WO2016125232A1 - 作業車両および作業車両の制御方法 - Google Patents
作業車両および作業車両の制御方法 Download PDFInfo
- Publication number
- WO2016125232A1 WO2016125232A1 PCT/JP2015/052837 JP2015052837W WO2016125232A1 WO 2016125232 A1 WO2016125232 A1 WO 2016125232A1 JP 2015052837 W JP2015052837 W JP 2015052837W WO 2016125232 A1 WO2016125232 A1 WO 2016125232A1
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- WIPO (PCT)
- Prior art keywords
- bucket
- axis
- angle
- tilt
- work
- Prior art date
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Classifications
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- 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
- E02F3/3604—Devices to connect tools to arms, booms or the like
- E02F3/3677—Devices to connect tools to arms, booms or the like allowing movement, e.g. rotation or translation, of the tool around or along another axis as the movement implied by the boom or arms, e.g. for tilting buckets
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- 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
- E02F3/3604—Devices to connect tools to arms, booms or the like
- E02F3/3677—Devices to connect tools to arms, booms or the like allowing movement, e.g. rotation or translation, of the tool around or along another axis as the movement implied by the boom or arms, e.g. for tilting buckets
- E02F3/3681—Rotators
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- 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
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- 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
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- 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
- E02F9/2037—Coordinating the movements of the implement and of the frame
-
- 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
- E02F9/22—Hydraulic or pneumatic drives
-
- 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
-
- 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
- E02F9/261—Surveying the work-site to be treated
-
- 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
- E02F9/261—Surveying the work-site to be treated
- E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
-
- 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
-
- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/40—Special vehicles
- B60Y2200/41—Construction vehicles, e.g. graders, excavators
- B60Y2200/412—Excavators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/30—Sensors
- B60Y2400/306—Pressure sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/40—Actuators for moving a controlled member
- B60Y2400/406—Hydraulic actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/92—Driver displays
-
- 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
Definitions
- the present invention relates to a work vehicle.
- a work vehicle such as a hydraulic excavator includes a work machine having a boom, an arm, and a bucket.
- excavation control is known in which the cutting edge of a bucket is controlled based on a target design landform that is a target shape to be excavated.
- a tilt type bucket tilt bucket
- both ends of the bucket in the vehicle width direction can be tilted with respect to an axis in the vehicle width direction.
- the tilt type bucket is tilted by a tilt actuator that tilts the bucket with respect to the arm as disclosed in Japanese Patent Application Laid-Open No. 2014-74319.
- the tilt type bucket it is possible to acquire the tilt angle data of the bucket using the tilt angle sensor.
- the bucket is inclined with respect to the axis in the vehicle width direction by driving the actuator for tilting, and is also inclined with respect to the axis in the longitudinal direction of the vehicle by the normal operation of the work implement. For this reason, it may be difficult for the tilt angle sensor to acquire tilt angle data based on the drive of the tilt actuator due to the operation of the work implement. In such a case, excavation control cannot be performed based on accurate tilt angle data, and the accuracy of excavation control may be reduced.
- the present invention has been made to solve the above-described problem, and an object of the present invention is to provide a technique for preventing a decrease in excavation control accuracy in a work vehicle using a tilt bucket.
- a work vehicle includes a vehicle main body, a work implement, an angle sensor, and a work implement control unit.
- the work machine has a boom, an arm, and a bucket.
- the boom is rotatable with respect to the vehicle body about the boom axis.
- the arm is rotatable with respect to the boom about an arm axis parallel to the boom axis.
- the bucket is rotatable with respect to the arm about each of a bucket axis parallel to the arm axis and a tilt axis orthogonal to the bucket axis.
- the angle sensor is provided in the bucket and detects an inclination angle of the bucket with respect to a horizontal plane.
- the work implement control unit executes work implement control for automatically controlling at least partly the operation of the work implement based on the design landform indicating the target shape of the work target by the work implement.
- the work implement control unit starts work implement control when the bucket inclination angle detected by the angle sensor is less than the first threshold value, and the bucket inclination angle detected by the angle sensor is greater than or equal to the first threshold value. Do not start work implement control.
- the work implement control unit starts work implement control when the bucket inclination angle detected by the angle sensor is less than the first threshold, and the bucket inclination angle detected by the angle sensor is equal to the first inclination angle. If it is equal to or greater than the threshold, the work implement control is executed in a state in which the bucket inclination angle detection accuracy is high by not starting the work implement control, and the bucket inclination angle detection accuracy is lowered. By prohibiting the control, the excavation accuracy can be improved and the intended construction can be executed.
- the work implement control unit starts work implement control when the bucket inclination angle detected by the angle sensor is less than the first threshold value or greater than or equal to the second threshold value, and is detected by the angle sensor.
- the work implement control is not started.
- the work implement control unit executes the work implement control when the bucket inclination angle detected by the angle sensor is less than the first threshold value or the second threshold value, and the bucket inclination detected by the angle sensor.
- the work implement control is executed in a state where the detection accuracy of the bucket inclination angle is high by not executing the work implement control.
- the work vehicle further includes an inclination detection unit, an attitude state acquisition unit, and a tilt axis angle calculation unit.
- the inclination detection unit detects the inclination of the vehicle body with respect to the horizontal plane.
- the posture state acquisition unit acquires posture information regarding the posture of the work machine.
- the tilt axis angle calculation unit calculates the tilt angle of the tilt axis with respect to the horizontal plane based on the inclination of the vehicle body and the attitude information of the work implement.
- the work implement control unit starts work implement control when the tilt angle of the tilt axis calculated by the tilt axis angle calculation unit is less than the second threshold, and the tilt angle of the tilt axis calculated by the tilt axis angle calculation unit is If it is equal to or greater than the second threshold value, the work implement control is not started.
- the work implement control unit further performs work implement control when the tilt angle of the tilt axis calculated by the tilt axis angle calculation unit is less than the second threshold, and the tilt axis angle calculation unit calculates When the tilt angle of the tilt axis is equal to or greater than the second threshold, the work implement is executed in a state where the detection accuracy of the bucket tilt angle is high, and the detection accuracy of the bucket tilt angle is not executed. By prohibiting the work machine in a state where the sag is lowered, the excavation accuracy can be further improved and the intended construction can be executed.
- the work vehicle further includes an operation unit.
- the operation unit can receive an instruction to start work implement control from the operator.
- the work implement control unit executes work implement control according to a start instruction from the operation unit, and the operation unit performs work implement control from the operator when the bucket inclination angle detected by the angle sensor is equal to or greater than the first threshold value.
- the instruction to start is not accepted.
- the work vehicle further includes a display unit and a display control unit.
- the display control unit controls display contents on the display unit.
- the display control unit displays information on the display unit that the work implement control from the operator cannot be started when the bucket inclination angle detected by the angle sensor is equal to or greater than the first threshold value.
- a work vehicle includes a vehicle main body, a work implement, a tilt detection unit, a posture state acquisition unit, a tilt axis angle calculation unit, and a work implement control unit.
- the work machine has a boom, an arm, and a bucket.
- the boom is rotatable with respect to the vehicle body about the boom axis.
- the arm is rotatable with respect to the boom about an arm axis parallel to the boom axis.
- the bucket is rotatable with respect to the arm about each of a bucket axis parallel to the arm axis and a tilt axis orthogonal to the bucket axis.
- the inclination detection unit detects the inclination of the vehicle body with respect to the horizontal plane.
- the posture state acquisition unit acquires posture information regarding the posture of the work machine.
- the tilt axis angle calculation unit calculates the tilt angle of the tilt axis with respect to the horizontal plane based on the inclination of the vehicle body and the attitude information of the work implement.
- the work implement control unit executes work implement control for automatically controlling at least partly the operation of the work implement based on the design landform indicating the target shape of the work target by the work implement.
- the work implement control unit starts the work implement control when the tilt angle of the tilt axis calculated by the tilt axis angle calculation unit is less than the first threshold, and the tilt angle of the tilt axis calculated by the tilt axis angle calculation unit is If it is equal to or greater than the first threshold value, the work implement control is not started.
- the work implement control unit executes the work implement control when the tilt angle of the tilt axis calculated by the tilt axis angle calculation unit is less than the first threshold, and the tilt calculated by the tilt axis angle calculation unit.
- the work implement control is executed in a state in which the bucket inclination angle detection accuracy is high, and the bucket inclination angle detection accuracy is not executed.
- the work implement control unit starts the work implement control when the tilt angle of the tilt axis calculated by the tilt axis angle calculation unit is less than the first threshold value or greater than or equal to the second threshold value.
- the work implement control is not started.
- the work implement control unit executes the work implement control when the tilt angle of the tilt axis calculated by the tilt axis angle calculation unit is less than the first threshold value or the second threshold value, and calculates the tilt axis angle.
- the work implement control is not performed, so that the bucket tilt angle detection accuracy is high in a range state. Executing the work implement control and prohibiting the work implement control in a range state where the detection accuracy of the bucket inclination angle is lowered can improve the excavation accuracy and execute the intended construction.
- the work vehicle further includes an operation unit.
- the operation unit can receive an instruction to start work implement control from the operator.
- the work implement control unit executes work implement control in accordance with a start instruction from the operation unit.
- the operation unit does not accept an instruction to start work implement control from the operator when the tilt angle of the tilt axis calculated by the tilt axis angle calculation unit is equal to or greater than the first threshold.
- the work vehicle further includes a display unit and a display control unit.
- the display control unit controls display contents on the display unit.
- the display control unit displays information on the display unit that the work implement control from the operator cannot be started when the tilt angle of the tilt axis calculated by the tilt axis angle calculation unit is equal to or greater than the first threshold value.
- a work vehicle includes a work implement, an angle sensor, a posture state acquisition unit, and a display control unit.
- the work machine has a boom, an arm, and a bucket.
- the boom is rotatable with respect to the vehicle body about the boom axis.
- the arm is rotatable with respect to the boom about an arm axis parallel to the boom axis.
- the bucket is rotatable with respect to the arm about each of a bucket axis parallel to the arm axis and a tilt axis orthogonal to the bucket axis.
- the angle sensor is provided in the bucket and detects an inclination angle of the bucket with respect to a horizontal plane.
- the posture state acquisition unit acquires posture information related to the posture of the work implement based on the detection result of the angle sensor.
- the display control unit displays the posture state of the bucket with respect to the design landform indicating the target shape of the work target by the work implement based on the posture information.
- the display control unit displays the posture state of the bucket according to the bucket inclination angle detected by the angle sensor when the bucket inclination angle detected by the angle sensor is less than the first threshold, and the bucket detected by the angle sensor When the inclination angle is equal to or larger than the first threshold, the posture state of the bucket is displayed based on the detection result of the angle sensor when the inclination angle of the bucket detected by the angle sensor is less than the first threshold.
- the display control unit displays the bucket posture state according to the bucket inclination angle detected by the angle sensor, and the angle sensor If the bucket inclination angle detected in step 1 is equal to or greater than the first threshold, the attitude state of the bucket is displayed based on the detection result of the angle sensor when the bucket inclination angle is less than the first threshold.
- the work vehicle further includes a tilt detection unit and a tilt axis angle calculation unit.
- the inclination detection unit detects the inclination of the vehicle body with respect to the horizontal plane.
- the tilt axis angle calculation unit calculates the tilt angle of the tilt axis with respect to the horizontal plane based on the inclination of the vehicle body and the attitude information of the work implement.
- the display control unit uses the angle sensor when the tilt angle of the tilt axis calculated by the tilt axis angle calculation unit is less than the second threshold value and the bucket tilt angle detected by the angle sensor is less than the first threshold value.
- the posture state of the bucket according to the detected tilt angle of the bucket is displayed, and the tilt angle of the tilt axis calculated by the tilt axis angle calculation unit is greater than or equal to the second threshold, or the tilt angle of the bucket detected by the angle sensor is the first If the angle is equal to or greater than the threshold, the bucket attitude state is displayed based on the detection result of the angle sensor when the bucket inclination angle detected by the angle sensor is less than the first threshold.
- the display control unit displays the bucket posture state according to the bucket tilt angle detected by the angle sensor.
- the bucket is based on the detection result of the angle sensor when the tilt angle of the bucket is less than the first threshold value. Displays the posture state of.
- the display control unit detects the angle sensor when the bucket inclination angle detected by the angle sensor is less than the first threshold when the bucket inclination angle detected by the angle sensor is equal to or greater than the first threshold value. Based on the detection result, the posture state of the bucket is fixedly displayed.
- the display control unit when the bucket inclination angle detected by the angle sensor is greater than or equal to the first threshold value, the display control unit is configured such that the bucket inclination angle detected by the angle sensor is less than the first threshold value.
- the display control unit further displays an icon indicating the detection accuracy of the angle sensor, and changes the state of the icon based on the inclination angle of the bucket detected by the angle sensor.
- a work vehicle control method includes a boom that is rotatable with respect to a vehicle body about a boom axis, an arm that is rotatable with respect to a boom about an arm axis parallel to the boom axis, and an arm
- a control method for a work vehicle including a work machine, having a bucket shaft parallel to the shaft and a bucket that is rotatable with respect to an arm about each of a tilt shaft orthogonal to the bucket shaft.
- the control method includes a step of detecting an inclination angle of the bucket with respect to a horizontal plane, and when the detected inclination angle of the bucket is less than a first threshold, based on a design terrain indicating a target shape of a work target by the work implement, A step of starting work implement control for automatically controlling the operation of the implement at least partially, and a step of not starting work implement control when the detected bucket inclination angle is equal to or greater than a first threshold value.
- the work implement control is started when the detected bucket inclination angle is less than the first threshold value, and when the bucket inclination angle detected by the angle sensor is equal to or greater than the first threshold value, the work implement control is started.
- the work implement control is performed in a state where the detection accuracy of the bucket inclination angle is high, and the excavation accuracy is prohibited by prohibiting the work implement control in a state where the detection accuracy of the bucket inclination angle is lowered.
- the expected construction can be executed.
- a work vehicle control method includes a boom that is rotatable with respect to a vehicle body about a boom axis, an arm that is rotatable with respect to the boom about an arm axis parallel to the boom axis,
- the control method includes detecting a tilt of the vehicle main body with respect to the horizontal plane, obtaining posture information regarding the posture of the work implement, and the tilt axis with respect to the horizontal plane based on the tilt of the vehicle main body and the posture information of the work implement.
- the step of calculating the tilt angle and, when the calculated tilt angle of the tilt axis is less than the first threshold, the operation of the work implement is at least partially automatically based on the design landform indicating the target shape of the work target by the work implement. And a step of starting the work implement control when the calculated tilt angle of the tilt axis is equal to or greater than the first threshold value.
- the work implement control is executed when the calculated tilt angle of the tilt axis is less than the first threshold, and the work implement control is performed when the calculated tilt angle of the tilt axis is greater than or equal to the first threshold. Is not executed, the work implement control is performed in a state where the detection accuracy of the bucket inclination angle is high, and the excavation accuracy is reduced by prohibiting the work implement control in a state where the detection accuracy of the bucket inclination angle is reduced. It is possible to improve and execute the desired construction.
- a work vehicle control method includes a boom that is rotatable with respect to a vehicle body about a boom axis, and an arm that is rotatable with respect to the boom about an arm axis parallel to the boom axis.
- a control method for a work vehicle including a work machine, having a bucket axis parallel to the arm axis and a bucket that is rotatable with respect to the arm about each of a tilt axis orthogonal to the bucket axis.
- the control method includes a step of detecting a tilt angle of the bucket with respect to a horizontal plane, a step of acquiring posture information related to the posture of the work implement based on the detected tilt angle of the bucket, and the detected tilt angle of the bucket is a first threshold value. If it is less than the step, the step of displaying the posture state of the bucket with respect to the design terrain indicating the target shape of the work target by the work implement based on the posture information, and when the detected bucket inclination angle is greater than or equal to the first threshold value Includes obtaining posture information based on the bucket inclination angle when the bucket inclination angle is less than the first threshold, and displaying the bucket posture state based on the posture information.
- the posture state of the bucket according to the detected bucket inclination angle is displayed, and the detected bucket inclination angle is equal to or greater than the first threshold value.
- posture information based on the bucket inclination angle when the bucket inclination angle is less than the first threshold is acquired, and the bucket posture state is displayed based on the posture information.
- the work vehicle can prevent a decrease in the accuracy of excavation control.
- 1 is a side view schematically showing a hydraulic excavator CM based on an embodiment. It is a rear view which shows typically excavator CM based on an embodiment. It is a top view showing typically excavator CM based on an embodiment. It is a side view which shows typically the bucket 8 based on embodiment. It is a front view showing typically bucket 8 based on an embodiment. It is a figure which shows typically an example of operation
- the global coordinate system is a coordinate system based on the origin Pr (see FIG. 4) fixed to the earth.
- the local coordinate system is a coordinate system based on the origin P0 (see FIG. 4) fixed to the vehicle body 1 of the work vehicle CM.
- the local coordinate system may be referred to as a vehicle body coordinate system.
- the global coordinate system is indicated by an XgYgZg orthogonal coordinate system.
- the reference position (origin) Pg of the global coordinate system is located in the work area.
- One direction in the horizontal plane is defined as the Xg axis direction
- a direction orthogonal to the Xg axis direction in the horizontal plane is defined as the Yg axis direction
- a direction orthogonal to each of the Xg axis direction and the Yg axis direction is defined as the Zg axis direction.
- the rotation (tilt) directions around the Xg axis, the Yg axis, and the Zg axis are the ⁇ Xg, ⁇ Yg, and ⁇ Zg directions, respectively.
- the Xg axis is orthogonal to the YgZg plane.
- the Yg axis is orthogonal to the XgZg plane.
- the Zg axis is orthogonal to the XgYg plane.
- the XgYg plane is parallel to the horizontal plane.
- the Zg axis direction is the vertical direction.
- the local coordinate system is indicated by an XYZ orthogonal coordinate system.
- the reference position (origin) P0 of the local coordinate system is located at the turning center AX of the turning body 3.
- One direction in a certain plane is defined as an X-axis direction
- a direction orthogonal to the X-axis direction in the plane is defined as a Y-axis direction
- a direction orthogonal to each of the X-axis direction and the Y-axis direction is defined as a Z-axis direction.
- the rotation (inclination) directions around the X axis, Y axis, and Z axis are the ⁇ X, ⁇ Y, and ⁇ Z directions, respectively.
- the X axis is orthogonal to the YZ plane.
- the Y axis is orthogonal to the XZ plane.
- the Z axis is orthogonal to the XY plane.
- FIG. 1 is a perspective view showing an example of a work vehicle based on the embodiment.
- a hydraulic excavator CM including a work machine 2 that operates by hydraulic pressure as a work vehicle will be described as an example.
- the hydraulic excavator CM includes a vehicle body 1 and a work machine 2. As will be described later, the excavator CM is equipped with a control system 200 that executes excavation control.
- the vehicle body 1 includes a turning body 3, a cab 4, and a traveling device 5.
- the swing body 3 is disposed on the traveling device 5.
- the traveling device 5 supports the revolving unit 3.
- the revolving structure 3 can revolve around the revolving axis AX.
- the driver's cab 4 is provided with a driver's seat 4S on which an operator is seated.
- the operator operates the excavator CM in the cab 4.
- the traveling device 5 has a pair of crawler belts 5Cr.
- the hydraulic excavator CM runs by the rotation of the crawler belt 5Cr.
- the traveling apparatus 5 may be comprised with the wheel (tire).
- the front-rear direction refers to the front-rear direction based on the operator seated on the driver's seat 4S.
- the left-right direction refers to the left-right direction based on the operator seated on the driver's seat 4S.
- the left-right direction coincides with the vehicle width direction (vehicle width direction).
- the direction in which the operator seated on the driver's seat 4S faces the front is defined as the front direction, and the direction opposite to the front direction is defined as the rear direction.
- the right side and the left side are the right direction and the left direction, respectively.
- the front-rear direction is the X-axis direction
- the left-right direction is the Y-axis direction.
- the direction in which the operator seated on the driver's seat 4S faces the front is the front direction (+ X direction), and the opposite direction to the front direction is the rear direction ( ⁇ X direction).
- the opposite direction to the front direction is the rear direction ( ⁇ X direction).
- one direction in the vehicle width direction is the right direction (+ Y direction)
- the other direction in the vehicle width direction is the left direction ( ⁇ Y direction).
- the swing body 3 includes an engine room 9 in which the engine is accommodated, and a counterweight provided at the rear portion of the swing body 3.
- a handrail 19 is provided in front of the engine room 9.
- an engine, a hydraulic pump, and the like are arranged.
- the work machine 2 is connected to the swing body 3.
- the work implement 2 includes a boom 6, an arm 7, a bucket 8, a boom cylinder 10, an arm cylinder 11, a bucket cylinder 12, and a tilt cylinder 30.
- the boom 6 is connected to the swivel body 3 via a boom pin 13.
- the arm 7 is connected to the boom 6 via an arm pin 14.
- the bucket 8 is connected to the arm 7 via the bucket pin 15 and the tilt pin 80.
- the boom cylinder 10 drives the boom 6.
- the arm cylinder 11 drives the arm 7.
- the bucket cylinder 12 drives the bucket 8.
- the base end (boom foot) of the boom 6 and the revolving structure 3 are connected.
- the tip end portion (boom top) of the boom 6 and the base end portion (arm foot) of the arm 7 are connected.
- the distal end portion (arm top) of the arm 7 and the proximal end portion of the bucket 8 are connected.
- the boom cylinder 10, the arm cylinder 11, the bucket cylinder 12, and the tilt cylinder 30 are all hydraulic cylinders that are driven by hydraulic oil.
- the work machine 2 includes a first stroke sensor 16, a second stroke sensor 17, and a third stroke sensor 18.
- the first stroke sensor 16 is disposed in the boom cylinder 10 and detects the stroke length (boom cylinder length) of the boom cylinder 10.
- the second stroke sensor 17 is disposed in the arm cylinder 11 and detects the stroke length (arm cylinder length) of the arm cylinder 11.
- the third stroke sensor 18 is disposed in the bucket cylinder 12 and detects the stroke length (bucket cylinder length) of the bucket cylinder 12.
- the boom 6 can rotate with respect to the revolving body 3 around a boom axis J1 which is a rotation axis.
- the arm 7 is rotatable with respect to the boom 6 about an arm axis J2 which is a rotation axis parallel to the boom axis J1.
- the bucket 8 is rotatable with respect to the arm 7 about a bucket axis J3 that is a rotation axis parallel to the boom axis J1 and the arm axis J2.
- the bucket 8 is rotatable with respect to the arm 7 about a tilt axis J4 that is a rotation axis orthogonal to the bucket axis J3.
- the boom pin 13 has a boom axis J1.
- the arm pin 14 has an arm axis J2.
- the bucket pin 15 has a bucket shaft J3.
- the tilt pin 80 has a tilt axis J4.
- Each of the boom axis J1, the arm axis J2, and the bucket axis J3 is parallel to the Y axis.
- Each of the boom 6, the arm 7, and the bucket 8 can rotate in the ⁇ y direction.
- the stroke length of the boom cylinder 10 is also referred to as a boom cylinder length or a boom stroke.
- the stroke length of the arm cylinder 11 is also referred to as an arm cylinder length or an arm stroke.
- the stroke length of the bucket cylinder 12 is also referred to as a bucket cylinder length or a bucket stroke.
- the stroke length of the tilt cylinder 30 is also referred to as a tilt cylinder length.
- boom cylinder length, arm cylinder length, bucket cylinder length, and tilt cylinder length are also collectively referred to as cylinder length data.
- FIG. 2 is a side sectional view showing an example of the bucket 8 according to the embodiment.
- FIG. 3 is a front view illustrating an example of the bucket 8 according to the embodiment.
- the bucket 8 is a tilt type bucket. As shown in FIGS. 2 and 3, the work machine 2 includes a bucket 8 that can rotate with respect to the arm 7 about a bucket axis J3 and a tilt axis J4 orthogonal to the bucket axis J3.
- the bucket 8 is rotatably supported by the arm 7 around a bucket pin 15 (bucket shaft J3).
- the bucket 8 is rotatably supported by the arm 7 around a tilt pin 80 (tilt axis J4).
- the bucket 8 is connected to the tip of the arm 7 via a connecting member (frame) 90.
- the bucket pin 15 connects the arm 7 and the connection member 90.
- the tilt pin 80 connects the connection member 90 and the bucket 8.
- the bucket 8 is rotatably connected to the arm 7 via a connection member 90.
- the bucket 8 has a bottom plate 81, a back plate 82, an upper plate 83, a side plate 84, and a side plate 85.
- the bottom plate 81, the upper plate 83, the side plate 84, and the side plate 85 define the opening 86 of the bucket 8.
- the bucket 8 has a bracket 87 provided on the upper part of the upper plate 83.
- the bracket 87 is installed at the front and rear positions of the upper plate 83.
- the bracket 87 is coupled to the connection member 90 and the tilt pin 80.
- the connection member 90 includes a plate member 91 and brackets 92 and 93.
- the bracket 92 is provided on the upper surface of the plate member 91.
- the bracket 93 is provided on the lower surface of the plate member 91.
- the bracket 92 is connected to the arm 7 and a second link member 95 described later.
- the bracket 93 is installed on the upper portion of the bracket 87 and is connected to the tilt pin 80 and the bracket 87.
- the bucket pin 15 connects the bracket 92 of the connection member 90 and the tip of the arm 7.
- the tilt pin 80 connects the bracket 93 of the connection member 90 and the bracket 87 of the bucket 8.
- the work machine 2 includes a first link member 94 and a second link member 95.
- the first link member 94 is rotatably connected to the arm 7 via the first link pin 94P.
- the second link member 95 is rotatably connected to the bracket 92 via the second link pin 95P.
- the base end portion of the first link member 94 is connected to the arm 7 via the first link pin 94P.
- the base end portion of the second link member 95 is connected to the bracket 92 via the second link pin 95P.
- the distal end portion of the first link member 94 and the distal end portion of the second link member 95 are connected via a bucket cylinder top pin 96.
- the tip of the bucket cylinder 12 is rotatably connected to the tip of the first link member 94 and the tip of the second link member 95 via the bucket cylinder top pin 96.
- the connecting member 90 rotates around the bucket axis J ⁇ b> 3 together with the bucket 8.
- the tilt cylinder 30 is connected to a bracket 97 provided on the connection member 90 and a bracket 88 provided on the bucket 8.
- the rod of the tilt cylinder 30 is connected to the bracket 97 via a pin.
- the main body of the tilt cylinder 30 is connected to the bracket 88 via a pin.
- the bucket 8 rotates around the bucket axis J3 by the operation of the bucket cylinder 12.
- the bucket 8 rotates around the tilt axis J ⁇ b> 4 by the operation of the tilt cylinder 30.
- the tilt pin 80 tilt axis J4 rotates (tilts) together with the bucket 8 by the rotation of the bucket 8 about the bucket axis J3.
- the work implement 2 detects the bucket angle data indicating the rotation angle (tilt angle) ⁇ of the bucket 8 around the tilt axis J4 and the rotation angle (pitch angle) ⁇ of the bucket 8 around the bucket axis J3.
- a sensor 70 is included.
- the tilt angle sensor 70 detects the angle of the bucket 8 with respect to the horizontal plane in the global coordinate system.
- the tilt angle sensor 70 is an angle sensor that can detect angles with respect to two orthogonal axes included in the horizontal plane, and detects tilt angles in two directions related to the ⁇ Xg direction and the ⁇ Yg direction.
- the tilt angle sensor 70 is provided on the bucket 8.
- FIG. 4 is a side view schematically showing a hydraulic excavator CM based on the embodiment.
- FIG. 5 is a rear view schematically showing the excavator CM based on the embodiment.
- FIG. 6 is a plan view schematically showing a hydraulic excavator CM based on the embodiment.
- the distance L1 between the boom axis J1 and the arm axis J2 is the boom length L1.
- a distance L2 between the arm axis J2 and the bucket axis J3 is defined as an arm length L2.
- a distance L3 between the bucket shaft J3 and the tip 8a of the bucket 8 is defined as a bucket length L3.
- the tip 8 a of the bucket 8 is a cutting edge of the bucket 8.
- the hydraulic excavator CM includes a position detection device 20 capable of detecting vehicle body position data P indicating the current position of the vehicle body 1 and vehicle body attitude data Q indicating the attitude of the vehicle body 1.
- the vehicle body position data P includes information on the current position (Xg position, Yg position, and Zg position) of the vehicle body 1 in the global coordinate system.
- the vehicle body posture data Q includes position information of the revolving structure 3 in the ⁇ Xg direction, the ⁇ Yg direction, and the ⁇ Zg direction.
- the vehicle body attitude data Q of the vehicle body 1 includes an inclination angle (roll angle) ⁇ 1 of the swing body 3 with respect to the horizontal plane (XgYg plane), and an inclination angle (pitch angle) ⁇ 2 of the swing body 3 with respect to the horizontal plane.
- the angle (yaw angle) ⁇ 3 formed by the reference direction (for example, north) of the global coordinates and the direction in which the revolving unit 3 (work machine 2) is directed.
- the position detection device 20 includes an antenna 21, a position sensor 23, and a tilt sensor 24.
- the antenna 21 is an antenna for detecting the current position of the vehicle body 1.
- the antenna 21 is an antenna for GNSS (Global Navigation Satellite Systems).
- the antenna 21 outputs a signal corresponding to the received radio wave (GNSS radio wave) to the position sensor 23.
- the position sensor 23 includes a three-dimensional position sensor and a global coordinate calculation unit, and detects the installation position Pr of the antenna 21 in the global coordinate system.
- the global coordinate system is a three-dimensional coordinate system based on the reference position Pg installed in the work area. As shown in FIG. 4, the reference position Pg is the position of the tip of the reference pile set in the work area.
- the tilt sensor 24 is provided on the revolving unit 3.
- the inclination sensor 24 has an IMU (Inertial Measurement Unit).
- the position detection device 20 uses the inclination sensor 24 to acquire the vehicle body posture data Q having the roll angle ⁇ 1 and the pitch angle ⁇ 2.
- FIG. 7 is a side view schematically showing the bucket 8 based on the embodiment.
- FIG. 8 is a front view schematically showing the bucket 8 based on the embodiment.
- a distance L4 between the bucket axis J3 and the tilt axis J4 is a tilt length L4.
- a distance L5 between the side plate 84 and the side plate 85 is defined as a width L5 of the bucket 8.
- the tilt angle ⁇ is the inclination angle of the bucket 8 with respect to the horizontal plane (XgYg plane).
- the tilt angle ⁇ is derived from the detection result of the tilt angle sensor 70.
- the tilt axis angle ⁇ is the tilt angle of the tilt axis J4 (tilt pin 80) with respect to the XY plane in the local coordinate system.
- the tilt angle (tilt axis absolute angle) of the tilt axis J4 with respect to the horizontal plane (XgYg plane) of the global coordinate system is calculated by the sensor controller 32 (FIG. 9).
- the control system 200 controls excavation operation using the work machine 2.
- the control of excavation operation includes limited excavation control as an example.
- FIG. 9 is a diagram schematically illustrating an example of the operation of the work machine 2 when the limited excavation control (intervention control) is performed.
- the limited excavation control is performed so that the bucket 8 does not enter the target design landform indicating the two-dimensional target shape of the excavation target on the work machine operation plane MP orthogonal to the bucket axis J3.
- control system 200 automatically controls the boom 6 to be raised in response to the excavation operation of the arm 7.
- intervention control having the raising operation of the boom 6 is executed so that the bucket 8 does not enter the target design terrain.
- FIG. 10 is a block diagram illustrating a functional configuration of the control system 200 based on the embodiment.
- the control system 200 includes a position detection device 20, a tilt angle sensor 70, an operation device 25, a work machine controller 26, a pressure sensor 66, a control valve 27, and a direction control valve 64.
- a display controller 28 a display unit 29, an input unit 36, and a sensor controller 32.
- the display unit 29 displays predetermined information such as the target design topography to be excavated based on the control of the display controller 28.
- the input unit 36 can use a touch panel or the like for input on the display unit, and is input by an operator. When operated by the operator, the input unit 36 generates an operation signal based on the operation of the operator and outputs the operation signal to the display controller 28.
- the operating device 25 is disposed in the cab 4.
- the operating device 25 is operated by the operator.
- the operation device 25 receives an operator operation for driving the work machine 2.
- the operating device 25 is a pilot hydraulic type operating device.
- oil supplied to the hydraulic cylinder for operating the hydraulic cylinders (the boom cylinder 10, the arm cylinder 11, the bucket cylinder 12, and the tilt cylinder 30) is also referred to as hydraulic oil.
- the hydraulic oil and pilot oil may be delivered from the same hydraulic pump.
- the operating device 25 includes a first operating lever 25R, a second operating lever 25L, and a third operating lever 25P.
- the first operating lever 25R is disposed on the right side of the driver's seat 4S, for example.
- the second operation lever 25L is disposed on the left side of the driver's seat 4S, for example.
- the third operation lever 25P is disposed, for example, on the first operation lever 25R. Note that the third operation lever 25P may be disposed on the second operation lever 25L.
- the front / rear and left / right operations correspond to the biaxial operations.
- the boom 6 and the bucket 8 are operated by the first operation lever 25R.
- the operation in the front-rear direction of the first operation lever 25R corresponds to the operation of the boom 6, and the lowering operation and the raising operation of the boom 6 are executed according to the operation in the front-rear direction.
- the operation in the left-right direction of the first operation lever 25R corresponds to the operation of the bucket 8, and the excavation operation and the opening operation of the bucket 8 are executed according to the operation in the left-right direction.
- the arm 7 and the swing body 3 are operated by the second operation lever 25L.
- the operation in the front-rear direction of the second operation lever 25L corresponds to the operation of the arm 7, and the opening operation and the excavation operation of the arm 7 are executed according to the operation in the front-rear direction.
- the left / right operation of the second operation lever 25L corresponds to the turning of the revolving structure 3, and the right turning operation and the left turning operation of the revolving structure 3 are executed according to the left / right operation.
- the bucket 8 is operated by the third operation lever 25P.
- the rotation of the bucket 8 about the bucket axis J3 is operated by the first operation lever 25R.
- the rotation (tilt) of the bucket 8 about the tilt axis J4 is operated by the third operation lever 25P.
- Pilot oil sent from the pilot hydraulic pump and reduced to pilot hydraulic pressure by the control valve is supplied to the operating device 25.
- the pilot oil pressure is adjusted based on the operation amount of the operating device 25, and the hydraulic oil supplied to the hydraulic cylinders (the boom cylinder 10, the arm cylinder 11, the bucket cylinder 12, and the tilt cylinder 30) flows according to the pilot oil pressure.
- the direction control valve 64 is driven.
- a pressure sensor 66 is disposed in the pilot hydraulic line 450. The pressure sensor 66 detects pilot oil pressure. The detection result of the pressure sensor 66 is output to the work machine controller 26.
- the control valve 27 is an electromagnetic proportional control valve, and adjusts the pilot hydraulic pressure based on a control signal from the work machine controller 26.
- the sensor controller 32 includes a work machine angle calculation unit 281A, a bucket data calculation unit 282A, and a tilt axis angle calculation unit 283A.
- the work machine angle calculation unit 281A calculates the rotation angle ⁇ of the boom 6 with respect to the vertical direction of the vehicle body 1 from the boom cylinder length acquired based on the detection result of the first stroke sensor 16.
- the work machine angle calculation unit 281A calculates the rotation angle ⁇ of the arm 7 with respect to the boom 6 from the arm cylinder length acquired based on the detection result of the second stroke sensor 17.
- the work machine angle calculation unit 281A calculates the rotation angle ⁇ of the bucket 8 with respect to the arm 7 from the bucket cylinder length acquired based on the detection result of the third stroke sensor 18.
- the rotation angle ⁇ of the boom 6, the rotation angle ⁇ of the arm 7, and the rotation angle ⁇ of the bucket 8 may not be detected by the stroke sensor.
- the rotation angle ⁇ of the boom 6 may be detected by an angle detector such as a rotary encoder.
- the angle detector detects the bending angle of the boom 6 with respect to the revolving structure 3 and detects the rotation angle ⁇ .
- the rotation angle ⁇ of the arm 7 may be detected by an angle detector attached to the arm 7.
- the rotation angle ⁇ of the bucket 8 may be detected by an angle detector attached to the bucket 8.
- the tilt axis angle calculation unit 283A is based on the rotation angles ⁇ to ⁇ calculated by the work implement angle calculation unit 281A and the vehicle body attitude data Q indicating the vehicle body inclination angle acquired by the tilt sensor 24.
- the angle of the tilt axis J4 tilt axis absolute angle
- the tilt axis angle calculation unit 283A calculates the angle of the tilt axis J4 (tilt axis angle ⁇ ) in the local coordinate system based on the rotation angles ⁇ to ⁇ calculated by the work implement angle calculation unit 281A. Then, the tilt axis angle calculation unit 283A calculates the tilt axis absolute angle in the global coordinate system based on the tilt axis angle ⁇ and the vehicle body attitude data Q.
- the bucket data calculation unit 282A determines the outer shape of the cross section of the bucket 8 in the work machine operation plane (the position of the bucket 8 and the like). Generate bucket data indicating.
- the sensor controller 32 outputs the rotation angles ⁇ to ⁇ , the tilt axis absolute angle, and the bucket data to the display controller 28 and the work machine controller 26, respectively.
- the display controller 28 acquires vehicle body position data P and vehicle body attitude data Q from the position detection device 20.
- the tilt angle sensor 70 outputs bucket angle data to the sensor controller 32, the work machine controller 26, and the display controller 28. Specifically, the tilt angle sensor 70 outputs the tilt angle ⁇ to the sensor controller 32. The tilt angle sensor 70 outputs the pitch angle ⁇ to the work machine controller 26 and the display controller 28.
- the display controller 28 includes a target design landform acquisition unit 283C and a target design landform calculation unit 284A.
- the display controller 28 calculates target design landform data and outputs it to the work machine controller 26.
- the target design terrain acquisition unit 283C obtains target construction information (three-dimensional design terrain data) indicating the three-dimensional design terrain that is a three-dimensional target shape to be excavated, and the vehicle main body position data P and the vehicle main body posture data Q from the position detection device 20. To get.
- target construction information three-dimensional design terrain data
- the target design landform calculation unit 284A obtains a target design landform that is a two-dimensional target shape to be excavated on the work machine operation plane from the data acquired by the target design landform acquisition unit 283C and the bucket data acquired from the bucket data calculation unit 282A. Generate target design terrain data to show.
- the target construction information includes coordinate data and angle data required to generate target design landform data.
- the target construction information may be supplied to the display controller 28 via a wireless communication device or may be supplied to the display controller 28 by an external memory or the like.
- the display controller 28 causes the display unit 29 to display the target design landform based on the target design landform data generated by the target design landform calculation unit 284A.
- the display controller 28 causes the display unit 29 to display the target design landform based on the target design landform data and the bucket data, the posture state of the bucket corresponding thereto, and the like.
- the display unit 29 is a monitor, for example, and displays various types of information on the hydraulic excavator CM.
- the display unit 29 has an HMI (Human Machine Interface) monitor as a guidance monitor for computerized construction.
- HMI Human Machine Interface
- the display controller 28 can calculate the position of the local coordinates when viewed in the global coordinate system based on the detection result by the position detection device 20.
- the target design landform data output to the work machine controller 26 is converted into local coordinates, but other calculations in the display controller 28 are performed in the global coordinate system.
- the input from the sensor controller 32 is also converted into the global coordinate system in the display controller 28.
- the work machine controller 26 includes a work machine control unit 26A, a limited excavation control reception prohibition unit 26B, and a storage unit 26C.
- the work machine control unit 26A controls the operation of the work machine.
- the work implement control unit 26A executes limited excavation control that automatically controls at least partly the operation of the work implement.
- the storage unit 26C stores various programs and data necessary for the work implement control unit 26A to control the operation of the work implement.
- the work machine control unit 26A acquires target design landform data and bucket data from the display controller 28.
- the work machine control unit 26A generates a control command to the control valve 27 based on the target design landform data and bucket data.
- the work machine control unit 26A sets the speed limit according to the distance between the target design landform and the bucket 8, based on the target design landform indicating the design landform that is the target shape of the excavation target and the bucket data indicating the position of the bucket 8. Then, the work machine 2 is controlled so that the speed in the direction in which the work machine 2 approaches the target design landform is equal to or lower than the speed limit.
- a control signal is output to the control valve 27 connected to the boom cylinder 10 to control the position of the boom 6 so that the penetration of the bucket 8 into the target design landform is suppressed.
- the limited excavation control reception prohibition unit 26B prohibits execution of the limited excavation control when a predetermined condition is satisfied. In this example, execution of limited excavation control is prohibited based on the pitch angle ⁇ acquired from the tilt angle sensor 70 and the tilt axis absolute angle acquired from the sensor controller 32.
- the tilt angle sensor 70 detects the tilt angle ⁇ of the bucket 8 with respect to the horizontal plane in the global coordinate system.
- the tilt angle sensor 70 is disposed in the bucket 8, and when the bucket 8 is tilted with respect to the horizontal plane, tilt angle data corresponding to the tilt angle is output to the sensor controller 32 or the like.
- the bucket data calculation unit 282A uses the rotation angle ⁇ to ⁇ , the vehicle body attitude data Q, and the tilt angle ⁇ from the tilt angle sensor 70 to determine the outer shape (bucket 8) To generate bucket data indicating the position and the like.
- FIG. 11 is a schematic diagram for explaining the principle of the tilt angle sensor 70 based on the embodiment.
- the tilt angle sensor 70 detects a tilt angle with respect to a horizontal plane (XgYg plane) in the global coordinate system.
- a liquid type tilt sensor can be used as the tilt angle sensor 70.
- the tilt angle sensor 70 is a biaxial angle sensor that detects tilt angles in two directions related to the ⁇ Xg direction and the ⁇ Yg direction.
- the tilt angle sensor 70 has a reference surface 70R, and detects an inclination angle of the reference surface 70R with respect to a horizontal plane.
- the tilt angle sensor 70 includes a rotation angle (tilt angle) ⁇ of the bucket 8 about the tilt axis J4 in the ⁇ Xg direction and a rotation angle (pitch angle) of the bucket 8 about the bucket axis J3 in the ⁇ Yg direction. ) Detecting ⁇
- the bucket 8 has an installation surface on which the tilt angle sensor 70 is installed in the vicinity of the tilt pin.
- the bucket 8 When the installation surface of the bucket 8 and the horizontal plane are parallel, the bucket 8 assumes an initial posture (horizontal posture). In a state where the bucket 8 is in the initial posture, the tilt angle sensor 70 is installed on the installation surface of the bucket 8 so that the reference surface 70R and the horizontal surface (installation surface) are parallel to each other.
- the tilt angle detection accuracy by the tilt angle sensor 70 is the highest. In the state where the reference surface 70R and the horizontal plane are orthogonal, the tilt angle detection accuracy by the tilt angle sensor 70 is the lowest. When the reference surface 70R is horizontal, the detection accuracy of the tilt angle sensor 70 is improved, and when the reference surface 70R is vertical, the detection accuracy of the tilt angle sensor 70 is decreased.
- FIG. 12 is a diagram for explaining the detection accuracy of the tilt angle sensor based on the embodiment. As shown in FIG. 12, even when the posture of the bucket 8 is changed by the operation of the boom 6 and the arm 7, the tilt angle detection accuracy by the tilt angle sensor 70 may be lowered. For example, the accuracy of tilt angle detection by the tilt angle sensor 70 decreases as the work implement 2 is extended so that the reference surface 70R approaches vertical (the pitch angle approaches vertical to the horizontal plane).
- the tilt angle sensor 70 is an angle sensor of two axes ( ⁇ Xg direction and ⁇ Yg direction) with respect to the horizontal plane, and is a case where the tilt surface is rotated about the tilt axis J4 by driving the tilt cylinder 30 when the reference plane 70R approaches vertical.
- the reference surface 70R of the tilt angle sensor 70 rotates while maintaining the vertical direction, it is difficult to detect a change in one axis ( ⁇ Xg direction) with respect to the horizontal plane.
- the reference surface 70R of the tilt angle sensor 70 and the tilt axis J4 may not be parallel.
- the bucket 8 rotates about the tilt axis J4, but the detection accuracy of the tilt angle sensor 70 may decrease as the tilt axis J4 approaches vertical (the tilt axis absolute angle is perpendicular to the horizontal plane).
- the tilt angle sensor 70 is a two-axis ( ⁇ Xg direction and ⁇ Yg direction) angle sensor with respect to the horizontal plane, and when the tilt axis J4 approaches the vertical, the tilt cylinder 30 is driven to rotate about the tilt axis J4. In addition, since the reference surface 70R of the tilt angle sensor 70 rotates about the vertical direction, it is difficult to detect a change in one axis ( ⁇ Xg direction) with respect to the horizontal plane.
- the detection accuracy of the tilt angle by the tilt angle sensor 70 decreases.
- the tilt angle detection accuracy by the tilt angle sensor 70 can be lowered even when the tilt angle of the tilt axis J4 approaches the vertical direction. There is sex.
- the limited excavation control is executed based on the tilt angle data (monitor data) acquired in real time from the tilt angle sensor 70, the limited excavation control is performed using the tilt angle data output from the tilt angle sensor 70 whose detection accuracy is reduced. May result in a decrease in excavation accuracy.
- the limited excavation control mode is set by operating the input unit 36 of the control system 200.
- the input unit 36 has a button (excavation control mode switching button) for instructing whether or not to perform limited excavation control.
- At least one command signal for starting and ending the limited excavation control mode is output to the work machine controller 26.
- the start time of the limited excavation control mode is the time when the excavation control mode switching button is operated so that the limited excavation control mode is started.
- the end time of the limited excavation control mode is the time when the excavation control mode switching button is operated so as to end the limited excavation control mode.
- the limited excavation control acceptance prohibiting unit 26B of the work implement controller 26 instructs the work implement control unit 26A to prohibit the shift to the limited excavation control mode.
- the limited excavation control reception prohibition unit 26B prohibits the shift to the limited excavation control mode based on the pitch angle data (pitch angle ⁇ ) input from the tilt angle sensor 70. Further, the shift to the limited excavation control mode is prohibited based on the tilt axis absolute angle input from the tilt axis angle calculation unit 283A of the sensor controller 32.
- FIG. 13 is a flowchart for controlling the transition to the limited excavation control mode of the limited excavation control reception prohibition unit 26B.
- the restricted excavation control acceptance prohibiting unit 26B acquires pitch angle data (step SA1). Specifically, the limited excavation control reception prohibition unit 26 ⁇ / b> B acquires the pitch angle data of the pitch angle ⁇ from the tilt angle sensor 70.
- the limited excavation control reception prohibition unit 26B acquires the tilt axis absolute angle (step SA2). Specifically, the limited excavation control reception prohibition unit 26B acquires the tilt axis absolute angle calculated by the tilt axis angle calculation unit 283A.
- the limited excavation control reception prohibition unit 26B determines whether or not the pitch angle ⁇ is less than the first threshold or greater than or equal to the second threshold (step SA3). Specifically, by determining whether the pitch angle ⁇ of the bucket 8 is less than the first threshold value or greater than the second threshold value, the reference plane 70R of the tilt angle sensor 70 attached to the bucket 8 is vertical. It is determined whether or not it is a neighborhood. In the present example, the second threshold value is larger than the first threshold value.
- the reference surface 70R is close to the vertical, and the tilt angle data detection accuracy of the tilt angle sensor 70 decreases.
- the range in which the pitch angle ⁇ is less than the first threshold or greater than or equal to the second threshold is a state in which the tilt angle data detection accuracy of the tilt angle sensor 70 can be ensured.
- Restricted excavation control reception prohibition unit 26B prohibits the transition to the limited excavation control mode when the pitch angle ⁇ is greater than or equal to the first threshold value and less than the second threshold value (NO in step SA3). (Instruction SA6).
- the reference surface 70R of the tilt angle sensor 70 attached to the bucket 8 is in the vicinity of the vertical, the detection accuracy of the tilt angle sensor 70 is lowered, so that the shift to the limited excavation control mode is prohibited.
- the limited excavation control acceptance prohibiting unit 26B has the tilt axis absolute angle less than the third threshold value or the second threshold value. It is determined whether or not the threshold value is 4 or more (step SA4). Specifically, it is determined whether or not the tilt axis J4 is near the vertical by determining whether or not the tilt axis absolute angle is less than the third threshold value or greater than or equal to the fourth threshold value. In the present example, the fourth threshold value is larger than the third threshold value.
- the tilt axis J4 In the range where the tilt axis absolute angle is greater than or equal to the third threshold value and less than the fourth threshold value, the tilt axis J4 is in the vicinity of the vertical, and the detection accuracy of the tilt angle data of the tilt angle sensor 70 is lowered.
- the range when the tilt axis absolute angle is less than the third threshold value or greater than or equal to the fourth threshold value is a state in which the detection accuracy of the tilt angle data of the tilt angle sensor 70 can be ensured.
- Restricted excavation control acceptance prohibiting unit 26B prohibits the transition to the limited excavation control mode when the tilt axis absolute angle is greater than or equal to the third threshold and less than the fourth threshold (NO in step SA4) (work machine control). Prohibition instruction) (step SA6).
- the tilt axis J4 is in the vicinity of the vertical, the detection accuracy of the tilt angle sensor 70 is lowered, so that the shift to the limited excavation control mode is prohibited.
- restricted excavation control reception prohibition unit 26B permits the transition to the limited excavation control mode (Work implement control start instruction) (step SA5).
- the reference surface 70R of the tilt angle sensor 70 is not near the vertical, and when the tilt axis J4 is not near the vertical, the detection accuracy of the tilt angle sensor 70 can be ensured, so that the limited excavation control mode is entered. Allow migration.
- This configuration prohibits limited excavation control with the tilt angle data output from the tilt angle sensor 70 with reduced detection accuracy, and executes limited excavation control with tilt angle data with high detection accuracy. Thereby, excavation accuracy can be improved and desired construction can be executed.
- the transition to the limited excavation control mode is prohibited when the pitch angle ⁇ is equal to or greater than the first threshold value and less than the second threshold value.
- the pitch angle ⁇ is equal to or greater than the first threshold value.
- the transition to the limited excavation control mode may be prohibited.
- the tilt axis absolute angle is greater than or equal to the third threshold and less than the fourth threshold. In this case, the transition to the limited excavation control mode may be prohibited.
- the limited excavation control reception prohibition unit 26B may prohibit reception of a button (excavation control mode switching button) for instructing whether or not to perform the limited excavation control of the input unit 36.
- the button may be set to be invalid. Thereby, it is possible to make the operator recognize that the excavation accuracy is lowered, and it is possible to prompt the execution of the limited excavation control in a state where the excavation accuracy is high.
- the button when the button is displayed on the display unit 29, it may not be displayed. Further, the display may be changed (for example, blackened) to indicate that the button is invalid.
- FIG. 14 is a diagram illustrating an example of the display unit 29 based on the embodiment.
- the display unit 29 displays the target design terrain and the posture state of the bucket 8 corresponding to the target design terrain based on the target design terrain data and the bucket data.
- the screen of the display unit 29 has a front view 282 showing the tilt angle of the bucket 8 and a side view 281 showing the target design landform and the bucket 8.
- the front view 282 has an icon 101 indicating the bucket 8.
- the side view 281 has an icon 103 indicating the bucket 8 and a line 104 indicating the surface of the target design landform on the work machine operation plane.
- the icon 103 indicates the outer shape of the bucket 8 on the work machine operation plane.
- the side view 281 shows the angle between the distance data 291B indicating the distance between the target design landform and the bucket 8 (the shortest distance between the target design landform and the bucket 8) and the angle formed between the target design landform and the bottom surface of the bucket 8. Data 292B.
- This display identifies the control object based on the work machine operation plane, and the limited excavation control is performed with high accuracy.
- the display controller 28 changes the state of the icon 284 according to the state of detection accuracy of the tilt angle data. Specifically, the state of the icon 284 is switched between a state where the detection accuracy of the tilt angle data is lowered and a state where the detection accuracy of the tilt angle data can be ensured.
- the static mode can be changed by changing the form of the icon.
- the dynamic mode may be changed by changing the speed of blinking or the like.
- the mode of the icon may be changed between a case where the reference surface 70R of the tilt angle sensor 70 is close to a horizontal plane and the detection accuracy of the tilt angle data is higher and a state where the detection accuracy is high. Further, it can be changed according to the tilt angle data.
- FIG. 15 is a flowchart for explaining the display processing of the display controller 28 according to another embodiment.
- the target design landform acquisition unit 283C of the display controller 28 acquires parameters (step SB1). Specifically, the target design landform acquisition unit 283C acquires parameters such as posture information related to the posture of the work machine.
- the target design landform acquisition unit 283C acquires vehicle body position data P, vehicle body posture data Q, target construction information, bucket data from the bucket data calculation unit 282A, and the like.
- the target design landform acquisition unit 283C acquires pitch angle data (step SB2). Specifically, the target design landform acquisition unit 283C acquires the pitch angle data of the pitch angle ⁇ from the tilt angle sensor 70.
- the target design landform acquisition unit 283C acquires the tilt axis absolute angle (step SB3). Specifically, the target design landform acquisition unit 283C acquires the tilt axis absolute angle calculated by the tilt axis angle calculation unit 283A.
- the target design landform calculation unit 284A calculates target design landform data (step SB4).
- the target design landform calculation unit 284A generates target design landform data based on the parameter data acquired by the target design landform acquisition unit 283C.
- the target design landform calculator 284A determines whether or not the pitch angle ⁇ is less than the first threshold or greater than or equal to the second threshold (step SB5). Specifically, by determining whether the pitch angle ⁇ of the bucket 8 is less than the first threshold value or greater than the second threshold value, the reference plane 70R of the tilt angle sensor 70 attached to the bucket 8 is vertical. It is determined whether or not it is a neighborhood. The range in which the pitch angle ⁇ is greater than or equal to the first threshold and less than the second threshold is when the reference surface 70R is near the vertical and the detection accuracy of the tilt angle data of the tilt angle sensor 70 is reduced. The range in which the pitch angle ⁇ is less than the first threshold or greater than or equal to the second threshold is a state in which the tilt angle data detection accuracy of the tilt angle sensor 70 can be ensured.
- the target design landform calculation unit 284A performs display control based on the fixed bucket data (step SB8). ).
- the reference surface 70R of the tilt angle sensor 70 attached to the bucket 8 is near the vertical, the detection accuracy of the tilt angle sensor 70 is lowered.
- display control based on bucket data with a high detection accuracy is executed. Specifically, when the pitch angle ⁇ is greater than or equal to the first threshold and less than the second threshold, the tilt angle data when the pitch angle ⁇ is less than the first threshold or greater than or equal to the second threshold is used. Display control based on the tilt angle data is executed. As described above, if the tilt angle data is held when the pitch angle ⁇ is less than the first threshold or greater than or equal to the second threshold and the tilt angle data is fixed, the display based on the highly accurate tilt angle data is performed. It can be performed. In the front view 282 of FIG. 14, the bucket 8 based on the fixed tilt angle data is displayed as an example.
- target design landform calculator 284A determines that pitch angle ⁇ is less than the first threshold or greater than or equal to the second threshold (YES in step SB5), tilt axis absolute angle is less than the third threshold or the second threshold. It is determined whether or not the threshold value is 4 or more (step SB6). Specifically, it is determined whether or not the tilt axis J4 is near the vertical by determining whether or not the tilt axis absolute angle is less than the third threshold value or greater than or equal to the fourth threshold value. In a range where the tilt axis absolute angle is greater than or equal to the third threshold value and less than the fourth threshold value, the tilt axis J4 is close to the vertical, and the tilt angle data 70 is not accurately detected. The range when the tilt axis absolute angle is less than the third threshold value or greater than or equal to the fourth threshold value is a state in which the detection accuracy of the tilt angle data of the tilt angle sensor 70 can be ensured.
- target design landform calculation unit 284A executes display control based on the fixed bucket data (step SB6). SB8).
- the reference surface 70R of the tilt angle sensor 70 attached to the bucket 8 is in the vicinity of the vertical, the detection accuracy of the tilt angle sensor 70 is lowered, so display control based on bucket data in a state where the detection accuracy is high is executed.
- the target design landform calculation unit 284A performs display control based on the currently acquired bucket data. Execute (Step SB7).
- the reference surface 70R of the tilt angle sensor 70 is not near the vertical, and when the tilt axis J4 is not near the vertical, the detection accuracy of the tilt angle sensor 70 can be ensured. Display control based on the bucket data calculated in 282A is executed.
- This configuration prohibits bucket display control using the tilt angle data output from the tilt angle sensor 70 with reduced detection accuracy, and executes bucket display control using tilt angle data with high detection accuracy. Thereby, excavation accuracy can be improved and desired construction can be executed.
- Display control based on fixed bucket data may be executed when the threshold is equal to or greater than the threshold. Further, the case where the display control based on the fixed bucket data is executed when the tilt axis absolute angle is equal to or larger than the third threshold and less than the fourth threshold has been described. However, the tilt axis absolute angle is equal to the third threshold. In the above case, display control based on fixed bucket data may be executed.
- the display unit 29 When the display control of the bucket based on the fixed tilt angle data is performed on the display unit 29, even if the tilt angle ⁇ of the bucket 8 is changed according to the operation of the operator, the display unit 29 The posture state of the bucket 8 is fixedly displayed.
- the display based on the information with the lowered detection accuracy is stopped, and the display is switched to the display based on the information with high detection accuracy before the detection accuracy is lowered. It is possible to improve visibility. Thereby, it is possible to suppress the misrecognition with respect to the operator regarding the display of a bucket, and to perform a highly accurate excavation operation. Further, when the detection accuracy returns to the original state, it is possible to return from the state early and display with high accuracy.
- the distance between the target design landform and the bucket 8 described in FIG. 15 (the shortest distance between the target design landform and the bucket 8) is shown.
- the values of the distance data 291B and the angle data 292B indicating the angle formed between the target design landform and the bottom surface of the bucket 8 may fluctuate (fluctuate). It is possible to improve visibility by canceling and switching to display based on information with high detection accuracy.
- shaft of the inclination angle of the bucket 8 may increase another axis
- vertical to a horizontal surface may be sufficient.
- a sensor capable of detecting an angle with respect to each of the three axes may be employed as the tilt angle sensor.
- the vehicle body position data P and vehicle body attitude data Q of the hydraulic excavator CM in the global coordinate system are acquired, and the position of the bucket 8 (bucket data S) obtained in the local coordinate system and the vehicle body position are obtained.
- the relative position between the target design landform and the bucket 8 in the global coordinate system is acquired.
- the target design terrain data may be defined in the local coordinate system, and the relative position between the target design terrain and the bucket 8 in the local coordinate system may be acquired. The same applies to the following embodiments.
- a hydraulic excavator is cited as an example of a work vehicle, but the present invention is not limited to a hydraulic excavator and may be applied to other types of work vehicles.
- the acquisition of the position of the hydraulic excavator CM in the global coordinate system is not limited to GNSS, and may be performed by other positioning means. Therefore, acquisition of the distance between the tip of the bucket and the target design landform is not limited to GNSS, and may be performed by other positioning means.
- the boom operation amount, arm operation amount, and bucket operation amount may be acquired based on an electrical signal indicating the position of the operation lever (25R, 25L).
- a hydraulic excavator has been described as an example of a work vehicle.
- the present invention can also be applied to a work vehicle such as a bulldozer or a wheel loader.
- SYMBOLS 1 Vehicle main body, 2 working machines, 3 revolving body, 4 cab, 4S driver's seat, 5 traveling device, 5Cr crawler, 6 boom, 7 arm, 8 bucket, 9 engine room, 10 boom cylinder, 11 arm cylinder, 12 bucket Cylinder, 13 boom pin, 14 arm pin, 15 bucket pin, 16-18 first to third stroke sensor, 19 handrail, 20 position detector, 21 antenna, 21A first antenna, 21B second antenna, 23 position sensor, 24 tilt Sensor, 25 operating device, 26 work implement controller, 26A work implement control section, 26B restricted excavation control acceptance prohibition section, 28 display controller, 29 display section, 30 tilt cylinder, 32 sensor controller, 36 input section, 70 tilt angle sensor, M hydraulic excavator.
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Abstract
Description
図1は、実施形態に基づく作業車両の一例を示す斜視図である。
旋回体3は、走行装置5の上に配置される。走行装置5は、旋回体3を支持する。旋回体3は、旋回軸AXを中心に旋回可能である。運転室4には、オペレータが着座する運転席4Sが設けられる。オペレータは、運転室4において油圧ショベルCMを操作する。走行装置5は、一対の履帯5Crを有する。履帯5Crの回転により、油圧ショベルCMが走行する。なお、走行装置5が車輪(タイヤ)で構成されていてもよい。
作業機2は、ブーム6と、アーム7と、バケット8と、ブームシリンダ10と、アームシリンダ11と、バケットシリンダ12と、チルトシリンダ30とを有する。
次に、実施形態に基づくバケット8について説明する。
図2及び図3に示されるように、作業機2は、バケット軸J3及びバケット軸J3と直交するチルト軸J4のそれぞれを中心にアーム7に対して回転可能なバケット8を有する。バケット8は、バケットピン15(バケット軸J3)を中心にアーム7に回転可能に支持されている。バケット8は、チルトピン80(チルト軸J4)を中心にアーム7に回転可能に支持される。
図4は、実施形態に基づく油圧ショベルCMを模式的に示す側面図である。図5は、実施形態に基づく油圧ショベルCMを模式的に示す背面図である。図6は、実施形態に基づく油圧ショベルCMを模式的に示す平面図である。
側板84と側板85との距離L5を、バケット8の幅L5とする。
図9は、制限掘削制御(介入制御)が行われるときの作業機2の動作の一例を模式的に示す図である。
図10は、実施形態に基づく制御システム200の機能構成を示すブロック図である。
上述したように、チルト角度センサ70は、グローバル座標系における水平面に対するバケット8のチルト角度δを検出する。チルト角度センサ70は、バケット8に配置されており、バケット8が水平面に対して傾斜することによって、その傾斜角度に応じたチルト角度データをセンサコントローラ32等に出力する。
バケット8は、チルトピン近傍にチルト角度センサ70が設置される設置面を有する。バケット8の設置面と水平面とが平行である場合、バケット8は初期姿勢(水平姿勢)となる。バケット8が初期姿勢の状態において、基準面70Rと水平面(設置面)とが平行となるように、チルト角度センサ70がバケット8の設置面に設置される。
図12に示されるように、ブーム6及びアーム7の動作によってバケット8の姿勢が変化した場合においても、チルト角度センサ70によるチルト角度の検出精度が低下する可能性がある。例えば、作業機2が伸長されて基準面70Rが鉛直に近づく(ピッチ角度が水平面に対して垂直に近づく)につれて、チルト角度センサ70によるチルト角度の検出精度が低下する。
本実施形態においては、制限掘削制御を実行する場合には、制御システム200の入力部36の操作により制限掘削制御モードに設定する。
図14は、実施形態に基づく表示部29の一例を示す図である。
別の実施形態としてチルト角度データの検出精度に基づいて表示部に表示する目標設計地形等の表示制御を実行することも可能である。
なお、バケット8の傾斜角度の軸は、もう1軸増えてもよく、水平面に垂直な軸(鉛直軸)に対して傾くバケットであってもよい。この場合、チルト角度センサとしては、3軸それぞれに対する角度を検出可能なセンサを採用すればよい。
Claims (16)
- 車両本体と、
ブーム軸を中心に前記車両本体に対して回転可能なブームと、前記ブーム軸と平行なアーム軸を中心に前記ブームに対して回転可能なアームと、前記アーム軸と平行なバケット軸及び前記バケット軸と直交するチルト軸のそれぞれを中心に前記アームに対して回転可能なバケットとを有する、作業機と、
前記バケットに設けられ、水平面に対するバケットの傾斜角度を検出する角度センサと、
前記作業機による作業対象の目標形状を示す設計地形に基づいて、前記作業機の動作を少なくとも一部自動で制御する作業機制御を実行する作業機制御部とを備え、
前記作業機制御部は、
前記角度センサで検出したバケットの傾斜角度が第1の閾値未満である場合、前記作業機制御を開始し、
前記角度センサで検出したバケットの傾斜角度が前記第1の閾値以上である場合、前記作業機制御を開始しない、作業車両。 - 前記作業機制御部は、
前記角度センサで検出したバケットの傾斜角度が第1の閾値未満である場合、あるいは第2の閾値以上である場合、前記作業機制御を開始し、
前記角度センサで検出したバケットの傾斜角度が前記第1の閾値以上でありかつ第2の閾値未満である場合、前記作業機制御を開始しない、請求項1記載の作業車両。 - 水平面に対する車両本体の傾きを検出する傾き検出部と、
作業機の姿勢に関する姿勢情報を取得する姿勢状態取得部と、
前記車両本体の傾きと前記作業機の姿勢情報とに基づいて水平面に対するチルト軸の傾斜角度を算出するチルト軸角度算出部とをさらに備え、
前記作業機制御部は、
前記チルト軸角度算出部で算出したチルト軸の傾斜角度が第2の閾値未満である場合、前記作業機制御を開始し、
前記チルト軸角度算出部で算出したチルト軸の傾斜角度が前記第2の閾値以上である場合、前記作業機制御を開始しない、請求項1記載の作業車両。 - オペレータからの前記作業機制御の開始の指示を受け付けることが可能な操作部をさらに備え、
前記作業機制御部は、前記操作部からの開始の指示に従って前記作業機制御を実行し、
前記操作部は、前記角度センサで検出したバケットの傾斜角度が第1の閾値以上である場合に前記オペレータからの前記作業機制御の開始の指示を受け付けない、請求項1記載の作業車両。 - 表示部と、
前記表示部の表示内容を制御する表示制御部とをさらに備え、
前記表示制御部は、前記角度センサで検出したバケットの傾斜角度が第1の閾値以上である場合に前記オペレータからの前記作業機制御の開始ができない旨の情報を前記表示部に表示する、請求項4記載の作業車両。 - 車両本体と、
ブーム軸を中心に前記車両本体に対して回転可能なブームと、前記ブーム軸と平行なアーム軸を中心に前記ブームに対して回転可能なアームと、前記アーム軸と平行なバケット軸及び前記バケット軸と直交するチルト軸のそれぞれを中心に前記アームに対して回転可能なバケットとを有する、作業機と、
水平面に対する車両本体の傾きを検出する傾き検出部と、
作業機の姿勢に関する姿勢情報を取得する姿勢状態取得部と、
前記車両本体の傾きと前記作業機の姿勢情報とに基づいて、水平面に対するチルト軸の傾斜角度を算出するチルト軸角度算出部と、
前記作業機による作業対象の目標形状を示す設計地形に基づいて、前記作業機の動作を少なくとも一部自動で制御する作業機制御を実行する作業機制御部とを備え、
前記作業機制御部は、
前記チルト軸角度算出部で算出したチルト軸の傾斜角度が第1の閾値未満である場合、前記作業機制御を開始し、
前記チルト軸角度算出部で算出したチルト軸の傾斜角度が前記第1の閾値以上である場合、前記作業機制御を開始しない、作業車両。 - 前記作業機制御部は、
前記チルト軸角度算出部で算出したチルト軸の傾斜角度が第1の閾値未満である場合、あるいは第2の閾値以上である場合、前記作業機制御を開始し、
前記チルト軸角度算出部で算出したチルト軸の傾斜角度が前記第1の閾値以上でありかつ第2の閾値未満である場合、前記作業機制御を開始しない、請求項6記載の作業車両。 - オペレータからの前記作業機制御の開始の指示を受け付けることが可能な操作部をさらに備え、
前記作業機制御部は、前記操作部からの開始の指示に従って前記作業機制御を実行し、
前記操作部は、前記チルト軸角度算出部で算出したチルト軸の傾斜角度が第1の閾値以上である場合に前記オペレータからの前記作業機制御の開始の指示を受け付けない、請求項6記載の作業車両。 - 表示部と、
前記表示部の表示内容を制御する表示制御部とをさらに備え、
前記表示制御部は、前記チルト軸角度算出部で算出したチルト軸の傾斜角度が第1の閾値以上である場合に前記オペレータからの前記作業機制御の開始ができない旨の情報を前記表示部に表示する、請求項8記載の作業車両。 - 車両本体と、
ブーム軸を中心に前記車両本体に対して回転可能なブームと、前記ブーム軸と平行なアーム軸を中心に前記ブームに対して回転可能なアームと、前記アーム軸と平行なバケット軸及び前記バケット軸と直交するチルト軸のそれぞれを中心に前記アームに対して回転可能なバケットとを有する、作業機と、
前記バケットに設けられ、水平面に対するバケットの傾斜角度を検出する角度センサと、
前記角度センサの検出結果に基づいて前記作業機の姿勢に関する姿勢情報を取得する姿勢状態取得部と、
前記姿勢情報に基づいて前記作業機による作業対象の目標形状を示す設計地形に対する前記バケットの姿勢状態を表示する表示制御部とを備え、
前記表示制御部は、
前記角度センサで検出したバケットの傾斜角度が第1の閾値未満である場合には前記角度センサで検出したバケットの傾斜角度に従う前記バケットの姿勢状態を表示し、
前記角度センサで検出したバケットの傾斜角度が前記第1の閾値以上である場合には前記角度センサで検出したバケットの傾斜角度が第1の閾値未満であったときの前記角度センサの検出結果に基づいて前記バケットの姿勢状態を表示する、作業車両。 - 車両本体の傾きを検出する傾き検出部と、
前記車両本体の傾きと前記作業機の姿勢情報とに基づいて水平面に対するチルト軸の傾斜角度を算出するチルト軸角度算出部とをさらに備え、
前記表示制御部は、
前記チルト軸角度算出部で算出したチルト軸の傾斜角度が第2の閾値未満であり、前記角度センサで検出したバケットの傾斜角度が第1の閾値未満である場合には前記角度センサで検出したバケットの傾斜角度に従う前記バケットの姿勢状態を表示し、
前記チルト軸角度算出部で算出したチルト軸の傾斜角度が前記第2の閾値以上、あるいは、前記角度センサで検出したバケットの傾斜角度が前記第1の閾値以上である場合には前記角度センサで検出したバケットの傾斜角度が第1の閾値未満であったときの前記角度センサの検出結果に基づいて前記バケットの姿勢状態を表示する、請求項10記載の作業車両。 - 前記表示制御部は、前記角度センサで検出したバケットの傾斜角度が前記第1の閾値以上である場合には前記角度センサで検出したバケットの傾斜角度が第1の閾値未満であったときの前記角度センサの検出結果に基づいて前記バケットの姿勢状態を固定表示する、請求項10記載の作業車両。
- 前記表示制御部は、前記角度センサの検出精度を示すアイコンをさらに表示し、
前記角度センサで検出したバケットの傾斜角度に基づいて前記アイコンの状態を変化させる、請求項10記載の作業車両。 - ブーム軸を中心に車両本体に対して回転可能なブームと、前記ブーム軸と平行なアーム軸を中心に前記ブームに対して回転可能なアームと、前記アーム軸と平行なバケット軸及び前記バケット軸と直交するチルト軸のそれぞれを中心に前記アームに対して回転可能なバケットとを有する、作業機を含む作業車両の制御方法であって、
水平面に対するバケットの傾斜角度を検出するステップと、
検出したバケットの傾斜角度が第1の閾値未満である場合、前記作業機による作業対象の目標形状を示す設計地形に基づいて、前記作業機の動作を少なくとも一部自動で制御する作業機制御を開始するステップと、
検出したバケットの傾斜角度が前記第1の閾値以上である場合、前記作業機制御を開始しないステップとを備える、作業車両の制御方法。 - ブーム軸を中心に車両本体に対して回転可能なブームと、前記ブーム軸と平行なアーム軸を中心に前記ブームに対して回転可能なアームと、前記アーム軸と平行なバケット軸及び前記バケット軸と直交するチルト軸のそれぞれを中心に前記アームに対して回転可能なバケットとを有する、作業機を含む作業車両の制御方法であって、
水平面に対する車両本体の傾きを検出するステップと、
前記作業機の姿勢に関する姿勢情報を取得するステップと、
前記車両本体の傾きと前記作業機の姿勢情報とに基づいて、水平面に対するチルト軸の傾斜角度を算出するステップと、
算出したチルト軸の傾斜角度が第1の閾値未満である場合、作業機による作業対象の目標形状を示す設計地形に基づいて、前記作業機の動作を少なくとも一部自動で制御する作業機制御を開始するステップと、
算出したチルト軸の傾斜角度が前記第1の閾値以上である場合、前記作業機制御を開始しないステップとを備える、作業車両の制御方法。 - ブーム軸を中心に前記車両本体に対して回転可能なブームと、前記ブーム軸と平行なアーム軸を中心に前記ブームに対して回転可能なアームと、前記アーム軸と平行なバケット軸及び前記バケット軸と直交するチルト軸のそれぞれを中心に前記アームに対して回転可能なバケットとを有する、作業機を含む作業車両の制御方法であって、
水平面に対するバケットの傾斜角度を検出するステップと、
検出したバケットの傾斜角度に基づいて前記作業機の姿勢に関する姿勢情報を取得するステップと、
検出したバケットの傾斜角度が第1の閾値未満である場合、前記作業機による作業対象の目標形状を示す設計地形に対する前記バケットの姿勢状態を、前記姿勢情報に基づいて表示するステップと、
検出したバケットの傾斜角度が前記第1の閾値以上である場合にはバケットの傾斜角度が第1の閾値未満であったときのバケットの傾斜角度に基づく姿勢情報を取得し、当該姿勢情報に基づいて前記バケットの姿勢状態を表示するステップとを備える、作業車両の制御方法。
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