JPH0795075B2 - Bulldozer rapid bandage slip detector - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an abrupt track slip detection device for a bulldozer, for example, based on an output signal from the device of the present invention, an engine output or a transmission speed stage. The present invention has a wide range of uses, such as enabling optimum automatic control that automatically changes or shifts gears according to traction force.

(Prior Art) In a bulldozer, when the load is large during the earth pressing work using the blade and the ripping work using the ripper device, crawler belt slips occur and work cannot be performed efficiently.

Therefore, as shown in Japanese Examined Patent Publication No. 58-49661, vehicle speed is detected by a Doppler speed detecting means, and track slip is detected based on the vehicle speed detected by this speed detecting means and the rotational speed detected by a wheel drive mechanism. However, it is known that the load on the working machine is thereby reduced.

(Problem to be Solved by the Invention) The speed detecting means by the Doppler method detects the absolute speed of the vehicle body with respect to the ground, that is, the vehicle speed by transmitting the microwave toward the ground and receiving the reflected wave. Therefore, the output becomes unstable if it is on the surface of water or on uneven terrain, the response time is slow, and if multiple sensors are nearby, it may malfunction, and expensive equipment such as a laser generator may be used. The cost increases because it is used.

By the way, unlike a general vehicle that travels on a paved road, a bulldozer is forced to travel on a bad road, and the vehicle body tilts, engine vibrations, and vehicle body vibrations due to running on a bad road are severe. There are also cumulative errors and zero drift in general measurement. Therefore, in the bulldozer, even if the acceleration detected by the acceleration detecting means is used as it is to calculate the slip ratio and the engine output control or the transmission shift control is performed based on the slip ratio, the vibration included in the acceleration is included in the slip ratio. Accurate control is difficult because it includes acceleration, tilt acceleration, accumulated error, and zero drift.

In view of the above-mentioned conventional technique, the present invention eliminates vibration acceleration, tilt acceleration, cumulative error and zero drift included in the acceleration detected by the acceleration detecting means, which has a fast response time, and is based on the removed acceleration. An object of the present invention is to provide an abrupt crawler belt slip detection device for a bulldozer that can detect the slip ratio.

In order to achieve the above object, the rapid track slip detection device for a bulldozer according to the first aspect of the present invention will be described with reference to FIG. 1, in which the forward / backward acceleration of the bulldozer is detected and the actual vehicle speed of the bulldozer is determined from this acceleration. In the rapid track crawler slip detection device of the bulldozer, which calculates the theoretical speed of the crawler track from the number of revolutions of the starting wheel and the radius of gyration, and calculates the slip ratio of the crawler track from these actual vehicle speed and theoretical speed, the longitudinal acceleration of the bulldozer is calculated. Accelerometer to detect
13 and a low-pass filter that receives the acceleration from the acceleration sensor 13 and removes the vibration acceleration of the bulldozer from this acceleration.
10a, and the acceleration from the low-pass filter 10a is received to obtain the actual vehicle speed of the bulldozer from this acceleration, and the theoretical speed of the crawler track is calculated from the rotational speed and the radius of rotation of the starting wheel, and from these actual vehicle speed and theoretical speed. And a calculator for calculating the slip ratio of the crawler track.

Further, the rapid track slip detection device for a bulldozer according to the second invention detects the acceleration in the front-rear direction of the bulldozer and obtains the actual vehicle speed of the bulldozer from this acceleration. In a rapid track crawler slip detection device for a bulldozer, which calculates and calculates the slip ratio of the crawler track from the actual vehicle speed and the theoretical speed, an acceleration sensor that detects the longitudinal acceleration of the bulldozer.
13 and a low-pass filter that receives the acceleration from the acceleration sensor 13 and removes the vibration acceleration of the bulldozer from this acceleration.
10a, an inclinometer 14 for detecting the tilt angle of the bulldozer, the acceleration from the low-pass filter 10a and the inclination angle from the inclinometer, and the inclination angle of the bulldozer from the acceleration from the low-pass filter 10a by the inclination angle. The calculation to remove is performed, the actual vehicle speed of the bulldozer is determined from the acceleration obtained by removing the tilt acceleration, the theoretical speed of the track is calculated from the rotation speed and the radius of rotation of the starting wheel, and the actual speed of the track and the theoretical speed of the track are calculated. And a calculator for calculating the slip ratio.

The bulldozer rapid crawler track slip detection device according to a third aspect of the invention detects the front-back acceleration of the bulldozer and obtains the actual vehicle speed of the bulldozer from this acceleration, as well as the theoretical speed of the crawler track from the number of revolutions of the starting wheel and the radius of gyration. In the rapid track slip detection device of the bulldozer, which calculates and calculates the slip ratio of the track from the actual vehicle speed and the theoretical speed, two acceleration sensors 13a are arranged at an angle of 45 ° to each other with respect to the horizontal direction of the vehicle body. , 13b, and a calculator that receives the accelerations from the acceleration sensors 13a and 13b and adds them to remove the tilt acceleration of the bulldozer, and receives the acceleration from the calculator to obtain the vibration acceleration of the bulldozer from this acceleration. The low-pass filter 10a to be removed and the acceleration of the bulldozer from the acceleration received from the low-pass filter 10a. Together determine the speed, calculating a track of the theoretical speed from the rotational speed and turning radius, etc. of the drive sprocket, it is characterized in that a computing unit for calculating a track slip ratio from these actual vehicle speed and the theoretical speed.

A bulldozer rapid crawler track slip detecting device according to a fourth invention is the bulldozer rapid crawler track slip detecting device according to the first invention, the second invention, or the third invention, in which acceleration is input to eliminate accumulated error and zero drift. A feature is that a high-pass filter 10b is provided.

(Operation) According to the first aspect of the invention, the vibration acceleration of the bulldozer has a higher frequency than the vehicle acceleration required for the calculation of the slip ratio, so it is removed by the low-pass filter 10a. After that, the slip ratio of the crawler belt is calculated by a calculator.

According to the second invention, after the vibration acceleration of the bulldozer is removed by the low-pass filter 10a in the same manner as described above, the computing unit receives the tilt angle of the bulldozer from the separately provided inclinometer 14 and removes the tilt acceleration by this tilt angle. . After that, the slip ratio of the crawler belt is calculated by a calculator.

According to the third aspect of the invention, the upper and lower parts are arranged vertically with respect to the horizontal direction of the vehicle body.
The tilt acceleration of the bulldozer is removed by adding and calculating the accelerations from the two acceleration sensors 13a and 13b, which are tilted in the .degree. Direction, by a calculator. Then, similarly to the above, the vibration acceleration of the bulldozer is removed by the low-pass filter 10a. After that, the slip ratio of the crawler belt is calculated by a calculator.

According to the fourth invention, the first invention, the second invention or the third invention is provided.
In the abrupt crawler belt slip detection device for a bulldozer according to the present invention, the accumulated acceleration error and zero drift are lower in frequency than the vehicle acceleration required for the calculation of the slip ratio, and therefore are removed by the high pass filter 10b.

Example An example will be described below. The characteristic items of the embodiment will be described in advance. The first feature is a method of calculating the slip acceleration α _{S and} a method of outputting the slip S. The slip acceleration α _S is an arithmetic expression based on the vehicle body acceleration α ₁ and the track acceleration α _R obtained by differentiating the track speed V. Is calculated and obtained. Then, as a result, α _S is compared with the determination reference value α _STD of the rapid track slip, and α _S <α
_In the case of _STD , the slip signal S is output. The second feature is to accurately execute the arithmetic expression α ₁ -α _R , and is a method of removing an unnecessary acceleration component and an error.

Next, details of the above features will be described with reference to FIG. First, the unnecessary acceleration component and its removal are referred to as (a), (b), (c), (d),
And (e), the acceleration sensor 13 detects the vehicle body acceleration based on the vehicle speed v. And a vehicle body inclination acceleration (α ₂ = g ·
sin θ) and vibration acceleration α ₃ based on vehicle body vibration, which is a combined acceleration, and accelerations α ₂ and α ₃ other than those required for the arithmetic expression α ₁ −α _R. And the removal is performed as follows. The vibration acceleration α ₃ is 30-as shown in FIG.
Since the acceleration occurs at a frequency of 40 Hz, it can be removed by passing it through the low-pass filter 10a of about 20 Hz. In order to remove this vibration acceleration α ₃ , the low-pass filter 10a is adopted in all the four inventions and is a part of the constituent means. Next, the vehicle body tilt acceleration α ₂ can be removed by the following three methods.

(1) Method 1 ... Removal by passing through the high-pass filter 10b.

(2) Method 2 ... A vehicle body inclination sensor is provided, the inclination angle θ is detected, and g · sin θ is obtained. Since this is equal to α ₂ , α
_2- g · sin θ = 0 is calculated and removed.

(3) Method 3 ... By mounting the two acceleration sensors 13a and 13b at an angle of 45 ° with respect to the horizontal direction of the vehicle body, and calculating the output accelerations α _IO and α _II0 by the following formula. Remove.

・ Α ₃ is α ₃ = 0 due to the low-pass filter.

Next is the error and its removal. The error is the cumulative error due to the error ε _C due to shift shock, sudden change in engine output, etc. and the drift error ε _d , which is not necessary for the calculation output α _S. Is. And its removal is a high pass filter
It can be removed by passing through 10b. The present invention is a rapid crawler belt slip detecting device for detecting an abrupt slip as described above and controlling an engine or a transmission by this, and even if a microcomputer is used, the calculation speed is For example, when the engine output or variable speed stage cannot be changed every 0.02 seconds and a sudden shoe slip occurs, the control command output S is continuously transmitted and there is no sudden shoe slip (α _S >
α _STD ) and the operation time lag period of the engine or _changer control actuator are so-called simple calculations (α ₁ -α _R
= Α _R ), the error removal is to prevent the error ε _C and the drift error ε _d from accumulating during this period and changing the output α _S. Therefore, in consideration of the time lag time, the period during which the slip signal S can be practically output must be at least 1 second or 2 seconds or more, which is 1 Hz or 0.5 Hz or less in terms of frequency.

More specifically, as shown by the actual measurement value shown in X, the accumulated error of the slip acceleration is α _S = 0.1 G per second, which cannot be ignored. Therefore, it becomes the same as the embodiment (α _STD = 0.1 G) of the output judgment standard of the slip signal S which will be described later, and it can be said that the error cannot be ignored at all. Therefore, by allowing the slip acceleration α _S to pass through the high-pass filter 10b, the slip acceleration component as an error can be removed because the frequency is small even if it is somewhat large. As a supplement, the tilt acceleration α _{2 is set} to the high-pass filter 10
The reason why it can be removed by b is also due to this small frequency. However, if there is a large amount of inclination, that is, the frequency of inclination is high and the frequency is, for example, 1 Hz or more,
It is indispensable to separately remove the tilt acceleration α ₃ as in the invention.

Finally, the output of the slip signal S will be described with reference to the Y diagram. The bulldozer suddenly slips the tracks when the load increases and reaches a certain value in the work of pushing or ripping. The horizontal axis is the slip ratio Then, the vertical axis is the traction force and is shown in Figure Y1. The maximum value of the slip acceleration α _S at this sudden slip point becomes 0.1 to 0.2 G in 0.5 to 1.0 second.

Therefore, by setting this slip acceleration α _Smax as the sudden crawler belt slip determination reference α _STD , the slip signal S is output when α _S <α _STD .

(First Embodiment) A first embodiment will be described with reference to FIGS. 1, 2, and 3. It should be noted that the description of the already-described ones, especially the operation, will be omitted, and only the new configuration will be described below.

(1) Configuration FIG. 1 shows that the driving force generated by the engine 22 is transmitted to the crawler track 20 via the torque converter 23, the transmission 24, the traveling clutch, the final deceleration, and the sprocket 25. Therefore, the body of the bulldozer 20 includes an acceleration sensor 13 for detecting the acceleration α _{0 in the} longitudinal direction of the vehicle and a detection sensor for the transmission speed stage m for detecting the track speed V.
15 and torque converter output speed N detection sensor 16
And a track speed differential circuit 11 for calculating a track acceleration α _R based on the track speed V, and a vehicle body acceleration subtraction circuit 12 for calculating a slip acceleration α _S by subtracting the track acceleration α _R from a vehicle body acceleration α _1. And a controller
The inside of 10 has a configuration in which a low-pass filter, a high-pass filter, and a slip signal output determination circuit (not shown) are incorporated.

(2) Operation When the operation is shown based on FIG. 2, the transmission speed stage signal m from the detection sensor 15 and the torque converter output speed N from the detection sensor 16 are input, and the sprocket at each stored speed stage is input. The total reduction ratio k up to is calculated by V = m × N
× k and calculation 11a, and further differentiate (dv / dt) and calculation 11b
Track speed differentiating circuit 11 there, the track acceleration alpha _R is vehicle acceleration vibration acceleration alpha ₃ passes through the low-pass filter 10a has been removed (alpha ₁ to the result and track the acceleration alpha _R +
α ₂ ) is subtracted (α ₁ + α ₂ −α _R ). This subtraction is calculated by the vehicle body acceleration subtraction circuit 12, and the resulting slip acceleration α _S passes through the high-pass filter 10b, the tilt acceleration α ₂ , zero drift and error are removed, and the true slip acceleration α _S is removed. Is compared with the judgment reference value α _STD in the slip judgment circuit 10c, and if α _S <0.1 G, the slip signal S is output. The low-pass filter in this example
The pass standard of 10a is 20Hz, the pass standard of the high-pass filter 10b is 1Hz, and the criterion for rapid track slip is α _STD = −0.1G
Is. FIG. 3 is a diagram further schematicizing the above flow.

(Second Embodiment) A second embodiment is shown in FIGS. 4 and 5. This will only describe the differences compared to the first embodiment.

(1) Structure The following means is added to the structure of the first embodiment.

(A) A vehicle body inclination sensor 14 is added as an overall configuration.

(B) In the acceleration subtraction circuit 12, the arithmetic expressions (g · sin θ) and (α
_S = α ₁ + α ₂ −α _R −g · sin θ = α ₁ −α _R ) is added.

(2) As shown in the action (Z), the vehicle body inclination is θ =
When the vehicle body inclination acceleration is 35 °, the maximum acceleration is ± 0.3G / 0.5 seconds, and it cannot be removed by the high-pass filter under operating conditions where this occurs frequently. Α _S =
The calculation is performed accurately as α ₁ + α ₂ −α _R −g · sin θ = α ₁ −α _R. FIG. 5 is a diagram further schematicizing the above flow.

(Third Embodiment) A third embodiment is shown in FIGS. 6 and 7. Again, only the differences compared with the first embodiment will be described.

(1) Structure The structure of the first embodiment is modified and added to the following means.

(A) As a whole configuration, one acceleration sensor is changed to two acceleration sensors 13a and 13b, and they are mounted so as to be tilted at a vertical angle of 45 ° with respect to the horizontal of the vehicle body.

(B) _Add the output accelerations α _I0 and α _{II0 of the} acceleration sensors 13a and 13b It has an arithmetic circuit added to divide by.

(2) Operation The operation of this embodiment has already been described. FIG. 7 is a further schematic view of the flow of this embodiment.

(Effects of the Invention) As described above, according to the present invention, since the detection from the acceleration detection sensor is used, the response time is fast and the cost is low. Moreover, since the vibration acceleration, the tilt acceleration, the accumulated error, and the zero drift included in the acceleration detected by such an acceleration detection sensor are removed and the slip ratio is calculated based on the removed acceleration, the accurate slip ratio can be detected. Details are as follows.

According to the first aspect of the invention, since the slip ratio does not include the vibration acceleration of the bulldozer, it is suitable for use in an operation site where the ratio is flat or an operation site where there is little rock.

According to the second invention and the third invention, since the slip ratio does not include the vibration acceleration and the tilt acceleration of the bulldozer, the slip ratio is suitable for use in an operating site with severe unevenness or an operating site with many rocks.

According to the fourth aspect of the invention, since the slip ratio does not include a cumulative error or zero drift, the accuracy of the instrument itself can be lowered, and it is suitable for use in an operating site where the temperature changes greatly.

[Brief description of drawings]

1 to 7 are views showing an embodiment of the present invention and are as follows. FIG. 1 ... Means for mounting means of the first embodiment, FIG. 2 ... Operation flow chart of the embodiment of FIG. 1, FIG. 3 ... Operation flow schematic diagram of the embodiment of FIG. 1, FIG. Example operation flow chart, FIG. 5 ... Operation flow schematic diagram of the embodiment of FIG. 4, FIG. 6 ... Operation flow chart of the third embodiment, FIG. 7 ... Operation flow schematic diagram of the embodiment of FIG. 10 …… Controller 10a …… Low-pass filter 10b …… High-pass filter 11 …… Track speed differentiation circuit 12 …… Vehicle acceleration subtraction circuit 13,13a, 13b …… Acceleration sensor 14 …… Vehicle inclination sensor 15 …… Gear shift speed detection Sensor 16 …… Torque converter output speed detection sensor 30 …… Actuator controller

Claims (4)

[Claims] 1. The front-back acceleration of the bulldozer is detected, and the actual vehicle speed of the bulldozer is obtained from this acceleration.
The rapid track crawler slip detection device of the bulldozer, which calculates the theoretical speed of the crawler track from the number of rotations and radius of the starting wheel, and calculates the slip ratio of the crawler track from these actual vehicle speed and theoretical speed, detects the longitudinal acceleration of the bulldozer. Acceleration sensor
13 and a low-pass filter that receives the acceleration from the acceleration sensor 13 and removes the vibration acceleration of the bulldozer from this acceleration.
10a, and the acceleration from the low-pass filter 10a is received to obtain the actual vehicle speed of the bulldozer from this acceleration, and the theoretical speed of the crawler track is calculated from the rotational speed and the radius of rotation of the starting wheel, and from these actual vehicle speed and theoretical speed. An abrupt track slip detection device for a bulldozer, which is provided with a calculator for calculating a slip ratio of the track. 2. The acceleration of the bulldozer in the front-rear direction is detected, and the actual vehicle speed of the bulldozer is obtained from this acceleration.
The rapid track crawler slip detection device of the bulldozer, which calculates the theoretical speed of the crawler track from the number of rotations and radius of the starting wheel, and calculates the slip ratio of the crawler track from these actual vehicle speed and theoretical speed, detects the longitudinal acceleration of the bulldozer. Acceleration sensor
13 and a low-pass filter that receives the acceleration from the acceleration sensor 13 and removes the vibration acceleration of the bulldozer from this acceleration.
10a, an inclinometer 14 for detecting the tilt angle of the bulldozer, the acceleration from the low-pass filter 10a and the inclination angle from the inclinometer, and the inclination angle of the bulldozer from the acceleration from the low-pass filter 10a by the inclination angle. The calculation to remove is performed, the actual vehicle speed of the bulldozer is calculated from the acceleration obtained by removing the tilt acceleration, the theoretical speed of the track is calculated from the rotational speed and the radius of rotation of the starting wheel, and the actual speed of the track and the theoretical speed of the track are calculated. A rapid track crawler slip detection device for a bulldozer, comprising: a calculator for calculating a slip ratio. 3. The acceleration of the bulldozer in the front-rear direction is detected, and the actual vehicle speed of the bulldozer is obtained from this acceleration,
The bulldozer's rapid crawler track slip detection device, which calculates the theoretical speed of the crawler track from the number of rotations of the starting wheel and the radius of gyration, and calculates the slip ratio of the crawler track from these actual vehicle speed and theoretical speed, Two acceleration sensors 13a and 13b, which are arranged at an angle of 45 °, and an arithmetic unit that receives the accelerations from the acceleration sensors 13a and 13b and adds them to remove the tilt acceleration of the bulldozer; A low-pass filter 10a that receives the acceleration from the device to remove the vibration acceleration of the bulldozer from this acceleration, and the acceleration from the low-pass filter 10a to obtain the actual vehicle speed of the bulldozer from this acceleration, as well as the rotation speed and rotation of the starting wheel. Equipped with a calculator that calculates the theoretical speed of the track from the radius, etc., and calculates the slip ratio of the track from these actual vehicle speed and theoretical speed. A rapid track slip detection device for bulldozers. 4. The bulldozer rapid crawler track slip detection device according to claim 1, 2 or 3, further comprising a high-pass filter 10b for inputting acceleration to remove accumulated error and zero drift of the acceleration. Rapid track slip detection device.