KR101736507B1 - Wheel Loader System based on Hydraulic Joystick and Method for Loading Process Automation thereof - Google Patents

Abstract

The wheel loader system defines a motion pattern for each working condition that varies the rising and the turning of the working device by combining the four factors of the rising amount, the turning amount, the rising period, and the turning period of the working device for a plurality of working conditions. The above-described wheel loader system directly operates the work device via the shuttle valve when the hydraulic joystick input occurs. When the automatic operation of the work device is set without generating the hydraulic joystick input, the wheel loader system automatically generates an operation command for implementing the operation pattern matching the operation condition selected by the operator, And controls the movement of the work unit to perform a loading operation using the work unit.
According to this, it is possible to improve the work efficiency by minimizing the fatigue of the worker, to improve the operation ability of the unskilled worker of the unskilled person, and to automate the loading work by patterning the standardized loading work, It is possible to appropriately reflect factors that may affect the pattern of the loading operation, such as the state of the wheel loader, and determine the exact starting point of the loading operation.

Description

Technical Field [0001] The present invention relates to a hydraulic joystick-based wheel loader system and a method of automating the loading operation of the wheel loader system.

The present invention relates to a loading automation technology of a wheel loader system, and more particularly to a loading automation system that appropriately reflects factors that may affect a loading operation such as the characteristics of a workpiece or the state of a loader, And more particularly, to a hydraulic joystick based wheel loader system and a method of automating its loading operation.

The wheel loader system moves the workpiece (mainly, the soil) while moving the workpiece to a work device such as a bucket according to the operation of the joystick of the worker and moves the workpiece to a truck or a target position, Is repeatedly performed. In particular, the work of the wheel loader has a V-shaped formal working pattern.

The work loading (loading) is a step of adjusting the working device so that the soil is loaded on the working device as much as possible when the working device is dug into the soil by the traveling inertia force of the wheel loader.

The workload in loading the wheel loader depends entirely on the experience of the operator. Experienced workers will quickly load workpieces into their work units, but in the case of inexperienced workers, the ability to operate the joystick with running is low, so that the workload is less or longer than the work unit capacity . In addition, since the worker needs to know the position of the work device depending on the time instant after being inserted into the work, it is as difficult to grasp the position of the work device in the case of the unskilled person.

The wheel loader operation is a formal loading operation in which the workpiece is loaded through the working device and then dumped to the loading position, which is repeatedly performed. Therefore, since the operator has to continuously operate the joystick, there is a problem that the worker's fatigue is increased and the work efficiency is lowered accordingly.

In addition, if you want to automate the loading operation by patterning the standardized loading operation, you need to reflect the factors that may affect the pattern of the loading operation such as the characteristics of the workpiece or the condition of the wheel loader, There is a problem that it is difficult.

Korean Patent No. 10-1058198

SUMMARY OF THE INVENTION The present invention has been proposed in order to solve the problems of the prior art as described above. The object of the present invention is to apply a repetitive and stereotyped working pattern and to provide the highest level of wheel loader manipulation technique, Provides a hydraulic joystick-based wheel loader system and its loading method automation method that can improve the worker's fatigue and work efficiency by automating the workload loading work that occurs frequently .

It is another object of the present invention to provide a method and apparatus for automatically loading a patterned loading operation by appropriately reflecting the factors that may affect the pattern of the loading operation such as the characteristics of the workpiece and the state of the loader, A hydraulic joystick-based wheel loader system capable of determining an accurate starting point, and a method of automating its loading operation.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not to be construed as limiting the invention as defined by the appended art. It will be possible.

The hydraulic joystick-based wheel loader system according to the present invention includes a hydraulic joystick for directly adjusting a motion of a work device, and includes a user operation unit for selecting a working condition according to an operator's intention; Wherein an operation pattern for parallel operation of manual operation by the hydraulic joystick and automatic operation according to a selection of operation conditions and for controlling up and rotation of the work device for each of a plurality of operation conditions for automatic control is defined, A control unit for defining an operation pattern for each operation condition by combining the four factors of the lift amount, the rotation amount, the lift period, and the rotation period, and for generating an operation command in accordance with the operation condition selected through the user operation unit during automatic control; Wherein the control unit is operable to perform a loading operation using a working device including a shuttle valve, an electronic proportional valve, and a working device cylinder, wherein an operation command received from the control unit during automatic control is converted into a pressure signal through the electronic proportional valve, A work device driver for adjusting the work device to move according to the operation of the hydraulic joystick by operating the shuttle valve according to a pressure signal outputted from the hydraulic joystick during manual operation, And a sensor input unit for collecting information on the position and angle of the working device, the running acceleration, the pressure of the working device cylinder, the pressure of the electronic proportional valve, and the pressure of the shuttle valve.

Meanwhile, a method of automating a loading operation of a wheel loader system according to the present invention is characterized in that the wheel loader system defines an operation pattern for controlling the rising and the turning of the working device for each of a plurality of working conditions, A cycle and a rotation cycle to define an operation pattern for each operation condition in which the operation device is raised and rotated; Operating the work device directly through a shuttle valve that, when a hydraulic joystick input occurs, causes the wheel loader system to preferentially pass a pressure signal generated in the hydraulic joystick; Determining whether automatic operation of the work device is set in a state in which the hydraulic joystick input is not generated; Automatically generating an operation command corresponding to a work condition selected by an operator if the automatic operation of the work device is set as a result of the determination; And performing a loading operation using a work device by converting the generated operation command into a pressure signal and adjusting the operation device to move in accordance with an operation pattern corresponding to the selected work condition, by the wheel loader system.

According to the hydraulic joystick-based wheel loader system and the method for automating the loading operation of the present invention, it is possible to improve the work efficiency by minimizing the fatigue of the worker and improve the operation ability of the inexperienced worker of the unskilled person.

In addition, in order to automate the loading operation by patterning the standardized loading operation, it properly reflects the factors that may affect the pattern of the loading operation such as the characteristics of the workpiece and the condition of the loader, You can decide.

In addition, by performing parallel processing of two functions of manual operation using a hydraulic joystick and automatic control according to working conditions, it is possible to effectively cope with operating variables and improve system stability and work efficiency.

1 is a block diagram of a hydraulic joystick based wheel loader system according to an embodiment of the present invention.
2 is a graph illustrating an example of a method of automatically generating an operation command in the wheel loader system shown in FIG.
3 is a flowchart illustrating a method of automating a loading operation of a wheel loader system according to an embodiment of the present invention.
4 is a flowchart illustrating a method of automating a loading operation of a wheel loader system according to another embodiment of the present invention.

Hereinafter, a hydraulic joystick-based wheel loader system according to a preferred embodiment of the present invention and a method for automating the loading operation thereof will be described in detail with reference to the accompanying drawings.

1 is a block diagram of a hydraulic joystick based wheel loader system according to an embodiment of the present invention.

Referring to FIG. 1, a hydraulic joystick-based wheel loader system according to an embodiment of the present invention includes a user operation unit 110, a control unit 120, a work device driving unit 130, and a sensor input unit 140.

In one embodiment, the user manipulation portion 110 includes a user interface manipulation portion 111 and a hydraulic joystick 112.

The user interface operating unit 111 selects a working condition according to an operator's intention. To this end, the user interface operating unit 111 includes input means (for example, a work condition selection button) for selecting work conditions.

The user interface operating unit 111 may determine the starting point of the loading operation according to the operator's intention. In this case, the user interface operating unit 111 further includes input means (for example, a start button, a voice recognition means, and the like) for enabling the operator to determine the start point of the loading operation.

The operator can directly adjust the movement of the work device using the hydraulic joystick 112. [ When there is a hydraulic joystick input by a direct operation of the operator, a pressure signal corresponding to an operation of the operator is generated and output from the hydraulic joystick 112, which is transmitted to the main control valve 132 through a shuttle valve 137, Lt; / RTI >

Meanwhile, the control unit 120 processes the manual operation by the hydraulic joystick and the automatic control by the operation condition selection in parallel, and defines the operation patterns of the operation apparatus for various operation conditions for automatic control, An operator automatically generates an operation command for implementing an operation pattern corresponding to the selected operation condition through the user interface operation unit 111. [

In one embodiment, the control unit 120 includes a main control unit 121 and a loading automation control unit 122.

The main control unit 121 monitors the wheel loader equipment 151 such as an engine, a mission and a peripheral device to collect information on the engine speed RPM, the traveling speed, the gear selection state of the operator, And displays it on the screen through the display unit 152 or provides it to the loading automation control unit 122.

The loading automation controller 122 implements the automatic operation of the work device through the operation pattern of the work device for each working condition and the feed forward control using the electronic proportional valve 131.

The work device (not shown) is a part for loading and moving work such as soil, and is implemented in the form of a bucket. The work device is physically connected to the work device cylinders 133, 134, 135 and 136, 133, 134, 135, and 136 to perform operations such as rising, falling, and rotation.

Specifically, the loading automation control unit 122 defines an operation pattern for controlling the lifting and rotation of the work device for each of a plurality of work conditions for automatic control, Combine the elements to define the operation pattern for each working condition that varies the rising and the turning of the working device in advance. After the operator recognizes the state of the workpiece and selects the work condition through the user interface operation unit 111 and then the automatic operation of the work apparatus is started during the automatic control, the loading automation control unit 122 sets the pre- An operation command for implementing a specific operation pattern of the work device is automatically generated through a predetermined arithmetic processing process.

When the workpiece is detected, the loading automation controller 122 recognizes the workpiece as a starting point of the loading operation and determines the operation pattern of the working device according to the selected operation condition The operation command for automatically generating an operation command is generated.

Here, the loading automation control unit 122 can detect the workpiece by using an external force in consideration of the self weight (self weight) of the work device and the measured value of the travel acceleration sensor 147, The starting point of the task can be determined.

There are two methods of detecting workpieces in the state where the automatic operation device is set.

First, the loading automation control unit 122 calculates the horizontal component of the external force applied to the work device from the pressure of the work device cylinders 133, 134, 135, 136, and the position and angle of the work device. Given the pressure acting on the work machine cylinders 133, 134, 135 and 136, the position / angle of the work device, the vertical and horizontal forces of the forces acting on the work machine mechanism elements, such as the boom or bell crank, Directional component can be calculated. If the horizontal direction component of the external force calculated by the loading automation control unit 122 is equal to or greater than the threshold value and the absolute value of the running acceleration of the working apparatus is equal to or greater than the threshold value, the loading automation control unit 122 determines that the workpiece is detected, Start work.

Second, when the pressure of the working device cylinders 133, 134, 135, 136 is equal to or higher than the threshold value and the absolute value of the traveling acceleration of the working device is equal to or greater than the threshold value, the loading automation control part 122 judges that the workpiece is detected The loading operation is started.

These two work detection methods may be selectively applied according to the embodiment, or may be applied at the same time. Considering the traveling acceleration together with the external force when detecting the workpiece, there is an advantage that the accuracy of workpiece detection can be improved.

On the other hand, when the automatic operation of the work device is not set, the operator can directly input the loading operation start time through the user interface operation unit 111. [ In this case, as described above, the user interface operating unit 111 includes input means (e.g., start button, voice recognition means, etc.) for enabling the operator to directly determine the starting point of the loading operation.

The operator can enter the automatic generation step of the operation command by inputting the start button or inputting the voice recognition command to determine the start point of the loading operation. Alternatively, the worker may directly operate the work device with the hydraulic joystick 112 to set the position or angle of the work device to be equal to or greater than a threshold value, thereby starting the loading operation and entering the automatic generation step of the operation command.

The operation command output from the loading automation control unit 122 is converted into a pressure signal for driving the main control valve 132 through the proportional valve 131 of the working device driving unit 130. The converted pressure signal is transmitted to the main control valve 132 through the shuttle valve 137 to control the movement of the work unit to perform a loading operation using the work unit.

The work device driver 130 controls the movement of the work device in cooperation with the user operation unit 110 and the control unit 120, thereby performing a loading operation using the work device. To this end, the working device driving unit 130 is disposed between the proportional valve 131, the hydraulic joystick 112 and the proportional valve 131 coupled to the rear end of the control unit 120, A shuttle valve 137 for passing the priority signal to the downstream main control valve 132 and a main control valve 132 operated by a signal transmitted through the shuttle valve 137 to the main control valve 132 134, 135, 136, which are driven by the work machine and control the movement of the work machine.

When the operator directly operates the hydraulic joystick 112 (at the time of manual operation), the work device driving unit 130 transmits a pressure signal generated by the hydraulic joystick 112 to the main control valve 132 To control the movement of the work device. That is, the shuttle valve 137 is operated according to the pressure signal outputted from the hydraulic joystick 112 during the manual operation so that the work device is moved according to the operation of the hydraulic joystick 112.
When the automatic joining operation command is received from the control unit 120 (automatic control) without the hydraulic joystick input, the work device driving unit 130 transmits the operation command received from the control unit 120 to the electronic proportional valve 131 To control the movement of the work device.

The electromagnetic proportional valve 131 converts an operation command in the form of an electric signal into a cylinder hydraulic pressure so as to move the work device in accordance with an operation command generated by the loading automation control section 122 during automatic control. That is, when there is no hydraulic joystick output signal, the electronic proportional valve 131 receives the automatically generated operation command from the loading automation controller 122 in accordance with the operation condition selected by the operator, and then transmits the received operation command to the work device cylinder 133, 134, 135, and 136, and then applies the converted pressure signal to adjust the movement of the work device to move in accordance with the operation pattern corresponding to the selected work condition.

In this process, the electromagnetic proportional valve 131 can control the movement of the work device cylinders 133, 134, 135 and 136 by opening / closing the main control valve 132 or adjusting the hydraulic pressure. The pressure signal outputted from the electromagnetic proportional valve 131 is transmitted to the working cylinder 133, 134, 135, 136 through the main control valve 132 and transmitted to the head of the working cylinder 135, / Rod side flow rate supply and discharge, the supply / discharge of the head / rod side flow of the working device lifting / lowering cylinders 133 and 134, the lifting / lowering of the working device, and the inside / outside rotation of the working device .

The hydraulic joystick 112 and the electromagnetic proportional valve 131 are coupled to both ends of the shuttle valve 137 and apply pressure to the shuttle valve 137 side. The shuttle valve 137 is a Y-shaped pressure control valve. The hydraulic joystick output signal of the driver and the hydraulic output signal of the electromagnetic proportional valve 131 are simultaneously applied to the shuttle valve 137 and the shuttle valve 137 is connected to both the hydraulic joystick 112 and the electromagnetic proportional valve 131 And passes the priority signal among the output pressure signals.

A pressure signal of a larger value among the pressure signals transmitted from both sides of the hydraulic joystick 112 and the electromagnetic proportional valve 131 is transmitted to the main control valve 132 via the shuttle valve 137.

The sensor input unit 140 includes a pilot pressure sensor 141, work device elevating / rotating cylinder pressure sensors 142 and 143, a working device mechanism angle sensor 144, a traveling acceleration sensor 147, And feeds back the collected information to the control unit 120 through the control units 141, 142, 143, 144, and 147.

In one embodiment, the control unit 120 controls the position and angle of the work device to be fed back to generate an operation command through the sensor input unit 140, the travel acceleration used to determine the generation time of the operation command, The pressure of the electromagnetic proportional valve 131 for confirming the operation state of the electromagnetic proportional valve 131 according to the operation command of the shuttle valve 137, And the pressure of the shuttle valve 137 for confirming the pressure of the refrigerant.

In particular, the pilot pressure sensor 141 feeds back the pressure signal output through the shuttle valve 137 to the loading automation controller 122. That is, the pilot pressure sensor 141 detects the state in which the output signal of the electromagnetic proportional valve 131, which is controlled by the hydraulic joystick output signal by the operator's operation or the operation command corresponding to the working condition, is operated through the shuttle valve 137 And provides it to the control unit 120.

Since the pilot pressure sensor 141 senses and provides the operation state of the shuttle valve 137 operated by the hydraulic joystick output signal according to the operator's operation or the operation command corresponding to the operation condition, the loading automation control unit 122 From this, it is possible to determine whether the operator directly operates the hydraulic joystick 112.

In addition to the pilot pressure sensor 141, when the work device mechanism angle sensor 144 is mounted on a work device mechanism section such as a boom or a bell crank, the angle and position of the work device can be grasped by a simple kinematic calculation formula.

Information on the position and angle of the work device is fed back from the work machine mechanism angle sensor 144 and information on the pressures of the work device cylinders 133, 134, 135 and 136 is sent to the work device lift / , ≪ / RTI >

The measured value of the working device mechanism angle sensor 144 is input to the working device position / angle calculation section 146 via the signal conversion section 145 for analog-to-digital conversion. The working device position / angle calculation unit 146 calculates the position and angle of the working device using the output value of the signal conversion unit 145 and feeds back the calculated position and angle to the control unit 120.

The angular measurement of the work implement mechanism, such as the boom or bell crank, measured through the work implement mechanism angular sensor 144 can be converted to the position / angle of the work implement by a wheel loader joint kinematics calculation.

When the working device mechanism angle sensor 144 is mounted at a position separated from the working device by a certain distance or more, interference with the workpiece during the workpiece loading operation of the working device is minimized and damage or deformation of the sensor 144 due to the workpiece The risk can be reduced. Further, it is possible to acquire the angle information of the mechanical part while mounting the sensor 144 such as a limit switch at every predetermined angle.

The traveling acceleration sensor 147 measures the traveling acceleration of the working device and performs analog-to-digital conversion through the signal converting unit 148, and then feeds back the signal to the control unit 120.

Also, as a feedback element to the control unit 120, the engine revolution speed (RPM), the traveling speed, the gear selection state of the operator, and the like are provided from the wheel loader equipment 151.

The control unit 120 can implement the loading operation synchronized with the driving operation of the operator by determining whether the operation device is operating or not using the engine speed.

This is to prevent the operation device from being continuously operated even in a situation where the automatic operation of the loading operation is set and the operator reduces the engine output and intends to stop the loading operation. The control unit 120 generates a stop command to stop the movement of the work device.

In addition, the controller 120 may collect information fed back from the sensor input unit 140 and information transmitted from the wheel loader 151, so that the components of the wheel loader system associated with the loading operation prior to the start or end of the loading operation Or the like. The information used for checking the initial state and the termination state includes the position / angle of the working device, the pressure of the working cylinder 133, 134, 135, 136, the pressure of the proportional valve 131, And information about this.

In this way, one embodiment can provide both the manual operation using the hydraulic joystick 112 and the automatic control operation according to the operation conditions. Since these two operations are processed in parallel, the operator can increase the work efficiency by appropriately using the two operations in parallel according to the work environment or the work conditions. Also, even if the electronic control unit can not perform the automatic control operation due to an electronic failure, the loading operation can be performed through the direct manipulation of the hydraulic joystick 112.

2 is a graph illustrating an example of a method of automatically generating an operation command in the wheel loader system shown in FIG.

In one embodiment, the loading automation control unit 122 controls the rising and the turning of the work device to define the operation patterns for various work conditions, and the four elements of the work device's lift amount, rotation amount, And generates an operation command for implementing an operation pattern for each operation condition in combination.

Referring to FIG. 2, in one embodiment, the elements that constitute the operation command for generating the operation pattern include a work device lift amount, a rotation amount, a work device lift period, and a rotation period (operation time or operation cycle).

The working conditions are divided into various kinds according to the characteristics of the work (for example, the hardness of the work), and the work amount and the working time are different according to the working conditions. For example, in the case of dividing the working conditions into four types of the first to fourth working conditions, the working amount of the fourth working condition is increased with increasing the working time, and the working time of the first working condition You can set the motion pattern to reduce the workload while reducing the work time.

FIG. 3 is a flow chart illustrating a method for automating loading operations of a wheel loader system according to an embodiment of the present invention, illustrating an embodiment in which a series of steps are periodically performed according to a constant time interval (for example, several seconds or tens of seconds) .

First, the control unit 120 of the wheel loader system pre-defines operation patterns for controlling the rising and the turning of the work device for each of the plurality of work conditions and the operation commands for implementing the respective operation patterns, The work conditions are selected according to the worker's intention (S110).
In this case, the operation pattern of each working condition is defined as a form in which the rising and the turning of the working device are made different by combining the four factors of the rising amount, the turning amount, the rising period and the turning period of the working device.

If the hydraulic joystick input is not generated (S120), the controller 120 determines whether the loading automation function is on (S130). For example, the operator can select the On / Off state of the loading automation function by turning on the loading automation switch provided on the user interface operating unit 111. [

If the loading automation function is off (S130), the control unit 120 sets the value of the flag of the working device automatic operation to '0' and deactivates the flag (S180) And returns to the standby state.

When the loading automation function is confirmed to be on (S130), the control unit 120 proceeds to S140 and determines whether or not the value of the flag of the work device automatic operation is set to '1' It is determined whether the automatic operation of the work device is set (S140). Here, the automatic operation flag value can also be set to '1' by a specific switch.

As a result of the determination in S140, if the value of the flag of the working device automatic operation flag is set to '1', the control unit 120 checks whether the number of revolutions of the engine is greater than or equal to the threshold value (S150) And automatically generates an operation command corresponding to the operation pattern of the work condition selected by the operator and controls the electromagnetic proportional valve 131 in accordance with the automatically generated operation command so that the operation of the operation device (S160).
Here, the control unit 120 converts the automatically generated operation command into a pressure signal through the electronic proportional valve 131, adjusts the operation apparatus to move in accordance with the operation pattern selected in S110, To be performed.

If it is determined that the number of revolutions of the engine is equal to or less than the threshold value in S150, the control unit 120 generates a stop command to terminate the loading operation (S151). In addition, when the number of revolutions of the engine is reduced below the threshold value while the loading operation of the working device is performed by the automatically generated operation command, the controller 120 generates a stop command to stop the movement of the working device.

When it is requested to terminate the movement of the working device due to the completion of the automatic operation command or the stop command (S160, S151), the control unit 120 controls the engine rotation speed, the position and angle of the working device, The pressure of the device cylinder, the pressure of the electronic proportional valve, and the like.

Then, it is checked whether or not the loading operation can be terminated (S170) by checking whether each component of the wheel loader system is in a proper termination state based on the collected information.

If the termination status is normal, the control unit 120 deactivates the operation unit automatic operation flag to '0' and normally terminates the loading operation to stop the operation of the operation unit (S180).

If the loading operation is not in the end state (S170), the work device driving unit 130 controls the electromagnetic proportional valve 131 in accordance with the operation command generated by the control unit 120 through S160 to adjust the movement of the work device (S230).

If it is determined in S120 that the input of the hydraulic joystick 112 is generated, the control unit 120 sets the value of the flag of the working device automatic operation to '0' and activates it (S180) (S210). ≪ / RTI >

In step S120, the pilot pressure sensor 141 senses the operating state by a pressure signal transmitted to the main control valve 132 through the shuttle valve 137, and provides the sensed operating state to the control unit 120. [ The control unit 120 can determine whether the operator directly manipulates the hydraulic joystick 112 based on the feedback of the pilot pressure sensor 141. [

The wheel loader system then operates the work device directly through the shuttle valve 137, which first passes the pressure signal generated by the hydraulic joystick 112. The working device driving unit 130 operates the shuttle valve 137 to pass the pressure signal outputted from the hydraulic joystick 112 and moves the working device according to the hydraulic joystick output signal inputted through the shuttle valve 137 The work device is directly operated (S220).

On the other hand, if the loading automation function flag is set to '0' and the loading automation flag is set to '0' in step S130, the control unit 120 proceeds to step S310 to check the initial state of the loading operation do. At this time, as in the case of checking the completion of the loading operation, the control unit 120 determines the information (the position and angle of the working device, the pressure of the working device cylinder, the number of revolutions of the engine, etc.) fed back from the respective components of the wheel loader system It is possible to check whether or not the loading operation can be started by checking the initial state.

If the initial state is normal, the controller 120 proceeds to S320 and monitors whether or not the workpiece is detected by using the measured values of the external force and the running acceleration sensor in consideration of the weight of the workpiece.

If the workpiece is not detected for a predetermined period of time (S320), the control unit 120 determines whether the loading start time is input by the operator (S330).

For example, in step S330, the operator inputs a start button provided in the user interface operation unit 111 or inputs a voice recognition command to determine the start time of the loading operation, thereby activating the operation unit automatic operation flag to '1' can do. Alternatively, the operator can activate the work device automatic operation flag by operating the work device directly with the hydraulic joystick 112 so that the position or angle of the work device is greater than or equal to the threshold value.

When the workpiece is detected (S320), it is determined that the workpiece is detected when the horizontal component of the external force is equal to or greater than the threshold value and the running acceleration of the working device is equal to or less than the threshold value, And the running acceleration of the working device is less than the threshold value, the second method of determining that the workpiece is detected can be applied.

If the workpiece is detected through S320, the control unit 120 activates the value of the flag of the work device automatic operation flag to '1' (S181) to check the engine speed and the subsequent processes including the automatic generation of the operation command (S150 to S180).

FIG. 4 is a flowchart illustrating a method of automating a loading operation of a wheel loader system according to another embodiment of the present invention, which further implements a recording and reproducing mode in the embodiment of FIG. 3 which shows the automatic progress of the loading operation.

S110 to S180, S210 and S230, and S310 to S330 are the same as those in Fig. 3, and a detailed description thereof will be omitted.

In the recording and reproduction mode, an operation command according to the joystick operation pattern of the hydraulic joystick 112 inputted by the operator is generated and recorded, and the operation command recorded at the desired time is reproduced as it is. The control unit 120 generates and stores an operation command corresponding to the hydraulic joystick input in the recording mode, and reproduces the pre-stored operation command through the recording mode in the playback mode.

If the recording mode is set (S410), the control unit 120 sets the value of the automatic operation device flag to '0' and deactivates the loading operation (S180) so as not to perform the loading operation during the recording operation, A pressure signal corresponding to the input of the hydraulic joystick 112 is generated and the operation device is operated (S210).

When the operator inputs the starting point of the recording operation in the state in which the recording mode is set up (S420), the controller 120 generates operation commands corresponding to the joystick operation pattern input by the operator from the value of the pilot pressure sensor 141 in real time (S430).

When the operator operates the hydraulic joystick 112 in the recording mode, a pressure signal corresponding to the hydraulic joystick input is applied through the shuttle valve 137. [ Accordingly, the control unit 120 receives the value of the pilot pressure sensor 141 coupled to the rear end of the shuttle valve 137, and generates / stores corresponding operation commands.

In addition, the work device driving unit 130 operates according to the hydraulic joystick output signal to directly control the movement of the work device (S470).

If the recording mode is not set (S410), the controller 120 sequentially checks whether the hydraulic joystick input is generated and whether the loading automation function is on (S120, S130).

If the hydraulic joystick input does not occur for a predetermined period of time (S120) and the loading automation function is on (S130), the controller 120 determines whether the playback mode is set again (S440).

If it is determined in S440 that the playback mode is not set, the control unit 120 proceeds to S140 for automatic progress of the loading operation.

If it is determined in S440 that the playback mode is set, the control unit 120 proceeds to S450 and waits for the operator to input the playback operation start time. When the operator inputs the start point of the playback operation in a manner such as pressing a specific button (S450), the controller 120 sequentially reproduces the operation commands corresponding to the previously stored joystick operation pattern through the recording mode, (S460).

The setting of the recording and reproducing mode and the inputting of the starting point of each mode can be performed through the user interface operating unit 111. [ For example, when the user interface operating unit 111 is provided with a select switch for selecting a mode, the operator operates one of the modes for the recording mode, the reproducing mode, and the automatic loading operation You can choose. In addition, the operator can determine the starting point of the recording and reproducing operation by pushing a specific push button.

The configuration of the hydraulic joystick-based wheel loader system and the method of automating the loading operation thereof according to the present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the technical idea of the present invention.

110: user operation unit 111: user interface operation unit
112: Hydraulic joystick 120:
121: main control unit 122: loading automation control unit
130: working device driving part 131: electronic proportional valve
132: main control valve 133 to 136: working device cylinder
137: shuttle valve 140: sensor input

Claims (15)

A user operation unit including a hydraulic joystick for directly adjusting the movement of the work device and selecting a work condition according to an intention of the worker;
Wherein an operation pattern for parallel operation of manual operation by the hydraulic joystick and automatic operation according to a selection of operation conditions and for controlling up and rotation of the work device for each of a plurality of operation conditions for automatic control is defined, A control unit for defining an operation pattern for each operation condition by combining the four factors of the lift amount, the rotation amount, the lift period, and the rotation period, and for generating an operation command in accordance with the operation condition selected through the user operation unit during automatic control;
Wherein the control unit is operable to perform a loading operation using a working device including a shuttle valve, an electronic proportional valve, and a working device cylinder, wherein an operation command received from the control unit during automatic control is converted into a pressure signal through the electronic proportional valve, A work device driver for adjusting the work device to move according to the operation of the hydraulic joystick by operating the shuttle valve according to a pressure signal outputted from the hydraulic joystick during manual operation, And
And a sensor input unit for collecting information on the position and angle of the working device, the running acceleration, the pressure of the working device cylinder, the pressure of the electromagnetic proportional valve, and the pressure of the shuttle valve and transmitting the collected information to the control unit.
The apparatus according to claim 1,
An electromagnetic proportional valve coupled to a rear end of the control unit;
A shuttle valve positioned between the hydraulic joystick and the electromagnetic proportional valve for passing a priority signal out of output signals applied from both sides;
A main control valve operated by a signal transmitted through the shuttle valve; And
And a work device cylinder driven by the main control valve to control movement of the work device.
The method according to claim 1,
The control unit may include an engine revolution number for determining the operation and stop of the work unit, a position and an angle of the work unit to be fed back to generate an operation command, a travel acceleration used for determining a generation time of the operation command, And the pressure of the electromagnetic proportional valve for confirming the operating state of the electromagnetic proportional valve according to the operation command are received and used for the hydraulic joystick based wheel loader system.
The method according to claim 1,
The control unit calculates the horizontal component of the external force applied to the work device from the pressure of the work device cylinder and the position and angle of the work device and then determines whether the horizontal component of the calculated external force is equal to or greater than the threshold value, And when the value is equal to or greater than the threshold value, it is determined that the workpiece is detected and the loading operation is started.
The method according to claim 1,
Wherein the control unit determines that the workpiece is detected and starts the loading operation when the pressure of the working device cylinder is equal to or higher than the threshold value and the absolute value of the traveling acceleration of the working device is equal to or greater than the threshold value, .
The method according to claim 1,
Wherein the controller generates a stop command to stop the movement of the work device when the number of revolutions of the engine is reduced to a value equal to or lower than a threshold value while the operation command is automatically generated during the loading operation of the work device.
The method according to claim 1,
The control unit automatically generates an operation command and starts a loading operation when at least one of an operation of inputting a start button, an operation of a working device or an operation of an angle of more than a threshold or a voice recognition command is performed Features a hydraulic joystick-based wheel loader system.
The method according to claim 1,
Wherein the sensor input unit calculates the position and angle of the working device from the measured value of the angle sensor installed in the working device mechanism part and transmits the calculated position and angle to the control part.
The method according to claim 1,
Wherein the sensor input unit includes a pilot pressure sensor for detecting an operation state of a shuttle valve operated by an output signal of the hydraulic joystick or an operation command corresponding to a working condition and feeding back to the control unit.
The wheel loader system defines an operation pattern for controlling the lifting and rotation of the work device for each of a plurality of work conditions, and the work load is increased by combining the four factors of the lifting amount, the turning amount, Defining an operation pattern for each operation condition that is different from rotation;
Operating the work device directly through a shuttle valve that, when a hydraulic joystick input occurs, causes the wheel loader system to preferentially pass a pressure signal generated in the hydraulic joystick;
Determining whether automatic operation of the work device is set in a state in which the hydraulic joystick input is not generated;
Automatically generating an operation command corresponding to a work condition selected by an operator if the automatic operation of the work device is set as a result of the determination; And
Wherein the wheel loader system converts the generated operation command into a pressure signal and adjusts the working device to move according to an operation pattern corresponding to the selected working condition, thereby performing a loading operation using the working device Automated methods.
11. The method of claim 10,
Wherein the wheel loader system receives information on the engine speed, the position and angle of the work unit, the running acceleration, the pressure of the working cylinder, and the pressure of the electronic proportional valve to check the initial and final states of the loading operation How to automate the loading operation of the wheel loader system.
11. The method according to claim 10, wherein, in the step of determining whether or not automatic operation of the working apparatus is set,
The wheel loader system calculates the horizontal component of the external force applied to the work device from the pressure of the work device cylinder and the position and angle of the work device, And if the absolute value is greater than or equal to the threshold value, determining that the workpiece is detected and setting the automatic operation of the work device.
11. The method according to claim 10, wherein, in the step of determining whether or not automatic operation of the working apparatus is set,
Wherein the wheel loader system carries out a loading operation automation of the wheel loader system which determines that the work is detected and sets the automatic operation of the work device when the pressure of the working device cylinder is equal to or higher than the threshold value and the absolute value of the running acceleration of the working device is equal to or higher than the threshold value Way.
11. The method of claim 10,
If the number of revolutions of the engine is reduced below the threshold value during the loading operation of the working device by the automatically generated operation command after the automatic operation of the working device is set, the wheel loader system generates a stop command, And stopping the loading operation of the wheel loader system.
11. The method of claim 10,
Storing an operation command according to the hydraulic joystick input in the recording mode; And
And reproducing the previously stored operation command through the recording mode in the playback mode when the playback mode is set.

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