JPH0971261A - Traveling control device and traveling control method of special vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To avoid a sudden starting of a vehicle and to carry out a turning operation easily even when the vehicle is in a backward condition in which the driving operation is difficult. SOLUTION: This is a traveling control device of a special vehicle which has a joy stick controller to output a longitudinal position signal to indicate whether it is a forward traveling or backward traveling, and a lateral position signal to indicate whether it is the right turn or the left turn, according to the inclining direction and the inclination of a joy stick handle; and a controller to control the vehicle traveling by inputting the longitudinal position signal and the lateral position signal. Consequently, the controller has a longitudinal position deciding means 11 to decide the longitudinal position of the joy stick handle, and a lateral position data converting means 12 to convert the lateral position data indicated by the lateral position signal, according to the longitudinal position of the joy stick handle.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a travel control device for a special vehicle such as a rubber crawler carrier, shovel car, or multi-wheel carrier.

[0002]

2. Description of the Related Art In a conventional traveling control system for a special vehicle, a driver sits on a rotating seat, and when the seat is facing forward, he or she operates two handles arranged in front of the seat to move the seat to the rear. When facing, the two handles arranged behind were operated to control the traveling of the special vehicle, that is, forward / backward movement, left / right rotation, and its speed.
However, in this case, the driver was operating the two steering wheels, there was no free hand, and it was impossible to perform other manual work during the operation, which was inconvenient.

Therefore, the present inventor has proposed a special vehicle as shown in FIG. In FIG. 11, 1 is not shown 1
A joystick controller in which two joystick handles are arranged, 100A is a rubber crawler carrier, and 103A is a driver's seat to which the joystick controller 1 is integrally attached.

A rubber crawler carrier 100 shown in FIG.
In A, the driver operates the seat 103A in the normal position shown in FIG.
The joystick controller 1 is operated by adjusting it to the reverse position rotated by one degree. Since the joystick controller 1 rotates together with the seat 103A, the driving operator
The same operation may be performed by only one controller 1 regardless of the normal position and the reverse position.

FIG. 8A is a block system diagram showing a traveling control device for a special vehicle proposed by the present inventor. FIG.
In (A), 104 is an engine, 106 is a left hydraulic motor, 107 is a left sprocket driven by the left hydraulic motor 106, and 108 is a left sprocket 107.
Driven by the left rubber crawler, 110 is a right hydraulic motor, 111 is a right sprocket driven by the right hydraulic motor 110, and 112 is a right sprocket 111.
The rubber crawler for the right driven by 115 is an arrow indicating the forward direction. Further, 1 is a joystick controller described above, 1a is one joystick handle for operating the joystick controller, 2a
Is a seat position detection unit for detecting the position of the seat 103A (see FIG. 11), 3 is a front / rear position signal (a signal indicating the front / rear position indicated by the joystick handle 1a) TN1 from the joystick controller 1, and a left / right position signal (of the joystick handle 1a Signal indicating the left and right position shown) TN
2 and the front position signal TC from the seat position detector 2
1. Control current IL for inputting the rearward position signal TC2 to control hydraulic pump devices 105A and 109A described later
1, a control unit for outputting IR1, 105A is a control current IL
1 is a left hydraulic pump device that rotates the left hydraulic motor 106 forward or backward, 109A is a right hydraulic pump device that inputs the control current IR1 and rotates the right hydraulic motor 110 forward or backward. is there. It should be noted that the traveling control device in FIG.
11 and the device except for the rubber crawlers 108 and 112. FIG. 8B shows the joystick handle 1 a in the joystick controller 1.
It is a top view which shows the operation direction of.

FIG. 9 is a left hydraulic pump device 1 of FIG. 8 (A).
It is a block system diagram which shows 05A and the hydraulic pump apparatus 109A for the right in more detail. In FIG. 9, reference numeral 4 denotes a left coil that becomes an electromagnet when the control current IL1 flows,
Reference numeral 5 is a left hydraulic valve whose flapper position is controlled by the left coil 4, 6 is a left hydraulic pump whose discharge hydraulic pressure direction is controlled by the left hydraulic valve 5, and 7 is a right coil which becomes an electromagnet when a control current IR1 flows. , 8 are right hydraulic valves whose flapper positions are controlled by the right coil 7, and 9 are right hydraulic pumps whose discharge hydraulic pressure directions are controlled by the right hydraulic valves 8. As shown in the figure, the hydraulic pump device 105A includes a coil 4, a hydraulic valve 5, and a hydraulic pump 6, and the hydraulic pump device 109A includes a coil 7, a hydraulic valve 8, and a hydraulic pump 9.

Next, the operation when the driver's seat 103A is in the normal position will be described with reference to FIG. First, the forward operation will be described. When the driver operates the steering wheel 1a in the forward direction shown in FIG. 8B, the front-rear position signal TN1 indicating forward movement is input to the control unit 3. At this time, since the seat 103A is in the normal position, the seat position detection unit 2
The front position signal TC1 from is turned on and input to the control unit 3. The control unit 3 receives the signals TN1 and TC1 and receives the control currents IL1 and IR1 to control the hydraulic pump device 105A,
Control 109A. At this time, the values of the control currents IL1 and IR1 output from the control unit 3 are both set to the operation amount of the joystick handle 1a, that is, the tilt angle of the handle 1a in the forward direction (the tilt angle that is zero when 90 degrees is vertical). When the inclination angle is large (when the joystick handle 1a is largely inclined and tilted), the values of the control currents IL1 and IR1 are both large, and the hydraulic pump devices 105A and 109A are both hydraulic motors. 10
6, 110 are rotated at high speed in the forward direction at the same rotation speed.
As a result, the rubber crawlers 108, 112 rotate at high speed in the forward direction via the sprockets 107, 111, and the rubber crawler carrier 100A (see FIG. 11) moves forward at high speed. When you want to slow down, joystick handle 1a
The inclination angle of should be reduced.

Next, the reverse operation will be described. When the driver operates the steering wheel 1a in the backward direction shown in FIG. 8B, the front-rear position signal TN1 indicating the backward movement is input to the control unit 3. At this time, since the seat 103A is in the normal position, the front position signal TC1 from the seat position detection unit 2 is turned on and input to the control unit 3. The control unit 3 receives the signal TN
1, TC1 is input, and the hydraulic pump devices 105A and 109A are controlled by the control currents IL1 and IR1. The values of the control currents IL1 and IR1 output from the control unit 3 at this time are both amounts corresponding to the operation amount of the joystick handle 1a, that is, the tilt angle of the joystick handle 1a in the backward direction, and control is performed when the tilt angle is large. Current I
The values of L1 and IR1 both increase, and the hydraulic pump device 1
Both 05A and 109A rotate the hydraulic motors 106 and 110 at high speed in the reverse direction at the same rotation speed. This allows the rubber crawler 10 to pass through the sprockets 107 and 111.
8, 112 rotate at high speed in the reverse direction, and the rubber crawler carrier 100A (see FIG. 11) moves at high speed.

Next, a normal right turn operation will be described. When the joystick handle 1a is tilted diagonally, that is, in the front right direction, as indicated by a dotted arrow in FIG. 8B, the joystick controller 1 causes the forward / backward position signal TN1 indicating forward and the left / right position signal TN2 indicating right turn.
Is input to the control unit 3. Since the seat 103A is in the normal position, the front position signal TC1 from the seat position detector 2
Is turned on and input to the control unit 3. The joystick controller 1 sends forward and backward position signals TN1 indicating forward movement.
Since the left / right position signal TN2 indicating the right turn and the right turn are input to the control unit 3, the control unit 3 outputs the control currents IL1 and IR1 indicating the forward turn and the right turn. That is, the control current IL
The values of 1 and IR1 consist of a forward control current value and a right turn control current value. The forward control current value is the value as described above, that is, the value corresponding to the tilt angle in the forward direction. Similarly, the right turn control current value becomes a value corresponding to the inclination angle to the right. Since the operation here is a right turn operation, the value of the control current IL1 input to the left hydraulic pump device 105A is equal to the control current I input to the right hydraulic pump device 109A.
It is larger than the value of R1 and therefore the left rubber crawler 108
The number of revolutions of the rubber crawler 112 for right is larger than the number of revolutions of the right rubber crawler 112 in the direction of advance, whereby the rubber crawler carrier 100A turns to the right while advancing. The normal left turn operation is the same as the right turn operation except that the left and right are reversed. The above has described the normal turning operation, but the case of an abnormal super-spinning turning will be described later.

Even if the seat 103A is in the reverse position, the operating method is the same as that of the driver, but at this time, the control unit 3 needs to reverse the vehicle such that the forward movement is backward and the rightward rotation is leftward. This is determined by the position signals TC1 and TC2 input from the seat position detector 2 to the controller 3. That is, when the seat 103A is in the reverse position, the front position signal TC
Since 1 is off and the rear position signal TC2 is on, the control unit 3 determines that the position is the reverse position, and as described above, the front and rear position signal TN1 and the left and right position signal TN2 from the joystick controller 1 are inverted. In this way, the driving operator can perform the driving operation with the same feeling whether the seat 103A is in the normal position or in the reverse position.

FIG. 10 is a block system diagram showing the control unit 3 in detail. In the figure, 3A is a microcomputer unit,
3B is a driver unit, 31 is a RAM 32 for temporarily storing data, and a CPU for performing data processing and the like based on a program stored in an external ROM 33, 3
4, 37, the voltage V represents the frequency indicated by the frequency signals FL and FR.
Frequency voltage converter (F / V) for converting to L and VR, 3
Reference numerals 5 and 38 denote voltage-current converters (V / A) that convert the input voltages VL and VR into currents IL0 and IR0 having values corresponding to these voltage values. Reference numerals 36 and 39 denote polarity switching signals PL and PR from the CPU 31. It is a polarity switcher that generates and outputs control currents IL1 and IR1 based on the currents IL0 and IR0. That is, when the polarity switching signals PL and PR are on, the currents obtained by switching the polarities of the currents IL0 and IR0 are output as the control currents IL1 and IR1, and the polarity switching signals PL and P are output.
When R is off, the currents IL0 and IR0 are output as they are as the control currents IL1 and IR1. The left coil 4 and the right coil 7 are the same as those shown in FIG.

Next, the operation of the control unit 3 of the traveling control device for the special vehicle of FIG. 8 will be described with reference to the flowchart of FIG. First, the control unit 3 resets the memory contents of the RAM 32, for example, frequency data RT and LT described later.
Is initialized to zero (step S1).
Next, the front-rear position signal TN1 from the joystick controller 1 is input to read the front-rear position data AD0N indicated by the front-rear position signal TN1 (S2). Next, the left / right position signal TN2 from the joystick controller 1 is input and the left / right position data AD1 indicated by the left / right position signal TN2 is input.
Read N (S3). Next, the turning mode for traveling control is set (S4), and frequency output processing for outputting the frequency data FL, FR from the CPU 31 is performed (S4).
5).

Next, each processing of steps 2 to 5 will be described in detail. First, the joystick controller 1
Reading front and rear position data AD0N from FIG.
This will be described with reference to the flowchart of. The CPU 31 reads the front-rear position data AD0N indicated by the front-rear position signal TN1 (S11), and converts the front-rear position data AD0N into front-rear position data AD0X based on the table conversion characteristic shown in FIG. 14 (S12). The table conversion characteristic of FIG. 14 is to provide a dead zone near the neutral position of the joystick handle 1a. Next, the seat position detection unit 2
It is determined whether the seat 103A is in the rear position, that is, whether the rear position signal TC2 is ON based on the front position signal TC1 and the rear position signal TC2 input from the CPU 31 to the CPU 31 (S13), and the rear position is determined. When this is done, the polarity of the converted front-back position data AD0X is inverted (S14),
The inverted front-back position data AD0X is stored in the RAM 32. When it is determined that the seat 103A is in the front position instead of the rear position, the converted front-back position data AD0X obtained in step 12 is stored in the RAM 32 as it is (S15).

Next, reading of the left and right position data AD1N from the joystick controller 1 will be described with reference to the flowchart of FIG. The CPU 31 reads the left / right position data AD1N indicated by the left / right position signal TN2 (S21), and outputs the left / right position data AD1N based on the table conversion characteristics as shown in FIG.
Convert to D1X (S22). The table conversion characteristic of FIG. 16 is to provide a dead zone near the neutral position of the joystick handle 1a. Next, based on the front position signal TC1 and the rear position signal TC2 input from the seat position detection unit 2 to the CPU 31, it is determined whether the seat 103A is in the rear position, that is, whether the rear position signal TC2 is on (S23). ), When it is determined to be the rear position, the polarity of the converted front-back position data AD1X is inverted (S24),
The inverted front-back position data AD1X is stored in the RAM 32. When it is determined that the seat 103A is in the front position instead of the rear position, the converted front-back position data AD1X obtained in step 22 is stored in the RAM 32 as it is (S25).

Next, the traveling control process of step 4 will be described with reference to the flowchart of FIG. First, C
The PU 31 determines whether the turning mode input from the input device (not shown) is the normal turning mode or the super turning mode (S31). Step 33 if in mode
Shifts to (S32, S33).

Next, the normal turning mode of step 32 will be described with reference to the flowchart of FIG.
FIG. 18B is a data diagram showing the front-back position data AD0X and the left-right position data AD1X corresponding to the region of the position of the joystick handle 1a. For example, front and rear position data AD0X = 100, left and right position data AD1X = 100 at the upper right end point P1 of the region A, front and rear position data AD0X = 0, left and right position data AD1 at the lower right end point P2 of the region A.
X = 100. First, joystick handle 1
It is determined whether the position of a is A, B, C or D (S41 to 4).
3). When the joystick handle 1a is at the position A, the frequency data RT and LT to be output to the F / V 34 are calculated based on the following expression (A1), and when the position B is the expression (B1), the position C is obtained. Is calculated based on the formula (C1), and in the case of the position D is calculated based on the formula (D1) (S44 to 47).
Note that AD0X = Y and AD1X = X.

RT = Y (1- | X | / 100), LT = Y ... (A1) RT = Y, LT = Y (1- | X | / 100) ... (B1) RT = Y, LT = Y (1- | X | / 100) ... (C1) RT = Y (1- | X | / 100), LT = Y ... (D1) Next, the frequency data RT obtained in steps 44 to 47,
The LT is stored in the RAM 32 (S48).

Next, the super-spot turning mode of step 33 will be described with reference to the flowchart of FIG. FIG. 19B is a data diagram showing the front-rear position data AD0X and the left-right position data AD1X corresponding to the region of the position of the joystick handle 1a. First, it is determined which of A to H the joystick handle 1a is located (S51 to 57). When the joystick handle 1a is at the position A, the frequency data RT and LT to be output to the F / V 34 are calculated based on the following formula (A2), and at the positions B, C, D, E, F and G, Is the expression (B
2), formula (C2), formula (D2), formula (E2), formula (F
2), the formula (G2), and the formula (H2) in the case of the position H (S58 to 65). AD0X =
Y, AD1X = X.

RT = 2Y / 3 (1- | X | / 50), LT = 2Y / 3 ... (A2) RT = Y (1- | X | / 50), LT = Y (1- | X | / 75) ... (B2) RT = Y (1- | X | / 75), LT = Y (1- | X | / 50) ... (C2) RT = 2Y / 3, LT = -2Y / 3 (1- | X | / 50) ... (D2) RT = -2Y / 3 (1- | X | / 50), LT = 2Y / 3 ... (E2) RT = Y (1- | X | / 50), LT = Y (1- | X | / 75) ... (F2) RT = Y (1- | X | / 75), LT = Y (1- | X | / 50) ... (G2) RT = 2Y / 3, LT = -2Y / 3 (1- | X | / 50) ... (H2) Next, the frequency data RT obtained in steps 58 to 65,
The LT is stored in the RAM 32 (S66). As can be seen from the above equation, for example, in the area A, (X =
RT is negative (except 50), LT is positive, and in the rubber crawler carrier, the left crawler is in the forward rotation and the right crawler is in the reverse rotation.

Next, the frequency output process of step 5 will be described with reference to the flowchart of FIG. First,
The frequency data RT obtained by the traveling control in step 4 is RA
It is read from M32 (S71), and the right frequency signal FR indicating the right frequency is output (S72). Next, the frequency data LT is read from the RAM 32 (S73), and the left frequency signal FL indicating the left frequency is output (S74). FIG. 21 is a graph showing the relationship between frequency data RT and LT and frequency.

[0021]

However, the conventional travel control device for a special vehicle has a problem that if the joystick handle 1a is operated to a large extent, the operation may be difficult because the vehicle suddenly starts. It was
In addition, when the driver operates the vehicle in a rearward state (the seat 103A itself is in the frontward state) where it is difficult to perform the driver's operation, such as when the vehicle is traveling in the rearward direction, the joystick handle 1a can be located to the driver. Since it was difficult to understand, there was a problem that the vehicle turned more than expected.

The present invention has been made in consideration of the above circumstances, and an object thereof is to make a turn even if the vehicle does not start suddenly and the driving operation is difficult to perform even in a backward direction. It is an object of the present invention to provide a travel control device for a special vehicle and a travel control method thereof that facilitates operation.

[0023]

In order to achieve this object, a traveling control device for a special vehicle according to claim 1 of the present invention comprises:
Depending on the tilt direction and tilt angle of the joystick handle, a joystick controller that outputs forward / backward position signals that indicate forward or reverse and a left / right position signal that indicates right or left turn, and a front / rear position signal and left / right position signals A travel control device for a special vehicle having a control unit for controlling vehicle travel by inputting, wherein the control unit determines front and rear position determining means for determining a front and rear position of a joystick handle, and left and right depending on a front and rear position of the joystick handle. A left and right position data conversion means for converting the left and right position data indicated by the position signal is provided.

In the traveling control device for a special vehicle according to the second aspect, the left / right position data converting means sets the value of the left / right position data indicated by the left / right position signal to a wide zero in the central portion when the joystick handle is in the rear position. , When the joystick handle is at the front position, the value of the left / right position data indicated by the left / right position signal is narrowed to zero in the central part.

According to another aspect of the present invention, there is provided a traveling control device for a special vehicle according to a tilt direction and a tilt angle of a joystick handle, a front / rear position signal indicating forward / reverse, and a left / right position signal indicating right / left turn. A special vehicle having a joystick controller that outputs a signal, a control unit that inputs a front-rear position signal and a left-right position signal to control vehicle traveling, and left and right rotating bodies that are driven by left and right rotation drive signals from the control unit. In the traveling control device, the control unit determines whether or not the value indicated by the left and right position signals is within a predetermined range from the neutral position of the joystick handle, and when the value is within the predetermined range, a soft processing is performed. A determining means, an executing determination means for determining whether or not the soft start processing is being executed, and a direction for determining the direction of movement of the joystick handle A constant section, and to have a counting means for counting an elapsed time from a predetermined time, and adjusting unit for determining an increase or decrease in value of the rotation drive command signals on the basis of the elapsed time and movement.

According to a fourth aspect of the present invention, there is provided a traveling control method for a special vehicle, which includes a front-rear position signal indicating forward or reverse and a left-right position signal indicating whether the vehicle is turning right or left according to the inclination direction and inclination angle of the joystick handle. A driving control method for a special vehicle, comprising: a joystick controller for outputting a front and rear position signal; and a control unit for controlling a vehicle traveling by inputting a front and rear position signal and a left and right position signal, the position determining step of determining a front and rear position of a joystick handle. And a left / right position data conversion step of converting left / right position data indicated by the left / right position signal according to the front / rear position of the joystick handle.

A travel control method for a special vehicle according to claim 5 is the travel control method for a special vehicle according to claim 4, wherein
The left / right position data conversion step sets the value of the left / right position data indicated by the left / right position signal to a wide zero at the center when the joystick handle is at the rear position, and the left / right position signal indicated by the left / right position signal when the joystick handle is at the front position. The value of the position data is set to be narrow and zero in the central part.

According to a sixth aspect of the present invention, there is provided a traveling control method for a special vehicle, wherein a front / rear position signal indicating forward or reverse and a left / right position signal indicating right or left turning are provided according to a tilt direction and a tilt angle of the joystick handle. A special vehicle having a joystick controller that outputs a signal, a control unit that inputs a front-rear position signal and a left-right position signal to control vehicle traveling, and left and right rotating bodies that are driven by left and right rotation drive signals from the control unit. The traveling control method for determining whether the value indicated by the left and right position signals is within a predetermined range from the neutral position of the joystick handle, and if the value is within the predetermined range, a software process for performing a soft start process is executed. The processing determination step, the execution determination step for determining whether or not the soft start processing is being executed, and the joystick handle movement A direction determination step for determining the direction, a time counting step for timing the elapsed time from a predetermined time, and an increase / decrease step for determining an increase / decrease in the value of the rotation drive command signal based on the direction of movement and the elapsed time are provided. .

[0029]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described with reference to the drawings. The traveling control device for the special vehicle according to the present embodiment is the same as that shown in FIG.

FIG. 1 is a block diagram showing the function realizing means of the CPU 31 according to the present embodiment. In FIG. 1, 1
Reference numeral 1 is a front-back position determining means for determining the front-back position of the joystick handle 1a, 12 is a left-right position data converting means for converting left-right position data indicated by a left-right position signal according to the front-back position of the joystick handle 1a, and 21 is a left and right rotating body. Soft processing determination means for determining whether or not to perform a soft processing for giving a time constant to frequency data as left and right rotational drive command data that determines rotational drive speeds of 107 and 111, and 22 is a direction of movement of the joystick handle 1a. Direction determining means for determining whether or not soft processing is being performed, 23 for executing determination means for determining whether or not soft processing is being performed, and 24 is for determining increase or decrease of frequency data based on the direction of movement of the joystick handle 1a and the elapsed time from a predetermined time. An increasing / decreasing means, 25 is a time measuring means for measuring an elapsed time from a predetermined time.

The operation of this embodiment configured as described above will be described. Since the main flow of the CPU 31 is the same as that of the conventional FIG. 12, its description is omitted. Further, the initialization process in step 1 and the process for reading the joystick front-rear position data in step 2 are the same as those in the related art, and thus the description thereof will be omitted. In the present embodiment, the processing different from the conventional one is the reading processing of the joystick left / right position data in step 3, the processing relating to the traveling control in step 4, and the frequency output processing in step 5.
The reading process of the joystick left / right position data in step 3 is a processing operation in the front / rear position determining means 11 and the left / right position data converting means 12 of the present embodiment in FIG. 1, and the processing relating to the traveling control in step 4 is shown in FIG. These are the processing operations in the soft processing determining means 21, the direction determining means 22, the in-execution determining means 23, the increasing / decreasing means 24, and the clocking means 25.

First, the reading processing of the joystick left / right position data in the front / rear position determining means 11 and the left / right position data converting means 12 will be described with reference to the flowchart of FIG. First, the front-back position determination means 11
It is determined whether the front-rear position data AD0X is negative (S81,
(Front-back position determination step) If AD0X is negative, then it is determined whether AD0X is less than or equal to minus 50 (S8).
2, front and rear position determination step). FIG. 2B is a region diagram showing regions segmented according to the value of the front-back position data AD0X. In FIG. 2B, SF1 is a region in which AD0X is zero or more, that is, a region above the point P1 where AD0X = 0, and SF2 is AD0X = 0 and a point P2 indicated by the point P1.
A region between AD0X = −50, SF3 is point P2.
Is a region below AD0X = −50. When the front-back position data based on the position of the joystick handle 1a is within the area SF3, the left-right position data conversion means 1
2 performs table conversion of the read left / right position data AD1N (S83, S84, left / right position data conversion step).

FIGS. 3A to 3C are graphs showing the contents of table conversion. If the area of the front-back position data AD0X is SF3, that is, steps 83 and 84, conversion is performed based on FIG. As can be seen from FIG. 3A, in the table conversion in steps 83 and 84, the value of the left / right position data AD1X after conversion becomes zero over a wide range in the central portion of the left / right position data AD1N before conversion. ing. If the area of the front-rear position data AD0X is SF2, that is, steps 85 and 86 (left-right position data conversion step), conversion is performed based on FIG. As can be seen from FIG. 3B, in the table conversion in steps 85 and 86, the value of the left / right position data AD1X after conversion is zero over a fairly wide range in the central portion of the left / right position data AD1N before conversion. However, the range is narrower than that in the case of FIG. The area of the front-back position data AD0X is SF
In the case of 1 or steps 87 and 88 (left and right position data conversion step), conversion is performed based on FIG. FIG.
As can be seen from (C), in the table conversion in steps 87 and 88, the value of the lateral position data AD1X after conversion is zero in the narrow range of the central portion of the lateral position data AD1N before conversion. The range is narrower than in the case of FIG. The relationship between these diagrams (A), (B), and (C) is shown by the hatched portion in FIG. 2 (B). That is, when the joystick handle 1a is in the rear position (when the vehicle travels backward), the left / right position data is zero and the vehicle does not turn even if the joystick handle 1a moves slightly to the left or right. . Next, the front position signal TC1 input from the seat position detection unit 2 to the CPU 31,
Based on the rear position signal TC2, it is determined whether or not the seat 103A is in the rear position, that is, whether or not the rear position signal TC2 is on (S89), and when it is determined that it is in the rear position, the polarity of the converted left and right position data AD1X. (S9
0), the inverted left and right position data AD1X is stored in the RAM3.
Store in 2. When it is determined that the seat 103A is in the front position instead of the rear position, steps 84, 86, 88
The converted left and right position data AD1X obtained in
It is stored in M32 (S91).

Next, step 4 of the main flow of FIG.
The processing relating to the traveling control in the above will be described with reference to the flowchart of FIG. What is different from the conventional travel control in the present embodiment is, as can be seen from the comparison between FIG. 4 and FIG. 17, the determination as to whether or not the soft start processing in step 101 is being performed and the soft start processing in step 105. In FIG. 4, first, the soft processing determination means 21 determines whether or not the soft start processing is being performed (S101).
Whether or not the soft start processing is being performed is as described in the soft start processing of FIG. 5 described later, and the left and right position data X = AD1X.
Is X = zero (joystick handle 1a for X
It is determined by whether or not it is within a predetermined range around the neutral position). For example, if −25 ≦ X ≦ 25, the soft start process is performed. That is, the soft start process is to prevent a sudden start due to the operation of the joystick handle 1a in a narrow left and right range. The turning mode cannot be set during the soft start processing, but if the turning processing is not being executed, it is next determined what the set turning mode is (S102). When the set turning mode is the normal turning mode, step 103
If it is in super-trust turning mode, go to step 104.
Shifts to (S103, S104). After the processing of the set turning mode, the soft start processing is performed (S10).
5). Since the normal turning mode of step 103 and the super-spinning turning mode of step 104 are the same as the conventional ones, the description thereof will be omitted.

Next, the soft start processing in the soft processing determining means 21, the direction determining means 22, the execution determining means 23, the increasing / decreasing means 24 and the clocking means 25 of FIG. 1 will be described with reference to the flowchart of FIG. First, the software processing determination means 21 determines the left and right position data X = AD1X.
Is within a range of a predetermined value (-α, α) (S1
11, software processing determination step). α is, for example, 25 (1/4 of the maximum value 100). When it is determined that the left / right position data X is within the predetermined range (-α ≦ X ≦ α), that is, the soft start process is being performed, a processing flag is set (the processing flag bit is set to “1”) (S112a), and If it is determined that it is not, the processing flag is cleared (the processing flag bit is set to "0") (S112b). First, the case where it is determined in step 111 that the soft start processing is performed will be described. In this case, first, the right frequency data RT is processed (S113 to S13).
2) Next, the left frequency data LT is processed (S133).

After setting the in-process flag in step 112a, the in-execution judging means 23 judges whether or not the right flag is set (S113, in-process judgment step). If the right flag is not set, the soft start is executed. Since it is unknown whether or not the process is being executed, next, the previous frequency data RT and the current frequency data are read (S114, 11).
5). Next, the execution determination means 23 obtains a difference ΔRT between the previous RT and the current RT, and determines whether ΔRT is within the stop range (S116, execution determination step). ΔR
When it is determined that T is within the stop range, that is, when the joystick handle 1a is stopped, it is not necessary to increase / decrease the frequency data RT, so the process proceeds to step 126. Δ
When RT is out of the stop range, the joystick handle 1a is in a moving state, so the direction determining means 22 next determines whether the joystick handle 1a is returning to the neutral direction or is away from the neutral position. (S117, direction determination step). When returning to the neutral direction, the right flag is set to up, and when it is away from the neutral position, the right flag is set to down (S118,
S119). When the right flag is set in step 113, the soft start process is being executed, so the process immediately proceeds to step 120.

Next, it is determined whether the right flag is down or up (S120). Regardless of whether it is up or down, the time measuring means 25 measures the elapsed time from the predetermined time (S12).
If the predetermined time has not elapsed, it is not necessary to increase / decrease the frequency data RT, so that the process proceeds to the processing step of the left frequency data LT (S133). When the right flag is in the up position and the predetermined time has elapsed, the increasing / decreasing means 24 adds the value obtained by adding the time constant step amount (frequency data increment value of the predetermined amount) to the previous frequency data RT. Right TMP (S1
22, increase / decrease step). Next, it is determined whether or not the right TMP has exceeded the frequency data RT of this time (S123). When it is determined that the right TMP has not been exceeded, the right TMP is updated with new frequency data (with a certain time constant) to continue the soft start process. The frequency data whose value has changed) is stored as RTX (S124), and then the value of the right TMP is set as the value of the previous frequency data RT (S125). Right T at step 123
When it is determined that MP has exceeded the frequency data RT of this time, it is not necessary to perform the soft start process, so the right flag is set down (S126) and the frequency data RT of this time is stored as new frequency data RTX (S12).
7). Here, the predetermined time is the time when the new frequency data was calculated last time, and the predetermined time is the calculation cycle of the new frequency data.

In step 120, when the right flag is in the down state and the predetermined time has passed, the increasing / decreasing means 24 adds the time constant step amount (predetermined amount of frequency data increment value) to the previous frequency data RT. ) Minus the right TM
P (S129, increase / decrease step). Then right TMP
Is smaller than the current frequency data RT (S130), and when it is not smaller than the current frequency data RT, the right TMP is changed to new frequency data (the value is changed at a certain time constant) to continue the soft start process. Frequency data) RT
It is stored as X (S131), and then the value of the right TMP is set as the value of the previous frequency data RT (S132). When it is determined in step 130 that the right TMP is smaller than the frequency data RT of this time, the soft start process does not need to be performed, so the right flag is cleared (S126) and the frequency data RT of this time is stored as new frequency data RTX. (S127).

When it is determined in step 111 that the soft start processing is not performed, it is not necessary to perform the soft start processing, so the process proceeds to step 126, and the processing for the right frequency data RT is ended. In this case, it is not necessary to perform the soft start process on the left side frequency data LT. Processing for left-side frequency data LT (S1
33) is the same processing as steps 111 to 132 on the right side.

FIG. 6 is a time constant graph showing new frequency data RTX and LTX obtained based on the flow of FIG. As shown in FIG. 6, new frequency data R
TX and LTX gradually increase with a predetermined step amount and a predetermined elapsed time, and a certain time constant is given to the frequency data.

Next, the frequency output process of step 5 of FIG. 12 will be described with reference to FIG. First, FIG.
Frequency data RTX obtained by soft start processing
Is read out (S141), the right frequency is obtained based on the graph of FIG. 7 (B) showing the relationship between the frequency data and the frequency, and the right frequency signal (right rotation drive command signal) FR is fed to the F / V 37 of FIG. It is output (S142). Similarly, the left frequency data LTX is read (S143), the left frequency is obtained based on the graph of FIG. 7B showing the relationship between the frequency data and the frequency, and the left frequency signal (left) is sent to the F / V 34 of FIG. Output as a rotation drive command signal) FL (S1
44).

As described above, according to the present embodiment, the front / rear position determining means 11 determines the front / rear position of the joystick handle 1a and converts the left / right position data according to the front / rear position of the joystick handle 1a. Therefore, the values of the left and right position data can be adjusted based on the front and rear position data. For example, when the driver is in an unstable posture such that the driver is facing forward and the vehicle moves backward, the left and right dead zones at the rear position of the joystick handle 1a are enlarged and the left and right position data within the dead zone are set to zero. In addition, it is possible to set a state in which there is no turning, and when the joystick handle 1a is in the rear position and the handle 1a is largely operated to exceed the dead zone, a normal turning state can be set. Therefore, the influence of the joystick handle 1a when the vehicle moves backward can be reduced, and a stable operation can be obtained for the driver.

Further, the soft processing determining means 21 of FIG. 1 determines to perform the soft start processing when the left and right position data is within the predetermined range from the neutral position, and the increasing / decreasing means 24.
However, since the increase / decrease of the value of the frequency signal (rotation drive command signal) is determined based on the direction of movement of the joystick handle 1a and the elapsed time from the predetermined time when the frequency data was increased / decreased last time, the frequency data RT, LT That is, it is possible to give a time constant to the frequency signals FR and FL, and it is possible to prevent a sudden start of the vehicle when the joystick handle 1a is within a predetermined lateral position range.

[0044]

As described above, according to the present invention, the front / rear position determining means for determining the front / rear position of the joystick handle,
By having the left-right position data conversion means for converting the left-right position data indicated by the left-right position signal according to the front-back position of the joystick handle, the value of the left-right position data can be adjusted based on the front-back position of the joystick handle. , For example, when the driver is facing forward and the vehicle moves backwards, the left and right dead zones when the joystick handle is in the rear position are increased and the left and right position data within the dead zone is set. It can be set to zero and no turning can be made. Moreover, even if the joystick handle is largely operated even at the rear position and the dead zone is exceeded, a normal turning state can be made. The effect of the joystick handle when the vehicle moves backward can be reduced, and stable operation is possible for the driver. Rukoto can.

Further, when the joystick handle is at the rear position, the value of the left and right position data indicated by the left and right position signals is set to be broadly zero in the central portion, and when the joystick handle is at the front position, the left and right position data indicated by the left and right position signals. Since the value of is narrowed to zero in the central part, the dead zone of the left and right position data is large when the joystick handle is in the rear position.There is no turning within the dead zone, and normal turning state when the dead zone is exceeded. Therefore, it is possible to reduce the influence of the joystick handle when the vehicle moves backward, and to obtain a stable operation for the driver.

Further, it is determined whether or not the value indicated by the left and right position signals is within a predetermined range from the neutral position of the joystick handle, and if it is within the predetermined range, a soft process determination means for performing a soft start process, and a soft start. Execution determination means for determining whether or not processing is being executed, direction determination means for determining the direction of movement of the joystick handle, timing means for measuring the elapsed time from a predetermined time, movement direction and elapsed time. Since it has an increasing / decreasing unit that determines the increase / decrease of the value of the rotation drive command signal based on, it is possible to give a time constant to the rotation drive command data (frequency data), that is, the rotation drive command signal (frequency signal).
It is possible to prevent a sudden start of the vehicle when the joystick handle is within the predetermined left and right position range.

Further, the joystick handle has a position determining step for determining the front-back position of the joystick handle and a left-right position data converting step for converting the left-right position data indicated by the left-right position signal according to the front-back position of the joystick handle. Since the value of the left and right position data can be adjusted based on the front and rear position of the vehicle, for example, when the driver is facing forward and the vehicle moves backward, the joystick handle is At this time, the left and right dead zones can be enlarged to make the left and right position data within that dead zone zero, and there can be no turning, and even if it is in the rear position, the joystick handle can be operated greatly to exceed the dead zone. In such a case, it is possible to make a normal turning state,
The influence of the joystick handle when the vehicle moves backward can be reduced, and a stable operation can be obtained for the driver.

Further, the right and left position data conversion step includes
When the joystick handle is in the rear position, the value of the left / right position data indicated by the left / right position signal is set to a wide zero in the center part, and when the joystick handle is in the front position, the value of the left / right position data indicated by the left / right position signal is in the center part. The dead zone of the left and right position data is large when the joystick handle is in the rear position, and it is possible to set the state without turning within the dead zone and the normal turning state when exceeding the dead zone. So
The influence of the joystick handle when the vehicle moves backward can be reduced, and stable operation can be obtained for the driver.

Further, it is determined whether or not the value indicated by the left and right position signals is within a predetermined range from the neutral position of the joystick handle, and if it is within the predetermined range, a soft processing determination step of performing a soft start processing, and a soft start. A running determination step for determining whether or not the process is being executed, a direction determination step for determining the direction of movement of the joystick handle, a timing step for measuring elapsed time from a predetermined time, a direction of movement and elapsed time, Since the time constant can be given to the rotation drive command data (frequency data), that is, the rotation drive command signal (frequency signal), the joystick handle can be provided by increasing and decreasing the value of the rotation drive command signal. It is possible to prevent the vehicle from suddenly starting when the vehicle is within the predetermined left and right position range.

[Brief description of drawings]

FIG. 1 is a functional block diagram showing a function realizing means of a CPU constituting a travel control device for a special vehicle according to an embodiment of the present invention.

FIG. 2A is a flowchart showing a joystick left / right position data reading process in the apparatus of FIG. (B) is an area diagram showing areas divided according to the values of front and rear position data.

FIG. 3A is a graph showing the contents of table conversion. (B) is a graph showing the table conversion contents. (C) is a graph showing the contents of table conversion.

FIG. 4 is a flowchart showing a process relating to traveling control in the device of FIG.

5 is a flowchart showing a soft start process in the apparatus of FIG.

6 is a time constant graph showing a new frequency obtained based on the flow of FIG.

FIG. 7 is a flowchart showing (A) frequency output processing. (B) A graph showing the relationship between frequency data and frequencies.

FIG. 8 (A) is a block system diagram showing a conventional travel control device for a special vehicle. (B) It is a top view which shows the joystick controller which comprises the driving control device of the conventional special vehicle.

9 is a block system diagram showing the left and right hydraulic pump devices of FIG. 8 (A).

FIG. 10 is a block system diagram showing a control unit of FIG.

FIG. 11 is a configuration diagram showing a proposed special vehicle.

FIG. 12 is a flowchart showing a main flow of a travel control device for a special vehicle.

FIG. 13 is a flowchart for explaining reading of front-back position data from a joystick controller.

FIG. 14 is a graph showing a relationship between front and rear position signals and front and rear position data.

FIG. 15 is a flowchart for explaining reading of left / right position data from a joystick controller.

FIG. 16 is a graph showing a relationship between a left / right position signal and left / right position data.

FIG. 17 is a flowchart for explaining conventional travel control.

FIG. 18 (A) is a flowchart for explaining a conventional normal turning mode. (B) is a data diagram showing front and rear position data and left and right position data corresponding to the region of the position of the joystick handle.

FIG. 19 (A) is a flow chart for explaining a super-trust turning mode. (B) is a data diagram showing front and rear position data and left and right position data corresponding to the region of the position of the joystick handle.

FIG. 20 is a flowchart illustrating a conventional frequency output process.

FIG. 21 is a graph showing a relationship between frequency data and frequencies.

[Explanation of symbols]

 1 joystick controller (progressive turning setting device) 1a joystick handle 2 seat position detection unit 3 control unit 11 front-back position determination means 12 left-right position data conversion means 21 software processing determination means 22 direction determination means 23 execution determination means 24 increase / decrease means 25 timekeeping Means SF1 to SF3 region 104 Engine 105A Left hydraulic pump device 106 Left hydraulic motor 107 Left sprocket 108 Left rubber crawler 109A Right hydraulic pump device 110 Right hydraulic motor 111 Right sprocket 112 Right rubber crawler

Claims (6)

[Claims] 1. A joystick controller for outputting a front / rear position signal indicating forward or reverse and a left / right position signal indicating right or left turning according to a tilt direction and a tilt angle of a joystick handle, and the front / rear position signal. A traveling control device for a special vehicle, comprising: a control unit for controlling vehicle traveling by inputting the left and right position signals, wherein the control unit is a front-back position determination unit that determines a front-back position of the joystick handle; A travel control device for a special vehicle, comprising: a left-right position data conversion unit that converts left-right position data indicated by the left-right position signal according to a front-back position of the joystick handle. 2. The left / right position data conversion means sets the value of the left / right position data indicated by the left / right position signal to a wide zero in the central portion when the joystick handle is in the rear position, and the joystick handle is in the front position. 2. The travel control device for a special vehicle according to claim 1, wherein the value of the left / right position data indicated by the left / right position signal is narrowed to zero in the central portion at one time. 3. A joystick controller that outputs a front / rear position signal indicating forward or reverse and a left / right position signal indicating right or left turning according to the inclination direction and inclination angle of the joystick handle, and the front / rear position signal. A travel control device for a special vehicle, comprising: a control unit that inputs the left and right position signals to control vehicle travel; and left and right rotating bodies that are driven by left and right rotation drive signals from the control unit. The control unit determines whether or not the value indicated by the left and right position signals is within a predetermined range from the neutral position of the joystick handle, and when it is within the predetermined range, a soft process determination unit that performs a soft start process, Execution judging means for judging whether or not the soft start processing is being executed, and direction judgment for judging the direction of movement of the joystick handle. Special means characterized by having means, time measuring means for measuring an elapsed time from a predetermined time, and increasing / decreasing means for determining an increase / decrease of the value of the rotation drive command signal based on the direction of the movement and the elapsed time. Vehicle drive control device. 4. A joystick controller for outputting a front / rear position signal indicating forward or reverse and a left / right position signal indicating right or left turning according to a tilt direction and a tilt angle of a joystick handle, and the front / rear position signal. A front and rear position determining step of determining a front and rear position of the joystick handle, and a front and rear position of the joystick handle. A left-right position data conversion step of converting left-right position data indicated by the left-right position signal according to a position, and a traveling control method for a special vehicle. 5. The left / right position data converting step sets the value of the left / right position data indicated by the left / right position signal to a wide zero in the central portion when the joystick handle is in the rear position, and sets the joystick handle to the front position. 5. The traveling control method for a special vehicle according to claim 4, wherein the value of the left / right position data indicated by the left / right position signal is narrowed to zero in the central portion at certain times. 6. A joystick controller for outputting a front / rear position signal indicating forward or reverse and a left / right position signal indicating right or left turning according to the inclination direction and inclination angle of the joystick handle, and the front / rear position signal. A travel control method for a special vehicle, comprising: a control unit that inputs the left and right position signals to control vehicle travel, and left and right rotating bodies that are driven by left and right rotation drive signals from the control unit. It is determined whether the value indicated by the left / right position signal is within a predetermined range from the neutral position of the joystick handle, and when the value is within the predetermined range, a soft processing determination step of performing a soft start processing and the soft start processing are performed. A running determination step for determining whether or not it is being executed, and a direction determination step for determining the direction of movement of the joystick handle. A travel control method for a special vehicle, comprising: a step of measuring a time elapsed from a predetermined time; and a step of increasing / decreasing the increase / decrease based on the direction of movement and the elapsed time.