JPH0747477B2 - Tracked vehicle - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an orbiting vehicle whose traveling can be controlled by remote control from a workbench.

[0002]

2. Description of the Related Art There are track running vehicles that run on rails of railways and repair and inspect various workpieces (for example, overhead lines) installed above. For track vehicles,
It is equipped with a workbench that moves up and down, on which a worker rides to work on a work piece in a high place.

As such an orbital vehicle, a vehicle which can be driven not only on a normal road but also on a rail has already been proposed (for example, Japanese Utility Model Laid-Open No. 54-143508).
Issue).

FIG. 2 is a schematic view of the appearance of such a track vehicle. In FIG. 2, 1 is a vehicle, 1-1 is a front wheel (tire), 1-2 is a rear wheel (tire), 2 is a workbench, 3 is an operation panel, 6 is an iron wheel brake pedal, and 12 is a lifting hydraulic cylinder. , 13 is an engine, 14 is a clutch, 15 is a support member, 16 is an iron wheel, 17 is an iron wheel brake, 18
Is a rail.

[0005] A railroad vehicle rides on a rail at a railroad crossing or the like, and at that time, the iron wheels 16 are stored while traveling on the road.
Down so that it fits into the rails on the front and rear of the vehicle. And
The rear wheel 1-2 of the tire, which is the driving wheel, is kept in contact with the rail, and the front wheel 1-1 of the tire is lifted from the rail by hydraulically pushing up the front part of the vehicle body. The iron wheel 16 only travels along the rail 18 as a guide, and the driving force for forward and backward movement is supplied from the rear wheel 1-2.

The workbench 2 is moved up and down by a lifting hydraulic cylinder 12 that pushes up a workbench support frame 11. The operation of raising and lowering is performed by a worker who has entered the workbench 2 by operating a switch of an operation panel 3 provided therein.

The workbench 2 is provided with iron wheel brake pedals 6 for operating the iron wheel brakes 17. This is because when the vehicle 1 starts to move undesirably,
It is a device for a worker on the workbench 2 to stop the vehicle 1.

[0008]

(Problems) However, the above-described conventional track vehicle has the following problems. The first problem is that a driver must be present in the driver's seat of the vehicle 1 in addition to a person working on the workbench 2 during the work, and the number of people required for the work is large. The second problem is that most of the vehicles running on track are repeated running and stopping at a very low speed, and the driver is very tired.

(Explanation of Problems) Since the work by the track car is to inspect and repair the overhead line etc., the worker rides on the raised workbench 2, travels at a slow speed and stops. A driver must be present in the driver's seat of the vehicle 1 in addition to a person who directly works on the work table 2. In other words, at least two people will be needed.

Since the vehicle 1 used as an orbital traveling vehicle is currently a manual transmission vehicle, it is necessary to pay close attention to the clutch operation and the accelerator operation when traveling at a very low speed. Therefore, such repeated running and stopping bring about significant fatigue to the driver.

An object of the present invention is to solve the above problems.

[0012]

In order to solve the above-mentioned problems, in the track vehicle of the present invention, an electronically controlled automatic transmission system is mounted on a workbench and connected to the electronically controlled automatic transmission system by a communication line. Drive control signal generating means,
A condition determining means for entering the traveling control mode by the traveling control signal generating means when a predetermined condition is satisfied is provided. In the traveling control mode by the traveling control signal generating means of the workbench, the traveling control is performed according to the signal from the traveling control signal generating means regardless of the position of the select lever of the vehicle.

[0013]

[Operation] A vehicle that is controlled by an electronically controlled automatic transmission system is used as a vehicle for a track running vehicle, and a workbench is also provided with means for controlling the electronically controlled automatic transmission system.
As a result, it becomes possible to control traveling even when there is no driver in the driver's seat of the vehicle during work, and it is possible to reduce the number of personnel. In addition, unlike a vehicle with a manual transmission, a vehicle with an electronically controlled automatic transmission system can easily travel at a low speed, and can also perform an automatic cruise at a low speed, which reduces the labor required for travel control.

[0014]

Embodiments of the present invention will now be described in detail with reference to the drawings.

FIG. 1 is a block diagram of the track vehicle of the present invention. In FIG. 1, 1 is a vehicle, 2 is a workbench, 3
Is an operation panel, 4 is a brake switch, 5 is a workbench side control unit, 6 is an iron wheel brake pedal, 7
Is an auxiliary control unit, 8 is a main control
Unit, 9 is an optical fiber cable, 20 is a power switch, 21 is a forward switch, 22 is a backward switch, and 23
Is a neutral switch, 24 is a deceleration switch, 25 is a speed increasing switch, 26 is an accelerator volume, and 27 to 29.
Is a light emitting display element, 30 is a gear position switch, 31
Is a transmission actuator, 32 is a clutch actuator, and 33 is a step motor.

In the present invention, as the vehicle 1, a vehicle with an electronically controlled automatic transmission in which the transmission operation and the clutch operation are electronically controlled is used. Controlling the traveling of the vehicle 1 by a worker on the workbench 2 means that the vehicle 1 is remotely controlled by an electric signal, but in a manual transmission vehicle, a transmission and a clutch are operated by an electric signal. Because you can't do that.

The main control unit 8 is the main body of the automatic transmission system, in which the transmission actuator 31 carries out the optimum arithmetic processing for traveling.
Issue a control signal. The step motor 33 controls a control lever that adjusts the fuel injection amount. Therefore, acceleration and deceleration are performed by controlling the step motor 33.

In the present invention, since the workbench 2 sends a signal to the main control unit 8 in the vehicle 1 to control the traveling, the workbench 2 and the main control unit 8 are connected by a communication line. Need to connect. But,
Since the number of communication lines of the existing main control unit 8 is small, the auxiliary control unit 7 is interposed to increase the number of communication lines. The auxiliary control unit 7 mainly controls switching of transmission and reception timings between the workbench 2 and the workbench side control unit 5.

Since the work target on the workbench 2 is an energized object such as an overhead wire, the communication between the vehicle 1 and the workbench 2 is performed in an electrically insulated state. Is desirable. Therefore, it is better to connect the both with an optical fiber cable 9 instead of an electric wire. In that case, the workbench side control unit 5 and the auxiliary control unit 7 located at both ends of the optical fiber cable 9 are additionally provided with a configuration for converting between an electric signal and an optical signal.

The vehicle 1 is provided with two traveling modes: a normal traveling mode for traveling on a road and a remote operating mode for traveling at a low speed on the rail 18. The normal driving mode is a mode in which the driver sits on the driver's seat of the vehicle 1 and normally travels on the road, and therefore this will not be particularly described.

In the remote control mode, the rail car is on the rail 1
After getting in the operation panel 8, the worker on the workbench 2 operates the operation panel 3
Is a mode for driving the vehicle 1 by operating the, and this mode is entered when a predetermined condition as described below is satisfied.

FIG. 3 is a flow chart showing the conditions for entering the remote control mode. In this flowchart,
The condition is met only when the remote operation mode of step 5 is reached. The judgment as to whether or not the condition is satisfied is shown in FIG.
By the main control unit 8 of.

Step 1 ... Here, it is checked whether or not the cryptographic operation for entering the remote operation mode has been performed.
The cryptographic operation can be appropriately determined by using a signal that the main control unit 8 can handle. Here, the operation of setting the select lever to the first speed is defined as the cryptographic operation. If so,
When entering the remote control mode, first, the select lever of the vehicle 1 must be set to the first speed.

When the cryptographic operation using the select lever is determined, it is possible to set it to the other gear position such as the second speed or the neutral range instead of the first speed, but the slope start assist mechanism (HSA: Hill Start Aid) In the case of a vehicle with a mark, if the vehicle is in the forward drive range, it will not back even in a sloped area, so it is desirable to set it in the forward drive range. If the neutral range is set, when the parking brake is applied, the braking force by the slope start assist mechanism does not work, and if the reverse range is set, the buzzer sounds and there is an inconvenience.

FIG. 4 shows a circuit for determining the position of the select lever. R ₀ , R ₁ , ..., R ₅ are resistors, S ₁ , S ₂ ,
, S _R are gear position switches, and 40 to 42 are signal lines. When the gear is put into the first speed, the gear position switch S ₁ corresponding to the first speed range is turned on. Then, the divided voltage of the resistors R ₀ and R ₁ appears at the point A.
By reading the value through the signal line 40, it can be determined that the first speed is set.

When the gear position switches S _{1 to} S ₅ are turned on, the resistance R is set so that the voltage appearing at the point A is different.
_Since the values of _{1 to} R ₅ are different, they can be identified by the difference. As described above, in the first to fifth speeds, the signal line 40
Can be detected by the signal of.

When the neutral range is set, the gear position switch S _N is turned on and the voltage of the signal line 41 is detected by being grounded. Even when the reverse range is set, the voltage of the signal line 42 is similarly detected by being grounded.

Step 2 ... Checks whether the parking brake is applied. Moving the vehicle 1 to the workbench 2 with the parking brake applied causes the parking brake to be seized due to friction,
This is to avoid it.

Step 3 ... Main control unit 8
The automatic transmission system centered on has a function to self-diagnose whether it is in a normal state or whether there is an abnormality somewhere, but when it is diagnosed as an abnormality , The remote control mode cannot be entered.

Step 4 ... When the conditions up to Step 3 are satisfied, the worker gets on the workbench 2 and presses the power switch 20 on the operation panel 3 there. The signal indicating that the button has been pushed is transmitted through the route of the workbench side control unit 5 → the optical fiber cable 9 → the auxiliary control unit 7 → the main control unit 8. With this, all the conditions are satisfied, and thereafter, the remote-controlled drive control mode is entered. In this travel control mode, travel control is performed according to a control signal from the operation panel 3 of the workbench 2 regardless of the position of the select lever in the vehicle 1.

The remote control of the traveling of the vehicle 1 is performed by the operation panel 3
This is done by transmitting the signal of each switch of the above to the main control unit 8. When the forward switch 21, backward switch 22 or neutral switch 23 is pressed,
The transmission actuator 31 operates to set the gear to the first speed range, the reverse range or the neutral range. Since the traveling speed required for the track vehicle is a very low speed, the vehicle is moved forward at the first speed. When the range is set, the gear position switch 30 detects it and
The corresponding light emitting display element 27, 28 or 29 is turned on.

The accelerator volume 26 corresponds to the accelerator on the driver's seat of the vehicle 1, and the accelerator can be adjusted by turning it. The auto cruise technology for running at a constant speed is known, but the deceleration switch 2
4. The speed increasing switch 25 is provided when the automatic cruise is performed. Each time these switches are pressed, a signal for changing the traveling speed by, for example, a unit speed (eg, 1 Km / h) is issued to the main control unit 8.

When traveling on a normal road, the auto-cruise traveling cannot be performed at 30 km / h or less so as not to cause a traffic jam due to slow running.
Since it is not necessary to consider traffic congestion on the rail 18, it is possible to perform an auto cruise at a very low speed (for example, 3 to 6 km / h). Most of the traveling required for the track vehicle is very low speed traveling, and the fact that the very low speed auto cruise can be performed by remote control brings about an extremely great reduction in labor in the actual work.

The brake switch 4 informs the main control unit 8 that the iron wheel brake pedal 6 has been stepped on. The reason for notifying the brake switch 4 is generated by a command from the main control unit 8. This is to eliminate the driving force (forward or backward) that is being applied. This is because if the iron wheels 16 are braked by the iron wheel brake pedal 6 and the driving force is still generated, the braking effect is canceled. The main operations performed after shifting to the remote operation mode are as described above.

FIG. 5 is a flow chart for explaining the processing operation after entering the remote control mode.

Step 1 ... It is checked whether or not the neutral switch 23 is turned on. Step 2 ...
If it is turned on, the value of the variable "LEVER" set in the main control unit 8 is set to 0. After that, the main control unit 8 issues a command to the transmission actuator 31 and the like to put the gear in neutral.

Step 3 ... It is checked whether or not the forward switch 21 is turned on. Step 4 ... If turned on, the value of the variable "LEVER" set in the main control unit 8 is set to 1. Then, a command is issued to the transmission actuator 31 and the like to set the gear to the first speed.

Step 5 ... It is checked whether or not the reverse switch 22 is turned on. Step 6 ... If turned on, the value of the variable "LEVER" set in the main control unit 8 is set to 6. Then, a command is issued to the transmission actuator 31 and the like to shift the gear to the reverse range.

Step 7 ... When none of the forward switch 21, the reverse switch 22 and the neutral switch 23 is turned on, the gear maintains the current state. That is,
It is maintained in the state just before entering the remote control mode. In the example shown in FIG. 3, as the cryptographic operation for entering the remote operation mode,
Since the operation of accidentally putting the select lever into the first speed is determined, the gear state immediately before entering the remote operation mode in step 5 of FIG. 3 is the first speed, and this state is maintained.

[0040]

As described above, according to the present invention, a vehicle which is controlled by an electronically controlled automatic transmission system is used as a vehicle for a track running vehicle, and means for controlling the electronically controlled automatic transmission system is also applied to a workbench. As a result, the workers on the work table can drive the vehicle by remote control.

Therefore, it becomes possible to control the traveling even when there is no driver in the driver's seat of the vehicle at the time of work, and the number of personnel can be reduced for the driver. Also, in vehicles with an electronically controlled automatic transmission system, unlike vehicles with a manual transmission, it is easy to run at low speeds.
Since it is possible to run at a low speed on an auto cruise, the effort required for running control is reduced.

[Brief description of drawings]

FIG. 1 is a block diagram of a track car of the present invention.

[Fig.2] Outline view of track car

FIG. 3 is a flowchart showing conditions for entering a remote control mode.

[Fig. 4] Circuit for determining the position of the select lever

FIG. 5 is a flowchart illustrating a processing operation after entering a remote control mode.

[Explanation of symbols]

 1 vehicle 1-1 front wheel 1-2 rear wheel 2 workbench 3 operation panel 4 brake switch 5 workbench side control unit 6 iron wheel brake pedal 7 auxiliary control unit 8 main control unit 9 optical fiber cable 11 workbench support frame 12 Lifting Hydraulic Cylinder 13 Engine 14 Clutch 15 Supporting Member 16 Iron Wheel 17 Iron Wheel Brake 18 Rail 20 Power Switch 21 Forward Switch 22 Reverse Switch 23 Neutral Switch 24 Deceleration Switch 25 Accelerating Switch 26 Accelerator Volume 27-29 Light Emitting Display Element 30 Gear position switch 31 Transmission actuator 32 Clutch actuator 33 Step motor 40-42 Signal line

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Kenya Misawa Kenya Misawa 8 Tsutana, Fujisawa City, Kanagawa Prefecture Isuzu Motors Ltd. Fujisawa Factory (72) Inventor Kenichi Igashi 8th Shelf, Fujisawa, Kanagawa Prefecture Isuzu Motors Fujisawa Factory Co., Ltd. (72) Inventor Daiji Okubo 8 Fujisawa, Kanagawa Prefecture Shelf Shelf Isuzu Motors Co., Ltd. Fujisawa Factory

Claims (2)

[Claims] 1. An electronically controlled automatic transmission system, traveling control signal generating means mounted on a workbench and connected to the electronically controlled automatic transmission system by a communication line, and traveling when a predetermined condition is satisfied. A track running vehicle comprising: a condition determining means for entering a travel control mode by a control signal generating means. 2. In the traveling control mode by the traveling control signal generating means of the workbench, traveling control is performed according to a signal from the traveling control signal generating means irrespective of the position of the select lever of the vehicle. Tracked vehicle as described.