JPS59206533A - Preventer for falling down of remote-operable vehicle - Google Patents
Preventer for falling down of remote-operable vehicleInfo
- Publication number
- JPS59206533A JPS59206533A JP58080985A JP8098583A JPS59206533A JP S59206533 A JPS59206533 A JP S59206533A JP 58080985 A JP58080985 A JP 58080985A JP 8098583 A JP8098583 A JP 8098583A JP S59206533 A JPS59206533 A JP S59206533A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- signal
- speed
- control
- determined
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000002265 prevention Effects 0.000 claims description 14
- 238000001514 detection method Methods 0.000 claims description 13
- 230000004397 blinking Effects 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 abstract description 8
- 230000007935 neutral effect Effects 0.000 abstract description 5
- 230000004913 activation Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/24—Safety devices, e.g. for preventing overload
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Component Parts Of Construction Machinery (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Operation Control Of Excavators (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は、建設現場や限られた作業環境で稼動されるホ
イールローダ、油圧ショベル、自走式クレーン、ハシゴ
付シュノーケル車の如き遠隔操縦可能な車輛における転
倒防止装置に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a fall prevention device for remotely controllable vehicles such as wheel loaders, hydraulic excavators, self-propelled cranes, and ladder-equipped snorkel vehicles that are operated at construction sites or in limited working environments. .
例えば、車軸式ローダの如き土工匝輛は、作業環境が悪
い場合等には有線又は無線で遠隔操縦されるが、その場
合、操縦者は現場の路面状況等を実感としてつかめない
ために車輛を危険斜面に突入させ、甚だしい場合には車
輛を転倒させてしまうことがある。For example, earthmoving vehicles such as axle-type loaders are remotely controlled by wire or wirelessly when the working environment is poor, but in such cases, the operator is unable to get a feel for the road surface conditions at the site, so he cannot control the vehicle. This may cause the vehicle to enter a dangerous slope and, in extreme cases, cause the vehicle to overturn.
本発明の目的は、このような事故の発生を防止するため
、車輛の速度、傾斜角度或いはパケット等の作業装置の
状況等の各種車輛状態を遂次検出し、これが危険な状態
に近づいたときは車輛全自動的に減速、停止することに
より、車輛の転倒？未然に防止する装置を提供すること
である。In order to prevent such accidents from occurring, the purpose of the present invention is to sequentially detect various vehicle conditions such as vehicle speed, inclination angle, and the status of working devices such as packets, and to detect when these conditions approach a dangerous condition. Will the vehicle fully automatically slow down and stop, thereby preventing the vehicle from falling over? It is an object of the present invention to provide a device that prevents such problems from occurring.
以下、本発明？添付図面に示す具体例により説明する。Is this invention the following? This will be explained using specific examples shown in the accompanying drawings.
先ず、第１図を参照して説明すると、図示の装置は、遠
隔操縦可能な車輛に組み込まれる転倒防止装置であって
、車輛の操縦者によって設定式れる操縦情報を発生する
操縦情報発生手段１と、実際の車輛速度その他の車輛状
態全検出する検出手段２と、予め定めた各種車輛状態の
組合せから成る複数個の安全状態を記憶する記憶手段３
と、上記検出手段からの車輛状態信号を上記記憶手段の
内容と比較することにより、実際の車輛状態が上記安全
状態のいずれかに入るか否かを判定し、その結果、いず
れかの安全状態に入ると判定されたときは上記操縦情報
発生手段からの信号に対応した車輛状態に設定する制御
信号？出力し、現在の車輛状態む上記安全状態のいずれ
も入らないと判定されたときは、いずれかの安全状態に
入るまで車幅速度？減少させる減速信号を出力し、予め
定めた最低速度まで減速しても伺いずれの安全状態にも
入らないときは車輛停止信号を出力する制御手段４とを
具備している。First, referring to FIG. 1, the illustrated device is a fall prevention device built into a remotely controllable vehicle, and includes a control information generating means 1 that generates control information that can be set by the operator of the vehicle. , a detection means 2 for detecting the actual vehicle speed and all other vehicle conditions, and a storage means 3 for storing a plurality of safety conditions consisting of predetermined combinations of various vehicle conditions.
By comparing the vehicle status signal from the detecting means with the contents of the storage means, it is determined whether the actual vehicle status falls into any of the safe states, and as a result, it is determined whether the actual vehicle status is in any of the safe states. When it is determined that the control information is entered, a control signal for setting the vehicle state corresponding to the signal from the above-mentioned control information generating means? If it is determined that the current vehicle condition does not fall into any of the above safe states, the vehicle width speed remains unchanged until one of the safe states is reached. The control means 4 outputs a deceleration signal to reduce the vehicle speed, and outputs a vehicle stop signal when the vehicle does not reach any safe state even after decelerating to a predetermined minimum speed.
上記操縦情報発生手段１は、操縦者によって予め設定さ
れ、或いは運転中に送信機から送られる操縦情報を受−
信し、これ？ディジタル信号として制御手段４に送出す
る受信機で構成されている。The maneuvering information generating means 1 receives maneuvering information that is set in advance by the pilot or sent from a transmitter during driving.
Believe this? It consists of a receiver that sends out digital signals to the control means 4.
操縦情報は、「遠隔操縦モード」か否か、「パーキング
ブレーキ解除」か否か、及び「転倒防止装置作動解除」
か否かの二者択一情報と、車幅の前進・後進・中立設定
、速度段設定、エンジンのガバラック位置設定、操向指
令、及びパケットの如き作業装置の動作指令の各設定情
報とから成り、いずれも操縦者が送信機の各種スイッチ
、レバー等を操作することによ抄選択あるいは設定され
る。Operation information includes whether or not it is in "remote control mode", whether or not "parking brake is released", and "overturn prevention device is released".
information on whether or not to do so, and information on various settings such as forward/reverse/neutral vehicle width settings, speed gear settings, engine control position settings, steering commands, and operation commands for working equipment such as packets. The selection or setting is made by the operator operating various switches, levers, etc. on the transmitter.
しかして、この操縦情報発生手段１では、二者択一情報
のうち「遠隔操縦モード」及びパーキングブレーキ解除
」の各信号は直接に、また「転倒防止装置作動解除ｊの
信号にインバータ１１で反転されて、夫々ＡＮＤ素子１
２に入力される。このＡＮＤＸ子１２の出力は、Ｐ−３
７１Ｊツブフロップ回路１３のセット端子Ｓに人力され
ると共にインバータ１４で反転されて同回路１３のリセ
ット端子Ｒに入力されるが、同時に発光ダイオードを含
む点灯回路ＬＬを介して後述のＮＡＮＤ累子５にもその
１人力として供給される。上記フリップフロップ回路１
３のＱ出力は制御手段４に初期設定信号として入力され
る一方、回出力はＯＲ素子６全介して後述の警報回路７
に送られる。岡、ＯＲ累子６には上記「転倒防止装置作
動解除」信号も入力される。Therefore, in this operation information generating means 1, among the two alternative information, each signal of ``remote control mode'' and ``parking brake release'' is directly inverted, and the signals of ``overturn prevention device activation release j'' are inverted by the inverter 11. and the AND element 1
2 is input. The output of this ANDX child 12 is P-3
The input signal is input to the set terminal S of the 71J block flop circuit 13, inverted by the inverter 14, and input to the reset terminal R of the same circuit 13, but at the same time, the input signal is input to the NAND amplifier 5, which will be described later, via the lighting circuit LL including a light emitting diode. will also be supplied by one person. The above flip-flop circuit 1
The Q output of No. 3 is inputted to the control means 4 as an initial setting signal, while the Q output is sent to the alarm circuit 7, which will be described later, via all OR elements 6.
sent to. The above-mentioned "overturn prevention device activation release" signal is also input to Oka and OR Yuko 6.
かくして、図示の具体例においては、「遠隔操縦モード
」が選択はれ且つ「パーキングブレーキ解除」で［転倒
防止装置の作動が解除されていない」即ち「転倒防止装
置作動」の状態のとき、ＡＮＤ累子１２の出力が１１
〃となり、フリップフロップ回路１３のセット端子Ｓ及
びリセット端子Ｒが夫々囁ｌ〃、気０〃、従ってＱ出力
ｉ３ｓ １ ／／となって制御手段４全作動させる。Thus, in the illustrated example, when the "remote control mode" is selected and the "parking brake is released" and the "overturn prevention device is not activated", that is, the "overturn prevention device is activated", the AND The output of cuco 12 is 11
〃, the set terminal S and the reset terminal R of the flip-flop circuit 13 become whisper l〃 and ki 0〃, respectively, and hence the Q output i3s 1 //, and the control means 4 is fully activated.
一方、「カバナラツ久位置ｊ等の設定情報は、夫々設Ｗ
値を示す信号に変換されて制御手段４に囁１ 〃が入力
される。On the other hand, the setting information such as "cabanaratsuku position j etc."
Whisper 1 is converted into a signal indicating a value and input to the control means 4.
次に、検出手段２は、例えば単個が車体屈折式で後輪が
揺動する構造の場合には、車輛速度のほか、車輪前部前
後方向傾斜角、車軸前部左右方向傾斜角、車幅後部左右
方向傾斜角、作条装置としてのパケットの荷重及びその
上下（リフト）位置、並びに車軸の左右操向角等の各種
単一状態を検出するセンサ２１．２２．２３．２４．２
５．２６．２７から成る。そして、これらのセンサで検
出した各種車輛状態ケ示す信号は、適宜ディジタル変換
されて制御手段４に入力部れる。同、図示の具例えば検
出が停止した場合）等にこれを検知するため、発光ダイ
オードを含む点灯回路−〜Ｌ７が夫々各センサ２２〜２
７の出力部に接続逼れている。Next, the detection means 2 detects, for example, a vehicle body refraction type and a structure in which the rear wheels swing, in addition to the vehicle speed, the front wheel inclination angle in the longitudinal direction, the front axle front inclination angle in the left and right direction, the vehicle Sensor 21.22.23.24.2 that detects various single conditions such as the width rear left and right tilt angle, the load and vertical (lift) position of the packet as a stripping device, and the left and right steering angle of the axle.
Consisting of 5.26.27. Signals indicating various vehicle conditions detected by these sensors are appropriately converted into digital data and input to the control means 4. Similarly, in order to detect when the illustrated device (for example, detection has stopped), a lighting circuit including a light emitting diode L7 is connected to each sensor 22 to 2, respectively.
The connection is tight to the output section of 7.
これらの発光ダイオード点灯回路Ｌ２〜Ｌ７は、前記Ａ
ＮＤ累子１２の出力部に接続きれた発光ダイオード点灯
回路Ｌ工と共に、ＮＡＮＤ素子５を介して餐報ランプ回
路のＯＲ素子６の入力部に接続されている。These light emitting diode lighting circuits L2 to L7 are
Together with the light emitting diode lighting circuit L, which is connected to the output of the ND resistor 12, it is connected to the input of the OR element 6 of the dinner lamp circuit via the NAND element 5.
！ｌＪ御手段４は、上記のように操縦情報発生手段１及
び検出手段２からの信号を受けて、検１１：ｌされた車
輛状態を後で詳述する安全パターンと比較することによ
り、車輛が安全状態か否かを判定するものであるが、こ
のｉＩｌ制御手段４と、比較の基準となる安全状態を示
す各種パターンを記憶する記憶手段３とは、例えばマイ
クロコンピュータによって画成することができる。この
マイクロコンピュータによるデータ検出、比較及び判定
の動作は、例えば約０．０５秒間で１サイクルを終える
、すなわち検出に０．０５秒間とし、その後約５００マ
イクロ秒で検出データと安全パターンとの比較及び判定
全行うものとすることができる。この場合、例えば車幅
速度センサ２１は、約２秒間の時間間隔て車輛速度を連
続的に検出してマイクロコンピュータに入力し、マイク
ロコンピュータでｕ ０．０５秒間の検出時間内に１シ
ョット取出すことにより、車幅速度の検出、比較、判定
が行われる。他のセンサ２２〜２７についても所定の時
間間隔で各種車輛状態？検出するよう構成し、これらの
情報？マイクロコンピュータで同様に処理すればよい。! The lJ control means 4 receives the signals from the operation information generating means 1 and the detecting means 2 as described above, and compares the detected vehicle state with a safety pattern to be detailed later. The iIl control means 4 and the storage means 3 for storing various patterns indicating the safe state as a reference for comparison can be defined by, for example, a microcomputer. . The operation of data detection, comparison, and judgment by this microcomputer completes one cycle in about 0.05 seconds, for example, 0.05 seconds for detection, and then about 500 microseconds to compare and judge the detected data with the safety pattern. All determinations may be made. In this case, for example, the vehicle width speed sensor 21 continuously detects the vehicle speed at time intervals of about 2 seconds and inputs it to the microcomputer, and the microcomputer takes out one shot within the detection time of 0.05 seconds. The vehicle width speed is detected, compared, and determined. Are the other sensors 22 to 27 also checked for various vehicle conditions at predetermined time intervals? Configured to detect these information? A microcomputer can process it in the same way.
同、センサとしては検出すべき情報に対応して種々のも
のを用いることができる。例えば操向角については、車
体屈折式車幅の場合その屈折中心となるピンのまわりに
マグネット式位置七ンサを設置して、角度位置ケ検田す
る。他に、ボテンショメータケ用いて検出することもで
きるか、その場合はアナログ量をディジタル変換するこ
と力Ｓ必要である。Similarly, various types of sensors can be used depending on the information to be detected. For example, regarding the steering angle, in the case of a car body refraction type vehicle width, a magnetic position sensor is installed around the pin that is the center of refraction, and the angle position is detected. Alternatively, it may be detected using a potentiometer, or in that case, it is necessary to convert the analog value into a digital value.
次に、上記記憶手段３（例えばマイクロコンピュータの
ＲＯＭ）に記憶される安全ノくターンについて第２図を
参照して説明する。Next, the safety warnings stored in the storage means 3 (for example, ROM of a microcomputer) will be explained with reference to FIG.
第２図は、車速（車輛速度）その他の車輪状態２表わす
数値？同心円の半径方向にプロットしたものであるが、
図中実線で結んだ○印は、諷輛會「前進状態」で且つ速
度嬢を１１速」（最低）に前もって設定した状況下にお
いて、作業中のノくケラトリフト位置が「下」、ノくケ
ラト荷重（油圧回路中のパケット保持圧）が「７５ Ｋ
９ｆ／ｃｒｈ禾満」、車輛前部前後方傾斜が「５°以上
１（ｆ未満の上り」、車輛前部左右方向傾斜が「５°以
上ＩＯ′未満の右傾斜」、車幅後部左右方向傾斜が「２
イ以上３０°未満の右傾斜」及び「１０′以上２０′未
満の左傾斜」で、車速か「４ Ｋｍ ／ ｈ以上６ Ｋ
ｍ ／ ｈ未満」と検出されたときの操向角度限界は「
左に２Ｏ４未満、右に３♂未満」であることを示してお
り、この範囲であれば、任意の速度及び操向角で作業可
能である。すなわち、車速等の各種車輛状態を示すデー
タがこの安全パターン内に入っている限り、車輛は操縦
者によって設定された操縦情報に従って作動する。Figure 2 shows numerical values representing vehicle speed (vehicle speed) and other wheel conditions. It is plotted in the radial direction of concentric circles,
The ○ marks connected by solid lines in the diagram indicate that the position of the keratolift during work is ``lower'' and ``lower'' when the vehicle is in the ``forward state'' and the speed is set in advance to 11th gear (lowest). The Kerato load (packet holding pressure in the hydraulic circuit) is 75 K.
9f/crh full", vehicle front front/rear inclination is "5 degrees or more 1 (less than f uphill"), vehicle front left/right tilt is "5 degrees or more right tilt less than IO'", vehicle width rear left/right direction The slope is “2”
The vehicle speed is 4 Km/h or more and 6 Km.
The steering angle limit when "less than m/h" is detected is "
2O4 on the left and less than 3♂ on the right, and within this range, work can be done at any speed and steering angle. That is, as long as data indicating various vehicle conditions such as vehicle speed are within this safety pattern, the vehicle operates according to the control information set by the driver.
他方、破線で結んだΔ印は、操縦者が上記○印の車輛状
態から左操向ヲ２０°以上に設定した場合の安全バター
／を示す。この場合、車速はｒ４Ｋｍ／ｈ未満」でなけ
ればならないから、トランスミッションの速度段及びカ
バナラツクセット位置を変更して減速するが、この例で
は速度段はｌ速（最低）であるから、カバナラツクセッ
ト位置ゲ１５００ ｒｐｍとするものである。On the other hand, the Δ mark connected by a broken line indicates the safety margin when the driver sets the left steering to 20 degrees or more from the vehicle state marked with the circle. In this case, the vehicle speed must be less than 4 km/h, so the speed gear of the transmission and the cabana rack set position are changed to reduce the speed. In this example, the speed gear is l (lowest), so the cabana rack is The set position speed is 1500 rpm.
第２図に示す２つの安全パターンは、前述のように「前
進」且つ「１速」の場合の例であるが、「後進」の場合
及び速度段が「２速」の場合を含めると、安全パターン
の数は約１５０個にもなる。The two safety patterns shown in Fig. 2 are examples of "forward" and "1st gear" as described above, but if we also include the case of "reverse" and the case of "2nd gear", The number of safety patterns is about 150.
そこで、これらの安全パターンを例えばマイクロコンピ
ュータのＲＯＭに記憶しておき、検出手段からの情報と
比較して、安全状態でおるかを判定する。Therefore, these safety patterns are stored in the ROM of a microcomputer, for example, and compared with information from the detection means to determine whether the system is in a safe state.
第３図は、マイクロコンピュータによる上述の比較・判
定動作のフローチャートでおる。すなわち、操縦情報発
生手段、１にて設定された状況下において、検出手段２
から送出される信号で表わされる各種車幅状態は、先ず
第２図に例示したようなザ全パターンのいずれかに入る
か否かを判定される。その結果、安全パターンに入る（
即ち安全状態でおる）と判定されたときには、操縦情報
発生手段１からの信号に対応した車幅状態とする。FIG. 3 is a flowchart of the above-mentioned comparison and determination operation by the microcomputer. That is, under the situation set by the operation information generating means 1, the detecting means 2
First, it is determined whether the various vehicle width conditions represented by the signals sent from the vehicle fall into any of the total patterns as illustrated in FIG. As a result, we enter a safe pattern (
In other words, when it is determined that the vehicle is in a safe state, the vehicle width is set to a state corresponding to the signal from the maneuvering information generating means 1.
ところが、安全パターンのいすｔＴ、にも入らないと判
定された場合には車速を減少させるが、そのために先ず
トランスミッションの速度を１段ずつ低くするものとし
、これが最底速度段になったら、ガバナラック設定位置
を高回転位置から低回転位置まで段階的に変更するもの
である。However, if it is determined that the safety pattern does not fit into the safety pattern tT, the vehicle speed is reduced, but to do so, the transmission speed is first lowered one step at a time, and when this reaches the lowest speed step, the governor The rack setting position is changed stepwise from a high rotation position to a low rotation position.
しかして、上記のように減速しても伺、いずれｆの安全
パターンにも入らないときは、危険状態として車輪を緊
急停止させる。このとき、ガバナラックは低回転位置に
、トランスミッションは中立状態にュートラル）に、作
業装置及び操向は夫々保持位置に自動的に変更される。However, even if the vehicle decelerates as described above, if the safety pattern f is not reached, the wheels are brought to an emergency stop as a dangerous situation. At this time, the governor rack is automatically changed to a low rotation position, the transmission is automatically changed to a neutral state (neutral), and the working equipment and steering are each automatically changed to a holding position.
前述した制御手段５としてのマイクロコンピュータは、
上記の如き判定結果に応じて車輛状態を決定し、車速全
減少し、或いは緊急停止−「る信号を出力するものであ
り、その出力信号は、第２図に示すようにトランスミッ
ション、ガバナラックパーキングブレーキ、操向装置及
び作業装置（この場合パケット）の各操作部ないし駆動
側＃部３１３２．３３．３４及び３５に送られる。The microcomputer as the control means 5 mentioned above is
The system determines the vehicle status according to the above judgment result and outputs a signal to completely reduce the vehicle speed or to make an emergency stop.The output signal is used for transmission, governor rack parking, etc. It is sent to each operation section or drive side # section 3132, 33, 34, and 35 of the brake, steering device, and working device (packet in this case).
同、減速の場合、トランスミッションの速度段及びガバ
ナラック設定位＃を変更しても、車輛の慣性のため減速
に時間がかかるので、速度段及びガバナラック位置を変
更した場合の検出、比較及び判定は、例えば２０＋ｊイ
クル（約１秒間）繰り返した上で、次の（２１回目の）
結果によってその後の処理を行うようにするのがよい。Similarly, in the case of deceleration, even if the transmission speed gear and governor rack setting position # are changed, it takes time to decelerate due to the inertia of the vehicle, so detection, comparison, and judgment when the speed gear and governor rack position are changed. For example, after repeating 20+j cycles (about 1 second), the next (21st)
It is better to perform subsequent processing based on the results.
第１図に示した具体例は、以上の構成に加えて、車輛を
緊急停止させる危険状態の場合に警報ランプ（図示せず
）を点灯させる誉報回路７を備えている。この誉報回路
７は、図に示すように、ＯＲ素子７を介して制御手段４
の出力部に接続されており、制御手段４が前述の停止信
号全出力したとき、これによってＯＲ素子６が警報回路
７？作動せしめるようになっている。同、ＯＲ素子６に
は、既に説明したように操縦情報発生手段１がらの転倒
防止装置作動解除信号及びＲ−８７１Ｊツブフロップ回
路１３のす出力、そしてＮＡＮＤ素子５の出力信号も入
力される。従って、遠隔操縦モードでない（即ち直接操
縦の）場合、パーキングブレーキ解除していない場合、
もしくは転倒防止装置解除の場合、更には検出に異常が
生じて（発光ダイオードが点灯して）ＮＡＮＤ素子５の
出力が変化した場合にも、ＯＲ素子６の出力によって警
報回路７が作動し、警報ランプが点灯もしくは＾滅して
誓報し注意全換起するようになっている。同、送信機に
も同時に点灯または点滅するラング等の発光体を設ける
ことが好ましい。In addition to the above configuration, the specific example shown in FIG. 1 includes an alarm circuit 7 that lights up a warning lamp (not shown) in the event of a dangerous situation that requires an emergency stop of the vehicle. As shown in the figure, this signal circuit 7 is connected to the control means 4 through an OR element 7.
When the control means 4 fully outputs the above-mentioned stop signal, the OR element 6 is connected to the output section of the alarm circuit 7? It is designed to be activated. Similarly, to the OR element 6, as already explained, the fall prevention device activation release signal from the maneuvering information generating means 1, the output from the R-871J block flop circuit 13, and the output signal from the NAND element 5 are also input. Therefore, if you are not in remote control mode (i.e. direct control), and if you have not released the parking brake,
Alternatively, if the fall prevention device is released, or even if a detection error occurs and the output of the NAND element 5 changes (the light emitting diode lights up), the alarm circuit 7 is activated by the output of the OR element 6, and an alarm is issued. The lamp lights up or goes out to alert you and alert you. Similarly, it is preferable that the transmitter is also provided with a light emitting body such as a rung that lights up or flashes at the same time.
次に、上記具体例の作用を説明する。Next, the operation of the above specific example will be explained.
先ず、操縦者によって遠隔操縦モードに設定されると共
に、送信機におけるボタン操作によりパーキングブレー
キ解除及び転倒防止装置作動指令が出されると、操縦情
報発生手段である受信機のＡＮＤ素子１２の出力がＳＳ
１ Ｎとなるから、Ｒ−Ｓクリップ７０ツブ回路１３
のＱ出力が囁１〃となり、発光ダイオード点灯回路Ｌ１
が作動して発光表示すると共に、制御手段４としてのマ
イクロコンピュータが比較、判定動作を行う状態となる
。この状態で、操縦者が士工軍輛？所望の状態（例えば
前進、１速でガバナラックは低位置、右操向、作業装置
保持）に設定して車ｓｒ作動させると、制御手段４は、
検出手段２により検出した車°輛状態を前述の如き安全
パターンと比較することにより、安全状態か否かを判定
し、その結果、安全状態にあると判定されたときは、操
縦情報発生手段ｌから送られる信号に対応した状態に車
輛及び作業装置を設定する。First, when the operator sets the remote control mode and issues a command to release the parking brake and activate the fall prevention device by operating a button on the transmitter, the output of the AND element 12 of the receiver, which is the control information generating means, changes to SS.
1 N, so R-S clip 70 tube circuit 13
The Q output becomes whisper 1, and the light emitting diode lighting circuit L1
is activated to display a light-emitting display, and the microcomputer serving as the control means 4 enters a state in which it performs comparison and determination operations. In this state, is the pilot a military engineer? When the vehicle SR is set to a desired state (for example, forward, 1st gear, governor rack in low position, right steering, holding work equipment) and the vehicle SR is operated, the control means 4:
By comparing the vehicle state detected by the detection means 2 with the safety pattern described above, it is determined whether the vehicle is in a safe state or not. As a result, when it is determined that the vehicle is in a safe state, the operation information generating means l Set the vehicle and work equipment in a state corresponding to the signal sent from the machine.
一方、車幅が安全状態にない即ち安全パターンから外れ
ていると判定された場合には、制御手段４は、第３図の
７０−チャートの手１咀に従って車速を減らし、それで
も安全状態にならないときは車輛Ｉ急停止退せ１γガ？
ナラツク位置は低回転位置に、トランスミッションは中
立に、操向及び作業装置は夫々保持位置に自動的に変更
されると共に、ＯＲ素子６の出力が％ ｌ／ｌになるこ
とにより脅報回路７が作動し、誉報うンプ？点灯または
点滅させる。同、この具体例では、検出手段２が異常を
生じて発光ダイオード点灯回路Ｌ２〜Ｌ７の−ずれかが
作動しなくなったときにも、ＯＲ素子６の出力が気ｌ〃
となるから、警報回路７が作動し、異常ケ知らせるよう
になっている。そして、警報回路７が作動して警報があ
つｆｃ場合に、点灯回路Ｌ２〜Ｌ７中の発光ダイオード
の点灯状態を調べる仁とにより、検出手段２におけるい
ずれのセンサ２１〜２７の異常であるか全判別すること
ができる。On the other hand, if it is determined that the vehicle width is not in the safe state, that is, it is determined that the vehicle width is out of the safety pattern, the control means 4 reduces the vehicle speed in accordance with 70-1 of the chart in FIG. 3, but still does not reach the safe state. When is the time for the vehicle to suddenly stop and retreat?
The steering position is automatically changed to the low rotation position, the transmission is changed to neutral, and the steering and working devices are automatically changed to the holding positions, and the output of the OR element 6 becomes %l/l, so that the threat alarm circuit 7 is activated. Does it work and reward you? Turn on or flash. Similarly, in this specific example, even when the detection means 2 malfunctions and one of the light emitting diode lighting circuits L2 to L7 stops operating, the output of the OR element 6 remains unchanged.
Therefore, the alarm circuit 7 is activated to notify of an abnormality. When the alarm circuit 7 is activated and an alarm is issued, it is determined which sensor 21 to 27 in the detection means 2 is abnormal by checking the lighting states of the light emitting diodes in the lighting circuits L2 to L7. can be determined.
一本発明の装置は、最終的には車輪を上記のように停止
することにより、操縦者に車輛が転倒する恐れるのある
ことを認識させ、パケットリフト位置が高すぎないか、
車輛がいずれかの方向に異常に傾いていないか等の点検
を促す。この点検後、操縦者は、車輛全安全な状態に戻
すべく送信機を介してガバナラック位置を低回転位置に
設定し、サービスブレーキをかけた状態で、転倒防止装
置？解除した後、サービスブレーキ？断続させながら安
全状態に移すことができる。伺、この間、ＯＲ素子６の
出力は囁１〃になっているから、警報ランプは点灯また
は点滅している。By finally stopping the wheels as described above, the device of the present invention makes the operator aware that there is a risk of the vehicle overturning, and checks whether the packet lift position is too high.
The driver is encouraged to check whether the vehicle is leaning abnormally in any direction. After this inspection, the driver sets the governor rack position to the low rotation position via the transmitter in order to return the vehicle to a completely safe condition, and with the service brake applied, the driver checks the rollover prevention device. Service brake after releasing? It is possible to move to a safe state intermittently. During this time, the output of the OR element 6 is 1, so the alarm lamp is lit or flashing.
操縦者が車輛を安全と思わ牡る状態に移した後、再び転
倒防止装置を非解除状態に設定し、サービスブレーキ′
に解除すると、本装置は再び作動状態となる。After the operator has moved the vehicle to a state that he considers safe, he sets the anti-overturn device to the non-released state again and applies the service brake.
When released, the device is activated again.
以上、図示の具体例について説明したが本発明はこれに
限定されるものではない。例えば、上記具体例は車輛が
遠隔操縦される場合であるが、上記「遠隔操縦モードｉ
Ｆ直接操縦モード」に切り換えても装置が作動するよう
に変更することにより、操縦者が車輛を直接運転する場
合にも全く同様に本発明の装置を使用することができる
。Although the specific example shown in the drawings has been described above, the present invention is not limited thereto. For example, the above specific example is a case where the vehicle is remotely controlled;
By changing the device so that it operates even when the driver switches to the "F direct control mode," the device of the present invention can be used in exactly the same way when the driver directly drives the vehicle.
上記のように、本発明によれば、車輛が安全状態から外
れたときは、これを減速ないし停止することによって転
倒を未然に防止することができる。As described above, according to the present invention, when the vehicle is out of the safe state, it is possible to prevent the vehicle from falling by decelerating or stopping the vehicle.
第１図は本発明の一具体例？示す図、
第２図は本発明の装置において予め記憶される安全パタ
ーンの例を示す図、
第３図は本発明の装置における比軟判定動作のフローチ
ャートである。
１・・・・・・操縦情報発生手段
２・・・・・・検出手段
３・・・・・・記憶手段
４・・・・・・制御手段
５・・・・・・ＮＡＮＤ累子
６・・・・・・ＯＲ素子
７・・・・・・警報回路Is Figure 1 a specific example of the present invention? FIG. 2 is a diagram showing an example of a safety pattern stored in advance in the device of the present invention, and FIG. 3 is a flowchart of the softness determination operation in the device of the present invention. 1...Maneuvering information generating means 2...Detecting means 3...Storing means 4...Controlling means 5...NAND control unit 6. ...OR element 7 ...Alarm circuit
Claims (1)
縦情報？発生する操縦情報発生手段と、実際の車幅速度
その他の車輛状態を検出する検出手段と、 予め定めた各種車輛状態の組合せから成る複数個の安全
状態を記憶する記憶手段と、上記検出手段からの車輛状
態信号？上記記憶手段の内容と比較することにより、実
際の車輌状態が上記安全状態のいずれかに入るか否かを
判定し、その結果、いずれかの安全状態に入ると判定さ
れたときは上記操縦情報発生手段からの信号に対あした
車輛状態に設定する制御信号全出力し、現在の車輛状態
が上記安全状態のい ・ずれにも入らないと判定された
ときは、いずれかの安全状態に入るまで車輛速度を減少
させる減速信号全出力し、予め定めた最低速成まで減速
しても伺いずれの安全状態にも入らないときは車幅停止
信号を出力する制御手段とを具備することを特徴とする
遠隔操縦可能な車輛における転倒防止装置。 ２、上記制御手段が上記車輛停止信号を出力したときは
、その出力によって警報ランプ全点灯または点滅させる
手段全備えた特許請求の範囲第１項記載の遠隔操縦可能
な車輛における転倒防止装置。 ３ 上記操縦情報発生手段において遠隔操縦モードに設
定されたとき上記制御手段が作動するように画成された
特許請求の範囲第１項又は第２項記載の遠隔操縦可能な
車輌転倒防止装置。[Claims] 1. Control information set by the operator of a remotely controllable vehicle? A control information generating means to be generated, a detection means to detect the actual vehicle width speed and other vehicle conditions, a storage means to store a plurality of safety conditions consisting of combinations of various vehicle conditions determined in advance, and vehicle status signal? By comparing the contents of the storage means, it is determined whether the actual vehicle state falls into any of the above safe states, and if it is determined that the actual vehicle state falls into any of the safe states, the above operation information is In response to the signal from the generating means, all control signals to set the vehicle state tomorrow are output, and the current vehicle state is determined to be one of the above safe states.If it is determined that the current vehicle state is not in any of the above safe states, the control signal is output until one of the safe states is entered. The present invention is characterized by comprising a control means that outputs a full deceleration signal to reduce the vehicle speed, and outputs a vehicle width stop signal when the vehicle does not reach any safe state even after decelerating to a predetermined minimum speed. Fall prevention device for remotely controllable vehicles. 2. The overturn prevention device for a remotely controllable vehicle as set forth in claim 1, further comprising means for fully lighting or blinking a warning lamp in response to the output of the vehicle stop signal when the control means outputs the vehicle stop signal. 3. A remotely controllable vehicle overturn prevention device according to claim 1 or 2, wherein the control means is configured to operate when the control information generating means is set to a remote control mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58080985A JPS59206533A (en) | 1983-05-11 | 1983-05-11 | Preventer for falling down of remote-operable vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58080985A JPS59206533A (en) | 1983-05-11 | 1983-05-11 | Preventer for falling down of remote-operable vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59206533A true JPS59206533A (en) | 1984-11-22 |
| JPH0331846B2 JPH0331846B2 (en) | 1991-05-08 |
Family
ID=13733788
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58080985A Granted JPS59206533A (en) | 1983-05-11 | 1983-05-11 | Preventer for falling down of remote-operable vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59206533A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1991007549A1 (en) * | 1989-11-17 | 1991-05-30 | Kabushiki Kaisha Komatsu Seisakusho | Control method at the time of occurrence of abnormality in car controller |
| WO2016051632A1 (en) * | 2014-09-30 | 2016-04-07 | パナソニックＩｐマネジメント株式会社 | Operation control system and operation control device |
| JP2017218015A (en) * | 2016-06-07 | 2017-12-14 | 株式会社Ihi | Control system for construction machine and control program |
| GB2559168A (en) * | 2017-01-30 | 2018-08-01 | Jaguar Land Rover Ltd | Controlling movement of a vehicle |
| JP2019214833A (en) * | 2018-06-11 | 2019-12-19 | 株式会社フジタ | Remote control system for working machine |
| US11518300B2 (en) | 2017-06-06 | 2022-12-06 | Mitsubishi Electric Corporation | Presentation device |
| WO2024070950A1 (en) * | 2022-09-28 | 2024-04-04 | 株式会社小松製作所 | Work machine and method for controlling work machine |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57193634A (en) * | 1981-05-25 | 1982-11-29 | Meidensha Electric Mfg Co Ltd | Civil engineering and construction machine |
-
1983
- 1983-05-11 JP JP58080985A patent/JPS59206533A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57193634A (en) * | 1981-05-25 | 1982-11-29 | Meidensha Electric Mfg Co Ltd | Civil engineering and construction machine |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1991007549A1 (en) * | 1989-11-17 | 1991-05-30 | Kabushiki Kaisha Komatsu Seisakusho | Control method at the time of occurrence of abnormality in car controller |
| WO2016051632A1 (en) * | 2014-09-30 | 2016-04-07 | パナソニックＩｐマネジメント株式会社 | Operation control system and operation control device |
| JP2016071585A (en) * | 2014-09-30 | 2016-05-09 | パナソニックＩｐマネジメント株式会社 | Operation control system, operation control device, and remote operation device |
| JP2017218015A (en) * | 2016-06-07 | 2017-12-14 | 株式会社Ihi | Control system for construction machine and control program |
| GB2559168A (en) * | 2017-01-30 | 2018-08-01 | Jaguar Land Rover Ltd | Controlling movement of a vehicle |
| GB2559168B (en) * | 2017-01-30 | 2021-01-27 | Jaguar Land Rover Ltd | Controlling movement of a vehicle |
| US11518300B2 (en) | 2017-06-06 | 2022-12-06 | Mitsubishi Electric Corporation | Presentation device |
| JP2019214833A (en) * | 2018-06-11 | 2019-12-19 | 株式会社フジタ | Remote control system for working machine |
| WO2024070950A1 (en) * | 2022-09-28 | 2024-04-04 | 株式会社小松製作所 | Work machine and method for controlling work machine |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0331846B2 (en) | 1991-05-08 |
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