joystick handle, and the front / back position signal. And a control unit for controlling vehicle travel by inputting the left and right position signals, and a left and right rotating body driven by left and right rotation drive command signals from the control unit. the value indicated by the lateral position signal to determine whether within a predetermined range from the neutral position of the joystick handle, the rotary drive when within the predetermined range
A software process determining step of performing a soft start process for preventing a sudden start by giving a time constant to the motion command signal, an in progress determining step of determining whether the soft start process is being performed, and a motion of the joystick handle. A direction determining step of determining a direction; a time counting step of counting an elapsed time from a predetermined time; and an increasing / decreasing step of determining an increase / decrease of a value of the rotation drive command signal based on the direction of the movement and the elapsed time. And the joystick handle is within a predetermined range from the neutral position.
After being operated within steps of Jo Tokoro, predetermined elapsed time
To give a time constant to the rotation drive command signal to reduce the traveling speed.
Speed to travel control method of the special vehicle, characterized in row Ukoto soft start process of raising a plurality of stages.