JPS6197713A - Automatic steering device of paving truck - Google Patents

Abstract

PURPOSE:To decrease the number of workers on a paving truck to just one from conventional two by securing the automatic steering operation of the truck by means of a position detector and a command device based on the running reference line put on the surface of a road to be paved. CONSTITUTION:A position detector 6 detects the position of an asphalt finisher 1 based on a running reference line (reference member) 8 put on the surface of a road. This detector 6 consists of three light sensors 9, 10 and 11 containing projectors and light receivers. Then the detector 6 receives the detection signal sent from a rotary encoder and delivers a command to a solenoid switch valve 27. Thus an actuator 26 is driven to correct the running direction of the finisher 1 if it gets out of the line 8. While a hydraulic cylinder for main clutch is operated when necessary to stop the running of the finisher 1. A command device 7 receives the detection signals from light sensors 9-11 and controls the working of the actuator 26 for the hydraulic cylinder which actuates the steering wheels 24 of the finisher 1 via a steering rod 25. Thus the directions of the wheels 24 can be changed.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic steering device for an axle-mounted work vehicle such as an asphalt finisher.

The conventional asphalt finisher has a structure in which it is operated by two workers: an operator who turns the AM and a screed man, and a screed man who operates the screed, but the temperature reading requires labor and is not economical. The purpose of the present invention is to provide an automatic steering system that can be automated and operated by a single person. The vehicle is equipped with a position detection device that detects a position and a command device that receives a detection signal output from the position detection device, and is configured so that the command device controls the operation of the actuator of the steering wheel.

Hereinafter, one embodiment of the present invention will be described with reference to the drawings.

FIGS. 1 to 3 show an embodiment of the present invention, and numeral 1 in the figures is an asphalt finisher. This asphalt finisher 1 is equipped with a K hopper 2 at the front (upper part in Fig. 1), and the asphalt mixture put in the K hopper 2 is sent rearward by a bar feeder 3 and dropped onto the road surface by a screw 4. The asphalt finisher 1 is composed of a pair of movable screeds, and is compacted by an extendable screed 5 whose laying width can be adjusted.A position detection device 6, which will be explained in detail next, is installed on the front right side of the asphalt finisher 1. , and the central NK is equipped with a command device 7.

The position detection device 6 is based on the driving standard 1 where road traps are installed! (M
It detects the position of the asphalt finisher 1 based on semi-R material) 8, and is composed of three optical sensors 9, 10, and 11 consisting of a light emitter and a light receiver. In FIGS. 2 and 3, the center optical sensor 10 is connected to the travel reference line 8.
The left optical sensor 9 detects the traveling base M@8 and issues a signal to notify that the asphalt finisher 1 is in the correct position. The right optical sensor 11 detects the travel reference line 8 and issues a signal to notify that the asphalt finisher 1 is moving 4M to the right.In the above, , the central optical sensor 10 is attached to a holder 1 that is movable back and forth (up and down in FIG. 2) on a support member 12.
The left and right optical sensors 9.11 are fixed to the holder 13.4, and the left and right optical sensors 9.11 are attached to the support member 12 so as to be movable left and right.
15 @Also, the support member 12 is inserted into the end of the cylindrical movable beam 17 and tightened by inserting it into the long hole 20 of the support member 12 into the end member 19 which is fixed with a bolt 18. bolt 2 screwed into the end member 19
1. Tightening (fixed so that it can move up and down.

In addition, the movable beam 17 is movably fitted to a fixed beam 22 which is fixed to the front right side of the asphalt finisher 1g1 and protrudes to the right, and is fixed by the r+Yt 23. In this configuration, tightening is done by loosening the bolt 23 and fixing the fixed beam 2
111 of the position detection device 6 relative to the asphalt finisher 1 by expanding and contracting the movable beam 17 relative to the asphalt finisher 1.
! In addition, the height of the position detection device if6 can be adjusted by loosening the bolt 21, and the holder 13, 14, 15 can be moved forward, backward, left, and right relative to the support member 12. Move the light sensor to 9.
10.11 The mutual relationship can be fine-tuned.

The command bag @7 receives the detection signals emitted from the yC sensors 9, 10.11, and controls the operation of an actuator 26 such as a hydraulic cylinder that moves the steering wheel 24 of the asphalt finisher 1 via a steering rod 25. This is to change the direction of the steered vehicle #tI24. That is, the command device 7 consists of a microphone and four computers, of which PU (central processing unit IT), 7a, is
The other I
/, an electromagnetic switching valve 27 incorporated in the hydraulic circuit of the actuator 26 via the interface 7c, and an electromagnetic switching valve 32 incorporated in the main clutch hydraulic cylinder 310 circuit that operates the running/stopping of the asphalt finisher. are connected to each other. and a position detection device 6. In response to the detection signal sent from the rotary encoder 30, a command is issued to the electromagnetic switching valve 27.32 so that if the running direction of the asphalt finisher 1 deviates from the running reference line 8, this is corrected [7 The vehicle is configured to stop traveling by moving the cutter 26 or operating the main clutch hydraulic cylinder 31 when necessary.

The control mode of the actuator 26 by the command device 7 is
It looks like the picture.

That is, to explain the outline of this, the central optical sensor 1
0 directly above the running reference line 8 and start. No correction orders will be issued at this time. After the correction interval time T has elapsed, a detection signal of the travel reference line 8 is output from the left optical sensor 9, so the command device 7 sends a color distortion command to the actuator 26 so that the α direction is changed to the left. send to Further, this state continues even after the elapse of time T, and since the command signal for correcting the normal state VC has already been maintained, no additional correction command is issued from the command device 7.

After that, detection number 43 was issued from the central optical sensor 10, and the axle-mounted work vehicle moved to the left with respect to the running standard @8 and returned to the normal running state. A correction command is issued to the actuator 26 to restore the normal driving operation state.

In the above case, the CPU 7a determines the position data such as, for example, the optical sensor 9 is set to [l], the optical sensor 10 is set to [ko], and the optical sensor 11 is set to [3], and the position data is stored in the memory. Store it in memory, and perform arithmetic processing to subtract the value of the position data of the optical sensor that issued the detection signal last time from the value of the position data of the optical sensor that issued the detection signal this time, and if the answer is 10 l. In the case of 5, 5Kfei, it is as if a positive command is issued, such as 5Kfei, 5Kfei, 5Kfei, 5Kfei, 5Kfei, 5Kfei, 5Kfei, 5Kfei, 5Kfei, 5Kfei, 5Kfei, 5Kfei, 5Kfei, 5Kfei, 5Kfei, 5Kfei, 5Kfei, 5Kfei, 5Kfei, 5Kfei, 5Kfei, 5Kfei, 5Kfei, 5Kfei, 5Kfei, 5Kfei, 5Kfei, 5Kfei, 5Kfei, 5Kfei, 5Kfei, 5Kfei, 5Kfei. In addition, in the case of the one in Fig. 3, if the state in which no detection signal is received from any optical sensor continues for 2T hours, a command to correct the sensor α is issued, and if it continues for 1ifl at 31:00, the CP
A stop command is issued to the main clutch 32 via U7a mustard b inter 7 ace 7C, which operates the main clutch hydraulic cylinder 31, disengaging the main clutch and stopping the asphalt finisher from running. There is.

Thus, 28 is a cover surrounding the position detection device 6;
29 is an auxiliary screw attached to the screw 4.

Next, the operation of the shaft-equipped working vehicle having the above-mentioned construction will be explained with reference to FIG.

! As for the start position of IfIJItl, first, the detection signal from the optical sensor is recognized by the command device i7, and the position of the optical sensor that is emitting the detection signal is read, and the 1st steering automatic switch is turned on and off. m is edicted. If this automatic steering switch is ON, check whether the initial start is started immediately. If the command is given and it is an initial start, it is checked whether any working equipment other than the traveling thread is in a working position. In the above, if the outward automatic switch is set to 0FII'', the presence or absence of the travel stop output is questioned.◎If the start conditions are not met, it will be returned to the start position.
If the start conditions are met, or if it is not an initial start, the work vehicle is running or the signal from the running speed encoder 30 is interrupted, and if it is running, The presence or absence of a signal from the optical sensor is determined.

When the work vehicle is stopped in the above manner, if there is a signal from the 0 light sensor that returns to the writing start position, the correction interval time T is cleared and the light reading data is You can check whether the location data is the same as the previous one. If the position data is different, a correction command is sent to the actuator 26, and if the traveling direction is corrected as shown in FIG. Later, the data is replaced and then returned to the starting position.

In addition, if there is no data from the original sensor, it will be detected by the center optical sensor 10 (if No. 3 is displayed, it will return to the start. If the optical sensors 9 and 11 at the end are on the running reference line 8 When the detection signal is being emitted, a correction command is issued and the correction is performed, time counting is started, and this state continues for a predetermined time T1.

After that, it is confirmed whether the control is uncontrollable or not, and if it is uncontrollable (if the output is
2&C is issued, which causes the hydraulic cylinder 31 to plow,
If the main clutch of the travel drive system is disengaged and the vehicle is not out of control, the vehicle will be left at the starting position.

The above smell [is based on the three original sensors 9. 10. Although the position detection device 46 constituted by 11 has been described,
The type and structure of this are arbitrary. Further, even if the pressure is applied using a seventy-four force sensor, the number of pressure sensors used is not limited to three, and any number may be used, and the control section is not limited to that shown in FIG.

As explained above, in the present invention, the steering of an axle-mounted work vehicle such as an asphalt finisher is controlled by the position detection device and the plow command device based on the traveling reference line marked on the road surface to be paved. Since this is done automatically, the number of on-board workers, which previously required two, can be reduced to one, and paving can be done economically and with labor savings.

[Brief explanation of drawings]

The drawings show embodiments of the present invention; FIG. 1 is a plan view of an asphalt finisher equipped with the automatic steering device of the present invention; FIG. 1 is a plan view of the main safety part of the automatic steering device of the present invention; Fig. 3 is a view taken along the (Ill-river) arrow in Fig. 2, Fig. 5 is a schematic diagram of the hydraulic circuit of the actuator, Fig. 5 is an explanatory diagram showing an example of a control mode, and Fig. 6 is a control of the command device. An explanatory diagram showing an example, FIG. 7 is a block diagram of the control system. 6...Position detection device, 7...Command device, 8...Travel reference line, 9...Light sensor, 10...Light Sensor, 11... C sensor, 24... Steering wheel, 26... Actuator.

Claims (2)

[Claims] (1) A steering wheel, an actuator that changes the direction of the steering wheel, a position detection device that detects the position based on the driving reference line provided on the road surface, and a signal sent from the position detection device. An automatic steering device for a paving vehicle, comprising: a command device that operates the actuator in response to a detection signal. (2) The position detection device includes an optical sensor that detects the running reference line and issues a center position detection signal, an optical sensor that detects the running reference line and issues a right position detection signal, and an optical sensor that detects the running reference line and issues a center position detection signal. An automatic steering system for an axle-mounted work vehicle according to claim 1, characterized in that it comprises a light sensor that emits a position detection signal.