JP6429230B2 - Turning speed control device for traveling device - Google Patents

Description

  The present invention relates to a turning speed control device for a traveling device that is a crawler device or a wheeled vehicle.

  The crawler device travels on the ground by the rotation of a crawler belt in contact with the ground surface. The crawler device includes a vehicle body and endless first and second crawler belts provided on both sides in the left-right direction with respect to the front-rear direction of the vehicle body.

  The crawler device travels on the ground when the first and second crawler belts in contact with the ground surface are rotationally driven. Further, the traveling direction (direction) of the crawler device changes depending on the difference between the rotation speed of the first crawler belt and the rotation speed of the second crawler belt. That is, the crawler device turns.

  Such a crawler device is described in Patent Document 1 below, for example. In Patent Document 1, the turning mode is switched to the side where the turning radius of the vehicle body of the crawler device becomes smaller in accordance with the amount of steering rotation of the steering wheel that steers in the traveling direction of the crawler device.

  On the other hand, a wheeled vehicle travels on the ground by rotation of a wheel in contact with the ground surface. The wheeled vehicle includes a vehicle body, a plurality of first wheels provided on the vehicle body on the left side with respect to the longitudinal direction of the vehicle body, and a plurality of second wheels provided on the vehicle body on the right side with respect to the vehicle body longitudinal direction. In a wheeled vehicle, all the wheels provided on the left side of the vehicle body are driven to rotate at the same rotational speed in the same rotational direction, and all the wheels provided on the right side of the vehicle body rotate at the same rotational speed in the same rotational direction. Driven.

  The wheeled vehicle travels on the ground by rotating and driving the left and right wheels of the vehicle body in contact with the ground surface. In a wheeled vehicle, the traveling direction (direction) of the vehicle body changes depending on the difference between the rotational speed of the wheel on the left side of the vehicle body and the rotational speed of the wheel on the right side of the vehicle body. That is, the wheeled vehicle turns.

JP 2000-168611 A

  The turning of the traveling device which is a crawler device or a wheeled vehicle is controlled as follows. A first rotational speed command value is generated as a rotational speed command value for the first crawler belt or the first wheel in response to an operation of an operation unit (for example, a steering wheel) for maneuvering the traveling device. A second rotation speed command value is generated as a rotation speed command value for the second crawler belt or the second wheel. The rotation speed of the first crawler belt or the first wheel is controlled according to the first rotation speed command value, and the rotation speed of the second crawler belt or the second wheel is controlled according to the second rotation speed command value. Is done. The traveling device turns at a turning speed based on a difference between the rotation speed of the first crawler belt or the first wheel and the rotation speed of the second crawler belt or the second wheel.

However, the actual turning speed at which the traveling device changes its traveling direction (hereinafter also simply referred to as a turning characteristic) depends on the ground surface state (for example, the friction coefficient) on which the traveling device travels and the weight of the load on the traveling device. Change.
Therefore, it is desired to adjust the turning characteristic of the traveling device to a preferable turning characteristic in accordance with such a change.

  Further, it may be desirable to change the turning characteristics in accordance with the traveling speed of the traveling device.

  Therefore, an object of the present invention is to turn characteristics of the traveling device according to the state of the ground surface on which the traveling device that is a crawler device or a wheeled vehicle travels, the weight of the load on the traveling device, or the traveling speed of the traveling device. Is to be able to adjust.

To achieve the above object, according to the present invention, a turning speed control device for a traveling device which is a crawler device or a wheeled vehicle,
The traveling device includes a vehicle body and first and second traveling rotators provided on both sides of the vehicle body in the left-right direction. When the traveling device is a crawler device, the traveling rotator is endless. When the traveling device is a wheeled vehicle, the traveling rotating body is a wheel,
When the first and second traveling rotators in contact with the ground surface are rotationally driven, the traveling device travels on the ground, the rotational speed of the first traveling rotator and the rotation of the second traveling rotator. The traveling device is adapted to turn due to the difference with the speed,
The turning speed control device includes:
An operation unit that is operated by a person and generates an input value according to the operation;
A rotation speed that generates a first rotation speed command value for the first traveling rotator and generates a second rotation speed command value for the second traveling rotator based on an operation performed on the operation unit. A command section;
A rotational speed control unit that controls the rotational speed of the first traveling rotator according to the first rotational speed command value, and that controls the rotational speed of the second traveling rotator according to the second rotational speed command value; With
A command value calculation function having the input value and a parameter whose value can be adjusted as an independent variable and the first and second rotational speed command values as dependent variables is preset,
A parameter adjustment unit for adjusting the value of the parameter;
By adjusting the parameter value, the difference between the first and second rotational speed command values obtained by the command value calculation function is adjusted, and as a result, the turning speed of the traveling device is adjusted,
The rotation speed command unit generates and outputs first and second rotation speed command values by applying the input value and the parameter whose value is adjusted by the parameter adjustment unit to the command value calculation function. A turning speed control device for a travel device is provided.

  The turning speed control device of the present invention is configured as follows, for example.

The turning speed control device described above includes a traveling speed acquisition unit that acquires the traveling speed of the traveling device,
The operation unit includes an operation related to turning of the traveling device and an operation related to forward / backward traveling of the traveling device, and the operation unit generates an input value related to turning according to the operation related to turning, and an operation related to forward / backward traveling. Depending on the
In a state where the input value related to turning is fixed to an arbitrary value, the difference between the first and second rotational speed command values decreases continuously or stepwise as the acquired traveling speed increases. In addition, the parameter adjustment unit adjusts the parameters.

Instead, the turning speed control device described above includes a traveling speed acquisition unit that acquires the traveling speed of the traveling device,
A turning speed detecting unit for detecting a turning speed of the traveling device,
A set turning speed is defined for each running speed,
The parameter adjustment section
When the detected turning speed is higher than the set turning speed with respect to the acquired traveling speed, the process of adjusting the parameter so that the turning speed decreases, and the detected turning speed is acquired. When the turning speed is lower than the set turning speed with respect to the traveling speed, one or both of the processes for adjusting the parameter so as to increase the turning speed may be performed.

  In this case, the following configuration examples 1 to 4 may be adopted.

(Configuration example 1)
The parameter adjustment unit includes an input unit that receives input by a person, and an adjustment execution unit that adjusts the set turning speed according to the input, and the person operates the input unit to operate a specific luggage loading place in the traveling device. The weight of the load loaded on is input to the adjustment execution unit,
The adjustment execution unit sets the set turning speed so that the set turning speed corresponding to each traveling speed of the traveling device decreases continuously or stepwise as the weight of the load input by the input unit increases. Adjust
The adjustment execution unit
When the detected turning speed is higher than the adjusted set turning speed, the process of adjusting the parameter so that the turning speed decreases, and the detected turning speed is more than the adjusted set turning speed. If it is lower, one or both of the processes for adjusting the parameters so as to increase the turning speed are performed.

(Configuration example 2)
The turning speed control device described above includes a torque detection unit that detects a load torque of a motor that rotationally drives one or both of the first and second traveling rotating bodies,
An acceleration sensor for detecting the acceleration of the traveling device,
The relationship between the travel speed of the travel device, the weight of the load loaded on a specific load carrying location in the travel device, the load torque detected by the torque detector, and the acceleration of the travel device detected by the acceleration sensor is the weight. It is obtained in advance as calculation data,
The parameter adjustment unit is based on the acceleration of the travel device detected by the acceleration sensor, the travel speed of the travel device acquired by the travel speed acquisition unit, the load torque detected by the torque detection unit, and the weight calculation data. The weight of
The parameter adjustment unit adjusts the set turning speed so that the set turning speed corresponding to each traveling speed of the traveling device 10 decreases continuously or stepwise as the weight of the obtained load increases.
The parameter adjustment section
When the detected turning speed is higher than the adjusted set turning speed, the process of adjusting the parameter so that the turning speed decreases, and the detected turning speed is more than the adjusted set turning speed. If it is lower, one or both of the processes for adjusting the parameters so as to increase the turning speed are performed.

(Configuration example 3)
The parameter adjustment unit includes an input unit that receives an input by a person, and an adjustment execution unit that adjusts the set turning speed according to the input. When the person operates the input unit, The weight of the loaded luggage and the center of gravity of the luggage are input to the adjustment execution unit,
Weight distribution data of the vehicle body indicating the weight of the components of the vehicle body 1 existing at each three-dimensional position in the vehicle body is obtained in advance.
Based on the input weight of the load, the center of gravity of the baggage, and the weight distribution data of the vehicle body 1, the height of the center of gravity of the entire traveling device including the baggage and the vehicle body at the baggage loading location, and the horizontal position of the center of gravity Seeking one or both,
The adjustment execution unit
A process of adjusting the set turning speed so as to decrease the set turning speed corresponding to each traveling speed continuously or stepwise as the height of the obtained center of gravity is higher,
The set turning speed corresponding to each traveling speed is decreased continuously or stepwise as the obtained lateral position of the center of gravity is further away from the lateral center of the left and right traveling rotating bodies in the traveling device in the lateral direction. Adjust the set turn speed by performing one or both of the processes to adjust the set turn speed,
The adjustment execution unit
When the detected turning speed is higher than the adjusted set turning speed, the process of adjusting the parameter so that the turning speed decreases, and the detected turning speed is more than the adjusted set turning speed. If it is lower, one or both of the processes for adjusting the parameters so as to increase the turning speed are performed.

(Configuration example 4)
The above-described turning speed control device is configured such that the vehicle body tilts around the front and rear axes of the vehicle body when the traveling device is turning at a predetermined constant turning speed while traveling at a predetermined constant traveling speed. It has a tilt sensor that detects the tilt angle that is an angle,
An inclination characteristic model showing a relationship between the inclination angle and one or both of the height of the center of gravity of the entire traveling apparatus including the luggage at the specific luggage loading place in the traveling apparatus and the vehicle body and the lateral position of the center of gravity, The inclination characteristic model, which is created in advance, is the relationship when the vehicle is turning at the predetermined constant turning speed while traveling at the predetermined constant traveling speed,
The parameter adjustment unit is configured to load the baggage at the baggage loading location based on the inclination angle detected by the inclination sensor and the inclination characteristic model when the traveling device is traveling at the constant traveling speed and turning at the constant turning speed. Determining one or both of the height of the center of gravity of the entire traveling device including the vehicle body and the position of the center of gravity in the left-right direction,
The parameter adjustment section
A process of adjusting the set turning speed so as to decrease the set turning speed corresponding to each traveling speed continuously or stepwise as the height of the obtained center of gravity is higher,
The set turning speed corresponding to each traveling speed is decreased continuously or stepwise as the obtained lateral position of the center of gravity is further away from the lateral center of the left and right traveling rotating bodies in the traveling device in the lateral direction. Adjust the set turn speed by performing one or both of the processes to adjust the set turn speed,
The parameter adjustment section
When the detected turning speed is higher than the adjusted set turning speed, the process of adjusting the parameter so that the turning speed decreases, and the detected turning speed is more than the adjusted set turning speed. If it is lower, one or both of the processes for adjusting the parameters so as to increase the turning speed are performed.

  Instead, the above-described parameter adjustment unit may include an input unit that receives input by a person and a change unit that changes the value of the parameter according to the input.

  According to the present invention described above, the first and second rotational speed commands for the first and second traveling rotators are made by using the input value generated in response to a human operation on the operation unit and the parameters as independent variables. A command value calculation function having a value as a dependent variable is set, and the parameter is adjusted by the parameter adjustment unit. The rotation speed command unit generates and outputs first and second rotation speed command values by applying the input value and the parameter whose value is adjusted by the parameter adjustment unit to the command value calculation function. . Therefore, the turning characteristics of the traveling device can be adjusted by adjusting the parameters according to the state of the ground surface on which the traveling device travels, the weight of the load on the traveling device, or the traveling speed of the traveling device.

1 shows an example of a crawler device to which a turning speed control device of the present invention can be applied. 1 shows an example of a wheeled vehicle to which a turning speed control device of the present invention can be applied. It is a block diagram which shows the turning speed control apparatus by 1st Embodiment of this invention. The structural example of an operation part is shown. It is a graph which shows adjustment of the turning characteristic of a crawler device. It is a block diagram which shows the turning speed control apparatus by 2nd Embodiment of this invention. It is a block diagram which shows the turning speed control apparatus by the structural example 1 of 3rd Embodiment of this invention. It is a block diagram which shows the turning speed control apparatus by the structural example 2 of 3rd Embodiment of this invention. It is a block diagram which shows the turning speed control apparatus by the structural example 3 of 3rd Embodiment of this invention. It is a block diagram which shows the turning speed control apparatus by the structural example 4 of 3rd Embodiment of this invention. It is a block diagram which shows the turning speed control apparatus by 4th Embodiment of this invention.

  A preferred embodiment of the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected to the common part in each figure, and the overlapping description is abbreviate | omitted.

  1 and 2 show a configuration example of a traveling device to which the turning speed control device of the present invention can be applied. The traveling device 10 is a crawler device or a wheeled vehicle. FIG. 1 shows an example of a crawler device 10 to which the turning speed control device of the present invention can be applied. 1A is a view seen from the horizontal direction, and FIG. 1B is a view taken along line BB in FIG. 1A. FIG. 2 shows an example of a wheeled vehicle 10 to which the turning speed control device of the present invention can be applied. FIG. 2A is a view seen from the horizontal direction, and FIG. 2B is a view taken along line BB in FIG.

  The traveling device 10 includes a vehicle body 1 and first and second traveling rotators 3 and 5 provided on both sides of the vehicle body 1 in the left-right direction. The first and second traveling rotators 3 and 5 in contact with the ground surface are rotationally driven, whereby the traveling device 10 travels on the ground, and the rotational speed of the first traveling rotator 3 and the second traveling rotator 3 The traveling device 10 turns due to the difference with the rotational speed of the rotating body 5.

  When the traveling device 10 is a crawler device as shown in FIG. 1, the traveling rotating bodies 3 and 5 are endless crawler belts. The first and second crawler belts 3 and 5 are arranged on both sides in the left-right direction (the direction of the arrow Db shown in FIG. 1B) with respect to the front-rear direction of the vehicle body 1 (the direction of the arrow Da shown in FIG. 1B). Each is provided. The first and second crawler belts 3 and 5 face in the front-rear direction, and their lower portions are in contact with the ground surface. When the first and second crawler belts 3 and 5 are rotationally driven, the crawler device 10 travels on the ground. For example, each of the first and second crawler belts 3 and 5 is hung on the driving wheel 7 and the driven wheel 9. The driving wheel 7 and the driven wheel 9 are respectively attached to the vehicle body 1 so as to be rotatable around the central axes C1 and C2. The left driving wheel 7 is engaged with the first crawler belt 3 in the rotational direction of the driving wheel 7, and the right driving wheel 7 is engaged with the second crawler belt 5 in the rotational direction of the driving wheel 7. doing. Therefore, when each drive wheel 7 is rotationally driven by a drive device (not shown), the first and second crawler belts 3 and 5 rotate, and the driven wheel 9 also rotates. The first crawler belt 3 and the second crawler belt 5 can be driven to rotate independently of each other, and the crawler is determined by the difference between the rotation speed of the first crawler belt 3 and the rotation speed of the second crawler belt 5. The device 10 is adapted to swivel.

  When the traveling device 10 is a wheeled vehicle as shown in FIG. 2, the traveling rotators 3 and 5 are wheels. In the wheeled vehicle 10, the plurality of first wheels 3 are arranged on the left side (the direction of the arrow Da shown in FIG. 2B) of the vehicle body 1 in the direction of the arrow Db shown in FIG. 2B. The plurality of second wheels 5 are provided on the right side of the vehicle body 1 with respect to the front-rear direction. Further, in the wheeled vehicle 10, all the first wheels 3 provided on the left side of the vehicle body 1 are rotationally driven around the central axis C at the same rotational speed in the same rotational direction and provided on the right side of the vehicle body 1. All the second wheels 5 thus driven are driven to rotate around the central axis C at the same rotational speed in the same rotational direction. Each of the first and second wheels 3 and 5 may have a tire in contact with the ground surface. The first wheel 3 and the second wheel 5 can be driven to rotate independently of each other, and the wheeled vehicle 10 is driven by the difference between the rotation speed of the first wheel 3 and the rotation speed of the second wheel 5. It is designed to turn. The wheeled vehicle 10 does not have to have a steering mechanism, and the direction of the first and second wheels 3 and 5 (when the vehicle body 1 is horizontal, the horizontal direction orthogonal to the central axis C of the wheels 3 and 5 is horizontal. Direction) may be fixed in the front-rear direction of the vehicle body 1.

[First embodiment]
A turning speed control device according to a first embodiment of the present invention will be described.

  FIG. 3 is a block diagram showing the turning speed control device 20 according to the first embodiment of the present invention. The turning speed control device 20 of the traveling device 10 includes an operation unit 11, a rotational speed command unit 13, a rotational speed control unit 15, a traveling speed acquisition unit 17, a parameter adjustment unit 19, and a storage unit 21.

  The operation unit 11 is operated by a person and generates an input value corresponding to the operation. According to the first embodiment, the operation unit 11 performs operations related to turning of the travel device 10 and operations related to forward and backward travel of the travel device 10. The operation unit 11 generates an input value related to turning according to an operation related to turning, and generates an input value related to forward / backward according to an operation related to forward / backward movement.

  4A is a plan view illustrating a configuration example of the operation unit 11, FIG. 4B is a cross-sectional view taken along the line BB in FIG. 4A, and FIG. It is CC sectional view taken on the line of 4 (A).

  In FIG. 4A, the operation unit 11 includes a turning lever 11a and a forward / reverse lever 11b. In FIG. 4B, the turning lever 11a drawn by a solid line is in a neutral position. When the turning lever 11a is tilted from this position to the left side in FIG. The absolute value of this input value increases as the value becomes positive and the amount of tilt increases. On the other hand, in FIG. 4B, when the turning lever 11a is tilted from the neutral position to the right side of FIG. 4B around the axis Ca, the input value related to turning becomes a negative value, and the amount of tilting The larger the value, the larger the absolute value of this input value.

  In FIG. 4 (C), the forward / reverse lever 11b drawn by a solid line is in a neutral position, and when it is tilted from this position to the left side of FIG. Becomes a positive value, and the absolute value of this input value increases as the amount of tilt increases. On the other hand, in FIG. 4 (C), when the forward / reverse lever 11b is tilted from the neutral position to the right side of FIG. 4 (C) around the axis Cb, the input value related to forward / reverse becomes a negative value, The greater the amount of tilt, the greater the absolute value of this input value.

  Based on the operation performed on the operation unit 11 and the travel speed acquired by the travel speed acquisition unit 17, the rotation speed command unit 13 outputs a rotation speed command value for the first travel rotator 3 to the first rotation. A speed command value is generated, and a rotation speed command value for the second traveling rotator 5 is generated as a second rotation speed command value. The generated first and second rotation speed command values are input to the rotation speed control unit 15.

  Preferably, when the first rotation speed command value is a positive value, the second rotation speed command value is also a positive value, and when the first rotation speed command value is a negative value. The operation unit 11 and the rotation speed command unit 13 are configured so that the second rotation speed command value is also a negative value.

  The rotational speed control unit 15 controls the rotational speed of the first traveling rotator 3 according to the first rotational speed command value, and the rotational speed of the second traveling rotator 5 according to the second rotational speed command value. To control.

  When the traveling device 10 is a crawler device, for example, the first rotational speed command value is the rotational speed (the rotational speed per unit time) of the driving wheel 7 on which the first crawler belt 3 is hung. The second rotational speed command value is the rotational speed (the rotational speed per unit time) of the driving wheel 7 on which the second crawler belt 5 is hung. In this case, the rotational speed control unit 15 uses the first rotational speed command value and the rotational speed of the drive wheel 7 on which the first crawler belt 3 is hung, which is detected by an appropriate rotation detector (for example, an encoder). Based on this, the rotational speed of the first crawler belt 3 is controlled by controlling the drive device (for example, motor) of the drive wheel 7 so that the difference between the two becomes zero. Similarly, the rotational speed control unit 15 detects the second rotational speed command value and the rotational speed (unit) of the driving wheel 7 around which the second crawler belt 5 is detected, which is detected by an appropriate rotational detector (for example, an encoder). The rotational speed of the second crawler belt 5 is controlled by controlling the drive device (for example, a motor) of the drive wheels 7 so that the difference between the two becomes zero based on the number of revolutions per hour). In the following, the number of rotations means the number of rotations per unit time.

  When the traveling device 10 is a wheeled vehicle, for example, the first rotational speed command value is the rotational speed of the first wheel 3, and the second rotational speed command value is the second wheel 5. The number of revolutions. In this case, the rotation speed control unit 15 sets the difference between the two to zero based on the first rotation speed command value and the rotation speed of the first wheel 3 detected by an appropriate rotation detector (for example, an encoder). Thus, the rotational speed of the first wheel 3 is controlled by controlling the drive device (for example, a motor) of the first wheel 3. Similarly, based on the second rotation speed command value and the rotation speed of the second wheel 5 detected by an appropriate rotation detector (for example, an encoder), the rotation speed control unit 15 sets the difference between the two to zero. Thus, the rotational speed of the second wheel 5 is controlled by controlling the drive device (for example, a motor) of the second wheel 5.

  The rotation speed command unit 13 is configured to generate first and second rotation speed command values according to a preset command value calculation function. The independent variable of the command value calculation function is an input value corresponding to the operation performed on the operation unit 11 (hereinafter, also simply referred to as an input value) and a parameter whose value can be adjusted. The variables are first and second rotational speed command values. The rotation speed command unit 13 generates and outputs first and second rotation speed command values by applying the input value and the parameter whose value is adjusted by the parameter adjustment unit 19 to the command value calculation function. To do. In this case, the larger the difference between the input values related to turning, the greater the difference between the first and second rotational speed command values.

  The storage unit 21 stores parameters (hereinafter also simply referred to as parameters) in the command value calculation function adjusted by the parameter adjustment unit 19.

A preferred example of the command value calculation function is composed of the following equations (1) to (4). In this example, the command value calculation function includes formulas (1) and (3) for calculating the first rotational speed command value Ω _L and formulas (2) for calculating the second rotational speed command value Ω _R ( 2) Consists of (4).

If L _S ≧ 0,
Ω _L = R _S × Ω _MAX (1)
Ω _R = (A / (1 + B × | L _S | ^C ) + (1-A)) × R _S × Ω _MAX (2)

If L _S <0,
Ω _L = (A / (1 + B × | L _S | ^C ) + (1−A)) × R _S × Ω _MAX (3)
Ω _R = R _S × Ω _MAX (4)

Each symbol in the formulas (1) to (4) is as follows.
L _S is an input value related to turning generated by the operation unit 11. L _S takes a value from a minimum value of −1 to a maximum value of +1. When the operation unit 11 of FIG. 4 is used, when the turning lever 11a is in the neutral position (the position of the turning lever 11a depicted by the solid line in FIG. 4B), the value of L _S becomes zero.
R _S is an input value related to forward / backward movement generated by the operation unit 11. R _S takes a value from a minimum value of −1 to a maximum value of +1. 4 is used, when the forward / reverse lever 11b is in the neutral position (the position of the forward / reverse lever 11b depicted by the solid line in FIG. 4C), the value of _RS is zero. .
Ω _MAX is a preset maximum value of the rotational speed command value.

Ω _L is a rotation speed command value of the first traveling rotator 3. If Omega _L is a positive value, the rotational speed controller 15, in a direction to advance the vehicle body 1 (FIG. 1 (A) or FIG. 2 (A) counterclockwise direction in), the first rotating at a rotational speed in accordance with the speed command value Omega _L, performs control to rotate the drive wheel 7 or the first wheel 3 engages the first crawler belt 3. If Omega _L is a negative value, the rotational speed controller 15, in a direction to reverse the vehicle body 1 (FIG. 1 (A) or a clockwise direction in FIG. 2 (A)), a first rotational speed at a rotational speed in accordance with a command value Omega _L, it performs control to rotate the drive wheel 7 or the first wheel 3 engages the first crawler belt 3.
Ω _R is a rotation speed command value of the second traveling rotator 5. If Omega _R is a positive value, the rotational speed controller 15, in a direction to advance the vehicle body 1 (FIG. 1 (A) or FIG. 2 (A) counterclockwise direction in), a second rotary at a rotational speed in accordance with the speed command value Omega _R, rotates the drive wheel 7 or the second wheel 5 engages the second crawler belt 5. If Omega _R is a negative value, the rotational speed controller 15, in a direction to reverse the vehicle body 1 (FIG. 1 (A) or a clockwise direction in FIG. 2 (A)), a second rotational speed at a rotational speed in accordance with a command value Omega _R, rotates the drive wheel 7 or the second wheel 5 engages the second crawler belt 5.

  A, B, and C are parameters. A is 0.8 or more and takes a value in the range of 2 or less, B is 0.5 or more and takes a value in the range of 1 or less, and C is 1 or more and in the range of 8 or less. Takes the value of

  The parameter adjustment unit 19 adjusts the parameter value in the command value calculation function based on the traveling speed acquired by the traveling speed acquisition unit 17. When the command value calculation function is the expressions (1) to (4), the parameter adjustment unit 19 adjusts the values of the parameters A, B, and C.

  The traveling speed acquisition unit 17 acquires the traveling speed of the traveling device 10 (that is, the speed at which the vehicle body 1 moves on the ground surface). The acquired traveling speed is input to the parameter adjustment unit 19.

For example, the traveling speed acquisition unit 17 may calculate the traveling speed V of the traveling device 10 based on the input values L _S and R _S generated by the operation unit 11. That is, the traveling speed acquisition unit 17 may calculate the traveling speed V according to the following equation (5). In this case, the input values L _S and R _S are input to the traveling speed acquisition unit 17 from the operation unit 11.

_{V = V MAX × R S /} (1 + L S 2) ··· (5)

In Expression (5), V _MAX is a preset maximum traveling speed of the traveling device 10, and R _S and L _S are as described above.

  Instead, the traveling speed acquisition unit 17 may acquire the traveling speed V of the traveling device 10 as follows.

When the traveling device 10 is a crawler device, the traveling speed acquisition unit 17 includes a rotation detector (for example, an encoder) that detects the number of rotations ω _L of the driving wheel 7 on which the first crawler belt 3 is hung, and a first detector. A rotation detector (for example, an encoder) that detects the rotational speed ω _R of the drive wheel 7 on which the crawler belt 5 is hung, and the traveling speed of the traveling device 10 based on the detected rotational speed ω _L and the rotational speed ω _R. A calculation unit for calculating V; This calculation unit calculates the traveling speed V of the crawler device 10 according to the following equation (6).

V = (X _L × ω _L + X _R × ω _R ) / 2 (6)

In the formula (6), X _L is the half (exact outer diameter of the drive wheel 7 in which the first crawler belt 3 is applied, a half of the outer diameter of the drive wheel 7, first the sum of the thickness of the crawler belt 3. However, if there is a protrusion on the outer surface of the first crawler belt 3 is the projection is not included in the thickness), X _R is the second crawler belt 5 1/2 of the outer diameter of the driven wheel 7 (strictly speaking, the sum of 1/2 of the outer diameter of the driving wheel 7 and the thickness of the second crawler belt 5. However, the second crawler belt 5 If there are protrusions on the outer surface, the protrusion is not included in the thickness). X _L may be the same as X _R.

When the traveling device 10 is a wheeled vehicle, the traveling speed acquisition unit 17 includes a rotation detector (for example, an encoder) that detects the rotational speed ω _L of the first wheel 3 and the rotational speed of the second wheel 5. with omega rotation detector for detecting an _R (for example an encoder), a calculation unit for calculating a traveling speed V of the wheeled vehicle 10 on the basis of the detected rotational speed omega _L rotational speed omega _R. This calculation unit calculates the traveling speed V of the wheeled vehicle 10 according to the above equation (6).
However, in this case, in the above equation (6), _{X L} is 1/2 of the outer diameter of the first wheel 3, _{X R} is 1/2 of the outer diameter of the second wheel 5, X _L may be the same as X _R.

  Instead, the travel speed acquisition unit 17 calculates the travel speed of the travel device 10 by integrating the acceleration of the travel device 10 detected by the acceleration sensor and the acceleration of the travel device 10 detected by the acceleration sensor over time. You may have. Moreover, the traveling speed acquisition part 17 may acquire the traveling speed of the traveling apparatus 10 by another method.

  According to the first embodiment, as the travel speed acquired by the travel speed acquisition unit 17 increases while the input value related to turning is fixed to an arbitrary value (the absolute value is greater than zero), the first And the difference between the second rotational speed command values (strictly speaking, the difference between the absolute value of the first rotational speed command value and the absolute value of the second rotational speed command value) decreases continuously or stepwise. In addition, the parameter adjustment unit 19 adjusts the parameters. When the difference between the first and second rotational speed command values is reduced, the magnitude of the speed at which the first traveling rotator 3 rotates with respect to the vehicle body 1 and the second traveling rotator 5 are The difference between the speed of rotation and the magnitude of rotation is reduced.

  When using the above formulas (1) to (4), for example, as the acquired traveling speed increases, the parameter adjustment unit 19 increases the values of the parameters A, B, and C according to the following Table 1. Adjust to.

  When the values of the parameters A, B, and C are adjusted stepwise according to Table 1, the parameter adjusting unit 19 sets A, B, and C to 2 and 1 respectively when the acquired traveling speed is less than 3 km / h. When the obtained traveling speed is 3 km / h or more and less than 5 km / h, A, B and C are adjusted to 1.5, 0.8 and 2, respectively, and the obtained traveling speed is 5 km / h. When the speed is less than 7.5 km / h, A, B, and C are adjusted to 1.1, 0.6, and 4, respectively, and when the obtained traveling speed is 7.5 km / h or more, A , B and C are adjusted to 0.8, 0.5 and 8, respectively.

FIG. 5 is a graph showing the value of (A / (1 + B × | L _S | ^C ) + (1−A)) in the above formulas (2) and (3). In FIG. 5, the vertical axis represents the value of (A / (1 + B × | L _S | ^C ) + (1−A)), and the horizontal axis represents the input value L _S related to turning. Further, the plurality of curves in FIG. 5 indicate the cases of the plurality of travel speed ranges 1 to 4 in Table 1, respectively.

As shown in FIG. 5, as the traveling speed increases, the value of (A / (1 + B × | L _S | ^C ) + (1−A)) approaches 1 and the sensitivity of operations related to turning decreases.

  In the case where the above equations (1) to (4) are used as the command value calculation function, the parameter adjustment method is not limited to the method shown in Table 1. That is, as the acquired traveling speed increases, the parameter adjustment unit 19 decreases the value of A and the value of B continuously or stepwise and increases the value of C continuously or stepwise. Other adjustment methods may be used.

  The rotational speed command unit 13, the rotational speed control unit 15, the traveling speed acquisition unit 17, the parameter adjustment unit 19, and the storage unit 21 are preferably provided in the vehicle body 1 of the traveling device 10. May be provided. Further, when the traveling device 10 is remotely controlled by radio, the operation unit 11 is provided at a location away from the traveling device 10. In this case, a monitoring device (for example, a camera or a laser) that acquires monitoring data (for example, image data or data that three-dimensionally indicates the position of an obstacle) representing the situation around the traveling device 10 (for example, front or rear). A distance meter) is provided in the traveling device 10, and monitoring data is wirelessly transmitted from the monitoring device to the display device, and a person may operate the operation unit 11 while watching the monitoring data displayed on the display device. When a person gets on the traveling device 10, the operation unit 11 may be provided in the traveling device 10. Moreover, the operation part 11 may be comprised so that a person can carry. Transmission of signals between the components of the turning speed control device 20 may be performed by wire or wirelessly.

  According to the first embodiment of the present invention, as the traveling speed of the traveling device 10 increases in a state where the input value related to the turn generated according to the operation of the operation unit 11 is an arbitrary constant value, the first and first The difference between the two rotational speed command values decreases, and the turning speed of the traveling device 10 decreases (that is, the turning radius increases). Therefore, the traveling device 10 can be prevented from spinning when the traveling speed of the traveling device 10 is increased.

  Further, according to the first embodiment of the present invention, the difference between the first and second rotational speed command values increases as the traveling speed of the traveling device 10 increases in a state where the input value related to turning is an arbitrary constant value. Since it reduces (because the sensitivity of the operation part 11 becomes dull), it can prevent that the traveling apparatus 10 turns too much as follows. If the sensitivity of the operating unit 11 when the traveling device 10 is traveling at a high speed is the same as the sensitivity of the operating unit 11 when the traveling device 10 is traveling at a low speed, the traveling device 10 is turned by the operation of the operating unit 11 when traveling at a high speed. It may pass. In this case, in order to correct this, there is a possibility that an operation for turning in the reverse direction is performed, so that the user may further turn in the reverse direction and repeat the correction. On the other hand, according to 1st Embodiment of this invention, since the sensitivity of the operation part 11 becomes dull as the travel speed of the traveling apparatus 10 becomes high, contrary to the operator's intention of the operation part 11, the traveling apparatus 10 It is possible to prevent the vehicle from turning too much, and as a result, it is possible to prevent repeated corrections.

[Second Embodiment]
Next, the turning speed control device 20 according to the second embodiment of the present invention will be described. In the second embodiment, the points not described below are the same as in the first embodiment. FIG. 6 is a block diagram showing a turning speed control device 20 according to the second embodiment of the present invention.

  According to the second embodiment, the turning speed control device 20 further includes a turning speed detection unit 23. The turning speed detection unit 23 detects the turning speed of the traveling device 10. In the present application, the turning speed indicates the actual turning speed of the traveling device 10, that is, the angle at which the direction of the vehicle body 1 actually changes in unit time. The turning speed detector 23 is preferably an angular speed sensor (gyro sensor).

  According to the second embodiment, the set turning speed is determined for each traveling speed of the traveling device 10. Each of these set turning speeds is stored as setting data in the storage unit 21 of the turning speed control device 20 in a state associated with the traveling speed of the traveling device 10. Preferably, as the traveling speed of the traveling device 10 increases, the set turning speed associated with the traveling speed decreases continuously or stepwise. Note that the set turning speed may be determined, for example, assuming that the traveling device 10 turns on a solid road surface that is not wet in a state where no load is loaded on the traveling device 10.

In the second embodiment, the configuration of the parameter adjustment unit 19 is different from that in the first embodiment. That is, in the second embodiment, the parameter adjustment unit 19 does not adjust the parameters in the first embodiment. According to the second embodiment, the parameter adjustment unit 19 compares the turning speed detected by the turning speed detection unit 23 with the set turning speed with respect to the traveling speed acquired by the traveling speed acquisition unit 17, and the result of this comparison The following processing P _A and P _B is performed according to the above.

  When the traveling device 10 is traveling on the ground surface, the detection of the turning speed of the traveling device 10, the acquisition of the traveling speed of the traveling device 10, and the above comparison based on these detections are performed at a predetermined time. It may be performed at intervals or may be performed every moment. The parameter adjustment unit 19 refers to the setting data stored in the storage unit 21 and performs the above comparison.

(Processing P _A )
When the turning speed detected by the turning speed detection unit 23 is higher than the set turning speed for the traveling speed acquired by the traveling speed acquisition unit 17, the parameter adjustment unit 19 sets the parameter value so that the turning speed decreases. Adjust. That is, assuming that an arbitrary input value is generated by the operation unit 11, the first and second rotational speed command values obtained by applying the adjusted parameter and the input value to the command value calculation function. So that the difference between the first parameter and the second rotation speed command value obtained by applying the parameter before adjustment and the same input value to the command value calculation function is smaller than the parameter adjustment unit. 19 adjusts the value of the parameter.

(Process P _B )
When the turning speed detected by the turning speed detection unit 23 is lower than the set turning speed for the traveling speed acquired by the traveling speed acquisition unit 17, the parameter adjustment unit 19 sets the parameter value so that the turning speed increases. Adjust. That is, assuming that an arbitrary input value is generated by the operation unit 11, the first and second rotational speed command values obtained by applying the adjusted parameter and the input value to the command value calculation function. So that the difference between the parameters before adjustment and the same input value is larger than the difference between the first and second rotational speed command values obtained by applying the same input value to the command value calculation function. 19 adjusts the value of the parameter.

Each time a parameter is adjusted by one or both of the above-described processes P _A and P _B , the adjusted parameter is stored in the storage unit 21 as the latest parameter. Thereafter, the rotational speed command unit 13 generates first and second rotational speed command values by applying the latest parameters and input values to the command value calculation function. Even after adjusting the parameters, the parameter adjustment unit 19 compares the turning speed detected by the turning speed detection unit 23 with the set turning speed for the traveling speed acquired by the traveling speed acquisition unit 17, and Processes P _A and P _B are performed. The parameter adjustment unit 19 may perform one of the processes P _A and P _B.

In the processes P _A and P _B , it is preferable that the first and second rotation speeds obtained with the parameters after adjustment as the difference between the detected turning speed and the set turning speed with respect to the acquired traveling speed is larger. The parameter adjustment unit 19 adjusts the parameter value so that the difference between the command value difference and the difference between the first and second rotational speed command values obtained with the parameter before adjustment increases continuously or stepwise. The parameter is adjusted by changing the adjustment amount of the value.

The command value calculation function used in the processes P _A and P _B may be a function of the above formulas (1) to (4) or may be another function.

The setting data used in the process P _A may be different from the setting data used in the process P _B. That is, for each running speed, in the aforementioned setting data used in processing P _A, setting the rotation speed associated with the the running speed, in the above-described setting data used in processing P _B, set is associated with the traveling speed turning It should be higher than the speed. However, for each running speed, in the aforementioned setting data used in processing P _A, setting the rotation speed associated with the the running speed, in the above-described setting data used in processing P _B, set it is associated with the traveling speed turning It may be the same as the speed.

  According to the second embodiment of the present invention, when the set turning speed is determined for each traveling speed of the traveling device 10 and the turning speed is higher than the set turning speed for the traveling speed, the parameter adjusting unit 19 is set. Adjusts the parameter of the command value calculation function so that the turning speed decreases. Further, when the detected turning speed is lower than the set turning speed with respect to the traveling speed of the traveling device 10, the parameter is adjusted so that the turning speed is increased. Therefore, when the turning speed of the traveling device 10 changes depending on the state of the ground surface on which the traveling device 10 travels and the weight of the load (for example, luggage) of the traveling device 10, the turning characteristics are appropriately adjusted.

[Third embodiment]
Next, a turning speed control device 20 according to a third embodiment of the invention will be described. In the third embodiment, the points not described below are the same as in the second embodiment.

  Also in the third embodiment, the set turning speed determined for each traveling speed of the traveling device 10 is associated with the traveling speed of the traveling device 10, and the storage unit 21 of the turning speed control device 20. Is stored as setting data.

  In the third embodiment, the traveling device 10 is provided with a specific luggage loading place, and the luggage can be loaded on this luggage loading place.

  In the third embodiment, according to the weight of the luggage loaded in the above-described luggage loading place, or the position of the center of gravity of the entire traveling device 10 including the luggage (the height of the center of gravity and the horizontal position of the center of gravity), The parameter adjustment unit 19 adjusts the set turning speed for each traveling speed.

  Configuration examples 1 to 4 of the third embodiment will be described below.

(Configuration example 1)
FIG. 7 is a block diagram showing a turning speed control device 20 according to Configuration Example 1 of the third embodiment of the present invention.

  In the configuration example 1, the parameter adjustment unit 19 includes an input unit 19a that receives an input by a person, and an adjustment execution unit 19b that adjusts the set turning speed according to the input. A person operates the input unit 19a to input the weight of the load loaded in the above-described load loading place to the adjustment execution unit 19b.

  The adjustment execution unit 19b sets the set turn so that the set turn speed corresponding to each travel speed of the travel device 10 decreases continuously or stepwise as the weight of the load input by the input unit 19a increases. Adjust the speed. The amount of the decrease is larger as the weight of the input luggage is larger.

After adjusting the setting data in this way, the parameter adjusting unit 19 detects the turning speed detected by the turning speed detecting unit 23 and the traveling speed when the traveling device 10 is traveling, as in the second embodiment. The set turning speed (that is, the adjusted set turning speed) with respect to the traveling speed acquired by the acquisition unit 17 is compared, and the above-described processes P _A and P _B are performed according to the result of this comparison.

(Configuration example 2)
FIG. 8 is a block diagram showing a turning speed control device 20 according to Configuration Example 2 of the third embodiment of the present invention.

  According to the configuration example 2, the turning speed control device 20 includes the torque detection unit 25 that detects the load torque of the motor that is a drive device that rotationally drives one or both of the first and second traveling rotary bodies 3 and 5. Prepare. Here, the load torque is an average value of load torques of a plurality of (for example, two) motors that respectively rotate and drive the first and second traveling rotary bodies 3 and 5, or the first and second traveling torques. It may be a load torque of a motor that rotationally drives one of the rotating bodies 3 and 5 (hereinafter the same).

  According to the configuration example 2, the turning speed control device 20 includes the acceleration sensor 26 that detects the acceleration of the traveling device 10. Here, the acceleration of the traveling device 10 may be the acceleration of the traveling device 10 (that is, the rate of change of the traveling speed of the traveling device 10 with respect to time), or the first and second traveling rotating bodies 3. 5 may be an average value of angular accelerations indicating the rotational accelerations of both the first and second traveling rotary bodies 3 and 5, or may be another value. May be.

  According to the configuration example 2, the traveling speed of the traveling device 10, the weight of the load loaded in the above-described load loading place, the load torque detected by the torque detection unit 25, and the traveling device 10 detected by the acceleration sensor 26. The relationship with acceleration is obtained in advance as weight calculation data. That is, the traveling device 10 is accelerated at various accelerations for each weight of the load loaded in the above-described luggage loading place, each acceleration of the traveling device 10 is detected by the acceleration sensor 26, and the acceleration sensor 26 detects each acceleration. At each time point, the travel speed acquisition unit 17 acquires the travel speed of the travel device 10 and the torque detection unit 25 detects the load torque of the motor. As a result, a large number of sets of the weight of the load loaded on the load loading place, the acceleration of the traveling device 10, the traveling speed of the traveling device 10, and the load torque described above are obtained, and these sets are determined as described above. Obtained in advance as weight calculation data. In each set of weight calculation data, the weight of the load, the acceleration of the traveling device 10, the traveling speed of the traveling device 10, and the load torque are associated with each other. In addition, the set of the weight of the luggage other than the obtained many sets, the acceleration of the traveling device 10, the traveling speed of the traveling device 10, and the load torque is approximately calculated based on the obtained many sets, It may be incorporated in the weight calculation data. The weight calculation data is stored in the storage unit 21.

  With such a configuration, the acceleration sensor 26 detects the acceleration of the travel device 10, the travel speed acquisition unit 17 acquires the travel speed of the travel device 10, and the torque detection unit 25 detects the load torque. Thereafter, the parameter adjustment unit 19 obtains the weight of the load based on the detected acceleration of the traveling device 10, the acquired traveling speed of the traveling device 10, the detected load torque, and the weight calculation data. That is, the parameter adjustment unit 19 extracts the weight of the load corresponding to the detected acceleration of the traveling device 10, the acquired traveling speed of the traveling device 10, and the detected load torque in the weight calculation data.

  Next, the parameter adjusting unit 19 sets the set turning speed so that the set turning speed corresponding to each traveling speed of the traveling device 10 decreases continuously or step by step as the weight of the obtained load increases. adjust.

After adjusting the setting data in this way, the parameter adjusting unit 19 detects the turning speed detected by the turning speed detecting unit 23 and the traveling speed when the traveling device 10 is traveling, as in the second embodiment. The set turning speed (that is, the adjusted set turning speed) with respect to the traveling speed acquired by the acquisition unit 17 is compared, and the above-described processes P _A and P _B are performed according to the result of this comparison.

(Configuration example 3)
FIG. 9 is a block diagram showing a turning speed control device 20 according to Configuration Example 3 of the third embodiment of the present invention.

  In the configuration example 3, the parameter adjustment unit 19 includes an input unit 19a that receives an input by a person, and an adjustment execution unit 19b that adjusts the set turning speed according to the input.

  In the configuration example 3, the following processes (A) to (C) are performed.

(A) A person operates the input unit 19a to input the weight of the baggage loaded in the baggage loading place and the center of gravity of the baggage (the center of gravity of the baggage) to the adjustment execution unit 19b.

(B) The adjustment execution unit 19b determines the entire travel device 10 including the luggage in the luggage loading place and the vehicle body 1 based on the input weight of the luggage, the center of gravity of the luggage, and the weight distribution data of the vehicle body 1. The height of the center of gravity and the horizontal position of the center of gravity are obtained. Here, the left-right direction is a horizontal direction orthogonal to the direction in which the vehicle body 1 moves forward (that is, the front-rear direction of the vehicle body 1) (hereinafter the same). The weight distribution data of the vehicle body 1 indicates the weight of the components of the vehicle body 1 existing at each three-dimensional position in the vehicle body 1 and is obtained in advance and stored in the storage unit 21.

(C) The adjustment execution unit 19b adjusts the above setting data as follows based on the height of the center of gravity obtained in the above (B) and the horizontal position of the center of gravity. As the height of the center of gravity obtained in the above (B) is higher, the adjustment execution unit 19b adjusts the set turning speed so as to decrease the set turning speed corresponding to each traveling speed continuously or stepwise. . That is, the amount of the decrease is larger as the height of the center of gravity is higher. Similarly, as the position of the center of gravity obtained in the above (B) is further away from the center of the left and right of the left and right traveling rotating bodies 3 and 5 in the traveling device 10 with respect to the left and right direction, the adjustment execution unit 19b The set turning speed is adjusted so that the set turning speed corresponding to the speed is decreased continuously or stepwise. That is, the amount of this decrease is so large that the lateral position of the center of gravity obtained in the above (B) is farther from the lateral center of the traveling rotator 3, 5.

After adjusting the setting data in this manner, the parameter adjustment unit 19 (adjustment execution unit 19b) is detected by the turning speed detection unit 23 when the traveling device 10 is traveling, as in the second embodiment. The turning speed is compared with the set turning speed with respect to the traveling speed acquired by the traveling speed acquisition unit 17 (that is, the set turning speed adjusted by the above (A) to (C)), and according to the result of this comparison Then, the above-described processes P _A and P _B are performed.

  In the above (B), one of the height of the center of gravity of the entire traveling device 10 including the luggage and the vehicle body 1 in the above-described luggage loading place and the position in the left-right direction of the center of gravity may be obtained. In this case, with respect to the obtained one, in the above-described (C), the adjustment execution unit 19b adjusts the set turning speed in the same manner as described above.

(Configuration example 4)
FIG. 10 is a block diagram showing a turning speed control device 20 according to the configuration example 4 of the third embodiment of the present invention.

  In the configuration example 4, the turning speed control device 20 includes an inclination sensor 28 that detects an angle at which the vehicle body 1 is inclined about the longitudinal axis of the vehicle body 1 when the traveling device 10 is turning (hereinafter simply referred to as an inclination angle). Prepare. The inclination angle is an inclination angle of the vehicle body 1 with respect to a horizontal plane, and is an angle at which the vehicle body 1 is inclined from a horizontal posture. The longitudinal axis of the vehicle body 1 is a virtual axis that faces the longitudinal direction of the vehicle body 1 and penetrates the vehicle body 1.

  Such inclination of the vehicle body 1 is caused by the following configuration. The vehicle body 1 is supported by the traveling rotators 3 and 5 via dampers and springs provided on the left side and the right side of the vehicle body 1 in each of the front side portion and the rear side portion of the vehicle body 1. The inclination angle of the vehicle body 1 with respect to the horizontal plane is changed by the expansion and contraction of these dampers and springs according to the acceleration of the traveling device 10 and the weight of the luggage at the above-described luggage loading place.

  In the configuration example 4, the following processes (a) to (c) are performed.

(A) When the traveling device 10 is traveling at a predetermined constant traveling speed and is turning at a predetermined constant turning speed, the inclination sensor 28 is configured so that the inclination angle of the vehicle body 1 with respect to the horizontal plane is as described above. Is detected. The magnitude of the tilt angle varies depending on, for example, the load placed on the vehicle body 1.

(B) The parameter adjustment unit 19 includes the entire traveling device 10 including the luggage in the luggage loading place and the vehicle body 1 based on the inclination angle detected in the above (a) and the inclination characteristic model of the vehicle body 1. The height of the center of gravity and the horizontal position of the center of gravity are obtained. The tilt characteristic model indicates the relationship between the tilt angle described above, the height of the center of gravity of the entire traveling device 10 including the load and the vehicle body 1 at the load loading position, and the horizontal position of the center of gravity. However, this relationship is when the vehicle is turning at the predetermined constant turning speed while traveling at the predetermined constant traveling speed. The tilt characteristic model is created in advance based on the known structure of the vehicle body 1 and the above-described damper and spring characteristics. The inclination characteristic model is stored in the storage unit 21.

(C) The parameter adjustment unit 19 adjusts the above setting data as follows based on the height of the center of gravity obtained in the above (b) and the position of the center of gravity in the left-right direction. As the height of the center of gravity obtained in the above (b) is higher, the parameter adjusting unit 19 adjusts the set turning speed so as to decrease the set turning speed corresponding to each traveling speed continuously or stepwise. . That is, the amount of the decrease is larger as the height of the center of gravity is higher. Similarly, as the position of the center of gravity obtained in the above (b) in the left-right direction is further away from the center in the left-right direction of the left and right traveling rotators 3 and 5 in the traveling device 10, the parameter adjustment unit 19 performs each travel. The set turning speed is adjusted so that the set turning speed corresponding to the speed is decreased continuously or stepwise. That is, the amount of this decrease is so large that the lateral position of the center of gravity obtained in the above (b) is farther from the lateral center of the traveling rotator 3, 5.

After adjusting the setting data in this way, the parameter adjusting unit 19 detects the turning speed detected by the turning speed detecting unit 23 and the traveling speed when the traveling device 10 is traveling, as in the second embodiment. The set turning speed with respect to the traveling speed acquired by the acquisition unit 17 (that is, the set turning speed adjusted by the above (a) to (c)) is compared, and the above-described processing P is performed according to the result of this comparison. _A and P _B are performed.

  The tilt characteristic model indicates the relationship between the tilt angle described above and one of the height of the center of gravity of the entire traveling device 10 including the load at the load loading place and the vehicle body 1 and the position of the center of gravity in the left-right direction. May be. In this case, in the above-described (b), the parameter adjusting unit 19 determines the load and the vehicle body 1 at the above-described load carrying location based on the inclination angle detected in the above-described (a) and the inclination characteristic model of the vehicle body 1. One of the height of the center of gravity of the entire traveling apparatus 10 including and the position of the center of gravity in the left-right direction is obtained. Next, regarding the obtained one, in the above-described (c), the parameter adjustment unit 19 adjusts the set turning speed in the same manner as described above.

  In the third embodiment (the above-described configuration examples 1 to 4), the load torque described above increases in a muddy area or a snowy area without loading a load on the traveling device 10. Therefore, when traveling in a muddy area or a snowy area, a mode change unit that can be changed to a mode that does not adjust the set turning speed according to the load torque when operated by a person is provided in the turning speed control device 20. It may be provided.

  According to the third embodiment, the parameter adjustment unit 19 performs each travel of the travel device 10 according to one or both of the weight of the load or the height of the center of gravity of the travel device 10 and the horizontal position of the center of gravity. Adjust the set turning speed for the speed. Therefore, the traveling device 10 can be prevented from falling over due to luggage when the traveling device 10 turns.

[Fourth embodiment]
Next, a turning speed control device 20 according to a fourth embodiment of the invention will be described. In the fourth embodiment, the points not described below are the same as in the first embodiment. FIG. 11 shows the fourth aspect of the present invention.
It is a block diagram which shows the turning speed control apparatus 20 by embodiment.

  In the fourth embodiment, the configuration of the parameter adjustment unit 19 is different from that in the first embodiment. According to the fourth embodiment, the parameter adjustment unit 19 includes an input unit 19a that receives input by a person, and a change unit 19c that changes the parameter value in the command value calculation function described above according to the input. The input unit 19a may be a touch panel, a button, a lever, or the like. Preferably, the input unit 19 a is provided in the vicinity of the operation unit 11 or is integrated with the operation unit 11. For example, the input unit 19a may be provided in the main body 11c of the operation unit 11 (see FIG. 4A). Thereby, a person can operate the input unit 19a while operating the operation unit 11, or can quickly switch between the operation of the operation unit 11 and the operation of the input unit 19a.

  Note that the command value calculation function used in the fourth embodiment may be a function of the above formulas (1) to (4), or may be another function.

  According to the fourth embodiment of the present invention, a person can adjust each parameter to an arbitrary value by operating the input unit 19a. Therefore, for example, when the turning speed of the traveling device 10 changes depending on the state of the ground surface on which the traveling device 10 travels and the weight of the load on the traveling device 10, the turning characteristics can be adjusted appropriately.

  The present invention is not limited to the above-described embodiment, and various changes can be made without departing from the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Vehicle body, 1st driving | running | working rotary body, 5 2nd driving | running | working rotary body, 7 Drive wheel, 9 Driven wheel, 10 Traveling apparatus, 11 Operation part, 11a Turning lever, 11b Forward / reverse lever, 11c Main body, 13 Rotational speed command section, 15 Rotational speed control section, 17 Travel speed acquisition section, 19 Parameter adjustment section, 19a Input section, 19b Adjustment execution section, 19c Change section, 20 Turning speed control device, 21 Storage section, 23 Turning speed detection section , 25 Torque detection unit, 26 Acceleration sensor, 28 Tilt sensor

Claims (6)

A turning speed control device for a traveling device that is a crawler device or a wheeled vehicle,
The traveling device includes a vehicle body and first and second traveling rotators provided on both sides of the vehicle body in the left-right direction. When the traveling device is a crawler device, the traveling rotator is endless. When the traveling device is a wheeled vehicle, the traveling rotating body is a wheel,
When the first and second traveling rotators in contact with the ground surface are rotationally driven, the traveling device travels on the ground, the rotational speed of the first traveling rotator and the rotation of the second traveling rotator. The traveling device is adapted to turn due to the difference with the speed,
The turning speed control device includes:
An operation unit that is operated by a person and generates an input value according to the operation;
A rotation speed that generates a first rotation speed command value for the first traveling rotator and generates a second rotation speed command value for the second traveling rotator based on an operation performed on the operation unit. A command section;
A rotational speed control unit that controls the rotational speed of the first traveling rotator according to the first rotational speed command value, and that controls the rotational speed of the second traveling rotator according to the second rotational speed command value; With
A command value calculation function having the input value and a parameter whose value can be adjusted as an independent variable and the first and second rotational speed command values as dependent variables is preset,
A parameter adjustment unit for adjusting the value of the parameter;
By adjusting the parameter value, the difference between the first and second rotational speed command values obtained by the command value calculation function is adjusted, and as a result, the turning speed of the traveling device is adjusted,
Rotational speed command unit, said input value, by applying the parameter value is adjusted by the parameter adjustment unit to the command value calculating function, and generates and outputs the first and second rotational speed command value ,
A travel speed acquisition unit for acquiring the travel speed of the travel device;
The operation unit includes an operation related to turning of the traveling device and an operation related to forward / backward traveling of the traveling device, and the operation unit generates an input value related to turning according to the operation related to turning, and an operation related to forward / backward traveling. Depending on the
In a state where the input value related to turning is fixed to an arbitrary value, the difference between the first and second rotational speed command values decreases continuously or stepwise as the acquired traveling speed increases. In addition, the parameter adjusting unit adjusts the parameter, the turning speed control device of the traveling device. A turning speed control device for a traveling device that is a crawler device or a wheeled vehicle,
The traveling device includes a vehicle body and first and second traveling rotators provided on both sides of the vehicle body in the left-right direction. When the traveling device is a crawler device, the traveling rotator is endless. When the traveling device is a wheeled vehicle, the traveling rotating body is a wheel,
When the first and second traveling rotators in contact with the ground surface are rotationally driven, the traveling device travels on the ground, the rotational speed of the first traveling rotator and the rotation of the second traveling rotator. The traveling device is adapted to turn due to the difference with the speed,
The turning speed control device includes:
An operation unit that is operated by a person and generates an input value according to the operation;
A rotation speed that generates a first rotation speed command value for the first traveling rotator and generates a second rotation speed command value for the second traveling rotator based on an operation performed on the operation unit. A command section;
A rotational speed control unit that controls the rotational speed of the first traveling rotator according to the first rotational speed command value, and that controls the rotational speed of the second traveling rotator according to the second rotational speed command value; With
A command value calculation function having the input value and a parameter whose value can be adjusted as an independent variable and the first and second rotational speed command values as dependent variables is preset,
A parameter adjustment unit for adjusting the value of the parameter;
By adjusting the parameter value, the difference between the first and second rotational speed command values obtained by the command value calculation function is adjusted, and as a result, the turning speed of the traveling device is adjusted,
Rotational speed command unit, said input value, by applying the parameter value is adjusted by the parameter adjustment unit to the command value calculating function, and generates and outputs the first and second rotational speed command value ,
A traveling speed acquisition unit that acquires a traveling speed of the traveling device;
A turning speed detecting unit for detecting a turning speed of the traveling device,
A set turning speed is defined for each running speed,
The parameter adjustment section
A process of adjusting the parameter so that the turning speed decreases when the detected turning speed is higher than a set turning speed for the acquired traveling speed; and
When the detected turning speed is lower than the set turning speed for the acquired traveling speed, the turning speed control of the traveling device performs one or both of the processes for adjusting the parameter so that the turning speed increases. apparatus. The parameter adjustment unit includes an input unit that receives input by a person, and an adjustment execution unit that adjusts the set turning speed according to the input, and the person operates the input unit to operate a specific luggage loading place in the traveling device. The weight of the load loaded on is input to the adjustment execution unit,
The adjustment execution unit sets the set turning speed so that the set turning speed corresponding to each traveling speed of the traveling device decreases continuously or stepwise as the weight of the load input by the input unit increases. Adjust
The adjustment execution unit
When the detected turning speed is higher than the adjusted set turning speed, the process of adjusting the parameter so that the turning speed decreases, and the detected turning speed is more than the adjusted set turning speed. 3. The turning speed control device for the traveling device according to claim 2, wherein one or both of the processes for adjusting the parameter so that the turning speed is increased when the turning speed is lower. A torque detector that detects a load torque of a motor that rotationally drives one or both of the first and second traveling rotary bodies;
An acceleration sensor for detecting the acceleration of the traveling device,
The relationship between the travel speed of the travel device, the weight of the load loaded on a specific load carrying location in the travel device, the load torque detected by the torque detector, and the acceleration of the travel device detected by the acceleration sensor is the weight. It is obtained in advance as calculation data,
The parameter adjustment unit is based on the acceleration of the travel device detected by the acceleration sensor, the travel speed of the travel device acquired by the travel speed acquisition unit, the load torque detected by the torque detection unit, and the weight calculation data. The weight of
Parameter adjustment unit, as the weight of the obtained load increases, so as to cause the setting turning speed corresponding to the traveling speed of the traveling equipment continuously or stepwise reduced, and adjust the setting rotation speed,
The parameter adjustment section
When the detected turning speed is higher than the adjusted set turning speed, the process of adjusting the parameter so that the turning speed decreases, and the detected turning speed is more than the adjusted set turning speed. 3. The turning speed control device for the traveling device according to claim 2, wherein one or both of the processes for adjusting the parameter so that the turning speed is increased when the turning speed is lower. The parameter adjustment unit includes an input unit that receives an input by a person, and an adjustment execution unit that adjusts the set turning speed according to the input. When the person operates the input unit, The weight of the loaded luggage and the center of gravity of the luggage are input to the adjustment execution unit,
Wherein the body of the weight distribution data indicating the weight of a component of the vehicle body that exists in the three-dimensional position in the vehicle body, is obtained in advance,
Weight and load of the center of gravity of the inputted baggage, and, based on the weight distribution data of the car body, the center of gravity of the whole traveling device including luggage and body of the cargo loading place and height, the position in the lateral direction of the centroid Seeking one or both,
The adjustment execution unit
A process of adjusting the set turning speed so as to decrease the set turning speed corresponding to each traveling speed continuously or stepwise as the height of the obtained center of gravity is higher,
The set turning speed corresponding to each traveling speed is decreased continuously or stepwise as the obtained lateral position of the center of gravity is further away from the lateral center of the left and right traveling rotating bodies in the traveling device in the lateral direction. Adjust the set turn speed by performing one or both of the processes to adjust the set turn speed,
The adjustment execution unit
When the detected turning speed is higher than the adjusted set turning speed, the process of adjusting the parameter so that the turning speed decreases, and the detected turning speed is more than the adjusted set turning speed. 3. The turning speed control device for the traveling device according to claim 2, wherein one or both of the processes for adjusting the parameter so that the turning speed is increased when the turning speed is lower. When the traveling device is traveling at a predetermined constant turning speed while traveling at a predetermined constant traveling speed, an inclination angle that is an angle at which the vehicle body is inclined about the longitudinal axis of the vehicle body is detected. With tilt sensor,
An inclination characteristic model showing a relationship between the inclination angle and one or both of the height of the center of gravity of the entire traveling apparatus including the luggage at the specific luggage loading place in the traveling apparatus and the vehicle body and the lateral position of the center of gravity, The inclination characteristic model, which is created in advance, is the relationship when the vehicle is turning at the predetermined constant turning speed while traveling at the predetermined constant traveling speed,
The parameter adjustment unit is configured to load the baggage at the baggage loading location based on the inclination angle detected by the inclination sensor and the inclination characteristic model when the traveling device is traveling at the constant traveling speed and turning at the constant turning speed. Determining one or both of the height of the center of gravity of the entire traveling device including the vehicle body and the position of the center of gravity in the left-right direction,
The parameter adjustment section
A process of adjusting the set turning speed so as to decrease the set turning speed corresponding to each traveling speed continuously or stepwise as the height of the obtained center of gravity is higher,
The set turning speed corresponding to each traveling speed is decreased continuously or stepwise as the obtained lateral position of the center of gravity is further away from the lateral center of the left and right traveling rotating bodies in the traveling device in the lateral direction. Adjust the set turn speed by performing one or both of the processes to adjust the set turn speed,
The parameter adjustment section
When the detected turning speed is higher than the adjusted set turning speed, the process of adjusting the parameter so that the turning speed decreases, and the detected turning speed is more than the adjusted set turning speed. 3. The turning speed control device for the traveling device according to claim 2, wherein one or both of the processes for adjusting the parameter so that the turning speed is increased when the turning speed is lower.

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