US20190203443A1 - Work vehicle and method for controlling work vehicle - Google Patents

Work vehicle and method for controlling work vehicle Download PDF

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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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Abandoned
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US16/330,836
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English (en)
Inventor
Nobuyoshi YAMANAKA
Shunsuke Mori
Toshiaki Kumagai
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Komatsu Ltd
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Komatsu Ltd
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Assigned to KOMATSU LTD. reassignment KOMATSU LTD. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: KUMAGAI, TOSHIAKI, MORI, SHUNSUKE, YAMANAKA, NOBUYOSHI
Publication of US20190203443A1 publication Critical patent/US20190203443A1/en
Abandoned legal-status Critical Current

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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)

Definitions

  • the present invention relates to a work vehicle.
  • the dipper stick is manipulated to cause the bucket to penetrate soil.
  • the boom is manipulated to add an operation to raise the bucket upward to make the bucket's excavation depth appropriate.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • the controller determines whether to cause the operation of the work implement to be performed.
  • the controller accepts first and second manipulation commands from the first and second manipulation levers.
  • the controller determines whether to cause the operation of the work implement to be performed in accordance with a manipulation instruction of an operator.
  • 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.
  • 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 a control system 200 to control work vehicle CM according to an embodiment.
  • FIG. 4 represents a relationship between an excavation angle of a bucket 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 a control system 200 # based on a first modification of an embodiment.
  • FIG. 7 represents an idea of a work vehicle system based on another embodiment.
  • FIG. 1 is a perspective view of one example of a work vehicle according to an embodiment.
  • 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's cab 4 , and a travelling unit 5 .
  • Revolving unit 3 is disposed on a travelling unit 5 .
  • Travelling unit 5 supports revolving unit 3 .
  • Revolving unit 3 can revolve about an axis AX.
  • An operator's seat 4 S on which an operator is seated is provided in operator's cab 4 .
  • the operator manipulates hydraulic excavator CM in operator's cab 4 .
  • Travelling unit 5 has a pair of crawler belts 5 Cr. Hydraulic excavator CM travels as crawler belts 5 Cr rotate.
  • travelling unit 5 may be composed of vehicular wheels (or tires).
  • a frontward/rearward direction is a frontward/rearward direction with reference to the operator seated on operator's seat 4 S.
  • a rightward/leftward direction is a rightward/leftward direction with respect to the operator seated on operator's seat 4 S.
  • the rightward/leftward direction matches the vehicle's widthwise direction (a vehicular widthwise direction).
  • a direction opposite to the frontward direction is the rearward direction.
  • a direction on a right side of the operator is referred to as the rightward direction
  • 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.
  • 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).
  • a direction on one side of the operator in the vehicular widthwise direction is the right direction (or a +z direction)
  • 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 a handrail 19 in front of engine compartment 9 .
  • the engine, a hydraulic pump, etc. are disposed in engine compartment 9 .
  • Work implement 2 is connected to revolving unit 3 .
  • Work implement 2 has a boom 6 , a dipper stick 7 , a bucket 8 , a boom cylinder 10 , a dipper stick cylinder 11 , and a bucket cylinder 12 .
  • Boom 6 is connected to revolving unit 3 via a boom pin 13 .
  • Dipper stick 7 is connected to boom 6 via a dipper stick pin 14 .
  • Bucket 8 is connected to dipper stick 7 via a bucket pin 15 .
  • Boom cylinder 10 drives boom 6 .
  • Dipper stick cylinder 11 drives dipper stick 7 .
  • Bucket cylinder 12 drives 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 of dipper stick 7 .
  • Dipper stick 7 has a distal end (or a dipper stick top) connected to a proximal end of bucket 8 .
  • Boom cylinder 10 , dipper stick cylinder 11 , and bucket cylinder 12 are all a hydraulic cylinder driven with hydraulic oil.
  • Boom 6 is pivotable with respect to revolving unit 3 about boom pin 13 serving as a pivot.
  • Dipper stick 7 is pivotable with respect to boom 6 about dipper stick pin 14 serving as a pivot parallel to boom pin 13 .
  • Bucket 8 is pivotable with respect to dipper stick 7 about bucket pin 15 serving as a pivot parallel to boom pin 13 and dipper stick pin 14 .
  • Boom pin 13 , dipper stick pin 14 , and bucket pin 15 are all parallel to the z axis.
  • Boom 6 , dipper stick 7 , and bucket 8 are all pivotable about an axis parallel to the z axis.
  • FIG. 2 schematically illustrates work vehicle CM according to an embodiment.
  • work vehicle CM is provided with a boom cylinder stroke sensor 16 , a dipper stick cylinder stroke sensor 17 , and a bucket cylinder stroke sensor 18 .
  • Boom cylinder stroke sensor 16 is disposed on boom cylinder 10 and senses a length of a stroke of boom cylinder 10 (a boom cylinder length).
  • Dipper stick cylinder stroke sensor 17 is disposed on dipper stick cylinder 11 and senses a length of a stroke of dipper stick cylinder 11 (a dipper stick cylinder length).
  • Bucket cylinder stroke sensor 18 is disposed on bucket cylinder 12 and senses a length of a stroke of bucket cylinder 12 (bucket cylinder length).
  • 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 a dipper stick cylinder 11 will also be referred to as a dipper stick cylinder length or a dipper stick stroke.
  • a length of a stroke of bucket cylinder 12 will also be referred to as a bucket cylinder length or a bucket stroke.
  • 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 L 1 , which is a distance between boom pin 13 and dipper stick pin 14 .
  • Dipper stick 7 has a length L 2 , which is a distance between dipper stick pin 14 and bucket pin 15 .
  • Bucket 8 has a length L 3 , which is a distance between bucket pin 15 and a cutting edge 8 a of bucket 8 .
  • Bucket 8 has a plurality of blades, and in the present example, a tip portion of bucket 8 will be referred to as cutting edge 8 a . Note that bucket 8 may have no blade.
  • the tip portion of bucket 8 may be formed of a steel plate having a straight shape.
  • 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 ⁇ 1 of boom 6 with respect to a horizontal direction in the vehicular body coordinate system is calculated from cylinder length data sensed by boom cylinder stroke sensor 16 .
  • An inclination angle ⁇ 2 of dipper stick 7 with respect to boom 6 is calculated from cylinder length data sensed by dipper stick cylinder stroke sensor 17 .
  • An inclination angle ⁇ 3 of cutting edge 8 a of bucket 8 with respect to dipper stick 7 is calculated from cylinder length data sensed by bucket cylinder stroke sensor 18 .
  • a position of cutting edge 8 a of bucket 8 and an angle of cutting edge 8 a of bucket 8 (the cutting edge's direction) in the x- and y-axis vehicular body coordinate system can be calculated.
  • positional coordinates [x1, y1] of cutting edge 8 a of bucket 8 and a cutting edge angle [a] of cutting edge 8 a of bucket 8 with respect to the horizontal direction are shown.
  • the inclination angle may be calculated by using an angle detector such as a rotary encoder.
  • FIG. 3 is a functional block diagram representing a configuration of a control system 200 to control work vehicle CM according to an embodiment.
  • control system 200 controls an excavation process using work implement 2 .
  • Control system 200 includes boom cylinder stroke sensor 16 , dipper stick cylinder stroke sensor 17 , bucket cylinder stroke sensor 18 , a manipulation device 25 , a work implement controller 26 , a hydraulic cylinder 60 , a directional control valve 64 , and a pressure sensor 66 .
  • Manipulation device 25 is disposed in operator's cab 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 to hydraulic cylinder 60 .
  • Directional control valve 64 is actuated by oil supplied.
  • oil supplied to a hydraulic cylinder boost cylinder 10 , dipper stick cylinder 11 , and bucket cylinder 12
  • pilot oil oil supplied to directional control valve 64 to actuate directional control valve 64
  • 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.
  • 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.
  • 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.
  • 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 to manipulation device 25 .
  • Pressure sensor 66 senses a pilot oil pressure generated in response to manipulation of a lever of manipulation device 25 and outputs it to work implement controller 26 .
  • work implement controller 26 drives directional 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 a first manipulation lever 25 R, a second manipulation lever 25 L, and an excavation mode setting button 25 P.
  • First manipulation lever 25 R is disposed, for example, on the right side of driver's seat 4 S.
  • Second manipulation lever 25 L is disposed, for example, on the left side of operator's seat 4 S.
  • forward, backward, rightward and leftward operations correspond to operations along two axes.
  • Excavation mode setting button 25 P is a setting button for setting an excavation mode.
  • Work implement controller 26 shifts from a normal mode to the excavation mode in response to an instruction issued as the operator presses excavation mode setting button 25 P. Furthermore, work implement controller 26 shifts from the excavation mode to the normal mode in response to an instruction issued as the operator again presses excavation mode setting button 25 P.
  • first manipulation lever 25 R and second manipulation lever 25 L of manipulation device 25 can change a function corresponding to a manipulation between the normal mode and the excavation mode.
  • first manipulation lever 25 R is manipulated to manipulate boom 6 and bucket 8 .
  • a forward/backward manipulation of first manipulation lever 25 R corresponds to a manipulation of boom 6 , and in response to the forward/backward manipulation, boom 6 is raised/lowered.
  • the lever is manipulated to manipulate boom 6 .
  • a rightward/leftward manipulation of first manipulation lever 25 R corresponds to a manipulation of bucket 8 , and in response to the rightward/leftward manipulation, bucket 8 is operated to excavate soil and be released.
  • the lever is manipulated to manipulate bucket 8 .
  • Second manipulation lever 25 L is manipulated to manipulate dipper stick 7 and revolving unit 3 .
  • a forward/backward manipulation of second manipulation lever 25 L corresponds to a manipulation of dipper stick 7 , and in response to the forward/backward manipulation, dipper stick 7 is raised/lowered. The lever is manipulated to manipulate dipper stick 7 .
  • a rightward/leftward manipulation of second manipulation lever 25 L corresponds to revolution of revolving unit 3 , and in response to the rightward/leftward manipulation, revolving unit 3 revolves rightward and leftward.
  • work implement controller 26 drives directional control valve 64 passing hydraulic oil supplied to boom cylinder 10 for driving boom 6 .
  • work implement controller 26 drives directional control valve 64 passing hydraulic oil supplied to bucket cylinder 12 for driving bucket 8 .
  • work implement controller 26 drives directional control valve 64 passing hydraulic oil supplied to dipper stick cylinder 11 for driving dipper stick 7 .
  • work implement controller 26 drives directional control valve 64 passing hydraulic oil supplied to a hydraulic actuator for driving revolving unit 3 .
  • first manipulation lever 25 R may correspond to a manipulation of boom 6 and a forward/backward manipulation thereof may correspond to that of bucket 8 .
  • a rightward/leftward manipulation of second manipulation lever 25 L may correspond to a manipulation of dipper stick 7 and a forward/backward manipulation thereof may correspond to that of revolving unit 3 .
  • first manipulation lever 25 R is manipulated to manipulate bucket 8 .
  • a rightward/leftward manipulation of first manipulation lever 25 R corresponds to a manipulation of bucket 8 , and in response to the rightward/leftward manipulation, bucket 8 is rotated.
  • the forward/backward manipulation of first manipulation lever 25 R is disabled. Accordingly, no manipulation of the lever to manipulate boom 6 is accepted.
  • second manipulation lever 25 L is manipulated to adjust an amount of moving cutting edge 8 a of bucket 8 .
  • Forward manipulation of second manipulation lever 25 L corresponds to controlling an amount of moving cutting edge 8 a of bucket 8 .
  • second manipulation lever 25 L is inclined forward in a large amount bucket 8 has cutting edge 8 a moved in an increased amount.
  • second manipulation lever 25 L is inclined forward in a small amount bucket 8 has cutting edge 8 a moved in a reduced amount.
  • Manipulation of second manipulation lever 25 L in any other direction is disabled. Accordingly, no manipulation of the lever to manipulate dipper stick 7 and revolving unit 3 is accepted.
  • FIG. 4 represents a relationship between an excavation angle of bucket 8 and resistance of soil according to an embodiment.
  • an excavation angle represents an angle between a direction of cutting edge 8 a of bucket 8 and a direction in which cutting edge 8 a travels when bucket 8 moves.
  • the angle has a positive value, whereas when the cutting edge travels in the opposite direction, the angle has a negative value.
  • an excavation angle of bucket 8 around 0° is indicated as a limit angle.
  • bucket 8 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 against bucket 8 .
  • 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.
  • 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 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.
  • FIG. 5 is a flowchart of a process of an operation of an excavation work of work vehicle CM according to an embodiment.
  • work implement controller 26 determines whether the excavation mode is set (step S 2 ). Specifically, work implement controller 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.
  • step S 2 if work implement controller 26 determines that the excavation mode is set, work implement controller 26 calculates cutting edge data (step S 4 ).
  • 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 boom cylinder stroke sensor 16 , dipper stick cylinder stroke sensor 17 , and bucket cylinder stroke sensor 18 .
  • Inclination angle ⁇ 1 of boom 6 with respect to the horizontal direction is calculated from the boom cylinder length.
  • Inclination angle ⁇ 2 of dipper stick 7 with respect to boom 6 is calculated from the dipper stick cylinder length.
  • Inclination angle ⁇ 3 of cutting edge 8 a of bucket 8 with respect to dipper stick 7 is calculated from the bucket cylinder length.
  • cutting edge data [x1, y1, ⁇ 1] indicating a position of bucket 8 and a direction of cutting edge 8 a of bucket 8 (the cutting edge's direction) in the x- and y-axis vehicular body coordinate system is calculated.
  • work implement controller 26 calculates an excavating direction vector (step S 6 ).
  • the excavating direction vector is calculated such that an excavation angle formed between a direction in which cutting edge 8 a of bucket 8 travels with respect to a direction of cutting edge 8 a of bucket 8 is the predetermined angle Q.
  • a direction in which cutting edge 8 a of bucket 8 travels to a side on the open side of bucket 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:
  • work implement controller 26 accepts an input via a manipulation lever (step S 8 ).
  • manipulation inputs via first manipulation lever 25 R and second manipulation lever 25 L are accepted.
  • first manipulation lever 25 R is manipulated to rotate bucket 8 .
  • Second manipulation lever 25 L is manipulated to move the bucket for an excavating direction.
  • 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 S 10 ).
  • work implement controller 26 calculates the amount of rotating the bucket based on a pressure generated in response to the manipulation input via first manipulation lever 25 R and sensed by and output from pressure sensor 66 . Furthermore, work implement controller 26 calculates the amount of moving the bucket for excavation based on a pressure generated in response to the manipulation input via second manipulation lever 25 L and sensed by and output from pressure sensor 66 .
  • 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 ⁇ d and ⁇ e, respectively.
  • work implement controller 26 calculates target cutting edge data for cutting edge 8 a of bucket 8 moving in response to an input via a manipulation lever (step S 12 ).
  • work implement controller 26 calculates target cutting edge data [x2, y2, ⁇ 2].
  • the target cutting edge data [x2, y2, ⁇ 2] can be calculated from the above equations.
  • work implement controller 26 operates the work implement based on the target cutting edge data (step S 14 )
  • work implement controller 26 calculates an inclination angle ⁇ 1 ′ of boom 6 , an inclination angle ⁇ 2 ′ of dipper stick 7 , and an inclination angle ⁇ 3 ′ of bucket 8 in accordance with the target cutting edge data [x2, y2, ⁇ 2] of cutting edge 8 a of bucket 8 in the x- and y-axis vehicular body coordinate system.
  • Work implement controller 26 calculates a boom cylinder length, a dipper stick cylinder length and a bucket cylinder length based on inclination angles ⁇ 1 ′ to ⁇ 3 ′ of boom 6 , dipper stick 7 and bucket 8 .
  • work implement controller 26 drives directional control valve 64 so as to adjust hydraulic oil supplied to hydraulic cylinder 60 so as to achieve the calculated boom, dipper stick and bucket cylinder lengths.
  • boom 6 , dipper stick 7 and bucket 8 are automatically controlled so that cutting edge 8 a of bucket 8 has a position and a direction as indicated by the target cutting edge data.
  • work implement controller 26 determines whether a work has ended (step S 16 ).
  • work implement controller 26 determines that the work has ended is for example when the engine is stopped.
  • step S 16 if work implement controller 26 determines that the work has ended (YES in step S 16 ), work implement controller 26 ends the process (END).
  • step S 16 determines in step S 16 that the work has not ended (NO in step S 16 )
  • work implement controller 26 returns to step S 2 and repeats the above process.
  • step S 18 work implement controller 26 accepts an input via a manipulation lever (step S 18 ).
  • manipulation inputs via first manipulation lever 25 R and second manipulation lever 25 L are accepted.
  • first manipulation lever 25 R is manipulated to manipulate boom 6 and bucket 8 .
  • second manipulation lever 25 L is manipulated to manipulate dipper stick 7 and revolving unit 3 .
  • work implement controller 26 drives directional control valve 64 passing hydraulic oil supplied to boom cylinder 10 for driving boom 6 .
  • work implement controller 26 drives directional control valve 64 passing hydraulic oil supplied to bucket cylinder 12 for driving bucket 8 .
  • work implement controller 26 drives directional control valve 64 passing hydraulic oil supplied to dipper stick cylinder 11 for driving dipper stick 7 .
  • work implement controller 26 drives directional control valve 64 passing hydraulic oil supplied to the hydraulic actuator for driving revolving unit 3 .
  • step S 16 the control proceeds to step S 16 .
  • a direction of cutting edge 8 a of bucket 8 is calculated, and an excavating direction vector (a direction in which cutting edge 8 a of bucket 8 travels to a side on the open side of bucket 8 ) is calculated such that an excavation angle formed between the direction in which cutting edge 8 a of bucket 8 travels with respect to the direction of cutting edge 8 a of bucket 8 is the predetermined angle Q.
  • Automatic control is done to move cutting edge 8 a of bucket 8 in accordance with the excavating direction vector, and resistance of soil against bucket 8 is reduced. Reduced resistance (or load) of soil against bucket 8 allows the work implement to operate efficiently in a simple manner.
  • an excavation mode is set in accordance with an instruction issued as an operator presses excavation mode setting button 25 P
  • the work implement is operated efficiently with a small load as cutting edge 8 a of bucket 8 moves in accordance with a predetermined excavating direction vector, and improved fuel economy can be achieved.
  • the excavation mode can be set in response to an instruction issued as an operator presses excavation mode setting button 25 P, and the work implement can be operated efficiently with the operator's intention reflected.
  • first manipulation lever 25 R is manipulated to rotate bucket 8 .
  • second manipulation lever 25 L is manipulated to move the bucket for an excavating direction.
  • an excavation process is performed in response to manipulation commands via two manipulation levers.
  • 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.
  • work implement controller 26 determines whether work implement 2 performs an excavation work.
  • FIG. 6 is a functional block diagram representing a configuration of a control system 200 # based on the first modification of an embodiment.
  • control system 200 # differs from control system 200 in that a load sensor 28 is further provided. Furthermore, the former differs from the latter in that manipulation device 25 is replaced by a manipulation device 25 #.
  • manipulation device 25 # shows a configuration excluding excavation mode setting button 25 P.
  • the remainder in configuration is similar to that described with reference to FIG. 3 , and accordingly, it will not be described repeatedly in detail.
  • load sensor 28 is attached to bucket 8 as an example.
  • Work implement controller 26 determines whether work implement 2 performs an excavation work in accordance with load sensor 28 attached to bucket 8 .
  • load sensor 28 When bucket 8 excavates soil, i.e., when bucket 8 is engaged in an excavation work, load sensor 28 indicates an increased value. When bucket 8 does not excavate soil, i.e., when the bucket 8 is not engaged in an excavation work, load sensor 28 indicates a reduced value.
  • work implement controller 26 determines whether a value of a load according to a result of detection from load sensor 28 is a predetermined value or more.
  • work implement controller 26 determines that a value of a load according to a result of detection from load sensor 28 is the predetermined value or more, work implement controller 26 determines that the excavation work is performed, and sets the excavation mode.
  • work implement controller 26 when a value of a load according to a result of detection from load sensor 28 is less than the predetermined value, work implement controller 26 does not set the excavation mode. In that case, work implement controller 26 operates in the normal mode.
  • first manipulation lever 25 R When work implement controller 26 sets the normal mode, and first manipulation lever 25 R is manipulated, boom 6 and bucket 8 are manipulated. Furthermore, when second manipulation lever 25 L 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 .
  • load sensor 28 is attached to bucket 8
  • a load is sensed by a sensor that measures oil pressure in the hydraulic cylinder.
  • the oil pressure of the hydraulic oil supplied to bucket cylinder 12 may be measured with a sensor to determine a load imposed on bucket 8 in magnitude.
  • bucket 8 may be automatically controlled. More specifically, work implement controller 26 may automatically control bucket 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.
  • the predetermined value may be set to a first predetermined value, whereas while the excavation process is performed to scrape soil out of bucket 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.
  • the work vehicle system configures a control system to control work vehicle CM from an external base station 300 . More specifically, it is a configuration in which a function of work implement controller 26 and manipulation device 25 described in FIG. 3 is provided in external base station 300 or the like.
  • Base station 300 includes a work implement controller 26 # similar in function to work implement controller 26 and a manipulation device 25 # similar in function to manipulation device 25 .
  • Work implement controller 26 # receives a manipulation command via manipulation 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 implement controller 26 #. More specifically, work implement controller 26 # outputs an operation command for driving directional control valve 64 described in FIG. 3 . Further, work implement controller 26 # receives information from boom cylinder stroke sensor 16 , dipper stick cylinder stroke sensor 17 and bucket cylinder 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 implement controller 26 #.
  • the configuration in accordance with the present embodiment can be applied to perform an efficient excavation work.
  • the present invention is also applicable to a configuration in which the manipulation device is not provided and work vehicle CM is autonomously controlled.
  • 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.
  • 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.
  • the value of the excavation angle may be changed as time elapses after the excavation mode is started.
  • the excavation angle may be set to a first excavation angle, whereas while the excavation process is performed to scrape soil out of bucket 8 , the excavation angle may be set to a second excavation angle.
  • work vehicle CM includes vehicular body 1 and work implement 2 , as shown in FIG. 1
  • Work implement 2 has boom 6 pivotable with respect to vehicular body 1 , dipper stick 7 pivotable with respect to boom 6 , and bucket 8 pivotable with respect to dipper stick 7 .
  • work vehicle CM is provided with work implement controller 26 .
  • Work implement controller 26 calculates a direction of cutting edge 8 a of bucket 8 and determines an excavating direction vector (a direction in which cutting edge 8 a travels to a side on the open side of bucket 8 ) such that the direction of cutting edge 8 a of bucket 8 and the direction in which cutting edge 8 a travels to the side on the open side of bucket 8 form an excavation angle of a predetermined angle Q, and work implement controller 26 causes an operation of the work implement to be performed in the direction in which the cutting edge travels.
  • 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 cutting edge 8 a of bucket 8 and the direction in which cutting edge 8 a travels to the side on the open side of bucket 8 form an excavation angle of the predetermined angle Q for a predetermined period of time, and work implement controller 26 causes an operation of the work implement to be performed in the direction in which the cutting edge travels.
  • 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 25 R operated to output a first manipulation command to work implement controller 26 to adjust an amount of pivoting bucket 8 with respect to dipper stick 7 and second manipulation lever 25 L operated to output a second manipulation command to work implement controller 26 to adjust an amount of moving bucket 8 for a direction in which cutting edge 8 a travels to the side on the open side of bucket 8 from the direction of cutting edge 8 a.
  • 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 implement controller 26 determines that the current mode is the excavation mode in which work implement 2 performs an excavation work, work implement controller 26 accepts first and second manipulation commands via first manipulation lever 25 R and second manipulation lever 25 L.
  • work implement controller 26 determines that the current mode is the excavation mode, work implement controller 26 accepts first and second manipulation commands via two manipulation levers to manipulate bucket 8 , and the excavation process can be performed efficiently.
  • Work implement controller 26 determines, according to an instruction issued as the operator presses excavation mode setting button 25 P, 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 25 P, 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 on bucket 8 .
  • Work implement controller 26 determines according to a result of detection by load sensor 28 whether the current mode is a working mode in which work implement 2 performs an operation thereof which is an excavation work.
  • work vehicle CM includes vehicular body 1 and work implement 2 , as shown in FIG. 1 .
  • Work implement 2 has boom 6 pivotable with respect to vehicular body 1 , dipper stick 7 pivotable with respect to boom 6 , and bucket 8 pivotable with respect to dipper stick 7 .
  • a method for controlling work vehicle CM comprises the steps of: calculating a direction of cutting edge 8 a of bucket 8 ; and causing an operation of a work implement to be performed in a direction in which cutting edge 8 a travels to a side on the open side of bucket 8 such that the calculated direction of cutting edge 8 a of bucket 8 and the direction in which cutting edge 8 a travels to the side on the open side of bucket 8 form an excavation angle of a predetermined angle Q.
  • 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.

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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)
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CN112554253A (zh) * 2020-11-27 2021-03-26 徐工集团工程机械有限公司 多功能抢险救援车及其控制方法

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JPS60219332A (ja) * 1984-04-13 1985-11-02 Komatsu Ltd バケツトにおける掘削抵抗の低減方法
JPS6187033A (ja) * 1984-10-03 1986-05-02 Komatsu Ltd パワ−シヨベルの制御装置
JPS61225429A (ja) * 1985-03-29 1986-10-07 Komatsu Ltd パワ−シヨベルの作業機制御装置
JPH0689550B2 (ja) 1986-02-14 1994-11-09 株式会社小松製作所 パワ−シヨベルにおける作業機制御方法および装置

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DE112016007307T5 (de) 2019-06-19
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