EP4026953A1 - Procédé de commande permettant de sélectionner automatiquement un mode de fonctionnement d'un véhicule de travail, système de commande correspondant et véhicule de travail comportant ce système de commande - Google Patents

Procédé de commande permettant de sélectionner automatiquement un mode de fonctionnement d'un véhicule de travail, système de commande correspondant et véhicule de travail comportant ce système de commande Download PDF

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Publication number
EP4026953A1
EP4026953A1 EP21216828.0A EP21216828A EP4026953A1 EP 4026953 A1 EP4026953 A1 EP 4026953A1 EP 21216828 A EP21216828 A EP 21216828A EP 4026953 A1 EP4026953 A1 EP 4026953A1
Authority
EP
European Patent Office
Prior art keywords
boom
work vehicle
working fluid
joystick
value
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP21216828.0A
Other languages
German (de)
English (en)
Inventor
Stefano Liberti
Antonio Venezia
Adriano GARRAMONE
Andrea Gravili
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CNH Industrial Italia SpA
Original Assignee
CNH Industrial Italia SpA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by CNH Industrial Italia SpA filed Critical CNH Industrial Italia SpA
Publication of EP4026953A1 publication Critical patent/EP4026953A1/fr
Pending legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2004—Control mechanisms, e.g. control levers
    • 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
    • E02F3/34—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 bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines
    • E02F3/3414—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 bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines the arms being pivoted at the rear of the vehicle chassis, e.g. skid steer loader
    • 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
    • E02F9/2278—Hydraulic circuits
    • E02F9/2289—Closed circuit

Definitions

  • the present invention relates generally to a work vehicle, such as for example a compact wheel loader, and particularly to a control method for automatically selecting an operating mode of work vehicle, a corresponding control system and a work vehicle comprising such control system.
  • Motorized work vehicles are well known for use in material handling that carry an implement (for example, a bucket) and have a hydraulically operated lifting arm for moving the implement. Examples of such vehicles are tractors and loaders.
  • a loader is a heavy equipment machine used in construction to move aside on the ground or load materials such as asphalt, demolition debris, dirt, snow, feed, gravel, logs, raw minerals, recycled material, rock, sand, woodchips, etc. into or onto another type of machinery (such as a dump truck, conveyor belt, feed-hopper, or railroad car).
  • loader which, depending on design and application, are called by various names, including implement loader, front loader, front-end loader, pay loader, scoop, shovel, skip loader, wheel loader, or skid-steer.
  • compact wheel loaders are compact vehicles that have road wheels and carry a working implement attached to a lift arm or boom that is hydraulically powered.
  • a work vehicle 1 such as a compact wheel loader
  • the invention is not limited to such a kind of work vehicle, but is applicable to any other kind of work vehicle.
  • a compact wheel loader includes a boom 5 pivotally connected to one end to the frame 3.
  • An implement 2 is pivotally connected to the opposite end of the boom for tilting movement relative to the frame 3 about a generally horizontal axis.
  • the movement of the boom 5 and of the implement 2 is controlled by the operator through a joystick 7 placed inside an operator's cab or cabin 9 of the work vehicle 1.
  • FIG 2 which shows a control diagram of the work vehicle 1
  • the boom 3 and the implement 2 are moved by an hydraulic control circuit 10 comprising a first and a second hydraulic actuators 12, 14 which are controlled by an electronic control unit 16 through respective solenoid valves 18, 20 according to the position of the joystick 7 controlled by the operator.
  • each hydraulic actuator comprises an hydraulic cylinder operatively connected respectively to the boom and the implement, that uses hydraulic power of a working fluid to facilitate mechanical operation, the working fluid being controlled by means of directional solenoid valves 18, 20, e.g. an open centre valve.
  • a hydraulic actuator can exert a large force.
  • the rate of actuation of the boom and implement is controlled by the opening degree of the respective directional solenoid valve 18, 20 by means of a driving current thereof as a function of the position of the joystick.
  • the hydraulic flow rate of the working fluid required to operate the boom and the implement is produced by a hydraulic pump Pu connected to a fluid reservoir T and driven by an internal combustion engine or an electrical motor M (hereinafter simply referred to as motor) of the vehicle, e.g. by a mechanical linkage.
  • motor an electrical motor M (hereinafter simply referred to as motor) of the vehicle, e.g. by a mechanical linkage.
  • the same motor is also used to drive the wheels as a propulsion means of the work vehicle.
  • Figure 3 shows an exemplary joystick of a work vehicle.
  • a movement of the joystick in an associated bi-dimensional control area A according to a first direction y causes the actuation of the boom and a movement of the joystick in said bi-dimensional control area A according to a second direction x causes the actuation of the implement.
  • the intersection of said x and y directions is defined as origin O of the control area A, and corresponds to the neutral position of the joystick.
  • a neutral region N around the neutral position of the joystick is a region where the boom and implement are not actuated.
  • a region externally surrounding the neutral region is defined a driving region and indicated D in this figure.
  • a combination of movement in both directions x and y of the joystick is allowed in order to move simultaneously the boom and the implement.
  • y P in figure 3 the component of a position P of the joystick 7 along direction y (boom actuation axis) is indicated y P in figure 3 and is the projection over y axis of a vector representing the position P of the joystick in the control area A.
  • the components y P , x P of the position P of the joystick may take on any combination of a "positive” value and a “negative” value on the y axis and x axis, respectively with respect to origin O of the control area A that corresponds to the neutral position of the joystick.
  • the aims of the present invention are to increase the usability, the performance and the efficiency of the work vehicle.
  • Another aim of the present invention is to provide a solution that allows a reduction of the workload by the operator, hereby increasing the comfort of the operator.
  • control systems for a work vehicle as well a work vehicle, as claimed.
  • the proposed invention allows to dynamically change the operating mode of the work vehicle (i.e. setting the aggressiveness of boom or an implement movements) depending on an hydrostatic transmission pressure and the boom position.
  • This function automatically set the boom and bucket aggressiveness proper to the working vehicle digging working conditions in order to increase the performance, the comfort of the operator and the efficiency of the work vehicle.
  • the work vehicle includes a motor M arranged to power the work vehicle, a boom and an implement attached to the boom.
  • the work vehicle includes a boom position sensor means 40 arranged to detect a position of the boom along a travel path TP of the boom, a speed sensor means 42 arranged to detect a travel speed of the work vehicle, and a joystick 7 operatively controlled by an operator for actuating the boom and the implement.
  • the speed sensor means may be for example an encoder.
  • FIG. 5 An exemplary travel path is shown in figure 5 .
  • the joystick is movable in a predetermined control area with respect to a first preset axis for actuating the boom and with respect to a second preset axis for actuating the implement.
  • the work vehicle includes a hydrostatic transmission comprising a first hydraulic pump HP, a hydraulic motor HM , a forward line FL arranged to hydraulically connect an outlet of the hydraulic pump to an inlet of the hydraulic motor, and a reverse line RL arranged to hydraulically connect an outlet of the hydraulic motor HM to an inlet of the hydraulic pump HP, in such a manner to define a closed hydraulic circuit within which a first working fluid is arranged to flow.
  • the work vehicle further comprises a first pressure sensor means P1 arranged to detect a pressure value of the first working fluid flowing within the forward line of the hydrostatic transmission, and a second pressure sensor means P2 arranged to detect a pressure value of the first working fluid flowing within the reverse line of the hydrostatic transmission.
  • An exemplary hydrostatic transmission is shown in figure 4b .
  • the work vehicle includes also an hydrostatic circuit for actuating the boom and the implement.
  • the hydrostatic circuit includes a second hydraulic pump connected to a fluid reservoir and driven by said motor of the vehicle.
  • a second working fluid is arranged to flow within said hydrostatic circuit.
  • the work vehicle comprises a plurality of selectable operating modes of the work vehicle.
  • first hydraulic actuating means including at least one first hydraulic cylinder operatively connected to the boom, and a first directional solenoid valve 18 whose opening degree is adapted to control the flow of the second working fluid to the at least one first hydraulic cylinder.
  • a rate of actuation of the boom is controlled by the opening degree of the first directional 18 solenoid valve by means of a first driving current thereof, wherein a value of the first driving current is dependent on a component of the position of the joystick along said first preset axis for actuating the boom and on the selected operating mode of the work vehicle.
  • second hydraulic actuating means including at least one second hydraulic cylinder operatively connected to the implement, and a second directional solenoid valve 20 whose opening degree is adapted to control the flow of the second working fluid to the at least one second hydraulic cylinder.
  • a rate of actuation of the implement is controlled by the opening degree of the second directional solenoid valve 20 by means of a second driving current thereof, wherein a value of the second driving current is dependent on a component of the position of the joystick along said second preset axis for actuating the implement and on the selected operating mode of the work vehicle.
  • control method for automatically selecting an operating mode of a work vehicle comprises the steps of:
  • the selectable operating modes of the work vehicle includes:
  • the operating mode may be also called aggressiveness mode, e.g. the first operating mode may be called “low aggressiveness mode”, the second operating mode may be called “medium aggressiveness mode”, and the third operating mode may be called “high aggressiveness mode”.
  • the step c) may include the step of measuring the value of pressure of the first working fluid within the forward line by means of a first pressure sensor means
  • the step d) may include the step of measuring the value of pressure of the first working fluid within the reverse line by means of a second pressure sensor means.
  • the step b) may include the step of measuring the current travel speed of the work vehicle by means of a speed sensor means.
  • the step a) may include the step of determining the current position of the boom along a travel path of the boom by means of an angle detection sensor coupled to the boom, or, the step a) may include the step of determining the current position of the boom along a travel path of the boom by means of a linear sensor means coupled to the first hydraulic cylinder operatively connected to the boom.
  • each a boom position sensor means e.g. a boom position sensor.
  • the present invention relates also to a control system for a work vehicle.
  • control system includes:
  • control system is arranged to carry out a method according to any of the embodiments of the method explained before.
  • the invention relates to a work vehicle.
  • the work vehicle in particular compact wheel loader, the work vehicle comprises:
  • the work vehicle includes a hydrostatic transmission.
  • the hydrostatic transmission comprises a first hydraulic pump, a hydraulic motor, a forward line arranged to hydraulically connect an outlet of the hydraulic pump to an inlet of the hydraulic motor, and a reverse line arranged to hydraulically connect an outlet of the hydraulic motor to an inlet of the hydraulic pump in such a manner to define a closed hydraulic circuit within which a first working fluid is arranged to flow.
  • the work vehicle further includes a first pressure sensor means arranged to detect a pressure value of the first working fluid flowing within the forward line of the hydrostatic transmission, and a second pressure sensor means arranged to detect a pressure value of the first working fluid flowing within the reverse line of the hydrostatic transmission.
  • the work vehicle includes an hydrostatic circuit for actuating the boom and the implement.
  • the hydrostatic circuit includes a second hydraulic pump connected to a fluid reservoir and driven by said motor of the vehicle, wherein a second working fluid is arranged to flow within said hydrostatic circuit.
  • the work vehicle further includes a plurality of selectable operating modes of the work vehicle, and a control system according to the embodiments described above.
  • first hydraulic actuating means including at least one first hydraulic cylinder operatively connected to the boom, and a first directional solenoid valve whose opening degree is adapted to control the flow of the second working fluid to the at least one first hydraulic cylinder.
  • a rate of actuation of the boom is controlled by the opening degree of the first directional solenoid valve by means of a first driving current thereof, wherein a value of the first driving current is dependent on a component of the position of the joystick along said first preset axis for actuating the boom and on the selected operating mode of the work vehicle.
  • second hydraulic actuating means including at least one second hydraulic cylinder operatively connected to the implement, and a second directional solenoid valve whose opening degree is adapted to control the flow of the second working fluid to the at least one second hydraulic cylinder.
  • a rate of actuation of the implement is controlled by the opening degree of the second directional solenoid valve by means of a second driving current thereof, wherein a value of the second driving current is dependent on a component of the position of the joystick along said second preset axis for actuating the implement and on the selected operating mode of the work vehicle.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Testing And Monitoring For Control Systems (AREA)
  • Control Of Multiple Motors (AREA)
  • Operation Control Of Excavators (AREA)
EP21216828.0A 2021-01-08 2021-12-22 Procédé de commande permettant de sélectionner automatiquement un mode de fonctionnement d'un véhicule de travail, système de commande correspondant et véhicule de travail comportant ce système de commande Pending EP4026953A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT102021000000272A IT202100000272A1 (it) 2021-01-08 2021-01-08 Procedimento di controllo per selezionare automaticamente una modalità operativa di una macchina operatrice, corrispondente sistema di controllo e macchina operatrice comprendente il sistema di controllo

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Publication Number Publication Date
EP4026953A1 true EP4026953A1 (fr) 2022-07-13

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EP21216828.0A Pending EP4026953A1 (fr) 2021-01-08 2021-12-22 Procédé de commande permettant de sélectionner automatiquement un mode de fonctionnement d'un véhicule de travail, système de commande correspondant et véhicule de travail comportant ce système de commande

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EP (1) EP4026953A1 (fr)
IT (1) IT202100000272A1 (fr)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110308879A1 (en) * 2009-03-25 2011-12-22 Komatsu Ltd. Construction vehicle
EP2500583A1 (fr) * 2009-11-10 2012-09-19 Kawasaki Jukogyo Kabushiki Kaisha Dispositif de régulation de la pression hydraulique
WO2015171692A1 (fr) * 2014-05-06 2015-11-12 Eaton Corporation Circuit de propulsion hybride hydraulique avec option hydrostatique et procédé de fonctionnement
US20170159678A1 (en) * 2015-12-07 2017-06-08 Caterpillar Inc. System having combinable transmission and implement circuits
EP3460258A1 (fr) * 2017-09-22 2019-03-27 Caterpillar Inc. Système et procédé de commande hydraulique
US20200115887A1 (en) * 2018-01-16 2020-04-16 Hitachi Construction Machinery Co., Ltd. Construction Machine
US20210002865A1 (en) * 2018-09-28 2021-01-07 Hitachi Construction Machinery Co., Ltd. Working vehicle

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110308879A1 (en) * 2009-03-25 2011-12-22 Komatsu Ltd. Construction vehicle
EP2500583A1 (fr) * 2009-11-10 2012-09-19 Kawasaki Jukogyo Kabushiki Kaisha Dispositif de régulation de la pression hydraulique
WO2015171692A1 (fr) * 2014-05-06 2015-11-12 Eaton Corporation Circuit de propulsion hybride hydraulique avec option hydrostatique et procédé de fonctionnement
US20170159678A1 (en) * 2015-12-07 2017-06-08 Caterpillar Inc. System having combinable transmission and implement circuits
EP3460258A1 (fr) * 2017-09-22 2019-03-27 Caterpillar Inc. Système et procédé de commande hydraulique
US20200115887A1 (en) * 2018-01-16 2020-04-16 Hitachi Construction Machinery Co., Ltd. Construction Machine
US20210002865A1 (en) * 2018-09-28 2021-01-07 Hitachi Construction Machinery Co., Ltd. Working vehicle

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IT202100000272A1 (it) 2022-07-08

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