JPH02285114A - Device and method of controlling traveling of vehicle - Google Patents

Abstract

PURPOSE:To make safe traveling possible without being affected by misapprehension of an operator by processing operation at a controller for angle-indicating signals emitted from an encoder and a gyrocompass provided on a carbody, and by controlling swing and traveling of a traveling unit based on the computed results. CONSTITUTION:A carbody swing encoder 3 for detecting angles of an upper revolving body 1 against a lower traveling unit 2, a lever angle detector 5 for detecting angles for operating directions of a travel lever 7 and a gyrocompass 6 for detecting angles of the upper revolving direction against the north of the terrestrial magnetism are provided. Then operation is processed at a controller 21 for the angles alpha, beta and gamma respectively detected by each of the detectors. Then the direction of swing at site under operation of the travel lever 7 and the traveling direction of the lower traveling unit 2 are judged from the result of the operation and signals controlling traveling are sent to travel-operating valves 22 and 23 and a swing-operating valve 24. Thereby errors of an operator in misapprehension in making forward or backward traveling can be prevented and the vehicle can be operated in the desired direction.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a vehicle travel control device and its control method, and relates to a travel control device and its control for industrial vehicles, particularly construction vehicles such as hydraulic power shovels. Regarding the method.

(Prior Art) Conventionally, an upper revolving body l having a driver's seat 4 shown in FIG. 6,
As shown in FIG. 7, a vehicle is constructed of a right crawler track 11 having a right running motor 12, a left crawler track 13 having a left running motor 14, and a lower running device 2.
Inside the driver's seat 4, there are a right travel lever 31 and a left travel lever 32 connected to a pilot pressure generating valve 33.
The right travel operation valve 22 and the left travel operation valve 23 installed in
and the right travel operation valve 22, and the left travel motor I4 and the left travel operation valve 23 are connected to each other, and these circuits are supplied with pressure oil from a hydraulic pressure generating source (not shown). When the right travel lever 31 is tilted toward the front of the upper revolving structure 1 (direction B), that is, in the forward direction, the pilot pressure generation valve 33 generates pilot pressure to operate the right travel operation valve 22 and move the right travel motor 12 in the forward direction. The right crawler belt 11 is rotated and moves forward, and the lower traveling device 2 and the upper rotating body turn to the left as one body. When the left running lever 32 is tilted in the forward direction, only the left crawler track 13 moves forward and the vehicle turns to the right. Right/left travel lever 3
If the levers 1 and 32 are simultaneously tilted in the forward direction, the vehicle will travel straight forward, and if the travel levers 31 and 32 are simultaneously tilted in the reverse direction, the vehicle will travel straight backward. When the right travel lever 31 is tilted in the forward direction and the left travel lever 32 is tilted in the reverse direction at the same time, the right crawler track 11 moves forward and the left crawler track 13 moves backward, so the vehicle moves leftward around the center of the lower traveling device 2. Rotate the field.

(Problem to be Solved by the Invention) However, with the above-described conventional device and control method, the driver may misjudge the direction of forward or backward travel due to an illusion. That is, as shown in FIG. 8, when the upper revolving body l is oriented in direction B and the lower traveling gear 2 is in the forward direction or in the C direction, that is, the upper revolving body l is turned 180 degrees with respect to the lower traveling gear 2. In this case, move the right and left travel levers 31 and 32 in the forward direction,
In other words, if the vehicle is tilted in direction B, the lower traveling gear will travel in direction C, which means that the driver in the driver's seat is traveling in reverse.If the driver operates the travel lever with the intention of going in direction B, then However, this is an illusion of the driver's perception of the vehicle and is extremely dangerous. Also, the travel lever is left and right 2.
Because of this, when performing the above-mentioned on-the-spot turning, the operation is complicated and it takes time to get used to driving. The present invention has been made in view of the above-mentioned problems, and it is an object of the present invention to provide a vehicle travel control device and a control method thereof that can easily cause the vehicle to travel in a desired direction without causing any illusions to the driver. The purpose is to

(Means for Solving the Problems) In order to achieve the above object, the present invention provides a first aspect of a vehicle travel control device and a control method thereof according to the present invention, which comprises a lower travel device and an upper rotating body, and a travel lever. In a vehicle equipped with an operating valve and a motor, a vehicle body rotation encoder that detects the relative rotation angle between the upper rotating structure and the lower traveling device, and an upper portion in the operating direction of one traveling lever attached to the upper rotating structure. A lever angle detector that detects the angle of the rotating direction with respect to the revolving body, a gyro compass that is provided on the upper revolving body and always points to the geomagnetic north and detects the angle between the upper revolving body and the above-mentioned north, and a controller signal. The vehicle is characterized by having a traveling operation valve and a turning operation valve that operate in response to the signals, and a controller that receives and calculates signals from a vehicle body encoder, a lever angle detector, and a gyro compass, and issues a signal to the operation valve. In the above travel control device, after tilting one travel lever in a desired travel direction, the controller determines the angle of the operation direction of the travel lever, the relative rotation angle between the upper revolving structure and the lower travel device, and the gyro. The operating direction of the travel lever and the relative rotation angle of the lower traveling gear are calculated based on the signal of the angle between the north direction of the compass and the upper rotating body, and the operating direction of the traveling lever and the lower traveling gear are parallel at the minimum turning angle. determine the turning direction, control the travel control valve to turn the lower traveling device on the spot, then memorize the gyro compass pointing north and the initial angle of the upper rotating body and compare it with this angle during the turn. However, if the difference is larger than a predetermined angle, the swing operation valve is controlled to swing the upper swing structure so that the angle is the original angle, and the operating direction of the travel lever and the relative rotation angle of the lower travel device are set to the predetermined angle. , and when the angle between the gyro compass's north direction and the upper rotating body reaches a predetermined range with respect to the initial angle, the rotation is stopped, and the travel operation valve is controlled to move the lower rotating body. It is characterized by causing the traveling device to travel in the direction in which the traveling lever is operated.

(Function) According to the above configuration and method, a vehicle body rotation encoder for detecting the relative rotation angle between the upper rotating structure and the lower traveling device, a lever angle detector for detecting the angle in the operating direction of the traveling lever,
A gyro compass is installed to detect the angle between the direction of the upper revolving body and the north of the earth's magnetic field, and the controller calculates the operation direction of the travel lever and the angle of the lower travel gear, and instructs the operating valve to rotate the lower travel gear. In addition to turning on the spot, the gyro compass constantly detects and corrects the angular difference from the original direction of the upper rotating structure, and it moves after confirming that the direction of the lower traveling device matches the operating direction of the traveling lever. Therefore, the driver can drive the vehicle in the desired direction without changing the direction to the ground by simply tilting one travel lever in the desired direction.

(Example) Examples of a vehicle travel control device and a control method thereof according to the present invention will be described in detail below with reference to the drawings.

FIG. 1 shows an overall configuration diagram of the present invention, in which the right travel motor 12
A vehicle body rotation encoder 3 is attached to the center of rotation of the upper rotating body l, which is rotatably pivoted to the lower traveling device 2, which is composed of a right crawler track 11 having a right crawler belt 11 having a left crawler track 11 and a left crawler track 13 having a left traveling motor 14, Inside the driver's seat 4 fixed to the body 1, there is a lever angle detector 5 at the lower end as shown in FIG.
1 that can be tilted in X, Y and all directions in between
A traveling lever 7 is attached to the upper revolving body 1, and a gyro compass 6 is attached to the upper revolving body 1, which always points to the north of the earth's magnetic field and detects the angle with the forward direction B of the upper revolving body 1, and a vehicle body encoder 3 detects the lever angle. The controller 5 and the gyro compass 6 are each connected to a controller 21 mounted on the upper revolving body l. The electrohydraulic pilot-type right travel operation valve 22, left travel operation valve 23, and swing operation valve 24 mounted on the upper revolving body 1 are each connected to the controller 21. The right travel operation valve 22 and the left travel operation valve 23 are the right travel motor 12 mounted on the lower travel device 2, respectively.
It is connected to the left travel motor 14, and is also connected to the swing operation valve 24.
and a swing motor 15 are also connected, and these circuits are supplied with pressure oil from a hydraulic pressure generating source (not shown).

In the above configuration, as shown in FIG. 1, the center line of the upper revolving body I is BE, the forward direction is B, the center line of the lower traveling device is CD, the forward direction is C, and the angle formed by BE and CD, That is, the relative pivot angle between the upper revolving structure l and the lower traveling device is α. The north direction of the gyro compass 6 is N, the angle between N and BE is γ, and as shown in FIGS. The straight line XX passing through and the operation direction A of the travel lever 7
Let β be the angle between

These relationships are as shown in Fig. 3, and the case where α is measured in the clockwise direction with reference to the line segment CO in the C direction of the center line CD of the lower traveling gear l is considered positive, and the upper revolving body parallel to XX is defined as positive. The case where β is measured clockwise with reference to the center line BO of l is considered positive, and the north direction NO of the gyro compass 6 is
It is assumed that γ is positive if it is measured clockwise with . Next, the operation will be explained. When the travel lever 7 is tilted in the desired direction, the vehicle body rotation encoder 3 detects the relative angle α between the upper rotating structure l and the lower travel device 2 and sends a signal to the controller 21, The controller 21 detects the angle β of the operating direction.
The gyro compass 6 detects the angle γ between the upper rotating body l and the pointing north, and sends a signal to the controller 21.

The controller changes the initial γ to γ. , and calculates the direction in which the undercarriage device 2 can move in the direction in which the travel lever 7 is operated at the minimum turning angle. When the lower traveling device 2 starts turning on the spot, the upper rotating body 1 also turns as one, so the angle γ between the upper rotating body 1 and the pointing north.

is the initial angle γ. It comes differently. The controller 21 receives signals from the gyro compass 6 and outputs γ1 and γ. If the difference is greater than 2, which is a predetermined value, a signal is sent to the swing operation valve 24 to change γ1 to γ.
. The upper rotating body l is rotated in the direction. In other words, the upper rotating body 1 is turned in the direction opposite to the rotational direction of the undercarriage device 2 when it turns in place. By repeating this operation, when the angle 1α+β1 between the operating direction of the travel lever 7 and the center line of the lower traveling gear 2 becomes smaller than 1 to a predetermined value, the rotation of the lower traveling gear 2 is stopped, and 1γ1 - When the value of γ, 1 becomes smaller (when it becomes smaller), the rotation of the upper revolving body 1 is stopped and a signal is sent to the travel operation valve to move forward or backward in the operating direction of the travel lever 7. When the vehicle reaches the desired position When the vehicle reaches its original position and returns the travel lever to its original position, the controller issues an instruction to stop all motion, including traveling and turning, and the vehicle stops.

The operation of the controller will be explained in detail below according to the flowchart shown in FIG. When the travel lever is turned on in step 101, α is reached in step 111.

β, γ1 (value of γ at any time) is read, and if this is the first operation, 71 is set to γ in step 113. (
Step 1
14, set the value of α + β to θ ~ 90° or 270° ~ 360°
Determine whether or not. Figure 3 shows 0≦α＋β≦90°
This is an example. If YES, 1α+β in step 115
If it is NO, then in step 120, it is determined whether to make a rightward turn on the spot or a leftward turn on the spot depending on whether α+β is 0 to 90'. , instruct to turn on the spot in step 121 or 125.

Next, in step 122 or 126, 1γ1-γ.

It is determined whether the value of is less than or equal to. As mentioned above, when the operation progresses and the vehicle starts turning on the spot, ■γ1-γ. Since the value of I is 2 or more, in step 124 or 128, a rotation instruction for the upper rotating structure is issued and γ1 is changed to γ. get closer to After repeating the above operations, when it is determined in step 115 that Iα+β1≦, the on-spot turning is stopped in step 130, and 1γ1−γ is determined in step 131. It is determined whether the value of 1 is 8 or less, and if it is K7 or more, 0≦α≦β is determined in step 133.
The turning direction is determined based on ≦90°, and the upper rotating body is further turned in step 134 or 135, 1γ1-γ. 1
When ≦ is reached, the vehicle is caused to travel in the forward direction in step 132. When the vehicle reaches its destination, turn off the travel lever.
Then, at steps 102, 103, and 104 degrees, instructions to stop running and turning are issued, and the series of operations ends. As shown in FIG. 4, in step 114 O≦α+β≦90° or 270°≦α+
If β≦360°, the same operations as described above are performed after step 140, so the explanation will be omitted.

(Effects of the Invention) As described in detail above, the present invention includes a vehicle body turning encoder, a lever angle detector, and a gyro compass, detects each angle, calculates it with a controller, and determines the direction of the on-the-spot turning and the downward travel. In addition to determining the direction of travel of the device and controlling the lower traveling device, the initial direction of the upper revolving structure is memorized and control is performed to always maintain that direction, so the driver can use only one traveling lever to control the lower traveling device. A safe vehicle running control device and control method is provided that allows the vehicle to easily run in the desired direction without having to change its posture midway by simply tilting it in the desired direction, and does not create any illusions about the direction of travel. It will be done.

[Brief explanation of drawings]

FIG. 1 is an overall configuration diagram of the present invention, FIG. 2 is an explanatory diagram of the operating direction of the travel lever, FIGS. 3 and 4 are diagrams showing the relationship between the relative turning angle, the operating direction angle, and the north direction angle of the finger. Fig. 5 is a flowchart of the arithmetic processing program, Fig. 6 is a perspective view of the vehicle, Fig. 7 is an overall configuration diagram of a conventional travel control device, and Fig. 8 is a diagram of the longitudinal direction when the upper revolving structure is turned 180 degrees. It is an explanatory diagram. 1... Upper revolving body, 2... Lower traveling device, 3...
Vehicle body rotation encoder, 4... Driver's seat, 5... Lever angle detector, 6... Gyro compass, 7... Traveling lever 11... Right crawler track, 12... Right traveling motor,
13...Left crawler track, 14...Left travel motor, 15...
- Swing motor, 21...Controller, 22...Right travel operation valve, 23...Left travel operation valve, 24...Swivel operation valve.

Claims (2)

[Claims] (1) In a vehicle consisting of a lower traveling unit and an upper rotating body, and equipped with a travel lever, a control valve, and a motor, a vehicle body rotation encoder that detects the relative rotation angle between the upper rotating unit and the lower traveling unit, and an upper rotating body A lever angle detector is provided to detect the angle of the operating direction of one traveling lever attached to the body in the rotating direction with respect to the upper rotating body, and a lever angle detector is provided on the upper rotating body and always points to the north of the earth's magnetic field. A gyro compass that detects the angle with respect to north; a traveling operation valve and a turning operation valve that operate in response to a signal from a controller; and a vehicle rotation encoder, a lever angle detector, and a gyro compass that operate in response to signals from the operation valve. A vehicle running control device characterized by having a controller that emits a signal. (2) In the vehicle travel control device described in paragraph 1, after tilting one travel lever in a desired travel direction, the controller adjusts the angle of the operating direction of the travel lever and the angle between the upper swing structure and the lower travel device. Based on the signals of the relative rotation angle and the angle between the gyro compass pointing north and the upper rotating structure, the operation direction of the travel lever and the relative rotation angle of the lower travel device are calculated, and the operation direction of the travel lever is determined at the minimum rotation angle. determines the turning direction in which the lower traveling gear is parallel to the upper rotating body, controls the traveling operation valve to turn the lower traveling gear on the spot, and then memorizes the gyro compass's north direction and the original angle of the upper rotating body and turns. Compare the angle with the intermediate angle, and if the difference is larger than a predetermined angle, the swing operation valve is controlled to turn the upper swing structure to the original angle, and the operating direction of the travel lever and the lower travel device are controlled. When the relative rotation angle of the gyro compass is within a predetermined range, and the angle between the gyro compass's pointing north and the upper rotating body reaches within a predetermined range with respect to the initial angle, the rotation is stopped and the traveling operation is performed. A vehicle travel control method comprising controlling a valve to cause an undercarriage device to travel in a direction in which a travel lever is operated.