JPS6228811A - Control device for operational direction of remote control type working car - Google Patents

Abstract

PURPOSE:To make the remote control direction coincide with the operating direction of a working car even at the time of backward driving by switching the operation of an actuator by an operating direction switching control means. CONSTITUTION:An operation signal outputted from a remote transmitter is received by a receiver 10b carried by a worker and the 'H' and 'L' states of signals S1, S2 outputted from a steering type control circuit Ja are changed because the signals are changed more or less a reference value in accordance with the forward or backward driving of the working car at the 3rd channel CH3 for selecting the steering type. Consequently, switches SW1X, SW2 of a steer ing direction switching circuit Jb are turned and a steering signal obtained from a steering operation 2nd channel CH2 or a steering direction signal obtained by inverting the polarity through an inversional amplifier A3 is supplied to front and rear wheel valve driving circuits 17F, 17R to switch the operation of the actuator. Consequently, the remote control direction can be made to coincide with the car at the time of backward driving similarly to forward driving, so that the directional operation of the remote car can be made easy and misoperation can be checked.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a steering control device for remotely controlling a working vehicle, and more particularly, a steering control device for controlling a steering wheel on the vehicle body side using a transmitter. The present invention relates to a steering control device for a remote-controlled working vehicle, which includes means for automatically controlling the operation of a steering actuator so that the operation follows the operation of a steering operation tool provided on the side.

[Conventional technology]

In the above-mentioned steering control device for this type of remote-controlled work vehicle, instruction information for operating the steering wheels is transmitted to a steering control tool such as a steering control lever provided on the transmitter side. The instruction information is transmitted to a receiver on the vehicle body in response to the instruction information, and the steering actuator on the vehicle body is controlled to follow the movement of the steering operation tool based on the instruction information. , the steering operation of a work vehicle can be controlled manually by remote control.

By the way, in this type of remote-controlled work vehicle, even if the steering wheel is in the same operation state, the steering direction differs when moving forward and when moving backward. In other words, this is an example of a remote-controlled work vehicle. In a lawn mowing vehicle or the like, after one stroke is completed, a predetermined working range is moved to the next stroke while sequentially reducing the working width. When correcting deviations in the lateral direction with respect to the moving direction of the working equipment during work in each stroke, the front and rear wheels are steered in the same direction, and the vehicle body is moved in parallel without changing its direction. Since this method is more efficient than moving by turning the vehicle body, as there is less meandering, it is possible to steer both the front and rear wheels in the same direction. It is configured so that it can be steered.

Additionally, if the vehicle orientation changes due to wheel slipping, etc., it will not be possible to change the vehicle orientation using only the above-mentioned parallel steering method, so the parallel steering method and the turning steering method, which operates the front and rear wheels in relatively opposite directions, are selected. A steering type selection means will be provided to enable this.

Therefore, even if the steering wheel is in the same operating state, the above-mentioned parallel steering type is a steering type in which the steering direction is different between forward movement, in which the vehicle moves away from the operator, and reverse movement, in which the vehicle body moves toward the operator. Then, the vehicle steering direction and the operation direction of the steering operation tool are configured to match with each other with respect to the forward movement.

As mentioned above, if both the front and rear wheels are configured to be steerable, it will be possible to drive forward and backward with no difference.For example, in the above-mentioned lawn mowing vehicle, -
If you reverse the direction of travel for each stroke and repeat the forward and backward movement while steering the vehicle, you can move between each stroke more efficiently and improve work efficiency. A work style is used in which the robot alternately moves forward and backward.

[Problem that the invention seeks to solve]

However, in the above parallel steering type,
When moving forward when the direction of the driver's line of sight and the vehicle's running direction match,
In other words, when the driver is located at the rear of the vehicle and the vehicle is moved forward in a direction away from the driver, the operating direction of the steering control tool on the transmitter side and the direction of the vehicle body will match. Although there is no problem, in the case shown below, the operation direction of the steering operation tool on the transmitter side does not match the direction of the vehicle body, resulting in a disadvantage that the operability deteriorates.

In other words, in the parallel steering type, when moving the vehicle backwards toward the driver, for example, in order to move the vehicle to the left, it is necessary to steer the steering wheels to the right. However, if the operating direction of the steering operating tool on the transmitter side and the vehicle steering direction are the same as the steering direction during forward movement, then the operating direction of the steering operating tool and the vehicle steering direction are the same. is reversed, and the operating feel of the steering control tool on the transmitter side does not match the vehicle steering direction.

In addition, in the above-mentioned turning steering type, if the direction of the driver's line of sight and the direction of the vehicle body match, the operation direction of the steering operation tool on the transmitter side and the direction of the vehicle body direction will be the same regardless of whether the driver is moving forward or backward. There is no problem because they match, but if you change the orientation of the vehicle relative to the operator and drive forward with the vehicle approaching the operator, the orientation of the vehicle will be opposite to the operator, so the above The operating direction of the steering operating tool and the vehicle steering direction are reversed, and the operating feeling of the steering operating tool on the transmitter side does not match the vehicle steering direction.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to: To improve the operability of a steering operation by making it possible to change the operating direction of a steering operating tool and the direction of a vehicle body when performing a steering operation by remote control.

[Means for solving problems]

The steering control device for a remote-controlled working vehicle according to the present invention is characterized by a state in which the direction of the vehicle body, based on the forward movement, is in the opposite direction to the direction in which the steering operation tool is operated. a steering direction switching control means for switching and controlling the operation of the steering actuator, and outputting steering direction switching instruction information to the steering direction switching control means to the transmitter; A direction switching operation means is provided, and its functions and effects are as follows.

[For production]

That is, based on the instruction information from the steering direction switching operation means on the transmitter side, the steering direction switching control means switches and controls the operation of the steering actuator, so that the vehicle direction is determined based on forward movement. This allows the operation to be performed by switching between a state that corresponds to the operating direction of the operating tool and a state that is opposite to the operating direction.

〔Effect of the invention〕

Therefore, when using a parallel steering type in which the direction of the vehicle body and the operating direction of the operating tools are reversed when moving forward and backward, it is possible to switch the steering direction according to the forward and backward movements. At any time, the operating direction of the steering operating tool and the moving direction of the vehicle body can be made to match.

Also, when using the turning steering type, the direction of operation of the steering device and the direction of movement of the vehicle body should be made to match by switching the steering direction according to the relationship between the operator and the direction of travel of the vehicle body. I can do it.

In other words, according to the present invention, by controlling the steering direction in accordance with the type of steering used and the relationship between the operator and the vehicle traveling direction, the operating direction of the steering operating tool and the vehicle body moving direction can be changed. It is possible to make them match.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in Figure 6, the fuselage frame (
1) A seat (2), a handle (H), and a mission case (M) are provided on the rear side, an engine (E) is provided on the front side, and wheels (3) are provided at the bottom of the aircraft frame (1).
Front and rear drive wheels (3F) and (3R) are provided as
A lawn mowing device (4) is suspended between the front and rear wheels (3F) and (3R) so as to be movable up and down, thereby constructing a lawn mowing vehicle as a four-wheel drive vehicle.

As shown in FIG. 5, the output of the engine (E) is transmitted to a hydraulic continuously variable transmission (5) provided in the transmission case (M), and a manual gear shift pedal (not shown) is transmitted to the transmission case (M). Or the front and rear wheels (3F) are operated to change speed by a motor (6) with a reduction gear as an actuator for automatic speed change.
, (3R) and the lawn mower (4R).
) is also transmitted to the front and rear wheels (3F) and (31?).
and a lawn mowing device (4) can be driven at the same time.

The shift operation position of the transmission device (5) is configured to be detected by a potentiometer (R3) linked to rotation of the shift operation shaft (5a) and fed back to the control device (A).

The front and rear wheels (3F) and (3R) are configured so that they can be steered not only as driving wheels but also as steering wheels, and can be operated manually using the handle (11) or remotely controlled using radio guidance. The structure allows power steering operation in either case.

The handle (H) is configured to be able to move up and down with respect to the vehicle body (V), and when it is not needed such as during remote control, it can be lowered toward the vehicle body (V) so that it does not get in the way while driving. It's Nishide. The amount of operation is determined by this handle (H
) is detected by a potentiometer (Ro) that is linked to the rotation operation.

The front wheels (3F) and the rear wheels (3R) are both configured to be able to be steered.
3F), (3R) in the same direction without changing the direction of the vehicle body (V) (parallel steering type, front and rear wheels (3F),
You can select a turning steering type that allows you to turn with a small turning radius by steering the (3R) in a relatively opposite direction, and a two-wheel steering type that allows you to steer only the front wheels (3F) like a normal car. It is composed of:

Hereinafter, the power steering operation of the front and rear wheels (3F) and (3R) will be explained.

As shown in Fig. 5, reciprocating hydraulic cylinders (7F) and (7R) as steering actuators are connected to the vehicle body (
V) The front and rear wheels (3F
), (3R), and the hydraulic cylinder (7F)
, (7R) is operated by a solenoid valve (9F).

It is configured to perform this by controlling 0N10FF of (9R). Then, the steering amount operated by the steering wheel (+1) or the steering amount by remote control, and the front and rear wheels (3F), (3R)
The electromagnetic valves (9F) and (9R) are adjusted so that the values detected by the potentiometers (R1) and (R1) that detect the actual steering amount provided in each of the electromagnetic valves (9F) and (9R) coincide with each other.
It is configured to perform feedback control to drive the.

Next, the configuration and operation of the remote control transmitter (10a) will be explained.

As shown in FIG. 2, on the operation panel of the transmitter a (10a), there is a shift operation lever (1
1) and a steering lever (12) that is swingable in both the front, rear, right and left directions.

The swinging operation of the gear shift operation lever (11) in the longitudinal direction causes the gear shift position of the gear shift device (5) to continuously change between forward, stop, and reverse states, so that the gear shift operation lever (11) can be moved forward or backward. and its running speed changes continuously.

Further, the swinging operation of the steering lever (12) in the left and right direction corresponds to the moving direction of the vehicle body (v) and its steering amount, and the swinging operation in the longitudinal direction corresponds to the parallel direction. The steering type and the turning steering type can be selected, and the steering direction can be reversed in the parallel steering type.

In other words, when the steering lever (12) swings forward, the left-right swing of the steering lever (12) coincides with the steering direction of the front and rear wheels (3F) and (311). A parallel steering type for forward movement is selected, a turning steering type is selected at the neutral position, and a parallel steering type for reverse movement is selected, in which the steering direction is reversed from the forward parallel steering type when the steering wheel is swung toward the front side. It's Nishide.

As shown in FIG. 1, the output voltage changes in conjunction with the swinging operation of the speed change operation lever (11) in the front and back direction, and the output voltage changes in response to the swinging operation toward the front side, that is, the forward movement side. a potentiometer (Rv) whose output voltage changes in conjunction with the left-right swing operation of the steering lever (12), and whose output voltage increases as the steering lever (12) swings to the right; (Rs), and the output voltage changes in conjunction with the swinging operation of the steering operation lever (12) in the front and back direction, and when the steering lever (12) swings to the forward side, that is, to the forward parallel steering type selection position. Each of the potentiometers (Rk) whose output voltage has a maximum value is provided, and each of the potentiometers (Rv), (Rs), (
Rk) output voltage from the oscillator (13a).

(13b) and (13c) convert into frequency signals, which are converted into guided radio waves by a modulator (14), and then sent to the vehicle body (
This is to be transmitted as steering instruction information to a receiver (10b) mounted on the vehicle. Therefore, the steering operation lever (12) and the potentiometer (Rk) whose output voltage changes according to its longitudinal swing operation,
It is configured to serve both as a means for outputting steering type selection instruction information and a steering direction switching operation means for outputting steering direction switching instruction information.

Hereinafter, the configuration of a portion of the control device (^) for controlling remote control will be explained based on the circuit diagram shown in FIG.

The control device (^) includes a first channel for gear change operation (CII+), a second channel for steering operation (C11□), and a third channel for steering type selection (CIl:+) output from the receiver (10b). ) are converted into DC voltage signals (Vv), (Vs), (Vk), respectively.
a D/A converter (15) for converting the first channel (
a motor drive circuit (16) that drives the speed change operation motor (6) in forward and reverse rotation so that the speed change operation signal (Vv) of the speed change operation signal (Vv) of the shift position detection potentiometer (R3) matches; 3 channels (C113”
a steering type discrimination circuit (Ja) that discriminates the selected steering type based on the level of the steering type selection signal (Vk) of the second channel () and outputs a pair of steering type discrimination signals (Sl) and (St); a steering direction switching circuit (Jb) that inverts the polarity of the CH steering operation signal (νS) with respect to the set neutral voltage (Vn) corresponding to straight forward movement of the vehicle body based on the steering type discrimination signals (S, ), (Sz); , the front wheel steering signal (Vf) and the rear wheel steering signal (Vr) outputted via this steering direction switching circuit (Jb) match the output voltages of the steering amount detection potentiometers (R1) and (R2). until the electromagnetic valves (9F) of the front and rear wheels (3F) and (3R).

Valve drive circuit (17F) that drives (9R), (
17R), and a filter (18) for removing noise from the output signals of the steering amount detection potentiometers (R, ), (R1) and the shift position detection potentiometer (R3).

The steering type discrimination circuit (Ja) is composed of a pair of comparators (^I) and (Aa), and as shown in FIG.
k) is below the first reference voltage (V, ) corresponding to the reverse parallel steering type selection state, or is above the first reference voltage (vi) corresponding to the turning steering type two selection state. It is determined whether the voltage is below the second reference voltage (v2) or above the second reference voltage (v2) corresponding to the forward parallel steering type selection state. That is, when the steering type selection signal (Vk) is lower than the first reference voltage (V,), the first discrimination signal (S
, ) is outputted by the first comparator (8), and the second comparator (At> It is set to output.

The steering direction switching circuit (Jb) includes an inverting amplifier (A,) that inverts the polarity of a set neutral voltage (Vn) corresponding to a state in which the vehicle is running straight, and the pair of discrimination signals (Sl) and (St) set to "H". A pair of analog switches (SWI) that are turned ON when the level is “H”, and the discrimination signal (Sl) is turned ON when the discrimination signal (SZ) is “H” level.
It is configured with a pair of analog switches (SWZ) that turn FF and a pair of inverters (Gl) that invert the logic of the discrimination signals (S, ), (52), thereby controlling the steering direction switching control means. It is composed.

Then, the steering operation signal (
Vs) to the valve drive circuit (17F), (17R
), or input it as is to the inverting amplifier (A,
) to switch whether to invert the polarity and input it.

That is, when the forward parallel steering type is selected, the first discrimination signal (Sl) becomes "L" level, the second discrimination signal (S2) becomes "H" level, and both the left and right valve drive circuits (17F) , (17R), the steering operation signal (Vs) is input as is.

When the above-mentioned turning steering type is selected, the above-mentioned re-discrimination signals (S, (3F) side valve drive circuit (1
7F), the steering operation signal (Vs) is input as is, and the rear wheel (3R) side valve drive circuit (1
6R), the polarity of the steering operation signal (Vs) with respect to the neutral voltage (Vn) is inverted and input via the inverting amplifier (A2).

When the parallel steering type for reverse is selected, the first discrimination signal (S,) becomes "H" level, the second discrimination signal (S2) becomes "L" level, and both the left and right pulp drive circuits (17F) (17R), inputs the steering operation signal (Vs) whose steering direction is inverted by the inverting amplifier (A3), and compares the horizontal movement of the steering operation lever (12) with the actual steering operation direction. by automatically reversing the steering operation lever (12).
It is controlled so that the left and right movement of the vehicle body (v) and the direction of movement of the vehicle body (v) are the same.

In Fig. 3, (A4) is a differential amplifier, (A,) is a comparator, (8,) is a power valve (9F), (
9R) driver. Further, the motor drive circuit (1
6) and valve drive circuit (17F), (17R)
have the same configuration, and operate to drive the actuators (6), (9F), and (9R) until the pair of input signals to the differential amplifier (A4) match.

[Another example]

In the above embodiment, the case where the steering operation lever (12) is also used as an operation tool for the steering direction switching means is illustrated, but an operation tool such as a switch is provided separately, and the steering direction can be controlled by this operation tool. It may be configured to switch.

Furthermore, in the above embodiment, the present invention is applied to the parallel steering type in order to switch between two states: a state in which the operating direction of the steering operating tool and the steering direction of the steering wheels match and a state in which they are in the opposite direction. Although this example has been given, it may be possible to switch in a similar manner in a turning steering type. If the steering direction is switched so that the direction of operation of the steering control tool matches the direction of vehicle movement (turning direction) when the vehicle is moving forward toward the driver and approaches the driver. You can do it like this.

In the present invention, the two-wheel steering type in which only the front wheels are steered and the turning steering type in which the front and rear wheels are steered in opposite directions are collectively referred to as the turning steering type.

[Brief explanation of drawings]

The drawings show an embodiment of the switching control device for a remote-controlled work vehicle according to the present invention, FIG. 1 is a block diagram showing the configuration of a transmitter, and FIG. 2 is a perspective view showing the arrangement of the operation panel of the transmitter. figure,
Is Figure 3 a system? 11 is a circuit diagram showing the configuration of the device, FIG. 4 is a diagram showing the operation of the steering type discrimination circuit, FIG. 5 is a block diagram showing the overall configuration of the control system, and FIG. 6 is an overall side view of the lawn mowing vehicle. . (3F), (3R)... Steering wheel, (7F
), (7R)...Steering actuator,
(10a)...Transmitter, (12)...
Steering operation tool, (V)...Vehicle body, (Jb)...
...Steering direction switching control means.

Claims (1)

[Claims] A steering actuator ( 7F)
, (7R), the steering control device for a remote-controlled work vehicle is provided with a means for automatically controlling the operation of the steering operation tool (12), wherein the vehicle direction with respect to forward movement is the steering operation tool (12). In order to switch between a state that matches and a state that is opposite to the direction of operation,
A steering direction switching control means (Jb) for switching and controlling the operation of the steering actuators (7F) and (7R) is provided, and the transmitter (10a) is provided with a control means (Jb) for controlling the steering direction switching control means (Jb). A steering control device for a remotely controlled work vehicle, which is provided with a steering direction switching operation means that outputs steering direction switching instruction information.