JPH0738134B2 - Steering control device for remote-controlled work vehicle - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a steering control device for steering a work vehicle by remote control, and more specifically, to a vehicle body, a pair of left and right front and rear devices are provided. The control means for controlling the operation of the steering actuator for changing the direction of the steering wheel is provided, and the control means controls steering type selection information and steering information from the transmitter equipped with the steering operation tool. Based on the selection, either the parallel steering type in which the front and rear steering wheels are turned to the same direction or the turning steering type in which the front and rear steering wheels are directed in different directions is selected, and the operation of the steering wheels is performed as described above. The present invention relates to a steering control device for a remote-controlled work vehicle configured to operate the steering actuator so as to follow the operation of the steering operation tool.

[Conventional technology]

In the steering control device for a remote-controlled work vehicle of the above-mentioned type, the instruction information for operating the steering wheels is used to operate a steering operation tool such as a steering operation lever provided on the transmitter side. In response to the steering wheel, the control means on the vehicle body side, based on the steering information, controls the steering actuator to change the direction of the steering wheel. By controlling so as to follow the operation of the steering operation tool, the steering operation of the work vehicle can be artificially operated by remote control.

By the way, in this type of remote-controlled work vehicle, even if the steering wheels are in the same operation state, a steering type in which the steering direction is different between forward traveling and reverse traveling is used.

In other words, in a lawnmower work vehicle or the like as an example of a remote-controlled work vehicle, a predetermined work range is sequentially reduced by the work width, and after traveling for one stroke is completed, the work range is moved to the next stroke. Then, when correcting the deviation in the lateral direction with respect to the moving direction of the work device during the work in each stroke, the front and rear wheels are respectively steered in the same direction and moved in parallel without changing the vehicle body direction. Since the meandering is less effective than turning and moving the vehicle body, it is more efficient, so that both front and rear wheels can be steered by parallel steering type that steers the front and rear wheels in the same direction. It is constructed so that it can be steered.

Also, if the direction of the vehicle body changes due to wheel slips, etc., the direction of the vehicle body cannot be changed only by the parallel steering type, so the parallel steering type and the turning steering type in which the front and rear wheels are operated in opposite directions are selected. As possible, the control means selects one of the parallel steering type and the turning steering type based on the steering type selection information from the transmitter to control the steering actuator.

Therefore, even if the steering wheels are in the same operation state, the parallel steering type is a steering type in which the steering directions are different when traveling forward in a direction in which the vehicle body moves away from the operator and in backward traveling in a direction in which the vehicle body approaches. Then, the vehicle body steering direction and the operating direction of the steering operation tool are configured to coincide with each other with reference to the time of forward movement.

As described above, if both the front and rear wheels are steerable, it is possible to drive the vehicle without any difference between forward and backward movement. For example, in the lawnmower vehicle, the traveling direction is changed for each stroke. If the steering operation is performed so as to travel in adjacent strokes while reversing and repeating forward and backward movements, the movement between the strokes can be performed efficiently and the work efficiency improves.
A work format in which forward and reverse movements are alternately repeated for each stroke is used.

[Problems to be solved by the invention]

However, in the above parallel steering type,
During forward movement when the driver's line-of-sight direction matches the vehicle body running direction,
In other words, when the operator is located on the rear side of the vehicle body and travels in a direction away from the operator by forward movement, the operation direction of the steering operation tool on the transmitter side coincides with the vehicle body steering direction. There is not, but in the following cases,
There is a problem in that the operating direction of the steering operation tool on the transmitter side does not match the vehicle body steering direction, resulting in poor operability.

That is, in the parallel steering type, when the vehicle body is moved backward to travel in the direction approaching the operator side, for example, in order to move the vehicle body to the left, it is necessary to steer the steered wheels to the right. However, with reference to the steering direction at the time of forward movement in which the operating direction of the steering operation tool on the transmitter side and the vehicle body steering direction match, the operating direction of the steering operation tool and the vehicle body steering direction are Is reversed, and the operation feeling of the steering operation tool on the transmitter side and the vehicle body steering direction do not match.

The present invention has been made in view of the above circumstances, and its object is in any of a state in which the vehicle body travels in a direction away from the operator and a state in which the vehicle body travels in a direction approaching, In the parallel steering type, when the steering operation is performed by remote control, the operation direction of the steering operation tool and the vehicle body steering direction can be matched.
It is to improve the operability of the steering operation.

[Means for solving problems]

A feature of the steering control device for a remote-controlled work vehicle according to the present invention is that the control means, in the parallel steering type, has a vehicle body steering direction based on a forward traveling direction as an operation direction of the steering operation tool. It is configured to be freely switchable between a state in which the steering direction is changed and a state in which the steering direction is switched, and the transmitter is provided with steering direction switching operation means for outputting steering direction switching information to the control means. The action and effect are as follows.

[Action]

That is, in the parallel steering type, the control means performs switching control of the operation of the steering actuator on the basis of the steering direction switching information by the steering direction switching operation means on the transmitter side, and is based on the time of forward movement. The vehicle body steering direction can be switched between a state in which the vehicle body steering direction corresponds to the operation direction of the operating tool and a state in which the vehicle body steering direction is opposite to the operating direction.

〔The invention's effect〕

Therefore, when using the parallel steering type in which the steering direction of the vehicle body and the operating direction of the operating tool are reversed during forward movement and backward movement, the steering direction is switched in accordance with forward and backward movements, and the forward and backward movements are performed. At any time, the operation direction of the steering operation tool and the vehicle body movement direction can be made to coincide with each other.

That is, according to the present invention, when the work vehicle is remotely controlled by the parallel steering type, by switching the steering direction in accordance with the relationship between the operator and the vehicle body traveling direction,
It is possible to make the operating direction of the steering operation tool and the vehicle body moving direction coincide with each other.

〔Example〕

 Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIG. 6, the seat (2), the handle (H), and the mission case (M) are provided on the rear side of the body frame (1) below the vehicle body (V), and the engine (E) is provided on the front side.
Respectively, front and rear drive wheels (3F) and (3R) as wheels (3) are provided at the lower part of the machine body frame (1), and a lawn mowing device (4) is provided at an intermediate portion between the front and rear wheels (3F) and (3R). ) Is vertically movably suspended to form a lawn mowing work vehicle as a four-wheel drive work vehicle.

Then, 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 transmission pedal (not shown) is provided. Alternatively, gear shifting operation is performed by a motor (6) with a reducer as an automatic shifting actuator, and the front and rear wheels (3
F), (3R) and the lawnmower (4)
And the front and rear wheels (3F), (3R) and the lawn mower (4) can be simultaneously driven.

The speed change operation position of the speed change device (5) is detected by a potentiometer (R ₃ ) interlocked with the rotation of the speed change operation shaft (5a), and is fed back to the control device (A).

The front and rear wheels (3F) and (3R) are configured to be capable of steering operation not only as drive wheels but also as steering wheels. The power steering can be operated by either of them.

The handle (H) is configured to be able to move up and down with respect to the vehicle body (V), and it is lowered to the vehicle body (V) side when it is unnecessary during remote control or the like so that it does not interfere with running. I am doing it. The operation amount is detected by a potentiometer (R ₀ ) which is interlocked with the turning operation of the handle (H).

Since both the front wheels (3F) and the rear wheels (3R) can be steered, the front and rear wheels (3F)
F) and (3R) are steered in the same direction to move in parallel without changing the direction of the vehicle body (V). Parallel steering type, front and rear wheels (3F) and (3R) are relatively steered in opposite directions. Turning steering type that allows turning with a small turning radius, and
As with ordinary automobiles, the two-wheel steering system, in which only the front wheels (3F) are steered, is selectable.

The power steering operation of the front and rear wheels (3F) and (3R) will be described below.

As shown in FIG. 5, reciprocating hydraulic cylinders (7F) and (7R) as steering actuators are provided so as to be movable in the left and right directions of the vehicle body (V), and steering tie rods (8). Through the front and rear wheels (3F), (3R)
The electromagnetic valves (9F) and (9R) which are connected to the hydraulic cylinders (7F) and (7R) are operated to control ON / OFF. The steering amount operated by the steering wheel (H) or the steering amount by remote control, and the front and rear wheels (3F),
Feedback that drives the solenoid valves (9F) and (9R) so that the detection values of the potentiometers (R ₁ ) and (R ₂ ) that detect the actual steering amount provided in each of the (3R) match. It is configured to perform control.

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

As shown in FIG. 2, on the operation panel of the transmitter (10a), there is a gear shift operation lever (11) swingable in the front-rear direction.
Further, a steering operation lever (12) is provided as a steering operation tool capable of swinging in both front, rear, left and right directions.

The forward / backward swinging operation of the speed change lever (11) continuously changes the speed change position of the speed change device (5) to forward, stop, and reverse states, and the forward and backward movements thereof are performed. The running speed changes continuously.

Further, the swing operation of the steering operation lever (12) in the left-right direction corresponds to the moving direction of the vehicle body (V) and the steering amount thereof, and the swing operation in the front-rear direction is performed by the parallel steering wheel. The type and turning steering type are selected, and the steering direction is reversed in the parallel steering type.

That is, when the steering operation lever (12) swings forward, the steering operation lever (12) swings in the left-right direction and the steering directions of the front and rear wheels (3F), (3R) match. A forward steering parallel steering system is selected, a turning steering system is selected at the neutral position, and a backward parallel steering system in which the steering direction is reversed by swinging to the front side is reversed. I am doing it.

As shown in FIG. 1, the output voltage changes in association with the forward / backward swinging operation of the speed change lever (11), and the output voltage changes in response to the swinging to the front side, that is, the forward side. The potentiometer (Rv) that increases the output voltage changes in conjunction with the swinging operation of the steering operation lever (12) to the left and right, and the output voltage increases as it swings to the right. (Rs) and the output voltage changes in conjunction with the rocking operation of the steering operation lever (12) in the front-rear direction, and can be rocked to the front side, that is, the forward parallel steering type selected position. Each of the potentiometers (Rk) whose output voltage becomes the maximum value is provided, and the output voltage of each of the potentiometers (Rv), (Rs), (Rk) is set by the oscillators (13a), (13b), (13c). Converted to frequency signals respectively and induced from modulator (14) And converts the waves, are to be transmitted as a steering instruction information to the vehicle body (V) for mounting the receiver (10b). Therefore, the steering operation lever (12) and a potentiometer (Rk) whose output voltage changes due to the swinging operation in the front-rear direction output means for outputting steering type selection information and steering direction switching information. It also serves as a steering direction switching operation means.

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

The control device (A) outputs the first channel (CH ₁ ) for gear shift operation, the second channel (CH ₂ ) for steering operation, and the third channel (CH ₃ ) for steering type output from the receiver (10b). ), The DC voltage signal (V
v), (Vs), D / A converter (15) for converting to (Vk), shift operation signal (Vv) of the first channel (CH ₁ ) and output of the shift position detecting potentiometer (R ₃ ) A motor drive circuit (16) for driving the speed change operation motor (6) in a forward and reverse direction so that the voltages match, and a selective steering type based on the level of the steering type selection signal (Vk) of the third channel (CH ₃ ). the determine pair of steering type determination signal (S _1), corresponding to the vehicle straight steering type determination circuit for outputting a (S ₂₎ (Ja), a steering operation signal of the second channel (CH ₂₎ (Vs) A steering direction switching circuit (Jb) for inverting the polarity with respect to the set neutral voltage (Vn) based on the steering type discrimination signals (S ₁ ) and (S ₂ ) and output via this steering direction switching circuit (Jb) The front and rear wheels (3F), (3R) until the front wheel steering signal (Vf) and the rear wheel steering signal (Vr) and the output voltages of the steering amount detecting potentiometers (R ₁ ) and (R ₂ ) match. ) Valve drive circuits (17F) and (17R) for driving the respective electromagnetic valves (9F) and (9R), and the steering amount detecting potentiometers (R ₁ ) and (R ₂ ) and the shift position detecting potentiometer ( It is composed of a filter (18) that removes noise from the output signal of R ₃ ).

The steering type discriminating circuit (Ja) is composed of a pair of comparators (A ₁ ) and (A ₂ ). As shown in FIG. 4, the voltage level of the steering type selection signal (Vk) is reverse For the parallel steering type selection state is less than or equal to the first reference voltage (V ₁ ), or for the turning steering type selection state is greater than or equal to the first reference voltage (V ₁ ) and less than or equal to the second reference voltage (V ₂ ). Yes, the second reference voltage (V ₂ ) corresponding to the forward parallel steering type selection state
Whether it is above or in which range is determined. That is, the steering type selection signal (V
“H” when k) is less than or equal to the first reference voltage (V ₁ )
The first discrimination signal (S ₁ ) which becomes the level is output from the first comparator (A ₁ ) and the second discrimination signal (S ₂ which becomes the “H” level when the voltage is equal to or higher than the second reference voltage (V ₂ ). ) Is output by the second comparator (A ₂ ).

The steering direction switching circuit (Jb) includes an inverting amplifier (A ₃ ) for inverting the polarity with respect to a set neutral voltage (Vn) corresponding to a vehicle straight traveling state, and the pair of discrimination signals (S ₁ ) and (S ₂ ) A pair of analog switches (SW ₁ ), which are turned on when it is at H "level, the discrimination signal (S ₁ ),
A pair of analog switches (SW ₂ ) that are turned off when (S ₂ ) is at “H” level, and the discrimination signal (S ₁ ),
It is composed of a pair of inverters (G ₁ ) that invert the logic of (S ₂ ), and thus constitutes steering direction switching control means.

The steering operation signal (Vs) corresponding to the logical combination of the pair of discrimination signals (S ₁ ) and (S ₂ ).
Is input to the valve drive circuits (17F) and (17R) as they are, or the polarity is inverted by the inverting amplifier (A ₃ ) to be input.

That is, when the forward parallel steering type is selected, the first determination signal (S ₁ ) is at the “L” level, the second determination signal (S ₂ ) is at the “H” level, and the left and right valve drive circuits ( The steering operation signal (Vs) is directly input to 17F) and (17R).

When the turning steering type is selected, both of the discrimination signals (S ₁ ) and (S ₂ ) become “L” level, and the front and rear wheels (3
Since the steering directions of F) and (3R) are opposite to each other, the steering operation signal (Vs) is directly input to the valve drive circuit (17F) on the front wheel (3F) side, and the rear wheel (3R) is input. The polarity of the steering operation signal (Vs) with respect to the neutral voltage (Vn) is inverted and input to the side valve drive circuit (16R) via the inverting amplifier (A ₂ ).

When the reverse parallel steering type is selected, the first determination signal (S ₁ ) becomes “H” level, the second determination signal (S ₂ ) becomes “L” level, and the left and right valve drive circuits (17F) ), (17R), the steering operation signal (Vs) in which the steering direction is inverted by the inverting amplifier (A ₃ ) is input, and the steering operation lever (12) is moved laterally and the actual steering operation is performed. The direction is automatically reversed to move the steering operation lever (12) left and right and the vehicle body (V).
It is controlled so that the movement direction matches. In FIG. 3, (A ₄ ) is a differential amplifier, (A ₅ ) is a comparator,
(A ₆ ) is a driver for electromagnetic valves (9F) and (9R).
The motor drive circuit (16) and the valve drive circuits (17F) and (17R) have the same configuration, and the pair of input signals to the differential amplifier (A ₄ ) are the same. It operates to drive the actuators (6), (9F), (9R) up to. Therefore, the control device (A) functions as control means for controlling the operation of the steering actuators (7A), (7B).

[Another embodiment]

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

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

[Brief description of drawings]

The drawings show an embodiment of a steering control device for a remotely 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 an operation panel of the transmitter. Figure,
3 is a circuit diagram showing the configuration of the control 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 the entire lawn mowing vehicle. It is a side view. (3F), (3R) ... Steering wheel, (7F), (7R) ... Steering actuator, (10a) ... Transmitter, (12) ... Steering operation tool, (V) ... … Body, (Jb) …… Steering direction switching control means.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor, Mitsugu Furubayashi, 64, Ishizukita-machi, Sakai City, Osaka Prefecture, Kuboda Iron Works Co., Ltd., Sakai Works (56) References JP-A-60-15716 (JP, A) JP-A-49 -2229 (JP, A) Actual development Sho 56-172110 (JP, U) Japanese Patent Sho 57-41391 (JP, B2)

Claims (1)

[Claims] 1. The operation of steering actuators (7A), (7B) for changing the direction of steering wheels (3A), (3B) provided on the vehicle body (V) in front of and behind it, respectively. A control means for controlling is provided, and the control means is based on steering type selection information and steering information from a transmitter (10a) equipped with a steering operation tool (12), and the front and rear steering wheels ( 3A) and (3B) are turned to the same direction, and the front and rear steering wheels (3A) and (3B) are turned to different directions. The steering actuator (7A), so that the operations of (3A) and (3B) follow the operation of the steering operation tool (12).
(7B) is a steering control device for a remote-controlled work vehicle, wherein the control means is a parallel steering type, wherein the steering direction is a vehicle body steering direction based on forward travel. Controls (12)
Steering direction switching operation means for outputting steering direction switching information to the control means is provided in the transmitter (10a) so as to be switchable between a state in which the steering direction is matched with a state in which the steering direction is reversed. Steering control device for remote-controlled work vehicle.