JP2017186875A5 - - Google Patents

Description

WORK VEHICLE CONTROL SYSTEM, CONTROL METHOD, AND WORK VEHICLE

  The present invention relates to a control system, a control method, and a work vehicle of a work vehicle.

  2. Description of the Related Art Conventionally, some control systems for work vehicles perform automatic control of work machines. For example, in the hydraulic shovel of Patent Document 1, the working machine is controlled so that the bucket of the working machine does not exceed a preset design topography.

  In addition, the control system of the work vehicle is provided with an operation member for operating the function of automatic control. For example, in the above-described hydraulic shovel, an operation member for changing the position of the designed terrain is provided, and the operation member is provided in a console box disposed behind the operation lever of the work machine.

Patent No. 3869792

  When the automatically controlled operation member is provided in the console box as in the above-described hydraulic shovel, the operator of the work vehicle needs to release the hand from the operation lever of the work machine to operate the operation member. Therefore, the operation for operating the operation member is increased, which is complicated.

  An object of the present invention is to provide a control system, a control method, and a work vehicle of a work vehicle which can easily operate the function of automatic control.

A control system for a work vehicle according to a first aspect includes a first operation lever of a work machine, a first operation member, and a controller. The first operating member is provided on the first operating lever. The controller performs automatic control of the working machine. The controller executes the function of automatic control assigned to the first operating member according to the operation of the first operating member, when the execution condition including the fact that the first operating lever is not operated is satisfied.

  In the control system for a work vehicle according to the present aspect, the first operation member is provided to the first operation lever. Therefore, the operator can operate the first operation member while holding the first operation lever. Thus, the automatic control function can be easily operated.

  In addition, when the first operating member is provided on the first operating lever, there is a concern that the first operating lever is moved by an erroneous operation during the operation of the first operating member. In that case, there is a possibility that the operation of the work machine not intended by the operator may occur by simultaneously executing the function of the automatic control assigned to the first operation member and the operation of the work machine by the first operation lever. . When such unintended operation occurs, it becomes difficult to perform high-quality construction by automatic control.

Therefore, in the control system for a work vehicle according to the present aspect, when the execution condition including the fact that the first operation lever is not operated is satisfied, the control system is assigned to the first operation member according to the operation of the first operation member Automatic control functions are performed. Therefore, even if the first operation lever moves during operation of the first operation member, the execution of the function of automatic control assigned to the first operation member and the operation of the work machine by the first operation lever are simultaneously performed. Can be prevented. As a result, it is possible to prevent an unintended operation of the working machine due to an erroneous operation, and it is possible to perform high quality installation by automatic control.

  The controller may control the work machine based on a design topography representing a target shape of the work target in the automatic control. In this case, high-quality construction can be performed according to the design topography by automatic control.

The controller may change the position of the design terrain in response to the operation of the first operation member when the execution condition is satisfied. In this case, the operator can easily change the position of the designed terrain while holding the first operation lever by operating the first operation member. Also, when trying to change the position of the design terrain by the first operating member, can have first operating lever Gado by erroneous operation, changing the position of the design terrain is not executed. Alternatively, even if the first operating member is erroneously operated while operating the first operating lever, the change of the position of the designed terrain is not performed. Therefore, it is possible to suppress that the work machine digs the ground beyond the design topography.

  The first operation member may be an operation member for executing the first function of automatic control. The control system of the work vehicle may further include a second operation member for performing the second function of the automatic control. The second function may be different from the first function. In this case, the operator can operate the execution of the plurality of functions of the automatic control by the first and second operation members.

  The controller may enable or disable the automatic control according to the operation of the second operation member when the execution condition is satisfied. In this case, the operator can activate or deactivate the automatic control while holding the first operation lever by operating the second operation member.

  The first operating member and the second operating member may both be provided on the first operating lever. The controller may execute the first function in response to the operation of the first operation member when the execution condition is satisfied. The controller may execute the second function in response to the operation of the second operation member when the execution condition is satisfied.

  In this case, the operator can easily operate the first operation member and the second operation member while holding the first operation lever. Further, when the first operation lever is operated, the first function is not executed even if the first operation member is operated, and the second function is not executed even if the second operation member is operated. Therefore, it is possible to prevent an unintended operation of the working machine due to an erroneous operation, and it is possible to perform high quality installation by automatic control.

  The control system of the work vehicle may further include a second control lever. The first operating member may be provided to the first operating lever, and the second operating lever may be provided with the second operating member. In this case, the operator can easily operate the first operation member while holding the first operation lever. Also, the operator can easily operate the second operation member while holding the second operation lever.

The controller may execute the first function in response to the operation of the first operation member when the first execution condition including the fact that the first operation lever is not operated is satisfied. The controller may execute the second function in response to the operation of the second operation member when the second execution condition including the fact that the second operation lever is not operated is satisfied.

  In this case, when the first operating lever is operated, the first function is not executed even if the first operating member is operated. Further, when the second operation lever is operated, the second function is not executed even if the second operation member is operated. Therefore, it is possible to prevent an unintended operation of the working machine due to an erroneous operation, and it is possible to perform high quality installation by automatic control.

The execution conditions may include that the first operating lever is not operated and that the second operating lever is not operated . The controller may execute the first function in response to the operation of the first operation member when the execution condition is satisfied. The controller may execute the second function in response to the operation of the second operation member when the execution condition is satisfied.

  In this case, when at least one of the first operating lever and the second operating lever is operated, the first function is not executed even if the first operating member is operated. Further, when at least one of the first control lever and the second control lever is operated, the second function is not performed even if the second operation member is operated. Therefore, it is possible to prevent an unintended operation of the working machine due to an erroneous operation, and it is possible to perform high quality installation by automatic control.

The control system of the work vehicle may further include a third operation member provided on the first operation lever. The execution condition may further include that the third operating member is operated. In this case, in a state where the first operating lever is not operated and the third operating member is operated, the first operating member is operated, thereby automatically controlling the first operating member. The function is performed. Therefore, it is possible to more accurately prevent the operation of the unintended working machine due to the erroneous operation.

The controller may execute the first function of automatic control in response to the operation of the first operation member when the first execution condition is satisfied. The first execution condition may include that the first operating lever is not operated and that the third operating member is not operated. The controller may execute a third function different from the first function according to the operation of the first operation member when the third execution condition is satisfied. The third execution condition includes that the first operating lever is not operated and that the third operating member is operated.

  In this case, the first operation member can execute the first function and the second function according to the presence or absence of the operation of the third operation member. Thereby, many functions can be operated by a small number of operation members.

The control method of the work vehicle according to the second aspect includes the following steps . In the first step, an operation signal indicating an operation of a first operation member provided on the first operation lever is received. In the second step, it is determined whether an execution condition including the fact that the first operating lever is not operated is satisfied. In the third step, when the above execution condition is satisfied, the function of automatic control of the work machine assigned to the first operation member is executed according to the operation of the first operation member.

  In the control method of the work vehicle according to the present aspect, the function of automatic control of the work machine is assigned to the first operation member provided on the first operation lever. Therefore, the operator can operate the first operation member while holding the first operation lever. Thus, the automatic control function can be easily operated.

  In addition, even if the first operating lever moves during the operation of the first operating member, the function of automatic control assigned to the first operating member is not executed. Therefore, it can be prevented that the execution of the function of the automatic control and the operation of the working machine by the first operation lever are performed simultaneously. As a result, it is possible to prevent an unintended operation of the working machine due to an erroneous operation, and it is possible to perform high quality installation by automatic control.

A work vehicle according to a third aspect includes a work machine, a first operation lever of the work machine, a first operation member, and a controller. The first operating member is provided on the first operating lever. The controller performs automatic control of the working machine. The controller executes the function of automatic control assigned to the first operating member according to the operation of the first operating member, when the execution condition including the fact that the first operating lever is not operated is satisfied.

  In the work vehicle according to this aspect, the first operating member is provided on the first operating lever. Therefore, the operator can operate the first operation member while holding the first operation lever. Thus, the automatic control function can be easily operated.

  In addition, even if the first operating lever moves during the operation of the first operating member, the function of automatic control assigned to the first operating member is not executed. Therefore, the execution of the function of automatic control and the operation of the working machine by the first operation lever are prevented from being performed simultaneously. As a result, it is possible to prevent an unintended operation of the working machine due to an erroneous operation, and it is possible to perform high quality installation by automatic control.

  According to the present invention, it is possible to easily operate the automatic control function, to prevent the operation of an unintended working machine due to an erroneous operation, and to perform high-quality construction by automatic control.

It is a perspective view of a work vehicle concerning an embodiment. It is a block diagram showing composition of a control system of a work vehicle. It is a side view showing composition of a work vehicle typically. It is a schematic diagram which shows an example of a design topography. It is a block diagram showing composition of a controller. It is a schematic diagram which shows the distance between a working machine and a design surface. It is a figure which shows the speed control of the working machine in ground control. It is a figure which shows an example of a guidance screen. It is a figure which shows a 1st control lever. It is a figure which shows a 2nd control lever. It is a figure which shows an example of the guidance screen at the time of operation of an operation member. It is a figure which shows an example of the guidance screen at the time of operation of an operation member. It is a figure which shows an example of the guidance screen at the time of operation of an operation member. It is a figure which shows an example of the guidance screen at the time of operation of an operation member. It is a flowchart which shows the process at the time of operation of an operation member. It is a figure showing operation of a work machine at the time of angle maintenance control. It is a figure which shows an example of the guidance screen at the time of operation of an operation member. It is a figure which shows an example of the guidance screen at the time of operation of an operation member.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a perspective view of a work vehicle 100 according to the embodiment. In the present embodiment, the work vehicle 100 is a hydraulic shovel. The work vehicle 100 has a vehicle body 1 and a work implement 2.

  The vehicle body 1 has a revolving unit 3 and a traveling device 5. The revolving unit 3 accommodates an engine, a hydraulic pump and the like which will be described later. A driver's cab 4 is placed on the revolving unit 3. The traveling device 5 has crawler belts 5a and 5b, and the work vehicle 100 travels when the crawler belts 5a and 5b rotate.

  The work implement 2 is attached to the vehicle body 1. The work machine 2 has a boom 6, an arm 7 and a bucket 8. The proximal end of the boom 6 is operatively attached to the front of the vehicle body 1. The proximal end of the arm 7 is operatively attached to the distal end of the boom 6. A bucket 8 is movably attached to the tip of the arm 7.

  The bucket 8 is an example of a work tool. A working tool other than the bucket 8 may be attached to the tip of the arm 7.

  The work machine 2 has a boom cylinder 10, an arm cylinder 11, and a bucket cylinder 12. The boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12 are hydraulic cylinders driven by hydraulic fluid. The boom cylinder 10 drives the boom 6. The arm cylinder 11 drives the arm 7. The bucket cylinder 12 drives the bucket 8.

  FIG. 2 is a block diagram showing a configuration of drive system 200 of work vehicle 100 and control system 300. As shown in FIG. 2, the drive system 200 includes an engine 21 and hydraulic pumps 22 and 23.

  The hydraulic pumps 22 and 23 are driven by the engine 21 and discharge hydraulic fluid. The hydraulic fluid discharged from the hydraulic pumps 22 and 23 is supplied to the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12. The work vehicle 100 also includes a swing motor 24. The swing motor 24 is a hydraulic motor, and is driven by hydraulic fluid discharged from the hydraulic pumps 22 and 23. The swing motor 24 swings the swing body 3.

  Although two hydraulic pumps 22 and 23 are illustrated in FIG. 2, only one hydraulic pump may be provided. The swing motor 24 is not limited to a hydraulic motor, and may be an electric motor.

  The control system 300 includes an operating device 25, a controller 26, and a control valve 27. The operating device 25 is a device for operating the work machine 2. Operation device 25 receives an operation by an operator for driving work machine 2 and outputs a position signal according to the amount of operation. The operating device 25 has a first operating lever 28 and a second operating lever 29.

  The first control lever 28 is provided to be operable in four directions, front and rear, right and left. Two of the four operation directions of the first control lever 28 are assigned to the raising operation and the lowering operation of the boom 6. The remaining two operating directions of the first operating lever 28 are assigned to the raising operation and the lowering operation of the bucket 8.

  The second control lever 29 is provided to be operable in four directions, front and rear, right and left. Two of the four operation directions of the second control lever 29 are assigned to the raising operation (arm dump operation) of the arm 7 and the lowering operation (arm digging operation). The remaining two operation directions of the second control lever 29 are assigned to the right turn operation and the left turn operation of the swing body 3.

  In addition, the operation content allocated to the 1st operation lever 28 and the 2nd operation lever 29 may be changed not only in said thing.

  The operating device 25 has a boom operating unit 31 and a bucket operating unit 32. The boom operation unit 31 outputs a position signal according to the operation amount of the first operation lever 28 for operating the boom 6 (hereinafter referred to as “boom operation amount”). The bucket operation unit 32 outputs a position signal according to the operation amount of the first operation lever 28 for operating the bucket 8 (hereinafter, referred to as “bucket operation amount”).

  The operating device 25 has an arm operating unit 33 and a turning operation unit 34. The arm operation unit 33 outputs a position signal according to the amount of operation of the second operation lever 29 for operating the arm 7 (hereinafter referred to as “arm operation amount”). The swing operation unit 34 outputs a position signal corresponding to the amount of operation of the second control lever 29 for operating the swing of the swing body 3. The position signal from each operation unit 31-34 is input to the controller 26.

  The controller 26 is programmed to control the work vehicle 100 based on the acquired information. The controller 26 has a storage unit 38 and an operation unit 35. The storage unit 38 includes, for example, a memory such as a RAM and a ROM, and an auxiliary storage device. The calculation unit 35 is configured of, for example, a processing device such as a CPU. The controller 26 acquires position signals from the boom operation unit 31, the arm operation unit 33, the bucket operation unit 32, and the turning operation unit 34. The controller 26 controls the control valve 27 based on these position signals.

  The control valve 27 is an electromagnetic proportional control valve, and is controlled by a command signal from the controller 26. The control valve 27 is disposed between the hydraulic pumps 22 and 23 and hydraulic actuators such as the boom cylinder 10, the arm cylinder 11, the bucket cylinder 12, and the swing motor 24. The control valve 27 controls the flow rate of hydraulic fluid supplied from the hydraulic pumps 22 and 23 to the boom cylinder 10, the arm cylinder 11, the bucket cylinder 12, and the swing motor 24.

  The controller 26 controls a command signal to the control valve 27 so that the work machine 2 operates at a speed corresponding to the operation amount of each of the operation levers 28 and 29 described above. Thus, the outputs of the boom cylinder 10, the arm cylinder 11, the bucket cylinder 12, the swing motor 24, etc. are controlled in accordance with the amount of operation of the control levers 28, 29.

  The control valve 27 may be a pressure proportional control valve. In that case, a pilot pressure corresponding to the operation amount of each operation member is output from the boom operation unit 31, the bucket operation unit 32, the arm operation unit 33, and the turning operation unit 34, and is input to the control valve 27. The control valve 27 controls the flow rate of hydraulic oil supplied to the boom cylinder 10, the arm cylinder 11, the bucket cylinder 12, and the swing motor 24 in accordance with the input pilot pressure. In this case, the position signal from each operation unit 31-34 may be a signal indicating the pilot pressure output from each operation unit 31-34.

  The control system 300 includes a first stroke sensor 16, a second stroke sensor 17, and a third stroke sensor 18. The first stroke sensor 16 detects the stroke length of the boom cylinder 10 (hereinafter referred to as “boom cylinder length”). The second stroke sensor 17 detects the stroke length of the arm cylinder 11 (hereinafter referred to as “arm cylinder length”). The third stroke sensor 18 detects the stroke length of the bucket cylinder 12 (hereinafter referred to as “bucket cylinder length”). An angle sensor or the like may be used to measure the stroke.

  The control system 300 comprises a tilt angle sensor 19. The tilt angle sensor 19 is disposed on the revolving unit 3. The inclination angle sensor 19 detects an angle (pitch angle) to the horizontal in the vehicle longitudinal direction of the revolving unit 3 and an angle (roll angle) to the horizontal in the lateral direction of the vehicle.

  These sensors 16-19 send detection signals to the controller 26. The turning angle may be acquired from position information of the GNSS antenna 37 described later. The controller 26 determines the posture of the work implement 2 based on the detection signal from the sensor 16-19.

  The control system 300 includes a position detection unit 36. Position detection unit 36 detects the current position of work vehicle 100. The position detection unit 36 has a GNSS antenna 37 and a three-dimensional position sensor 39. The GNSS antenna 37 is provided on the rotating body 3. The GNSS antenna 37 is an antenna for RTK-GNSS (Real Time Kinematic-Global Navigation Satellite Systems, GNSS refers to Global Navigation Satellite System). A signal corresponding to the GNSS radio wave received by the GNSS antenna 37 is input to the three-dimensional position sensor 39.

  FIG. 3 is a side view schematically showing the configuration of work vehicle 100. As shown in FIG. The three-dimensional position sensor 39 detects the installation position P1 of the GNSS antenna 37 in the global coordinate system. The global coordinate system is a three-dimensional coordinate system based on the reference position P2 installed in the work area. As shown in FIG. 3, the reference position P2 is located, for example, at the tip of the reference pile set in the work area. The controller 26 calculates the position of the cutting edge P4 of the work machine 2 when viewed in the global coordinate system, based on the detection result of the position detection unit 36 and the posture of the work machine 2. The cutting edge P4 of the work machine 2 may be expressed as the cutting edge P4 of the bucket 8.

  The controller 26 calculates the tilt angle θ1 of the boom 6 with respect to the vertical direction of the local coordinate system from the boom cylinder length detected by the first stroke sensor 16. The controller 26 calculates the inclination angle θ2 of the arm 7 with respect to the boom 6 from the arm cylinder length detected by the second stroke sensor 17. The controller 26 calculates the inclination angle θ3 of the bucket 8 with respect to the arm 7 from the bucket cylinder length detected by the third stroke sensor 18.

  The storage unit 38 of the controller 26 stores work machine data. The work implement data includes the length L1 of the boom 6, the length L2 of the arm 7, and the length L3 of the bucket 8. The work implement data also includes position information of the boom pin 13 with respect to the reference position P3 of the local coordinate system. Here, the local coordinate system is a three-dimensional coordinate system based on the work vehicle 100. The reference position P3 of the local coordinate system is located, for example, at the turning center of the turning body 3.

  The controller 26 includes an inclination angle θ1 of the boom 6, an inclination angle θ2 of the arm 7, an inclination angle θ3 of the bucket 8, a length L1 of the boom 6, a length L2 of the arm 7, a length L3 of the bucket 8, and the boom pin 13 The position of the cutting edge P4 in the local coordinate system is calculated from the position information of.

  The work machine data also includes position information of the installation position P1 of the GNSS antenna 37 with respect to the reference position P3 of the local coordinate system. The controller 26 converts the position of the cutting edge P4 in the local coordinate system into the position of the cutting edge P4 in the global coordinate system from the detection result by the position detection unit 36 and the position information of the GNSS antenna 37. Thus, the controller 26 acquires positional information of the cutting edge P4 when viewed in the global coordinate system.

  The storage unit 38 of the controller 26 stores construction information indicating the shape and position of the three-dimensional design topography in the work area. FIG. 4 is a schematic view showing an example of the design topography. As shown in FIG. 4, the design topography is constituted by a plurality of design surfaces 41 which are respectively represented by polygons. Each of the plurality of design surfaces 41 indicates the target shape of the digging target by the work machine 2. In FIG. 4, only one of the plurality of design surfaces 41 is denoted by reference numeral 41, and the reference numerals of the other design surfaces 41 are omitted.

  The controller 26 performs automatic control of the work machine 2 taking the design surface 41 into consideration. The automatic control includes control of the work implement 2 for preventing the bucket 8 from corroding the design surface 41. The controller 26 controls the work machine 2 based on the above-described construction information and the position information of the work machine 2 in the automatic control. The automatic control of the work implement 2 means the operation control of the work implement 2 independently performed by the controller 26 separately from the operation control of the work implement 2 based on the operator's operation instruction via the operation device 25. Automatic control of the work implement 2 includes fully automatic control and semi-automatic control in performing a certain work. The automatic control of the work implement 2 executed by the controller 26 will be described in detail below.

  FIG. 5 is a block diagram showing the configuration of the controller 26. As shown in FIG. The calculation unit 35 of the controller 26 includes a distance acquisition unit 51, a work situation determination unit 52, an automatic control unit 53, and a work implement control unit 54. The distance acquisition unit 51 acquires the distance d1 between the work machine 2 and the design surface 41, as shown in FIG. In detail, the distance acquiring unit 51 determines the distance d1 between the cutting edge P4 of the work machine 2 and the design surface 41 based on the position information of the cutting edge P4 of the work machine 2 described above and the position information of the design surface 41. Calculate

  The work situation determination unit 52 determines a work situation with the work machine 2. Based on the position signals from the boom operation unit 31, the arm operation unit 33, and the bucket operation unit 32 described above, the work situation determination unit 52 determines whether the work situation with the work machine 2 is a work such as excavation or ground leveling. judge. For example, when the boom operation or the bucket operation is performed but the arm operation is not performed, the work situation determination unit 52 determines that the work situation is an excavation work. When the arm operation is performed, the work situation determination unit 52 determines that the work situation is the ground leveling work.

  When the work phase is a digging operation, the automatic control unit 53 performs speed limit control. In the speed limit control, the automatic control unit 53 limits the speed of the work implement 2 as the distance d1 between the work implement 2 and the design surface 41 becomes smaller. That is, in the speed limit control, the automatic control unit 53 reduces the upper limit of the speed of the work machine 2 as the distance d1 between the work machine 2 and the design surface 41 decreases. Thereby, it can suppress that the work machine 2 excavates beyond the design surface 41 at the time of excavation.

  When the work phase is the ground leveling operation, the automatic control unit 53 executes the ground leveling control. Land adjustment control is control for controlling the work machine 2 so that the work machine 2 moves along the design surface 41. As shown in FIG. 7, when the blade edge P4 of the work machine 2 is moving at the velocity V1 so as to approach the design surface 41, the automatic control unit 53 calculates the velocity component V1a perpendicular to the design surface 41 of the velocity V1. Do. The automatic control unit 53 determines the speed at which the boom 6 is raised so as to offset the vertical speed component V1a. Thus, the work implement 2 is controlled by the ground adjustment control so that the cutting edge P4 moves along the design surface 41.

  The work implement control unit 54 controls the work implement 2 by outputting a command signal to the control valve 27 described above. Work implement control unit 54 determines an output value of a command signal to control valve 27 in accordance with the operation amount of work implement 2. Further, during execution of the automatic control, the work unit control unit 54 determines the output value of the command signal to the control valve 27 based on the speed of the work unit 2 determined by the automatic control unit 53.

  As shown in FIG. 2, the control system 300 includes a display unit 40. The display unit 40 is, for example, a monitor, and displays information on the work vehicle 100. The controller 26 displays a guidance screen on the display unit 40 based on the design topography and the detection results from the various sensors described above. FIG. 8 is a diagram showing an example of the guidance screen 61. As shown in FIG. As shown in FIG. 8, the guide screen 61 shows the positional relationship between the design surface 41 and the work machine 2.

  In detail, the guidance screen 61 includes a first guidance screen 62 and a second guidance screen 63. The first guide screen 62 shows the design surface 41 and the work machine 2 in a side view. The second guide screen 63 shows the design surface 41 and the working machine 2 in a perspective view. The guide screen 61 includes a distance display 65 indicating the distance between the work implement 2 and the design surface 41. Note that one of the first guidance screen 62 and the second guidance screen 63 may be omitted.

  As shown in FIG. 2, the control system 300 includes an input unit 42. The input unit 42 is a device for inputting the setting of the automatic control described above. The operator can change the setting of the automatic control by operating the input unit 42. In the present embodiment, the input unit 42 is a touch panel device provided integrally with the display unit 40. However, the input unit 42 may be provided separately from the display unit 40.

  Next, the operation of automatic control by the first control lever 28 and the second control lever 29 will be described in detail. FIG. 9A is a front view of the first control lever 28. FIG. FIG. 9B is a side view of the first control lever 28. As shown in FIGS. 9A and 9B, the first operation lever 28 is provided with a plurality of operation members A1, A2, A3, A4, and A5. The operating members A1, A2, A3 and A4 are provided on the front of the first operating lever 28. The operation members A1, A2, A3 and A4 are provided on the upper portion of the first operation lever 28. The operating member A5 is provided on the back of the first operating lever 28.

  The operating members A1, A2 and A3 are push button switches. An operation signal indicating ON / OFF of pressing of the operation members A1, A2, and A3 is input to the controller 26 from the operation members A1, A2, and A3. The operating member A4 is a slide or rotary switch. An operation signal corresponding to the operation position of the operation member A4 is input from the operation member A4 to the controller 26. The operating member A5 is a trigger type switch. An operation signal indicating ON / OFF of pressing of the operation member A5 is input from the operation member A5 to the controller 26.

  FIG. 10A is a front view of the second operation lever 29. FIG. FIG. 10B is a side view of the second control lever 29. As shown in FIG. As shown in FIGS. 10A and 10B, the second operation lever 29 is provided with a plurality of operation members B1, B2, B3, B4, and B5. The operating members B1, B2, B3 and B4 are provided on the front of the second operating lever 29. The operation members B1, B2, B3 and B4 are provided on the upper portion of the second operation lever 29. The operating member B5 is provided on the back of the second operating lever 29.

  The operating members B1, B2 and B3 are push button switches. An operation signal indicating ON / OFF of pressing of the operation members B1, B2, B3 is input from the operation members B1, B2, B3 to the controller 26. The operation member B4 is a slide or rotary switch. An operation signal corresponding to the operation position of the operation member B4 is input to the controller 26 from the operation member B4. The operating member B5 is a trigger type switch. An operation signal indicating ON / OFF of pressing of the operation member B5 is input from the operation member B5 to the controller 26.

  A function of automatic control is assigned to a part of the operation members A1-A5 and B1-B5. In the present embodiment, a function of automatic control is assigned to the operation members A2, B2, and A5.

  In addition, the operation regarding the work machine 2 and the operation regarding the vehicle main body 1 are allocated to the operation members other than the operation members A2, B2, and A5. The operation relating to the work implement 2 is, for example, the operation of the work implement when a work implement such as a breaker is provided in the work implement 2 instead of the bucket 8. The operation related to the vehicle body 1 is, for example, an operation to increase the engine output or an operation to sound a horn.

  In detail, the function of raising the position of the design surface 41 is assigned to the operation member A2. By operating the operating member A2, the position of the design surface 41 is changed upward. The position of the design surface 41 is changed upward by a predetermined distance every one operation of the operation member A2.

  FIG. 11 shows a state in which the design surface 41 is moved upward by a predetermined distance from the initial position (see FIG. 8) on the guide screen 61 by pressing the operation member A2 once. FIG. 12 shows a state in which the design surface 41 is further moved upward by a predetermined distance on the guide screen 61 by pushing the operation member A2 one more time.

  The operation member B2 is assigned a function of lowering the position of the design surface 41. The position of the design surface 41 is changed downward by operating the operation member B2. The position of the design surface 41 is changed downward by a predetermined distance every one operation of the operation member B2. FIG. 13 shows a state in which the design surface 41 has moved downward by a predetermined distance from the initial position (see FIG. 8) on the guide screen 61 by pressing the operation member B2 once. FIG. 14 shows a state in which the design surface 41 is further moved downward by a predetermined distance on the guide screen 61 by pushing the operation member B2 one more time.

  As described above, when the operation members A2 and B2 are operated, the position of the design surface 41 on the guide screen 61 is vertically changed. Then, the above-described automatic control is executed based on the changed position of the design surface 41. The predetermined distance described above may be changeable by the operation of the input unit 42. Alternatively, the predetermined distance described above may be a fixed value.

  The operation member A5 is assigned a function of enabling / disabling automatic control. Every time the operation member A5 is operated, the automatic control is alternately switched between activation and deactivation. The activation of automatic control means that automatic control is permitted. The invalidation of the automatic control means that the automatic control is not permitted, and the operation mode of the work machine 2 is a manual mode in which the work machine 2 is manually operated.

  As described above, the operator can execute the automatic control function assigned to each of the operation members A2, B2 and A5 by operating the operation members A2, B2 and A5. However, the controller 26 executes the function of automatic control assigned to the operation members A2, B2 and A5 on condition that the execution condition is satisfied.

  The execution condition is that the operator does not operate the operation lever for operating the work machine 2. In the present embodiment, the execution condition is that the first operating lever 28 is in the neutral position and the second operating lever 29 is in the neutral position. Therefore, when the first control lever 28 and the second control lever 29 are both in the neutral position, the position of the design surface 41 moves upward by operating the operation member A2. When the first control lever 28 and the second control lever 29 are in the neutral position, the position of the design surface 41 moves downward by operating the operation member B2. When at least one of the first control lever 28 and the second control lever 29 is operated to a position different from the neutral position, the position of the design surface 41 is not changed even if the operation members A2 and B2 are operated.

  Further, when the first control lever 28 and the second control lever 29 are in the neutral position, the operation member A5 is operated to switch between enabling / disabling automatic control. When at least one of the first control lever 28 and the second control lever 29 is operated to a position different from the neutral position, the activation / deactivation of automatic control is not switched even if the operation member A5 is operated.

  FIG. 15 is a flow chart showing processing at the time of operation of the operation members A2, B2 and A5 described above. Here, as an example, the case where the operation member A2 is operated will be described.

  As shown in FIG. 15, in step S1, the operation of the operation member A2 is detected. Here, the controller 26 detects an operation of the operation member A2 by receiving an operation signal from the operation member A2.

  In step S2, the positions of the operating levers 28 and 29 are detected. Here, the controller 26 detects the position of the first operating lever 28 by receiving a position signal indicating the position of the first operating lever 28 from the operating device 25. Further, the controller 26 detects the position of the second control lever 29 by receiving a position signal indicating the position of the second control lever 29 from the controller 25.

  In step S3, it is determined whether the execution condition is satisfied. Here, the controller 26 determines whether the first operating lever 28 is in the neutral position and the second operating lever 29 is in the neutral position. When both the first control lever 28 and the second control lever 29 are in the neutral position, the controller 26 determines that the execution condition is satisfied. When at least one of the first control lever 28 and the second control lever 29 is at a position different from the neutral position, the controller 26 determines that the execution condition is not satisfied.

  When the execution condition is satisfied, the function of the operation member A2 is performed in step S4. Here, the controller 26 changes the position of the design surface 41 upward. When the execution condition is not satisfied, the function of the operation member A2 is not performed even if the operation member A2 is operated. That is, when the execution condition is not satisfied, the position of the design surface 41 is not changed even if the operation member A2 is operated.

  When the operation member B2 is operated, the position of the design surface 41 is changed downward in step S4. When the operation member A5 is operated, in step S4, the automatic control is switched between activation and deactivation. The functions assigned to the operation members A2, B2 and A5 can also be operated by the input unit 42.

  In the control system 300 of the work vehicle 100 according to the present embodiment described above, the operation members A2 and A5 are provided to the first operation lever 28. Therefore, the operator can operate the operation members A2 and A5 while holding the first operation lever 28. Thereby, the function of the automatic control assigned to the operation members A2 and A5 can be easily operated. Similarly, the operation member B2 is provided to the second operation lever 29. Therefore, the operator can operate the operation member B2 while holding the second operation lever 29. Thus, the automatic control function assigned to the operation member B2 can be easily operated.

  Specifically, the operator can change the position of the design surface 41 up and down by operating the operation members A2 and B2 while holding the first operation lever 28 and the second operation lever 29. Also, the operator can switch between enabling and disabling automatic control by operating the operation member A5 while holding the first operation lever 28.

  Also, when at least one of the first operating lever 28 and the second operating lever 29 is at a position different from the neutral position, even if the operating members A2, B2 and A5 are operated, they are assigned to the respective operating members A2, B2 and A5 The automatic control function is not implemented. Therefore, even if the first operating lever 28 or the second operating lever 29 moves during the operation of the operating members A2, B2 and A5, execution of the automatic control function assigned to each of the operating members A2, B2 and A5, It can prevent that the operation of the working machine 2 by the 1st control lever 28 or the 2nd control lever 29 is performed simultaneously. As a result, it is possible to prevent an unintended operation of the work machine 2 due to an erroneous operation, and it is possible to perform high quality installation by automatic control.

  As mentioned above, although one Embodiment of this invention was described, this invention is not limited to the said embodiment, A various change is possible in the range which does not deviate from the summary of invention.

  The work vehicle 100 is not limited to a hydraulic shovel, and may be a vehicle having a work machine such as a bulldozer or a wheel loader.

  The work vehicle 100 may be remotely operable. That is, the controller 26 may be divided into a remote controller disposed outside the work vehicle 100 and an on-board controller disposed inside the work vehicle 100 so as to be able to communicate with each other.

  The method of determining the position of the cutting edge P4 of the work machine 2 is not limited to that of the above embodiment, and may be changed. For example, the position detection unit 36 may be disposed at the cutting edge P4 of the work machine 2.

  The method of detecting the distance d1 between the work implement 2 and the design surface 41 is not limited to that of the above embodiment, and may be changed. For example, the distance d1 between the work machine 2 and the design surface 41 may be detected by an optical, ultrasonic, or laser beam distance measuring device.

  The execution conditions of the functions of the automatic control according to the operation of the respective operation members A2, B2 and A5 may be different from each other. For example, the execution condition (first execution condition) when the operation members A2 and A5 of the first operation lever 28 are operated includes that the first operation lever 28 is in the neutral position, and the second operation lever 29 is It does not have to include being in the neutral position. The execution condition (second execution condition) when the operation member B2 of the second operation lever 29 is operated includes that the second operation lever 29 is in the neutral position, and the first operation lever 28 is in the neutral position. Does not have to be included.

  In the above embodiment, the operation member A2 (first operation member) for changing the position of the design surface 41 upward, and the operation member B2 (second operation member) for changing the position of the design surface 41 downward. Are respectively provided on different control levers 28 and 29. However, the operation member A2 and the operation member B2 may be provided on a common operation lever. Alternatively, the function of changing the position of the design surface 41 up and down may be assigned to the operation member that can be operated up and down like the operation member A4 or the operation member B4.

  The structures of the first control lever 28 and the second control lever 29 may be changed. The number, arrangement, or shape of the operating members provided on the first operating lever 28 and the operating members provided on the second operating lever 29 may be changed. The operation members to which the function of automatic control is assigned are not limited to the operation members A2, B2 and A5, and may be other operation members.

  The function of the automatic control assigned to the operation member is not limited to the change of the position of the design surface 41 and the switching of enabling / disabling of the automatic control, and may be another function. Among the functions included in the automatic control, it is preferable that the frequently used one be assigned to the operation member. For example, as shown in FIG. 16, the automatic control may include angle holding control for keeping the angle An of the bucket 8 with respect to the design surface 41 constant in ground leveling control. Switching of activation / deactivation of angle holding control may be assigned to the operating member.

  The function of selecting a specific design surface among the plurality of design surfaces 41 may be assigned to the operation member. For example, as shown in FIG. 17, the function of selecting the design surface 41a located immediately below the blade edge P4 may be assigned to the operation member. The above-described automatic control may be performed based on the selected design surface 41a. Alternatively, the selected design surface 41 a may be shown in a different aspect (eg, different color) from the other design surfaces 41. Alternatively, the guidance screen 61 may indicate whether the work vehicle 100 is directly facing the selected design surface 41 a. In FIG. 17, whether or not the work vehicle 100 faces the selected design surface 41 a is indicated by a compass icon 64 on the guidance screen 61.

  The function of changing the display scale on the guidance screen 61 may be assigned to the operation member. For example, a function to switch between the guidance screen 61 of the rough display as shown in FIG. 17 and the guidance screen 61 'of the detail display shown in FIG. 18 may be assigned to the operation member. In the detailed display shown in FIG. 18, the design surfaces 41 and 41a may be displayed larger than the schematic display shown in FIG. Further, in the schematic display shown in FIG. 17, the entire work vehicle 100 may be displayed on the guidance screen 61. On the other hand, in the detail display shown in FIG. 18, only the bucket 8 may be displayed on the guidance screen 61 'at a scale larger than that of the schematic display.

  The execution conditions of the function of the automatic control according to the operation of the operation member may further include that an operation member other than the operation member is operated. For example, the function of automatic control may be executed by operating the operating member A2 while the first operating lever 28 is neutral and the operating member A4 is operated. Alternatively, the function of automatic control may be executed by operating the operating member B2 while the second operating lever 29 is neutral and the operating member B4 is operated.

  Alternatively, the predetermined function (first function) of automatic control is executed by operating the operation member A2 in a state where the first operation lever 28 is neutral and the operation member A4 is not operated. It is also good. Further, the predetermined function of the automatic control different from the first function (third function) is performed by operating the operation member A2 while the second operation lever 29 is in a neutral state and the operation member A4 is operated. Function may be performed.

  For example, the first function may be a function of changing the position of the design surface 41 described above upward or downward. The third function may be a function of selecting the design surface 41. Alternatively, the third function may be a function of changing the display scale of the guidance screen 61. The first function and the third function may be functions different from the functions described above.

  The conditions included in the execution conditions described above may be changed. Alternatively, conditions different from the above-described conditions may be added to the conditions included in the execution conditions. The execution condition is not limited to the neutral position of the operating lever, and may include other conditions indicating that the operator does not operate the operating lever.

  According to the present invention, it is possible to easily operate the automatic control function, to prevent the operation of an unintended working machine due to an erroneous operation, and to perform high-quality construction by automatic control.

2 working machine 28 first operating lever 29 second operating lever A2 first operating member B2 second operating member A4 third operating member 26 controller 100 working vehicle 300 control system

Claims (13)

A control system for a work vehicle having a work machine, the control system comprising:
A first operation lever of the work machine;
A first operation member provided on the first operation lever;
A controller for automatically controlling the work machine;
Equipped with
The automatic control assigned to the first operating member according to the operation of the first operating member, when the execution condition including the fact that the first operating lever is not operated is satisfied. Perform the function of
Work vehicle control system. The controller controls the work machine based on a design topography representing a target shape of a work target in the automatic control.
The control system of the work vehicle according to claim 1. The controller changes the position of the design terrain according to the operation of the first operation member when the execution condition is satisfied.
The control system of the work vehicle according to claim 2. The first operation member is an operation member for executing a first function of the automatic control,
And a second operation member for performing a second function different from the first function of the automatic control.
The control system of the work vehicle according to any one of claims 1 to 3. The controller enables or disables the automatic control according to the operation of the second operation member when the execution condition is satisfied.
The control system of the work vehicle according to claim 4. The first operating member and the second operating member are both provided to the first operating lever,
The controller executes the first function according to the operation of the first operation member when the execution condition is satisfied, and the second operation member when the execution condition is satisfied. Execute the second function according to the operation of
The control system of the work vehicle according to claim 4. And a second operation lever provided with the second operation member,
The control system of the work vehicle according to claim 4. The controller executes the first function in response to an operation of the first operation member when a first execution condition including the fact that the first operation lever is not operated is satisfied. The second function is executed according to the operation of the second operation member when the second execution condition including the operation of the second operation lever is satisfied.
The control system of the work vehicle according to claim 7. The execution condition includes that the first operating lever is not operated and that the second operating lever is not operated .
The controller executes the first function in response to the operation of the first operation member when the execution condition is satisfied, and operates the second operation member when the execution condition is satisfied. Execute the second function according to
The control system of the work vehicle according to claim 7. It further comprises a third operation member provided on the first operation lever,
The execution condition further includes that the third operating member is operated.
The control system of the work vehicle according to any one of claims 1 to 9. When the first execution condition including the fact that the first operating lever is not operated and the third operating member is not operated is satisfied, the controller is configured to According to the operation, the first function of the automatic control is executed, and a third execution condition including satisfaction that the first operation lever is not operated and that the third operation member is operated is satisfied. And, when the first operation member is operated, a third function different from the first function is executed.
A control system of a work vehicle according to claim 10. A control method of a work vehicle having a work machine , comprising:
Receiving an operation signal indicating an operation of a first operation member provided on the first operation lever;
Determining whether execution conditions are met, including that the pre-Symbol first operating lever is not operated,
Executing an automatic control function of the work machine assigned to the first operating member according to the operation of the first operating member when the execution condition is satisfied;
Method of controlling a work vehicle comprising: Working machine,
A first operation lever of the work machine;
A first operation member provided on the first operation lever;
A controller for automatically controlling the work machine;
Equipped with
The controller is configured to automatically control the first operation member assigned according to the operation of the first operation member when an execution condition including that the first operation lever is not operated is satisfied. Perform the function,
Work vehicle.