US20190203443A1 - Work vehicle and method for controlling work vehicle - Google Patents
Work vehicle and method for controlling work vehicle Download PDFInfo
- Publication number
- US20190203443A1 US20190203443A1 US16/330,836 US201616330836A US2019203443A1 US 20190203443 A1 US20190203443 A1 US 20190203443A1 US 201616330836 A US201616330836 A US 201616330836A US 2019203443 A1 US2019203443 A1 US 2019203443A1
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- United States
- Prior art keywords
- bucket
- cutting edge
- work implement
- manipulation
- boom
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
- E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2004—Control mechanisms, e.g. control levers
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2029—Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Paleontology (AREA)
- Operation Control Of Excavators (AREA)
Abstract
A work vehicle includes a vehicular body, a work implement, and a controller. The work implement has a boom pivotable with respect to the vehicular body, a dipper stick pivotable with respect to the boom, and a bucket pivotable with respect to the dipper stick. The controller calculates a direction of a cutting edge of the bucket and determines a direction in which the cutting edge travels to the side of an open side of the bucket such that the calculated direction of the cutting edge of the bucket and the direction in which the cutting edge travels to the side on the open side of the bucket form an excavation angle of a predetermined angle, and the controller thus causes an operation of the work implement to be performed in the direction in which the cutting edge travels.
Description
- The present invention relates to a work vehicle.
- A work vehicle such as a hydraulic excavator comprises a work implement having a boom, a dipper stick, and a bucket. When the hydraulic excavator starts an excavating operation, the dipper stick is manipulated to cause the bucket to penetrate soil. As the bucket continues to operate, the bucket penetrates soil deeply and the soil's resistance increases, and accordingly, the boom is manipulated to add an operation to raise the bucket upward to make the bucket's excavation depth appropriate. Furthermore, the dipper stick and the bucket are manipulated and once sufficient soil is introduced into the bucket, the bucket is manipulated to lift up the soil, and furthermore, the boom is manipulated to raise the bucket upward.
- For a hydraulic excavator's excavating operation, it is necessary to move manipulation levers of three-axes for the boom, the dipper stick, and the bucket, respectively, to manipulate the movement of the bucket, and it is thus not easy to perform the excavating operation efficiently and requires skill.
- In this respect, for example, Japanese Patent Laying-Open No. 61-225429 discloses a method of correcting a bucket in posture by detecting a collision of a back surface of the bucket against an excavation surface in order to reduce an excavation load.
- Furthermore, Japanese Patent Laying-Open No. 62-189222 discloses a method of adjusting a bucket's excavation depth by measuring the weight of the soil in the bucket.
- PTL 1: Japanese Patent Laying-Open No. 61-225429
- PTL 2: Japanese Patent Laying-Open No. 62-189222
- However, the excavating operation in the above-mentioned publication requires various calculations and has a possibility of complicated control.
- The present invention has been made in view of the above issue, and an object of the present invention is to provide a work vehicle which allows a work implement to operate efficiently in a simple manner, and a method for controlling the work vehicle.
- A work vehicle according to one aspect of the present invention comprises a vehicular body, a work implement, and a controller. The work implement has a boom pivotable with respect to the vehicular body, a dipper stick pivotable with respect to the boom, and a bucket pivotable with respect to the dipper stick. The controller calculates a direction of a cutting edge of the bucket and determines a direction in which the cutting edge travels to the side of an open side of the bucket such that the calculated direction of the cutting edge of the bucket and the direction in which the cutting edge travels to the side on the open side of the bucket form an excavation angle of a predetermined angle, and the controller causes an operation of the work implement to be performed in the direction in which the cutting edge travels.
- Preferably, the controller determines the direction in which the cutting edge travels to the side on the open side of the bucket such that the calculated direction of the cutting edge of the bucket and the direction in which the cutting edge travels to the side on the open side of the bucket form the excavation angle of the predetermined angle for a predetermined period of time, and the controller causes the operation of the work implement to be performed in the direction in which the cutting edge travels.
- Preferably, the work vehicle further comprises first and second manipulation levers. The first manipulation lever is operated to output a first manipulation command to the controller to adjust an amount of pivoting the bucket with respect to the dipper stick. The second manipulation lever is operated to output a second manipulation command to the controller to adjust an amount of moving the bucket for the direction in which the cutting edge travels from the direction of the cutting edge to the side on the open side of the bucket.
- Preferably, the controller determines whether to cause the operation of the work implement to be performed. When the controller determines that the operation of the work implement is caused to be performed, the controller accepts first and second manipulation commands from the first and second manipulation levers.
- Preferably, the controller determines whether to cause the operation of the work implement to be performed in accordance with a manipulation instruction of an operator.
- Preferably, the work vehicle further comprises a load detector. The load detector detects a load imposed on the work implement. The controller determines whether to cause the operation of the work implement to be performed according to a result of detection by the load detector.
- According to one aspect of the present invention, a method for controlling a work vehicle is a method for controlling a work vehicle including a work implement having a boom pivotable with respect to a vehicular body, a dipper stick pivotable with respect to the boom, and a bucket pivotable with respect to the dipper stick, comprising: calculating a direction of a cutting edge of the bucket; and causing an operation of the work implement to be performed such that the direction of the cutting edge of the bucket as calculated and the direction in which the cutting edge travels to the side on the open side of the bucket form an excavation angle of a predetermined angle.
- The present work vehicle allows a work implement to operate efficiently in a simple manner.
-
FIG. 1 is a perspective view of one example of a work vehicle according to an embodiment. -
FIG. 2 schematically illustrates a work vehicle CM according to an embodiment. -
FIG. 3 is a functional block diagram representing a configuration of acontrol system 200 to control work vehicle CM according to an embodiment. -
FIG. 4 represents a relationship between an excavation angle of abucket 8 and resistance of soil according to an embodiment. -
FIG. 5 is a flowchart of a process of an operation of an excavation work of work vehicle CM according to an embodiment. -
FIG. 6 is a functional block diagram representing a configuration of acontrol system 200# based on a first modification of an embodiment. -
FIG. 7 represents an idea of a work vehicle system based on another embodiment. - Hereinafter, an embodiment of the present invention will be described with reference to the drawings, although the present invention is not limited thereto. Any constituent element of each embodiment described below can be combined as appropriate. Some constituent element may not be used.
- [General Configuration of Work Vehicle]
-
FIG. 1 is a perspective view of one example of a work vehicle according to an embodiment. - As shown in
FIG. 1 , in the present example, a work vehicle will be described by referring as an example to a hydraulic excavator CM including a hydraulically actuated work implement 2 as a work implement. - Hydraulic excavator CM includes a
vehicular body 1 and work implement 2. -
Vehicular body 1 has a revolving unit 3, an operator'scab 4, and atravelling unit 5. - Revolving unit 3 is disposed on a
travelling unit 5. Travellingunit 5 supports revolving unit 3. Revolving unit 3 can revolve about an axis AX. An operator'sseat 4S on which an operator is seated is provided in operator'scab 4. The operator manipulates hydraulic excavator CM in operator'scab 4.Travelling unit 5 has a pair of crawler belts 5Cr. Hydraulic excavator CM travels as crawler belts 5Cr rotate. Note that travellingunit 5 may be composed of vehicular wheels (or tires). - In the present embodiment, a positional relationship of each part will be described with reference to an operator seated on operator's
seat 4S in the cab. - A frontward/rearward direction is a frontward/rearward direction with reference to the operator seated on operator's
seat 4S. A rightward/leftward direction is a rightward/leftward direction with respect to the operator seated on operator'sseat 4S. The rightward/leftward direction matches the vehicle's widthwise direction (a vehicular widthwise direction). When the operator is seated on operator'sseat 4S and faces frontward, the operator faces in the frontward direction, and a direction opposite to the frontward direction is the rearward direction. When the operator is seated on operator'sseat 4S and faces frontward, a direction on a right side of the operator is referred to as the rightward direction, and a direction on a left side of the operator is referred to as the leftward direction. The frontward/rearward direction is a direction along the x axis and the rightward/leftward direction is a direction along the y axis. When the operator is seated on operator'sseat 4S and faces frontward, the operator faces in the frontward direction (or a +x direction), and a direction opposite to the frontward direction is the rearward direction (or a −x direction). When the operator is seated on operator'sseat 4S and faces frontward, a direction on one side of the operator in the vehicular widthwise direction is the right direction (or a +z direction), and a direction on the other side of the operator in the vehicular widthwise direction is the left direction (or a −z direction). - Revolving unit 3 has an
engine compartment 9 in which an engine is housed, and a counter weight provided at a rear portion of revolving unit 3. Revolving unit 3 is provided with ahandrail 19 in front ofengine compartment 9. The engine, a hydraulic pump, etc. are disposed inengine compartment 9. - Work implement 2 is connected to revolving unit 3.
- Work implement 2 has a
boom 6, adipper stick 7, abucket 8, aboom cylinder 10, adipper stick cylinder 11, and abucket cylinder 12. -
Boom 6 is connected to revolving unit 3 via aboom pin 13.Dipper stick 7 is connected toboom 6 via adipper stick pin 14.Bucket 8 is connected todipper stick 7 via abucket pin 15.Boom cylinder 10drives boom 6.Dipper stick cylinder 11drives dipper stick 7.Bucket cylinder 12drives bucket 8.Boom 6 has a proximal end (or a boom foot) connected to revolving unit 3.Boom 6 has a distal end (or a boom top) connected to a proximal end ofdipper stick 7.Dipper stick 7 has a distal end (or a dipper stick top) connected to a proximal end ofbucket 8.Boom cylinder 10,dipper stick cylinder 11, andbucket cylinder 12 are all a hydraulic cylinder driven with hydraulic oil. -
Boom 6 is pivotable with respect to revolving unit 3 aboutboom pin 13 serving as a pivot.Dipper stick 7 is pivotable with respect toboom 6 aboutdipper stick pin 14 serving as a pivot parallel toboom pin 13.Bucket 8 is pivotable with respect todipper stick 7 aboutbucket pin 15 serving as a pivot parallel toboom pin 13 anddipper stick pin 14. -
Boom pin 13,dipper stick pin 14, andbucket pin 15 are all parallel to the z axis.Boom 6,dipper stick 7, andbucket 8 are all pivotable about an axis parallel to the z axis. -
FIG. 2 schematically illustrates work vehicle CM according to an embodiment. - As shown in
FIG. 2 , work vehicle CM is provided with a boomcylinder stroke sensor 16, a dipper stickcylinder stroke sensor 17, and a bucketcylinder stroke sensor 18. - Boom
cylinder stroke sensor 16 is disposed onboom cylinder 10 and senses a length of a stroke of boom cylinder 10 (a boom cylinder length). Dipper stickcylinder stroke sensor 17 is disposed ondipper stick cylinder 11 and senses a length of a stroke of dipper stick cylinder 11 (a dipper stick cylinder length). Bucketcylinder stroke sensor 18 is disposed onbucket cylinder 12 and senses a length of a stroke of bucket cylinder 12 (bucket cylinder length). - In the following description, a length of a stroke of
boom cylinder 10 will also be referred to as a boom cylinder length or a boom stroke. A length of a stroke of adipper stick cylinder 11 will also be referred to as a dipper stick cylinder length or a dipper stick stroke. A length of a stroke ofbucket cylinder 12 will also be referred to as a bucket cylinder length or a bucket stroke. - Furthermore, the boom cylinder length, the dipper stick cylinder length and the bucket cylinder length will collectively be also referred to as cylinder length data.
-
Boom 6 has a length L1, which is a distance betweenboom pin 13 anddipper stick pin 14.Dipper stick 7 has a length L2, which is a distance betweendipper stick pin 14 andbucket pin 15.Bucket 8 has a length L3, which is a distance betweenbucket pin 15 and acutting edge 8 a ofbucket 8.Bucket 8 has a plurality of blades, and in the present example, a tip portion ofbucket 8 will be referred to as cuttingedge 8 a. Note thatbucket 8 may have no blade. The tip portion ofbucket 8 may be formed of a steel plate having a straight shape. - In the present example, an x- and y-axis vehicular body coordinate system with
boom pin 13 as a reference point (or a reference position) is shown. - An inclination angle θ1 of
boom 6 with respect to a horizontal direction in the vehicular body coordinate system is calculated from cylinder length data sensed by boomcylinder stroke sensor 16. - An inclination angle θ2 of
dipper stick 7 with respect toboom 6 is calculated from cylinder length data sensed by dipper stickcylinder stroke sensor 17. - An inclination angle θ3 of cutting
edge 8 a ofbucket 8 with respect todipper stick 7 is calculated from cylinder length data sensed by bucketcylinder stroke sensor 18. - Based on lengths L1 to L3 and inclination angles θ1 to θ3 of
boom 6,dipper stick 7 andbucket 8, a position of cuttingedge 8 a ofbucket 8 and an angle of cuttingedge 8 a of bucket 8 (the cutting edge's direction) in the x- and y-axis vehicular body coordinate system can be calculated. - In the present example, positional coordinates [x1, y1] of
cutting edge 8 a ofbucket 8 and a cutting edge angle [a] ofcutting edge 8 a ofbucket 8 with respect to the horizontal direction are shown. - While in the present example a method of sensing a stroke length by using a stroke sensor, and calculating inclination angle θ will be described, the inclination angle may be calculated by using an angle detector such as a rotary encoder.
- [Configuration of Hydraulic System]
-
FIG. 3 is a functional block diagram representing a configuration of acontrol system 200 to control work vehicle CM according to an embodiment. - As shown in
FIG. 3 ,control system 200 according to the embodiment controls an excavation process using work implement 2. -
Control system 200 includes boomcylinder stroke sensor 16, dipper stickcylinder stroke sensor 17, bucketcylinder stroke sensor 18, amanipulation device 25, a work implementcontroller 26, ahydraulic cylinder 60, adirectional control valve 64, and apressure sensor 66. -
Manipulation device 25 is disposed in operator'scab 4.Manipulation device 25 is manipulated by the operator.Manipulation device 25 receives a manipulation command of the operator to drive work implement 2.Manipulation device 25 is a manipulation device of a pilot hydraulic system as an example. -
Directional control valve 64 adjusts an amount of hydraulic oil supplied tohydraulic cylinder 60.Directional control valve 64 is actuated by oil supplied. In the present example, oil supplied to a hydraulic cylinder (boom cylinder 10,dipper stick cylinder 11, and bucket cylinder 12) in order to actuate the hydraulic cylinder is also referred to as hydraulic oil. Furthermore, oil supplied todirectional control valve 64 to actuatedirectional control valve 64 is referred to as pilot oil. Furthermore, the pilot oil's pressure is also referred to as pilot oil pressure. - The hydraulic oil and the pilot oil may be pumped from the same hydraulic pump. For example, the hydraulic oil pumped from the hydraulic pump may have a portion reduced in pressure by a reducing valve, and the hydraulic oil reduced in pressure may be used as the pilot oil. Further, a hydraulic pump (a main hydraulic pump) for pumping the hydraulic oil and a hydraulic pump (a pilot hydraulic pump) for pumping the pilot oil may be different hydraulic pumps.
- Further, in the present example, the pilot oil pumped from the main hydraulic pump and reduced in pressure by the reducing valve is supplied to
manipulation device 25. - The pilot oil pressure is adjusted based on the amount of manipulating
manipulation device 25.Pressure sensor 66 is connected tomanipulation device 25.Pressure sensor 66 senses a pilot oil pressure generated in response to manipulation of a lever ofmanipulation device 25 and outputs it to work implementcontroller 26. - In response to the pilot oil pressure sensed by
pressure sensor 66, work implementcontroller 26 drivesdirectional control valve 64 passing the hydraulic oil supplied to hydraulic cylinder 60 (boom cylinder 10,dipper stick cylinder 11, and bucket cylinder 12). -
Manipulation device 25 includes afirst manipulation lever 25R, asecond manipulation lever 25L, and an excavationmode setting button 25P.First manipulation lever 25R is disposed, for example, on the right side of driver'sseat 4S.Second manipulation lever 25L is disposed, for example, on the left side of operator'sseat 4S. Forfirst manipulation lever 25R andsecond manipulation lever 25L, forward, backward, rightward and leftward operations correspond to operations along two axes. - Excavation
mode setting button 25P is a setting button for setting an excavation mode. Work implementcontroller 26 shifts from a normal mode to the excavation mode in response to an instruction issued as the operator presses excavationmode setting button 25P. Furthermore, work implementcontroller 26 shifts from the excavation mode to the normal mode in response to an instruction issued as the operator again presses excavationmode setting button 25P. - In the present example,
first manipulation lever 25R andsecond manipulation lever 25L ofmanipulation device 25 can change a function corresponding to a manipulation between the normal mode and the excavation mode. - In the normal mode,
first manipulation lever 25R is manipulated to manipulateboom 6 andbucket 8. - A forward/backward manipulation of
first manipulation lever 25R corresponds to a manipulation ofboom 6, and in response to the forward/backward manipulation,boom 6 is raised/lowered. The lever is manipulated to manipulateboom 6. - A rightward/leftward manipulation of
first manipulation lever 25R corresponds to a manipulation ofbucket 8, and in response to the rightward/leftward manipulation,bucket 8 is operated to excavate soil and be released. The lever is manipulated to manipulatebucket 8. -
Second manipulation lever 25L is manipulated to manipulatedipper stick 7 and revolving unit 3. - A forward/backward manipulation of
second manipulation lever 25L corresponds to a manipulation ofdipper stick 7, and in response to the forward/backward manipulation,dipper stick 7 is raised/lowered. The lever is manipulated to manipulatedipper stick 7. - A rightward/leftward manipulation of
second manipulation lever 25L corresponds to revolution of revolving unit 3, and in response to the rightward/leftward manipulation, revolving unit 3 revolves rightward and leftward. - In response to an amount of manipulating
first manipulation lever 25R in the forward/backward direction (an amount of manipulating the boom), as based on a result of detection bypressure sensor 66, work implementcontroller 26 drivesdirectional control valve 64 passing hydraulic oil supplied toboom cylinder 10 for drivingboom 6. - In response to an amount of manipulating
first manipulation lever 25R in the rightward and leftward direction (an amount of manipulating the bucket), as based on a result of detection bypressure sensor 66, work implementcontroller 26 drivesdirectional control valve 64 passing hydraulic oil supplied tobucket cylinder 12 for drivingbucket 8. - In response to an amount of manipulating
second manipulation lever 25L in the forward/backward direction (an amount of manipulating the dipper stick), as based on a result of detection bypressure sensor 66, work implementcontroller 26 drivesdirectional control valve 64 passing hydraulic oil supplied todipper stick cylinder 11 for drivingdipper stick 7. - In response to an amount of manipulating
second manipulation lever 25L in the rightward and leftward direction, as based on a result of detection bypressure sensor 66, work implementcontroller 26 drivesdirectional control valve 64 passing hydraulic oil supplied to a hydraulic actuator for driving revolving unit 3. - Note that a rightward/leftward manipulation of
first manipulation lever 25R may correspond to a manipulation ofboom 6 and a forward/backward manipulation thereof may correspond to that ofbucket 8. Note that a rightward/leftward manipulation ofsecond manipulation lever 25L may correspond to a manipulation ofdipper stick 7 and a forward/backward manipulation thereof may correspond to that of revolving unit 3. - In the excavation mode,
first manipulation lever 25R is manipulated to manipulatebucket 8. A rightward/leftward manipulation offirst manipulation lever 25R corresponds to a manipulation ofbucket 8, and in response to the rightward/leftward manipulation,bucket 8 is rotated. The forward/backward manipulation offirst manipulation lever 25R is disabled. Accordingly, no manipulation of the lever to manipulateboom 6 is accepted. - In the excavation mode,
second manipulation lever 25L is manipulated to adjust an amount of movingcutting edge 8 a ofbucket 8. Forward manipulation ofsecond manipulation lever 25L corresponds to controlling an amount of movingcutting edge 8 a ofbucket 8. Whensecond manipulation lever 25L is inclined forward in alarge amount bucket 8 has cuttingedge 8 a moved in an increased amount. Whensecond manipulation lever 25L is inclined forward in asmall amount bucket 8 has cuttingedge 8 a moved in a reduced amount. - Manipulation of
second manipulation lever 25L in any other direction is disabled. Accordingly, no manipulation of the lever to manipulatedipper stick 7 and revolving unit 3 is accepted. - [Resistance of Soil]
-
FIG. 4 represents a relationship between an excavation angle ofbucket 8 and resistance of soil according to an embodiment. - In the present example, an excavation angle represents an angle between a direction of cutting
edge 8 a ofbucket 8 and a direction in whichcutting edge 8 a travels whenbucket 8 moves. With reference to the direction of cuttingedge 8 a ofbucket 8, whenbucket 8 moves and cuttingedge 8 a travels in a direction to a side on the open side ofbucket 8, the angle has a positive value, whereas when the cutting edge travels in the opposite direction, the angle has a negative value. - As shown in
FIG. 4 , an excavation angle ofbucket 8 around 0° is indicated as a limit angle. - When
bucket 8 has an excavation angle smaller than the limit angle,bucket 8 has its exterior or back surface pressed against soil, which rapidly increases a value of resistance of soil againstbucket 8. - On the other hand, the figure shows that when
bucket 8 has an excavation angle of a predetermined angle Q,bucket 8 experiences resistance of soil of a minimum value against it. - It should be noted that the limit angle and the predetermined angle Q are merely examples and can be set to different values depending on the form of
bucket 8. - Work vehicle CM according to the present embodiment performs an excavation process at an excavation angle with a small value of resistance of soil to operate a work implement in a simple manner efficiently. Specifically, work vehicle CM performs the excavation process such that the excavation angle is the predetermined angle Q. Note that in the present example, being the predetermined angle Q does not necessarily mean completely matching the predetermined angle Q, and also includes a value approximate to the predetermined angle Q.
- [Process of Operation]
-
FIG. 5 is a flowchart of a process of an operation of an excavation work of work vehicle CM according to an embodiment. - As shown in
FIG. 5 , work implementcontroller 26 determines whether the excavation mode is set (step S2). Specifically, work implementcontroller 26 determines whether a setting instruction via the excavation mode setting button to set the excavation mode in response to a manipulation command of the operator is received. - In step S2, if work implement
controller 26 determines that the excavation mode is set, work implementcontroller 26 calculates cutting edge data (step S4). - Specifically, work implement
controller 26 calculates a boom cylinder length, a dipper stick cylinder length, and a bucket cylinder length based on detection results obtained from boomcylinder stroke sensor 16, dipper stickcylinder stroke sensor 17, and bucketcylinder stroke sensor 18. Inclination angle θ1 ofboom 6 with respect to the horizontal direction is calculated from the boom cylinder length. Inclination angle θ2 ofdipper stick 7 with respect toboom 6 is calculated from the dipper stick cylinder length. Inclination angle θ3 of cuttingedge 8 a ofbucket 8 with respect todipper stick 7 is calculated from the bucket cylinder length. Thus, cutting edge data [x1, y1, α1] indicating a position ofbucket 8 and a direction of cuttingedge 8 a of bucket 8 (the cutting edge's direction) in the x- and y-axis vehicular body coordinate system is calculated. - Subsequently, work implement
controller 26 calculates an excavating direction vector (step S6). - In the present example, the excavating direction vector is calculated such that an excavation angle formed between a direction in which
cutting edge 8 a ofbucket 8 travels with respect to a direction of cuttingedge 8 a ofbucket 8 is the predetermined angle Q. Thus, a direction in whichcutting edge 8 a ofbucket 8 travels to a side on the open side ofbucket 8 is determined. - The excavating direction vector in the vehicular body coordinate system of the present example is indicated by unit vectors dx and dy along the x axis and the y axis, which are represented by the following expressions:
-
dx=−cos(α1+Q) -
dy=−sin(α1+Q). - Subsequently, work implement
controller 26 accepts an input via a manipulation lever (step S8). - In the present example, manipulation inputs via
first manipulation lever 25R andsecond manipulation lever 25L are accepted. - As has been described above, in the excavation mode,
first manipulation lever 25R is manipulated to rotatebucket 8.Second manipulation lever 25L is manipulated to move the bucket for an excavating direction. - Subsequently, work implement
controller 26 calculates an amount of pivoting the bucket and an amount of moving the bucket for excavation in accordance with manipulation inputs received via the manipulation levers (step S10). - Specifically, work implement
controller 26 calculates the amount of rotating the bucket based on a pressure generated in response to the manipulation input viafirst manipulation lever 25R and sensed by and output frompressure sensor 66. Furthermore, work implementcontroller 26 calculates the amount of moving the bucket for excavation based on a pressure generated in response to the manipulation input viasecond manipulation lever 25L and sensed by and output frompressure sensor 66. - In the present example, the amount of rotating the bucket and the amount of moving the bucket for excavation based on a result of calculation done by work implement
controller 26 are represented as Δd and Δe, respectively. - Subsequently, work implement
controller 26 calculates target cutting edge data for cuttingedge 8 a ofbucket 8 moving in response to an input via a manipulation lever (step S12). - Specifically, work implement
controller 26 calculates target cutting edge data [x2, y2, α2]. -
x2=x1+Δd×dx -
y2=y1+Δd×dy -
α2=α1+Δe - The target cutting edge data [x2, y2, α2] can be calculated from the above equations.
- Subsequently, work implement
controller 26 operates the work implement based on the target cutting edge data (step S14) - Specifically, work implement
controller 26 calculates an inclination angle θ1′ ofboom 6, an inclination angle θ2′ ofdipper stick 7, and an inclination angle θ3′ ofbucket 8 in accordance with the target cutting edge data [x2, y2, α2] ofcutting edge 8 a ofbucket 8 in the x- and y-axis vehicular body coordinate system. Work implementcontroller 26 calculates a boom cylinder length, a dipper stick cylinder length and a bucket cylinder length based on inclination angles θ1′ to θ3′ ofboom 6,dipper stick 7 andbucket 8. - Then, work implement
controller 26 drivesdirectional control valve 64 so as to adjust hydraulic oil supplied tohydraulic cylinder 60 so as to achieve the calculated boom, dipper stick and bucket cylinder lengths. - Thus,
boom 6,dipper stick 7 andbucket 8 are automatically controlled so that cuttingedge 8 a ofbucket 8 has a position and a direction as indicated by the target cutting edge data. - Subsequently, work implement
controller 26 determines whether a work has ended (step S16). When work implementcontroller 26 determines that the work has ended is for example when the engine is stopped. - In step S16, if work implement
controller 26 determines that the work has ended (YES in step S16), work implementcontroller 26 ends the process (END). - On the other hand, if work implement
controller 26 determines in step S16 that the work has not ended (NO in step S16), work implementcontroller 26 returns to step S2 and repeats the above process. - On the other hand, if work implement
controller 26 determines in step S2 that the excavation mode is not set, work implementcontroller 26 accepts an input via a manipulation lever (step S18). - In the present example, manipulation inputs via
first manipulation lever 25R andsecond manipulation lever 25L are accepted. - As has been previously discussed, in the normal mode,
first manipulation lever 25R is manipulated to manipulateboom 6 andbucket 8. Furthermore,second manipulation lever 25L is manipulated to manipulatedipper stick 7 and revolving unit 3. - And work implement
controller 26 operates the work implement (step S20). - In response to an amount of manipulating
first manipulation lever 25R in the forward/backward direction (an amount of manipulating the boom), as based on a result of detection bypressure sensor 66, work implementcontroller 26 drivesdirectional control valve 64 passing hydraulic oil supplied toboom cylinder 10 for drivingboom 6. - In response to an amount of manipulating
first manipulation lever 25R in the rightward and leftward direction (an amount of manipulating the bucket), as based on a result of detection bypressure sensor 66, work implementcontroller 26 drivesdirectional control valve 64 passing hydraulic oil supplied tobucket cylinder 12 for drivingbucket 8. - In response to an amount of manipulating
second manipulation lever 25L in the forward/backward direction (an amount of manipulating the dipper stick), as based on a result of detection bypressure sensor 66, work implementcontroller 26 drivesdirectional control valve 64 passing hydraulic oil supplied todipper stick cylinder 11 for drivingdipper stick 7. - In response to an amount of manipulating
second manipulation lever 25L in the rightward and leftward direction, as based on a result of detection bypressure sensor 66, work implementcontroller 26 drivesdirectional control valve 64 passing hydraulic oil supplied to the hydraulic actuator for driving revolving unit 3. - Subsequently, the control proceeds to step S16.
- The process subsequent to the step is similar to that described above, and accordingly, will not be described repeatedly in detail.
- In the present example, a direction of cutting
edge 8 a ofbucket 8 is calculated, and an excavating direction vector (a direction in whichcutting edge 8 a ofbucket 8 travels to a side on the open side of bucket 8) is calculated such that an excavation angle formed between the direction in whichcutting edge 8 a ofbucket 8 travels with respect to the direction of cuttingedge 8 a ofbucket 8 is the predetermined angle Q. Automatic control is done to movecutting edge 8 a ofbucket 8 in accordance with the excavating direction vector, and resistance of soil againstbucket 8 is reduced. Reduced resistance (or load) of soil againstbucket 8 allows the work implement to operate efficiently in a simple manner. - Further, in the present example, while an excavation mode is set in accordance with an instruction issued as an operator presses excavation
mode setting button 25P, the work implement is operated efficiently with a small load as cuttingedge 8 a ofbucket 8 moves in accordance with a predetermined excavating direction vector, and improved fuel economy can be achieved. - Further, in the present example, the excavation mode can be set in response to an instruction issued as an operator presses excavation
mode setting button 25P, and the work implement can be operated efficiently with the operator's intention reflected. - Further, in the present example, in the excavation mode,
first manipulation lever 25R is manipulated to rotatebucket 8. Further,second manipulation lever 25L is manipulated to move the bucket for an excavating direction. Thus an excavation process is performed in response to manipulation commands via two manipulation levers. - For a conventional hydraulic excavator's excavating operation it is necessary to move manipulation levers of three axes for a boom, a dipper stick, and a bucket, respectively, to manipulate the movement of the bucket, so that it is not easy and requires skill, whereas the present system of the present example allows the movement of the bucket to be manipulated by two manipulation commands so that an efficient excavation process can be performed through a simple manipulation.
- A work vehicle according to a first modification of the embodiment is not limited to being controlled by an operator's manipulation instruction, and may autonomously control work vehicle CM in the excavation mode.
- Specifically, work implement
controller 26 determines whether work implement 2 performs an excavation work. - In the first modification will be described a case where whether work implement 2 performs an excavation work is determined depending on a load imposed on work implement 2.
-
FIG. 6 is a functional block diagram representing a configuration of acontrol system 200# based on the first modification of an embodiment. - As shown in
FIG. 6 ,control system 200# differs fromcontrol system 200 in that aload sensor 28 is further provided. Furthermore, the former differs from the latter in thatmanipulation device 25 is replaced by amanipulation device 25 #. - Compared to
manipulation device 25,manipulation device 25# shows a configuration excluding excavationmode setting button 25P. The remainder in configuration is similar to that described with reference toFIG. 3 , and accordingly, it will not be described repeatedly in detail. - In the present example, it is assumed that
load sensor 28 is attached tobucket 8 as an example. - Work implement
controller 26 determines whether work implement 2 performs an excavation work in accordance withload sensor 28 attached tobucket 8. - When
bucket 8 excavates soil, i.e., whenbucket 8 is engaged in an excavation work,load sensor 28 indicates an increased value. Whenbucket 8 does not excavate soil, i.e., when thebucket 8 is not engaged in an excavation work,load sensor 28 indicates a reduced value. - In the present example, work implement
controller 26 determines whether a value of a load according to a result of detection fromload sensor 28 is a predetermined value or more. - When work implement
controller 26 determines that a value of a load according to a result of detection fromload sensor 28 is the predetermined value or more, work implementcontroller 26 determines that the excavation work is performed, and sets the excavation mode. - When work implement
controller 26 sets the excavation mode, andfirst manipulation lever 25R is manipulated,bucket 8 is rotated. Further, whensecond manipulation lever 25L is manipulated the bucket is moved for an excavating direction. Thus an excavation process is performed in response to two manipulation commands. - On the other hand, when a value of a load according to a result of detection from
load sensor 28 is less than the predetermined value, work implementcontroller 26 does not set the excavation mode. In that case, work implementcontroller 26 operates in the normal mode. - When work implement
controller 26 sets the normal mode, andfirst manipulation lever 25R is manipulated,boom 6 andbucket 8 are manipulated. Furthermore, whensecond manipulation lever 25L is manipulated,dipper stick 7 and revolving unit 3 are manipulated. - The work vehicle according to the first modification of the embodiment is of a system to autonomously control work vehicle CM in the excavation mode in accordance with a result of detection from
load sensor 28. - This allows the work implement to be operated efficiently in a simple manner.
- While in the present embodiment a configuration has been described in which load
sensor 28 is attached tobucket 8, it is also possible to adopt a configuration in which a load is sensed by a sensor that measures oil pressure in the hydraulic cylinder. For example, the oil pressure of the hydraulic oil supplied tobucket cylinder 12 may be measured with a sensor to determine a load imposed onbucket 8 in magnitude. - While in the excavation mode, in the above description, a method of manipulating
bucket 8 in accordance with manipulation instructions of an operator viafirst manipulation lever 25R andsecond manipulation lever 25L in step S8 has been described, this is not exclusive, andbucket 8 may be automatically controlled. More specifically, work implementcontroller 26 may automatically controlbucket 8 by setting an amount of rotating the bucket and an amount of moving the bucket for excavation to a previously programmed and thus set, predetermined value. The predetermined value is not limited to a fixed value. For example, the predetermined value may be changed as time elapses after the excavation mode is started. For example, for a predetermined period of time after the excavation mode is started, i.e., while an excavation process is performed to introduce soil intobucket 8, the predetermined value may be set to a first predetermined value, whereas while the excavation process is performed to scrape soil out ofbucket 8, the predetermined value may be set to a second predetermined value. -
FIG. 7 is a diagram for illustrating an idea of a work vehicle system based on another embodiment. - As shown in
FIG. 7 , the work vehicle system according to the other embodiment configures a control system to control work vehicle CM from anexternal base station 300. More specifically, it is a configuration in which a function of work implementcontroller 26 andmanipulation device 25 described inFIG. 3 is provided inexternal base station 300 or the like. -
Base station 300 includes a work implementcontroller 26# similar in function to work implementcontroller 26 and amanipulation device 25# similar in function tomanipulation device 25. - Work implement
controller 26# receives a manipulation command viamanipulation device 25# and outputs an operation command for controlling work vehicle CM. Work vehicle CM operates in response to the operation command issued from work implementcontroller 26#. More specifically, work implementcontroller 26# outputs an operation command for drivingdirectional control valve 64 described inFIG. 3 . Further, work implementcontroller 26# receives information from boomcylinder stroke sensor 16, dipper stickcylinder stroke sensor 17 and bucketcylinder stroke sensor 18. - This configuration also allows the process for the operation of the excavation work described in the first embodiment with reference to
FIG. 5 to be performed by work implementcontroller 26#. - Thus, even when the work vehicle is controlled from the
remote base station 300, the configuration in accordance with the present embodiment can be applied to perform an efficient excavation work. - While in the present embodiment a configuration is described in which an operator controls work vehicle CM in accordance with a manipulation input via a manipulation lever which is a manipulation device, the present invention is also applicable to a configuration in which the manipulation device is not provided and work vehicle CM is autonomously controlled. For example, the present invention can also be applied to a case where a manipulation command to perform an excavation work is preprogrammed and the work implement controller operates in response to the programmed manipulation command. Specifically, it suffices to include a process in which when an autonomous control program for autonomously controlling work vehicle CM is started in accordance with a user's instruction and the work implement controller operates in response to the programmed manipulation command, a direction of the cutting edge of the bucket is calculated and a direction in which the cutting edge travels from the cutting edge's direction to a side on the open side of the bucket is determined such that the direction of the cutting edge of the bucket and the direction in which the cutting edge travels to the side on the open side of the bucket form an excavation angle of a predetermined angle, and the work implement is operated accordingly.
- Furthermore, while in the above description a case where a predetermined angle Q for which resistance of soil has a minimal value is used has been described, this is not exclusive, and work implement 2 may be controlled with any predetermined angle set as the excavation angle. The value of the excavation angle is not limited to a fixed value, either. For example, the value of the excavation angle may be changed as time elapses after the excavation mode is started. For example, for a predetermined period of time after the excavation mode is started, i.e., while an excavation process is performed to introduce soil into
bucket 8, the excavation angle may be set to a first excavation angle, whereas while the excavation process is performed to scrape soil out ofbucket 8, the excavation angle may be set to a second excavation angle. - <Function and Effect>
- A function and effect of the present embodiment will be described.
- According to the present embodiment, work vehicle CM includes
vehicular body 1 and work implement 2, as shown inFIG. 1 Work implement 2 hasboom 6 pivotable with respect tovehicular body 1,dipper stick 7 pivotable with respect toboom 6, andbucket 8 pivotable with respect todipper stick 7. As shown inFIG. 3 , work vehicle CM is provided with work implementcontroller 26. Work implementcontroller 26 calculates a direction of cuttingedge 8 a ofbucket 8 and determines an excavating direction vector (a direction in whichcutting edge 8 a travels to a side on the open side of bucket 8) such that the direction of cuttingedge 8 a ofbucket 8 and the direction in whichcutting edge 8 a travels to the side on the open side ofbucket 8 form an excavation angle of a predetermined angle Q, and work implementcontroller 26 causes an operation of the work implement to be performed in the direction in which the cutting edge travels. - As shown in
FIG. 4 , causing work implement 2 to perform an excavation process at the excavation angle of the predetermined angle Q for which resistance of soil has a minimal value allows the work implement to operate efficiently in a simple manner. - Work implement
controller 26 determines an excavating direction vector such that the calculated direction of cuttingedge 8 a ofbucket 8 and the direction in whichcutting edge 8 a travels to the side on the open side ofbucket 8 form an excavation angle of the predetermined angle Q for a predetermined period of time, and work implementcontroller 26 causes an operation of the work implement to be performed in the direction in which the cutting edge travels. - As shown in
FIG. 4 , performing an excavation process at an excavation angle with a small value of resistance of soil for a predetermined period of time allows the work implement to operate efficiently and fuel economy to be improved. - Work vehicle CM is provided with
first manipulation lever 25R operated to output a first manipulation command to work implementcontroller 26 to adjust an amount of pivotingbucket 8 with respect todipper stick 7 andsecond manipulation lever 25L operated to output a second manipulation command to work implementcontroller 26 to adjust an amount of movingbucket 8 for a direction in whichcutting edge 8 a travels to the side on the open side ofbucket 8 from the direction of cuttingedge 8 a. - As an excavation process is performed in response to manipulation commands via two manipulation levers, the excavation process can be performed more efficiently through a simpler manipulation than a conventional hydraulic excavator's excavating operation in which manipulation levers of three axes for a boom, a dipper stick, and a bucket, respectively, are moved to manipulate the movement of the bucket.
- Work implement
controller 26 determines whether the current mode is an excavation mode in which work implement 2 performs an operation thereof which is an excavation work. When work implementcontroller 26 determines that the current mode is the excavation mode in which work implement 2 performs an excavation work, work implementcontroller 26 accepts first and second manipulation commands viafirst manipulation lever 25R andsecond manipulation lever 25L. - When work implement
controller 26 determines that the current mode is the excavation mode, work implementcontroller 26 accepts first and second manipulation commands via two manipulation levers to manipulatebucket 8, and the excavation process can be performed efficiently. - Work implement
controller 26 determines, according to an instruction issued as the operator presses excavationmode setting button 25P, whether the current mode is an excavation mode in which work implement 2 performs an operation thereof which is an excavation work. - Whether the current mode is the excavation mode can be determined according to an instruction issued as the operator presses excavation
mode setting button 25P, and the work implement can be operated efficiently with the operator's intention reflected. - Work vehicle CM is provided with
load sensor 28 to sense a load imposed onbucket 8. Work implementcontroller 26 determines according to a result of detection byload sensor 28 whether the current mode is a working mode in which work implement 2 performs an operation thereof which is an excavation work. - As whether the current mode is the working mode can be determined according to a result of detection by
load sensor 28, the operator's manipulation instruction is unnecessary, and the work implement can be operated efficiently in a simple manner. - According to the present embodiment, work vehicle CM includes
vehicular body 1 and work implement 2, as shown inFIG. 1 . Work implement 2 hasboom 6 pivotable with respect tovehicular body 1,dipper stick 7 pivotable with respect toboom 6, andbucket 8 pivotable with respect todipper stick 7. A method for controlling work vehicle CM comprises the steps of: calculating a direction of cuttingedge 8 a ofbucket 8; and causing an operation of a work implement to be performed in a direction in whichcutting edge 8 a travels to a side on the open side ofbucket 8 such that the calculated direction of cuttingedge 8 a ofbucket 8 and the direction in whichcutting edge 8 a travels to the side on the open side ofbucket 8 form an excavation angle of a predetermined angle Q. - As shown in
FIG. 4 , it is possible to cause work implement 2 to perform an excavation process at the excavation angle of the predetermined angle Q for which resistance of soil has a minimal value, and it is possible to operate the work implement efficiently in a simple manner. - While a hydraulic excavator has been described as a work vehicle in the present example, the work vehicle is also applicable to a crawler dozer, a wheel loader and other similar work vehicles.
- While the present invention has been described in embodiments, it should be understood that the embodiments disclosed herein are illustrative and non-restrictive in any respect. The scope of the present invention is defined by the terms of the claims, and is intended to include any modifications within the meaning and scope equivalent to the terms of the claims.
- 1 vehicular body, 2 work implement, 3 revolving unit, 4 operator's cab, 4 s operator's seat, 5 traveling unit, 5Cr crawler, 6 boom, 7 dipper stick, 8 bucket, 8 a cutting edge, 9 engine room, 10 boom cylinder, 11 dipper stick cylinder, 12 bucket cylinder, 13 boom pin, 14 dipper stick pin, 15 bucket pin, 16 boom cylinder stroke sensor, 17 dipper stick cylinder stroke sensor, 18 bucket cylinder stroke sensor, 19 handrail, 25, 25# manipulation device, 25L second manipulation lever, 25P excavation mode setting button, 25R first manipulation lever, 26, 26# work implement controller, 28 load sensor, 60 hydraulic cylinder, 64 directional control valve, 66 pressure sensor, 200, 200# control system, 300 base station.
Claims (7)
1. A work vehicle comprising:
a vehicular body;
a work implement having a boom pivotable with respect to the vehicular body, a dipper stick pivotable with respect to the boom, and a bucket pivotable with respect to the dipper stick; and
a controller that calculates a direction of a cutting edge of the bucket and determines a direction in which the cutting edge travels to a side on an open side of the bucket such that the calculated direction of the cutting edge of the bucket and the direction in which the cutting edge travels to the side on the open side of the bucket form an excavation angle of a predetermined angle, and that causes an operation of the work implement to be performed in the direction in which the cutting edge travels.
2. The work vehicle according to claim 1 , wherein the controller determines the direction in which the cutting edge travels to the side on the open side of the bucket such that the calculated direction of the cutting edge of the bucket and the direction in which the cutting edge travels to the side on the open side of the bucket form the excavation angle of the predetermined angle for a predetermined period of time, and the controller causes the operation of the work implement to be performed in the direction in which the cutting edge travels.
3. The work vehicle according to claim 1 , further comprising: a first manipulation lever operated to output a first manipulation command to the controller to adjust an amount of pivoting the bucket with respect to the dipper stick; and a second manipulation lever operated to output a second manipulation command to the controller to adjust an amount of moving the bucket for the direction in which the cutting edge travels from the direction of the cutting edge to the side on the open side of the bucket.
4. The work vehicle according to claim 3 , wherein
the controller determines whether to cause the operation of the work implement to be performed, and
when the controller determines that the operation of the work implement is caused to be performed, the controller accepts first and second manipulation commands from the first and second manipulation levers.
5. The work vehicle according to claim 4 , wherein the controller determines whether to cause the operation of the work implement to be performed in accordance with a manipulation instruction of an operator.
6. The work vehicle according to claim 5 , further comprising a load detector that detects a load imposed on the work implement, wherein the controller determines whether to cause the operation of the work implement to be performed according to a result of detection by the load detector.
7. A method for controlling a work vehicle including a work implement having a boom pivotable with respect to a vehicular body, a dipper stick pivotable with respect to the boom, and a bucket pivotable with respect to the dipper stick, comprising:
calculating a direction of a cutting edge of the bucket; and
causing an operation of the work implement to be performed in a direction in which the cutting edge travels to a side on an open side of the bucket such that the direction of the cutting edge of the bucket as calculated and the direction in which the cutting edge travels to the side on the open side of the bucket form an excavation angle of a predetermined angle.
Applications Claiming Priority (1)
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PCT/JP2016/085124 WO2018096667A1 (en) | 2016-11-28 | 2016-11-28 | Work vehicle and control method for work vehicle |
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US20190203443A1 true US20190203443A1 (en) | 2019-07-04 |
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ID=62195950
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US16/330,836 Abandoned US20190203443A1 (en) | 2016-11-28 | 2016-11-28 | Work vehicle and method for controlling work vehicle |
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US (1) | US20190203443A1 (en) |
JP (1) | JP6871946B2 (en) |
KR (1) | KR20190029740A (en) |
CN (1) | CN109642407A (en) |
DE (1) | DE112016007307T5 (en) |
WO (1) | WO2018096667A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN112554253A (en) * | 2020-11-27 | 2021-03-26 | 徐工集团工程机械有限公司 | Multifunctional emergency rescue vehicle and control method thereof |
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JP2021110098A (en) * | 2020-01-06 | 2021-08-02 | 日立建機株式会社 | Construction machine |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
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JPS60219332A (en) * | 1984-04-13 | 1985-11-02 | Komatsu Ltd | Method of reducing excavation resistance of bucket |
JPS6187033A (en) * | 1984-10-03 | 1986-05-02 | Komatsu Ltd | Controller for power shovel |
JPS61225429A (en) | 1985-03-29 | 1986-10-07 | Komatsu Ltd | Controller for working machine of power shovel |
JPH0689550B2 (en) | 1986-02-14 | 1994-11-09 | 株式会社小松製作所 | Work machine control method and apparatus in power shovel |
-
2016
- 2016-11-28 JP JP2018552364A patent/JP6871946B2/en active Active
- 2016-11-28 DE DE112016007307.0T patent/DE112016007307T5/en not_active Withdrawn
- 2016-11-28 US US16/330,836 patent/US20190203443A1/en not_active Abandoned
- 2016-11-28 WO PCT/JP2016/085124 patent/WO2018096667A1/en active Application Filing
- 2016-11-28 KR KR1020197005894A patent/KR20190029740A/en not_active Application Discontinuation
- 2016-11-28 CN CN201680088781.1A patent/CN109642407A/en not_active Withdrawn
Cited By (1)
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CN112554253A (en) * | 2020-11-27 | 2021-03-26 | 徐工集团工程机械有限公司 | Multifunctional emergency rescue vehicle and control method thereof |
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CN109642407A (en) | 2019-04-16 |
JP6871946B2 (en) | 2021-05-19 |
JPWO2018096667A1 (en) | 2019-10-17 |
DE112016007307T5 (en) | 2019-06-19 |
WO2018096667A1 (en) | 2018-05-31 |
KR20190029740A (en) | 2019-03-20 |
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