WO2015004809A1 - 作業車両及び作業車両の制御方法 - Google Patents
作業車両及び作業車両の制御方法 Download PDFInfo
- Publication number
- WO2015004809A1 WO2015004809A1 PCT/JP2013/069192 JP2013069192W WO2015004809A1 WO 2015004809 A1 WO2015004809 A1 WO 2015004809A1 JP 2013069192 W JP2013069192 W JP 2013069192W WO 2015004809 A1 WO2015004809 A1 WO 2015004809A1
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- WIPO (PCT)
- Prior art keywords
- boom
- bucket
- automatic
- processing unit
- work vehicle
- Prior art date
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Classifications
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- 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
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2029—Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/283—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a single arm pivoted directly on the chassis
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
-
- 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
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
-
- 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
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
Definitions
- the present invention particularly relates to a work vehicle that performs excavation work and a method for controlling the work vehicle.
- the wheel loader is a vehicle that has a bucket and travels and works with tires. In the excavation work by the wheel loader, there is one that automatically controls the operation of the bucket to reduce the burden on the operator (for example, Patent Document 1).
- the object of the present invention is to realize a production efficiency close to that of a skilled worker regardless of the skill level of the operator when the work machine automatically executes excavation work.
- the present invention includes a vehicle body, a boom that is supported and rotated by the vehicle body, a bucket that is supported and rotated on a side opposite to the vehicle body side of the boom, a boom drive unit that rotates the boom, A bucket drive unit that rotates the bucket, a lift force detection device that detects a lift force as a force that the boom drive unit receives from the boom, and starts a tilting operation of the bucket when a predetermined condition is satisfied, And a control device that terminates the tilting operation based on an amount of increase in the lift force from the time when the tilting operation is started.
- the boom drive unit includes a boom hydraulic cylinder
- the lift force detection device is a boom bottom pressure detection device that detects a bottom pressure as a pressure of hydraulic oil supplied to the boom hydraulic cylinder.
- the apparatus further includes a vehicle speed detection device that detects a speed at which the work vehicle travels, and the control device starts the tilt operation based on at least a detection result of the lift force detection device and a detection result of the vehicle speed detection device. It is preferable.
- the control device starts the lifting operation of the boom based on the lifting force, the speed at which the work vehicle travels, and the angle of the boom, and the lifting force or the boom from the start of the boom lifting operation. It is preferable to end the ascending operation based on the increase amount of the angle.
- the present invention controls the operation of the bucket of a work vehicle including a vehicle body, a boom that is supported by the vehicle body and rotates, and a bucket that is supported and rotated on the side opposite to the vehicle body side of the boom.
- the tilt operation of the bucket is started when a predetermined condition is satisfied, and after the tilt operation is started, the tilt force is increased based on the amount by which the lift force has increased since the tilt operation was started.
- the boom raising operation is started, and the lift force or the boom angle increment from the start of the boom raising operation is started. Based on the above, it is preferable to end the ascending operation.
- the present invention can realize a production efficiency close to that of a skilled worker regardless of the skill level of the operator when the work machine automatically executes the excavation work.
- FIG. 1 is a diagram illustrating a work vehicle according to the present embodiment.
- FIG. 2 is a diagram illustrating a control system that controls the operation of the work machine.
- FIG. 3 is a diagram illustrating the working machine.
- FIG. 4 is a flowchart illustrating an example of processing in the work vehicle control method according to the present embodiment.
- FIG. 5 is a flowchart showing an example of processing in the work vehicle control method according to the present embodiment.
- FIG. 6 is a flowchart illustrating an example of processing in the work vehicle control method according to the present embodiment.
- FIG. 7 is a timing chart in the work vehicle control method according to the present embodiment.
- FIG. 8 is a diagram for explaining the time (ON time) for opening and closing the bucket tilt electromagnetic proportional control valve (OFF time) during automatic excavation.
- FIG. 1 is a diagram illustrating a work vehicle according to the present embodiment.
- a wheel loader 1 that loads crushed stone or earth and sand generated during crushed stone excavation on a dump truck or the like is taken as an example.
- the wheel loader 1 is a front end loader, the type of the wheel loader 1 is not limited to this in the present embodiment.
- the wheel loader 1 includes a vehicle body 2, a work machine 5 including a boom 3 and a bucket 4, a front wheel 6 ⁇ / b> F and a rear wheel 6 ⁇ / b> R, a cab 7, a boom cylinder 9, and a bucket cylinder 10.
- a work machine 5, a front wheel 6F, a rear wheel 6R, and a cab 7 are attached to the vehicle body 2.
- a driver's seat DS and an operation lever CL are provided in the cab 7.
- the direction from the back DSB of the driver seat DS toward the operation lever CL is referred to as the front, and the direction from the operation lever CL toward the back DSB is referred to as the rear.
- the left and right of the wheel loader 1 are based on the front.
- the front wheel 6F and the rear wheel 6R are in contact with the road surface R.
- the ground contact surface side of the front wheel 6F and the rear wheel 6R is referred to as the downward direction, and the direction away from the ground contact surface of the front wheel 6F and the rear wheel 6R is referred to as the upward direction.
- the wheel loader 1 travels by rotating the front wheel 6F and the rear wheel 6R. Steering of the wheel loader 1 is realized by bending the vehicle body 2 between the front wheel 6F and the rear wheel 6R.
- the work machine 5 is arranged at the front part of the vehicle body 2.
- the boom 3 is supported on the front side of the vehicle body 2 and extends forward.
- the boom 3 is supported by the vehicle body 2 and rotates.
- the bucket 4 has an opening 4H and a claw 4C.
- the claws 4 ⁇ / b> C scoop the load SR such as earth and sand or crushed stone.
- the load SR picked up by the claw 4C enters the inside of the bucket 4 through the opening 4H.
- the bucket 4 is supported on the side opposite to the vehicle body 2 side of the boom 3 and rotates.
- the boom cylinder 9 is provided between the vehicle body 2 and the boom 3.
- the boom 3 rotates around the support portion on the vehicle body 2 side as the boom cylinder 9 expands and contracts.
- the bucket cylinder 10 has one end attached to and supported by the vehicle body 2, and the other end attached to one end of the bell crank 11. The other end of the bell crank 11 is connected to the bucket 4.
- the bucket 4 rotates around the portion supported by the boom 3 as the bucket cylinder 10 expands and contracts.
- the operation lever CL controls the expansion and contraction of the boom cylinder 9 and the bucket cylinder 10.
- an operator boarding the cab 7 operates the operation lever CL
- at least one of the boom cylinder 9 and the bucket cylinder 10 expands and contracts.
- at least one of the boom 3 and the bucket 4 rotates.
- the boom 3 and the bucket 4 operate when the operator operates the operation lever CL.
- FIG. 2 is a diagram illustrating a control system that controls the operation of the work machine.
- the work machine hydraulic pump 12 is driven by an engine (EG) 16 as a power generation source mounted on the wheel loader 1.
- the output of the engine 16 is input to a PTO (Power Take Off) 17 and then output to the work machine hydraulic pump 12 and the transmission (TM) 18.
- PTO Power Take Off
- TM transmission
- the transmission 18 transmits the output of the engine 16 transmitted from the PTO 17 to the front wheels 6F and the rear wheels 6R shown in FIG. 1 to drive them.
- the wheel loader 1 travels with the front wheels 6F and the rear wheels 6R being driven by the output of the engine 16.
- a discharge circuit 12C serving as an oil passage through which the working oil passes is connected to a discharge port through which the working machine hydraulic pump 12 discharges the working oil.
- the discharge circuit 12 ⁇ / b> C is connected to the boom operation valve 13 and the bucket operation valve 14.
- the boom operation valve 13 and the bucket operation valve 14 are both hydraulic pilot type operation valves.
- the boom operation valve 13 and the bucket operation valve 14 are connected to the boom cylinder 9 and the bucket cylinder 10, respectively.
- the work machine hydraulic pump 12, the boom operation valve 13, the bucket operation valve 14, and the discharge circuit 12C form a tandem hydraulic circuit.
- the boom operation valve 13 is a 4-position switching valve having an A position, a B position, a C position, and a D position.
- the bucket operation valve 14 is a three-position switching valve having an E position, an F position, and a G position.
- the bucket 4 tilts, when it is in the F position, it is neutral, and when it is in the G position, the bucket 4 performs a dump operation.
- the tilting operation of the bucket 4 is an operation of tilting when the opening 4H and the claw 4C of the bucket 4 shown in FIG.
- the dumping operation of the bucket 4 is an operation of tilting by rotating the opening 4H and the claw 4C of the bucket 4 away from the cab 7, contrary to the tilting operation.
- the pilot pressure receiving portions of the boom operation valve 13 and the bucket operation valve 14 are connected to the pilot pump 15 via the electromagnetic proportional control valve 20, respectively.
- the pilot pump 15 is connected to the PTO 17 and driven by the engine 16.
- the pilot pump 15 supplies hydraulic oil having a predetermined pressure (pilot pressure) to the pilot pressure receiving portion 13R of the boom operation valve 13 and the pilot pressure receiving portion 14R of the bucket operation valve 14 via the electromagnetic proportional control valve 20.
- the electromagnetic proportional control valve 20 has a boom lowering electromagnetic proportional control valve 21, a boom raising electromagnetic proportional control valve 22, a bucket dump electromagnetic proportional control valve 23, and a bucket tilt electromagnetic proportional control valve 24.
- the boom lowering electromagnetic proportional control valve 21 and the boom raising electromagnetic proportional control valve 22 are connected to the pilot pressure receiving portions 13 ⁇ / b> R and 13 ⁇ / b> R of the boom operation valve 13.
- the bucket dump electromagnetic proportional control valve 23 and the bucket tilt electromagnetic proportional control valve 24 are connected to the pilot pressure receiving portions 14R and 14R of the bucket operation valve 14, respectively.
- Solenoid command part 21S of boom lowering electromagnetic proportional control valve 21, solenoid command part 22S of boom raising electromagnetic proportional control valve 22, solenoid command part 23S of bucket dump electromagnetic proportional control valve 23, and solenoid command part of bucket tilt electromagnetic proportional control valve 24 Each command signal from the control device 40 is input to 24S.
- the boom lowering electromagnetic proportional control valve 21, the boom raising electromagnetic proportional control valve 22, the boom operation valve 13 and the boom cylinder 9 have a function as a boom drive unit for rotating (raising and lowering) the boom 3.
- the bucket dump electromagnetic proportional control valve 23, the bucket tilt electromagnetic proportional control valve 24, the bucket operation valve 14 and the bucket cylinder 10 have a function as a bucket drive unit for rotating the bucket (tilt operation or dump operation).
- the control device 40 is, for example, a computer.
- the control device 40 includes a processing unit 41 such as a CPU (Central Processing Unit), a storage unit 42 such as a ROM (Read Only Memory), an input unit 43, and an output unit 44.
- the processing unit 41 controls the operation of the work machine 5 by sequentially executing various instructions described in the computer program.
- the processing unit 41 is electrically connected to the storage unit 42, the input unit 43, and the output unit 44. With this structure, the processing unit 41 reads information stored in the storage unit 42, writes information in the storage unit 42, receives information from the input unit 43, and outputs information to the output unit 44. Can be.
- the storage unit 42 stores a computer program for controlling the operation of the work machine 5 and information used for controlling the operation of the work machine 5.
- the storage unit 42 stores a computer program for realizing the work vehicle control method according to the present embodiment.
- the processing unit 41 reads out the computer program from the storage unit 42 and executes it, thereby realizing the work vehicle control method according to the present embodiment.
- the input unit 43 includes a boom angle detection sensor 46, a bucket angle detection sensor 47, a boom cylinder pressure sensor 48 that detects the pressure (bottom pressure) of hydraulic oil charged in the boom cylinder 9, and the transmission 18.
- a TM (Trans Mission) control device 49 to be controlled, a vehicle speed sensor 50, a first potentiometer 31, a second potentiometer 33, and an input / output device 45 are connected.
- the processing unit 41 acquires these detection values or command values and controls the operation of the work machine 5.
- a vehicle speed sensor 50 as a vehicle speed detection device detects the speed (vehicle speed) at which the wheel loader 1 travels.
- the TM control device 49 switches the gear position of the transmission 18. In this case, the TM control device 49 controls the gear position based on the vehicle speed acquired from the vehicle speed sensor 50, the accelerator opening degree of the wheel loader 1, and the like.
- the output unit 44 includes a solenoid command unit 21S of the boom lowering electromagnetic proportional control valve 21, a solenoid command unit 22S of the boom raising electromagnetic proportional control valve 22, a solenoid command unit 23S of the bucket dump electromagnetic proportional control valve 23, and a bucket tilt.
- the solenoid command unit 24S of the electromagnetic proportional control valve 24 and the input / output device 45 are connected.
- the processing unit 41 gives a command value for operating the boom cylinder 9 to the solenoid command unit 21S of the boom lowering electromagnetic proportional control valve 21 or the solenoid command unit 22S of the boom raising electromagnetic proportional control valve 22 to expand and contract the boom cylinder 9. Let The boom 3 moves up and down as the boom cylinder 9 expands and contracts.
- the processing unit 41 gives a command value for operating the boom cylinder 9 to the solenoid command unit 23S of the bucket dump electromagnetic proportional control valve 23 or the solenoid command unit 24S of the bucket tilt electromagnetic proportional control valve 24 to expand and contract the bucket cylinder 10. Let As the bucket cylinder 10 expands and contracts, the bucket 4 performs a tilt operation or a dump operation. In this way, the processing unit 41 controls the operation of the work machine 5, that is, the boom 3 and the bucket 4.
- the input / output device 45 connected to both the input unit 43 and the output unit 44 includes an input device 45S, a sound generation device 45B, and a display device 45M.
- the input / output device 45 inputs a command value from the input device 45S to the control device 40, generates a warning sound from the sounding device 45B, and displays information on the state or control of the work machine 5 on the display device 45M.
- the input device 45S is, for example, a push button type switch. By operating the input device 45S, information displayed on the display device 45M is switched, or the operation mode of the wheel loader 1 is switched.
- the function of switching the operation mode of the wheel loader 1 or switching the display of the display device 45M is assigned to each input device 45S.
- a function for starting an automatic excavation start as one operation mode is assigned to one input device 45S.
- the input device 45S serves as the automatic excavation start switch 34.
- the automatic excavation start switch 34 When the automatic excavation start switch 34 is operated, the input / output device 45 generates an excavation start signal. This excavation start signal is input to the control device 40.
- the control device 40 controls the wheel loader 1 in the automatic excavation mode. At the same time, the control device 40 displays the icon 34I on the display device 45M.
- the icon 34I indicates that the automatic excavation mode is ON.
- the input device 45S of the input / output device 45 may be incorporated in the display device 45 as a touch panel, and the icon 34I may be assigned to the automatic excavation start switch 34.
- the operation lever CL includes a boom operation lever 30 and a bucket operation lever 32.
- a first potentiometer 31 that detects its own operation amount is attached to the boom operation lever 30.
- a second potentiometer 33 for detecting its own operation amount is attached to the bucket operation lever 32. Detection signals of the first potentiometer 31 and the second potentiometer 33 are input to the input unit 43 of the control device 40.
- the boom control lever 30 is provided with a kick down switch 35.
- the kick-down switch 35 changes the gear position of the transmission 18 to a lower speed while the selector lever 18L of the transmission 18 is not operated.
- the kick down switch 35 is connected to the TM control device 49.
- the TM control device 49 that has acquired the command value from the kick down switch 35 changes the gear position of the transmission 18 to a lower speed side than the gear position at the time when the command value is acquired. For example, when the gear position at the time of obtaining the command value is two, the TM control device 49 changes the gear position of the transmission 18 to one.
- the kick down switch 35 may be used also as the automatic excavation start switch 34.
- FIG. 3 is a diagram showing the working machine.
- the boom 3 of the work machine 5 is pin-coupled to the vehicle body 2 by a connecting pin 3P on the first end side.
- a bracket 3BR for attaching the boom cylinder 9 is attached between both ends of the boom 3.
- the boom cylinder 9 has a first end connected to the vehicle body 2 by a connecting pin 9Pa and a second end connected to the bracket 3BR by a connecting pin 9Pb.
- the bucket 4 is pin-connected by a connecting pin 4Pa on the second end side of the boom 3, that is, on the end side opposite to the vehicle body 2 side. With such a structure, the bucket 4 rotates around the central axis Z2 of the connecting pin 4Pa.
- the bucket cylinder 10 has a first end connected to the vehicle body 2 by a connecting pin 3P and a second end connected to the first end of the bell crank 11 by a connecting pin 11a.
- the second end of the bell crank 11 is pin-coupled to the first end of the connecting member 11L by a connecting pin 11b.
- the second end of the connecting member 11L is pin-connected to the bucket 4 by a connecting pin 4Pb.
- the boom 3 is provided with a support member 8 for supporting the bell crank 11 between both ends.
- the bell crank 11 is pin-coupled to the support member 8 by connecting pins 11c between both ends.
- the bell crank 11 rotates around the central axis Z3 of the connecting pin 11c.
- the bucket cylinder 10 contracts, the first end of the bell crank 11 moves to the vehicle body 2 side. Since the bell crank 11 rotates around the central axis Z3 of the connecting pin 11c, the second end of the bell crank 11 moves in a direction away from the vehicle body 2. Then, the bucket 4 performs a dumping operation via the connecting member 11L.
- the connecting member 11L When the bucket cylinder 10 extends, the bell crank 11 moves away from the vehicle body 2 at the first end. Then, since the second end portion of the bell crank 11 approaches the vehicle body 2, the bucket 4 tilts via the connecting member 11L.
- the angle of the boom 3 (hereinafter, appropriately referred to as a boom angle) ⁇ passes through the straight line L1 connecting the central axis Z1 of the connecting pin 3P and the central axis Z2 of the connecting pin 4Pa, the connecting pin 3P, and the front wheel. 6F and the smaller one of the angles formed by the horizontal line L2 parallel to the ground contact surface of the rear wheel 6R.
- the boom angle ⁇ is negative when inclined to the road surface R side with respect to the horizontal line L2. When the boom 3 is raised, the boom angle ⁇ increases.
- the angle of the bucket 4 (hereinafter referred to as the bucket angle as appropriate) ⁇ is defined as the road surface R (corresponding to the horizontal line L2 in FIG. 3) and a straight line L3 passing through the central axis Z2 of the connecting pin 4Pa and parallel to the bottom surface 4B of the bucket 4. It is an angle to make.
- the bucket angle ⁇ is negative when the front of the straight line L3 is downward with respect to the central axis Z2 of the connecting pin 4Pa.
- the bucket angle ⁇ increases.
- the boom angle detection sensor 46 that detects the boom angle ⁇ is attached to a portion of the connecting pin 3P that pin-couples the boom 3 to the vehicle body 2.
- a bucket angle detection sensor 47 that detects the bucket angle ⁇ is attached to the connection pin 11 c and indirectly detects the angle of the bucket 4 via the bell crank 11.
- the bucket angle detection sensor 47 may be attached to a portion of the connection pin 4Pa that connects the boom 3 and the bucket 4.
- the boom angle detection sensor 46 and the bucket angle detection sensor 47 are, for example, potentiometers, but are not limited thereto.
- the boom angle ⁇ detected by the boom angle detection sensor 46 is an index indicating the posture of the boom 3. For this reason, the boom angle detection sensor 46 functions as a boom posture detection device that detects the posture of the boom 3.
- the bucket angle ⁇ detected by the bucket angle detection sensor 47 is an index indicating the attitude of the bucket 4. For this reason, the bucket angle detection sensor 47 functions as a bucket posture detection device that detects the posture of the bucket 4.
- the control device 40 acquires an operation amount signal of the boom operation lever 30 or the bucket operation lever 32 from the first potentiometer 31 or the second potentiometer 33. To do. Then, the control device 40 sends a work implement speed control command corresponding to the operation amount signal to the boom lowering electromagnetic proportional control valve 21, the boom raising electromagnetic proportional control valve 22, the bucket dump electromagnetic proportional control valve 23, or the bucket tilt electromagnetic proportional. Output to the control valve 24.
- the boom lowering electromagnetic proportional control valve 21, the boom raising electromagnetic proportional control valve 22, the bucket dump electromagnetic proportional control valve 23, or the bucket tilt electromagnetic proportional control valve 24 corresponds to the pilot pressure corresponding to the magnitude of this work implement speed control command.
- the work machine 5 excavates the object to be excavated.
- the wheel loader 1 can automatically excavate the object to be excavated.
- the control device 40 starts automatic excavation. In the automatic excavation, the control device 40 acquires the detection value of the boom angle detection sensor 46, the bucket angle detection sensor 47, and the detection value of the boom cylinder pressure sensor 48.
- control apparatus 40 outputs a working machine speed control command to each solenoid command part 21S, 22S, 23S, 24S of the electromagnetic proportional control valve 20 based on the acquired detected value.
- the control device 40 controls the boom angle ⁇ and the bucket angle ⁇ and automatically digs the work implement 5 to operate.
- the control device 40 determines whether the bucket drive unit and the boom drive unit are based on at least the detection value of the boom angle detection sensor 46 and the detection value of the boom cylinder pressure sensor 48.
- a command signal is output to automatically control the posture of at least one of the boom 3 and the bucket 4.
- the TM control device 49 changes the gear position of the transmission 18 to a gear position with a larger gear ratio. As a result, the driving force of the wheel loader 1 is increased, and excavation efficiency is improved. As described above, when the automatic excavation start switch 34 and the kick-down switch 35 are used together, the gear position of the transmission 18 is changed to a gear position with a larger gear ratio at the same time as the automatic excavation starts, so that excavation work is easy. And can be realized efficiently.
- the wheel loader 1 having an automatic excavation function can reduce an operator's burden in excavation work by the wheel loader 1. It is desired that the automatic excavation function of the wheel loader 1 be further enhanced in order to enable an unskilled operator to perform work close to an expert.
- the wheel loader 1 excavates the object to be excavated by traction force. For example, after the work machine 5 has entered the excavation target, the operator of the wheel loader 1 operates the bucket 4 and the boom 3 so as to adjust the traction force of the wheel loader 1 appropriately. It is a work to load a kind. In excavation work of the wheel loader 1, a skilled operator grasps the state of excavation through the operation and behavior of the wheel loader 1, and operates the bucket 4 and the boom 3 at an appropriate timing, so It is considered that the traction force is exerted on the wheel loader 1.
- the present inventors examined in detail the operation of the wheel loader 1 during excavation and the state of each part. As a result, the present inventors have found that the lift force of the boom 3 is highly correlated with the traction force of the wheel loader 1. In order to improve the production efficiency of the wheel loader 1, the inventors determine the timing of the tilting operation of the bucket 4 and the timing of the boom 3 lifting based on the lifting force of the boom 3, particularly the tilting operation. It was found that it is effective that the timing of ending is important.
- the lift force is a force that the boom drive unit, specifically, the boom cylinder 9 receives from the boom 3. Production efficiency is the amount of excavation of the wheel loader 1 per unit time.
- the wheel loader 1 ends the tilting operation of the bucket 4 based on the lift force in automatic excavation. Specifically, when the wheel loader 1 performs automatic excavation, the control device 40 starts the tilt operation of the bucket 4 when a predetermined condition is satisfied, and the amount by which the lift force has increased since the tilt operation was started. Based on the above, the tilt operation is terminated. In this way, since the wheel loader 1 can finish the tilting operation of the bucket 4 at an appropriate timing in automatic excavation, the production efficiency of the wheel loader 1 can be improved regardless of the skill level of the operator, Production efficiency close to that of skilled workers can be realized.
- FIG. 7 is a timing chart in the work vehicle control method according to the present embodiment.
- FIG. 8 is a diagram for explaining the time (ON time) for opening and closing the bucket tilt electromagnetic proportional control valve (OFF time) during automatic excavation.
- the vertical axis of the upper timing chart is the boom angle ⁇ and the automatic lift command OPa
- the horizontal axis is the time t.
- the vertical axis of the lower timing chart is the bucket angle ⁇ , the automatic tilt command OPb, the bottom pressure Pb, and the vehicle speed Vc
- the horizontal axis is the time t.
- both the automatic lift command OPa and the automatic tilt command OPb indicate an ON state and an OFF state.
- the control method of the work vehicle according to the present embodiment is a control method of the wheel loader 1, particularly a control method of the work machine 5 when performing excavation work automatically.
- the processing state is distinguished by the concept of stage.
- stage 0 is the state of completion of automatic excavation control
- Stage 1 is a state of determining the start condition of automatic excavation control
- Stage 2 is a state of determining whether automatic lift is complete during automatic lift
- Stage 3 is a state of waiting for automatic tilt
- Stage 4 is in a state in which an automatic tilt start condition is being determined
- stage 5 is in a state in which an automatic tilt operation is being performed
- stage 6 is in a state in which an automatic tilt operation end condition is being determined.
- step S101 the processing unit 41 of the control device 40 shown in FIG. 2 determines whether or not the wheel loader 1 is under automatic excavation control.
- the processing unit 41 determines that automatic excavation control is being performed.
- the processing unit 41 determines that automatic excavation control is not being performed.
- the processing unit 41 determines whether or not the automatic excavation mode is ON, that is, activated. For example, when the processing unit 41 detects that the automatic excavation start switch 34 illustrated in FIG. 2 has been operated, the processing unit 41 determines that the automatic excavation mode is ON.
- step S103 the processing unit 41 sets the automatic excavation mode to ON on the display device 45M of the input / output device 45 illustrated in FIG. Is displayed.
- step S104 the processing unit 41 determines whether or not the condition 1 is satisfied.
- Condition 1 is when the wheel loader 1 moves forward and the bucket 4 is grounded.
- the processing unit 41 determines that the wheel loader 1 is moving forward.
- the process part 41 determines with the bucket 4 being earth
- the determination value a is not limited, but is ⁇ 30 degrees in the present embodiment.
- step S105 the processing unit 41 determines whether or not a kick down condition is satisfied.
- the kick-down condition is that the shift mode of the transmission 18 shown in FIG. 2 is the automatic transmission mode and the kick-down switch 35 is turned on when the TM control device 49 has a kick-down command or when the transmission 18 has one shift stage. This is true if
- the kick-down condition is satisfied (Yes at Step S105)
- the conditions of Step S102, Step S104, and Step S105 are all satisfied, and automatic excavation control is started.
- automatic excavation control is started when time t is zero.
- step S106 the processing unit 41 executes a stage rewriting process. Since automatic excavation control is executed after step S106, in step S106, the processing unit 41 rewrites the stage to 1, and changes the state of automatic excavation control during determination of the automatic lift condition.
- step S107 determines whether or not an automatic excavation control end condition is satisfied.
- the automatic excavation control end condition is satisfied.
- step S107, No the processing unit 41 determines whether or not the stage is 1 in step S108.
- step S108, Yes the processing unit 41 determines whether or not the condition 2 is satisfied in step S109.
- Condition 2 is a condition for starting the automatic lifting (raising) of the boom 3.
- the condition 2 is that the state where the bottom pressure Pb is larger than the determination value b continues for a predetermined time ta or more, the boom angle ⁇ is smaller than the determination value c, and the vehicle speed Vc is smaller than the determination value d. It is established when the state continues for a predetermined time tb or longer.
- the processing unit 41 starts the raising operation of the boom 3 based on the lift force, that is, the bottom pressure Pb, the vehicle speed Vc, and the boom angle ⁇ .
- the lift force that is, the bottom pressure Pb, the vehicle speed Vc, and the boom angle ⁇ .
- the determination value b is 6 MPa and the determination value c is ⁇ 10 degrees, but is not limited to these values.
- the predetermined times ta and tb are not limited, but in the present embodiment, both are 0.1 seconds. In the present embodiment, the predetermined times ta and tb are the same, but they may be different.
- step S110 the processing unit 41 executes the automatic lifting of the boom 3 and executes the stage rewriting process.
- the processing unit 41 gives an automatic lift command to the solenoid command unit 22S of the boom raising electromagnetic proportional control valve 22 shown in FIG.
- the automatic lift command instructs the boom raising electromagnetic proportional control valve 22 as a percentage with 0% being fully closed and 100% being fully open.
- a symbol OPa in FIG. 7 corresponds to an automatic lift command.
- the processing unit 41 When the condition 2 is satisfied, the processing unit 41 rewrites the stage to 2, and changes the state of the automatic excavation control during the determination of the end of the automatic lift during the automatic lift. Next, in step S111, the processing unit 41 determines whether or not the stage is two.
- Condition 3 is a condition for ending the automatic lifting of the boom 3.
- the condition 3 is that the predetermined time tc is when the amount by which the boom angle ⁇ is increased from the time when the boom 3 starts the automatic lift is larger than the determination value f or when the bottom pressure Pb is larger than the determination value g. It is established when the above is continued.
- the determination value f is 3 degrees and the determination value g is 30 MPa, but is not limited to these values.
- the predetermined time tc is not limited, but is 0.1 second in the present embodiment.
- the lifting operation is terminated based on the lift force from the start of the lifting operation of the boom 3, that is, the amount of increase in the bottom pressure Pb or the boom angle ⁇ .
- the processing unit 41 determines the end condition of the automatic lift of the boom 3 using the bottom pressure Pb or the increase amount of the boom angle ⁇ , the traction force generated by the wheel loader 1 has an appropriate magnitude.
- the automatic lift can be terminated and the automatic tilt operation can be started.
- step S112 Yes
- the processing unit 41 ends the automatic lifting of the boom 3 and executes a stage rewriting process in step S113.
- the boom angle ⁇ increases compared to before the start of the automatic lift.
- the bottom pressure Pb increases during the automatic lift.
- the processing unit 41 rewrites the stage to 3, and shifts the state of the automatic excavation control while waiting for the automatic tilt operation.
- step S ⁇ b> 114 shown in FIG. 5 the processing unit 41 determines whether the stage is 3 or not. Note that “v” in FIG. 4 corresponds to “v” in FIG.
- step S115 the processing unit 41 sets the automatic tilt command to 0% and outputs it to the solenoid command unit 24S of the bucket tilt electromagnetic proportional control valve 24.
- the automatic tilt command is a command for opening the bucket tilt electromagnetic proportional control valve 24 at a predetermined opening.
- the bucket tilt electromagnetic proportional control valve 24 is commanded as a percentage with 0% being fully closed and 100% being fully open.
- the automatic tilt command is a combination of an ON time ⁇ t1 for opening the bucket tilt electromagnetic proportional control valve 24 and an OFF time ⁇ t2 for closing the bucket tilt electromagnetic proportional control valve 24, as shown in the open / close valve pattern of FIG. It is a directive.
- the ON time ⁇ t1 and the OFF time t2 are set in advance according to, for example, the number of automatic tilts, and are stored in the storage unit 42 of the control device 40 shown in FIG. 2 as an automatic tilt cycle table.
- the processing unit 41 reads the OFF time ⁇ t2 corresponding to the number of automatic tilt operations to be executed from the automatic tilt cycle table described above. Then, the processing unit 41 determines whether or not the OFF time ⁇ t2 has elapsed. With this process, in the present embodiment, the processing unit 41 does not perform the automatic tilt operation until a predetermined time has elapsed after the condition 3 for ending the automatic lift of the boom 3 is satisfied.
- step S116 When the OFF time ⁇ t2 has elapsed (step S116, Yes), the processing unit 41 rewrites the stage to 4 in step S117, and changes the state of automatic excavation control during determination of the start condition of the automatic tilt operation.
- the processing unit 41 waits until the OFF time ⁇ t2 has elapsed.
- step S118 the processing unit 41 determines whether or not the stage is 4.
- step S118, Yes the processing unit 41 determines whether or not the condition 4 is satisfied.
- Condition 4 is a condition for starting the automatic tilt operation. In the present embodiment, condition 4 is satisfied when the state where the bottom pressure Pb is greater than the determination value j continues for a predetermined time td or longer and the state where the vehicle speed Vc is lower than the determination value k continues for a predetermined time te or longer. .
- the determination value j is 16 MPa and the determination value k is 2 km / h, but is not limited to these values.
- the predetermined times td and te are not limited, but both are 0.1 seconds in this embodiment. In the present embodiment, the predetermined times td and te are the same, but they may be different.
- step S120 the processing unit 41 rewrites the stage to 5 and changes the state of automatic excavation control during the automatic tilt operation.
- the processing unit 41 acquires the bottom pressure Pb from the boom cylinder pressure sensor 48 shown in FIG.
- the bottom pressure Pb is the bottom pressure Pb at the time when the automatic tilt operation is started, and corresponds to the lift force when the automatic tilt operation is started.
- the processing unit 41 determines the bucket based on the detection result of the lift force detection device, that is, the bottom pressure Pb that is the detection result of the boom cylinder pressure sensor 48 and the vehicle speed Vc that is the detection result of the vehicle speed sensor 50. 4 automatic tilting operation is started.
- the processing unit 41 can relatively easily and reliably determine the timing at which the traction force of the wheel loader 1 is saturated. Can know.
- the processing unit 41 can automatically tilt the bucket 4 at an appropriate timing, thereby realizing an efficient loading operation. For this reason, the productivity of the wheel loader 1 is improved.
- step S121 the processing unit 41 determines whether or not the stage is 5.
- step S121, Yes the processing unit 41 sets the automatic tilt command to p and outputs it to the solenoid command unit 24S of the bucket tilt electromagnetic proportional control valve 24.
- p 100%.
- the automatic tilt command is output to the solenoid command unit 24S of the bucket tilt electromagnetic proportional control valve 24, the bucket 4 starts an automatic tilt operation.
- a symbol OPb in FIG. 7 corresponds to an automatic tilt command.
- step S123 the processing unit 41 reads the ON time ⁇ t1 corresponding to the number of automatic tilt operations to be executed from the automatic tilt cycle table described above. Then, the processing unit 41 determines whether or not the ON time ⁇ t1 has elapsed. When the ON time ⁇ t1 has elapsed (step S123, Yes), the processing unit 41 rewrites the stage to 6 in step S124, and changes the automatic excavation control state to the automatic tilt operation end condition determination. Transition.
- step S125 the processing unit 41 determines whether the stage is six.
- step S125, Yes the processing unit 41 determines whether or not the condition 5 is satisfied.
- Condition 5 is a condition for terminating the automatic tilt operation.
- the condition 5 is that the bottom pressure Pb is larger than the determination value j, and the increase amount ⁇ Pb of the bottom pressure Pb from the bottom pressure Pb at the time when the bucket 4 starts the automatic tilting operation is larger than the determination value m.
- the determination value m is 4 MPa and the determination value k is 2 km / h, but is not limited to these values.
- the predetermined time tf is not limited, but is 0.1 second in the present embodiment.
- step S127 the processing unit 41 sets the automatic tilt command to 0% and sets the automatic command to the solenoid command unit 24S of the bucket tilt electromagnetic proportional control valve 24. Output.
- the 0% automatic tilt command is given to the solenoid command unit 24S of the bucket tilt electromagnetic proportional control valve 24, the operation of the bucket cylinder 10 is stopped and the automatic tilt operation of the bucket 4 is ended.
- the reason why 1 is added to the current number of automatic tilt operations in step S128 is that the automatic tilt operation is executed in step S122.
- x in FIG. 4 corresponds to x in FIG.
- the processing unit 41 ends the tilt operation based on the amount of increase ⁇ Pb in the bottom pressure Pb from the time when the bucket 4 starts the tilt operation. That is, the processing unit 41 ends the tilting operation based on the bottom pressure Pb corresponding to the lift force having a high correlation with the traction force of the wheel loader 1, and shifts to the excavation operation by the traction force of the wheel loader 1. For this reason, since the work machine 5 of the wheel loader 1 can be shifted from the tilt operation to the excavation operation at an appropriate timing, an efficient loading operation can be realized. For this reason, the productivity of the wheel loader 1 is improved.
- the processing unit 41 determines the timing for terminating the tilt operation using the vehicle speed Vc in addition to the amount of increase ⁇ Pb of the bottom pressure Pb.
- the vehicle speed Vc is also correlated with the traction force of the wheel loader 1. For this reason, since the processing unit 41 can shift the working machine 5 of the wheel loader 1 from the tilting operation to the excavating operation at a more appropriate timing by using the vehicle speed Vc, more efficient loading work is realized. it can.
- step S129 the processing unit 41 determines whether or not the stage is 0.
- step S129, No the processing unit 41 sets the boom command to a value obtained by adding the current automatic lift command to the current lever command in step S130.
- step S131 the processing unit 41 sets the bucket command to a value obtained by adding the current automatic tilt command to the current lever command.
- the lever command is a command for determining the opening degree of the boom operation valve 13 or the opening degree of the bucket operation valve 14 obtained from the operation amount of the boom operation lever 30 or the bucket operation lever 32.
- step S132 the processing unit 41 determines whether or not the condition 6 is satisfied.
- Condition 6 is satisfied when a predetermined time tg elapses after the tilt end is detected during automatic excavation control.
- Condition 6 is a condition that excavation by automatic excavation control is completed.
- the predetermined time tg is not limited, but is 0.5 seconds in the present embodiment.
- step S133 the processing unit 41 generates a sound indicating that the excavation by the automatic excavation control is completed from, for example, the sound generator 45B of the input / output device 45 illustrated in FIG. Let them pronounce. By generating this sound from the sound generator 45B, the operator of the wheel loader 1 can know that the excavation by the automatic excavation control has been completed.
- step S134 the processing unit 41 determines whether or not to end the automatic excavation control. For example, when the operator of the wheel loader 1 turns off the automatic excavation mode, that is, releases the automatic excavation mode, or operates the boom operation lever 30 or the bucket operation lever 32 by a predetermined amount, the processing unit is given priority to the operator's operation. 41 terminates the automatic excavation control.
- the processing unit 41 when there is no operation as described above by the operator, the processing unit 41 does not end the automatic excavation control (No in step S134). In this case, the processing unit 41 returns to the start and executes the processes after step S101. For example, when there is an operation as described above by the operator, the processing unit 41 ends the automatic excavation control (Yes in step S134). In this case, the processing unit 41 rewrites to 0 regardless of the state of the stage. Thereafter, in step S135, for example, the processing unit 41 generates a sound indicating that the automatic excavation control has been completed and has been completed from the sound generation device 45B of the input / output device 45 illustrated in FIG. By generating this sound from the sound generation device 45B, the operator of the wheel loader 1 can know that the automatic excavation control has been terminated halfway through his own operation or the like.
- the sound when the excavation by the automatic excavation control is completed is different from the sound when the automatic excavation control is not completed. By doing in this way, the operator can distinguish between completion of excavation by automatic excavation control and completion of automatic excavation control.
- step S135 the processing unit 41 returns to the start and executes the processes after step S101.
- step S101 when the stage is not 0, that is, when automatic excavation control is being performed (step S101, Yes), the processing unit 41 does not need to determine whether or not automatic excavation control is being performed. For this reason, the process part 41 progresses to step S107, and performs the process after step S107.
- step S102 when the automatic excavation mode is OFF (No in step S102), the processing unit 41 sets the automatic excavation mode in step S136 from, for example, the display device 45M of the input / output device 45 illustrated in FIG.
- the icon 34I as an indicator indicating that it is ON is deleted.
- step S137 the processing unit 41 ends the automatic excavation control.
- the processing unit 41 rewrites the stage to 0 when terminating the automatic excavation control.
- the processing unit 41 resets the number of times that the automatic lift command, the automatic tilt command, and the automatic tilt operation are executed. In the present embodiment, the processing unit 41 resets these by setting the automatic lift command to 0%, the automatic tilt command to 0%, and the number of executions of the automatic tilt operation to 0.
- step S136 ends, the processing unit 41 proceeds to step S129, and executes the processes after step S129.
- w in FIG. 4 corresponds to w in FIG.
- step S104 a negative determination is made in step S104, that is, a No determination is made.
- condition 1 since condition 1 is not satisfied (step S104, No), automatic excavation control is not executed.
- step S105 a negative determination is made in step S105, that is, a determination of No will be given.
- step S105 since the kick-down condition is not satisfied (step S105, No), automatic excavation control is not executed. For this reason, the process part 41 performs the process after step S137.
- step S107 the condition for terminating the automatic excavation control is satisfied (step S107, Yes).
- the automatic excavation control is not executed thereafter.
- the process part 41 performs the process after step S137.
- the processing unit 41 processes step S133 after step S132, determines No in step S134, and determines Yes in step S101.
- step S107 Condition 6 determined in step S132 includes that the above-described automatic excavation mode end condition (3) is satisfied.
- the process part 41 determines with the conditions which complete
- Step S108 when negative in Step S108, that is, when No is determined, the stage is other than 1.
- the processing unit 41 executes processing subsequent to step S111, that is, determination of the end of the automatic lift of the boom 3.
- step S109 a negative determination is made in step S109, that is, a case of No will be described. In this case, the condition 2 is not satisfied, and the automatic lifting of the boom 3 is not started.
- the processing unit 41 executes the processes after step S129.
- negative in Step S111 that is, when No is determined, the stage is other than 2. In this case, the processing unit 41 executes the processes after step S114.
- step S112 the processing unit 41 determines whether the neutrality of the boom operation lever 30 has continued for a predetermined time th.
- the predetermined time th is 0.1 second, but is not limited thereto.
- step S138, Yes When the neutralization of the boom control lever 30 continues for the predetermined time th (step S138, Yes), the processing unit 41 sets the automatic lift command to h in step S139.
- h In the present embodiment, h is 60%, but is not limited to this.
- the processing unit 41 sets the automatic lift command to 0% in step S140.
- the processing unit 41 executes the processes in and after step S129.
- step S114 when a negative determination is made in step S114, that is, a determination of No is made, the processing unit 41 does not need to determine whether or not the bucket 4 is waiting for the automatic tilt operation. In this case, the processing unit 41 executes the processing after step S118.
- the determination in step S116 is negative, that is, No, the OFF time ⁇ t2 has not elapsed. Also in this case, the processing unit 41 executes the processing after step S118.
- step S118 determines whether the determination in step S118 is negative, that is, No, the processing unit 41 does not need to determine the start of the automatic tilt operation of the bucket 4. In this case, the process part 41 performs the process after step S121. If the determination in step S119 is negative, that is, No is determined, it is determined that the start condition for the automatic tilt operation of the bucket 4 is not satisfied. In this case, the process part 41 performs the process after step S121.
- step S121 determines whether the automatic tilt operation is in progress.
- the processing unit 41 executes the processes after step S125. If the determination in step S123 is negative, that is, No is made, the ON time ⁇ t1 has not elapsed. Also in this case, the processing unit 41 executes the processing after step S125.
- step S125 determines whether the determination in step S125 is negative, that is, No, it is not in the process of determining the end condition of the automatic tilt operation. In this case, the processing unit 41 executes the processes after step S129 without determining the condition 5. If the determination in step S126 is negative, that is, No, the condition for terminating the automatic tilt operation is not satisfied. Also in this case, the processing unit 41 executes the processes after step S129.
- step S129 If the determination in step S129 is affirmative, ie, Yes, the stage is 0. That is, the automatic excavation control is finished. In addition, when negative determination is made in step S132, that is, when No is determined, excavation by the automatic excavation control is not completed. In these cases, the processing unit 41 executes the processing after step S134.
- the tilting operation of the bucket 4 is started based on the bottom pressure Pb and the vehicle speed, and the automatic tilting operation is ended based on the increase amount ⁇ Pb of the bottom pressure Pb.
- the start and stop of the tilt operation are repeated until the bucket 4 reaches the tilt end.
- the processing unit 41 can repeat the tilting operation of the bucket 4 and the stop thereof in the automatic excavation control, the excavation work of the wheel loader 1 by the operator can be simulated.
- the operations of the bucket 4 and the boom 3 during automatic excavation are automatically controlled based on the lift force as the force received by the boom 3. Since the lift force has a high correlation with the traction force of the wheel loader 1, if the lift force is used for automatic excavation control, the traction force of the wheel loader 1 can be effectively used for excavation. As a result, this embodiment can maintain the productivity during excavation work at a high level regardless of the skill level of the operator of the wheel loader 1.
- this embodiment when the bucket 4 is automatically tilted during the automatic excavation control, the tilting operation is terminated based on the lift force of the boom 3.
- this embodiment can reduce a useless operation that continues the tilting operation of the bucket 4 even at a timing when the traction force can be effectively used. Therefore, regardless of the skill level of the operator, Production efficiency can be maintained at a high level close to that of skilled workers.
- this embodiment controls automatically the operation
- the productivity by manual operation was 3.2 ton / second for the skilled person, 2 ton / second for the mid-level person, and 1.9 ton / second for the beginner.
- the productivity of the wheel loader 1 by automatic excavation was 2.3 ton / second for the skilled person, 2.5 ton / second for the mid-level person, and 2.3 ton / second for the beginner.
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Abstract
Description
図1は、本実施形態に係る作業車両を示す図である。本実施形態において、作業車両として、砕石又は砕石の掘削時に発生した土砂若しくは岩石等をダンプトラック等に積載するホイールローダー1を例とする。ホイールローダー1は、フロントエンドローダーであるが、本実施形態においてホイールローダー1の形式はこれに限定されるものではない。
図2は、作業機の動作を制御する制御系統を示す図である。図1に示す作業機5の動作、すなわちブーム3及びバケット4の動作を制御する制御系統CSは、作業機油圧ポンプ12と、ブーム操作弁13と、バケット操作弁14と、パイロットポンプ15と、吐出回路12Cと、電磁比例制御弁20と、制御装置40と、を含む。
作業機5において、ブーム3の角度(以下、適宜ブーム角度という)αは、連結ピン3Pの中心軸Z1と連結ピン4Paの中心軸Z2とを結ぶ直線L1と、連結ピン3Pを通り、かつ前輪6F及び後輪6Rの接地面と平行な水平線L2とのなす角度のうち小さい方である。本実施形態において、ブーム角度αは、水平線L2よりも路面R側に傾斜している場合は負になる。ブーム3が上昇するとブーム角度αは大きくなる。
ホイールローダー1は、オペレータがブーム操作レバー30及びバケット操作レバー32の少なくとも一方を操作することにより、作業機5が掘削対象を掘削する。この他にも、ホイールローダー1は、自動で掘削対象を掘削することもできる。ホイールローダー1が自動掘削を実行するにあたり、制御装置40は、自動掘削スタートスイッチ34からの掘削スタート信号を入力すると自動掘削を開始する。自動掘削において、制御装置40は、ブーム角度検出センサ46、バケット角度検出センサ47の検出値、ブームシリンダ圧力センサ48の検出値を取得する。そして、制御装置40は、取得した検出値に基づき、作業機速度制御指令を電磁比例制御弁20の各ソレノイド指令部21S、22S、23S、24Sに出力する。このようにして、制御装置40は、ブーム角度αとバケット角度βとを制御し、作業機5を自動で動作させて掘削する。このように、ホイールローダー1が自動掘削を実行する場合、制御装置40は、少なくともブーム角度検出センサ46の検出値とブームシリンダ圧力センサ48の検出値とに基づき、バケット駆動部とブーム駆動部とに指令信号を出力してブーム3及びバケット4の少なくとも一方の姿勢を自動で制御する。
図4、図5及び図6は、本実施形態に係る作業車両の制御方法における処理の一例を示すフローチャートである。図7は、本実施形態に係る作業車両の制御方法におけるタイミングチャートである。図8は、自動掘削時にバケットチルト電磁比例制御弁を開く時間(ON時間)と閉じる時間(OFF時間)とを説明するための図である。図7中、上段のタイミングチャートの縦軸はブーム角度α及び自動リフト指令OPaであり、横軸は時間tである。図7中、下段のタイミングチャートの縦軸は、バケット角度β、自動チルト指令OPb、ボトム圧力Pb及び車速Vcであり、横軸は時間tである。図7において、自動リフト指令OPa及び自動チルト指令OPbは、いずれもON状態とOFF状態とが示される。本実施形態に係る作業車両の制御方法は、自動で掘削作業を行うときにおけるホイールローダー1の制御方法、特に作業機5の制御方法である。
(1)自動掘削モードがOFF(自動掘削モードの起動停止)である場合
(2)前進信号以外が検出された場合
(3)バケット4のチルトエンドが検出されてから所定時間(本実施形態では0.5秒)経過した後である場合
(4)ブーム角度αが所定角度以上(本実施形態では0度以上)である場合
(5)作業機5がロックされている場合
(6)センサ又は作業機5の制御系統CSに不具合が発生した場合
(7)ブーム操作レバー30の操作量が、ブーム3を下降させる方向において所定量よりも大きい場合
(8)バケット操作レバー32の操作量が、バケット4をダンプ動作させる方向において所定量よりも大きい場合
2 車体
3 ブーム
4 バケット
4B 底面
5 作業機
6F 前輪
6R 後輪
9 ブームシリンダ
10 バケットシリンダ
11 ベルクランク
12 作業機油圧ポンプ
13 ブーム操作弁
14 バケット操作弁
15 パイロットポンプ
16 エンジン
18 変速装置
18L セレクターレバー
20 電磁比例制御弁
21 ブーム下げ電磁比例制御弁
22 ブーム上げ電磁比例制御弁
23 バケットダンプ電磁比例制御弁
24 バケットチルト電磁比例制御弁
30 ブーム操作レバー
32 バケット操作レバー
34 自動掘削スタートスイッチ
35 キックダウンスイッチ
40 制御装置
41 処理部
42 記憶部
43 入力部
44 出力部
45 入出力装置
46 ブーム角度検出センサ
47 バケット角度検出センサ
48 ブームシリンダ圧力センサ
CL 操作レバー
CS 制御系統
Claims (7)
- 車体と、
前記車体に支持されて回動するブームと、
前記ブームの前記車体側とは反対側に支持されて回動するバケットと、
前記ブームを回動させるブーム駆動部と、
前記バケットを回動させるバケット駆動部と、
前記ブーム駆動部が前記ブームから受ける力としてのリフト力を検出するリフト力検出装置と、
所定の条件が成立したときには前記バケットのチルト動作を開始し、前記チルト動作を開始した時点から前記リフト力が上昇した量に基づいて前記チルト動作を終了させる制御装置と、
を含む、作業車両。 - 前記ブーム駆動部はブーム用油圧シリンダを含み、
前記リフト力検出装置は前記ブーム用油圧シリンダに供給される作動油の圧力としてのボトム圧力を検出するブームボトム圧力検出装置である、請求項1に記載の作業車両。 - 前記作業車両が走行する速度を検出する車速検出装置をさらに含み、
前記制御装置は、少なくとも前記リフト力検出装置の検出結果と前記車速検出装置の検出結果とに基づいて、前記チルト動作を開始させる、請求項1又は請求項2に記載の作業車両。 - 前記制御装置は、前記リフト力と前記作業車両が走行する速度と前記ブームの角度とに基づいて前記ブームの上昇動作を開始させ、前記ブームの上昇動作の開始時からの前記リフト力又は前記ブームの角度の増加量に基づいて、前記上昇動作を終了させる、請求項1から請求項3のいずれか1項に記載の作業車両。
- 車体と、前記車体に支持されて回動するブームと、前記ブームの前記車体側とは反対側に支持されて回動するバケットとを備えた作業車両の前記バケットの動作を制御するにあたり、
所定の条件が成立したときには前記バケットのチルト動作を開始させ、
前記チルト動作を開始させた後は、前記チルト動作を開始した時点からの前記リフト力が上昇した量に基づいて前記チルト動作を終了させる、作業車両の制御方法。 - 少なくとも前記リフト力と前記作業車両が走行する速度とに基づいて、前記チルト動作を開始させる、請求項5に記載の作業車両の制御方法。
- 前記リフト力と前記作業車両が走行する速度と前記ブームの角度とに基づいて前記ブームの上昇動作を開始させ、前記ブームの上昇動作の開始時からの前記リフト力又は前記ブームの角度の増加量に基づいて、前記上昇動作を終了させる、請求項5又は請求項6に記載の作業車両の制御方法。
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EP13883343.9A EP2853641B1 (en) | 2013-07-12 | 2013-07-12 | Work vehicle and method for controlling work vehicle |
US14/397,873 US9441346B2 (en) | 2013-07-12 | 2013-07-12 | Work vehicle and method of controlling work vehicle |
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US9441346B2 (en) | 2016-09-13 |
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EP2853641A1 (en) | 2015-04-01 |
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