WO2018096667A1 - 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
- WO2018096667A1 WO2018096667A1 PCT/JP2016/085124 JP2016085124W WO2018096667A1 WO 2018096667 A1 WO2018096667 A1 WO 2018096667A1 JP 2016085124 W JP2016085124 W JP 2016085124W WO 2018096667 A1 WO2018096667 A1 WO 2018096667A1
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- WIPO (PCT)
- Prior art keywords
- bucket
- work
- excavation
- arm
- boom
- 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
- E02F3/30—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.
- a work vehicle such as a hydraulic excavator includes a work machine having a boom, an arm, and a bucket.
- the arm is operated to penetrate the bucket into the earth and sand. If the operation is continued, the bucket penetrates deeply and the resistance of the earth and sand increases, so that the operation of raising the bucket by operating the boom is added to make the bucket excavation depth appropriate.
- the bucket is operated to raise the earth and sand, and the boom is further operated to raise the bucket upward.
- Japanese Patent Application Laid-Open No. 61-225429 discloses a method of correcting the bucket posture by detecting a collision between the back surface of the bucket and the excavation surface in order to reduce the excavation load.
- Japanese Patent Laid-Open No. 62-189222 discloses a method for adjusting the excavation depth of a bucket by measuring the weight of earth and sand contained in the bucket.
- the present invention has been made to solve the above-described problems, and an object of the present invention is to provide a work vehicle and a work vehicle control method capable of executing an efficient work machine operation in a simple manner.
- a work vehicle includes a vehicle main body, a work implement, and a control unit.
- the work machine includes a boom that is rotatable with respect to the vehicle body, an arm that is rotatable with respect to the boom, and a bucket that is rotatable with respect to the arm.
- the controller calculates the blade edge direction of the bucket, and proceeds to the bucket opening surface side so that the excavation angle between the calculated blade edge direction and the traveling direction to the bucket opening surface side is a predetermined angle. The direction is determined and the work implement operation in the traveling direction is executed.
- control unit determines the traveling direction toward the opening surface side of the bucket so that the excavation angle between the calculated blade edge direction of the bucket and the traveling direction toward the opening surface side of the bucket is a predetermined angle for a predetermined period. Decide and execute the work machine operation in the direction of travel.
- the work vehicle further includes first and second operation levers.
- the first operation lever outputs a first operation command for adjusting the amount of rotation of the bucket relative to the arm to the control unit.
- the second operation lever outputs a second operation command for adjusting the amount of movement of the bucket in the traveling direction from the blade edge direction to the bucket opening surface side to the control unit.
- control unit determines whether or not to execute the work implement operation.
- the control unit receives first and second operation commands from the first and second operation levers when it is determined that the work implement operation is to be executed.
- control unit determines whether or not to perform the work machine operation in accordance with an operation instruction of the operator.
- the work vehicle further includes a load detection unit.
- a load detection part detects the load concerning a working machine.
- the control unit determines whether to perform the work implement operation according to the detection result of the load detection unit.
- a work vehicle control method includes a boom that is rotatable with respect to a vehicle body, an arm that is rotatable with respect to the boom, and a bucket that is rotatable with respect to the arm.
- a method for controlling a work vehicle including a machine wherein the excavation angle between the step of calculating the blade edge direction of the bucket, the calculated blade edge direction of the bucket, and the traveling direction toward the opening surface side of the bucket is a predetermined angle. And a step of causing the work implement operation to be executed.
- the work vehicle of the present invention can execute an efficient work machine operation in a simple manner.
- 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 excavator CM includes a vehicle main body 1 and a work machine 2.
- the vehicle body 1 includes a turning body 3, a cab 4, and a traveling device 5.
- the revolving unit 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 front direction (+ X direction) is the front 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 (+ Z direction)
- the other direction in the vehicle width direction is the left direction ( ⁇ Z 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 machine 2 includes a boom 6, an arm 7, a bucket 8, a boom cylinder 10, an arm cylinder 11, and a bucket cylinder 12.
- 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.
- Bucket 8 is connected to arm 7 via bucket pin 15.
- 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, and the bucket cylinder 12 are all hydraulic cylinders that are driven by hydraulic oil.
- the boom 6 can be rotated with respect to the revolving body 3 around a boom pin 13 that is a rotation axis.
- the arm 7 is rotatable with respect to the boom 6 around an arm pin 14 that is a rotation axis parallel to the boom pin 13.
- the bucket 8 is rotatable with respect to the arm 7 around a bucket pin 15 that is a rotation axis parallel to the boom pin 13 and the arm pin 14.
- Each of the boom pin 13, the arm pin 14, and the bucket pin 15 is parallel to the Z axis.
- Each of the boom 6, the arm 7, and the bucket 8 is rotatable about an axis parallel to the Z axis.
- FIG. 2 is a diagram schematically illustrating the work vehicle CM based on the embodiment. As shown in FIG. 2, the work vehicle CM is provided with a boom cylinder stroke sensor 16, an arm cylinder stroke sensor 17, and a bucket cylinder stroke sensor 18.
- the boom cylinder stroke sensor 16 is disposed in the boom cylinder 10 and detects the stroke length (boom cylinder length) of the boom cylinder 10.
- the arm cylinder stroke sensor 17 is disposed in the arm cylinder 11 and detects the stroke length (arm cylinder length) of the arm cylinder 11.
- the bucket cylinder stroke sensor 18 is disposed in the bucket cylinder 12 and detects the stroke length (bucket cylinder length) of the bucket cylinder 12.
- 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.
- boom cylinder length, arm cylinder length, and bucket cylinder length are collectively referred to as cylinder length data.
- the length L1 of the boom 6 is the distance between the boom pin 13 and the arm pin 14.
- the length L2 of the arm 7 is the distance between the arm pin 14 and the bucket pin 15.
- the length L3 of the bucket 8 is the distance between the bucket pin 15 and the cutting edge 8a of the bucket 8.
- Bucket 8 has a plurality of blades, and in this example, the tip of bucket 8 is referred to as blade edge 8a. Note that the bucket 8 may not have a blade.
- the tip of the bucket 8 may be formed of a straight steel plate.
- a vehicle body coordinate system of the X and Y axes with the boom pin 13 as a reference point (reference position) is shown.
- the inclination angle ⁇ 1 of the boom 6 with respect to the horizontal direction of the vehicle body coordinate system is calculated from the cylinder length data detected by the boom cylinder stroke sensor 16.
- the tilt angle ⁇ 2 of the arm 7 with respect to the boom 6 is calculated from the cylinder length data detected by the arm cylinder stroke sensor 17.
- the inclination angle ⁇ 3 of the blade edge 8a of the bucket 8 with respect to the arm 7 is calculated from the cylinder length data detected by the bucket cylinder stroke sensor 18.
- the tilt angle may be calculated by an angle detector such as a rotary encoder. .
- FIG. 3 is a functional block diagram illustrating the configuration of the control system 200 that controls the work vehicle CM based on the embodiment.
- control system 200 controls excavation processing using the work machine 2.
- the control system 200 includes a boom cylinder stroke sensor 16, an arm cylinder stroke sensor 17, a bucket cylinder stroke sensor 18, an operating device 25, a work machine controller 26, a hydraulic cylinder 60, a direction control valve 64, and a pressure sensor. 66.
- the operating device 25 is disposed in the cab 4.
- the operating device 25 is operated by an operator.
- the operation device 25 receives an operation command from an operator that drives the work machine 2.
- the operation device 25 is, for example, a pilot hydraulic operation device.
- the direction control valve 64 adjusts the amount of hydraulic oil supplied to the hydraulic cylinder 60.
- the direction control valve 64 is operated by supplied oil.
- the oil supplied to the hydraulic cylinder is also referred to as hydraulic oil.
- the oil supplied to the direction control valve 64 to operate the direction control valve 64 is referred to as pilot oil.
- the pressure of the pilot oil is also referred to as pilot oil pressure.
- the hydraulic oil and pilot oil may be sent from the same hydraulic pump.
- part of the hydraulic oil sent from the hydraulic pump may be decompressed by a pressure reducing valve, and the decompressed hydraulic oil may be used as pilot oil.
- the hydraulic pump that sends hydraulic oil (main hydraulic pump) and the hydraulic pump that sends pilot oil (pilot hydraulic pump) may be different hydraulic pumps.
- the pilot oil sent from the main hydraulic pump and decompressed by the pressure reducing valve is supplied to the operating device 25.
- the pilot hydraulic pressure is adjusted based on the operation amount of the operating device 25.
- the pressure sensor 66 is connected to the operation device 25.
- the pressure sensor 66 detects the pilot hydraulic pressure generated in accordance with the lever operation of the operating device 25 and outputs it to the work machine controller 26.
- the work machine controller 26 drives the direction control valve 64 through which the hydraulic oil supplied to the hydraulic cylinder 60 (the boom cylinder 10, the arm cylinder 11, and the bucket cylinder 12) flows according to the pilot hydraulic pressure detected by the pressure sensor 66. To do.
- the operating device 25 has a first operating lever 25R, a second operating lever 25L, and an excavation mode setting button 25P.
- the first operation 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 front / rear and left / right operations correspond to the biaxial operations.
- the excavation mode setting button 25P is a setting button for setting the excavation mode.
- the work machine controller 26 shifts from the normal mode to the excavation mode in accordance with the operator's instruction to press the excavation mode setting button 25P. Further, the work machine controller 26 shifts from the excavation mode to the normal mode in accordance with the operator's instruction to press the excavation mode setting button 25P again.
- the first operation lever 25R and the second operation lever 25L of the operation device 25 can change the function corresponding to the operation between the normal mode and the excavation mode.
- 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.
- a lever is operated to operate the boom 6.
- the left / right operation 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 left / right operation.
- a lever is operated to operate the bucket 8.
- 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 raising operation and the lowering operation of the arm 7 are executed according to the operation in the front-rear direction.
- a lever is operated to operate the arm 7.
- 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.
- hydraulic oil supplied to the boom cylinder 10 for driving the boom 6 flows according to the operation amount (boom operation amount) of the first operation lever 25R in the front-rear direction based on the detection result of the pressure sensor 66.
- the direction control valve 64 is driven.
- hydraulic oil supplied to the bucket cylinder 12 for driving the bucket 8 flows according to the operation amount (bucket operation amount) of the first operation lever 25R in the left-right direction based on the detection result of the pressure sensor 66.
- the direction control valve 64 is driven.
- hydraulic oil supplied to the arm cylinder 11 for driving the arm 7 flows according to the operation amount (arm operation amount) of the second operation lever 25L in the front-rear direction based on the detection result of the pressure sensor 66.
- the direction control valve 64 is driven.
- the work machine controller 26 drives the direction control valve 64 through which hydraulic oil supplied to the hydraulic actuator for driving the revolving structure 3 flows according to the operation amount of the second operation lever 25L in the left-right direction based on the detection result of the pressure sensor 66. To do.
- the left / right operation of the first operation lever 25R may correspond to the operation of the boom 6 and the front / rear operation may correspond to the operation of the bucket 8.
- the left / right direction of the second operation lever 25L may correspond to the operation of the arm 7 and the operation in the front / rear direction may correspond to the operation of the revolving structure 3.
- the bucket 8 is operated by the first operation lever 25R.
- the operation in the left-right direction of the first operation lever 25R corresponds to the operation of the bucket 8, and the rotation operation of the bucket 8 is executed according to the operation in the left-right direction.
- the operation in the front-rear direction of the first operation lever 25R is invalidated. Therefore, no lever operation is accepted to operate the boom 6.
- the movement amount of the blade edge 8a of the bucket 8 is adjusted by the second operation lever 25L.
- the forward operation of the second operation lever 25L corresponds to the operation of the movement amount of the blade edge 8a of the bucket 8.
- the amount of forward tilt of the second operation lever 25L is large, the amount of movement of the blade edge 8a of the bucket 8 becomes large.
- the forward tilt amount of the second operation lever 25L is small, the movement amount of the blade edge 8a of the bucket 8 is small.
- FIG. 4 is a diagram for explaining the relationship between the excavation angle of the bucket 8 and sediment resistance based on the embodiment.
- the excavation angle represents the angle between the direction of the cutting edge 8a of the bucket 8 and the traveling direction of the cutting edge 8a when the bucket 8 moves.
- a positive value is used when the advancing direction of the blade 8a moves toward the opening surface of the bucket 8 when the bucket 8 moves relative to the direction of the blade 8a of the bucket 8, and a negative value when the bucket 8 moves in the opposite direction.
- the excavation angle of the bucket 8 near 0 ° is shown as the limit angle.
- the excavation angle of the bucket 8 When the excavation angle of the bucket 8 is smaller than the limit angle, the earth and sand are pressed by the exterior of the bucket 8 or the back surface of the bucket 8, and the value of the earth and sand resistance applied to the bucket 8 increases rapidly.
- the value of the earth and sand resistance applied to the bucket 8 is shown to be minimum.
- limit angle and the predetermined angle Q are examples, and can be set to different values according to the form of the bucket 8.
- the work vehicle CM performs an efficient work machine operation in a simple manner by executing excavation processing at an excavation angle with a low sediment resistance value. Specifically, the work vehicle CM executes the excavation process so that the excavation angle becomes the predetermined angle Q.
- “being the predetermined angle Q” does not mean that the predetermined angle Q is completely matched, but includes an approximate value of the predetermined angle Q.
- FIG. 5 is a diagram illustrating an operation process of excavation work of the work vehicle CM based on the embodiment.
- the work machine controller 26 determines whether or not the excavation mode is set (step S2). Specifically, the work machine controller 26 determines whether or not an instruction for setting an excavation mode setting button for setting an excavation mode in accordance with an operator operation command is received.
- step S2 when it is determined that the excavator mode is the excavation mode, the work machine controller 26 calculates cutting edge data (step S4).
- the work machine controller 26 calculates the boom cylinder length, the arm cylinder length, and the bucket cylinder length based on the detection results of the boom cylinder stroke sensor 16, the arm cylinder stroke sensor 17, and the bucket cylinder stroke sensor 18. Then, the tilt angle ⁇ 1 of the boom 6 with respect to the horizontal direction is calculated from the boom cylinder length. From the arm cylinder length, the inclination angle ⁇ 2 of the arm 7 with respect to the boom 6 is calculated. From the bucket cylinder length, the inclination angle ⁇ 3 of the blade edge 8a of the bucket 8 with respect to the arm 7 is calculated. Thereby, blade edge data [x1, y1, ⁇ 1] indicating the position of the bucket 8 and the direction of the blade edge 8a of the bucket 8 (blade edge direction) in the X and Y axis vehicle body coordinate system is calculated.
- the work machine controller 26 calculates an excavation direction vector (step S6).
- the excavation direction vector is calculated so that the excavation angle formed between the direction of the cutting edge 8a of the bucket 8 and the traveling direction of the cutting edge 8a of the bucket 8 is a predetermined angle Q. Thereby, the advancing direction to the opening surface side of the blade edge 8a of the bucket 8 is determined.
- the unit vectors dx and dy in the X-axis direction and the Y-axis direction indicating the excavation direction vector in the vehicle body coordinate system of this example are expressed by the following equations.
- step S8 the work machine controller 26 receives an operation lever input (step S8).
- the rotation operation of the bucket 8 is executed by the first operation lever 25R.
- the movement operation with respect to the excavation direction of the bucket is executed by the second operation lever 25L.
- the work machine controller 26 calculates the bucket rotation amount and excavation movement amount according to the received operation input of the operation lever (step S10).
- the work machine controller 26 calculates the bucket rotation amount based on the detected pressure generated according to the operation input of the first operation lever 25R output from the pressure sensor 66.
- the work machine controller 26 calculates the excavation movement amount based on the detected pressure generated in response to the operation input of the second operation lever 25L output from the pressure sensor 66.
- the bucket rotation amount based on the calculation result of the work machine controller 26 is ⁇ d, and the excavation movement amount is ⁇ e.
- the work machine controller 26 calculates target cutting edge data of the cutting edge 8a of the bucket 8 that moves according to the input of the operation lever (step S12).
- the work machine controller 26 calculates target cutting edge data [x2, y2, ⁇ 2].
- the target cutting edge data [x2, y2, ⁇ 2] can be calculated by the above formula.
- the work machine controller 26 operates the work machine based on the target cutting edge data (step S14).
- the work machine controller 26 determines the inclination angle ⁇ 1 ′ of the boom 6 and the arm 7 according to the target cutting edge data [x2, y2, ⁇ 2] of the cutting edge 8a of the bucket 8 in the X- and Y-axis vehicle body coordinate system.
- the inclination angle ⁇ 2 ′ and the inclination angle ⁇ 3 ′ of the bucket 8 are calculated.
- the work machine controller 26 calculates the boom cylinder length, the arm cylinder length, and the bucket cylinder length based on the inclination angles ⁇ 1 'to ⁇ 3' of the boom 6, the arm 7, and the bucket 8.
- the work machine controller 26 drives the direction control valve 64 so as to adjust the hydraulic oil supplied to the hydraulic cylinder 60 so that the calculated boom cylinder length, arm cylinder length, and bucket cylinder length are obtained.
- the boom 6, the arm 7 and the bucket 8 are automatically controlled so that the position and direction of the cutting edge 8a of the bucket 8 become the target cutting edge data.
- the work machine controller 26 determines whether or not the work has been completed (step S16).
- the case where the work machine controller 26 determines that the work is finished is a case where the engine is stopped, for example.
- step S16 when it is determined that the work machine controller 26 has finished the work (YES in step S16), the process is finished (end).
- step S16 when it is determined in step S16 that the work machine controller 26 has not finished the work (NO in step S16), the process returns to step S2 and repeats the above processing.
- step S2 if it is determined in step S2 that the work machine controller 26 is not in the excavation mode, it accepts an operation lever input (step S18).
- the boom 6 and the bucket 8 are operated by the first operation lever 25R. Further, the arm 7 and the swing body 3 are operated by the second operation lever 25L by the second operation lever 25L.
- the work machine controller 26 operates the work machine (step S20).
- hydraulic oil supplied to the boom cylinder 10 for driving the boom 6 flows according to the operation amount (boom operation amount) of the first operation lever 25R in the front-rear direction based on the detection result of the pressure sensor 66.
- the direction control valve 64 is driven.
- hydraulic oil supplied to the bucket cylinder 12 for driving the bucket 8 flows according to the operation amount (bucket operation amount) of the first operation lever 25R in the left-right direction based on the detection result of the pressure sensor 66.
- the direction control valve 64 is driven.
- hydraulic oil supplied to the arm cylinder 11 for driving the arm 7 flows according to the operation amount (arm operation amount) of the second operation lever 25L in the front-rear direction based on the detection result of the pressure sensor 66.
- the direction control valve 64 is driven.
- the work machine controller 26 drives the direction control valve 64 through which hydraulic oil supplied to the hydraulic actuator for driving the revolving structure 3 flows according to the operation amount of the second operation lever 25L in the left-right direction based on the detection result of the pressure sensor 66. To do.
- step S16 Subsequent processing is the same as that described above, and therefore detailed description thereof will not be repeated.
- the cutting edge direction of the cutting edge 8a of the bucket 8 is calculated, and the excavation angle formed between the direction of the cutting edge 8a of the bucket 8 and the traveling direction of the cutting edge 8a of the bucket 8 is the predetermined angle Q.
- the excavation direction vector (traveling direction to the opening surface side of the bucket 8) is calculated. And since it automatically controls so that the blade edge 8a of the bucket 8 moves according to the said excavation direction vector, the earth and sand resistance concerning the bucket 8 becomes low. Therefore, by reducing the earth and sand resistance (load) applied to the bucket 8, it is possible to execute an efficient work machine operation in a simple manner.
- the low-load and efficient work in which the blade edge 8a of the bucket 8 moves in accordance with a predetermined excavation direction vector is possible. It is possible to improve the fuel consumption because of the machine operation.
- the bucket 8 in the excavation mode, the bucket 8 is rotated by the first operation lever 25R. Moreover, the movement operation
- the work vehicle according to the first modification of the embodiment is not limited to the operation instruction of the operator, and the work vehicle CM may be autonomously controlled in the excavation mode.
- the work machine controller 26 determines whether or not the work machine 2 performs excavation work.
- FIG. 6 is a functional block diagram illustrating the configuration of the control system 200 # based on the first modification of the embodiment.
- control system 200 # is different from the control system 200 in that a load sensor 28 is further provided. Moreover, the point which replaced the operating device 25 with the operating device 25 # differs.
- the operation device 25 # has a configuration in which the excavation mode setting button 25P is removed as compared with the operation device 25.
- Other configurations are the same as those described with reference to FIG. 3, and therefore detailed description thereof will not be repeated.
- the work machine controller 26 determines whether or not the work machine 2 performs excavation work according to the load sensor 28 attached to the bucket 8.
- the value of the load sensor 28 increases.
- the value of the load sensor 28 is small.
- the work machine controller 26 determines whether or not the load value according to the detection result from the load sensor 28 is a predetermined value or more.
- the work machine controller 26 determines that the excavation work is to be performed and sets the excavation mode.
- the work machine controller 26 does not set the excavation mode when the load value according to the detection result from the load sensor 28 is less than a predetermined value. In this case, the work machine controller 26 operates in the normal mode.
- the boom 6 and the bucket 8 are operated by the first operation lever 25R as described above. Further, the arm 7 and the swing body 3 are operated by the second operation lever 25L.
- the work vehicle according to the first modification of the embodiment is a method of autonomously controlling the work vehicle CM in the excavation mode based on the detection result from the load sensor 28.
- the load sensor 28 is attached to the bucket 8 has been described.
- a configuration in which a load is detected by a sensor that measures the hydraulic pressure in the hydraulic cylinder may be employed.
- the magnitude of the load applied to the bucket 8 may be determined by measuring the hydraulic pressure of the hydraulic oil supplied to the bucket cylinder 12 with a sensor.
- the work machine controller 26 may automatically control the bucket 8 by setting the bucket rotation amount and excavation movement amount to predetermined values set in advance by programming.
- the predetermined value is not limited to a fixed value.
- the predetermined value may be changed as time passes after the excavation mode is started.
- the first predetermined value is set, and excavation processing for scraping out the earth and sand contained in the bucket 8 is performed. You may set to a 2nd predetermined value during a period.
- FIG. 7 is a diagram illustrating the concept of a work vehicle system based on another embodiment.
- a work vehicle system constitutes a control system that controls the work vehicle CM from an external base station 300.
- the functions of the work machine controller 26 and the operation device 25 described in FIG. 3 are provided in the external base station 300 or the like.
- the base station 300 includes a work machine controller 26 # having the same function as the work machine controller 26 and an operation device 25 # having the same function as the operation device 25.
- the work machine controller 26 # receives an operation command from the operating device 25 # and outputs an operation command for controlling the work vehicle CM.
- Work vehicle CM operates in accordance with an operation command from work machine controller 26 #.
- work implement controller 26 # outputs an operation command for driving direction control valve 64 described with reference to FIG.
- Work implement controller 26 # receives input of sensor information from boom cylinder stroke sensor 16, arm cylinder stroke sensor 17, and bucket cylinder stroke sensor 18.
- the excavation work operation process based on the first embodiment described in FIG. 5 can be executed by the work machine controller 26 #.
- the configuration according to the present embodiment can be applied, and efficient excavation work can be performed.
- the configuration is described in which the operator controls the work vehicle CM in accordance with the operation input of the operation lever that is the operation device.
- the operation vehicle CM is autonomously controlled without providing the operation device.
- the present invention can also be applied to a case where an operation command for excavation work is programmed in advance and the work implement controller operates in accordance with the programmed operation command.
- the autonomous control program for autonomously controlling the work vehicle CM is started according to a user instruction and the work implement controller operates according to the programmed operation command, the blade edge direction of the bucket is calculated.
- the work implement 2 may be controlled using an arbitrary predetermined angle as an excavation angle.
- the value of the excavation angle is not limited to a fixed value.
- the value of the excavation angle may be changed as time elapses after the excavation mode is started.
- the first excavation angle value is set, and the excavation processing of scraping out the earth and sand entering the bucket 8 is performed.
- the value of the second excavation angle may be set.
- the work vehicle CM of this embodiment is provided with a vehicle body 1 and a work implement 2 as shown in FIG.
- the work implement 2 includes a boom 6 that can rotate with respect to the vehicle body 1, an arm 7 that can rotate with respect to the boom 6, and a bucket 8 that can rotate with respect to the arm 7.
- the work vehicle CM is provided with a work machine controller 26 as shown in FIG.
- the work machine controller 26 calculates the direction of the cutting edge 8a of the bucket 8, and the excavation angle between the calculated direction of the cutting edge 8a of the bucket 8 and the traveling direction toward the opening surface of the bucket 8 becomes the predetermined angle Q.
- the excavation direction vector (the traveling direction toward the opening surface of the bucket 8) is determined, and the work implement operation in the traveling direction is executed.
- the work machine controller 26 determines the excavation direction vector so that the excavation angle between the calculated direction of the blade edge 8a of the bucket 8 and the traveling direction toward the opening surface of the bucket 8 is the predetermined angle Q for a predetermined period. Then, the work machine operation in the traveling direction is executed.
- the work vehicle CM includes a first operation lever 25R that outputs a first operation command for adjusting the amount of rotation of the bucket 8 relative to the arm 7 to the work machine controller 26, and a direction from the blade edge 8a toward the opening surface side of the bucket 8.
- a second operation lever 25L that outputs a second operation command for adjusting the amount of movement of the bucket 8 relative to the traveling direction to the work machine controller 26 is provided.
- the work machine controller 26 determines whether or not the work machine 2 is in an excavation mode in which excavation work is performed as a work machine operation.
- the work machine controller 26 receives the first and second operation commands from the first operation lever 25R and the second operation lever 25L when determining that the work machine 2 is in the excavation mode in which excavation work is performed.
- the work machine controller 26 determines that it is in the excavation mode, it accepts the first and second operation commands for operating the bucket 8 with the two operation levers, so that the excavation process can be executed efficiently. .
- the work machine controller 26 determines whether or not the work machine 2 is in the excavation mode in which the work machine 2 executes the excavation work as the work machine operation in accordance with the operator's instruction to press the excavation mode setting button 25P.
- the work vehicle CM is provided with a load sensor 28 that detects a load applied to the bucket 8.
- the work machine controller 26 determines whether or not the work machine 2 is in a work mode in which excavation work that is a work machine operation is performed according to the detection result of the load sensor 28.
- the work vehicle CM of this embodiment is provided with a vehicle body 1 and a work implement 2 as shown in FIG.
- the work implement 2 includes a boom 6 that can rotate with respect to the vehicle body 1, an arm 7 that can rotate with respect to the boom 6, and a bucket 8 that can rotate with respect to the arm 7.
- the excavation angle between the step of calculating the direction of the blade edge 8a of the bucket 8, and the calculated direction of the blade edge 8a of the bucket 8 and the traveling direction of the bucket 8 toward the opening surface side.
- a step of executing the work implement operation in the traveling direction such that is a predetermined angle Q.
- the excavation process of the work implement 2 can be executed at the excavation angle of the predetermined angle Q at which the value of the earth and sand resistance is the minimum value, and an efficient work implement operation is executed by a simple method. It is possible.
- 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.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Paleontology (AREA)
- Operation Control Of Excavators (AREA)
Abstract
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。
車両本体1は、旋回体3と、運転室4と、走行装置5とを有する。
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とを有する。
図2に示されるように、作業車両CMには、ブームシリンダストロークセンサ16と、アームシリンダストロークセンサ17と、バケットシリンダストロークセンサ18とが設けられる。
図3は、実施形態に基づく作業車両CMを制御する制御システム200の構成を説明する機能ブロック図である。
第2操作レバー25Lの前後方向の操作は、アーム7の操作に対応し、前後方向の操作に応じてアーム7の上げ動作及び下げ動作が実行される。アーム7を操作するためにレバー操作される。
図4は、実施形態に基づくバケット8の掘削角度と土砂抵抗との関係を説明する図である。
図5は、実施形態に基づく作業車両CMの掘削作業の動作処理を説明する図である。
本例においては、バケット8の刃先8aの方向に対してバケット8の刃先8aの進行方向との間の成す掘削角度が所定角度Qとなるように掘削方向ベクトルを算出する。これによりバケット8の刃先8aの開口面側への進行方向が決定される。
dy=-sin(α1+Q)
次に、作業機コントローラ26は、操作レバーの入力を受け付ける(ステップS8)。
y2=y1+Δd×dy
α2=α1+Δe
目標刃先データ[x2,y2,α2]は、上式により算出することが可能である。
作業機コントローラ26は、圧力センサ66の検出結果に基づく前後方向に関する第1操作レバー25Rの操作量(ブーム操作量)に従って、ブーム6を駆動するためのブームシリンダ10に供給される作動油が流れる方向制御弁64を駆動する。
以降の処理は、上記で説明したのと同様であるのでその詳細な説明については繰り返さない。
実施形態の変形例1に従う作業車両は、オペレータの操作指示に限られず自律的に作業車両CMを掘削モードで制御するようにしても良い。
なお、本例においては、負荷センサ28をバケット8に取り付けた構成について説明したが、油圧シリンダ内の油圧を測定するセンサにより負荷を検出する構成とすることも可能である。たとえば、バケットシリンダ12に供給する作動油の油圧をセンサにより測定することによりバケット8にかかる負荷の大小を判断するようにしても良い。
図7は、他の実施形態に基づく作業車両システムの概念を説明する図である。
次に、本実施形態の作用効果について説明する。
Claims (7)
- 車両本体と、
前記車両本体に対して回動可能なブームと、前記ブームに対して回動可能なアームと、前記アームに対して回動可能なバケットとを有する、作業機と、
前記バケットの刃先方向を算出し、算出した前記バケットの刃先方向と、前記バケットの開口面側への進行方向との間の掘削角度が所定角となるように前記バケットの開口面側への進行方向を決定し、前記進行方向への作業機動作を実行させる制御部とを備える、作業車両。 - 前記制御部は、算出した前記バケットの刃先方向と、前記バケットの開口面側への進行方向との間の掘削角度が所定期間、前記所定角となるように前記バケットの開口面側への進行方向を決定し、前記進行方向への作業機動作を実行させる、請求項1記載の作業車両。
- 前記アームに対する前記バケットの回動量を調整する第1の操作指令を前記制御部に出力する第1の操作レバーと、
前記刃先方向から前記バケットの開口面側への進行方向に対する前記バケットの移動量を調整する第2の操作指令を前記制御部に出力する第2の操作レバーとをさらに備える、請求項1記載の作業車両。 - 前記制御部は、
前記作業機動作を実行させるか否かを判断し、
前記作業機動作を実行させると判断した場合に、前記第1および前記第2の操作レバーからの第1および第2の操作指令を受け付ける、請求項3記載の作業車両。 - 前記制御部は、オペレータの操作指示に従って前記作業機動作を実行させるか否かを判断する、請求項4記載の作業車両。
- 前記作業機にかかる負荷を検出する負荷検出部をさらに備え、
前記制御部は、前記負荷検出部の検出結果に従って前記作業機動作を実行させるか否かを判断する、請求項5記載の作業車両。 - 車両本体に対して回動可能なブームと、前記ブームに対して回動可能なアームと、前記アームに対して回動可能なバケットと、を有する作業機を含む作業車両の制御方法であって、
前記バケットの刃先方向を算出するステップと、
算出された前記バケットの刃先方向と、前記バケットの開口面側への進行方向との間の掘削角度が所定角となるように前記進行方向への作業機動作を実行させるステップとを備える、作業車両の制御方法。
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DE112016007307.0T DE112016007307T5 (de) | 2016-11-28 | 2016-11-28 | Arbeitsfahrzeug und Verfahren zum Steuern des Arbeitsfahrzeugs |
US16/330,836 US20190203443A1 (en) | 2016-11-28 | 2016-11-28 | Work vehicle and method for controlling work vehicle |
JP2018552364A JP6871946B2 (ja) | 2016-11-28 | 2016-11-28 | 作業車両および作業車両の制御方法 |
CN201680088781.1A CN109642407A (zh) | 2016-11-28 | 2016-11-28 | 作业车辆及作业车辆的控制方法 |
PCT/JP2016/085124 WO2018096667A1 (ja) | 2016-11-28 | 2016-11-28 | 作業車両および作業車両の制御方法 |
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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 |
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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 |
-
2016
- 2016-11-28 DE DE112016007307.0T patent/DE112016007307T5/de not_active Withdrawn
- 2016-11-28 WO PCT/JP2016/085124 patent/WO2018096667A1/ja active Application Filing
- 2016-11-28 JP JP2018552364A patent/JP6871946B2/ja active Active
- 2016-11-28 CN CN201680088781.1A patent/CN109642407A/zh not_active Withdrawn
- 2016-11-28 KR KR1020197005894A patent/KR20190029740A/ko not_active Application Discontinuation
- 2016-11-28 US US16/330,836 patent/US20190203443A1/en not_active Abandoned
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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 |
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JP2021110098A (ja) * | 2020-01-06 | 2021-08-02 | 日立建機株式会社 | 建設機械 |
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