1-20. (canceled)
21. A method for detecting a structure to be applied to a substrate, such as an adhesive bead or a sealant track, with a number of optical acquisition apparatuses comprising a number of image acquisition sensors, the method comprising:
combining images of the optical acquisition apparatuses to form a plan view such that a representation of the optical acquisition devices is output in a common image such that in the common image of the optical acquisition devices, as a center, the position of an application device for applying the structure to the substrate is provided; and
arranging the optical acquisition apparatuses around the application device within a sensor head, the optical acquisition apparatuses being connected within the sensor head to a device for assembling the overall image;
wherein the images of the optical acquisition apparatuses are assembled to form a common image which is assembled from images in the form of disc segments of the optical acquisition apparatuses in order to produce a 360\xb0 view around the application unit.
22. The method of claim 21 wherein an image acquisition frequency is increased according to a reduction of data by only acquiring a defined section of the image of each optical acquisition apparatus.
23. The method of claim 22 wherein the optical acquisition apparatuses each have a CCD chip or CMOS chip.
24. The method of claim 21 wherein the optical acquisition apparatuses are connected within the sensor head to a device for trigger and flash control for illumination which is made in particular in a form of a plurality of flashed LEDs within the sensor head.
25. The method of claim 24 wherein the optical acquisition apparatuses, the device for trigger and flash control and the device for assembling the overall image are connected within the sensor head such that just one connection of the sensor head to an external processing device is provided for detecting and examining the structure to be applied.
26. The method of claim 23 wherein only approximately \xbc of image lines are used as strips of the image for each CCD chip or CMOS chip, and the image acquisition frequency is quadrupled.
27. The method of claim 21 wherein a paramaterization of an image sequence obtained from a reference application structure and which results from a single image acquisition run of all of the optical acquisition devices is automatically undertaken by a one-off external indication of the reference application structure and is used for comparison with an applied adhesive track.
28. The method of claim 21 wherein the images of the optical acquisition devices are used to examine the applied structure, the images of all of the optical acquisition devices together forming a disc around the application device.
29. The method of claim 21 wherein, according to a profile of the application structure, for monitoring there is an automatic switch from a disc segment of an optical acquisition device to another disc segment of an adjacent optical acquisition device if the application structure to be monitored runs from a disc segment of an optical acquisition device to another disc segment of the adjacent optical acquisition device.
30. An apparatus for detecting a structure to be applied to a substrate, such as an adhesive bead or a sealant track, the apparatus comprising:
a plurality of optical acquisition apparatuses comprising a number of image acquisition sensors, wherein images of the optical acquisition apparatuses are combined to form a plan view such that a representation of the optical acquisition devices is output in a common image; and
an application device arranged between the optical acquisition devices in order to apply the structure to the substrate;
wherein the optical acquisition apparatuses are arranged around the application device within a sensor head, the optical acquisition apparatuses respectively being connected within the sensor head to a device for assembling the overall image, and wherein the images of the optical acquisition apparatuses are assembled to form an overall image which is made up of images in the form of disc segments of the optical acquisition apparatus in order to produce a 360\xb0 view around the application unit.
31. The apparatus of claim 30 wherein an image acquisition frequency is increased according to a reduction of data due to the acquisition of just one defined section of the image of each optical acquisition apparatus
32. The apparatus of claim 30 wherein the optical acquisition apparatuses each have a CCD chip or CMOS chip.
33. The apparatus of claim 30 wherein the optical acquisition apparatuses are connected within the sensor head to a device for trigger and flash control for illumination which is made in particular in a form of a plurality of flashed LEDs in the sensor head.
34. The apparatus of claim 33 wherein the optical acquisition apparatuses, the device for trigger and flash control and the device for assembling the overall image are connected within the sensor head such that just one connection of the sensor head to an external processing device is provided for detecting and examining the structure to be applied.
35. The apparatus of claim 32 wherein only approximately \xbc of image lines are used as strips of the image for each CCD chip or CMOS chip, and the image acquisition frequency is quadrupled.
36. The apparatus of claim 30 wherein a parameterisation of an image sequence obtained from a reference application structure and which results from a single image acquisition run of all of the optical acquisition devices is automatically undertaken by a one-off external indication of the reference application structure and is used for comparison with an applied adhesive track.
37. The apparatus of claim 30 wherein the images of the optical acquisition devices are used to examine the applied structure, the images of all of the optical acquisition devices together forming a disc around the application device.
38. The apparatus of claim 30 wherein, according to a profile of the application structure, for monitoring there is an automatic switch from a disc segment of an optical acquisition device to another disc segment of an adjacent optical acquisition device if the application structure to be monitored runs from a disc segment of an optical acquisition device to another disc segment of the adjacent optical acquisition device.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A drive device for a working vehicle having a transmission comprising a forward running stage that is selected by engagement of a forward clutch and a reverse running stage that is selected by engagement of a reverse clutch, in which a motive power of an engine is transmitted to a drive wheel through the selected forward running stage or reverse running stage, the drive device comprising:
control means that outputs a reverse running command in accordance with operation of a control unit;
brake means that decreases a vehicle speed;
braking force control means that controls a braking force of the brake means; and
forwardreverse clutch control means that controls respective engagementdisengagement actions of the forward clutch and the reverse clutch, wherein
if the reverse running command is output from the control means while the vehicle is running forward, the braking force control means controls the braking force of the brake means such that the vehicle speed is diminished through a first prescribed speed to a second prescribed speed and
the forwardreverse clutch control means disengages the forward clutch,
when the vehicle speed has reached the first prescribed speed, the reverse clutch is put in a slipping action condition, and
after the vehicle speed has reached the second prescribed speed, the reverse clutch is gradually engaged.
2. The drive device for a working vehicle according to claim 1, wherein engine control means is provided that controls the engine, the engine control means performing control to temporarily decrease an engine rotational speed prior to commencement of the gradual engagement action of the reverse clutch and to increase the engine rotational speed that is temporarily decreased after completion of engagement of the reverse clutch.
3. The drive device for a working vehicle according to claim 1, wherein the braking force control means performs control so as to increase the braking force of the brake means in stepwise fashion or in accordance wit the vehicle speed.
4. The drive device for a working vehicle according to claim 1, wherein a torque converter comprising a lock-up clutch is interposed in a motive power transmission path between the engine mid the transmission and
lock-up clutch control means is provided that controls the engagementdisengagement action of the lock-up clutch; and
the lock-up clutch control means performs control so as to disengage the lock-up clutch in accordance with disengagement of the forward clutch and to gradually engage the lock-up clutch after completion of engagement of the reverse clutch.
5. A drive device for a working vehicle having a transmission comprising a forward running stage that is selected by engagement of a forward clutch and a reverse running stage that is selected by engagement of a reverse clutch, in which a motive power of an engine is transmitted to a drive wheel through the selected forward running stage or reverse running stage, the drive device comprising:
control means that outputs a forward running command in accordance with operation of a control unit;
brake means that decreases a vehicle speed;
braking force control means that controls a braking force of the brake means; and
forwardreverse clutch control means that controls respective engagementdisengagement actions of the forward clutch and the reverse clutch, wherein
if the forward running command is output from the control means while the vehicle is running in reverse, the braking force control means controls the braking force of the brake means such that the vehicle speed is diminished through a first prescribed speed to a second prescribed speed and
the forwardreverse clutch control means disengages the reverse clutch,
when the vehicle speed has reached the first prescribed speed, the forward clutch is put in a slipping action condition, and
after the vehicle speed has reached the second prescribed speed, the forward clutch is gradually engaged.
6. The drive device for a working vehicle according to claim 2, wherein engine control means is provided that controls the engine, the engine control means performing control to temporarily decrease an engine rotational speed prior to commencement of the gradual engagement action of the forward clutch and to increase the engine rotational speed that is temporarily decreased after completion of engagement of the forward clutch.
7. The drive device for a working vehicle according to claim 5, wherein the braking force control means performs control so as to increase the braking force of the brake means in stepwise fashion or in accordance with the vehicle speed.
8. The drive device for a working vehicle according to claim 5, wherein a torque converter comprising a Jock-up clutch is interposed in a motive power transmission path between the engine and the transmission and
lock-up clutch control means is provided that controls the engagementdisengagement action of the lock-up clutch; and
the lock-up clutch control means performs control so as to disengage the lock-up clutch in accordance with disengagement of the reverse clutch and to gradually engage the lock-up clutch after completion of engagement of the forward clutch.
9. A method of controlling drive of a working vehicle having a transmission comprising a forward running stage that is selected by engagement of a forward clutch and a reverse running stage that is selected by engagement of a reverse clutch, in which a motive power of an engine is transmitted to a drive wheel through the selected forward running stage or reverse running stage, the method comprising the steps of:
if a reverse running command is output while the vehicle is running forward,
controlling a braking force of a brake so as to decrease a vehicle speed through a first prescribed speed to a second prescribed speed;
disengaging the forward clutch,
putting the reverse clutch in a slipping action condition when the vehicle speed has reached the first prescribed speed; and
gradually engaging the reverse clutch after the vehicle speed has reached the second prescribed speed.
10. The method according to claim 9, wherein the controlling of the brake force comprises increasing the braking force of the brake in stepwise fashion or in accordance with the vehicle speed.
11. A drive device for a working vehicle having a transmission comprising a forward running stage that is selected by engagement of a forward clutch and a reverse running stage that is selected by engagement of a reverse clutch, in which a motive power of an engine is transmitted to a drive wheel through the selected forward running stage or reverse running stage, the drive device comprising:
control means that outputs a reverse running command in accordance wit operation of a control unit;
brake means that decreases a vehicle speed;
braking force control means that controls a braking force of the brake means; and
forwardreverse clutch control means that controls respective engagementdisengagement actions of the forward clutch and the reverse clutch, wherein
if the reverse running command is output from the control means while the vehicle is running forward, the braking force control means controls the braking force of the brake means such that the vehicle speed is diminished through a first prescribed speed to a second prescribed speed and
the forwardreverse clutch control means disengages the forward clutch,
when the vehicle speed has reached the first prescribed speed, the reverse clutch is put in a slipping action condition where a reverse clutch pressure is extremely small, and
after the vehicle speed has reached the second prescribed speed, the reverse clutch is gradually engaged.
12. The drive device for a working vehicle according to claim 11, wherein the braking force control means performs control so as to increase the braking force of the brake means in stepwise fashion or in accordance with the vehicle speed.
13. A method of controlling drive of a working vehicle having a transmission comprising a forward running stage that is selected by engagement of a forward clutch and a reverse running stage that is selected by engagement of a reverse clutch, in which a motive power of an engine is transmitted to a drive wheel through the selected forward running stage or reverse running stage, the method comprising the steps of:
if a forward running command is output while the vehicle is running in reverse,
controlling a braking force of a brake so as to decrease a vehicle speed through a first prescribed speed to a second prescribed speed;
disengaging the reverse clutch,
putting the forward clutch in a slipping action condition when the vehicle speed has reached the first prescribed speed; and
gradually engaging the forward clutch after the vehicle speed has reached the second prescribed speed.
14. The method according to claim 13, wherein the controlling of the brake force comprises increasing the braking force of the brake in stepwise fashion or in accordance with the vehicle speed.