JPS5952308A - Semiautomatic operation system of vehicle equipped with working device - Google Patents
Semiautomatic operation system of vehicle equipped with working deviceInfo
- Publication number
- JPS5952308A JPS5952308A JP57161455A JP16145582A JPS5952308A JP S5952308 A JPS5952308 A JP S5952308A JP 57161455 A JP57161455 A JP 57161455A JP 16145582 A JP16145582 A JP 16145582A JP S5952308 A JPS5952308 A JP S5952308A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- hydraulic
- engine
- automatic control
- control means
- 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.)
- Granted
Links
- 238000010276 construction Methods 0.000 claims abstract description 7
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 230000002441 reversible effect Effects 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 230000002706 hydrostatic effect Effects 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 abstract 1
- 239000000446 fuel Substances 0.000 description 11
- 239000003921 oil Substances 0.000 description 11
- 238000002347 injection Methods 0.000 description 6
- 239000007924 injection Substances 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 235000006693 Cassia laevigata Nutrition 0.000 description 2
- 241000522641 Senna Species 0.000 description 2
- 239000000498 cooling water Substances 0.000 description 2
- 230000000994 depressogenic effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000010687 lubricating oil Substances 0.000 description 2
- 229940124513 senna glycoside Drugs 0.000 description 2
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000000881 depressing effect Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 239000010705 motor oil Substances 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000007665 sagging Methods 0.000 description 1
- 239000010729 system oil Substances 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【発明の詳細な説明】
この発明は各種の建設機械や産業機械など作業装置が装
備される車輌の半自動操縦システムに関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a semi-automatic steering system for vehicles equipped with working equipment such as various construction machines and industrial machines.
この種の作業装置装備車輛は、苛酷な作業条件下で運転
されるため、操縦性の容易化、安全性の確保、省エネル
ギーの推進等が強く要望される。Since this type of vehicle equipped with a working device is operated under severe working conditions, there is a strong demand for ease of maneuverability, ensuring safety, promoting energy conservation, etc.
この発明は上記亭情に鑑みてなされ、その主目的は、エ
ンジン稼動時や車輌走行時において、車輌駆動系の各コ
ンポーネントからのセンナ信号により、そのとぎの諸条
件に対応した最適な車輛動作が自動的に得られるように
した作業装置装備車輛の半自動操縦システムを提供する
にある。This invention was made in view of the above circumstances, and its main purpose is to use Senna signals from each component of the vehicle drive system to optimize vehicle operation corresponding to the current conditions when the engine is running or when the vehicle is running. The purpose of the present invention is to provide a semi-automatic steering system for vehicles equipped with work equipment that can be automatically operated.
この発明のまたの目的は、操向操作せずに車輌を走行さ
せている際の車輌直進性の維持、各コンポーネントの動
作状況にマツチした省燃費運転等が自動的に遂行される
ようにした作業装置装備車輛の半自動操縦システムを提
供するにある。Another object of the present invention is to automatically maintain the straightness of the vehicle when the vehicle is running without steering operation, and to automatically perform fuel-efficient driving that matches the operational status of each component. The purpose is to provide a semi-automatic steering system for vehicles equipped with work equipment.
以下、この発明の好適実施例を図面に基づいて説明する
。Hereinafter, preferred embodiments of the present invention will be described based on the drawings.
ｔａ１図には履帯式建設車輛のハイドロスタティックド
ライブシステムが例示しである。Figure ta1 shows an example of a hydrostatic drive system for a tracked construction vehicle.
このシステムは、ディーゼルエンジン１の動力でリダク
ションギヤ機構２を介して左右ドライブ系の油圧ポンプ
３，４を駆動し、かつ該ポンプのそれぞれの吐出圧油で
左右ファイナルドライブ系の油圧モータ５，６を個々に
駆動する基本構成となっている。This system uses the power of a diesel engine 1 to drive hydraulic pumps 3 and 4 of the left and right drive systems via a reduction gear mechanism 2, and uses the pressure oil discharged from each pump to drive hydraulic motors 5 and 6 of the left and right final drive systems. The basic configuration is to drive each individually.
油圧ポンプ６．４は、第２図で一層詳細な如（、リダク
ションギヤ機構２の出力軸に連結されるシリンダブロッ
ク７と、該ブロックに対して同芯環状の定間隔配列状態
で平行するよう取付けられた複数のピストン８，９・・
・と、該ピストンの各基端にスリッパ１０とカラー１１
を介して角度可変自在に連結された斜板１２とを備え、
エンジン駆動によるシリンダブ四ツ２フ０回転時に前記
斜板１２の角度を変化させることによって、圧油吐装置
が増減できる町逆転可変容量形のプランジャポンプ構成
になっている。The hydraulic pump 6.4 is shown in more detail in FIG. A plurality of installed pistons 8, 9...
・A slipper 10 and a collar 11 are provided at each base end of the piston.
and a swash plate 12 connected to the swash plate 12 in a variable angle manner,
By changing the angle of the swash plate 12 at the time of zero rotation of the four cylinder tabs driven by the engine, the hydraulic oil discharge device can be increased or decreased in a variable displacement plunger pump configuration.
かかる油圧ポンプ６．４のそれぞれの斜板１２には、該
斜板角を変化させるためのポンプ制御手段として例示し
た左右の操向ペダル１！１．１４と、図示省略のスピー
ドコントロールレバーやフートブレーキコントロールレ
バー等カリンヶージやアクチュエータ等を介して連動さ
せである。Each swash plate 12 of the hydraulic pump 6.4 includes left and right steering pedals 1!1.14, which are illustrated as pump control means for changing the swash plate angle, and a speed control lever and foot (not shown). It is linked via a brake control lever, etc., or an actuator.
一方、油圧モータ５，６は定容量可逆転形のピストンポ
ンプからなって左右のファイナルドライブにそれぞれ直
結されている。On the other hand, the hydraulic motors 5 and 6 are composed of fixed displacement reversible piston pumps, and are directly connected to the left and right final drives, respectively.
そして、左右の油圧ポンプ３．４とそれらの系統の油圧
モータ５，６とを結ぶ左右の油圧回路にはシンク四ナイ
ジングパルプ１５．１６が組込である。Further, the left and right hydraulic circuits connecting the left and right hydraulic pumps 3.4 and the hydraulic motors 5, 6 of these systems are equipped with four sinking pulps 15, 16.
該パルプ１５，１１５は、車輌の直進走行時における左
右油圧回路の圧力差をなくして左右ファイナルドライブ
系のそれぞれの回転スピードを同調させるための速度差
自動補正手段として機能する。The pulps 15 and 115 function as speed difference automatic correction means for eliminating the pressure difference between the left and right hydraulic circuits when the vehicle is running straight and synchronizing the respective rotational speeds of the left and right final drive systems.
また、リダクションギヤ機構２には作業装置駆動用の油
圧ポンプ１７が連動させである。Further, a hydraulic pump 17 for driving a working device is linked to the reduction gear mechanism 2.
該ポンプ１７の吐出側は作業装置用のコン）ａ−ルパル
ブ１８を介してリフトシリンダ１９とチルトシリンダ２
０のそれぞれに連通させである。The discharge side of the pump 17 is connected to a lift cylinder 19 and a tilt cylinder 2 via a control valve 18 for a working device.
It is connected to each of 0.
なお、第１図中の符号２１は燃料噴射ポンプ、２２は燃
料制御弁、２６はミッションオイルクー２．２４は工ｙ
ジンオイルクーラ％２５は作業装置オイルクーラ、２６
〜２８は７０−レギュレータである。In addition, the reference numeral 21 in Fig. 1 is a fuel injection pump, 22 is a fuel control valve, 26 is a transmission oil cooler, and 24 is an engineering unit.
Jin oil cooler% 25 is working equipment oil cooler, 26
~28 is a 70-regulator.
以上の如き第１図のドライブシステムにおいて、エンジ
ン１の系統にはエンジン回転数、燃料消費量（コントロ
ールラックストローク）、潤滑油の圧力と温度、冷却水
温度のそれぞれを個々に検出するためのセンナ２９〜３
３（第８図参照）が設けである。また、操作系統にはガ
バナ制御レバーストロークとスピード制御レバーストロ
ーク、および左右操向ペダル１３．１４（ブレーキを含
む）のストロークと作業装置制御レバーストロークのそ
れぞれを検出するためのセンナ３４〜３８が設けである
。更に、左右のドライブ系統には、該系統の油圧モータ
５，６に供給される油圧と該モータの出力回転数とを個
々に検出するためのセンナ３９．４０と４１．４２とが
設けられ、かつ作業装置駆動用油圧系統には該系統の油
圧ポンプ１７の吐出油圧とその油温を検出するためのセ
ンサ４３．４４が設けである。その他、ハイドロスタテ
ィックトランスミッションにはその系統の油温と吸・排
気温度、吸気圧のそれぞれを検出するセンサ４５〜４８
が、また、車体側には加減速度と車体傾斜角度を検出す
るためのセンナ４９．５０がそれぞれ設けである。In the drive system shown in Fig. 1 as described above, the system of engine 1 includes sensors for individually detecting engine speed, fuel consumption (control rack stroke), lubricating oil pressure and temperature, and cooling water temperature. 29-3
3 (see Figure 8) is the provision. The operating system is also provided with sensors 34 to 38 for detecting the stroke of the governor control lever, the stroke of the speed control lever, the stroke of the left and right steering pedals 13.14 (including brakes), and the stroke of the work equipment control lever. It is. Further, the left and right drive systems are provided with sensors 39.40 and 41.42 for individually detecting the oil pressure supplied to the hydraulic motors 5 and 6 of the systems and the output rotation speed of the motors, The hydraulic system for driving the working device is provided with sensors 43 and 44 for detecting the discharge oil pressure and oil temperature of the hydraulic pump 17 of the system. In addition, the hydrostatic transmission has sensors 45 to 48 that detect the oil temperature, intake/exhaust temperature, and intake pressure of the system.
However, sensors 49 and 50 are respectively provided on the vehicle body side to detect acceleration/deceleration and vehicle body inclination angle.
これらの各種センサ２９〜５０は、それぞれの検出値を
電気信号に変換して前記ドライブシステムの自動制御手
段５１ＪＣ出力する。These various sensors 29 to 50 convert their detection values into electrical signals and output them to the automatic control means 51JC of the drive system.
該手段５１は、各センサ２９〜５０からの入力信号に基
づいた判断処理を行なって前記ドライブシステムの最適
稼動条件を算定し、その結果の最適動作信号を該ドライ
ブシステムのコンポーネントにフィードバックする電子
回路構成のマイク党コンピュータからなっている。The means 51 is an electronic circuit that performs judgment processing based on input signals from each of the sensors 29 to 50 to calculate the optimum operating conditions of the drive system, and feeds back the resulting optimum operating signal to the components of the drive system. The configuration consists of a microphone and a party computer.
即ち、車輌走行時において、操向ペダル１６゜１４を踏
まずにスピード制御レバーのみを操作した場合、自動制
御手段５１は操向ペダル１３．１４のストロークセンサ
３（５，３７からの信号が断たれるにも拘わらず、少な
くとも左右油圧モータ５．６の回転数センサ４１，４２
からの信号を入力することにより、車輌が直進走行中で
あると判断する。That is, when the vehicle is running and only the speed control lever is operated without depressing the steering pedals 16. Despite the sagging, at least the rotation speed sensors 41 and 42 of the left and right hydraulic motors 5.6
It is determined that the vehicle is traveling straight by inputting a signal from the vehicle.
その車輌直進走行中において、何らかの理由で左右油圧
モータ５，６に回転差が生じた場合、自動制御手段５１
は前記モータ回転数センサ４１゜４２からの入力信号に
基づいて算定した結果の制御信号をシンクロナイジング
パルプ１５．１６に発信する。If a rotation difference occurs between the left and right hydraulic motors 5 and 6 for some reason while the vehicle is running straight, the automatic control means 51
transmits a control signal calculated based on the input signals from the motor rotation speed sensors 41 and 42 to the synchronizing pulp 15 and 16.
もって、該バルブ１５．１６は信号制御されることによ
り、左右の油圧モータ５，６が同調回転するよう該モー
タのそれぞれく向う圧油量が自動調整される。従って、
この場合は車輌走行時の直進性が維持される。Accordingly, the valves 15 and 16 are controlled by signals to automatically adjust the amount of pressurized oil facing each of the left and right hydraulic motors 5 and 6 so that they rotate in synchrony. Therefore,
In this case, the straight-line performance of the vehicle is maintained.
エンジン稼動状態において、各油圧ポンプ３゜４の斜板
角が０°のとき（スピード制御レバーが中立位置、また
は油圧モータ５．乙のドライブ圧力が００とき）と、作
業装置系油圧ポンプ１７の吐出油圧力が設定値以下で一
定時間経過した場合、自動制御手段５１は少なくとも左
右油圧モータ３．４の回転数センサ４１，４２からの信
号が断たれる一方、エンジン回転数センサ２９からの信
号を入力する。これにより、自動制御手段５１は車輌が
待機停止中であると判定し、その結果の制御信号をエン
ジン回転数制御アクチュエータ（燃料噴射装置のガバナ
制御レバー）２１人に伝送される。もって、該アクチュ
エータ２１Ａが自動制御されることにより、エンジン回
転数がローアイドル回転数に下げられ、そのエンジン回
転数は負荷条件変化時において直ちに復帰する。In the engine operating state, when the swash plate angle of each hydraulic pump 3°4 is 0° (the speed control lever is in the neutral position or the drive pressure of the hydraulic motor 5. When the discharge oil pressure is below the set value and a certain period of time has passed, the automatic control means 51 cuts off at least the signals from the rotation speed sensors 41 and 42 of the left and right hydraulic motors 3.4, and at the same time cuts off the signals from the engine rotation speed sensor 29. Enter. As a result, the automatic control means 51 determines that the vehicle is in a standby state, and the resulting control signal is transmitted to the engine rotation speed control actuator (governor control lever of the fuel injection device) 21. Accordingly, by automatically controlling the actuator 21A, the engine speed is lowered to the low idle speed, and the engine speed immediately returns to the low idle speed when the load condition changes.
従って、この場合はエンジン稼動状態にある車輌の待機
停止時におけるエンジンの省燃費運転が自動的に遂行さ
れる。Therefore, in this case, fuel-saving operation of the engine is automatically performed when the vehicle is in a standby state with the engine running.
各油圧モータ５，６のそれぞれが入力する油圧力および
作業装置系油圧ポンプ１７の吐出油圧力が設定値以下で
一定時間経過した場合、自動制御手段５１は、前記モー
タ５，６の圧力センサ３９．４０とポンプ１７の圧力セ
ンサ４３とからの入力信号によって車輌が軽負荷走行状
態にあると判断する。そして、自動制御手段５１は前記
判断結果の制御信号を燃料噴射ポンプ制御用アクチュエ
ータ２１Ｂに伝送してこれχ自動制御することにより、
車輪の軽負荷走行時におけるエンジン回転数が設定値ま
で目動的に下げられる。この場合、左右ドライブ系の油
圧ポンプ６．４は、前述の如き構成のピストンポンプか
らなっていて、エンジンの回転数低下によるポンプ吐出
圧油流量の変化を斜板角で自動補正する機能を自ら有し
ているが、この発明では、それに加えて自動制御手段５
１゜所謂、マイクロコンピュータによってもエンジン回
転数が車軸走行時の負荷状況に応じて強制補正されるよ
うにしている。従って、車輌の軽負荷走行時における省
燃費運転をも自動的に遂行し得る。When the hydraulic pressure input to each of the hydraulic motors 5, 6 and the discharge hydraulic pressure of the working device system hydraulic pump 17 are below the set value for a certain period of time, the automatic control means 51 controls the pressure sensor 39 of the motor 5, 6. .40 and the input signal from the pressure sensor 43 of the pump 17, it is determined that the vehicle is in a light load running state. Then, the automatic control means 51 transmits the control signal of the judgment result to the fuel injection pump control actuator 21B, and automatically controls the actuator 21B.
The engine speed when the wheels are running with a light load is manually lowered to a set value. In this case, the left and right drive system hydraulic pumps 6.4 are composed of piston pumps configured as described above, and have a function of automatically correcting changes in the pump discharge pressure oil flow rate due to a decrease in engine speed using the swash plate angle. However, in this invention, in addition, automatic control means 5 is provided.
1. A so-called microcomputer also forces the engine speed to be corrected in accordance with the load condition during running of the axle. Therefore, it is possible to automatically perform fuel-saving operation when the vehicle is running under a light load.
また、自動制御手段５１は車輌走行時の負荷に応答した
エンジン出力の自動制御をも遂行する。Further, the automatic control means 51 also performs automatic control of the engine output in response to the load when the vehicle is running.
この場合、自動制御手段５１は車輌稼動現場の路面条件
等に応じて予め設定された最大けん引力（スリップ限界
点）を超えない範囲でエンジン出力を燃料噴射量によっ
て自動制御する。In this case, the automatic control means 51 automatically controls the engine output according to the fuel injection amount within a range that does not exceed the maximum traction force (slip limit point) that is preset according to the road surface conditions at the site where the vehicle is operated.
即ち、自動制御手段５１は、左右油圧モータ５．６の回
転数センサ４１，４２からの車速信号と、前記モータ５
，６の圧力センサ３９．４０からのけん引力信号と、作
業装置系油圧ポンプ１７の吐出油圧センサ４３からの作
業装置負荷信号と、車体傾斜角センサ５０からの個毎と
を入力する。そして、それらの入力信号に基づいた判断
を行ない、その判断結果から算定した燃料制御信号を燃
料噴射系アクチュエータ２１Ｂに伝送してこれｔ制御す
る。もって、燃料噴射量が自動制御されることにより、
エンジン出力ρ・負荷に応じた最適状ａＫ維持される。That is, the automatic control means 51 receives the vehicle speed signals from the rotation speed sensors 41 and 42 of the left and right hydraulic motors 5.6, and the motor 5.
. Then, judgments are made based on these input signals, and a fuel control signal calculated from the judgment result is transmitted to the fuel injection system actuator 21B to control it. By automatically controlling the fuel injection amount,
The optimum state aK is maintained according to the engine output ρ and load.
尚この場合、最適な燃料燃焼状態を得るための条件（大
気圧、吸気温度、吸気圧、排気温度、燃料比重等）は自
動検知またはマニュアルによって自動制御手段５１に入
力設定される。In this case, the conditions (atmospheric pressure, intake air temperature, intake pressure, exhaust temperature, fuel specific gravity, etc.) for obtaining the optimum fuel combustion state are input and set to the automatic control means 51 by automatic detection or manually.
左右操向ペダル１３．１４を減速ストローク範囲内で略
同等に踏込んだ場合、自動制御手段５１はペダルストロ
ークセンサ３６，３７からの同時入力信号により減速指
示と判断する。該判断の結果、左右ドライブ系油圧モー
タ５，６の各回転数をそれぞれの系統のセンサ４１，４
２からの入力信号で検出しつつシンクロナイジングパル
プ１５．１６の制御信号を発信する。もって、該パルプ
が信号制御されることにより、この場合、各油圧モータ
５，６のそれぞれの回転数が前記各ペダルストロークに
見合うｔだげ同等回転数に自動低下させられる。また、
操向ペダル１３．１４’に制動位置まで同等に踏込んだ
場合、自動制御手段５１はペダルストロークセンサ３６
．３７からの入力信号でそれを感知して制動信号を発信
することにより左右ドライブ系油圧モータ５，６の回転
を同時に停止させる。これらの目的は、該モータ５゜６
のそれぞれの回転数のミスマツチングを自動補正してよ
り正確な車輌直進性を得ることにある。When the left and right steering pedals 13 and 14 are depressed approximately equally within the deceleration stroke range, the automatic control means 51 determines that a deceleration instruction is issued based on the simultaneous input signals from the pedal stroke sensors 36 and 37. As a result of this judgment, the respective rotation speeds of the left and right drive system hydraulic motors 5 and 6 are determined by the sensors 41 and 4 of the respective systems.
While detecting the input signal from 2, a control signal for the synchronizing pulp 15 and 16 is transmitted. As a result, the pulp is controlled by a signal, so that in this case, the respective rotational speeds of the hydraulic motors 5 and 6 are automatically lowered to the same rotational speed by t corresponding to each pedal stroke. Also,
If the steering pedals 13, 14' are equally depressed to the braking position, the automatic control means 51 activates the pedal stroke sensor 36.
．． By sensing the input signal from 37 and transmitting a braking signal, the rotations of the left and right drive system hydraulic motors 5 and 6 are simultaneously stopped. These purposes are based on the motor 5゜6
The purpose of this system is to automatically correct mismatching of the respective rotational speeds to obtain more accurate vehicle straightness.
その他、車輌の制動信号は、車輌傾斜角、エンジン油圧
、エンジン回転数などの車輌停止条件発生時においても
、それを自動制御手段５１がセンサからの入力信号で検
出した際に該手段から車輛制動系統５２に発信指令され
る。また、自動制御手段５１は、エンジン潤滑油系セン
ナ３１．３２とエンジン冷却水温センサ３３、作業装置
系油温センサ４４、トランスミッション系の各種センサ
４５〜４８からの入力信号による判断、算定をも行ない
、その結果によってそれぞれの系統のフローレギュレー
タ２６〜２８の個別的自動制御ン行なう。In addition, the vehicle braking signal can be used to initiate vehicle braking from the automatic control means 51 when the automatic control means 51 detects it using an input signal from a sensor even when a vehicle stop condition occurs such as the vehicle inclination angle, engine oil pressure, engine rotation speed, etc. A transmission command is issued to the system 52. The automatic control means 51 also performs judgments and calculations based on input signals from the engine lubricating oil system sensor 31, 32, the engine cooling water temperature sensor 33, the working equipment system oil temperature sensor 44, and various transmission system sensors 45 to 48. Based on the results, the flow regulators 26 to 28 of each system are automatically controlled individually.
なお、自動制御手段５１は、各センサ２９〜５０からの
入力信号による検出値、或いはパケットローダ等の場合
における載荷重量、載荷分布等を表示するための表示器
５３を備えている。The automatic control means 51 includes a display 53 for displaying detected values based on input signals from the sensors 29 to 50, or load amount, load distribution, etc. in the case of a packet loader or the like.
以上、この発明によれば、建設機械等の作業装置装備車
輛における駆動系、操向系、制動系、作業装置駆動系等
の各コンポーネントからのセンナ信号を入力する自動制
御手段が、オペレータの操作指令による車輌の期待動作
を適確忙判断し、その判断結果に基づいて該車輌を期待
通りに動作させるべき系統のコンポーネントを自動制御
するので、エンジン稼動時や車輌走行時など、そのとき
の諸条件に対応した最適な車輌動作が得られる。As described above, according to the present invention, the automatic control means for inputting senna signals from each component such as the drive system, steering system, braking system, work equipment drive system, etc. in a vehicle equipped with work equipment such as a construction machine is operated by an operator. The system accurately determines the expected behavior of the vehicle based on the command, and based on the results of that determination, automatically controls the components of the system that should make the vehicle operate as expected. Optimum vehicle operation corresponding to the conditions can be obtained.
このため、操作系統からの直進走行指令に基づいた車輌
直進性を如何なる走行条件下にても自動的に維持できる
と共に、エンジン稼動状態での車輌停止時や軽負荷走行
時などにおける省燃費運転をも自動的に遂行させ得る。Therefore, it is possible to automatically maintain the vehicle's straight-line performance based on the straight-line driving command from the operation system under any driving conditions, and it also enables fuel-efficient driving when the vehicle is stopped with the engine running or when driving under a light load. can also be performed automatically.
図面はこの発明の好適実施例？示すもので、第１図は建
設車輛のハイドロスタティックドライブシステム７示す
ブロック図、第２図はドライブ系油圧ポンプの基本構成
を説明するための断面図、第８図は車輌自動制御システ
ムのブロック図である。
１はエンジン、２はトランスミッション、６゜４は油圧
ポンプ、５，６は油圧モータ、１３．１４は操向ペダル
、１５．１６はシンクロナイジングバルプ、１７は作業
装置系油圧ポンプ、２９〜５０はセンサ、５１は自動制
御手段である。
出 願 人 キャタピラ−三菱株式会社（ロ）
第１図Is the drawing a preferred embodiment of this invention? Figure 1 is a block diagram showing the hydrostatic drive system 7 of a construction vehicle, Figure 2 is a sectional view to explain the basic configuration of the drive system hydraulic pump, and Figure 8 is a block diagram of the vehicle automatic control system. It is. 1 is the engine, 2 is the transmission, 6°4 is the hydraulic pump, 5, 6 is the hydraulic motor, 13.14 is the steering pedal, 15.16 is the synchronizing valve, 17 is the work equipment system hydraulic pump, 29-50 51 is a sensor, and 51 is an automatic control means. Applicant: Caterpillar-Mitsubishi Corporation (b) Figure 1
Claims (1)
操縦システムにして、エンジン、トランスＺツシ目ン、
ファイナルドライブ等の車輌駆動系統および車輌操作系
統や作業装置駆動系統などの各コンポーネントに装備さ
れ、それらのコンポーネントにおける負萄、温度、油圧
力、圧油装置、回転数、加速度等の物理現象や車輌傾斜
角および車輌操作手段の車輪制御動作等を個々に検出す
るセンナと、該センナからの信号を入力して車輌の期待
動作な判定し、その判定に基づいた最適車輛動作を得る
ためのコンポーネント制御条件を算定してその結果の制
御信号なコンポーネントに発信する論理回路構成の自動
制御手段とを備え、該手段からの制御信号で車輌操縦の
一部を自動遂行させるようにしたことｔ％徴とする作業
装置装備車輛の半自動操縦システム。 （２、特許請求の範囲第１項記載のシステムにおいて、
自動制御手段は、各センサからの入力信号による検出値
、または該検出値に基づいて算定した結果の制御信号に
よる車輌動作および作業状況等を表示するための表示器
を備えていることを特徴とした作業装置装備車輛の半自
動操縦システム。 （３）、特許請求の範囲第１項記載のシステムにおいて
、車輌は、エンジンの動力で駆動される左右ドライブ系
の可逆転回変容量形油圧ポンプ２基と、これらのポンプ
が個々に具えた斜板に連動させであるポンプ制御手段と
、前記各ポンプの吐出圧油で個々に駆動される左右ファ
イナルドライブ系の定容量可逆転形油圧モータ２基と、
該モータとそれらの系統の前記各ポンプとを結ぶ油圧回
路に組込まれたシンクロナイジングパルプとを備えて、
前記各ポンプの斜板角を変化させることにより、車速、
操向１前後進の操作が可能な構成にされた油圧駆動車輛
からなり、該車輌走行中に操向操作系センナから自動制
御手段への信号が断たれ、かつ左右ドライブ系油圧モー
タの回転数センサからの信号を自動制御手段が入力して
いるとき、該手段は車幅が直進走行中と判断して左右ド
ライブ系油圧モータの回転数が同一となるようにシンク
ロナイジングバルブを信号制御するようになっているこ
とを特徴とした作業装置装備車輛の半自動操縦システム
。 （４）、特許請求の範囲第８項記載のシステムにおいて
、自動制御手段は、エンジン稼動時のポンプ斜板角が０
８で、かつ作業装置系油圧ポンプの吐出圧が設定値以下
で一定時間経過した際、車輌待機中と判断してエンジン
をローアイドル回転にする制御機能と、車輌走行時の負
荷状況に応じてエンジン回転数を強制的に自動補正する
機能と、前記負荷に応答してエンジン出力を自動制御す
る機能と、減速操作時に減速缶水と判断してその操作量
に見合う分だけ左右ドライブ系油圧モータの回転数の同
等に自動低下させる制御機能と、制動操作時に前記各油
圧モータの同時に停止させる制御機能とを有しているこ
とを特徴とした作業装置装備車輛の半自動操縦システム
。[Claims] (1) A semi-automatic steering system for vehicles such as construction machinery equipped with working equipment, including an engine, a trans
Each component is equipped with vehicle drive systems such as final drives, vehicle operation systems, and work equipment drive systems, and physical phenomena such as negative forces, temperature, hydraulic pressure, hydraulic equipment, rotation speed, acceleration, etc. in these components and vehicle A sensor that individually detects the angle of inclination and wheel control operation of the vehicle operating means, etc., and a component control that inputs signals from the sensor to determine the expected behavior of the vehicle and obtains the optimal vehicle motion based on the determination. The vehicle is equipped with an automatic control means having a logic circuit configuration that calculates the conditions and sends a control signal as a result to the component, and a part of the vehicle operation is automatically performed using the control signal from the means. A semi-automatic steering system for vehicles equipped with work equipment. (2. In the system according to claim 1,
The automatic control means is characterized by comprising a display for displaying vehicle operation, work status, etc. based on detected values based on input signals from each sensor or control signals calculated based on the detected values. Semi-automatic control system for vehicles equipped with working equipment. (3) In the system according to claim 1, the vehicle is equipped with two reversible rotary displacement hydraulic pumps of left and right drive system driven by the power of the engine, and these pumps individually. a pump control means interlocked with the swash plate, and two fixed displacement reversible hydraulic motors of left and right final drive systems individually driven by the discharge pressure oil of each pump;
a synchronizing pulp incorporated in a hydraulic circuit connecting the motor and each of the pumps in the system,
By changing the swash plate angle of each pump, the vehicle speed,
Steering 1 Consists of a hydraulically driven vehicle configured to allow forward and backward operation, and while the vehicle is running, the signal from the steering operation system sensor to the automatic control means is cut off, and the rotation speed of the left and right drive system hydraulic motors is When the automatic control means is inputting a signal from the sensor, the means determines that the vehicle is traveling straight ahead, and controls the synchronizing valve with the signal so that the rotation speeds of the left and right drive system hydraulic motors are the same. A semi-automatic control system for vehicles equipped with work equipment, which is characterized by: (4) In the system according to claim 8, the automatic control means is configured such that the pump swash plate angle is 0 when the engine is running.
8, and when the discharge pressure of the work equipment system hydraulic pump is below the set value for a certain period of time, it is determined that the vehicle is on standby and the engine is rotated at low idle speed. A function to forcibly automatically correct the engine speed, a function to automatically control the engine output in response to the load, and a hydraulic motor for left and right drives that determines that there is water in the deceleration tank during deceleration operation and adjusts the amount corresponding to the amount of operation. 1. A semi-automatic steering system for a vehicle equipped with a work equipment, comprising: a control function for automatically lowering the rotational speed of the hydraulic motors to the same level; and a control function for simultaneously stopping each of the hydraulic motors during a braking operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57161455A JPS5952308A (en) | 1982-09-16 | 1982-09-16 | Semiautomatic operation system of vehicle equipped with working device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57161455A JPS5952308A (en) | 1982-09-16 | 1982-09-16 | Semiautomatic operation system of vehicle equipped with working device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5952308A true JPS5952308A (en) | 1984-03-26 |
| JPH0561151B2 JPH0561151B2 (en) | 1993-09-03 |
Family
ID=15735427
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP57161455A Granted JPS5952308A (en) | 1982-09-16 | 1982-09-16 | Semiautomatic operation system of vehicle equipped with working device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5952308A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0653363U (en) * | 1993-01-05 | 1994-07-19 | ▲魚▼谷鉄工株式会社 | Work machine |
| US5941921A (en) * | 1994-06-07 | 1999-08-24 | Noranda Inc. | Sensor feedback control for automated bucket loading |
| JP2006306199A (en) * | 2005-04-27 | 2006-11-09 | Shin Caterpillar Mitsubishi Ltd | Running drive control device of working machine |
| JP2006306200A (en) * | 2005-04-27 | 2006-11-09 | Shin Caterpillar Mitsubishi Ltd | Running drive device of working machine |
| JP2007520394A (en) * | 2004-02-06 | 2007-07-26 | キャタピラー インコーポレイテッド | Work machine with steering control |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS55156517A (en) * | 1979-05-28 | 1980-12-05 | Kubota Ltd | Running driving device of working vehicle |
| JPS566626U (en) * | 1979-06-29 | 1981-01-21 | ||
| JPS56110527A (en) * | 1980-01-28 | 1981-09-01 | Sundstrand Corp | Controller for speed of engine |
| JPS56141402A (en) * | 1980-04-03 | 1981-11-05 | Hitachi Constr Mach Co Ltd | Control method for hydraulic system |
| JPS56156517A (en) * | 1980-04-04 | 1981-12-03 | Pullman Inc | Light weight wheel shaft |
| JPS5741393A (en) * | 1980-08-27 | 1982-03-08 | Sumitomo Alum Smelt Co Ltd | Electrolytic furnace for production of aluminum |
| JPS57146304A (en) * | 1981-03-05 | 1982-09-09 | Isuzu Motors Ltd | Electronically controlling engine |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5360160A (en) * | 1976-11-10 | 1978-05-30 | Matsushita Electronics Corp | Magnetron device |
-
1982
- 1982-09-16 JP JP57161455A patent/JPS5952308A/en active Granted
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS55156517A (en) * | 1979-05-28 | 1980-12-05 | Kubota Ltd | Running driving device of working vehicle |
| JPS566626U (en) * | 1979-06-29 | 1981-01-21 | ||
| JPS56110527A (en) * | 1980-01-28 | 1981-09-01 | Sundstrand Corp | Controller for speed of engine |
| JPS56141402A (en) * | 1980-04-03 | 1981-11-05 | Hitachi Constr Mach Co Ltd | Control method for hydraulic system |
| JPS56156517A (en) * | 1980-04-04 | 1981-12-03 | Pullman Inc | Light weight wheel shaft |
| JPS5741393A (en) * | 1980-08-27 | 1982-03-08 | Sumitomo Alum Smelt Co Ltd | Electrolytic furnace for production of aluminum |
| JPS57146304A (en) * | 1981-03-05 | 1982-09-09 | Isuzu Motors Ltd | Electronically controlling engine |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0653363U (en) * | 1993-01-05 | 1994-07-19 | ▲魚▼谷鉄工株式会社 | Work machine |
| US5941921A (en) * | 1994-06-07 | 1999-08-24 | Noranda Inc. | Sensor feedback control for automated bucket loading |
| JP2007520394A (en) * | 2004-02-06 | 2007-07-26 | キャタピラー インコーポレイテッド | Work machine with steering control |
| JP2006306199A (en) * | 2005-04-27 | 2006-11-09 | Shin Caterpillar Mitsubishi Ltd | Running drive control device of working machine |
| JP2006306200A (en) * | 2005-04-27 | 2006-11-09 | Shin Caterpillar Mitsubishi Ltd | Running drive device of working machine |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0561151B2 (en) | 1993-09-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103429875B (en) | The driving-controlling device of working truck | |
| JP6049758B2 (en) | Achieving maximum lifting speed using a single input | |
| US5390759A (en) | Driving mechanism for an automotive propel drive | |
| CN103688089B (en) | Work vehicle and method for controlling work vehicle | |
| US9772018B2 (en) | Working machine | |
| US8326499B2 (en) | Retarding control of a machine through power dissipation through power source and parasitic loads | |
| CN101663515B (en) | Construction vehicle | |
| KR101908547B1 (en) | Drive control method and system for operating a hydraulic driven work machine | |
| US8855871B2 (en) | Engine overrun-preventing control device for work vehicle | |
| US11326324B2 (en) | Work vehicle and control method for work vehicle | |
| EP1118581A1 (en) | Hydraulic-driven fork lift | |
| EP1002685A2 (en) | Control of pump for hydraulic front wheel drive | |
| EP2121404B1 (en) | A method and a system for controlling an input power | |
| US20220307595A1 (en) | Hydraulic circuit architecture with enhanced operation efficency | |
| KR20200124646A (en) | Drive for working machine | |
| CN103582587B (en) | Work vehicle and method for controlling work vehicle | |
| JPS5952308A (en) | Semiautomatic operation system of vehicle equipped with working device | |
| JP2567081B2 (en) | Hydraulic drive for traveling | |
| US20240337091A1 (en) | Working vehicle | |
| WO2024202984A1 (en) | Work machine and method for controlling work machine | |
| JP2744706B2 (en) | Traveling speed control device for hydraulically driven vehicle | |
| JPH0552226A (en) | Control circuit for industrial vehicle | |
| JP2024062704A (en) | Work machine and method for controlling work machine | |
| JP5047630B2 (en) | Work machine with steering control | |
| JPH02212674A (en) | Hydraulic drive device for running |