JPH02279805A - Road cutter - Google Patents

Abstract

PURPOSE:To make it possible to maintain automatically a required ground angle by operating a ground command means, and controlling an actuator based on detection values of a traveling distance detector and cutting depth detectors to rise and fall a road cutter. CONSTITUTION:A road cutter 10 cutting a road over the specific width with the travelling of a vehicle and lift cylinders 3a and 3b to rise and fall make against the road are provided to the chassis 1. When a ground cutting such as a cutting-up or a cutting-down is instructed by means of a ground command means, detection values of a traveling distance detector 11 and cutting depth detectors 12a and 12b are transferred to a ground controlling means. Successively, the lift cylinders 3a and 3b are driven and controlled by a rising and falling controller 18 based on the control, the road cutter 10 is made to rise and fall, and a required angle of ground cutting is automatically carried out.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a road surface cutting device, and more particularly to a road surface cutting device that can cut while traveling in the continuous direction of a road while changing the depth and depth of the cutting surface along the running direction.

[Conventional technology]

Conventional road milling equipment has a structure in which a road milling machine that is rotatably supported by a vehicle and cuts the road surface over a predetermined width is manually raised and lowered relative to the road surface. Some models have a structure in which the road milling machine installed on the vehicle body is raised and lowered together with the vehicle body by raising and lowering the wheels, while others have a structure in which the road milling machine is raised and lowered directly relative to the vehicle body. The method used was to change the depth and depth of the cutting surface by manually operating the cutting surface, or by raising and lowering the road surface cutting bag while tracing it using a sensor.

In this case, as an index of the depth of the cutting surface, firstly, there is a means of providing a reference line or a reference surface at a desired slope along the road surface to be cut using a thread or other means. and,
Cutting is performed while tracing this reference line or reference plane using a sensor that moves up and down together with the cutting machine. Second, the desired cutting depth for the current road surface is written in advance at each point on the road surface using a numerical value or a symbol, and the cutting depth is adjusted as the vehicle progresses to reach this written depth. The operator manually moves the cutting machine up and down.

In this case, the desired cutting depth is usually written down every 5m or 10m along the direction of vehicle travel, and the driver has to make sure that the cutting depth changes continuously between each writing point. The cutting machine is raised and lowered in sequence as the vehicle progresses.

On the other hand, in road surface repair work or the like, if the cutting work is stopped midway through while leaving a level difference in the road surface due to the cutting, subsequent vehicular traffic may be hindered. In such a case, please use! In order to allow vehicles and other vehicles to pass through the construction site even when JR is not in operation, it is necessary to perform construction work that eliminates steps by creating a smooth slope between the cut and non-cut surfaces. occurs. This sliding work involves cutting into the road surface at the start of cutting to form a slope that gradually deepens in the direction of travel (for example, the slope marked "-〇" in Fig. There is a work of cutting up the slope to form a slope that gradually becomes shallower in the direction of travel (for example, the slope around +θ 1 in FIG. 10, which will be described later). Conventionally, such sliding and cutting operations have been performed by the driver manually raising and lowering the cutting machine in accordance with the travel of the vehicle, as described above.

[Problem to be solved by the invention]

However, according to the conventional technology, in the method of cutting while tracing the first reference line etc. in road surface cutting work, a reference line or a reference plane for tracing cutting must be set in advance. There is a problem that the construction work becomes complicated, and in the case of the means for recording the depth at the second predetermined intervals, the control of the cutting depth depends on the skill of the operator. The cutting depth at an intermediate point other than the stated point depends on the driver's intuition, which poses a problem in that the driver is burdened and requires skill.

In addition, conventional sliding operations were carried out manually, relying on the skill and intuition of the driver, which increased the burden on the driver and resulted in poor work efficiency. Another problem with sliding was that it was difficult to keep the corners smooth and at a constant value.

This invention has been made by paying particular attention to the latter problem among the problems of the prior art. We are trying to solve this problem by automatically controlling the process so that it reduces the burden on the driver, significantly improves the efficiency of the sliding process, and greatly improves the accuracy of the sliding process. This is an issue.

[Means to solve the problem]

Therefore, in order to solve the above problem, the invention as claimed in claim (1), as shown in FIG. an actuator that can raise and lower the road milling machine with respect to the road surface; a mileage detector that detects the distance traveled by the vehicle; and a cutting depth detector that detects the depth of the road surface cut by the road milling machine; A sliding command means for commanding sliding between a cut surface and a non-cut surface in the vehicle traveling direction, and when sliding and cutting are commanded by the sliding command means,
A sliding control means is provided for controlling the actuator so that a desired sliding angle is obtained based on the detected values of the traveling distance detector and the cutting depth detector.

Further, the invention as claimed in claim (2) includes a road surface cutting machine installed in a vehicle to cut a road surface over a predetermined width as the vehicle travels; an actuator capable of raising and lowering the vehicle; a travel distance detector that detects the travel distance of the vehicle; a cutting depth detector that detects the depth of the road surface cut by the road milling machine; A sliding command means for commanding sliding between a surface and a non-cutting surface, and when the sliding command means commands sliding and cutting, the traveling distance detector and the cutting depth detector A sliding control means is provided for sequentially calculating the vertical position of the road milling machine corresponding to the desired sliding angle based on the detected value, and controlling the drive of the actuator according to the calculated value. .

Furthermore, as shown in FIG. 1(a), the invention as claimed in claim (3) includes a road cutting machine that is installed in a vehicle and cuts a road surface over a predetermined width as the vehicle travels; an actuator that can be raised and lowered relative to the vehicle; a travel distance detector that detects the travel distance of the vehicle; and a cutting depth detector that detects the depth of the road surface cut by the road milling machine;
When the sliding command means commands the sliding between the cut surface and the non-cut surface in the vehicle traveling direction, and when the sliding command means commands the sliding to be cut, the desired sliding is performed. A sliding control means is provided for calculating a vertical position of the road milling machine corresponding to an angle, and controlling the actuator based on the calculated value and detected values of the traveling distance detector and the cutting depth detector. ing.

Furthermore, in the invention described in claim (4), claim (1).

The actuators according to the invention described in (2) or (3) are respectively disposed at both sides of the road milling machine in the cutting width direction,
Cutting depth detectors are respectively disposed at both sides of the road milling machine in the cutting r11 direction, and the sliding control means is means for controlling the drive of both actuators, respectively, as shown in FIG. 1(a).
The configuration is shown in .

Furthermore, as shown in FIG. 1(b), the invention according to claim (5) includes a road surface cutting machine that is installed in a vehicle and cuts a road surface over a predetermined width as the vehicle travels; actuators that can be raised and lowered relative to the road surface at positions on both sides in the width direction, mileage detectors that detect the distance traveled by the vehicle, and drive distance detectors that measure the depth of the road surface cut by the road milling machine on both sides of the cutting width direction. A single cutting depth detector that detects only one of the two, a sliding command means that commands sliding between the cutting surface and the non-cutting surface in the vehicle running direction, and a command means that commands the sliding between the cutting surface and the non-cutting surface in the vehicle traveling direction. For sliding, when cutting is commanded, the cutting depth detector detects the depth so that the desired sliding angle is determined based on the detected values of the traveling distance detector and the cutting depth detector. The sliding actuator is provided with a control means for controlling the actuator, and a manual operating means for manually operating the remaining actuators when cutting is commanded by the sliding command means.

Furthermore, in the invention described in claim (6), claim (1)
), (2), (3), or (5) of the invention described in the invention includes a command means, a means for commanding sliding with an inclination that gradually becomes shallower as the vehicle advances, and a means for commanding sliding with an inclination that gradually becomes shallower as the vehicle advances; The structure includes at least one of the means for commanding sliding with a deepening slope.

[Effect]

Claims (1), (2), (3), (4) and (6)
In the invention described in ), when the sliding is commanded to gradually become shallower or deeper and the cutting is commanded, the traveling distance detector and the cutting depth detector detect the traveling distance and the cutting depth. Detecting the respective angles, and applying the detected values to the sliding control means.

The sliding control means controls the actuator so that the desired sliding angle is obtained based on the input side-out values (for example, the sliding angle is set to the desired angle based on the detected values of the travel distance detector and the cutting depth detector). For sliding, the elevation position of the road milling machine corresponding to the angle is calculated sequentially, and the actuator is controlled according to the calculated value, or, for the desired sliding, the elevation position of the road milling machine corresponding to the angle is calculated, and control the actuator based on the calculated value and the detected values of the travel distance detector and the cutting depth detector). Therefore, the elevation position of the road milling machine is gradually shallower or deeper (adjusted) as the vehicle travels, and a constant inclination angle (sliding angle) is maintained between the cutting road surface and the non-cutting road surface.
Continuous sliding is done automatically.

Furthermore, in the inventions described in claims (5) and (6),
In particular, the sliding of the actuator on the side where the cutting depth detector is provided is automatically controlled by the control means in the same way as described above, and the remaining actuators are manually operated by the crew via the manual operation means, and semi-automatic operation is performed. A controlled state is obtained.

〔Example〕

Next, embodiments of the present invention will be described based on the drawings.

(First Example) A first example will be described with reference to FIGS. 2 to 7. In this first embodiment, in addition to slope cutting, sliding at the top of the cut can be performed.

FIG. 1 is a plan view schematically showing a road cutting device, and FIG. 2 is a side view of the same. In these figures, 1 is the vehicle body,
Four wheels (front left wheel 2a, front right wheel 2b, rear left wheel 2c, and rear right wheel 2d) are provided.

Although wheels are used as the traveling means in this embodiment, other traveling means such as crawlers (tracks) may be used instead of wheels.

The front wheels 2a, 2b are attached to the vehicle body 1 so as to be raised and lowered individually by lift cylinders 3a, 3b as actuators, and each lift cylinder 3a, 3b is individually driven by a servo valve 4a, 4b, respectively. ing. Rear wheel 2c.

2d is the axle 5. It is connected to a transmission 8 via a differential device 6 and a propulsion shaft 7 to form a driving wheel, and both left and right axles 5
is able to swing freely around the propulsion shaft 7, and the vehicle body 1
rolling.

The front and rear wheels may be reversed from the above structure so that the front wheels 2a2b serve as driving wheels and the rear wheels 2c and 2d serve as elevating wheels. Although not shown, lift cylinders are actually provided on the rear wheel side as well, and these lift cylinders are used for adjusting the levelness of the vehicle body 1 and the like before the start of road surface cutting.

A road milling machine 10 is attached to the vehicle body l via a machine frame 9 fixed to the lower surface thereof. The road milling machine 10 has a drive source (
A cutting blade is provided protruding from the outer periphery of a rotating drum connected to a rotary drum (not shown), and the cutting blade cuts the road surface by the rotation of the cutting blade. As the front wheels 2a and 2b move up and down relative to the vehicle body, the road milling machine 10 also moves up and down relative to the road surface together with the vehicle body 1. Therefore, by attaching the lift cylinders 3a, 3b between the vehicle body 1 and the machine frame 9, the road milling machine 10 can be raised and lowered without raising and lowering the vehicle body 1.

In addition, the transmission 8 is provided with, for example, a
A travel distance detector 11 that outputs a pulse signal is attached, and cutting depth detectors 12a and 1 that detect the road surface cutting depth are installed on both the left and right sides of the road milling machine IO in the machine frame 9.
2b is attached, and a slope detector 13 is also attached to the center of the machine frame 9 to detect the inclination angle in the width direction of the cutting surface with respect to the horizontal surface. On the other hand, near the driver's seat of the vehicle body 1, there is a data input device 14 for inputting cutting data such as a set distance for setting the gradient in the continuous direction of the road surface, a set cutting depth, and the gradient in the width direction of the cutting surface. A display device 15 for displaying data and cutting status is provided.

In addition, near the driver's seat, there is a start switch 1 with a slide for issuing a command to start cutting work (including a restart command).
6 and a sliding stop switch 17 are provided for issuing a command to stop the cutting operation, and the sliding stop switch 17 can be operated as desired by the driver. Among these, when the driver presses the sliding start switch 16 to turn it on in order to carry out sliding work, the sliding cutting control takes priority over the previous slope cutting control, as will be described later. It is about to be done. Also, when sliding is turned on by pressing the start switch 16, the interruption switch 17 is reset and turned off.
Conversely, when the switch 17 is "on", the switch 16 is automatically switched to "off".

And a traveling distance detector 11, a cutting depth detector 12a,
12b, detection values P, H, of the gradient detector 13;

Cutting data input from HR+ α and data input device 14 and turning on of each switch 16 and 17.

The off switch signal is supplied to the lift control device 18, and the lift signal i output from the lift control device 18,
The servo valves 4a and 4b are controlled by i, and the road surface is cut so that the so-called longitudinal slope in the continuous direction and the so-called cross slope in the width direction of the road surface are set values.

As shown in FIG. 4, the elevator control device 18 is composed of a microcomputer 22 having at least a human output interface 19, an arithmetic processing unit 20, and a storage device 21. 11, the cutting depth detectors 12a, L2b, the detection values P, HL, HR, α of the slope detector 13, the input data input from the data input device 14, and the sliding start and interrupt switches 16 and 17. Signals ST and SP are input to the servo valve 4a from the output side.

Control signals i, i for 4b and a display signal for display device 15 are output.

As shown in FIG. 6, which will be described later, the arithmetic processing device 20 calculates the relationship between the cutting depth and the left and right inclinations based on the cutting data input from the data input device 14, and uses the calculation results as a target value. In addition, the detected values HL and HR of the cutting depth detectors 12a and 12b and the slope detector 13 are
and α as feedback values, and a control signal i for the servo valves 4a and 4b according to the deviation between these and the target value.
By calculating i and outputting it to each servo valve 4a, 4b, road surface cutting is automatically performed with a desired longitudinal slope and cross slope according to the cutting data.

Further, as shown in FIG. 5, which will be described later, when the cutting command 2 is interrupted, the arithmetic processing unit 20 automatically performs sliding control with priority over slope cutting control.

In this example, the sliding angle θ is a constant value (for example, +30°
: A positive angle indicates when rounding up, a negative angle indicates cutting down).

The storage device 21 stores in advance a processing program necessary for the processing of the arithmetic processing device 20, and sequentially stores the results of calculations performed by the arithmetic processing device 20.

Next, the operation of the above embodiment will be explained with reference to the flowchart of FIG. 5.6 showing the processing procedure of the arithmetic processing unit 20.

In the process shown in FIG. 5, initialization is first performed in step (2) to set initial values. This initial setting is the same as that of the current road milling machine.
In addition to forming display information that outputs the state of O, ie, the cutting depth, etc., to the display device 15, the current lift cylinders 3a, 3
Each servo valve 4a and 4b is set to a neutral position so as to maintain the extended/contracted position b. Next, the process proceeds to step (2), in which display information based on the initial value set in step (2) is output to the display device 15, and control signals i and i are output to the servo valves 4a and 4b, respectively.

Next, in step (2), a switch signal ST from the sliding start switch 16 is read, and in step (2), it is determined whether or not sliding is to be performed based on the switch signal ST in step (2). Then, if it is determined that the start of sliding has not yet been commanded, the process moves to step (3) and enters a subroutine process for slope cutting control.

This subroutine processing is specifically performed as shown in FIG.

To explain this in detail, in step (2) in FIG. 6, it is determined whether slope cutting is to be performed. This determination is made, for example, by determining whether or not a slope cutting end key provided on the data input device 14 is pressed, and when the slope cutting end key is pressed, it is determined that slope cutting will not be performed. Then, end the process and return to the main program (step ■ in Figure 5). If the slope cutting end key has not been pressed, proceed to step ■a in Figure 6 and later to start slope cutting. Execute processing.

In step ■a, the switch signal ST is read in the same manner as step ■ in Figure 5 above, and in step ■b, it is determined whether or not to perform the sliding as in step ■ in Figure 5, and in the case of rYEsJ, the main program is If the answer is "NO", go to step (3).

In step (2), it is determined whether slope cutting is to be newly performed. This determination may be made, for example, by the data input device 14.
It is determined whether the new data entry key provided in In some cases, it is determined that slope cutting is to be newly performed, and the process proceeds to step (3).

In this step (2), longitudinal slope cutting data for performing so-called longitudinal slope cutting in the road surface continuity direction and/or cross slope cutting data for performing so-called cross slope cutting in the road surface width direction, which are set in the data input device 14, are input. is read as new data, the pressed new data entry key is returned to its original state, and the process moves to step (2). Here, the vertical slope cutting data includes a distance setting value L0 and a left and right cutting depth setting value H after moving by the setting distance L0.
a, Hb, and longitudinal slope cutting data accompanied by cross slope control is comprised of a distance setting value LO1, a standard cutting depth setting value Ho on either the left side or the right side, and a cross slope setting value S.

In step (2), the cutting depth detection values HL and HA of the cutting depth detectors 12a and 12b and the gradient detection value α of the gradient detector 13 are read, and these are stored in a predetermined storage area of the storage device 21, and then step (2) to move to.

In this step (2), when performing longitudinal cutting in which the cutting depth at the start of cutting and the cutting depth after traveling are different by the distance setting value L0, the cutting data input in step (2) and the detected value read in the step (3) are combined. ■ Set distance in longitudinal slope cutting data based on. The cutting depths at a plurality of dividing points are calculated and stored in the storage device 21 as control target values.
When performing longitudinal slope cutting with cross slope control in which the cross slope at the start of cutting and the cross slope after traveling by distance setting value L0 are different, the cross slope at each dividing point is stored in the division target value storage area formed in Calculate the slope and use these as control target values to record divided target values 1. Store in q area. Here, the control accuracy improves as the number of division points increases. For example, when the distance setting value L0 is 10 m and the cutting depth setting value Ha i-(b is 10 cm,
When the distance setting value is divided into IO, the cutting depth should be changed by 1 cm at each division point of every 1 m, and when it is divided into 20, the cutting depth should be changed by 0.5 cm at each division point of every 50 cm. become.

Next, the process moves to step (2), where the distance counter formed in a predetermined storage area in the storage device 21 is cleared, and then the process moves to step (2).

In this step (2), it is determined whether or not the pulse signal P from the mileage detector 11 has been input, and if it has not been input, it waits until it is input, and when it has been input, it moves to step (2) and the distance Set the counter to “’1”
After counting up by °, move to step ■.

In this step (2), it is determined whether the dividing point has been reached. This determination is made based on whether the count value of the distance counter has become a value corresponding to a preset dividing point,
When the dividing point has not been reached, the process returns to step (2), and when the dividing point has been reached, the process moves to step [phase].

In this step [phase], it is determined whether the set distance L0 input in step (2) has been reached. In this judgment, the count value of the distance counter is equal to the set distance.

The determination is made based on whether the count value corresponding to the set distance L0 has been reached, and if the set distance L0 has not been reached, the process moves to step (3), and the target value at that division point is read from the division target value storage area of the storage device 21. Change the target value and then step @
When the set distance L0 is reached, step @
, and enter the cutting depth setting value Ha entered in step ■.
, Hb and/or the reference cutting depth setting value Ho, and the cross slope setting value S are set as target values, and then the process moves to step (2).

In step 0, the current cutting depth detection 312a12b and the detection values HL, H of the cross slope detector 13 are detected.

and α are read, and then in step 0 the deviation between the detected value and the target value is calculated. Next, the process moves to step (2), where it is determined whether the deviation is zero or not, and when the deviation is zero, control signals i, i are outputted to set the servo valves 4a, 4b to the neutral position, and then Return to step ■,
If the deviation is other than zero, the process moves to step (2) to perform deviation correction processing to eliminate the deviation, and then returns to step (2). As long as the deviation is other than zero, repeat the processes from step 0 to [phase], and return to step ■ only when both the right and left side deviations become zero according to the judgment in step ■.Here, carry out the deviation correction process described above. When performing vertical slope cutting without cross slope control, first set cutting depth Ha
, a lifting signal i according to the deviation between Hb and the detected cutting depth value,
Transverse slope cutting is performed by outputting i to the servo valves 4a and 4b and raising and lowering the lift cylinders 3a and 3b until the detected values HL' and H11 of the cutting depth detectors 12-a and 12b match the target values. When vertical slope cutting is performed, first, the lifting signal i is sent to either the corresponding servo valve 4a or 4b according to the deviation between the standard cutting depth setting value Ha and the corresponding cutting depth detection value HL or Hll. For the other side, a lift signal i is outputted so that the cross slope set value S and the detected cross slope value α coincide with each other.

Therefore, when performing the above-mentioned slope cutting control, for example, the road surface cutting depth is 20c11 on both the left and right sides, and from this state 10m
Assuming that an uphill vertical slope is to be cut in which the cutting depth is 10 cm on both the left and right sides, the distance setting value is entered using the data input device 14. is set to 10 m, the cutting depth setting values Ha and Wb are both set to 10 cm, and when the vehicle is driven with the new start key pressed down, the cutting work of the commanded vertical slope can be automatically performed. Therefore, compared to conventional manual operation, the efficiency of the cutting work is significantly improved, and the burden on the driver is also reduced.

Note that when cutting the road surface without creating a longitudinal slope, constant cutting can be achieved by inputting cutting depth setting values Ha and Hb that are equal to the current cutting depth by the road cutting machine 10 using the data input device 14. Can perform deep road cutting.

It is assumed that the driver presses down the sliding start switch 16 and issues a command to start sliding while the cutting is being controlled as described above. As a result, it is determined that the answer is YES in step 2 in FIG. 5 or step 2 in FIG. Transfer and sliding are controlled.

That is, in step (2), the distance detector 11 and the cutting depth detector 12a at the time of the command are used for skidding.

The detected values P, HL, and HR of step 12b are read, and the process moves to step (2). In step (2), based on the actual values read in step (2), the reference traveling position for cutting for the sliding to be performed from now on and the reference cutting depth H1 are set and stored (see FIG. 7).

Here, the reference cutting depth H7 is the left and right cutting depth detector 1.
When the detection signals H+- and Ha+ of 2a and 12b have the same value, it is a reference value corresponding to both signals, and when they have different values, it is a value corresponding to one of the preset signals.

Next, in step (2), the switch 1 reads the switch signal SP of the interruption switch 17, and in step (2), it is determined whether or not the sliding is to be interrupted. This judgment is provided in case, for example, when the work has started on the -degree sliding operation, but the user wants to return to slope cutting again. Therefore, if it is determined in step (2) that the sliding should be continued, the process moves to step [phase].

In this step [phase], in order to keep the sliding angle θ at a constant value (for example, +30 degrees), the cutting depth position of the road milling machine 10 is made shallower than the reference value H7 by a preset minute height ΔH. Control signal i corresponding to.

i is output to the servo valves 4a and 4b. This results in
The cutting depth of the road milling machine 10 is rH, -ΔH.

Next, in step 0, the detection signal P of the mileage detector 11 is read, and in step @, in order to maintain the set sliding angle θ, the set sliding distance is set only by a preset minute distance Δ, that is, “L + + ΔL”. Determine whether or not you have made progress. In this step ■, @ processing, the mileage is 'L+
+ΔL”, and at the time the position is reached, the process moves to step 0. Here, ΔH1ΔL is set to a sufficiently small value.

In this step ■, the standard cutting depth H7 and step [
Based on the adjustment minute distance ΔH in [phase], it is calculated whether the cutting depth on both the left and right sides has reached HXJ, that is, the cutting machine IO has reached a height H above the ground surface.

The cutting depth ()IXJ is set to, for example, r-20 mm due to unevenness absorption.

Therefore, if the cutting depth on both the left and right sides has not reached 'HXJ' in the judgment of step 0, step
Return to step 0 and repeat the process described above until it reaches ``HxJ''.
When xJ is reached or exceeded, it is assumed that sliding and cutting have been completed, and the servo valves 4a and 4b are
The control is ended by stopping the output of the control signals i and i to the control signal i.

On the other hand, when it is determined in the step (3) that the sliding has been instructed to be interrupted, in the step Q, the servo valve 4a
, 4b, and the control ends.

Here, in this embodiment, step (2) in FIG.

■, [Phase]~O processing and sliding of servo valves 4a and 4b constitute control means, and sliding is performed by starting switch 16 and steps ■ and ■ in Figure 5, and steps ■a and ■b in Figure 6. The sliding process constitutes a command means.

Therefore, during the above-mentioned slope cutting work or manual cutting work, the driver can start sliding by operating the start switch 16 and moving the vehicle forward.
Sliding at the time of cutting up can be performed automatically from the time when the hobo switch is operated, and an inclined surface with a substantially constant angle "+θ" toward the ground surface can be formed between the cutting surface and the ground surface.

This slope has been repeatedly cut in a step-like manner, but since the depth adjustment amount Δ11 and the travel distance adjustment amount ΔL are set to minute values in advance, this, coupled with the characteristics of the earth and sand, results in the As shown by the dotted line in the figure, it becomes an almost continuous slope. Furthermore, if the road surface cut is horizontal in the cross-sectional direction at the start of cutting, the sliding will be done horizontally, and if it has a predetermined slope in the cross direction, the slope surface to be formed will also continue in the cross direction. It will have a predetermined slope.

Therefore, compared to conventional manual operation, there is an advantage that the work efficiency and sliding accuracy are significantly improved. In addition, in this embodiment, even after starting the process,
The sliding operation can be interrupted at will by operating the interruption switch 17, and the sliding operation can be restarted from that point at will by pressing the start switch 16. Can easily accommodate changes.

(Second Embodiment) Next, a second embodiment will be described based on FIGS. 8 to 10. In this first embodiment, in addition to slope cutting, sliding cutting can be performed at the time of rising and entering the cut. In this second embodiment, the same components as those in the first embodiment are designated by the same reference numerals, and their explanations will be omitted or simplified.

In the second embodiment, a sliding angle selection switch 30 is newly installed in the driver's seat, and the switch signal SA is sent to the elevator control device 1.
Supply to 8. The sliding angle selection switch 30 is a switch that is selected by the passenger and outputs a signal SA corresponding to the up position (sliding becomes shallower as the vehicle advances) or the cut position (sliding becomes deeper as the vehicle advances). Output. In addition, instead of the above-mentioned interruption switch, the sliding device is provided with an end switch 32, which outputs a signal EN when operated, and this switch signal EN is supplied to the elevation control device 18. It has become so. The lift control device 30 performs the processing shown in FIG. 9 and the above-mentioned FIG. 6.

The rest is the same as the first embodiment.

To explain the process shown in Figure 9 here, the steps ■～■
The processing is the same as steps ① to ② in FIG. 5 according to the first embodiment. Therefore, in step ■ in Figure 9, rYESJ is
When it is determined that this is the case, the process moves to step (3) in the figure, and the sliding mode reads the switch signal SA from the corner selection switch 30. Next, in step (2), it is determined from the switch signal SA whether or not sliding at the time of turning up is selected, and rYES.

In this case, the process from step (■) onwards is performed.

Among these, in step (2), the elevation control device 18 reads the travel distance signal P, and in step (2), based on the read value in step (2), the sliding is set as the reference travel position at the time, and the sliding is at the starting position 3. .

Next, the process moves to step [phase], and the set sliding is at the starting position, and the predetermined sliding at the time of turning up from 3 is the running path 1iiiII in order to maintain the angle θ (for example, "+30°").
A cutting depth target value Ha for L (=L, +! (≧0)) is calculated on the left and right sides, and a series of the data is stored.

Next, the elevation control device 18 reads the switch signal EN of the sliding end switch 32 in step (3), and determines whether or not the sliding is completed based on the switch signal EN in step @. If this judgment is rYEs, the work will be interrupted or forcibly terminated for some reason.
Finish controlling it.

However, if the determination in step @ is "NO", the process moves to step 0, reads the travel distance signal P again, and returns to the current travel position, that is, the sliding start position.

Calculate the running position from. Next, the process moves to step 0, and the depth detection signals Ht and H+t of both cutting depth detection sensors 12a and 12b are read. Then, in step [phase], the cutting depth target values Ht and Ht corresponding to the traveling position calculated in step @ are read out, and the values Ht and Hit read in step [phase] are the target value H? ,H? Calculate whether it matches or not.

If the judgment in this step [phase] is rNOJ, the process moves to step [stock], where the target values HT, HT and the detected value Ht are determined.

1(i), and proceed to step @.

In step @, the control signals i, i in the direction of matching the cutting depth to the target values H, HT are applied to the left and right servo valves 4a, HT.
b individually, and then returns to step 0 again. As a result, for example, the detected cutting depth values HL and HR can be changed to the target value H.
If the depth is deeper than t and Ht, steps 0 to (2) are repeated until they match, that is, until rYEs is determined in step [phase].

If rYEsJ is determined in step ■, it is determined again in step ■ whether the left and right cutting depths HL+HR have both reached a predetermined temperature, HxJ, and if rNOJ, the process returns to step ■. The above-described process is then repeated. However, when rYEsJ, the process returns to step (■). Here, the predetermined depth 'HXJ is for absorbing unevenness (road surface unevenness) as in the first embodiment, and the minus sign indicates the depth (height) upward from the road surface.

On the other hand, in the step (2), the determination is "rNo".

That is, if sliding at the time of cutting is selected, the process moves to step [phase], reads the set cutting depth commanded from the data input device 14, and sets the value as the maximum cutting depth HMAX.

Thereafter, the process moves to step @l-0, and the same processing as steps ① to 0 at the time of rounding up described above is performed.

Then, in step @, rYEsJ is determined, and when the cutting depth detection values Ht, H* match the target values H1, Ha, the detection value HL is then determined in step [phase].

It is determined whether one knife □ has reached the set cutting depth HMAX. As a result, in the case of determination of rNOJ, it is determined that the depth of cut is still insufficient, and the process returns to step 0 and repeats the processing of steps @ to [phase]. On the other hand, if rYEsJ is found in step [phase], the process returns to step ■.

In the second embodiment, steps ① to [phase] in FIG.

The processing of @ ~ [phase], @) ~ @, [phase] ~ Φ and the sliding servo valves 4a and 4b constitute a control means, and the sliding is controlled by the start switch 16. For sliding, use the corner selection switch 30, steps ■a and ■b in Figure 6, and step ■ in Figure 9.

The processing of (1), (2), and (3) constitutes a command means.

Therefore, the overall operation of the second embodiment will be explained based on FIG. 10. First, move the vehicle to the position where you want to perform cutting work, turn the corner selection switch 30 for sliding to the cutting side, set the maximum cutting depth H□ on the data input device 14, and then switch the start switch for sliding. 16 is turned on. As a result, the elevation control device 18 performs steps ■ to ■ in FIG. 9, [phase]
Since the process is carried out via ~@, the cutting surface of the road milling machine 10 gradually decreases as the running position advances, and as shown at the right end of FIG. Attachment is done with high precision. And this sliding is at an angle of “-
When the sliding operation by "〇" progresses and the cutting depth reaches HWAX, the cutting is completed and the process waits until the gradient cutting end key of the data input device 14 is turned off (see step (2) in FIG. 6).

For example, when cutting at a constant slope is commanded from the data input device 14, for example, a predetermined depth H is given as in the first embodiment.
14AX automatic cutting is performed.

It is assumed that when the vehicle reaches the running position 1 by this automatic road surface cutting, the occupant turns on the sliding start switch 16 again. As a result, the elevation control device 18 now performs steps ① and ② in Fig. 9.

Since the processing through ■~@ is carried out, the cutting depth of the road milling machine 10 becomes shallower as the vehicle travels, and as shown in the left end of FIG. It will be done. When the cutting depth reaches a predetermined height H above the road surface, sliding is completed and the next command is awaited.

Furthermore, if the sliding end switch 32 is turned on during the sliding process, the sliding process is immediately terminated (for example, the first
(See the imaginary line at the far left of the figure).

In this way, in the second embodiment, sliding at a predetermined angle can be automatically performed both at the time of cutting and at the time of cutting up. For this reason, a series of operations such as depth of cut cutting, road surface cutting, and upward cutting can be performed sequentially from a fixed direction, and compared to the configuration in which sliding can be performed only at the rising edge of the cut as in the first embodiment, the cutting machine's vehicle In addition to obtaining the same effects as the first embodiment, such as not having to change the direction, work efficiency is particularly improved.

Furthermore, in the control of sliding at the time of cutting and upward cutting in this embodiment, the sliding is at the starting position 2L, and the depth target value H7 is set in advance for the angles "+θ" and "-θ" for the predetermined sliding. However, as the cutting progresses, the cutting depth is changed by feedback control, so regardless of the steepness of the road surface slope or the presence or absence of unevenness, more accurate sliding than in the first embodiment can be achieved. can be formed.

(Third Example) Next, a third example will be described based on FIGS. 11 to 13. In addition to gradient cutting, this third embodiment can also perform sliding cutting at the top of the cut and at the depth of cut, and also has a semi-manual function. In this third embodiment, the same components as those in the second embodiment are designated by the same reference numerals, and the description thereof will be omitted or simplified.

In the third embodiment, a new manual/manual operation is added to the configuration of the second embodiment.
For automatic sliding, a selection switch 34 is provided at the driver's seat, and the switch signal SL is supplied to the elevation control device 18. The manual/automatic sliding selection switch 34 is a switch that is arbitrarily selected by the passenger, and outputs a sliding operation selection signal SL corresponding to each switch position shown in FIG. In other words, the selection switch 34 is set to "auto"
.

The positions are "left automatic", "right automatic", and "manual", and "automatic" is for the left and right lift cylinders 3a.

3b is automatically controlled to perform sliding, and in the "left automatic" position, the left cylinder 3a is automatically controlled and the right cylinder 3 is automatically controlled.
b is manually controlled to perform sliding (semi-automatic), and in the "right automatic" position, sliding is performed by manually controlling left cylinder 3a and automatically controlling right cylinder 3b (semi-automatic).
Furthermore, "manual" means that both the left and right cylinders 3a and 3b are manually controlled. Furthermore, as shown in FIG. 11, the output ends of a left manual operation switch 36a and a right manual operation switch 36b are connected to the left and right servo valves 4'a and 4b. Furthermore, the elevation control device 30 performs the processing shown in FIG. 13 and the above-mentioned FIG. 6.

The other configurations are the same as the second embodiment.

Now, to explain the process in Figure 13, the steps ~
The process of ① is the steps ① to ② of FIG. 5 related to the first embodiment.
is the same as Therefore, in step ■ in Figure 13, rYE
If it is determined that s, the process moves to step (2) in the figure, and for manual/automatic sliding, the selection signal SL from the selection switch 34 is read, and the process moves to step (2). In step ■, the switch 34 is selected based on the value of the selection signal SL read in step ■.
Determine whether or not it is in the "fully automatic" position. (If rYESJ in this judgment, step
The switch signal SA of the selection switch 30 is read, and then, in step (2), it is determined whether it is time to turn on or not, in the same way as in the second embodiment. Then, when the judgment is rYES in step
After carrying out the same processing as in steps ① to ② in the figure, return to step ②. On the other hand, if the judgment in step ■ is "NO", the process for automatic sliding at the time of cutting in step B (the same process as in steps [phase] to [phase] in Figure 9) is performed, and then the process returns to step ■. return.

On the other hand, if step ■ is "NO", step [
phase], and it is determined from the selection signal SL in step (2) whether the switch position is "left automatic" or not.

In the case of r\Es in this judgment, the process moves to steps (2) and @, and the same processing as steps (2) and (2) is performed. Therefore, in the case of rYEsJ at step @, semi-automatic structuring at the time of turning up in step C is processed (left: automatic.

Right: Manual), then return to step ■. Step C
The processing group performs the steps ① to ② in Fig. 9 described above using the control system on the left (cutting depth detector 12a, servo valve 4a,
This is carried out only for the lift cylinder 3a). On the other hand, in the case of "NO" in step @, the semi-automatic assembly at the time of cutting in step D is processed (left: manual, right: automatic), and then returns to step (2). The processing group of step D is
Steps 1 to Φ in FIG. 9 described above are carried out only for the left control system (cutting depth detector 12a, servo valve 4a, lift cylinder 3a).

On the other hand, if "NO" in step [phase], the process moves to step (2) and it is determined whether or not the "right automatic" position is reached. If this judgment is rYEs, step 0. This leads to the processing of @. Then, in step (2), if rYEs, the processing group of step E is controlled, and if rNOJ, the processing group of step F is controlled, and the process returns to step (2). Among these, each process in step E is the semi-automatic erecting process at the time of turning up (k = manual right:
It performs the steps ■～■ in Figure 9 mentioned above.
The control system on the right side (cutting depth detector 12b).

This is carried out only for the servo valve 4b and lift cylinder 3b). In addition, each process in step F is a semi-automatic setting process (left: manual, right: automatic) at the time of cutting, and steps [stock] to [stock] in FIG.
phase] is carried out only for the right control system.

Furthermore, if the judgment is “NO” in step @, “Manual”
Assuming that the position is correct, return to step ■ and wait.

In the third embodiment, the processing of steps A to F in FIG. 13 and the sliding of the servo valves 4a and 4b constitute a control means, and the sliding is performed by the start switch 16. For sliding, use the corner selection switch 30 and steps ■a, ■b in Figure 6, steps ■, ■, in Figure 13,
■、■、■、0.0. [Phase] processing constitutes a command means.

Since the processing of this embodiment is as described above, if the selection switch 34 is set to the "auto" position for manual/automatic sliding, the same working state as in the second embodiment is obtained, and the "left When the semi-automatic position of ``Auto'' or ``Right Auto'' is selected, either the left or right side of the road milling machine 10 is set to ``Auto''.
Cutting can be performed at the same position. Therefore, in such a semi-automatic cutting state, manually operate the cylinder 3b or 3a on the opposite side using the manual operation switch 36b or 36a while visually checking the display data on the display device 15 or the height of the road milling machine 10. Just go. By leaving manual operations in this way, we are able to achieve higher efficiency, higher precision cutting than conventional equipment, and
Although it is a sliding type, it has the advantage of being able to flexibly deal with road surface disturbances.

In the third embodiment, cutting depth detectors 12a and 12b are provided on both sides of the vehicle, and the cutting depth is fully automatic.

Although it was configured to have semi-automatic and 9 manual functions at the same time,
For example, if only a semi-automatic function is installed, only one of the left and right cutting depth detectors 12a (or 12b) is required.
Signal processing may also be limited to either the left or right corresponding side, which simplifies the configuration and program, and provides an embodiment of the invention in which the device according to claim (5) is the end portion.

Furthermore, in the configurations of the second embodiment and the third embodiment,
If necessary, stop the sliding control when cutting up.
Of course, only a control function may be provided for sliding during cutting.

Furthermore, in the first to third embodiments, the angles "10" and "-0" for sliding and cutting were stored as constant values in advance, but the operator The sliding angle may be specified from the data input device 14 each time the work is performed, and the above-mentioned sliding or cutting may be performed with respect to the specified value. Furthermore, the configuration for controlling the interruption and termination of sliding in the three embodiments described above may be configured to be provided only when necessary, and in that case, the cutting device is further simplified.

Furthermore, in the three embodiments described above, the slope cutting control was processed by a subroutine, but this slope cutting side '<TJ is the main program, and the cutting control for sliding is processed by an interrupt to this main program. When the sliding is completed, the entire control may be ended as is.

Furthermore, in the three embodiments described above, the front wheel 2
Although the case has been described in which the lift cylinders 3a and 3b are provided only on the a and 2b sides, the present invention is not limited to this, and lift cylinders may also be provided on the rear wheels 2c and 2d sides, respectively.
Even if these are controlled in the same way as for the front wheels, the same effects as in the embodiment described above can be obtained. Furthermore, sliding can be performed while the vehicle is moving backwards in the same manner as in each of the above embodiments.

Furthermore, in each of the above embodiments, the road cutting machine 10
Although the case has been described in which the lift cylinders 3a and 3b are applied as the actuators, the present invention is not limited to this, and other actuators such as a linear drive mechanism using a screw shaft and a nut screwed thereto may be applied. Of course. Furthermore, in each of the above embodiments, the road milling machine 10 is vertically integrated with the vehicle body l, and the front wheels 2a
Although the lift cylinders 2b are moved up and down relative to the vehicle body 1, the present invention is not limited thereto. For example, if the lift cylinders 3a and 3b are installed between the vehicle body 1 and the machine frame 9, the vehicle body 1 can be moved up and down. The road milling machine 10 can also be raised and lowered without being raised or lowered. In addition, cutting depth detectors 12a, 12
b may be a structure using ultrasonic waves.

〔Effect of the invention〕

As explained above, claims (1), (2), (3)
), (4) and (6), when the sliding command means commands cutting at the time of cutting up or cutting, the traveling distance detector and the cutting depth detector are used. Since a sliding control means is provided to control the drive of the actuator so that the desired sliding angle can be maintained based on the detected value, the driver only needs to operate the command means and drive the vehicle for sliding. Since it is possible to automatically perform predetermined choreography and angle sliding, compared to conventional manual operation that relies on the driver's intuition, work efficiency and sliding accuracy are greatly improved, and the driver's operation is much easier. This has the effect of significantly reducing the burden on the person above.

Furthermore, according to the invention described in claims (5) and (6),
The cutting depth detector can be installed only on one side of the road milling machine width direction, and the control means only needs to be applied to one actuator. Not only does it provide excellent work efficiency and sliding accuracy, it also has the advantage of being able to flexibly deal with road surface disturbances by leaving room for manual operation.

[Brief explanation of drawings]

FIGS. 1(a) and 1(b) are claims correspondence diagrams related to the claimed invention,
FIG. 2 is a plan view schematically showing the road cutting device according to the first embodiment of the present invention, FIG. 3 is a side view of FIG. 1, and FIG. 4 is an example of the elevation control device of the first embodiment. Block diagram, 5th
The figure is a flowchart showing an example of the sliding and cutting processing procedure executed in the lift control device, and FIG. 6 is the process executed as a subroutine of the processes in FIGS. 5, 9, and 13 in the lift control device. FIG. 7 is an explanatory diagram showing cutting in the first embodiment, and FIG. 8 is an example of the elevation control device of the second embodiment of the present invention. 9 is a flowchart showing an example of the processing procedure for sliding and cutting in the second embodiment, FIG. 10 is an explanatory diagram showing an example of a cutting state according to the second embodiment, and FIG. A block diagram showing an example of the elevation control device of the third embodiment, Fig. 12 is an explanatory diagram showing the switch position of the selection switch for manual/automatic sliding in the third embodiment, and Fig. 13 is an explanatory diagram showing the switch position of the selection switch for manual and automatic sliding in the third embodiment. is a flowchart showing an example of a cutting process procedure. In the figure, 1 is a vehicle body, 2a to 2d are wheels, 3a and 3b are lift cylinders (actuators), and 4a. 4b is a servo valve, 10 is a road milling machine, 11 is a travel distance detector, 12a, 12b are cutting depth detectors, 16 is a start switch with sliding, 18 is a lift control device, 22 is a microcomputer, 30 is a sliding Attached is a corner selection switch.

Claims (6)

[Claims] (1) A road milling machine that is installed on a vehicle and cuts the road surface over a predetermined width as the vehicle travels, an actuator that can raise and lower the road milling machine with respect to the road surface, and a mileage detector that detects the distance traveled by the vehicle. a cutting depth detector for detecting the depth of the road surface cut by the road milling machine; and a sliding command means for commanding sliding between the cut surface and the non-cut surface in the vehicle traveling direction. , when sliding cutting is commanded by the sliding command means, the actuator is controlled to obtain a desired sliding angle based on the detected values of the traveling distance detector and the cutting depth detector; A road cutting device characterized by comprising a control means. (2) A road milling machine that is installed on a vehicle and cuts the road surface over a predetermined width as the vehicle travels, an actuator that can raise and lower the road milling machine with respect to the road surface, and a mileage detector that detects the distance traveled by the vehicle. a cutting depth detector for detecting the depth of the road surface cut by the road milling machine; and a sliding command means for commanding sliding between the cut surface and the non-cut surface in the vehicle traveling direction. , when sliding cutting is commanded by this sliding command means, the elevation position of the road milling machine corresponding to a desired sliding angle is determined based on the detected values of the traveling distance detector and the cutting depth detector. A road cutting device comprising: a sliding control means that sequentially calculates and controls driving of the actuator according to the calculated values. (3) A road milling machine that is installed on a vehicle and cuts the road surface over a predetermined width as the vehicle travels, an actuator that can raise and lower the road milling machine with respect to the road surface, and a mileage detector that detects the distance traveled by the vehicle. a cutting depth detector for detecting the depth of the road surface cut by the road milling machine; and a sliding command means for commanding sliding between the cut surface and the non-cut surface in the vehicle traveling direction. , when sliding cutting is commanded by this sliding command means, calculates the vertical position of the road milling machine corresponding to the desired sliding angle, and uses the calculated value and the traveling distance detector and cutting depth detection. and a sliding control means for controlling the actuator based on a detected value of the actuator. (4) The actuator is disposed at each side of the road milling machine in the cutting width direction, and the cutting depth detector is disposed at both sides of the road milling machine in the cutting width direction,
Claims (1) and (2) characterized in that the sliding control means is means for controlling both the actuators, respectively.
Or the road cutting device described in (3). (5) A road milling machine that is installed on a vehicle and cuts the road surface over a predetermined width as the vehicle travels; A travel distance detector that detects travel distance; a single cutting depth detector that detects the depth of the road surface cut by the road milling machine at only one of both positions in the cutting width direction; and a vehicle travel direction. a sliding command means for commanding sliding between the cut surface and the non-cut surface; and when sliding cutting is commanded by the sliding command means, the traveling distance detector and the cutting depth detector a sliding control means for controlling an actuator on the side whose depth is detected by the cutting depth detector so that a desired sliding angle is obtained based on the detected value; and sliding cutting is commanded by the sliding command means. 1. A road cutting device comprising: manual operation means for manually operating the remaining actuators when the actuator is turned off. (6) The sliding command means is a means for commanding sliding on a slope that gradually becomes shallower as the vehicle advances, and a means for commanding sliding on a slope that gradually becomes deeper as the vehicle travels. The road surface cutting device according to claim 1, comprising at least one of the means.