JP2018145925A - Engine speed control device, and engine speed control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an engine speed control device and an engine speed control method capable of improving transient responsiveness of an engine by accurately grasping a timing just before contact of an attachment with a load object.SOLUTION: An engine speed control device for controlling a rotating speed of the engine of a work vehicle having the engine, and a working mechanism portion as the working mechanism portion driven by the engine and including an attachment kept into contact with a load object, includes monitoring means having a monitoring sensor for monitoring an operation of the working mechanism portion, a determination portion for determining whether a state of the working mechanism portion is a prior state as a state just before the contact of the attachment with the load object or not on the basis of a specific attitude during the operation of the working mechanism portion, and an engine speed increase portion executing an increase processing for increasing the rotating speed of the engine before the contact of the attachment with the load object, when the determination portion determines that the state of the working mechanism portion is the prior state.SELECTED DRAWING: Figure 2

Description

  An engine speed control device for controlling the engine speed of a working vehicle having an engine and a work mechanism section driven by the engine, the work mechanism section including an attachment that contacts an object to be loaded; and The present invention relates to an engine speed control method.

  For example, in an engine of a work vehicle such as a forklift or a hydraulic excavator, a load is suddenly applied to the engine when a work for lifting a load with a fork or a work for excavating the ground with a bucket is performed. Then, when a load is suddenly applied to the engine due to the operation of these attachments (forks and buckets), the rotational speed of the engine suddenly decreases. For this reason, the engine of the working vehicle is required to have a certain level of transient response.

  In this regard, Patent Document 1 includes a main pump driven by an engine, a control valve for operating a hydraulic actuator, a pilot valve for operating the control valve, a controller for controlling fuel supplied to the engine, An engine control device is disclosed. The operation of the hydraulic actuator is detected in advance by detecting the operation of the pilot valve with a pressure switch or the like. This prevents the engine speed from decreasing by increasing the fuel supplied to the engine before the load is actually applied to the engine.

  Further, in Patent Document 2, when it is predicted that the input torque acting on the hydraulic pump exceeds the output torque output from the engine, the motor is driven to generate assist torque, and this assist torque is added to the output torque. Thus, a technique for preventing the engine speed from decreasing is disclosed.

JP 2001-271676 A JP 2009-174447 A

However, in the engine control device described in Patent Document 1, the difference between the time detected in advance when a load is applied to the engine and the time when the load is actually applied to the engine is, for example, a main pump. It depends on the configuration of the oil passage. For this reason, an increase in the fuel supplied to the engine is not performed at an appropriate timing, and a decrease in the engine speed may not be prevented.
Moreover, in the technique described in Patent Document 2, an electric motor that generates assist torque and a battery for driving the electric motor are required to prevent a decrease in the engine speed.

  At least some embodiments of the present invention have been made in view of the above-described prior art, and it is possible to improve the transient response of the engine by accurately grasping the timing immediately before the attachment contacts the load object. An object of the present invention is to provide an engine speed control device and an engine speed control method.

  (1) An engine speed control device according to at least one embodiment of the present invention includes an engine, and a work mechanism unit that is driven by the engine and includes an attachment that contacts an object to be loaded. An engine rotation speed control device for controlling the rotation speed of the engine of a working vehicle having a monitoring means having a monitoring sensor for monitoring the operation of the work mechanism section; and the work mechanism A determination process for determining whether or not the state of the working mechanism unit is in a prior state that is a state immediately before the attachment contacts the load object, based on a specific posture during operation of the unit And the determination unit determines that the state of the working mechanism is in the preliminary state, the attachment comes into contact with the load object. Before, and a engine speed increasing unit for executing increasing process for increasing the rotational speed of the engine.

  According to the configuration of (1) above, the determination unit is based on a specific posture during the operation of the work mechanism unit, and the state of the work mechanism unit is a pre-state in a state immediately before the attachment contacts the load object. It is determined whether or not. For this reason, as in Patent Document 1, for example, due to the configuration of the oil passage, the difference between the time detected in advance when the load is applied to the engine and the time when the load is actually applied to the engine is different. The timing immediately before the attachment comes into contact with the load object can be accurately grasped without greatly deviating.

  Further, according to the configuration of (1) above, when the determination unit determines that the state of the work mechanism unit is in the prior state, the engine speed increasing unit determines that the engine before the attachment contacts the load object. Increase processing for increasing the number of rotations is executed. For this reason, before the attachment comes into contact with the load object and the engine speed is decreased by the operation of the attachment, the engine speed is increased in advance, thereby improving the transient response of the engine. Can do.

  (2) In some embodiments, in the configuration according to the above (1), the determination unit takes into account the operation of the work mechanism unit until the specific posture is reached. The determination process for determining whether a state is in the prior state is executed.

  Even if the specific posture during the operation of the work mechanism unit monitored by the monitoring sensor matches the posture of the work mechanism unit in the prior state, the attachment may not contact the load object depending on the operation of the work mechanism unit. is there. According to the configuration of (2) above, in the determination process, the attachment state is in a prior state in consideration of not only the specific posture during the attachment operation but also the attachment operation up to this specific posture. Determine whether or not. For this reason, the precision of the determination process which determines whether the state of an attachment exists in a prior state can be improved.

  (3) In some embodiments, in the configuration according to (2), the determination unit includes a pre-post posture in which the specific posture is a posture of the work mechanism unit corresponding to the pre-state. A posture determination unit that executes a posture determination process for determining whether or not they match, and the operation of the work mechanism unit up to the specific posture is an operation of the work mechanism unit corresponding to the prior state A motion determination unit that performs a motion determination process for determining whether or not the motion matches with the motion, and the work mechanism unit until the specific posture matches the preliminary posture and reaches the specific posture If the operation matches the preliminary operation, the determination process is performed to determine that the state of the working mechanism unit is in the preliminary state.

  According to the configuration of (3) above, it is possible to further improve the accuracy of the determination process by determining whether the attachment state is in the prior state based on the two processing results of the posture determination process and the motion determination process. it can.

  (4) In some embodiments, in the configuration according to any one of (1) to (3), a distance measurement sensor for measuring a distance from the position of the attachment to the position of the load object The determination unit executes the determination process for determining whether the state of the working mechanism unit is in the prior state in consideration of the distance measured by the distance measurement sensor.

  Even if the specific posture during operation of the work mechanism monitored by the monitoring sensor matches the posture of the work mechanism in the previous state, the attachment contacts the load subject depending on the distance between the attachment and the load target. There is a risk that the time to do will deviate from the expected time. According to the configuration of (4) above, the determination unit performs the determination process in consideration of the distance from the position of the attachment to the position of the load object that the attachment contacts. For this reason, the precision of the determination process which determines whether the state of an attachment exists in a prior state can be improved.

  (5) In some embodiments, in the configuration according to any one of (1) to (4), the monitoring sensor includes a monitoring camera capable of imaging the operation of the working mechanism unit.

  According to the configuration of (5) above, since the monitoring sensor is composed of a monitoring camera capable of imaging the operation of the work mechanism unit, the specific posture during the operation of the work mechanism unit and the operation of the work mechanism unit are visually easy. Can be monitored.

  (6) In some embodiments, in the configuration according to any one of (1) to (4), the working mechanism unit is driven by the engine via an actuator, and the monitoring sensor is An output measurement sensor capable of measuring the output of the actuator.

  According to the configuration of (6) above, since the work mechanism unit is driven by the engine via the actuator, by measuring the output of this actuator, a specific posture during the operation of the work mechanism unit, and The operation of the working mechanism can be easily monitored quantitatively (numerically).

  (7) In some embodiments, in the configuration according to any one of (1) to (6), the determination unit determines that the state of the working mechanism unit is in the prior state. If the attachment does not contact the load object before a predetermined time elapses, the apparatus further includes a cancel processing unit that executes a cancel process for canceling the increase process.

  According to the configuration of (7) above, when the attachment does not contact the load object until the predetermined time has elapsed after the determination unit determines that the state of the working mechanism unit is in the prior state, the predetermined time Cancel processing is executed after elapse of. For this reason, since unnecessary increase processing is stopped, fuel consumption can be suppressed.

  (8) In some embodiments, in the configuration according to any one of (1) to (7), the determination process and the increase process are performed in a state where the work vehicle is stopped. The

  For example, a load lifting operation using a fork of a forklift or a ground excavation operation using a bucket of a hydraulic excavator are performed while the vehicle is stopped. For this reason, according to the configuration of (8), the determination process and the increase process can be executed when the above-described work is performed.

  (9) In some embodiments, in the configuration according to any one of (1) to (8), the working mechanism when it is determined that the state of the working mechanism unit is in the preliminary state. The correlation between the specific posture of the unit and whether or not the attachment has actually contacted the load object within a first time after it is determined that the state of the working mechanism unit is in the preliminary state A first learning unit that performs machine learning is further provided, and the determination unit determines whether the state of the working mechanism unit is in the prior state in consideration of a result of machine learning by the first learning unit. The determination process is executed.

  According to the configuration of (9) above, the first learning unit sets the specific posture of the work mechanism unit and the state of the work mechanism unit to the pre-state when it is determined that the state of the work mechanism unit is the pre-state. After it is determined that there is, machine learning is performed on the correlation with whether or not the attachment actually contacts the load object within the first time. Then, the determination unit executes determination processing in consideration of the result of machine learning by the first learning unit. For this reason, if the attachment is in a specific posture, the reliability that the attachment comes into contact with the load object is improved, and the accuracy of the determination process for determining whether the state of the working mechanism unit is in the prior state can be improved. it can.

  (10) In some embodiments, in one configuration described in any one of (1) to (9) above, a magnitude of a load that is input to the engine immediately after the attachment contacts the load object And a second learning unit that performs machine learning on the correlation with the engine speed immediately after the attachment contacts the load object, wherein the engine speed increasing unit is a machine by the second learning unit. In consideration of the learning result, before the attachment contacts the load object, the increase process for increasing the engine speed is executed.

  According to the configuration of (10) above, the second learning unit determines the magnitude of the load applied to the engine immediately after the attachment contacts the load object, and the engine speed immediately after the attachment contacts the load object. Machine learning is performed on the correlation with. Then, the engine speed increasing unit executes the increasing process in consideration of the result of the machine learning by the second learning unit. For this reason, the engine rotational speed is appropriately increased by the engine speed increasing unit according to the magnitude of the load applied to the engine immediately after the attachment comes into contact with the load object, thereby improving the transient response of the engine. Can be improved.

  (11) An engine speed control method according to at least one embodiment of the present invention includes an engine, and a work mechanism unit that is driven by the engine and includes an attachment that contacts an object to be loaded. An engine rotation speed control method for controlling the rotation speed of the engine of a working vehicle having a monitoring step for monitoring the operation of the work mechanism section, and during operation of the work mechanism section A determination step of performing determination processing for determining whether the state of the working mechanism unit is in a prior state that is a state immediately before the attachment contacts the load object, based on a specific posture in When it is determined in the determination step that the state of the working mechanism unit is in the prior state, the attachment comes into contact with the load object. Before, and a engine speed increasing step of performing the increasing process for increasing the rotational speed of the engine.

  According to the method of (11) above, in the determination step, based on a specific posture during operation of the work mechanism unit, the state of the work mechanism unit is a state immediately before the attachment contacts the load object. It is determined whether or not. For this reason, as in the engine control device described in Patent Document 1, when a load is applied to the engine, the difference between the time detected in advance and the time when the load is actually applied to the engine is different. For example, the timing of immediately before the attachment comes into contact with the load object can be accurately grasped without being greatly deviated depending on the configuration of the oil passage.

  Further, according to the method of (11) above, when it is determined in the engine speed increasing step that the state of the working mechanism unit is in the prior state by the determination step, the engine is moved before the attachment contacts the load object. Increase processing for increasing the number of rotations is executed. For this reason, before the attachment comes into contact with the load object and the engine speed is decreased by the operation of the attachment, the engine speed is increased in advance, thereby improving the transient response of the engine. Can do.

  According to at least one embodiment of the present invention, an engine speed control device capable of improving the transient response of the engine by accurately grasping the timing immediately before the attachment contacts the load object, and the engine speed A control method can be provided.

1 is a schematic configuration diagram of a working vehicle including an engine speed control device according to an embodiment of the present invention. It is a figure which shows the structure of the engine speed control apparatus which concerns on one Embodiment of this invention. 1 is an overall configuration diagram of a forklift that is an example of a working vehicle including an engine speed control device according to an embodiment of the present invention. It is explanatory drawing for demonstrating the determination process by the determination part of the engine speed control apparatus which concerns on one Embodiment of this invention, and the increase process by an engine speed increase part. It is a figure which shows the transient response of the rotation speed of an engine. 1 is an overall configuration diagram of a hydraulic excavator that is an example of a working vehicle including an engine speed control device according to an embodiment of the present invention. It is explanatory drawing for demonstrating the determination process by the determination part of the engine rotation control apparatus which concerns on one Embodiment of this invention, and the increase process by an engine speed increase part. It is a flowchart of the engine speed control method of the engine speed control apparatus which concerns on one Embodiment of this invention.

Hereinafter, some embodiments of the present invention will be described with reference to the accompanying drawings. However, the dimensions, materials, shapes, relative arrangements, etc. of the components described in the embodiments or shown in the drawings are not intended to limit the scope of the present invention, but are merely illustrative examples. Absent.
For example, expressions expressing relative or absolute arrangements such as “in a certain direction”, “along a certain direction”, “parallel”, “orthogonal”, “center”, “concentric” or “coaxial” are strictly In addition to such an arrangement, it is also possible to represent a state of relative displacement with an angle or a distance such that tolerance or the same function can be obtained.
In addition, for example, expressions representing shapes such as quadrangular shapes and cylindrical shapes not only represent shapes such as quadrangular shapes and cylindrical shapes in a strict geometric sense, but also within the range where the same effect can be obtained. A shape including a chamfered portion or the like is also expressed.
On the other hand, the expressions “comprising”, “comprising”, “comprising”, “including”, or “having” one constituent element are not exclusive expressions for excluding the existence of the other constituent elements.

  The engine speed control device according to an embodiment of the present invention is particularly used for a work that is used as a power source for driving an attachment for performing work in addition to using the engine as a power source for running. Applies to vehicles. The working vehicle includes, for example, industrial vehicles such as forklifts, and construction machines such as excavator excavators, bulldozers, scrape dozers, scrapers, and loaders. The operation means that a work is performed on an object to be loaded by an attachment. For example, a lifting operation for lifting a load by a fork of a forklift or an excavation operation for excavating the ground by a bucket of a hydraulic excavator. Etc. The attachment may be exchangeable for a different type depending on the work purpose. In the present disclosure, an engine speed control device will be described using a forklift and a hydraulic excavator as a kind of excavator excavator as an example.

FIG. 1 is a schematic configuration diagram of an engine speed control device according to an embodiment of the present invention. FIG. 2 is a diagram showing a configuration of an engine speed control device according to an embodiment of the present invention. FIG. 3 is an overall configuration diagram of a forklift that is an example of a working vehicle including an engine speed control device according to an embodiment of the present invention. FIG. 4 is a configuration diagram of an engine speed control device according to an embodiment of the present invention, and is a configuration diagram illustrating a case where the present invention is applied to a forklift that is an example of a working vehicle. FIG. 5 is an explanatory diagram for explaining the transient response of the engine speed. FIG. 6 is an overall configuration diagram of a hydraulic excavator that is an example of a working vehicle including an engine speed control device according to an embodiment of the present invention. FIG. 7 is a configuration diagram of an engine speed control device according to an embodiment of the present invention, and is a configuration diagram illustrating a case where the present invention is applied to a hydraulic excavator that is an example of a working vehicle. FIG. 8 is a flowchart of the engine speed control method of the engine speed control apparatus according to the embodiment of the present invention.
In addition, when the structure shown in FIG. 3 or FIG. 6 represents the same thing as the structure shown in FIG. 1, the same code | symbol is attached | subjected. Similarly, when the configuration shown in FIG. 4 or FIG. 7 represents the same configuration as that shown in FIG. 2, the same reference numerals are given.

As shown in FIG. 1, the work vehicle 1 includes an engine 2, a fuel injection device 3, and a traveling device 4. The engine 2 is configured to be driven by burning fuel supplied from the fuel injection device 3. Then, the working vehicle 1 is caused to travel by transmitting output torque generated by driving the engine 2 to the traveling device 4.
The traveling device 4 may be configured to have a drive shaft 9 and wheels 10 as shown in FIG. 1, or may include a crawler (not shown) (not shown) instead of the wheels 10. It may be configured as follows. The engine 2 is, for example, a gasoline engine or a diesel engine.

  As shown in FIG. 1, an engine speed control apparatus 100 according to an embodiment of the present invention controls the speed of an engine 2 of a working vehicle 1 having an engine 2 and a work mechanism unit 7. Device.

  The work mechanism unit 7 is configured to be driven by the engine 2. In the embodiment shown in FIG. 1, the work mechanism unit 7 is configured to be driven by the engine 2 via an actuator 6 and a hydraulic pump 8. More specifically, the engine 2 drives the hydraulic pump 8 with the output torque described above. The actuator 6 is driven by the pressure oil supplied from the driven hydraulic pump 8. Then, the working mechanism unit 7 is driven by driving the actuator 6.

  In addition, the work mechanism unit 7 includes an attachment 11 that contacts the load object 50. In the embodiment shown in FIG. 1, the actuator 6 is driven to drive a working mechanism portion 7A (7) of a forklift 30 described later or a working mechanism portion 7B (7) of a hydraulic excavator 40 described later. Has been. The working mechanism portion 7A of the forklift 30 includes, for example, a fork 11A that is an attachment 11 for performing a lifting work for lifting the load 50A (50) that is the load object 50 with respect to the forklift 30. Similarly, the working mechanism unit 7B of the excavator 40 includes, for example, a bucket 11B that is an attachment 11 for performing excavation work for excavating the ground 50B (50) that is the load object 50 with respect to the excavator 40. And these attachments 11 contact the load target object 50 when the working mechanism part 7 drives.

  As shown in FIGS. 1 to 4, 6, and 7, the engine speed control device 100 includes monitoring means having a monitoring sensor 12 for monitoring the operation of the working mechanism unit 7. Moreover, the engine speed control apparatus 100 includes a controller 20 including a determination unit 22 and an engine speed increase unit 24 as shown in FIGS. 2, 4, and 7.

  The controller 20 includes, for example, a central processing unit (CPU) including a processor, a random access memory (RAM), a read only memory (ROM), and an I / O interface. In the embodiment shown in FIGS. 2, 4, and 7, the controller 20 can execute programs such as the determination unit 22 and the engine speed increase unit 24 stored in the ROM by the CPU. It is configured.

  The determination unit 22 determines whether the state of the work mechanism unit 7 is in a prior state that is a state immediately before the attachment 11 contacts the load object 50 based on a specific posture during the operation of the work mechanism unit 7. A determination process for determining is executed.

  When the determination unit 22 determines that the state of the work mechanism unit 7 is in the prior state, the engine rotation number increase unit 24 increases the rotation number of the engine 2 before the attachment 11 contacts the load object 50. Perform increase processing.

  Here, referring to FIGS. 3 to 5, the determination process executed by the determination unit 22 and the increase process executed by the engine speed increase unit 24, taking as an example the lifting work of the load 50 </ b> A by the forklift 30. explain.

  As shown in FIG. 3, the forklift 30 includes a vehicle body 31, a tilt cylinder 6 </ b> A and a lift cylinder 6 </ b> B (actuator 6) provided in the vehicle body 31, a work mechanism unit 7 </ b> A provided in front of the vehicle body 31, and a surveillance camera. And a monitoring sensor 12 made of 12A (12).

  As shown in FIG. 3, the working mechanism unit 7A includes a mast 33 that can be tilted with respect to the vehicle body 31 by driving the tilt cylinder 6A, a lift bracket 34 that is lifted and lowered along the mast 33 by driving the lift cylinder 6B, And a fork 11A attached to the lift bracket 34.

  As shown in FIG. 3, the forklift 30 having such a working mechanism unit 7 </ b> A inserts the fork 11 </ b> A into the pallet 51 and raises / lowers the fork 11 </ b> A to raise / lower the load 50 </ b> A placed on the pallet 51. Let The operation of the work mechanism unit 7A of the forklift 30 is monitored by monitoring the fork 11A with the monitoring camera 12A attached to the fork 11A.

  Here, a lifting operation for lifting the luggage 50A by the fork 11A of the forklift 30 will be described. As shown in FIG. 4, the pallet 51 includes an upper member 51a and a lower member 51b which are a pair of plate-like members arranged in parallel to each other. And between the upper member 51a and the lower member 51b, the insertion hole 52 which is a space in which the fork 11A mentioned above is inserted is formed. The luggage 50A is placed on the upper surface 51a1 of the upper member 51a.

  In order to lift the load 50A, the mast 33 is inclined by driving the tilt cylinder 6A so that the upper surface 11A1 of the fork 11A is substantially parallel to the lower surface 51a2 of the upper member 51a of the pallet 51. Then, as shown in FIG. 4, the fork 11A is inserted into the insertion hole 52, and the lift bracket 34 is raised by driving the lift cylinder 6B. Then, by raising the fork 11A along the mast 33 by raising the lift bracket 34, the work mechanism 7A of the forklift 30 immediately before the upper surface 11A1 of the fork 11A contacts the lower surface 51a2 of the upper member 51a of the pallet 51. It becomes the prior state which is the state of. Then, by further raising the fork 11A, the upper surface 11A1 of the fork 11A is brought into contact with the lower surface 51a2 of the upper member 51a of the pallet 51, and the lifting operation of lifting the luggage 50A by the fork 11A is performed.

In such a lifting operation, the operation of the fork 11A in the work mechanism unit 7A of the forklift 30 is monitored by the monitoring camera 12A.
Then, as shown in FIG. 4, the determination unit 22 is stored in advance in the specific posture M1 and the determination unit 22 during the operation of the work mechanism unit 7A of the forklift 30 monitored by the monitoring camera 12A. A determination process for determining whether or not the state of the work mechanism unit 7A of the forklift 30 is in the prior state is performed by comparing the previous posture M0 of the work mechanism unit 7A of the forklift 30 with the previous posture M0.

  Then, when the determination unit 22 determines that the state of the working mechanism unit 7A of the forklift 30 is in the prior state, the engine speed increasing unit 24 shown in FIG. Before the pallet 51 (the upper surface 11A1 of the fork 11A contacts the lower surface 51a2 of the upper member 51a of the pallet 51) is instructed to increase the fuel supplied to the engine 2 to the fuel injection device 3. An increase process for increasing the number of rotations of 2 is executed.

  By the way, in work vehicles such as the forklift 30 and the hydraulic excavator 40, immediately after the attachment 11 comes into contact (collision) with the load object 50, a load is suddenly applied to the engine 2, and the rotation speed of the engine 2. Is known to drop rapidly. On the other hand, according to the knowledge of the present inventors, as shown in FIG. 5, immediately before the timing T0 when the load is suddenly applied to the engine 2 (the first timing T1a, the second timing T1b, and the first timing) From 3 timing T1c), it has been found that the transient response of the engine 2 is improved by increasing the injection amount of fuel supplied to the engine 2. In the embodiment shown in FIG. 5, the timing T0 when the load is applied to the engine 2, the first timing T1a, the second timing T1b, and the timing immediately before the timing when the load is applied to the engine 2 are set. 3 shows the transient response of the rotational speed of the engine 2 when the injection amount supplied to the engine 2 is increased at three timings T1c (T1a <T1b <T1c).

  Here, the transient responsiveness of the engine 2 means that the rotation speed of the engine 2 returns to a predetermined rotation speed after the load is suddenly applied to the engine 2 by the attachment 11 coming into contact with the load object 50. With regard to the length of the response time up to, improving the transient response means that the response time is shortened. In the embodiment shown in FIG. 5, it is shown that the transient response is most improved by increasing the injection amount of the fuel supplied to the engine 2 at the first timing T1a.

  According to the engine speed control device 100 according to the embodiment of the present invention, the determination unit 22 determines that the state of the work mechanism unit 7 is based on the specific posture M1 during the operation of the work mechanism unit 7. It is determined whether or not the attachment 11 is in a prior state, which is a state immediately before contacting the load object 50. For this reason, as in Patent Document 1, for example, due to the configuration of the oil passage, the difference between the time detected in advance when a load is applied to the engine 2 and the time when the load is actually applied to the engine 2 Is not greatly deviated, and the timing immediately before the attachment 11 contacts the load object 50 can be accurately grasped.

  Further, according to the engine speed control device 100 according to the embodiment of the present invention, the engine speed increasing unit 24 determines that the state of the work mechanism unit 7 is in the prior state by the determination unit 22. And before the attachment 11 contacts the load target object 50, the increase process which increases the rotation speed of the engine 2 is performed. Therefore, before the attachment 11 comes into contact with the load object 50 and the rotational speed of the engine 2 is decreased by the operation of the attachment 11, the rotational speed of the engine 2 is increased in advance as shown in FIG. As a result, the transient response of the engine 2 can be improved.

  In some embodiments, as illustrated in FIGS. 4 and 7, the determination unit 22 considers the operation N1 of the work mechanism unit 7 until the specific posture M1 is reached, and the state of the work mechanism unit 7 is determined in advance. It is configured to execute a determination process for determining whether or not it is in a state.

  In the embodiment shown in FIG. 4, the determination unit 22 has a specific posture M1 during operation of the work mechanism unit 7A of the forklift 30 monitored by the monitoring camera 12A and a pre-post posture M0 stored in advance in the determination unit 22. And the operation N1 of the work mechanism unit 7A of the forklift 30 up to the specific posture M1 and the pre-operation N0 stored in advance in the determination unit 22 are compared with each other. It is comprised so that the determination process which determines whether a state is in a prior state may be performed.

  Even if the specific posture M1 during the operation of the work mechanism unit 7A of the forklift 30 coincides with the advance posture M0 of the work mechanism unit 7A of the forklift 30 in the prior state, the state of the work mechanism unit 7 does not correspond to the above-described prior state. There is a case. For example, even if the working mechanism unit 7A matches the preliminary posture M0 shown in FIG. 4, if the fork 11A is descending until reaching the preliminary posture M0, the fork 11A may not contact the pallet 51 thereafter. is expected. Therefore, such a case does not correspond to the prior state.

  According to such a configuration, in the determination process, not only the specific posture M1 during the operation of the attachment 11, but also the operation of the attachment 11 up to the specific posture M1, the state of the attachment 11 is determined in advance. Determine if it is in a state. For this reason, the precision of the determination process which determines whether the state of the attachment 11 exists in a prior state can be improved.

  In some embodiments, as illustrated in FIGS. 2, 4, and 7, the determination unit 22 includes an attitude determination unit 26 and an operation determination unit 28.

  The posture determination unit 26 executes posture determination processing for determining whether or not the specific posture M1 matches the preliminary posture M0 that is the posture of the work mechanism unit 7 corresponding to the preliminary state.

  The motion determination unit 28 determines whether or not the motion N1 of the work mechanism unit 7 up to the specific posture M1 matches the preliminary motion N0 that is the motion of the work mechanism unit 7 corresponding to the preliminary state. Execute.

  Then, when the specific posture M1 matches the preliminary posture M0 and the operation N1 of the work mechanism unit 7 up to the specific posture M1 matches the preliminary motion N0, the determination unit 22 Is determined to be in a prior state.

  According to such a configuration, it is possible to further improve the accuracy of the determination process by determining whether the state of the attachment 11 is in the prior state based on the two processing results of the posture determination process and the motion determination process. .

In some embodiments, as illustrated in FIGS. 1 to 4, 6, and 7, the engine speed control device 100 further includes a distance measurement sensor 15. The distance measuring sensor 15 is a sensor for measuring the distance d from the position of the attachment 11 to the position of the load object 50. And the determination part 22 performs the determination process which considers the distance d measured by this distance measurement sensor 15, and determines whether the state of the working mechanism part 7 exists in a prior state.
In the embodiment shown in FIGS. 1 to 4, 6, and 7, the monitoring cameras 12 </ b> A and 12 </ b> B serve as both the monitoring sensor 12 and the distance measurement sensor 15.

  In the above-described embodiment, the determination process is performed based on the specific posture M1 during the operation of the work mechanism unit 7A of the forklift 30 without considering the relative positional relationship between the attachment 11 and the load object 50. Has been. That is, even if the specific posture M1 during the operation of the work mechanism unit 7A of the forklift 30 monitored by the monitoring camera 12A coincides with the preliminary posture M0 of the work mechanism unit 7A of the forklift 30 in the prior state, the fork 11A and the pallet Depending on the distance d between the upper surface 11A1 of the fork 11A and the lower surface 51a2 of the upper member 51a of the pallet 51, the time until the upper surface 11A1 of the fork 11A contacts the lower surface 51a2 of the upper member 51a of the pallet 51 is assumed. There is a risk that it will deviate from the running time.

  According to such a configuration, the determination unit 22 performs the determination process in consideration of the distance d from the position of the attachment 11 to the position of the load object 50 with which the attachment 11 contacts. For this reason, the precision of the determination process which determines whether the state of the attachment 11 exists in a prior state can be improved.

  In some embodiments, as shown in FIGS. 3 and 4 described above and FIGS. 6 and 7 to be described later, the monitoring sensor 12 includes monitoring cameras 12A and 12B that can image the operation of the working mechanism unit 7. .

  According to such a configuration, since the monitoring sensor 12 includes the monitoring cameras 12A and 12B that can image the operation of the work mechanism unit 7, the specific posture M1 during the operation of the work mechanism unit 7 and the work mechanism unit 7 The movement can be easily monitored visually.

  Next, referring to FIG. 6 and FIG. 7, taking the excavation work of the ground surface 50 </ b> B by the hydraulic excavator 40 as an example, the determination process executed by the determination unit 22 and the increase process executed by the engine speed increasing unit 24. Will be described.

  As shown in FIG. 6, the hydraulic excavator 40 includes a vehicle body 41, a working mechanism portion 7 </ b> B of the hydraulic excavator 40 attached to the front portion of the vehicle body 41, an actuator 6 for driving the working mechanism portion 7 </ b> B, Is provided.

  In some embodiments, as shown in FIG. 6, the work mechanism unit 7 is driven by the engine 2 via the actuator 6, and the monitoring sensor 12 is output from an output measurement sensor 17 that can measure the output of the actuator 6. Become.

  In the embodiment shown in FIG. 6, the working mechanism portion 7B of the excavator 40 includes a boom 42, an arm 43, and a bucket 11B. The boom 42 is rotatably attached to the front portion of the vehicle body 41 and is driven by the engine 2 via an actuator 6 including a boom cylinder 6C (6). The arm 43 is rotatably attached to the tip of the boom 42 and is driven by the engine 2 through an actuator 6 including an arm cylinder 6D (6). The bucket 11B is rotatably attached to the tip of the arm 43 and is driven by the engine 2 via an actuator 6 including a bucket cylinder 6E.

  As shown in FIG. 6, the output measurement sensor 17 (for example, a pressure sensor that detects the pressure of pressure oil or an expansion / contraction amount sensor that detects the expansion / contraction amount of the cylinder) is provided for the boom cylinder 6C, the arm cylinder 6D, and the bucket cylinder 6E. Attached to each. Based on the output data from the output measurement sensor 17, for example, as shown in FIG. 6, the angle θ1 of the boom 42 with respect to the first virtual axis O1 extending in the front-rear direction of the vehicle body 41 is orthogonal to the first virtual axis O1. The angle θ3 of the arm 43 with respect to the second virtual axis O2 and the angle θ4 of the bucket 11B with respect to the arm 43 are calculated. Since the length (L1, L2) of the boom 42, the angle (θ2) of the bent portion of the boom 42, and the length (L3) of the arm 43 are known in advance, the position of the bucket 11B is calculated. can do.

  As shown in FIG. 6, the hydraulic excavator 40 including the working mechanism unit 7B and the output measurement sensor 17 adjusts the angle θ1 of the boom 42 by driving the boom cylinder 6C and drives the arm 43 by driving the arm cylinder 6D. By adjusting the angle θ3, the bucket 11B is brought closer to the ground surface 50B. And it is comprised so that the ground 50B may be excavated by driving the bucket 11B by the drive of the bucket cylinder 6E. The operation of the working mechanism unit 7B of the excavator 40 is monitored by the output measured by the output measurement sensor 17.

  As shown in FIG. 7, the determination unit 22 is stored in advance in the specific posture M1 and the determination unit 22 during the operation of the work mechanism unit 7B of the excavator 40 monitored by the output measurement sensor 17. The operation mechanism 7A of the forklift 30 up to the specific posture M1 is compared with the preliminary posture M0 of the work mechanism unit 7B of the excavator 40 in the prior state, and stored in the determination unit 22 in advance. By comparing with the preliminary operation N0, a determination process for determining whether or not the state of the working mechanism unit 7B of the excavator 40 is in the preliminary state is executed.

  Then, as shown in FIG. 7, when the determination unit 22 determines that the state of the work mechanism unit 7B of the excavator 40 is in the prior state, the engine speed increasing unit 24 makes contact with the ground surface 50B. Before the fuel injection device 3 is instructed to increase the fuel supplied to the engine 2, an increase process for increasing the rotational speed of the engine 2 is executed.

  According to such a configuration, since the work mechanism unit 7 is driven by the engine 2 via the actuator 6, a specific output during the operation of the work mechanism unit 7 can be obtained by measuring the output of the actuator 6. The posture M1 and the operation N1 of the work mechanism unit 7 can be easily monitored quantitatively (numerically).

  In some embodiments, as shown in FIG. 6, the excavator 40 includes a monitoring camera 12 </ b> A (12) attached to a vehicle body 41. Then, the monitoring camera 12A may visually monitor the above-described length L1 and angle θ1 of the boom 42, the lengths L2 and L3 of the arm 43, the angles θ2 and θ3, and the position of the bucket 11B.

  In some embodiments, as illustrated in FIGS. 2, 4, and 7, the determination unit 22 further includes a cancellation processing unit 25. As shown in FIG. 8, which will be described later, the cancellation processing unit 25 determines that the state of the work mechanism unit 7 is in the prior state and the attachment 11 does not contact the load object 50 until a predetermined time has elapsed. In such a case, a stop process for canceling the increase process is executed. Here, the predetermined time is a time that is at least later than a time predicted to be loaded on the engine 2 by being determined to be in the prior state by the determination process.

  As shown in FIG. 5, after the determination unit 22 determines that the state of the work mechanism unit 7 is in the prior state (for example, the first timing T <b> 1 a), the attachment 11 comes into contact with the load object 50, thereby A time difference occurs until a load is actually applied (T0) to 2 and the rotational speed of the engine 2 decreases (T2). Then, when the attachment 11 does not contact the load object 50 before the predetermined time elapses, the cancellation processing unit 25 executes a cancellation process for canceling the increase process.

  According to such a configuration, the canceling process is executed before a predetermined time elapses after the determination unit 22 determines that the state of the work mechanism unit 7 is in the prior state. For this reason, since unnecessary increase processing is stopped, fuel consumption can be suppressed.

  In some embodiments, the determination process and the increase process are executed in a state where the work vehicle 1 is stopped.

For example, as shown in FIG. 3, the lifting work of the load 50A by the fork 11A of the forklift 30 and the excavation work of the ground 50B by the bucket 11B of the hydraulic excavator 40 as shown in FIG. Done. For this reason, according to such a configuration, the determination process and the increase process can be executed when the above-described work is performed.
Whether the work vehicle 1 is stopped can be detected by, for example, the monitoring cameras 12A and 12B.

  In some embodiments, as illustrated in FIGS. 2, 4, and 7, the controller 20 further includes a first learning unit 27. And this 1st learning part 27 determines with the specific attitude | position of the work mechanism part 7 when it determines with the state of the work mechanism part 7 being in a prior state, and the state of the work mechanism part 7 being in a prior state. After that, machine learning is performed on the correlation with whether or not the attachment 11 actually contacts the load object 50 within a predetermined time. And the determination part 22 performs the determination process which considers the result of the machine learning by this 1st learning part 27, and determines whether the state of the working mechanism part 7 exists in a prior state.

  Here, the machine learning performed by the first learning unit 27 refers to analyzing a plurality of sample data sets and extracting useful rules, determination criteria, and the like from the data. For example, the first learning unit 27 includes the specific posture M1 determined to be the prior state, the motion N1 until reaching the specific posture M1, and the distance d between the attachment 11 and the load object 50 in the specific posture M1. Then, the number of times the fork 11A actually contacts the pallet 51 is counted. For example, when the count number does not satisfy a predetermined value, the preliminary posture M0, the preliminary motion N0, and the distance d between the attachment 11 and the load object 50, which are new determination criteria, are extracted.

  According to such a configuration, the first learning unit 27 determines that the specific posture M1 of the work mechanism unit 7 and the state of the work mechanism unit 7 when the state of the work mechanism unit 7 is determined to be in the prior state. Machine learning is performed on the correlation with whether or not the attachment 11 has actually contacted the load object 50 within a predetermined time after being determined to be in the prior state. Then, the determination unit 22 performs determination processing in consideration of the result of machine learning by the first learning unit 27. For this reason, if the attachment 11 is in the specific posture M1, the reliability that the attachment 11 is in contact with the load object 50 is improved, and the determination process for determining whether the state of the work mechanism unit 7 is in the prior state is performed. Accuracy can be increased.

  In some embodiments, as illustrated in FIGS. 2, 4, and 7, the controller 20 further includes a second learning unit 29. The second learning unit 29 then determines the magnitude of the load applied to the engine 2 immediately after the attachment 11 comes into contact with the load object 50 and the rotational speed of the engine 2 immediately after the attachment 11 comes into contact with the load object 50. Machine learning is performed on the correlation with. Then, the engine speed increasing unit 24 considers the result of the machine learning by the second learning unit 29 and performs an increasing process for increasing the speed of the engine 2 before the attachment 11 contacts the load object 50. Run.

  Here, the machine learning performed by the second learning unit 29 refers to analyzing a plurality of sample data sets and extracting useful rules, determination criteria, and the like from the data. For example, when the increase amount of the fuel increased by the increasing process is different or when the timing of executing the increasing process is different, the magnitude of the load applied to the engine 2 immediately after the attachment 11 contacts the load object 50 The machine learning is performed on the correlation with the rotational speed of the engine 2 immediately after the attachment 11 contacts the load object 50. That is, data on transient responsiveness when the amount of increase in fuel is different, and data on transient responsiveness when the timing for executing the increasing process is different as shown in FIG. 5 are collected. Then, the amount of increase in the fuel supplied to the engine 2 and the timing for supplying the fuel to the engine 2 (first timing T1a) are extracted so as to have good load responsiveness while suppressing fuel consumption.

  According to such a configuration, the second learning unit 29 determines the magnitude of the load that is input to the engine 2 immediately after the attachment 11 comes into contact with the load object 50 and the state immediately after the attachment 11 comes into contact with the load object 50. Machine learning is performed on the correlation with the rotational speed of the engine 2. Then, the engine speed increasing unit 24 executes an increasing process in consideration of the result of machine learning by the second learning unit 29. For this reason, the engine speed is appropriately increased by the engine speed increasing unit 24 according to the magnitude of the load applied to the engine 2 immediately after the attachment 11 comes into contact with the load object 50, so that the engine 2 transient response can be improved.

  As shown in FIG. 8, the engine speed control method of the engine speed control apparatus 100 according to an embodiment of the present invention includes a monitoring step S2, a determination step S3, and an engine speed increase step S4.

  In the embodiment shown in FIG. 8, when the work vehicle 1 is stopped (step S1: Yes), the monitoring step S2 is executed. If the working vehicle 1 is traveling (step S1: No), the control of the rotational speed of the engine 2 by the engine rotational speed control method is not executed, and the process is terminated.

  In the monitoring step S2, the operation of the work mechanism unit 7 is monitored. And in determination step S3, based on the specific attitude | position M1 in operation | movement of the working mechanism part 7 monitored in monitoring step S2, the state of the working mechanism part 7 is just before the attachment 11 contacts the load target object 50. A determination process for determining whether or not the state is in a prior state is executed. If it is determined by the determination process that the state of the work mechanism unit 7 is in the prior state (determination step S3: Yes), an engine speed increase step S4 is executed. If it is determined by the determination process that the state of the work mechanism unit 7 is not a prior state (determination step S3: No), the control of the engine speed of the engine 2 by the engine speed control method is not executed and the process is terminated.

  In the engine speed increasing step S4, when it is determined in the determining step S3 that the state of the working mechanism unit 7 is in the prior state, the engine 2 is increased in speed before the attachment 11 contacts the load object 50. Perform increase processing.

  In some embodiments, as shown in FIG. 8, the attachment 11 is attached to the load object 50 before a predetermined time ΔT elapses after it is determined in the determination step S3 that the state of the work mechanism unit 7 is in the prior state. In the case of not touching, the process further includes a cancellation step S5 for executing a cancellation process for canceling the increase process.

  According to the engine speed control method of the engine speed control apparatus 100 according to the embodiment of the present invention, the work mechanism is determined based on the specific posture M1 during the operation of the work mechanism unit 7 in the determination step S3. It is determined whether the state of the unit 7 is in a prior state that is a state immediately before the attachment 11 contacts the load object 50. For this reason, as in Patent Document 1, for example, due to the configuration of the oil passage, the difference between the time detected in advance when a load is applied to the engine 2 and the time when the load is actually applied to the engine 2 Is not greatly deviated, and the timing immediately before the attachment 11 contacts the load object 50 can be accurately grasped.

  Further, according to the engine speed control method of the engine speed control apparatus 100 according to the embodiment of the present invention, in the engine speed increasing step S4, the state of the work mechanism unit 7 is changed to the preliminary state by the determination step S3. If it is determined that the engine 11 is in contact with the load object 50, an increase process for increasing the rotational speed of the engine 2 is executed. For this reason, before the attachment 11 contacts the load object 50 and the rotational speed of the engine 2 is decreased by the operation of the attachment 11, the rotational speed of the engine 2 is increased in advance, so that the transient of the engine 2 is achieved. Responsiveness can be improved.

  As described above, the engine speed control device and the engine speed control method according to the embodiment of the present invention have been described, but the present invention is not limited to the above-described form and does not depart from the object of the present invention. Various modifications are possible.

DESCRIPTION OF SYMBOLS 1 Work vehicle 2 Engine 3 Fuel-injection apparatus 4 Traveling apparatus 6 Actuator 6A Tilt cylinder 6B Lift cylinder 6C Boom cylinder 6D Arm cylinder 6E Bucket cylinder 7 Work mechanism part 7A Forklift work mechanism part 7B Hydraulic excavator work mechanism part 8 Hydraulic pump DESCRIPTION OF SYMBOLS 9 Drive shaft 10 Wheel 11 Attachment 11A Fork 11B Bucket 12 Monitoring sensor 12A Monitoring camera 15 Distance measurement sensor 17 Output measurement sensor 20 Controller 22 Determination part 24 Engine speed increase part 25 Stop process part 26 Posture determination part 27 First learning part 28 Operation determination unit 29 Second learning unit 30 Forklift 31 Car body 33 Mast 34 Lift bracket 40 Hydraulic excavator 41 Car body 42 Boom 43 Arm 50 Load object 50A Luggage 50B Ground 51 Pallet 51a Side member 51b Lower member 52 Insertion hole 100 Engine rotation speed control device M0 Preliminary attitude M1 Specific attitude N0 Preliminary movement N1 Operation until reaching a specific attitude O Virtual axis S2 Monitoring step S3 Determination step S4 Engine rotation speed increasing step T1a 1st timing T1b 2nd timing T1c 3rd timing d Distance

Claims (11)

Engine,
An engine rotation speed control device for controlling the rotation speed of the engine of a working vehicle having a work mechanism section driven by the engine, the work mechanism section including an attachment that contacts an object to be loaded;
The engine speed control device includes:
Monitoring means having a monitoring sensor for monitoring the operation of the working mechanism unit;
A determination process for determining whether or not the state of the work mechanism unit is in a prior state that is a state immediately before the attachment contacts the load object, based on a specific posture during the operation of the work mechanism unit. A determination unit to be executed;
When the determination unit determines that the state of the working mechanism unit is in the preliminary state, an engine that executes an increasing process for increasing the number of revolutions of the engine before the attachment contacts the load object. A rotation speed increasing part;
An engine speed control device comprising:   The said determination part performs the said determination process which considers operation | movement of the said working mechanism part until it reaches the said specific attitude | position, and determines whether the state of the said working mechanism part exists in the said prior state. 1. The engine speed control device according to 1. The determination unit
A posture determination unit that executes a posture determination process for determining whether the specific posture matches a preliminary posture that is a posture of the work mechanism unit corresponding to the preliminary state;
An operation determination unit that performs an operation determination process that determines whether or not the operation of the work mechanism unit up to the specific posture matches the pre-operation that is the operation of the work mechanism unit corresponding to the prior state. And including
When the specific posture matches the preliminary posture and the operation of the working mechanism unit until reaching the specific posture matches the preliminary motion, the state of the working mechanism portion is the preliminary state. The engine speed control device according to claim 2, wherein the determination process for determining that the vehicle is in a state is executed. A distance measuring sensor for measuring a distance from the position of the attachment to the position of the load object;
The said determination part performs the said determination process which considers the said distance measured by the said distance measurement sensor, and determines whether the state of the said working mechanism part exists in the said prior state. The engine speed control device according to any one of the above.   The engine speed control device according to any one of claims 1 to 4, wherein the monitoring sensor includes a monitoring camera capable of imaging the operation of the work mechanism unit. The working mechanism is driven by the engine via an actuator,
The engine speed control device according to any one of claims 1 to 4, wherein the monitoring sensor includes an output measurement sensor capable of measuring an output of the actuator.   If the attachment does not contact the load object before a predetermined time elapses after the determination unit determines that the state of the working mechanism unit is in the prior state, the increase process is stopped. The engine speed control device according to any one of claims 1 to 6, further comprising a cancellation processing unit that executes the cancellation processing.   The engine speed control device according to any one of claims 1 to 7, wherein the determination process and the increase process are executed in a state where the work vehicle is stopped. The specific posture of the working mechanism unit when it is determined that the state of the working mechanism unit is in the preliminary state, and the attachment after the state of the working mechanism unit is determined to be in the preliminary state Further comprising a first learning unit that performs machine learning on the correlation with whether or not the load object has actually contacted the load object within a first time,
The determination unit executes the determination process of determining whether or not the state of the working mechanism unit is in the prior state in consideration of a result of machine learning by the first learning unit. The engine speed control device according to any one of the above. Machine learning is performed on the correlation between the magnitude of the load applied to the engine immediately after the attachment contacts the load object and the rotational speed of the engine immediately after the attachment contacts the load object. 2 further includes a learning unit,
The engine speed increasing unit performs the increasing process of increasing the engine speed before the attachment contacts the load object in consideration of the result of machine learning by the second learning unit. The engine speed control device according to any one of claims 1 to 9. Engine,
An engine rotation speed control method for controlling the rotation speed of the engine of a working vehicle having a work mechanism section driven by the engine, the work mechanism section including an attachment that contacts an object to be loaded,
The engine speed control method includes:
A monitoring step of monitoring the operation of the working mechanism unit;
A determination process for determining whether or not the state of the work mechanism unit is in a prior state that is a state immediately before the attachment contacts the load object, based on a specific posture during the operation of the work mechanism unit. A determination step to be performed;
If it is determined by the determination step that the state of the working mechanism is in the advance state, an increase process for increasing the number of revolutions of the engine is performed before the attachment contacts the load object. An engine speed increase step,
An engine speed control method comprising:

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