JPH04260864A - Steering control device for locomotive working vehicle - Google Patents

Abstract

PURPOSE:To heighten traveling stability during high speed travel and turning performance during low speed travel by changing the steering quantity of a locomotive working vehicle according to the travel speed. CONSTITUTION:A locomotive working vehicle provided with a steering device 6 connected to steered wheels 2, and a control part 7 for outputting steering signals for operating the steering device 6 on the basis of steering operation signals from a steering operation part 11.. In this locomotive working vehicle, there is further provided a steering quantity control means for changing the steering quantity of the steering device 6 according to the travel speed of the locomotive working vehicle.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steering control system for a mobile work vehicle.

0002

[Prior Art] Conventionally, in a steering control device for a mobile work vehicle, the amount of steering is not controlled in accordance with the traveling speed of the mobile work vehicle, and the steering operation signal from the steering operation section is transmitted to the control section. Generally, when a steering signal is input to the steering device, a steering signal corresponding to the steering operation signal is outputted from the control section to the steering device.

Therefore, if the steering operation signals input from the steering operation section to the control section are equal, the steering signal output from the control section to the steering device will be equal, regardless of the traveling speed of the mobile work vehicle. At the same time, the amount of steering of the steering device becomes constant.

0004

[Problem to be solved by the invention] The steering amount of the steering device corresponding to the steering operation signal from the steering operation section is set in advance in the control section, and this steering amount can be set large or small. You can set it.

When the steering amount of the steering device set in the control section is set to a large value, it becomes easier to steer the mobile work vehicle in the desired steering direction when the traveling speed of the mobile work vehicle is low. If the mobile work vehicle is traveling at a high speed, it may deviate from the intended steering direction, and furthermore, it may be necessary to perform steering operations in the opposite direction to correct the deviated steering direction. However, there is a drawback that the mobile work vehicle travels in a meandering state.

On the other hand, when the steering amount of the steering device set in the control section is set to a small value, it is possible to smoothly steer the mobile work vehicle in the desired steering direction even if the traveling speed of the mobile work vehicle is high. However, when trying to reduce the running speed of a mobile work vehicle and make it turn with a small turning radius, there is a drawback that the turning amount cannot be made with a small turning radius because the amount of steering is small, resulting in a decrease in maneuverability.

[0007]

[Means for Solving the Problems] A steering device connected to a steering wheel, and a control section that outputs a steering signal for steering the steering device based on a steering operation signal from a steering operation section. The provided mobile work vehicle is provided with a steering amount control means for changing the amount of steering of the steering device according to the traveling speed of the mobile work vehicle.

[0008]

[Function] When the traveling speed of the mobile work vehicle is high, the steering amount of the steering device is reduced by the steering amount control means, thereby making it easier to steer the mobile work vehicle in the desired steering direction. When the traveling speed of the vehicle is low, the steering amount control means increases the amount of steering of the steering device, thereby making it possible to turn with a small turning radius.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be explained based on the drawings. A mower 4 is attached to the abdomen of a wireless lawnmower 1, which is a mobile work vehicle, and is located between front wheels 2 and rear wheels 3, which are steering wheels, and is movable up and down. Further, the wireless lawn mower 1
An antenna 5 for transmitting and receiving signals wirelessly is provided at the rear of the vehicle. Further, the wireless lawnmower 1 includes a steering device 6 connected to the front wheels 2, and a control section 7 that outputs a steering signal to steer the steering device 6.
The antenna 5 is connected to the control section 7.

Next, a radio control unit 8 is provided separately from the wireless lawn mower 1 for controlling the wireless lawn mower 1 by radio. An antenna 9 for transmitting and receiving signals between the
A wireless control unit 10 that processes signals to be transmitted and received is provided. Further, the wireless control unit 8 is configured to set a target steering angle (steering direction and amount) of the wireless lawn mower 1, and to use the set target steering angle as a steering operation signal to the control unit. a steering setting device 11 which is a steering operation section outputting to the wireless lawn mower 1; a traveling speed setting device 12 which sets the traveling speed of the wireless lawn mower 1; and a display device 13 which displays the operating status of the wireless lawn mower 1. are provided, and each of these devices 11 to 13 is connected to the wireless control section 10, respectively.

Next, the control unit 7 is configured to send a steering signal to be outputted to the steering device 6 from the wireless lawn mower 1.
A steering amount control means (not shown) is provided that changes the amount of steering of the steering device 6 by changing it in accordance with the traveling speed of the vehicle.

In such a configuration, the entire steering control of the wireless lawnmower 1 will be explained based on the flowchart of FIG. 3. First, the steering target steering angle set in the steering setting device 11 is inputted to the control unit 7 as a steering operation signal. Next, the traveling speed at the time when the target steering angle is input is read.

Next, based on the steering target steering angle set in the steering setting device 11, the control section 7
The steering amount of the steering device 6 is calculated in the step, and further, the actual steering amount of the steering device 6 is calculated in the steering amount control means according to this steering amount and the read traveling speed. The details of the calculation will be explained. First, the maximum steering amount is determined as shown in FIG. 4 according to the read running speed. This maximum steering amount corresponds to the maximum value of the steering target steering angle, and the steering setting device 1
1 is the actual steering amount of the steering device 6 when set to be the maximum steering amount. and,
The steering amount is set in the steering setting device 11 by multiplying the steering amount calculated in the control unit 7 by the ratio of the maximum steering amount set in the steering setting device 11 and the maximum steering amount obtained from the graph of FIG. An actual steering amount of the steering device 6 according to the target steering angle is calculated, a steering signal corresponding to the calculated steering amount is output to the steering device 6, and the steering device 6 is steered.

Therefore, as is clear from FIG. 4, as the traveling speed of the wireless lawnmower 1 increases, the maximum steering angle becomes smaller, and even if the target steering angle set in the steering setting device 11 is large, the actual steering angle becomes smaller. The amount of steering of the steering device 6 becomes smaller. This prevents the vehicle from deviating from the intended steering direction even if the steering operation is performed during high-speed driving, and it is possible to easily steer the vehicle in the desired steering direction without creating a meandering state. At the same time, driving stability during high-speed driving is improved. On the other hand, when the running speed of the wireless lawnmower 1 is low, the steering setting device 11
Even if the target steering angle set in is the same, the actual steering amount becomes larger, enabling turning with a smaller turning radius and improving maneuverability.

In this embodiment, the wireless steering lawn mower 1 which controls the steering of only the front wheels 2 has been described as an example, but the present invention can also be applied to a mobile work vehicle which controls the steering of the front wheels and rear wheels. The invention can be applied.

[0016]

[Effects of the Invention] As described above, the present invention provides a steering amount control means that changes the amount of steering of the steering device according to the traveling speed of the mobile work vehicle, thereby reducing the amount of steering when traveling at high speed. This makes it easier to steer in the desired steering direction and improves running stability when driving at high speeds.On the other hand, when driving at low speeds, by increasing the amount of steering, it is possible to make small turns. It has the effect of making it possible to turn in a radius and improving maneuverability when traveling at low speeds.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing a steering control system and a wireless control unit.

FIG. 2 is a side view showing the entire wireless lawnmower.

FIG. 3 is a flowchart illustrating steering control using steering amount control means.

FIG. 4 is a graph showing the relationship between traveling speed and maximum steering amount.

[Explanation of symbols]

1 Mobile work vehicle 2 Steering wheel 6 Steering device 7 Control section 11 Steering operation section

Claims (1)

[Claims] 1. A mobile work including a steering device connected to a steering wheel, and a control section that outputs a steering signal for steering the steering device based on a steering operation signal from a steering operation section. A steering control device for a mobile work vehicle, characterized in that the vehicle is provided with a steering amount control means for changing a steering amount of the steering device according to a traveling speed of the mobile work vehicle.