JPH0633486A - Traveling control method of vehicle - Google Patents
Traveling control method of vehicleInfo
- Publication number
- JPH0633486A JPH0633486A JP4208599A JP20859992A JPH0633486A JP H0633486 A JPH0633486 A JP H0633486A JP 4208599 A JP4208599 A JP 4208599A JP 20859992 A JP20859992 A JP 20859992A JP H0633486 A JPH0633486 A JP H0633486A
- Authority
- JP
- Japan
- Prior art keywords
- traveling
- angles
- levers
- operating
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Operation Control Of Excavators (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、左右それぞれ独立して
駆動できる走行装置と、左右それぞれの走行指令を独立
してアナログで入力できる入力装置と、走行指令を判断
して走行装置を制御するコントローラからなる車両の走
行制御方法に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling device which can be driven independently on the left and right sides, an input device which can independently input traveling commands for the left and right sides respectively, and controls the traveling device by judging the traveling command. The present invention relates to a vehicle travel control method including a controller.
【０００２】[0002]
【従来の技術】従来の上記した車両の走行制御方法は、
図１に示す車体１の左右の走行装置２，３を、図２に示
す入力装置４の左右の操作レバー５，６をそれぞれ独立
して前後に傾動することにより、左右の走行装置２，３
をそれぞれ独立して前進、後進の制御をするようになっ
ている。2. Description of the Related Art A conventional traveling control method for a vehicle is as follows.
The left and right traveling devices 2, 3 of the vehicle body 1 shown in FIG. 1 are independently tilted forward and backward by the left and right operation levers 5, 6 of the input device 4 shown in FIG.
Each is independently controlled to move forward and backward.
【０００３】そして上記入力装置４の左右の操作レバー
５，６の傾動角に対する出力信号は図３に示すように、
それぞれが不感帯域Ｄの所定の角度だけ傾動した状態で
ＯＮとなって左右の走行装置２，３の前進油圧バルブ
７、後進油圧バルブ８へそれぞれ制御信号が出力される
ようになっている。The output signals corresponding to the tilt angles of the left and right operation levers 5 and 6 of the input device 4 are as shown in FIG.
The control signals are output to the forward hydraulic valve 7 and the reverse hydraulic valve 8 of the left and right traveling devices 2 and 3, respectively, which are turned on in a state where they are tilted by a predetermined angle in the dead zone D.
【０００４】[0004]
【発明が解決しようとする課題】上記従来の入力装置４
による入力方法には不感帯域Ｄがあったため、不感帯域
ＤからＯＮ領域へ移動する左右の操作レバー５，６のタ
イミングは手動のためどうしてもずれてしまい、例えば
前進操作の際に左右同時にＯＮするのは困難であった。
このため、この前進操作時に左右のいずれからの走行装
置が先に飛び出して直進走行による発進ができないこと
がある。これはエンジン回転数（油圧ポンプ回転数）が
高いときに特にひどい。このように従来の制御方法で
は、狭所内での移動、軌道上での走行、走行車をトラッ
クへの積み込むとき等直進性が要求される場合では危険
や車体の損傷に結びつくことが多かった。The above conventional input device 4 is used.
Since there was a dead zone D is an input method according to the timing of the left and right operating levers 5 and 6 for moving the dead zone D into ON area will be surely shifted for manual, for example, to the left and right ON at the same time the forward operation Was difficult.
Therefore, during this forward operation, the traveling device from either the left or the right may pop out first, and the vehicle may not be able to start by traveling straight ahead. This is especially bad when the engine speed (hydraulic pump speed) is high. As described above, the conventional control method often leads to danger and damage to the vehicle body when the straightness is required such as movement in a narrow space, traveling on a track, and loading a traveling vehicle on a truck.
【０００５】本発明は上記のことにかんがみなされたも
ので、前後進操作した場合の左右の操作レバーの前後進
操作時において、この両操作レバーの操作が左右で若干
ずれても直進発進を行なうことができるようにした車両
の走行制御方法を提供することを目的とするものであ
る。The present invention has been made in view of the above, and when the forward and backward operation is performed, the left and right operation levers move forward and backward even if the operation levers are slightly deviated from each other. It is an object of the present invention to provide a travel control method for a vehicle that enables the above.
【０００６】[0006]
【課題を解決するための手段】上記目的を達成するため
に、本発明に係る車両の走行制御方法は、左右の操作レ
バーのそれぞれの操作角に応じて左右の走行信号を発信
する入力装置にて左右の走行装置２，３を制御するよう
にした車両走行制御方法において、左右の操作レバー
５，６の操作角Ｘ，Ｙの平値値〔（Ｘ＋Ｙ）／２〕がフ
ル操作角Ｘ0 ，Ｙ0 のそれぞれの所定の割合の値θ1 を
越え、また左右の各操作角Ｘ，Ｙがそれぞれのフル操作
角Ｘ0 ，Ｙ0 の所定の割合の値θ2 を越えたときに左右
の走行装置２，３が共に走行状態になるようにしてい
る。In order to achieve the above-mentioned object, a vehicle traveling control method according to the present invention provides an input device for transmitting left and right traveling signals according to respective operating angles of left and right operating levers. In the vehicle traveling control method for controlling the left and right traveling devices 2 and 3, the average value [(X + Y) / 2] of the operating angles X and Y of the left and right operating levers 5 and 6 is the full operating angle X 0. , Y 0 exceeds a predetermined ratio value θ 1 of each, and the left and right operation angles X, Y exceed a predetermined ratio value θ 2 of each full operation angle X 0 , Y 0. Both of the traveling devices 2 and 3 are in a traveling state.
【０００７】[0007]
【作 用】左右の操作レバー５，６の操作角Ｘ，Ｙを
取り込んで、その操作角Ｘ，Ｙが〔（Ｘ＋Ｙ）／２〕＞
４０％、Ｘ＞３０％、Ｙ＞３０％で直進発進操作がなさ
れる。一方上記条件が満たされない場合においては、そ
れぞれの操作レバー５，６の操作角Ｘ，Ｙが５０％より
大きくなった方の走行装置がＯＮとなって旋回走行され
る。また直進状態において、操作レバー５，６の一方の
操作角が５０％でも他方の操作角が３０％より小さくな
ると、その方の走行装置がＯＦＦとなる。[Operation] Take in the operating angles X and Y of the left and right operating levers 5 and 6, and the operating angles X and Y are [(X + Y) / 2]>
When 40%, X> 30%, Y> 30%, a straight ahead operation is performed. On the other hand, when the above conditions are not satisfied, the traveling device in which the operation angles X and Y of the operation levers 5 and 6 are larger than 50% is turned on and the vehicle is turned. Further, when the operating angle of one of the operating levers 5 and 6 is 50% and the operating angle of the other is smaller than 30% in the straight traveling state, the traveling device of that one is turned off.
【０００８】[0008]
【実 施 例】本発明の実施例を図４以下に基づいて説
明する。図４は車両の走行制御装置を概略的に示すもの
で、左右の操作レバー５，６からの操作信号はＡ／Ｄ変
換器１０からＣＰＵ１１に入力され、このＣＰＵ１１で
はＲＯＭ１２から操作レバー５，６操作角に対するドラ
イブ指令判断プログラムに応じた演算が行なわれ、その
演算結果が左前進ドライバ１３、左後進ドライバ１４、
右前進ドライバ１５、右後進ドライバ１６に出力され、
これらにより各ソレノイドバルブ１７，１８，１９，２
０を経て左走行シリンダ２１、右走行シリンダ２２がそ
れぞれ作動して左右の両走行装置が前進あるいは後進の
制御がなされるようになっている。EXAMPLE An example of the present invention will be described with reference to FIG. FIG. 4 schematically shows a vehicle travel control device. Operation signals from the left and right operation levers 5 and 6 are input from the A / D converter 10 to the CPU 11, and in the CPU 11, the operation levers 5 and 6 are output from the ROM 12. Calculation according to the drive command determination program for the operation angle is performed, and the calculation result is the left forward driver 13, the left backward driver 14,
It is output to the right forward driver 15 and the right backward driver 16,
With these, each solenoid valve 17, 18, 19, 2
After 0, the left traveling cylinder 21 and the right traveling cylinder 22 are respectively actuated so that the left and right traveling devices are controlled to move forward or backward.
【０００９】上記各操作レバー５，６の操作角によるＯ
Ｎ信号の関係は図５に示すようになっている。この図に
おいて、Ｘ軸に左側の操作レバー５の操作角Ｘを、Ｙ軸
に右側の操作レバー６の操作角Ｙを、それぞれフル操作
角Ｘ0 ，Ｙ0 に対する％で示す。そして両操作レバー
５，６の操作角（Ｘ，Ｙ）と走行ＯＮ信号の関係は、各
レバー５，６がある操作角が例えばフル操作角Ｘ0 の５
０％であるときにＯＮとなり、これらが単独に操作され
た場合は左右の走行装置２，３が単独に制御されて右旋
回あるいは左旋回動作がなされる。O depending on the operating angle of each of the operating levers 5 and 6
The relationship between the N signals is as shown in FIG. In this figure, the operation angle X of the left operation lever 5 is shown on the X-axis, and the operation angle Y of the right operation lever 6 is shown on the Y-axis in% of the full operation angles X 0 and Y 0 , respectively. The relationship between the operating angles (X, Y) of both operating levers 5 and 6 and the travel ON signal is that the operating angle of each lever 5 and 6 is, for example, the full operating angle X 0 .
When it is 0%, it is turned on, and when these are operated independently, the left and right traveling devices 2 and 3 are independently controlled to perform a right turn or a left turn operation.
【００１０】また左右の操作レバー５，６のそれぞれの
操作角Ｘ，Ｙの合計の平均値〔（Ｘ＋Ｙ）／２〕がフル
操作角のθ1 ％であり、かつＸ＞θ2 ％，Ｙ＞θ2 ％、
例えばθ1 ＝４０％、θ2 ＝３０％であるときに両方の
走行装置５，６へ直進走行信号が出力されて車両は前進
あるいは後進方向への直進走行されるようになってい
る。図において、斜線で示した領域がこの直進信号が発
信されて直進走行する部分を示す。The average value of the sum of the operating angles X and Y of the left and right operating levers 5 and 6 [(X + Y) / 2] is θ 1 % of the full operating angle, and X> θ 2 %, Y > Θ 2 %,
For example, when θ 1 = 40% and θ 2 = 30%, a straight traveling signal is output to both traveling devices 5 and 6, so that the vehicle travels straight forward or backward. In the figure, a shaded area indicates a portion where the straight traveling signal is transmitted and the vehicle travels straight.
【００１１】上記構成における作用を図に示すフローチ
ャートに基づいて説明する。左右の操作レバー５，６を
操作したときの各レバーの操作角Ｘ，Ｙを取り込む（ス
テップ１）。そしてこのときの操作角Ｘ，Ｙの平均値
〔（Ｘ＋Ｙ）／２〕がフル操作角Ｘ0 ，Ｙ0 のそれぞれ
の４０％（θ1 ％）を越え、また左右の各操作角Ｘ，Ｙ
がそれぞれのフル操作角Ｘ0 ，Ｙ0 の３０％（θ2 ％）
を越えたかを判断して（ステップ２）、Ｙｅｓなら、左
右の走行装置（Ｌ，Ｒ）２，３のそれぞれＯＮにし、こ
れに前進あるいは後進の直進走行が開始される（ステッ
プ３）。The operation of the above configuration will be described with reference to the flow chart shown in the drawing. The operation angles X and Y of each lever when the left and right operation levers 5 and 6 are operated are taken in (step 1). The average value [(X + Y) / 2] of the operation angles X and Y at this time exceeds 40% (θ 1 %) of each of the full operation angles X 0 and Y 0 , and the left and right operation angles X and Y are also set.
Is 30% (θ 2 %) of each full operation angle X 0 , Y 0
If it is Yes, the left and right traveling devices (L, R) 2 and 3 are turned on, and forward or backward straight traveling is started (step 3).
【００１２】上記ステップ（２）でＮＯであれば、ま
ず、左側の操作レバー５の操作角Ｘが、これのフル操作
角Ｘ0 の５０％（θ3 ％）を越えたかを判断し（ステッ
プ４）、Ｙｅｓなら左側の走行装置（Ｌ）に走行ＯＮ信
号を発信する（ステップ５）。一方右側の操作レバー５
の操作角Ｙが、これのフル操作角Ｙ0 の５０％（θ
3 ％）を越えたかを判断し（ステップ６）、Ｙｅｓなら
右側の走行装置（Ｒ）に走行ＯＮ信号を発信する（ステ
ップ７）。従ってこのフローチャートに従えば、左右の
操作レバー５，６の操作角Ｘ，Ｙを取り込んで、その操
作角Ｘ，Ｙが〔（Ｘ＋Ｙ）／２〕＞４０％、Ｘ＞３０
％、Ｙ＞３０％で直進発進操作がなされる。一方上記条
件が満たされない場合においては、それぞれの操作レバ
ー５，６の操作角Ｘ，Ｙが５０％より大きくなった方の
走行装置がＯＮとなって旋回走行される。また直進状態
において、操作レバー５，６の一方の操作角が５０％で
も他方の操作角が３０％より小さくなると、その方の走
行装置がＯＦＦとなる。If NO in step (2), it is first determined whether the operating angle X of the left operating lever 5 exceeds 50% (θ 3 %) of its full operating angle X 0 (step 3 ). 4) If Yes, a traveling ON signal is transmitted to the traveling device (L) on the left side (step 5). On the other hand, the operating lever 5 on the right side
The operating angle Y of 50% of the full operating angle Y 0 (θ
3 %) is exceeded (step 6), and if Yes, a traveling ON signal is transmitted to the traveling device (R) on the right side (step 7). Therefore, according to this flowchart, the operation angles X and Y of the left and right operation levers 5 and 6 are taken in, and the operation angles X and Y are [(X + Y) / 2]> 40% and X> 30.
%, Y> 30%, a straight-ahead start operation is performed. On the other hand, when the above conditions are not satisfied, the traveling device in which the operation angles X and Y of the operation levers 5 and 6 are larger than 50% is turned on and the vehicle is turned. Further, when the operating angle of one of the operating levers 5 and 6 is 50% and the operating angle of the other is smaller than 30% in the straight traveling state, the traveling device of that one is turned off.
【００１３】なお、上記実施例において、θ1 をフル操
作角Ｘ0 ，Ｙ0 の４０％、θ2 を３０％、θ3 を５０％
にして説明したが、これはこの数字に限定されるもので
はなく、それぞれ０＜θ2 ＜θ1 ＜θ3 ＜１００％の範
囲のいずれの割合でもよい。In the above embodiment, θ 1 is 40% of full operating angles X 0 and Y 0 , θ 2 is 30%, and θ 3 is 50%.
However, this is not limited to this number, and may be any ratio in the range of 0 <θ 2 <θ 1 <θ 3 <100%.
【００１４】[0014]
【発明の効果】本発明によれば、左右の操作レバー５，
６による前後進操作時において、左右の操作レバー５，
６の操作角Ｘ，Ｙの平値値〔（Ｘ＋Ｙ）／２〕がフル操
作角Ｘ0 ，Ｙ0 のそれぞれの所定の割合の値θ1 を越
え、また左右の各操作角Ｘ，Ｙがそれぞれのフル操作角
Ｘ0 ，Ｙ0 の所定の割合の値θ2 を越えたときに左右の
走行装置２，３が共に走行状態になるようにしたことに
より、この両操作レバーの操作が左右で若干ずれても直
進発信を行なうことができ、狭所内での移動、軌道上で
の走行、走行車をトラックへの積み込むとき等直進性が
要求される場合での危険や車体の損傷を未然に防止でき
る。According to the present invention, the left and right operation levers 5,
When moving forward and backward with 6, the left and right operation levers 5,
6, the average value [(X + Y) / 2] of the operation angles X and Y exceeds a predetermined ratio value θ 1 of the full operation angles X 0 and Y 0 , and the left and right operation angles X and Y are Since the left and right traveling devices 2 and 3 are both brought into the traveling state when the value θ 2 of a predetermined ratio of the respective full operation angles X 0 and Y 0 is exceeded, the operation of both operation levers is performed to the left and right. It is possible to make a straight-ahead transmission even if it is slightly misaligned with, and to avoid danger or damage to the car body when traveling straight in a narrow space, traveling on a track, or loading a traveling vehicle onto a truck. Can be prevented.
【図１】左右の走行装置を示す概略的な構成説明図であ
る。FIG. 1 is a schematic configuration explanatory view showing left and right traveling devices.
【図２】電気式の入力装置を示す平面図である。FIG. 2 is a plan view showing an electric input device.
【図３】従来の制御方法を示す説明図である。FIG. 3 is an explanatory diagram showing a conventional control method.
【図４】左右の走行装置の制御装置を示すブロック図で
ある。FIG. 4 is a block diagram showing a control device for the left and right traveling devices.
【図５】本発明に係る走行制御方法における左右の操作
レバーの操作角に対する車両の走行及び停止領域を示す
線図である。FIG. 5 is a diagram showing traveling and stopping regions of the vehicle with respect to operating angles of the left and right operating levers in the traveling control method according to the present invention.
【図６】本発明方法に示すフローチャートである。FIG. 6 is a flowchart showing the method of the present invention.
１…車体、２，３…左、右の走行装置、４…入力装置、
５，６…操作レバー、７，８…前進、後進の油圧バル
ブ、１１…ＣＰＵ、１２…ＰＯＭ、１３，１４，１５，
１６…ドライバ、１７，１８，１９，２０…ソレノイド
バルブ、２１，２２…左右の走行シリンダ。1 ... vehicle body, 2, 3 ... left and right traveling devices, 4 ... input device,
5, 6 ... Operation lever, 7, 8 ... Forward and reverse hydraulic valves, 11 ... CPU, 12 ... POM, 13, 14, 15,
16 ... Driver, 17, 18, 19, 20 ... Solenoid valve, 21, 22 ... Left and right traveling cylinders.
Claims (1)
応じて左右の走行信号を発信する入力装置にて左右の走
行装置２，３を制御するようにした車両走行制御方法に
おいて、左右の操作レバー５，６の操作角Ｘ，Ｙの平均
値〔（Ｘ＋Ｙ）／２〕がフル操作角Ｘ0 ，Ｙ0 のそれぞ
れの所定の割合の値θ1 を越え、また左右の各操作角
Ｘ，Ｙがそれぞれのフル操作角Ｘ0 ，Ｙ0 の所定の割合
の値θ2を越えたときに左右の走行装置２，３が共に走
行状態になるようにしたことを特徴とする車両走行制御
方法。1. A vehicle traveling control method in which the left and right traveling devices 2 and 3 are controlled by an input device for transmitting left and right traveling signals according to respective operating angles of the left and right operating levers. The average value [(X + Y) / 2] of the operating angles X and Y of the levers 5 and 6 exceeds a predetermined ratio value θ 1 of the full operating angles X 0 and Y 0 , and the left and right operating angles X and A vehicle traveling control method characterized in that the left and right traveling devices 2 and 3 are both brought into a traveling state when Y exceeds a predetermined ratio value θ 2 of the respective full operation angles X 0 and Y 0. .
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4208599A JPH0633486A (en) | 1992-07-14 | 1992-07-14 | Traveling control method of vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4208599A JPH0633486A (en) | 1992-07-14 | 1992-07-14 | Traveling control method of vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0633486A true JPH0633486A (en) | 1994-02-08 |
Family
ID=16558878
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4208599A Pending JPH0633486A (en) | 1992-07-14 | 1992-07-14 | Traveling control method of vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0633486A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6516171B2 (en) | 1999-05-03 | 2003-02-04 | Hitachi, Ltd. | Color electrographic apparatus with developing device having separated toner supply and recovery chambers |
-
1992
- 1992-07-14 JP JP4208599A patent/JPH0633486A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6516171B2 (en) | 1999-05-03 | 2003-02-04 | Hitachi, Ltd. | Color electrographic apparatus with developing device having separated toner supply and recovery chambers |
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