JPH0620847B2 - Air system for vehicle drive control - Google Patents

Description

Detailed Description of the Invention [Industrial applications]

The present invention relates to an air system for vehicle travel control, in particular, engine governor and brake operation can be manually or automatically switched, and when the vehicle is automatically switched, the vehicle travel control can be performed unattended by computer control or wireless control. It is related to the air system for automobiles.

[Prior art and its problems]

Conventionally, the engine output and brake braking force of vehicles such as off-highway trucks (hereinafter referred to as dump trucks) are pneumatically controlled. For example, the first control valve that controls the engine governor is supplied from an air tank. Air pressure
The governor control valve is supplied manually (by stepping on the pedal) to change the governor opening. Also, the second control valve that controls the rear brake is supplied with the air pressure supplied from the air tank by manually operating the brake control valve (by stepping on the pedal) to control the rear brake. There is. In addition, the third control valve that controls the parking brake,
The air pressure supplied from the air tank is supplied manually (by moving the lever by hand) to operate the parking brake control valve to control the parking brake. In addition to such manual control, when the vehicle is driven unattended by computer control or wireless remote control, each of the above devices must be automatically controlled, and a circuit for that purpose is required.

[Problems to be Solved by the Invention]

The present invention has been newly created in view of the above circumstances, and its main problem is that the engine output and the brake braking force can be changed steplessly when the engine governor and the brake operation can be manually or automatically switched. (EN) Provided is an air system for vehicle traveling control which can be controlled to a value and can also activate or release a service brake when automatically switched.

[Means for solving problems]

In order to solve the above problems, the present invention provides an engine governor control circuit for controlling an engine governor by supplying an air pressure from an air pressure source mounted on a vehicle to a first control valve, and a second control valve for controlling the air pressure. To the service brake control circuit for controlling the service brake by supplying the air pressure to the third
An air system for vehicle traveling control, comprising a parking brake control circuit for supplying a control valve to control a parking brake, comprising: (a). An engine governor control circuit includes: i) a governor control valve, ii) a first pneumatic converter which is provided in parallel with the first pneumatic converter and operates in proportion to a control signal, and iii) a mode switching signal that controls the governor control valve and the first pneumatic valve. A first control valve for controlling the engine governor by selectively switching the connection with the converter; and a first automatic / manual switching valve connected to the first control valve, (b). A service brake control circuit includes: i) a brake control valve; ii) a second pneumatic converter provided in parallel with the brake control valve to operate in proportion to a control signal; It is provided with a second control valve that selectively switches the connection with the converter to control the service brake, and a second automatic / manual switching valve that is connected (c). A parking brake control circuit includes: i) a parking brake control valve, ii) an automatic switching control valve that is provided in parallel with the parking brake control valve, and is operated or released by a control signal. A third control valve for controlling the parking brake by selectively switching the connection with the third control valve
The technical measure is to have an automatic / manual switching valve.

【Example】

Below, an off-highway truck (hereinafter,
A preferred embodiment in the case of being used as a dump truck will be described with reference to the drawings. The air circuit for traveling control of the dump truck in Fig. 1 is
It is composed of an engine governor control circuit 1, a service brake control circuit 2, and a parking and emergency brake circuit 3 which are connected in parallel to an air reservoir tank 10 serving as an air pressure source. Here, in the case of the present embodiment, as shown in the system block diagram of FIG. 2, in the dump truck, the radio control unit 7 and the unmanned control unit 8 are connected to the speed control unit 50, the steering control unit 51 and the vehicle via the communication unit 6. It is connected to the control unit 52. Here, the radio control device 7 includes a transmitter 71 that is operated by an operator to operate each switch for running and stopping, and a transmitter 7
1 has a receiver 72 mounted on a dump truck to receive the operation signal transmitted from the remote controller 1 and a remote controller 73 for processing the received operation signal to determine an optimum operation procedure and operation amount. The control signal determined by the speed control signal (including stop) is transmitted through the communication means 6 as described above.
The steering control signal is input to the steering control unit 51. Further, other vehicle control signals are input to the vehicle control unit 52. The unmanned control device 8 includes an azimuth sensor S1 and a vehicle speed sensor (transmission speed sensor in this embodiment) S2, and a location controller 81 that calculates the current position of the dump truck based on these detection signals.
A course controller 82 is provided which calculates a deviation amount from a preset traveling course based on the calculated current position and calculates a control signal for self-guided and following the traveling course. Similar to the radio control unit 7, the control signals determined by this are input to the speed control unit 50 via the communication unit 6 as described above, the steering control signals are input to the steering control unit 51, and other control signals are input. The vehicle control signal is input to the vehicle control unit 52. In the figure, reference numeral 85 denotes an obstacle controller, which outputs the distance and information of the obstacle detected by the obstacle detection sensor S3 to the course controller 82, and at the same time, the speed controller 50 to the vehicle controller 52 itself. A control signal is directly output to the second pneumatic converter 22 of the rear brake and the automatic switching control valve 32 of the parking brake without going through. Further, 83 is a terminal for external control, and 84 is a supervisor, which is connected to the communication means 6, and allows parameters and programs to be changed and input from the outside during unmanned traveling. Reference numeral 53 is a mode control unit that outputs a manual mode to the relay circuit R when the dump truck is in manual control and an automatic mode when it is unmanned / wireless control. Next, the vehicle control unit 52 outputs each control signal to the relay circuit R to control the automatic switching control valve 32, which will be described later, and other actuators such as Bessel control and electric components. There is. Under the system as described above, the engine governor control circuit 1 includes a governor control valve 11 for manual control, which is standardly equipped in a conventional dump truck,
A first pneumatic converter 12 arranged in parallel with the first pneumatic converter 12 which operates in proportion to a control signal from a speed control unit 50 mounted on a dump truck, and a mode control unit 53.
The first automatic / manual switching valve 13 consisting of a three-port two-position switching valve for selectively switching the connection between the first control valve 15 and the first pneumatic converter 12 by the mode switching signal of No. 3 and connecting to the engine governor. I have it. Here, the first pneumatic converter 12 has a control signal (control current or voltage) input to its control terminal 12a.
Is an electromagnetic proportional control valve that outputs an air pressure proportional to the magnitude of the air pressure. By this, the air pressure from the pneumatic tank 10 is adjusted to a value corresponding to the control signal and output. Therefore, when the dump truck travels in the manual mode, the first automatic / manual switching valve 13 is in the manual position as shown in FIG.
The supply of air pressure via is cut off. As a result, when the operator on the dump truck operates the governor control valve 11 by stepping on the lever with his / her foot, the air pressure from the air pressure source 10 is controlled and supplied to the first control valve 15. When the dump truck travels unmanned, the mode control unit 53 outputs the automatic mode to the vehicle control unit 52,
A switching signal (electrical signal) from the vehicle control unit 52 is input to the first automatic / manual switching valve 13, the port position is switched, the circuit with the first control valve 15 is cut off, and the first pneumatic converter 12 is connected. Circuit is connected. The control terminal 12 of the first pneumatic converter 12
When a control voltage (or current) is input as a control signal from the speed control unit 50 to a, an air pressure proportional to the amount is sent, and the first control valve 1 is supplied via the first automatic / manual switching valve 13.
5, the governor opening can be continuously controlled to an arbitrary value. Next, the service brake control circuit 2 operates in proportion to the control signal from the speed control unit 50, which is provided in parallel with the brake control valve 21 for manual control, which is standardly equipped in the conventional dump truck, and the brake control valve 21. 3 port 2 that connects the brake control valve 21 and the brake relay valve 25 selectively by selectively switching the connection between the brake control valve 21 and the second pneumatic converter 22 by the mode switching signal of the mode controller 53 and the second pneumatic converter 22. The second automatic / manual switching valve 23, which is a position switching valve, is provided. According to this, the relay valve of the rear brake can be controlled automatically and manually according to the engine governor control circuit 1, and the control air pressure can be continuously controlled to an arbitrary value even during automatic control. it can. Further, in this embodiment, one inlet 2 of the shuttle valve 24 is
The second pneumatic converter 22 communicates with 4a, the brake control valve 21 is connected to the other inlet 24b, and the outlet 24c of the shuttle valve 24 is connected to the second automatic / manual switching valve 23. Therefore, when the dump truck normally travels, the second
The automatic / manual switching valve 23 is in the manual position as shown in FIG. 1, and shuts off the supply of pneumatic pressure via the second pneumatic converter 22. When the dump truck travels unmanned, the mode control unit 53 outputs the automatic mode to the vehicle control unit 52, and the mode switching signal (electrical signal) from the vehicle control unit 52 is the second.
The port position is switched by being input to the automatic / manual switching valve 23, the circuit with the second control valve 25 (relay valve) is shut off, and the circuit with the shuttle valve 24 is connected. When a control voltage (current) is input as a control signal from the speed control unit 50 to the pressure control terminal 22a of the second pneumatic converter 22, the control air pressure is output in proportion to the amount of the control voltage (current), and the shuttle valve 24 and the second automatic valve are output. / Manual switching valve 23
Since it is supplied to the second control valve 25 via the, the brake pressure of the rear brake can be continuously controlled to an arbitrary value. At this time, the operator on the dump truck further steps on the lever with his foot to brake control valve 21.
When is operated, the air pressure can be supplied to the second control valve 25 via the second automatic / manual switching valve 23 by way of the shuttle valve 24. As a result, the operator jumps onto a dump truck that is traveling unmanned in an emergency and the brake control valve 2
It has a safety structure in which it can be stopped by operating the brake lever 1. Next, the parking brake control circuit 3 is operated or released by a parking brake control valve 31 and a control signal (electrical signal) from the vehicle control unit 52 which is provided in parallel with the parking brake control valve 31 and receives the control signal from the communication means 6. The automatic switching control valve 32, which is a 2-port 2-position switching valve, is switched to the third switching valve (parking brake release valve) 35 and the automatic switching control valve 32 by the mode switching signal (electrical signal) of the mode controller 53. Parking brake No. 3
It is provided with a third automatic / manual switching valve 33, which is a 3-port 2-position switching valve connected to the control valve 35. Therefore, when the dump truck normally travels,
The automatic / manual switching valve 33 is in the manual position as shown in FIG. 1 and shuts off the supply of pneumatic pressure via the automatic switching control valve 32. As a result, the parking brake control valve 31 is controlled by the lever operation of the operator who is on the dump truck, and the air pressure from the air pressure source 10 is supplied to the third control valve 35 of the parking brake. When the dump truck travels unmanned, a mode switching signal (electrical signal) from the mode control unit 53 to the automatic mode is input to the third automatic / manual switching valve 33 to switch the port position, and the parking brake control valve 31. The circuit with and is cut off, and the circuit with the automatic switching control valve 32 is connected. In this state, the automatic switching control valve 32 shuts off the circuit with the pneumatic pressure source 10, but the switching terminal 3 of the automatic switching control valve 32 is cut off.
When a control signal (electrical signal) is input from the vehicle control unit 52 that inputs the control signal from the communication means 6 to 2a, the port is switched, and the automatic switching control valve 32 closes the circuit, and the third automatic / manual operation is performed. Since air pressure is supplied to the third control valve 35 of the parking brake via the switching valve 33,
The parking brake can be activated and released. In addition, the vehicle control unit 52 via the communication means 6
When the emergency stop signal is output from the terminal, the procedure is the same as that described above, but when the control signal is input from the obstacle controller 85, the terminal of the automatic switching control valve 32 is directly connected via the relay circuit R. The control signal is input to 32a, the automatic switching control valve 32 is operated to the closed position, the third control valve 35 is operated via the third automatic / manual switching valve 33, and the dump truck is emergency stopped.

【The invention's effect】

Since the present invention is configured as described above, smooth traveling control can be performed in the case of automatic control by unmanned / radio control as in the case of manual control by manual operation. In addition, since the brake control valve can be manually operated even during unmanned traveling, the safety of the vehicle unmanned driving system can be improved. Further, by using the pneumatic converter, the value of the supplied air pressure can be continuously controlled to any value and the maneuverability can be enhanced.

[Brief description of drawings]

FIG. 1 is a circuit diagram of an air system for vehicle traveling control according to the present invention, and FIG. 2 is a block diagram showing the concept of an unmanned traveling system. 1 …… Engine governor control circuit 2 …… Service brake control circuit 3 …… Parking brake control circuit 11 …… Governor control valve 12 …… First pneumatic converter 13 …… First automatic / manual switching valve 15 …… Engine governor 21 …… Brake control valve 22 …… Second pneumatic converter 23 …… Second automatic / manual switching valve 24 …… Shuttle valve 25 …… Rear brake relay valve 31 …… Parking brake control valve 32 …… Control valve 33 ...... 3rd automatic / manual switching valve 35 …… Parking brake release valve

Claims (2)

[Claims] 1. A first air pressure is applied from an air pressure source mounted on a vehicle.
An engine governor control circuit that supplies a control valve to control the engine governor, a service brake control circuit that supplies the air pressure to the second control valve to control the service brake, and a parking brake that supplies the air pressure to the third control valve. In a vehicle traveling control air system including a parking brake control circuit for controlling a brake, an engine governor control circuit is provided with a governor control valve and a first pneumatic converter provided in parallel therewith and operating in proportion to a control signal. And a first automatic / manual switching valve that selectively switches the connection between the governor control valve and the first pneumatic converter by the mode switching signal to connect to the first control valve. , Which is provided in parallel with the brake control valve and is proportional to the control signal A second pneumatic converter that operates, and a second automatic / manual switching valve that selectively switches the connection between the brake control valve and the second pneumatic converter by a mode switching signal and connects the second control valve The parking brake control circuit includes a parking brake control valve, an automatic switching control valve that is provided in parallel with the parking switching control valve, and is switched between actuated and released by a control signal. Third automatic / switching the connection selectively and connecting with the third control valve
An air system for vehicle travel control, which is equipped with a manual switching valve. 2. A patent characterized in that the second pneumatic converter of the service brake lever control circuit is connected to the second automatic / manual switching valve via a shuttle valve which is also connected to the brake control valve. An air system for vehicle traveling control according to claim 1.