JP6915007B2 - Wheel loader - Google Patents

Description

The present invention relates to a wheel loader.

The wheel loader of a self-propelled work vehicle is provided with a traveling device for traveling the vehicle and a working machine for performing various operations such as excavation. The traveling device and the working machine are driven by a driving force from the engine.

In general, such a wheel loader often performs operations such as running and loading at the same time. For example, in excavation work, the work machine is pushed into a pile of earth and sand by moving the vehicle forward, and the work machine is raised.

As a result, the earth and sand are scooped up on the work machine. Therefore, it is important to distribute the engine output to the traveling device and the working machine in a well-balanced manner.

However, skill is required to operate the vehicle so that this balance can be achieved well.

For example, if an unfamiliar operator steps on the accelerator too much during excavation and pushes the work machine into the earth and sand too much, the vehicle cannot move forward and stops. In this state, the driving force for driving the vehicle is too large, so that the driving force for raising the work equipment becomes small. Therefore, even if the working machine operating member is operated to the maximum, the working machine cannot be raised. Further, in such a state, in order to protect the hydraulic pump, the hydraulic circuit for supplying the hydraulic oil from the hydraulic pump to the working machine is in the relief state. In such a stall state in which the vehicle has stopped moving, the engine output continues to be high, so that fuel consumption (fuel consumption) increases.

At this point, the vehicle body is automatically driven toward an excavation object such as earth and stone regardless of the operator, and the bucket is thrust into the excavation object by this traveling operation, and then the bucket and the arm are operated to perform the excavation operation. Self-driving wheel loaders have also been proposed (Patent Documents 1 and 2).

Japanese Unexamined Patent Publication No. 2008-8183 Japanese Unexamined Patent Publication No. 2008-133657

On the other hand, in order to operate the wheel loader efficiently, it is important to perform the excavation operation according to the excavation posture according to the excavation object. Nothing is shown in the above literature on this point.

An object of the present invention is to solve the above-mentioned problems, and an object of the present invention is to provide a wheel loader capable of efficient excavation operation in an excavation posture according to an excavation object.

Other challenges and novel features will become apparent from the description and accompanying drawings herein.

A wheel loader according to a certain aspect includes a working machine, an acquisition unit, and a control unit. The work equipment includes a bucket. The acquisition department acquires soil quality information regarding the soil quality of the excavated object. The control unit controls the excavation operation of the excavation target by the bucket of the work machine based on the soil information acquired by the acquisition unit.

According to the present invention, since the control unit controls the excavation operation based on the soil quality information of the excavation object, the efficient excavation operation can be performed by the excavation posture according to the excavation object.

Preferably, the acquisition unit acquires moisture information indicating the amount of moisture contained in the excavated object. The control unit controls the excavation operation for the excavation object based on the acquired moisture information.

According to the above, since the control unit controls the excavation operation based on the moisture information of the excavation object, the efficient excavation operation can be performed by the excavation posture according to the excavation object.

Preferably, the acquisition unit acquires particle size information indicating the particle size of the soil of the excavation object. The control unit controls the excavation operation for the excavation target based on the acquired particle size information.

According to the above, since the control unit controls the excavation operation based on the particle size information of the excavation object, the efficient excavation operation can be performed by the excavation posture according to the excavation object.

Preferably, the wheel loader further comprises a display. Based on the soil information acquired by the acquisition unit, the control unit displays the operation guidance of the excavation operation for the excavation target by the bucket of the work machine on the display unit.

According to the above, the control unit displays the operation guidance of the excavation operation on the display unit based on the soil quality information of the excavation object. This enables efficient excavation operation according to the excavation posture according to the excavation target.

Preferably, the acquisition unit further acquires morphological information regarding the morphology of the bucket. The control unit controls the excavation operation by the bucket of the work machine based on the soil quality information and the morphological information acquired by the acquisition unit.

According to the above, since the control unit controls the excavation operation based on the morphological information and the soil information regarding the form of the bucket, the efficient excavation operation can be performed by the excavation posture according to the excavation target.

Preferably, the wheel loader further comprises a sensor that acquires the outer shape data of the bucket. The acquisition unit acquires morphological information regarding the morphology of the bucket based on the external shape data from the sensor.

According to the above, since the control unit acquires the outer shape data of the bucket by the sensor, the outer shape data can be easily acquired.

Preferably, the wheel loader further includes a load calculation unit. The load calculation unit calculates the excavation load of the bucket with respect to the excavation target. The control unit controls the excavation operation of the excavation target by the bucket of the work machine based on the soil information acquired by the acquisition unit and the calculation result of the load calculation unit.

According to the above, since the excavation operation is controlled based on the soil quality information and the calculated excavation load, the efficient excavation operation can be performed by the excavation posture according to the excavation target.

Preferably, the load calculation unit calculates the excavation load based on the strain amount of the mounting pin of the bucket or the pressure of the cylinder of the working machine.

According to the above, the load calculation unit calculates the excavation load based on the strain amount of the mounting pin of the bucket or the cylinder pressure, so that the excavation load can be easily calculated.

A wheel loader according to another aspect includes a working machine, an acquisition unit, and a control unit. The work equipment includes a bucket. The acquisition unit acquires morphological information regarding the morphology of the bucket. The control unit controls the excavation operation of the excavation target by the bucket of the work machine based on the form information acquired by the acquisition unit.

According to the present invention, since the control unit controls the excavation operation based on the form information regarding the form of the bucket, the efficient excavation operation can be performed by the excavation posture according to the form of the bucket.

A wheel loader according to yet another aspect includes a work machine, a load calculation unit, and a control unit. The work equipment includes a bucket. The load calculation unit calculates the excavation load of the bucket with respect to the excavation target. The control unit controls the excavation operation of the excavation target by the bucket of the work machine based on the calculation result of the load calculation unit.

According to the present invention, since the control unit controls the excavation operation based on the excavation load of the bucket for the excavation object, the efficient excavation operation can be performed by the excavation posture according to the excavation load of the bucket for the excavation object.

The wheel loader of the present invention is capable of efficient excavation operation in an excavation posture according to an object to be excavated.

It is an external view of the wheel loader 1 based on Embodiment 1. It is a schematic diagram which shows the structure of the wheel loader 1 based on Embodiment 1. FIG. It is a figure explaining the excavation operation of the work machine based on Embodiment 1. It is a figure explaining the example of the excavation object with different soil quality based on Embodiment 1. It is a figure explaining the functional structure of the control part 10 of the wheel loader 1 based on Embodiment 1. FIG. It is a figure explaining the functional structure of the control part 10A of the wheel loader 1 based on the modification of Embodiment 1. FIG. It is a figure explaining the functional structure of the control part 10B of the wheel loader 1 based on Embodiment 2. It is a figure explaining the case where the operation guidance is displayed on the display 50 based on the soil quality information based on Embodiment 2. It is a figure explaining the form of the bucket based on this Embodiment 3. It is a figure explaining the functional structure of the control part 10C of the wheel loader 1 based on Embodiment 3. It is a figure explaining the excavation operation (excavation pattern) based on Embodiment 3. It is a flow diagram explaining the process flow of the control part 10C of the wheel loader 1 based on Embodiment 3. It is a figure explaining the functional structure of the control part 10 # of the wheel loader 1 based on Embodiment 4. It is a flow diagram explaining the process flow of the control part 10 # of the wheel loader 1 based on Embodiment 4. It is a figure explaining the functional structure of the control part 10P of the wheel loader 1 based on Embodiment 5. It is a figure explaining the functional structure of the control part 10Q of the wheel loader 1 based on Embodiment 6.

Hereinafter, embodiments will be described with reference to the drawings.

Hereinafter, the wheel loader will be described with reference to the drawings.

In the following description, "upper", "lower", "front", "rear", "left", and "right" are terms based on the operator seated in the driver's seat.

(Embodiment 1)
<Overall configuration>
FIG. 1 is an external view of the wheel loader 1 based on the first embodiment.

FIG. 2 is a schematic view showing the configuration of the wheel loader 1 based on the first embodiment.

As shown in FIGS. 1 and 2, the wheel loader 1 is self-propelled by rotationally driving the wheels 4a and 4b, and can perform a desired work using the work machine 3.

The wheel loader 1 includes a vehicle body frame 2, a working machine 3, wheels 4a and 4b, and a driver's cab 5.

The vehicle body frame 2 has a front vehicle body portion 2a and a rear vehicle body portion 2b. The front vehicle body portion 2a and the rear vehicle body portion 2b are connected to each other so as to be swingable in the left-right direction.

A pair of steering cylinders 11a and 11b are provided over the front vehicle body portion 2a and the rear vehicle body portion 2b. The steering cylinders 11a and 11b are hydraulic cylinders driven by hydraulic oil from the steering pump 12 (see FIG. 2). As the steering cylinders 11a and 11b expand and contract, the front vehicle body portion 2a swings with respect to the rear vehicle body portion 2b. As a result, the traveling direction of the vehicle is changed.

Note that in FIGS. 1 and 2, only one of the steering cylinders 11a and 11b is shown, and the other is omitted.

A work machine 3 and a pair of front wheels 4a are attached to the front vehicle body portion 2a. The work machine 3 is driven by hydraulic oil from the work machine pump 13 (see FIG. 2). The working machine 3 has a boom 6, a pair of lift cylinders 14a and 14b, a bucket 7, a bell crank 9, and a bucket cylinder 15.

The boom 6 is rotatably supported by the front vehicle body portion 2a. One end of the lift cylinders 14a and 14b is attached to the front vehicle body portion 2a. The other ends of the lift cylinders 14a and 14b are attached to the boom 6. The boom 6 swings up and down as the lift cylinders 14a and 14b expand and contract with the hydraulic oil from the work equipment pump 13.

Note that in FIGS. 1 and 2, only one of the lift cylinders 14a and 14b is shown, and the other is omitted.

The bucket 7 is rotatably supported by the tip of the boom 6. One end of the bucket cylinder 15 is attached to the front vehicle body portion 2a. The other end of the bucket cylinder 15 is attached to the bucket 7 via a bell crank 9. The bucket cylinder 15 expands and contracts due to the hydraulic oil from the working machine pump 13, so that the bucket 7 swings up and down.

A driver's cab 5 and a pair of rear wheels 4b are attached to the rear body portion 2b. The driver's cab 5 is mounted on the upper part of the vehicle body frame 2, and is equipped with a seat on which the operator sits, an operation unit 8 described later, and the like.

Further, as shown in FIG. 2, the wheel loader 1 includes an engine 21, a traveling device 22, a working machine pump 13, a steering pump 12, an operation unit 8, a control unit 10, and the like as drive sources.

The engine 21 is a diesel engine, and the output of the engine 21 is controlled by adjusting the amount of fuel injected into the cylinder. This adjustment is performed by controlling the electronic governor 25 attached to the fuel injection pump 24 of the engine 21 by the control unit 10. As the governor 25, an all-speed control type governor is generally used, and the engine speed and fuel injection amount are adjusted according to the load so that the engine speed becomes the target speed according to the accelerator operation amount described later. And adjust. That is, the governor 25 increases or decreases the fuel injection amount so that there is no deviation between the target rotation speed and the actual engine rotation speed. The engine speed is detected by the engine speed sensor 91. The detection signal of the engine speed sensor 91 is input to the control unit 10.

The traveling device 22 is a device that travels the vehicle by the driving force from the engine 21. The traveling device 22 includes a torque converter device 23, a transmission 26, and the above-mentioned front wheels 4a and rear wheels 4b.

The torque converter device 23 has a lockup clutch 27 and a torque converter 28. The lockup clutch 27 can be switched between a connected state and a non-connected state. When the lockup clutch 27 is in the unconnected state, the torque converter 28 transmits the driving force from the engine 21 using oil as a medium. When the lockup clutch 27 is in the connected state, the input side and the output side of the torque converter 28 are directly connected. The lockup clutch 27 is a hydraulically actuated clutch, and the supply of hydraulic oil to the lockup clutch 27 is controlled by the control unit 10 via the clutch control valve 31, so that the connected state and the unconnected state can be changed. Can be switched.

The transmission 26 has a forward clutch CF corresponding to the forward traveling stage and a reverse clutch CR corresponding to the reverse traveling stage. By switching the engaged / unengaged state of each clutch CF and CR, the vehicle can be switched between forward and reverse. When both the clutch CF and CR are in the unengaged state, the vehicle is in the neutral state. Further, the transmission 26 has a plurality of speed stage clutches C1-C4 corresponding to a plurality of speed stages, and the reduction ratio can be switched to the plurality of stages. For example, in this transmission 26, four speed stage clutches C1-C4 are provided, and the speed stage can be switched to four stages from the first speed to the fourth speed. Each speed stage clutch C1-C4 is a hydraulically actuated hydraulic clutch. Hydraulic oil is supplied from a hydraulic pump (not shown) to the clutches C1-C4 via the clutch control valve 31. The clutch control valve 31 is controlled by the control unit 10 to control the supply of hydraulic oil to the clutches C1-C4, so that the engaged state and the unengaged state of the clutches C1-C4 are switched.

The output shaft of the transmission 26 is provided with a T / M output rotation speed sensor 92 that detects the rotation speed of the output shaft of the transmission 26. The detection signal from the T / M output rotation speed sensor 92 is input to the control unit 10. The control unit 10 calculates the vehicle speed based on the detection signal of the T / M output rotation speed sensor 92. Therefore, the T / M output rotation speed sensor 92 functions as a vehicle speed detection unit that detects the vehicle speed. A sensor that detects the rotational speed of a portion other than the output shaft of the transmission 26 may be used as the vehicle speed sensor. The driving force output from the transmission 26 is transmitted to the wheels 4a and 4b via the shaft 32 and the like. As a result, the vehicle runs. The rotation speed of the input shaft of the transmission 26 is detected by the T / M input rotation speed sensor 93. The detection signal from the T / M input rotation speed sensor 93 is input to the control unit 10.

A part of the driving force of the engine 21 is transmitted to the work equipment pump 13 and the steering pump 12 via the PTO shaft 33. The work equipment pump 13 and the steering pump 12 are hydraulic pumps driven by a driving force from the engine 21. The hydraulic oil discharged from the work machine pump 13 is supplied to the lift cylinders 14a and 14b and the bucket cylinder 15 via the work machine control valve 34. Further, the hydraulic oil discharged from the steering pump 12 is supplied to the steering cylinders 11a and 11b via the steering control valve 35. In this way, the working machine 3 is driven by a part of the driving force from the engine 21.

The pressure of the hydraulic oil discharged from the work equipment pump 13 is detected by the first oil pressure sensor 94. The pressure of the hydraulic oil supplied to the lift cylinders 14a and 14b is detected by the second oil pressure sensor 95. Specifically, the second oil pressure sensor 95 detects the oil pressure in the cylinder bottom chamber to which hydraulic oil is supplied when the lift cylinders 14a and 14b are extended. The pressure of the hydraulic oil supplied to the bucket cylinder 15 is detected by the third oil pressure sensor 96. Specifically, the third oil pressure sensor 96 detects the oil pressure in the cylinder bottom chamber to which hydraulic oil is supplied when the bucket cylinder 15 is extended. The pressure of the hydraulic oil discharged from the steering pump 12 is detected by the fourth oil pressure sensor 97. The detection signals from the first to fourth oil pressure sensors 94-97 are input to the control unit 10.

The operation unit 8 is operated by an operator. The operation unit 8 includes an accelerator operation member 81a, an accelerator operation detection device 81b, a steering operation member 82a, a steering operation detection device 82b, a boom operation member 83a, a boom operation detection device 83b, a bucket operation member 84a, a bucket operation detection device 84b, and a speed change. It has an operation member 85a, a shift operation detection device 85b, an FR operation member 86a, an FR operation detection device 86b, and the like.

The accelerator operating member 81a is, for example, an accelerator pedal, and is operated to set a target rotation speed of the engine 21. The accelerator operation detection device 81b detects the operation amount of the accelerator operation member 81a. The accelerator operation detection device 81b outputs a detection signal to the control unit 10.

The steering operation member 82a is, for example, a steering handle, and is operated to operate the traveling direction of the vehicle. The steering operation detection device 82b detects the position of the steering operation member 82a and outputs a detection signal to the control unit 10. The control unit 10 controls the steering control valve 35 based on the detection signal from the steering operation detection device 82b. As a result, the steering cylinders 11a and 11b expand and contract, and the traveling direction of the vehicle is changed.

The boom operating member 83a and the bucket operating member 84a are, for example, operating levers, which are operated to operate the working machine 3. Specifically, the boom operating member 83a is operated to operate the boom 6. The bucket operating member 84a is operated to operate the bucket 7. The boom operation detection device 83b detects the position of the boom operation member 83a. The bucket operation detection device 84b detects the position of the bucket operation member 84a. The boom operation detection device 83b and the bucket operation detection device 84b output the detection signal to the control unit 10. The control unit 10 controls the work equipment control valve 34 based on the detection signals from the boom operation detection device 83b and the bucket operation detection device 84b. As a result, the lift cylinders 14a and 14b and the bucket cylinder 15 expand and contract, and the boom 6 and the bucket 7 operate. Further, the working machine 3 is provided with a boom angle detecting device 98 for detecting the boom angle. The boom angle is sandwiched between a line connecting the rotation support center of the front body portion 2a and the boom 6, the rotation support center of the boom 6 and the bucket 7, and a line connecting the axis centers of the front and rear wheels 4a and 4b. The angle. The boom angle detection device 98 outputs a detection signal to the control unit 10. The control unit 10 calculates the height position of the bucket 7 based on the boom angle detected by the boom angle detecting device 98. Therefore, the boom angle detection device 98 functions as a height position detection unit that detects the height of the bucket 7.

The speed change operating member 85a is, for example, a shift lever. The speed change operating member 85a is operated to set the upper limit of the speed stage when the automatic shift mode is selected. For example, when the speed change operation member 85a is set to the third speed, the transmission 26 is switched between the second speed and the third speed, and cannot be switched to the fourth speed. Further, when the manual shift mode is selected, the transmission 26 is switched to the speed stage set by the shift operation member 85a. The shift operation detection device 85b detects the position of the shift operation member 85a. The shift operation detection device 85b outputs a detection signal to the control unit 10. The control unit 10 controls the shift of the transmission 26 based on the detection signal from the shift operation detection device 85b. The automatic shift mode and the manual shift mode are switched by the operator by a shift mode switching member (not shown).

The FR operating member 86a is operated to switch between forward and reverse of the vehicle. The FR operating member 86a can be switched to forward, neutral, and reverse positions. The FR operation detection device 86b detects the position of the FR operation member 86a. The FR operation detection device 86b outputs a detection signal to the control unit 10. The control unit 10 controls the clutch control valve 31 based on the detection signal from the FR operation detection device 86b. As a result, the forward clutch CF and the reverse clutch CR are controlled, and the forward, reverse, and neutral states of the vehicle are switched.

The control unit 10 is generally realized by reading various programs by a CPU (Central Processing Unit).

The control unit 10 is connected to the memory 60, and the memory 60 functions as a work memory and stores various programs for realizing the function of the wheel loader.

The control unit 10 sends an engine command signal to the governor 25 so that a target rotation speed corresponding to the accelerator operation amount can be obtained.

The control unit 10 is connected to the camera 40 and receives input of image data captured by the camera 40. The camera 40 is provided on the roof side of the driver's cab 5 of the wheel loader 1.

The control unit 10 is also connected to the display 50. The display 50 can display the operation guidance to the operator, which will be described later. Further, the display 50 is provided with an input device such as a touch panel, and it is possible to instruct a command to the control unit 10 by operating the touch panel.

<Example of excavation pattern>
As an example, the wheel loader of the first embodiment executes an excavation operation in an excavation posture according to an object to be excavated such as earth and sand.

FIG. 3 is a diagram illustrating an excavation operation of a working machine based on the first embodiment.

As shown in FIG. 3A, as an example, a case where the bucket 7 executes the excavation operation according to the bucket locus L1 with respect to the excavation object P as the excavation posture of the work machine 3 is shown.

Specifically, an excavation operation in which the cutting edge of the bucket 7 bites into the excavation object P shallowly and then raises the bucket 7 is shown (also referred to as a shallow excavation pattern).

As shown in FIG. 3B, as an example, a case where the bucket 7 executes the excavation operation according to the bucket locus L2 with respect to the excavation object P as the excavation posture of the work machine 3 is shown.

Specifically, an excavation operation in which the cutting edge of the bucket 7 deeply bites into the excavation object P and then raises the bucket 7 is shown (also referred to as a deep excavation pattern).

<Soil example>
FIG. 4 is a diagram illustrating an example of an excavation object having a different soil quality based on the first embodiment.

As shown in FIG. 4, here, as the soil quality, the soil quality of two types of excavation objects P1 and P2 having different soil particle sizes is shown.

Generally, it is possible to estimate the grain size of soil by measuring the angle of repose when the excavated objects are piled up (accumulated). Specifically, the smaller the particle size, the smaller the angle of repose, and the larger the particle size, the larger the angle of repose.

In this example, the angle of repose α of the excavation object P1 and the angle of repose β of the excavation object P2 are shown as an example, and the angle of repose α of the excavation object P1 is the angle of repose β of the excavation object P2. Greater than is shown.

Therefore, for example, by measuring the angle of repose, it is possible to determine that the particle size of the excavation object P1 is larger than the particle size of the excavation object P2 as soil information.

For example, it can be determined that the excavation object P1 is a pebble-like soil having a large particle size, and the excavation object P2 is a sand-like soil having a small particle size.

In the present embodiment, the excavation operation is controlled based on the soil quality information of the excavation target. Specifically, when the soil quality of the excavation object is pebble-like, the shallow excavation pattern is more efficient than the deep excavation pattern. The larger the particle size, the greater the penetration resistance. Therefore, when penetrating the bucket 7, a driving force for driving the vehicle is required as compared with the case where the particle size is small, and the driving force (lifting force) for raising the work equipment is also sufficient. This is because it is necessary for. Further, since the angle of repose is large in the case of an excavation object having a large particle size, the amount flowing into the bucket 7 is larger than that in the case of an excavation object having a small particle size even in a shallow excavation pattern that does not penetrate deeply. Because it becomes.

On the contrary, when the soil quality of the excavation object is sandy, the deep excavation pattern is more efficient than the shallow excavation pattern. Since the smaller the particle size, the smaller the penetration resistance, the driving force for driving the vehicle can be reduced as compared with the case where the particle size is large when penetrating the bucket 7, and the driving force (lifting force) for raising the work equipment can be reduced. ) Can also be reduced. Further, in the case of an excavation object having a small particle size, the angle of repose becomes small, so that it is necessary to penetrate deeply in order to secure the amount of flow into the bucket 7.

<Control system configuration>
FIG. 5 is a diagram illustrating a functional configuration of the control unit 10 of the wheel loader 1 based on the first embodiment.

As shown in FIG. 5, the control unit 10 is connected to the camera 40 and the memory 60.

The control unit 10 includes a soil information acquisition unit 100 and an excavation control unit 110.

The soil information acquisition unit 100 includes a camera image acquisition unit 102, an image analysis unit 104, and a soil quality determination unit 106.

The camera image acquisition unit 102 acquires image data acquired from the camera 40. Specifically, the camera 40 images the excavated object. The camera image acquisition unit 102 acquires image data of the excavation object captured by the camera 40.

The image analysis unit 104 analyzes the image data acquired by the camera image acquisition unit 102. Specifically, the image analysis unit 104 measures the angle of repose based on the image data of the excavated object.

The soil quality determination unit 106 determines the soil quality based on the analysis result of the image data and outputs the soil quality information to the excavation control unit 110. Specifically, the soil quality determination unit 106 determines the soil quality based on the measured angle of repose, which is the analysis result of the image analysis unit 104. For example, the soil quality determination unit 106 determines that the particle size of the soil quality of the excavated object is large when the measured angle of repose is equal to or greater than a predetermined threshold value. On the other hand, when the measured angle of repose is less than a predetermined threshold value, the soil quality determination unit 106 determines that the particle size of the soil quality of the excavated object is small. The predetermined threshold value can be appropriately redesigned by those skilled in the art.

The excavation control unit 110 controls the excavation operation based on the soil information acquired by the soil information acquisition unit 100.

The memory 60 stores the data MD1 for executing the excavation operation (shallow excavation pattern) of the bucket locus L1 and the data MD2 for executing the excavation operation (deep excavation pattern) of the bucket locus L2.

The data MD1 and MD2 are data including various parameters for the wheel loader 1 to automatically control the excavation operation of the bucket 7 for the excavation target.

Specifically, a parameter that defines the speed of the vehicle when penetrating the bucket 7 of the work machine 3 for executing the excavation operation according to each excavation posture for the object to be excavated, and a driving force that raises the work machine ( It includes data such as parameters related to the pressure of the hydraulic oil for securing (lifting force), parameters related to the driving force for driving the vehicle and the driving force for raising the working machine (lifting force), and parameters related to the engine speed for securing the driving force (lifting force). As an example, it is possible to use the data calculated in advance by simulation. Further, the data corrected by calibration when actually driven may be used.

When the excavation control unit 110 receives the determination information that the particle size of the excavation object is small as the soil quality information from the soil quality determination unit 106, the excavation operation (deep excavation) according to the excavation posture of the bucket locus L2 based on the data MD2. Excavation pattern) is executed.

On the other hand, when the excavation control unit 110 receives the determination information that the particle size of the excavation object is large as the soil quality information from the soil quality determination unit 106, the excavation operation according to the excavation posture of the bucket locus L1 based on the data MD1. Execute (shallow digging pattern).

By this processing, the wheel loader based on the first embodiment can execute an efficient excavation operation by executing an excavation operation according to the excavation posture of the work machine based on the soil quality information of the excavation object.

The case where the soil information acquisition unit 100 in this example acquires the soil information of the excavated object based on the imaged data from the camera 40 has been described, but it is not particularly limited to the imaged data from the camera 40 and other data. Soil information may be obtained based on. For example, the wheel loader may acquire the soil information by accepting the input of the soil information of the excavation target from the outside by downloading from an external server connected via the network.

In this example, the case where the soil information is classified according to the particle size and the excavation operation is performed according to the excavation posture has been described, but the soil information is further based on not only the particle size but also the type of grain and the like. It is also possible to classify into a plurality of types and execute the excavation operation according to the excavation posture.

(Modification example)
In the above-described first embodiment, the case where the soil information acquisition unit 100 acquires the soil information (particle size) of the excavated object based on the image data acquired from the camera 40 has been described, but the soil quality is not limited to this. It is also possible to estimate the water content as information.

<Control system configuration>
FIG. 6 is a diagram illustrating a functional configuration of the control unit 10A of the wheel loader 1 based on the modified example of the first embodiment.

As shown in FIG. 6, the control unit 10A is connected to the environment sensor 42 and the memory 60.

The environment sensor 42 is a sensor that detects surrounding environment data. Specifically, the environmental sensor 42 detects at least one such as temperature and humidity as ambient environmental data.

The control unit 10A includes a soil information acquisition unit 100A and an excavation control unit 110.

The soil information acquisition unit 100A includes a water content estimation unit 101 and a soil quality determination unit 105.

The water content estimation unit 101 acquires the environmental data acquired from the environmental sensor 42 and estimates the water content of the excavated object. Specifically, the water content of the excavation object is estimated based on the environmental data (at least one of temperature and humidity) acquired from the environmental sensor 42.

The soil quality determination unit 105 determines the soil quality based on the estimated water content of the excavation object and outputs it to the excavation control unit 110 as soil quality information. For example, the soil quality determination unit 105 compares the estimated water content with a predetermined threshold value to determine the magnitude of the water content of the excavated object. Then, the determination result is output to the excavation control unit 110 as determination information. The predetermined threshold value can be appropriately redesigned by those skilled in the art.

The excavation control unit 110 controls the excavation operation based on the soil information acquired by the soil information acquisition unit 100A.

The memory 60 stores the data MD1 for executing the excavation operation (shallow excavation pattern) of the bucket locus L1 and the data MD2 for executing the excavation operation (deep excavation pattern) of the bucket locus L2.

When the excavation control unit 110 receives the determination information that the water content of the excavation object is small as the soil quality information from the soil quality determination unit 105, the excavation operation (deep moat) according to the excavation posture of the bucket locus L2 based on the data MD2. Excavation pattern) is executed.

On the other hand, when the excavation control unit 110 receives the determination information that the water content of the excavation object is large as the soil quality information from the soil quality determination unit 105, the excavation operation according to the excavation posture of the bucket locus L1 based on the data MD1. Execute (shallow digging pattern).

Similar to the case of the grain size of the soil of the excavation object, when the water content is large, the shallow excavation pattern is more efficient than the deep excavation pattern. The larger the amount of water, the greater the penetration resistance. Therefore, when penetrating the bucket 7, a driving force for driving the vehicle is required as compared with the case where the amount of water is small, and the driving force (lifting force) for raising the work equipment is also sufficient. This is because it is necessary for.

By this process, the wheel loader based on the first embodiment can execute an efficient excavation operation based on the soil quality information of the excavation object.

The soil information acquisition unit 100A in this example has described the case where the soil information of the excavated object is acquired based on the environmental data from the environmental sensor, but the soil quality is not limited to the environmental data and is based on other data. Information may be obtained. For example, the wheel loader may acquire the soil information by accepting the input of the soil information of the excavation target from the outside by downloading from an external server connected via the network. Alternatively, a part of the excavation object may be sampled and the water content may be measured to obtain soil quality information.

In the above embodiment, the excavation operation with two types of excavation postures has been described as the bucket locus, but the excavation operation is not particularly limited to this, and it is also possible to execute the excavation operation with a plurality of types of excavation postures. ..

(Embodiment 2)
In the above-described first embodiment, a method in which the wheel loader 1 controls the excavation operation of the bucket locus based on the soil quality information has been described.

On the other hand, the wheel loader 1 may not only control the excavation operation but also display the excavation operation based on the soil information as work guidance for the operator.

<Control system configuration>
FIG. 7 is a diagram illustrating a functional configuration of the control unit 10B of the wheel loader 1 based on the second embodiment.

As shown in FIG. 7, the control unit 10B is connected to the camera 40, the display 50, and the memory 60A.

The control unit 10B includes a soil information acquisition unit 100 and an excavation operation guidance control unit 111.

The soil information acquisition unit 100 includes a camera image acquisition unit 102, an image analysis unit 104, and a soil quality determination unit 106.

The camera image acquisition unit 102 acquires image data acquired from the camera 40. Specifically, the camera 40 images the excavated object. The camera image acquisition unit 102 acquires image data of the excavation object captured by the camera 40.

The image analysis unit 104 analyzes the image data acquired by the camera image acquisition unit 102. Specifically, the image analysis unit 104 measures the angle of repose based on the image data of the excavated object.

The soil quality determination unit 106 determines the soil quality based on the analysis result of the image data and outputs the soil quality information to the excavation control unit 110. Specifically, the soil quality determination unit 106 determines the soil quality based on the measured angle of repose, which is the analysis result of the image analysis unit 104. For example, the soil quality determination unit 106 determines that the particle size of the soil quality of the excavated object is large when the measured angle of repose is equal to or greater than a predetermined threshold value. On the other hand, when the measured angle of repose is less than a predetermined threshold value, the soil quality determination unit 106 determines that the particle size of the soil quality of the excavated object is small. The predetermined threshold value can be appropriately redesigned by those skilled in the art.

The excavation operation guidance control unit 111 displays the excavation operation operation guidance on the display 50 based on the soil quality information acquired by the soil information acquisition unit 100.

The memory 60 includes data MGD1 for displaying operation guidance for realizing the excavation operation (shallow excavation pattern) of the bucket locus L1 and an operation for realizing the excavation operation (deep excavation pattern) of the bucket locus L2. Stores data MGD2 for displaying guidance.

When the excavation operation guidance control unit 111 receives the determination information that the particle size of the excavation object is large as the soil quality information from the soil quality determination unit 106, the excavation operation (shallow moat) of the bucket locus L1 is based on the data MGD1. The operation guidance for executing the excavation pattern) is displayed on the display 50.

FIG. 8 is a diagram illustrating a case where the operation guidance is displayed on the display 50 based on the soil quality information based on the second embodiment.

As shown in FIG. 8, here, the operation guidance for realizing the excavation operation (shallow excavation pattern) of the bucket locus L1 is displayed. As an example, it is assumed that the bucket locus L1 of the bucket 7 is displayed as an animation.

By displaying the operation guidance, the operator can grasp the efficient excavation operation for the excavation object. As a result, the operator can efficiently operate the operation unit 8.

As the operation guidance, in this example, the case of displaying the bucket locus of the bucket 7 has been described as an example, but the present invention is not limited to this, and for example, guidance regarding the operation amount of the boom operation member 83a and the bucket operation member 84a is provided. It is also possible to display or display guidance on the vehicle speed when the bucket penetrates the excavated object.

By this process, the wheel loader based on the second embodiment can realize an efficient excavation operation based on the soil quality information of the excavation target.

In the above embodiment, the guidance of the excavation operation by two types of excavation postures has been described as the bucket locus, but the guidance is not particularly limited to this, and the guidance of the excavation operation by a plurality of types of excavation postures is to be executed. Is also possible.

(Embodiment 3)
In the above-described first embodiment, the method in which the wheel loader 1 controls the excavation operation of the bucket locus based on the soil quality information has been described, but other information can be used together with the soil quality information.

In the third embodiment, a method of efficiently controlling the excavation operation based on the soil information and the form of the bucket will be described.

FIG. 9 is a diagram illustrating a form of a bucket based on the third embodiment.

As shown in FIGS. 9A and 9B, buckets 7A and 7B having a plurality of forms according to the intended use are provided.

In this example, two buckets 7A and 7B having different sizes are shown as an example. It is assumed that the bucket 7B has a larger size and a larger capacity than the bucket 7A.

<Control system configuration>
FIG. 10 is a diagram illustrating a functional configuration of the control unit 10C of the wheel loader 1 based on the third embodiment.

As shown in FIG. 10, the control unit 10C is connected to the camera 40 and the memory 60.

The control unit 10C includes a soil information acquisition unit 100, a bucket information acquisition unit 100C, and an excavation control unit 110.

Since the soil information acquisition unit 100 is the same as that described with reference to FIG. 7, the detailed description thereof will not be repeated.

The bucket information acquisition unit 100C includes a camera image acquisition unit 102C, an image analysis unit 104C, and a bucket determination unit 106C.

The camera image acquisition unit 102C acquires image data acquired from the camera 40. Specifically, the camera 40 takes an image of the bucket 7 provided in the working machine 3. The camera image acquisition unit 102C acquires the image data of the bucket 7 captured by the camera 40.

The image analysis unit 104C analyzes the image data acquired by the camera image acquisition unit 102. Specifically, the image analysis unit 104C measures the shape of the bucket based on the image data of the bucket 7. Specifically, the image analysis unit 104C identifies the bucket in the image data by pattern matching, and measures the form from the identified bucket. Alternatively, the bucket product number information may be acquired from the bucket form identified by pattern matching, and the bucket dimensional information such as length and height may be acquired based on the bucket product number information.

The bucket determination unit 106C determines the bucket based on the analysis result of the image data and outputs it to the excavation control unit 110 as morphological information. Specifically, the bucket determination unit 106C determines the size of the bucket based on the measured bucket form, which is the analysis result of the image analysis unit 104C. For example, the bucket determination unit 106C determines that the bucket is large when the measured shape of the bucket is a predetermined size or larger. On the other hand, the bucket determination unit 106C determines that the bucket is small when the measured shape of the bucket is less than a predetermined size. The predetermined size can be appropriately redesigned by those skilled in the art.

The excavation control unit 110 controls the excavation operation based on the morphological information acquired by the bucket information acquisition unit 100C.

The memory 60 stores the excavation data 62 and the correction data 64.

The excavation data includes parameters and work equipment that specify the speed of the vehicle when penetrating the bucket 7 of the work equipment 3 for executing the excavation operation in an efficient excavation posture based on the soil quality information for the excavation object. Parameters related to hydraulic oil pressure to secure the driving force to raise (lift force), parameters related to the driving force to drive the vehicle and the engine speed to secure the driving force to raise the work equipment (lift force), etc. Includes data for. As an example, it is possible to use the data calculated in advance by simulation. Further, the data corrected by calibration when actually driven may be used. At this point, the data MD1 for executing the excavation operation (shallow excavation pattern) of the bucket locus L1 and the data MD2 for executing the excavation operation (deep excavation pattern) of the bucket locus L2 are included. May be good.

The correction data 64 is data necessary for correcting the excavation operation based on the shape of the bucket. Specifically, when the shape of the bucket is large based on the correction data, the excavation operation is corrected to the shallow excavation pattern side. On the other hand, when the shape of the bucket is small, the excavation operation is corrected to the deep excavation pattern side. For example, it can be corrected by adjusting the coefficients that weight various parameters (velocity, pressure, etc.).

The excavation control unit 110 determines the excavation operation with an efficient excavation posture based on the soil quality information from the soil quality determination unit 106. Then, the excavation posture is corrected based on the morphological information from the bucket determination unit 106C. Specifically, when the determination information that the shape of the bucket is small is received, the bucket locus is corrected so as to be on the deep excavation pattern side. On the other hand, when the excavation control unit 110 receives the determination information that the shape of the bucket is large as the form information from the bucket determination unit 106C, the excavation control unit 110 corrects the bucket locus so that it is on the shallow excavation pattern side.

When the bucket is large as a form of the bucket, it is possible to perform more efficient excavation operation by correcting it to the shallow excavation pattern side instead of the deep excavation pattern side. On the other hand, when the bucket is small as a form of the bucket, it is possible to perform more efficient excavation operation by correcting it to the deep excavation pattern side instead of the shallow excavation pattern side. The larger the bucket, the greater the penetration resistance. Therefore, when penetrating the bucket 7, a driving force for driving the vehicle is required as compared with the case where the bucket is small, and a sufficient driving force (lifting force) for raising the work equipment is also required. Because it becomes.

By this process, the wheel loader based on the third embodiment can execute an efficient excavation operation based on the soil quality information and the form information of the bucket.

FIG. 11 is a diagram illustrating an excavation operation (excavation pattern) based on the third embodiment.

Three types of bucket loci are shown in FIGS. 11A to 11C.

As an example, FIG. 11C shows, as an example, a case where the excavation operation is executed for the excavation target P according to the bucket locus L5 determined based on the soil quality information.

11 (A) and 11 (B) show the excavation posture corrected for the bucket locus L5 shown in FIG. 11 (C).

FIG. 11A shows, for example, a case where the excavation operation is corrected when the bucket is large.

Specifically, an excavation operation is shown in which the cutting edge of the bucket 7 bites into the excavation object P to some extent (shallower than FIG. 11C) and then the bucket 7 is raised according to the bucket locus L3.

FIG. 11B shows, as an example, a case where the excavation operation is corrected when the bucket is small.

Specifically, an excavation operation is shown in which the cutting edge of the bucket 7 deeply bites into the excavation object P (deeper than FIG. 11C) and then the bucket 7 is raised according to the bucket locus L4.

By adjusting the excavation operation as described above, it is possible to execute a more efficient excavation operation.

The same applies to the first and second modifications of the first embodiment and the subsequent embodiments.

The case where the bucket information acquisition unit 100C in this example acquires the shape of the bucket based on the image data acquired from the camera 40 has been described, but it is not particularly limited to the image data, and the shape of the bucket is based on other data. May be obtained. For example, the wheel loader may acquire the form information by receiving an input regarding the form of the bucket from the outside by downloading from an external server connected via the network. Alternatively, the bucket form information may be acquired by accepting the information input regarding the bucket form by the operator.

FIG. 12 is a flow diagram illustrating a processing flow of the control unit 10C of the wheel loader 1 based on the third embodiment.

As shown in FIG. 12, the control unit 10C determines the soil quality (step S0). Specifically, the soil quality determination unit 106 determines the soil quality based on the analysis result of the image data as described above. For example, the soil quality determination unit 106 determines that the particle size of the soil quality of the excavated object is large when the measured angle of repose is equal to or greater than a predetermined threshold value.

Next, the control unit 10C determines the excavation operation (step S2). The excavation control unit 110 determines the excavation operation in an efficient excavation posture by utilizing the excavation data 62 stored in the memory 60 based on the soil quality information.

Next, the control unit 10C determines the bucket (step S4). The bucket determination unit 106C determines the bucket based on the analysis result of the image data. Specifically, the bucket determination unit 106C determines the size of the bucket based on the measured bucket form, which is the analysis result of the image analysis unit 104C.

Next, the control unit 10C determines whether or not the bucket is large (step S6). For example, the bucket determination unit 106C determines whether or not the measured shape of the bucket is a predetermined size or larger.

Next, when the control unit 10C determines that the bucket is large (YES in step S6), the control unit 10C corrects the excavation operation (shallow excavation pattern side) (step S8). Specifically, when the bucket determination unit 106C determines that the measured shape of the bucket is a predetermined size or larger, the bucket determination unit 106C outputs the information to the excavation control unit 110. The excavation control unit 110 corrects the bucket locus so that it is on the shallow excavation pattern side based on the correction data 64.

Then, the process ends (end).

Next, when the control unit 10C determines that the bucket is not large (NO in step S6), the control unit 10C determines whether or not the bucket is small (step S10). The bucket determination unit 106C determines whether or not the measured bucket form is smaller than a predetermined size.

Next, when the control unit 10C determines that the bucket is small (YES in step S10), the control unit 10C corrects the excavation operation (deep excavation pattern side) (step S12). Specifically, when the bucket determination unit 106C determines that the measured bucket shape is less than a predetermined size, the bucket determination unit 106C outputs the information to the excavation control unit 110. The excavation control unit 110 corrects the bucket locus so that it is on the deep excavation pattern side based on the correction data 64.

Then, the process ends (end).

Next, when the control unit 10C determines that the bucket is not small (NO in step S10), the control unit 10C ends the process without changing the excavation operation (end).

By this process, the wheel loader based on the third embodiment can perform an efficient excavation operation based on the soil information for the excavation object and the form of the bucket.

(Embodiment 4)
<Control system configuration>
FIG. 13 is a diagram illustrating a functional configuration of the control unit 10 # of the wheel loader 1 based on the fourth embodiment.

As shown in FIG. 13, the control unit 10 # is connected to the camera 40, the strain sensor 70, and the memory 60. The strain sensor 70 shall be provided on the mounting pin of the bucket 7.

As the strain sensor 70, a strain gauge can be provided as an example, and the excavation reaction force with respect to the excavation object is detected.

The control unit 10 # includes a soil information acquisition unit 100, a load calculation unit 108, a load determination unit 109, and an excavation control unit 110.

Since the soil information acquisition unit 100 is the same as that described with reference to FIG. 7, the detailed description thereof will not be repeated.

The load calculation unit 108 calculates the workload based on the data (strain amount) from the strain sensor 70.

The load determination unit 109 determines the load level based on the work load calculated by the load calculation unit 108.

The excavation control unit 110 controls the excavation operation based on the load level determined by the load determination unit 109.

The memory 60 stores the excavation data 62 and the correction data 65.

The excavation data includes parameters and work equipment that specify the speed of the vehicle when penetrating the bucket 7 of the work equipment 3 for executing the excavation operation in an efficient excavation posture based on the soil quality information for the excavation object. Parameters related to hydraulic oil pressure to secure the driving force to raise (lift force), parameters related to the driving force to drive the vehicle and the engine speed to secure the driving force to raise the work equipment (lift force), etc. Includes data for. As an example, it is possible to use the data calculated in advance by simulation. Further, the data corrected by calibration when actually driven may be used. At this point, the data MD1 for executing the excavation operation (shallow excavation pattern) of the bucket locus L1 and the data MD2 for executing the excavation operation (deep excavation pattern) of the bucket locus L2 are included. May be good.

The correction data 65 is data necessary for correcting the excavation operation based on the level of the workload. Specifically, when the workload level is large based on the correction data, the excavation operation is corrected to the shallow excavation pattern side. On the other hand, when the workload level is small, the excavation operation is corrected to the deep excavation pattern side. For example, it can be corrected by adjusting the coefficients that weight various parameters (velocity, pressure, etc.).

The excavation control unit 110 determines the excavation operation with an efficient excavation posture based on the soil quality information from the soil quality determination unit 106. Then, the excavation posture is corrected based on the load information from the load determination unit 109. Specifically, when the determination information that the workload level is small is received, the bucket locus is corrected so as to be on the deep excavation pattern side. On the other hand, when the excavation control unit 110 receives the determination information that the workload level is large based on the load information from the load determination unit 109, the excavation control unit 110 corrects the bucket locus so that it is on the shallow excavation pattern side. ..

When the workload level is large, it is better to correct it to the shallow excavation pattern side instead of the deep excavation pattern side for more efficient excavation operation. On the other hand, when the workload level is small, it is more efficient to correct the excavation operation to the deep excavation pattern side instead of the shallow excavation pattern side. This is because the larger the work load, the more the driving force (lifting force) for raising the working machine is required.

FIG. 14 is a flow diagram illustrating a processing flow of the control unit 10 # of the wheel loader 1 based on the fourth embodiment.

As shown in FIG. 14, the control unit 10 # determines the soil quality (step S0). Specifically, the soil quality determination unit 106 determines the soil quality based on the analysis result of the image data as described above. For example, the soil quality determination unit 106 determines that the particle size of the soil quality of the excavated object is large when the measured angle of repose is equal to or greater than a predetermined threshold value.

Next, the control unit 10C # determines the excavation operation (step S2). The excavation control unit 110 determines the excavation operation in an efficient excavation posture by utilizing the excavation data 62 stored in the memory 60 based on the soil quality information.

Next, the control unit 10 # calculates the excavation load (step S12). Specifically, the load calculation unit 108 calculates the excavation load based on the data (strain amount) from the strain sensor 70.

Next, the control unit 10 # determines whether or not the excavation load is large (step S14). Specifically, the load determination unit 109 determines the level of the excavation load based on the excavation load calculated by the load calculation unit 108. For example, the load calculation unit 108 determines whether or not the calculated excavation load is within a predetermined range. When the calculated excavation load exceeds a predetermined range, the load calculation unit 108 determines that the level of the excavation load is large. Further, the load calculation unit 108 determines that the level of the excavation load is small when the calculated excavation load is lower than the predetermined range. Further, when the load calculation unit 108 determines that the calculated excavation load is within a predetermined range, the load calculation unit 108 determines that the level of the excavation load is normal. The design of the predetermined range can be changed as appropriate by those skilled in the art.

In step S14, when the control unit 10 # determines that the level of the excavation load is large (YES in step S14), the control unit 10 # corrects the excavation operation (shallow excavation pattern side) (step S16). Specifically, when the excavation control unit 110 determines that the excavation load level is large as a result of the determination of the load determination unit 109, the excavation control unit 110 is set to the shallow excavation pattern side as the bucket locus based on the correction data 65. to correct.

Then, the process ends (end).

Next, in step S14, when the control unit 10 # determines that the excavation load level is not large (NO in step S14), the control unit 10 # determines whether or not the excavation load level is small (step S18).

In step S18, when the control unit 10 # determines that the level of the excavation load is small (YES in step S18), the control unit 10 # corrects the excavation operation (deep excavation pattern side). Specifically, when the excavation control unit 110 determines that the excavation load level is small as a result of the determination of the load determination unit 109, the excavation control unit 110 is set to the deep excavation pattern side as a bucket locus based on the correction data 65. to correct.

Then, the process ends (end).

In step S18, when the control unit 10 # determines that the level of the excavation load is not small (NO in step S18), the control unit 10 # ends the process without changing the excavation operation (end).

By this process, the wheel loader based on the fourth embodiment can execute an efficient excavation operation based on the soil information and the excavation load for the excavation target.

In this example, the case where the excavation load is calculated based on the data (strain amount) from the strain sensor 70 has been described, but the excavation load is not limited to this, and the excavation load is calculated based on the weight of the earth and sand excavated in the bucket 7. It may be calculated. It is also possible to calculate the work load based on the detection result of the pressure sensor by using the pressure sensor provided in the cylinder of the work machine. There is no limitation on the method of calculating the excavation load.

The calculation of the excavation load is continuously executed during the excavation operation. The excavation control unit 110 can correct the bucket locus based on the calculated excavation load that is updated from time to time and execute an efficient excavation operation.

(Embodiment 5)
In the above embodiment, the case where the efficient excavation operation is executed using the soil information has been described, but the case where the efficient excavation operation is executed without using the soil information will be described.

<Control system configuration>
FIG. 15 is a diagram illustrating a functional configuration of the control unit 10P of the wheel loader 1 based on the fifth embodiment.

As shown in FIG. 15, the control unit 10P is connected to the camera 40 and the memory 60.

The control unit 10P includes a bucket information acquisition unit 100C and an excavation control unit 110.

Since the bucket information acquisition unit 100C is the same as that described with reference to FIG. 10, the details thereof will not be repeated.

The excavation control unit 110 controls the excavation operation based on the morphological information acquired by the bucket information acquisition unit 100C.

The memory 60 stores the excavation data 62 and the correction data 64.

The excavation data is a parameter and a work machine that specify the speed of the vehicle when penetrating the bucket 7 of the work machine 3 for executing the excavation operation in an efficient excavation posture based on the bucket information for the excavation object. Parameters related to hydraulic oil pressure to secure the driving force to raise (lift force), parameters related to the driving force to drive the vehicle and the engine speed to secure the driving force to raise the work equipment (lift force), etc. Includes data for. As an example, it is possible to use the data calculated in advance by simulation. Further, the data corrected by calibration when actually driven may be used. At this point, the data MD1 for executing the excavation operation (shallow excavation pattern) of the bucket locus L1 and the data MD2 for executing the excavation operation (deep excavation pattern) of the bucket locus L2 are included. May be good.

The correction data 64 is data necessary for correcting the excavation operation based on the shape of the bucket. Specifically, when the shape of the bucket is large based on the correction data, the excavation operation is corrected to the shallow excavation pattern side. On the other hand, when the shape of the bucket is small, the excavation operation is corrected to the deep excavation pattern side. For example, it can be corrected by adjusting the coefficients that weight various parameters (velocity, pressure, etc.).

The excavation control unit 110 controls the excavation operation based on the bucket information acquired by the bucket information acquisition unit 100C. Specifically, the excavation posture is corrected based on the morphological information from the bucket determination unit 106C. When the judgment information that the shape of the bucket is small is received, the bucket locus is corrected so as to be on the deep excavation pattern side. On the other hand, when the excavation control unit 110 receives the determination information that the shape of the bucket is large as the form information from the bucket determination unit 106C, the excavation control unit 110 corrects the bucket locus so that it is on the shallow excavation pattern side.

When the bucket is large as a form of the bucket, it is possible to perform more efficient excavation operation by correcting it to the shallow excavation pattern side instead of the deep excavation pattern side. On the other hand, when the bucket is small as a form of the bucket, it is possible to perform more efficient excavation operation by correcting it to the deep excavation pattern side instead of the shallow excavation pattern side. The larger the bucket, the greater the penetration resistance. Therefore, when penetrating the bucket 7, a driving force for driving the vehicle is required as compared with the case where the bucket is small, and a sufficient driving force (lifting force) for raising the work equipment is also required. Because it becomes.

By this process, the wheel loader based on the fifth embodiment can execute an efficient excavation operation based on the form information of the bucket.

(Embodiment 6)
In addition, another case of performing an efficient excavation operation without using soil information will be described.

<Control system configuration>
FIG. 16 is a diagram illustrating a functional configuration of the control unit 10Q of the wheel loader 1 based on the sixth embodiment.

As shown in FIG. 16, the control unit 10Q is connected to the camera 40, the strain sensor 70, and the memory 60. The strain sensor 70 shall be provided on the mounting pin of the bucket 7.

As the strain sensor 70, a strain gauge can be provided as an example, and the excavation reaction force with respect to the excavation object is detected.

The control unit 10Q includes a load calculation unit 108, a load determination unit 109, and an excavation control unit 110.

Since the load calculation unit 108 and the load determination unit 109 are the same as those described with reference to FIG. 13, the details thereof will not be repeated.

The excavation control unit 110 controls the excavation operation based on the load level determined by the load determination unit 109.

The memory 60 stores the excavation data 62 and the correction data 65.

The excavation data is a parameter that defines the speed of the vehicle when penetrating the bucket 7 of the work machine 3 for executing the excavation operation in an efficient excavation posture based on the load information for the excavation object, and the work machine. Parameters related to hydraulic oil pressure to secure the driving force to raise (lift force), parameters related to the driving force to drive the vehicle and the engine speed to secure the driving force to raise the work equipment (lift force), etc. Includes data for. As an example, it is possible to use the data calculated in advance by simulation. Further, the data corrected by calibration when actually driven may be used. At this point, the data MD1 for executing the excavation operation (shallow excavation pattern) of the bucket locus L1 and the data MD2 for executing the excavation operation (deep excavation pattern) of the bucket locus L2 are included. May be good.

The correction data 65 is data necessary for correcting the excavation operation based on the level of the workload. Specifically, when the workload level is large based on the correction data, the excavation operation is corrected to the shallow excavation pattern side. On the other hand, when the workload level is small, the excavation operation is corrected to the deep excavation pattern side. For example, it can be corrected by adjusting the coefficients that weight various parameters (velocity, pressure, etc.).

The excavation control unit 110 controls the excavation operation based on the work load information from the load determination unit 109. Specifically, the excavation posture is corrected based on the level of the work load from the load determination unit 109. When the judgment information that the workload level is small is received, the bucket locus is corrected so as to be on the deep excavation pattern side. On the other hand, when the excavation control unit 110 receives the determination information that the workload level is large based on the load information from the load determination unit 109, the excavation control unit 110 corrects the bucket locus so that it is on the shallow excavation pattern side. ..

When the workload level is large, it is better to correct it to the shallow excavation pattern side instead of the deep excavation pattern side for more efficient excavation operation. On the other hand, when the workload level is small, it is more efficient to correct the excavation operation to the deep excavation pattern side instead of the shallow excavation pattern side. This is because the larger the work load, the more the driving force (lifting force) for raising the working machine is required.

By this process, the wheel loader based on the sixth embodiment can perform an efficient excavation operation based on the work load on the excavation object.

Although the embodiments of the present invention have been described above, it should be considered that the embodiments disclosed this time are exemplary in all respects and are not restrictive. The scope of the present invention is indicated by the claims and is intended to include all modifications within the meaning and scope equivalent to the claims.

1 Wheel loader, 2 Body frame, 3 Work equipment, 4a, 4b wheels, 5 Driver's cab, 6 Boom, 7, 7A, 7B bucket, 8 Operation unit, 9 Bell clutch, 10, 10A, 10B, 10C Control unit, 11a , 11b Steering Cylinder, 12 Steering Pump, 13 Work Machine Pump, 14a, 14b Lift Cylinder, 15 Bucket Cylinder, 21 Engine, 22 Traveling Device, 23 Torque Converter Device, 24 Fuel Injection Pump, 26 Transmission, 27 Lockup Clutch, 28 Torque converter, 31 clutch control valve, 32 shaft, 33 axis, 34 work equipment control valve, 35 steering control valve, 40 camera, 42 environment sensor, 50 indicator, 60, 60A memory, 70 distortion sensor, 81a accelerator operating member, 81b accelerator operation detection device, 82a steering operation member, 82b steering operation detection device, 83a boom operation member, 83b boom operation detection device, 84a bucket operation member, 84b bucket operation detection device, 85a shift operation member, 85b shift operation detection device, 86a operation member, 86b operation detection device, 91 engine rotation speed sensor, 92 output rotation speed sensor, 93 input rotation speed sensor, 98 boom angle detection device, 100, 100A soil information acquisition unit, 100C bucket information acquisition unit, 101 water content Estimating unit, 102, 102C camera image acquisition unit, 104, 104C image analysis unit, 105, 106 soil quality determination unit, 106C bucket determination unit, 108 load calculation unit, 109 load determination unit, 110 excavation control unit, 111 excavation operation guidance control Department.

Claims (20)

The body frame including the running body and
A boom that can be rotatably attached to the body frame,
A bucket that can be rotatably attached to the boom,
The acquisition department that acquires soil information regarding the soil quality of the excavated object,
A wheel loader including a control unit that controls the advancement of the traveling body and the rise of the boom based on the soil quality information acquired by the acquisition unit to excavate the excavation object. The acquisition unit acquires moisture information indicating the amount of moisture contained in the excavation object, and obtains moisture information.
The wheel loader according to claim 1, wherein the control unit controls an excavation operation for the excavation object based on the acquired moisture information. The acquisition unit acquires particle size information indicating the particle size of the soil of the excavation object, and obtains the particle size information.
The wheel loader according to claim 1, wherein the control unit controls an excavation operation for the excavation object based on the acquired particle size information. With an additional display
Wherein the control unit displays the operation guidance of the drilling operation for the excavation object by based-out before Symbol bucket soil information acquired by the acquisition unit on the display unit, the wheel loader according to claim 1, wherein. The acquisition unit further acquires morphological information regarding the morphology of the bucket.
The control unit controls the drilling operation by the based-out before Symbol bucket soil information and form information acquired by the acquisition unit, a wheel loader according to claim 1, wherein. Further equipped with a sensor for acquiring the outer shape data of the bucket,
The wheel loader according to claim 5, wherein the acquisition unit acquires morphological information regarding the form of the bucket based on the external shape data from the sensor. A load calculation unit for calculating the excavation load of the bucket with respect to the excavation object is further provided.
The control unit controls the drilling operation for the excavation object by prior Symbol buckets based on the calculation result of the soil information and said load calculating unit acquired by the acquiring unit, a wheel loader according to claim 1, wherein. The load calculation unit, walk distortion amount of the mounting pin of the bucket is calculated excavation load based on the pressure of the sheet Linda wheel loader according to claim 7 wherein. A lift cylinder attached to the vehicle body frame to drive the boom,
A bucket cylinder attached to the vehicle body frame to drive the bucket,
Further provided with a work machine control valve for controlling the supply of hydraulic oil to the lift cylinder and the bucket cylinder.
The wheel loader according to claim 1, wherein the control unit controls the work machine control valve to expand and contract the lift cylinder and the bucket cylinder. The wheel loader according to claim 9, wherein one end of the lift cylinder is attached to the vehicle body frame, the other end is attached to the boom, and the boom is raised by extension of the lift cylinder. The wheel loader according to claim 9 or 10, wherein excavation is performed by extending the bucket cylinder and advancing the traveling body. The bucket cylinder and a bell crank attached to the bucket are further provided, and the bucket cylinder has one end attached to the vehicle body frame and the other end attached to the bell crank, according to any one of claims 9 to 11. The described wheel loader. The vehicle body frame is composed of a front vehicle body portion and a rear vehicle body portion connected to the front vehicle body portion.
The wheel loader according to claim 1, further comprising a pair of steering cylinders extending over the front vehicle body portion and the rear vehicle body portion. 13. The wheel loader according to claim 13, wherein the steering cylinder is extended by operating the steering operating member, and the traveling direction of the traveling body is changed. The wheel loader according to claim 1, wherein the control unit controls a driving force of the traveling body. The wheel loader according to claim 15, wherein the control unit controls a driving force when the bucket penetrates the excavation object by advancing the traveling body. The wheel loader according to claim 16, wherein the control unit changes the driving force when the bucket penetrates the excavation object by advancing the traveling body according to the particle size of the excavation object. The wheel loader according to claim 17, wherein the control unit increases the driving force when the bucket penetrates the excavation object by advancing the traveling body when the particle size of the excavation object is large. The body frame including the running body and
The boom attached to the body frame and
The bucket attached to the boom and
An acquisition unit that acquires morphological information regarding the morphology of the bucket, and
A wheel loader including a control unit that controls the advancement of the traveling body and the rise of the boom based on the form information acquired by the acquisition unit to excavate an excavation object. The body frame including the running body and
The boom attached to the body frame and
The bucket attached to the boom and
A load calculation unit that calculates the excavation load of the bucket for the excavation target,
A wheel loader including a control unit that controls the advancement of the traveling body and the rise of the boom based on the calculation result of the load calculation unit to excavate the excavation object.

Images