JPH0772408B2 - Travel control device for self-propelled vehicle having working machine - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a self-propelled vehicle having a working machine such as a road cutting mixer used in a road surface reproduction method, and a self-propelled vehicle for controlling the traveling speed thereof. The present invention relates to a vehicle travel control device.

"Conventional technology" Conventionally, when repairing an existing asphalt pavement road surface by a road surface layer reconstruction method, a road cutting mixer is used, but this road cutting mixer cuts the pavement surface and scrapes it. Cutter device (rotary scalifier)
And a hopper device that receives a new mixture fed from a dump truck or the like, a feeder device that conveys a predetermined amount of the scraped material that has been disentangled by the cutter device and the new mixture in the hopper device, and this feeder device. The mixer device that mixes the scraped material and the new mixture that have been conveyed by the mixer, the sprinkling device that uniformly sends the mixed material mixed by the mixer device to the road surface, and the sprinkled mixed material that is sprinkled on the road surface The laying and leveling device for hardening is installed in a single self-propelled vehicle (actual fair 1-18
(See Japanese Patent No. 654).

"Problems to be solved by the invention" However, in the above-described conventional road cutting mixer,
Since all the above-mentioned various devices are installed in a single self-propelled vehicle, it is inevitable that the road cutting mixer itself will be large (total length of 8 m or more, weight of 20 tons or more), while it will be transported to the work site. Since the upper limit of the weight is set due to the restrictions such as the loadable weight of the transport trailer, it is necessary to downsize each device, and as a result, sufficient scraping and mixing processing capacity and mixture mixing processing capacity are required. However, there was a defect that reliability was poor, such as non-uniformity and nonuniform distribution of the mixture of the scraped material and the new mixture.

In order to eliminate such a defect, it is considered that the self-propelled vehicle equipped with a cutter device and the like and the self-propelled vehicle equipped with a mixer device and the like share the functions. However, at the time of paving road surface repair work, two self-propelled vehicles always run in parallel with a certain distance between them, and the construction proceeds at an extremely low speed (about 1 to 5 m / min). The distance between cars must be adjusted within the range of tens of centimeters to several meters. Therefore, a driver who operates each self-propelled vehicle must constantly make a delicate speed adjustment while visually observing the inter-vehicle distance, which requires skill to operate and a great amount of work effort. In addition, in a self-propelled vehicle that shapes the road surface with a spreader, the flatness of the road surface is impaired due to changes in the running speed.Therefore, from the viewpoint of quality control of the road, the running speed should always be kept constant. It had to be maintained and required skill to operate. On the other hand, when you are unloading from a transport trailer etc. and heading to the work site,
When forwarding from a work site to a transport trailer, each self-propelled vehicle is required to be able to travel at a relatively high speed by itself.

The present invention has been made in view of the above-mentioned circumstances, and it is possible to perform low speed traveling at a constant speed during work, without requiring skill in operation, and at high speed at any speed during forwarding. An object of the present invention is to provide a travel control device for a self-propelled vehicle having a work machine that can perform the operation.

"Means for Solving the Problem" The present invention relates to a speed setting means for setting a command speed, a speed detecting means for detecting a traveling speed of a self-propelled vehicle having a working machine, and the self-propelled vehicle at a constant low speed A traveling mode switching means for selecting one of a working traveling mode for traveling and a forward traveling mode for traveling at a high speed at an arbitrary speed, and when the working traveling mode is selected by the traveling mode switching means, it is set by the speed setting means. Feedback control means for feedback-controlling the traveling speed of the self-propelled vehicle while comparing the commanded speed thus determined with the actually measured speed detected by the speed detecting means, and the forward traveling mode is selected by the traveling mode switching means. In this case, the running speed of the self-propelled vehicle is open-loop controlled based on the command speed set by the speed setting means. And an open loop control means.

[Operation] According to the above-described configuration, when the traveling mode switching unit selects the work traveling mode, the feedback control unit controls the traveling speed of the self-propelled vehicle having the working machine with high accuracy. When operating a self-propelled vehicle having one work machine in parallel, these two self-propelled vehicles can be made to travel at a low speed at a constant speed while maintaining a constant interval, and it requires skill to operate. Nor. Further, when the forward traveling mode is selected, the traveling speed is controlled by the open loop control means, so that the self-propelled vehicle can travel at a high speed at an arbitrary speed. An appropriate traveling speed control of the vehicle is performed.

[Embodiment] An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram showing the configuration of a traveling control device according to an embodiment of the present invention applied to a road cutting mixer, and FIG. 2 is a front view showing the configuration of the road cutting mixer.

Here, first of all, the external configuration of the on-road cutting mixer will be described with reference to FIG. In FIG. 2, 1 is a preceding self-propelled vehicle, 2 is a succeeding self-propelled vehicle, and these 2
The self-propelled vehicles 1 and 2 are
As shown in the same figure, they are arranged in the vertical direction and travel at a low speed in the direction of arrow F (forward) at a constant distance, or when they are unloaded from a transport trailer or the like and headed to the work site, At the time of forwarding, such as when returning to the transport trailer from the site, each of them travels at a relatively high speed by itself.

A hopper device 3 for receiving a new mixture fed by a dump truck or the like is provided at the front of the preceding self-propelled vehicle 1. The hopper device 3 is a pair of left and right mounted upwardly and freely openably. The wings 4, 4 and a hydraulic drive mechanism for adjusting the opening and closing angles of the wings 4, 4.

A feeder device 5 that extends obliquely rearward and upward from below the hopper device 3 is provided in the center of the vehicle 1 in the width direction. With this feeder device 5, the new mixture material fed into the hopper device 3 is rearward. To be transported to.

A pair of left and right front wheels 6, 6 are attached to a vehicle frame below the popper device 3 so as to be rotatable and rotatable in a horizontal plane. These front wheels 6, 6 are a steering wheel provided in a driver's seat. The direction is changed by the hydraulic drive mechanism that operates in accordance with the rotating operation of 7, and thereby the traveling direction is changed.

A heating device 8 for preheating an existing asphalt pavement road surface is movably supported on the vehicle frame behind the front wheels 6 and 6, and the heating device 8 is moved up and down by a hydraulic cylinder 9. There is.

On the vehicle frame behind the heating device 8, a cutter device 10 for cutting and scraping the asphalt pavement road surface preheated by the heating device 8 is provided. The cutter device 10 includes a pair of telescopic cutters 11 and 11 which are movable in the width direction of the self-propelled vehicle 1 so that the raking width can be changed.
And a fixed cutter 12 provided behind these telescopic cutters 11 and 11, and the telescopic cutters 11 and 11 and the fixed cutter 12 are respectively rotated by a support member 13 provided on the vehicle frame so as to be vertically movable. It is supported freely. The support member 13 is moved up and down by a hydraulic cylinder 16 so that the raking depth can be adjusted. The expandable cutters 11 and 11 are formed by fixing a large number of bits on the peripheral surface of a cylindrical rotary drum, and are driven to rotate by a motor directly connected to the rotary shaft of the rotary drum. Similarly, the fixed cutter 12 is
A large number of bits are fixed on the peripheral surface of a cylindrical rotating drum, and the motor is directly connected to the rotating shaft of the rotating drum so that it can be driven to rotate in the opposite direction to the telescopic cutters 11, 11. There is.

A pair of left and right drive wheels 14, 14 are rotatably provided on the vehicle frame behind the cutter device 10, and these drive wheels 14, 14 are driven to rotate by a rear wheel drive mechanism 15 described later. Has become.

Further, at the rear part of the self-propelled vehicle 1, a transfer feeder device 18 for delivering the new mixture material conveyed by the feeder device 5 to the succeeding self-propelled vehicle 2 is provided. This transfer feeder device 18 is capable of rotating and adjusting in the horizontal direction, and the height of the discharge portion 18a at the rear end thereof can be adjusted by a hydraulic cylinder 19. The discharging portion 18a of the feeder device 18 is located above the charging chute 20 of the following self-propelled vehicle 2.

On the other hand, at the front end of the following self-propelled vehicle 2, a pickup device 21 for pushing the scraped and loosened material scraped by the cutter device 10 of the preceding self-propelled vehicle 1 to the side of the road surface, and a pickup for scooping up the scraped and loosened material. A feeder 22 is provided.

The scraped and loosened material scooped up by the pickup feeder 22 is conveyed in the casing 23 obliquely rearward and upward, and is discharged from an opening formed at the rear end of the casing 23.

Behind the pickup feeder 22, the scraping and loosening material discharged from the opening of the casing 23 is conveyed obliquely upward and rearward, and the weight of the scraping and loosening material being transported (= transported amount or supplied amount) is measured. A weighing feeder device 24 is provided. A front end portion 24a of the weighing feeder device 24 is rotatably attached to a vehicle frame, and a rear end portion 24b thereof is supported via a weighing mechanism 25 having a weighing load cell.

Above the weighing feeder device 24, the new mixture material discharged from the transfer feeder device 18 is conveyed obliquely rearward and upward, and the weight of the new mixture material being conveyed (= conveyance amount or supply amount) is measured. A weighing feeder device 26 is provided. Similar to the weighing feeder device 24, the weighing feeder device 26 has a front end portion 26a rotatably attached to a vehicle frame and a rear end portion 26b supported via a weighing mechanism 27 having a weighing load cell. .

Then, the scraped and loosened material and the new mixture material respectively conveyed by the weighing feeder devices 24 and 26 are put into a mixer device 28 provided behind the respective weighing feeder devices 24 and 26. This mixer device 28 is formed by radially projecting a plurality of paddles on two rotary shafts provided in the casing and extending in the vehicle front-rear direction. By rotationally driving these two rotary shafts, The scraping and disintegrating material charged in the charging chute 29 and the new mixture are mixed by a paddle, and then this mixed material is discharged from a discharge port formed at the rear portion of the casing.

Behind the mixer device 28, there is provided a sprinkling device 30 for sending the mixed material discharged from the discharge port of the casing of the mixer device 28 to the road surface. This sprinkling device 30,
A screw that extends in the vehicle width direction and is rotatable is supported by a body frame so that it can be raised and lowered. By rotating this screw, the mixed material is transferred in the vehicle width direction and is evenly distributed on the road surface. It is designed to be sent to.

Behind the spreading device 30, a spreading and leveling device 31 for spreading and stiffening the mixed material sprinkled on the road surface is provided.

Further, a pair of left and right drive wheels 34, 34 are rotatably provided on the vehicle frame in front of the scraping device 30, and these drive wheels 34, 34 are rear wheel drive mechanism 15 of the vehicle 1 described later. It is configured to be rotationally driven by a drive mechanism similar to the above, and further, on the vehicle frame behind the pickup feeder 22, a pair of left and right front wheels 36, 36 are respectively rotatable and rotatable in a horizontal plane. The front wheels 36, 36 are attached, and their directions are changed by a hydraulic drive mechanism that operates in response to a rotating operation of a steering wheel 37 provided in the driver's seat.

Next, with reference to FIG. 1, the configuration of the traveling control device of the above-described road cutting mixer will be described. In FIG.
Reference numeral 40 denotes a diesel engine mounted on the preceding self-propelled vehicle 1. The diesel engine 40 drives a traveling hydraulic pump 41 and a working hydraulic pump 42. The hydraulic oil discharged from the hydraulic pump 41 is
After being guided to the first electromagnetic proportional control valve 44 by the pressure pipe 43, the direction of the flow path of the pressure oil is selected and the flow rate is adjusted by the first electromagnetic proportional control valve 44, the rear wheels are driven by the pressure pipe 45. Is guided to the hydraulic motor 46. The hydraulic oil discharged from the rear-wheel drive hydraulic motor 46 is guided to the first electromagnetic proportional control valve 44 by the return pipe 47, and then the return pipe 48.
The hydraulic oil is returned to the hydraulic oil tank 49 by the hydraulic oil tank 49, and the hydraulic oil stored in the hydraulic oil tank 49 is guided to the hydraulic pump 41 by the suction pipe 50. On the other hand, the hydraulic oil discharged from the hydraulic pump 42 is guided to the second electromagnetic proportional control valve 54 by the pressure pipe 53, and the second hydraulic proportional control valve 54
After the flow rate is adjusted by the electromagnetic proportional control valve 54, it is guided to various working devices (bar feeder, etc.) by the pressure pipe 55. The hydraulic oil discharged from these various working devices is guided to the second electromagnetic proportional control valve 54 by the return pipe 57, and then returned to the hydraulic oil tank 49 by the return pipes 58 and 48. The hydraulic oil stored therein is guided to the hydraulic pump 42 by the suction pipes 50 and 59.

An electromagnetic switching valve 52 for changing the flow path is provided in the middle of the pressure pipe 53.
When the solenoid of the electromagnetic switching valve 52 is excited, the hydraulic oil guided by the pressure pipe 53 is guided to the pressure pipe 43 via the pipe 56.

The first and second electromagnetic proportional control valves 44, 54 are for switching the direction of the flow path of the hydraulic oil and controlling the flow rate by moving the poppet or spool by an electromagnet. The property that is substantially proportional to the magnitude of the exciting current supplied to the coil is used. Here, the relationship between the exciting current supplied to the first and second electromagnetic proportional control valves 44 and 54 and the flow rate of the hydraulic oil is shown in FIG.

Further, the rear wheel drive hydraulic motor 46 is provided with an electromagnetic switching valve 51 for changing the volume of hydraulic oil required for one rotation of the motor, and when the solenoid of this electromagnetic switching valve 51 is demagnetized, It has a large capacity, and when excited, it switches to a smaller capacity. The rotational force of the rear wheel drive hydraulic motor 46 is supplied to the left and right drive wheels 14, 1 via the rear wheel drive mechanism 15.
Transmitted to 4. The rear wheel drive mechanism 15 includes a final drive mechanism 60 that is a reduction gear mechanism that is rotationally driven by the rear wheel drive hydraulic motor 46, and a pair of left and right sprockets 61 that are rotationally driven through the final drive mechanism 60. 61, sprockets 62, 62 connected to the rotary shafts of the drive wheels 14, 14, respectively, and the left and right sprockets 61,
61; 62, 62 and chains 63, 63 respectively stretched between them.

An idle sprocket 64 meshes with one of the chains 63, and the idle sprocket 64 is connected to the rotary shaft of the rotary encoder 65. This rotary encoder 65 is an incremental type and has a sprocket.
A pulse signal having a time interval corresponding to the rotation speed of 64 is supplied to the speed detection counter 66. This speed detection counter 66
Is reset by a timing pulse supplied from the speed feedback control circuit 67 described later in a constant cycle, counts the number of pulses supplied from the rotary encoder 65 within a constant time, and counts the count data as the rotation speed of the drive wheel 14. That is, the measured speed V ₁ corresponding to the traveling speed of the self-propelled vehicle 1 is output to the speed feedback control circuit 67. Further, 70 is a traveling mode changeover switch for selecting either a work traveling mode in which the self-propelled vehicle 1 travels at a constant speed and a low speed, or a forward traveling mode in which the self-propelled vehicle 1 travels at a high speed at an arbitrary speed, and 71 is a self-propelled vehicle 1 Travel speed (command speed V ₀ )
It is a potentiometer for speed setting to set
These are provided on the operation panel of the driver's seat of the self-propelled vehicle 1.

The traveling mode changeover switch 70 outputs a working mode signal when the working traveling mode is set and outputs a forwarding mode signal when the working traveling mode is set, and the speed feedback control circuit 67 and the driver are output. 69 and switching circuit
A mode signal is supplied to each 72. When the forwarding mode signal is supplied, the driver 69 excites the solenoids of the electromagnetic switching valves 51 and 52. Further, the voltage signal corresponding to the command speed V ₀ output from the potentiometer 71 is the speed feedback control circuit 67 and the speed open loop control circuit 68.
Is supplied to.

The speed feedback control circuit 67 is a CP that performs various calculations.
U (Central Processing Unit), ROM (Read Only Memory) in which programs used in CPU are stored, RAM (Random Access Memory) for temporarily holding data, and I / O (I / O) for exchanging various data ) Is mainly composed of a microcomputer consisting of an interface,
In addition, the command speed V ₀ supplied from the potentiometer 71
A / D that converts the voltage signal corresponding to the digital signal into a digital signal
An (analog / digital) converter and a D / A converter for converting a digital signal corresponding to the feedback current command value A ₁ calculated by the CPU into an analog signal are provided.

Further, the speed open loop control circuit 68 is a gain adjuster.
It has a 68a and a zero-point adjuster 68b, and creates an open loop current command value A ₂ based on the speed command V ₀ supplied from the potentiometer 71.

The current command value A ₁ output from each of the speed feedback control circuit 67 and the speed open loop control circuit 68,
Either one of A ₂ is selected by the switching circuit 72 and supplied to the proportional valve amplifier 73. In this case, the switching circuit
72 normally supplies the feedback current command value A ₁ to the proportional valve amplifier 73, and when the forwarding mode signal is supplied from the traveling mode changeover switch 70, the open loop current command value A ₂ to the proportional valve amplifier 73. Supply. This proportional valve amplifier
73 is the supplied feedback current command value (voltage signal)
The exciting current corresponding to A ₁ or the open loop current command value A ₂ is supplied to the first solenoid proportional control valve 44.

Note that the configuration of the traveling control device of the following self-propelled vehicle 2 is substantially the same as that of the traveling self-propelled vehicle 1 described above, and thus the description thereof is omitted.

The traveling operation of the road mixing machine composed of the two self-propelled vehicles 1 and 2 configured as described above will be described with reference to FIGS. 4 and 5.

Operation in work traveling mode When this work traveling mode is selected, the output of the traveling mode changeover switch 70 is a working mode signal, and accordingly, the changeover circuit 72 changes the feedback speed command value A ₁ to the proportional valve amplifier 73. The solenoid of the solenoid operated directional control valve 52 is demagnetized, and the hydraulic oil discharged from the work hydraulic pump 42 is supplied to various working devices.
The solenoid of 51 is also demagnetized, the hydraulic motor 46 for driving the rear wheels is set to a large volume of hydraulic oil required for one rotation, and is switched to the low speed rotation range side, and the transmission of the drive system is set to the low speed stage. (See FIG. 5).

Here, the operation of the speed feedback control circuit 67 will be described with reference to the flowchart shown in FIG.

First, in step SP1 shown in FIG. 4, the CPU in the speed feedback control circuit 67 takes in the commanded speed V ₀ set in the speed setting potentiometer 71, and in the next step SP2, the speed detection counter 66 The count data is captured as the measured speed V ₁ . Then, in the next step SP3, the deviation ΔV between the command speed V ₀ and the measured speed V ₁
(= V ₀ −V ₁ ) is calculated, and in the next step SP4, the current command value A ₁ is calculated based on the deviation ΔV. in this case,
The current command value A ₁ is calculated by the following equation (1) in which the proportional element, the derivative element, and the integral element are added to perform the PID control. However, α, β, γ, Ω are predetermined coefficients.

Then, in the next step SP5, after the feedback current command value A ₁ is converted into an analog signal (voltage signal) by the D / A converter, the proportional valve amplifier is switched through the switching circuit 72.
Supplied to 73.

Here, the proportional valve amplifier 73 has a feedback current command value.
Since the exciting current corresponding to A ₁ is supplied to the solenoid proportional control valve 44, the flow rate of the hydraulic oil supplied to the rear wheel drive hydraulic motor 46 via the solenoid proportional control valve 44 depends on the current command value A ₁ . Are adjusted to different values, and as a result, the rotational speeds of the drive wheels 14, 14, that is, the traveling speed of the self-propelled vehicle 1 become values corresponding to the current command value A ₁ . In this way, the deviation ΔV between the command speed V ₀ and the measured speed V ₁ is set to 0, that is, the running speed of the self-propelled vehicle 1 at the time of work is set to the command speed V set in the speed setting potentiometer 71. Controlled to match ₀ . Further, the traveling speed of the following self-propelled vehicle 2 is similarly controlled.

As described above, when the work traveling mode is selected by the traveling mode changeover switch 70, the traveling speed is controlled with high accuracy by the feedback control. Therefore, when the two self-propelled vehicles 1 and 2 are made to travel in parallel during the work, It is possible to drive the two self-propelled vehicles 1 and 2 at a low speed at a constant speed.

Operation in forward traveling mode When the forward traveling mode is selected, the forward mode signal is output from the traveling mode changeover switch 70, which causes the switching circuit 72 to output the open loop speed command value A ₂ to the proportional valve amplifier. 73, the solenoid of the solenoid operated directional control valve 52 is excited, and the hydraulic oil discharged from the work hydraulic pump 42 is guided to the pressure pipe 43 via the pipe 56 and discharged from the traveling hydraulic pump 41. It merges with the hydraulic oil, and also
The solenoid of the electromagnetic switching valve 51 is also excited, the hydraulic oil 46 for driving the rear wheels is set to a small volume of hydraulic oil required for one rotation, and is switched to the high speed rotation range side, and the transmission of the traveling drive system is set to the high speed stage. It is set (see FIG. 5).

In this case, the speed open loop control circuit 68 creates an open loop current command value A ₂ based on the speed command V ₀ supplied from the speed setting potentiometer 71, and this current command value A ₂ is sent to the proportional valve amplifier 73. Since it is supplied, the traveling speed is substantially determined according to the set value of the potentiometer 71.

As a result, it is possible to drive each of the self-propelled vehicles 1 and 2 at a relatively high speed at the time of forwarding each of them.

In the above embodiment, the rotation speed of the self-propelled vehicle is obtained by detecting the rotation of the idle sprocket 64 meshed with the one chain 63 by the rotary encoder 65. It may be attached to the opposite output shaft end of the wheel drive hydraulic motor 46 and obtained by directly detecting the rotation of the rear wheel drive hydraulic motor 46.

[Advantages of the Invention] As described above, according to the present invention, when the traveling mode switching means selects the working traveling mode, the feedback control means controls the traveling speed with high accuracy. When running a self-propelled vehicle having a work machine in parallel, these two self-propelled vehicles can be made to travel at a low speed at a constant speed while maintaining a constant interval. No need for skillful operation techniques such as delicately adjusting, and when the forward running mode is selected, the open-loop control means controls the running speed, so that the self-propelled vehicle can be operated at any speed. Can be run at high speed,
As a result, it is possible to appropriately control the traveling speed of the self-propelled vehicle according to the traveling mode simply by operating the traveling mode switching means.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of an electric and hydraulic circuit when an embodiment of the present invention is applied to a road cutting mixer, and FIG. 2 is a front view showing an external configuration of the road cutting mixer. FIG. 4 is a graph for explaining the operation of the electromagnetic proportional control valve provided in the on-road cutting mixer, and FIG. 4 is an illustration of the operation of the speed feedback control circuit 67 provided in the vehicle 1 of the on-road cutting mixer. FIG. 5 is a flowchart for explaining the operation of each part in each running mode of the on-road cutting mixer. 65: rotary encoder, 66: speed detection counter, (65 and 66 are speed detection means), 67: speed feedback control circuit, 68: speed open loop control circuit, 70
...... Running mode selector switch, 71 …… Potentiometer for speed setting.

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Tomohiro Gomachi 1-19-11 Kyobashi, Chuo-ku, Tokyo Within Japan Cableway Co., Ltd. (72) Inventor Ichiro Miyazaki 1-1-19, Kyobashi, Chuo-ku, Tokyo Within Nihon Tappudo Co., Ltd. (56) References Japanese Patent Publication 1-40168 (JP, B2)

Claims (1)

[Claims] 1. A speed setting means for setting a command speed, a speed detecting means for detecting a traveling speed of a self-propelled vehicle having a working machine, and a work traveling mode in which the self-propelled vehicle travels at a constant speed at a low speed. A traveling mode switching means for selecting one of the forward traveling modes for traveling at high speed, and a command speed set by the speed setting means and the speed detection when the work traveling mode is selected by the traveling mode switching means. Feedback control means for feedback-controlling the traveling speed of the self-propelled vehicle while making comparison with the measured speed detected by the means; and when the forward traveling mode is selected by the traveling mode switching means, set by the speed setting means. Open loop control means for performing open loop control of the traveling speed of the self-propelled vehicle based on the commanded speed A travel control device for a self-propelled vehicle having a working machine comprising: